Cleaning device and cleaning system

Abstract

The utility model discloses a cleaning device and cleaning system.The cleaning device comprises a device body, a first cleaning module and a first driving assembly, the first cleaning module and the first driving assembly are arranged on the device body, the first cleaning module is used for cleaning a working face, and the first cleaning module can slide between a retracting position and an extending position relative to the device body; the extending position is farther from the center of the device body than the retracting position, the first driving assembly comprises a first driving motor, and the first driving assembly is used for driving the first cleaning module to slide between the retracting position and the extending position. According to the cleaning device disclosed by the utility model, the first cleaning module can expand the cleaning range by sliding to the extending position, so that the first cleaning module can conveniently clean areas such as wall corners and the like to reduce or avoid cleaning dead angles of the cleaning device in the cleaning process; and the first driving assembly is simple in structure and small in size, the space needed by movement of the first cleaning module is small, and layout optimization and miniaturization of the cleaning device are facilitated.

Description

Technical Field

[0001] The utility model relates to the field of household appliances, and in particular to a cleaning device and a cleaning system. Background Art

[0002] In the related art, a cleaning device is provided with a cleaning module for cleaning a working surface. However, due to the limitation of the structure of the cleaning device itself, there will be dead corners during the cleaning process of the cleaning module. For example, there will be cleaning dead corners when cleaning the corner of a wall or bypassing an obstacle. Therefore, improvement is needed. Summary of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, an object of the utility model is to provide a cleaning device. By providing a first driving component and enabling the first driving component to drive the first cleaning module to slide between a retracted position and an extended position, the first cleaning module can expand the cleaning range by sliding to the extended position, so that it is convenient for the first cleaning module to clean areas such as the corner of a wall to reduce or avoid cleaning dead corners during the cleaning process of the cleaning device. In addition, the first cleaning module switches between the retracted position and the extended position by sliding, and the structure of the first driving component for driving the sliding of the first cleaning module is simple and has a small volume, and the space required for the movement of the first cleaning module is also small, which is conducive to the layout optimization and miniaturization of the cleaning device.

[0004] The utility model also provides a cleaning system having the above cleaning device.

[0005] The cleaning device according to the first aspect embodiment of the utility model includes: a device body; a first cleaning module disposed on the device body and used for contacting a working surface to clean the working surface, the first cleaning module being slidable relative to the device body between a retracted position and an extended position, and the extended position being farther from the center of the device body than the retracted position; a first driving component disposed on the device body and including a first driving motor, the first driving component being used for driving the first cleaning module to slide between the retracted position and the extended position.

[0006] According to the cleaning device of the embodiment of the present utility model, by providing a first driving component and enabling the first driving component to drive the first cleaning module to slide between a retracted position and an extended position, the first cleaning module can expand the cleaning range by sliding to the extended position, which facilitates the first cleaning module to clean areas such as corners to reduce or avoid cleaning dead corners during the cleaning process of the cleaning device. In addition, the first cleaning module switches between the retracted position and the extended position by sliding, the structure of the first driving component for driving the sliding of the first cleaning module is simple and has a small volume, and the space required for the movement of the first cleaning module is also small, which is conducive to the layout optimization and miniaturization of the cleaning device.

[0007] According to some embodiments of the present utility model, a first guiding structure is provided on the device body, and a second guiding structure is provided on the first cleaning module. Through the cooperation of the first guiding structure and the second guiding structure, the first cleaning module is guided to slide between the retracted position and the extended position.

[0008] According to some optional embodiments of the present utility model, an avoidance opening for avoiding the first cleaning module is formed on the device body, the avoidance opening penetrates the outer peripheral wall of the device body, a first guiding slot is formed on the side wall of the avoidance opening, the first guiding structure includes the first guiding slot, the first guiding slot extends along the sliding direction of the first cleaning module, the second guiding structure includes a sliding plate formed on the first cleaning module, and the edge portion of the sliding plate is slidably received in the first guiding slot.

[0009] According to some optional embodiments of the present utility model, the first guiding structure further includes a guiding rib and a supporting rib that are opposite in the up-down direction, the guiding rib is located above the first guiding slot and the guiding rib and the supporting rib define the first guiding slot, the second guiding structure further includes a second guiding slot formed on the first cleaning module, the second guiding slot is defined between the sliding plate and the first cleaning module, the second guiding slot extends along the sliding direction of the first cleaning module, and the guiding rib is slidably received in the second guiding slot.

[0010] According to some alternative embodiments of the present utility model, the first guiding structure further includes a guiding rib and a supporting rib opposite to each other in the up-and-down direction. The guiding rib is located above the first guiding slot, and the guiding rib and the supporting rib define the first guiding slot. The first guiding structure further includes a first limiting wall, and a partial side wall of the avoiding opening constitutes the first limiting wall. The first limiting wall is connected between the two guiding ribs, and the first limiting wall is connected to one end of the guiding rib adjacent to the center of the device body. In the retracted position, the first cleaning module abuts against the first limiting wall.

[0011] According to some alternative embodiments of the present utility model, the first cleaning module includes a second driving assembly, a module housing, and a cleaning component. The second driving assembly is disposed inside the module housing. The cleaning component is located outside the module housing and below the module housing. The second driving assembly extends downward out of the module housing and is connected to the cleaning component to drive the cleaning component to move. An avoiding through hole for avoiding the second driving assembly is formed on the bottom surface of the module housing. The second guiding structure is disposed on the bottom surface of the module housing. A limiting convex ring is further formed on the bottom surface of the module housing, and the limiting convex ring is disposed around the avoiding through hole.

[0012] Wherein, in the retracted position, the limiting convex ring abuts against the first limiting wall.

[0013] According to some alternative embodiments of the present utility model, a guiding chute is further provided on the device body. In the width direction of the avoiding opening, the guiding chute is located on a side of the first guiding slot away from the avoiding opening. A guiding post is provided on the first cleaning module, and the guiding post is slidably received in the guiding chute.

[0014] According to some alternative embodiments of the present utility model, one end of the guiding chute away from the center of the device body has a second limiting wall. In the extended position, the guiding post abuts against the second limiting wall.

[0015] According to some embodiments of the present utility model, the first cleaning module includes a second driving assembly, a module housing, and a cleaning component. The second driving assembly is disposed inside the module housing. The cleaning component is located outside the module housing and below the module housing. The second driving assembly extends downward out of the module housing and is connected to the cleaning component to drive the cleaning component to move. An avoiding through hole for avoiding the second driving assembly is formed on the bottom surface of the module housing.

[0016] According to some embodiments of the present utility model, the first driving assembly includes an elastic member, one end of the elastic member is connected to the motor housing of the first driving motor or to the device body, and the other end of the elastic member is drivingly connected to the first cleaning module. The elastic member is used to drive the first cleaning module to move from the retracted position to the extended position.

[0017] According to some embodiments of the present utility model, the first driving assembly includes a first transmission member and a second transmission member. The first transmission member is connected to the motor shaft of the first driving motor, and the second transmission member is drivingly connectable between the first transmission member and the first cleaning module. The first transmission member is rotatable about the motor shaft between a first position and a second position. When the first transmission member is in the first position, the first cleaning module is in the retracted position, and when the first transmission member is in the second position, the first cleaning module is in the extended position.

[0018] According to some alternative embodiments of the present utility model, the first transmission member is a swing block, the second transmission member is a swing rod, one end of the second transmission member is in abutting cooperation with the first transmission member, and the other end of the second transmission member is connected to the first cleaning module;

[0019] The first driving assembly includes an elastic member, one end of the elastic member is connected to the motor housing of the first driving motor, and the other end of the elastic member is connected to the second transmission member. The elastic member is used to drive the first cleaning module to move from the retracted position to the extended position;

[0020] Wherein, the first cleaning module has an active retraction mode and a passive retraction mode. In the active retraction mode, the first driving motor is used to drive the first cleaning module to move from the extended position to the retracted position. In the passive retraction mode, when the first driving motor stops working, the first cleaning module moves from the extended position towards the direction close to the retracted position under the action of an obstacle outside the cleaning device.

[0021] According to some alternative embodiments of the present utility model, the elastic member is a torsion spring or a tension spring.

[0022] According to some alternative embodiments of the present utility model, a mounting shaft is provided on the motor housing of the first driving motor, the mounting shaft is in the same extending direction as the motor shaft, a mounting hole is provided on the second transmission member, and the mounting shaft passes through the mounting hole and the second transmission member is rotatable about the mounting shaft.

[0023] According to some alternative embodiments of the present utility model, the elastic member is a torsion spring, and the torsion spring is sleeved on the mounting shaft and is axially arranged with the mounting hole along the mounting shaft.

[0024] According to some alternative embodiments of the present utility model, there is a transmission contact point between the second transmission member and the first transmission member. The line connecting the transmission contact point and the axis of the motor shaft is the first line, and the acting force between the second transmission member and the first transmission member is the first acting force;

[0025] In the retracted position, the acting force between the second transmission member and the first transmission member passes through the motor shaft; or, in the retracted position, the first acting force is spaced apart from the motor shaft and the angle between the first acting force and the first line is less than 45° or greater than 135°.

[0026] According to some alternative embodiments of the present utility model, the first transmission member has a first end and a second end arranged oppositely, wherein the first end is connected to the motor shaft and the second end is in abutting cooperation with the second transmission member;

[0027] Wherein, in the extended position, the distance between the acting force between the second transmission member and the first transmission member and the motor shaft is the first distance, and the maximum distance between the second end of the second transmission member and the motor shaft is the second distance. The ratio of the first distance to the second distance is greater than 1 / 2.

[0028] According to some alternative embodiments of the present utility model, a first fitting structure and a second fitting structure are formed on the first transmission member, and a third fitting structure and a fourth fitting structure are formed on the second transmission member;

[0029] Wherein, in the retracted position, the first fitting structure cooperates with the third fitting structure, and in the extended position, the second fitting structure cooperates with the fourth fitting structure.

[0030] According to some alternative embodiments of the present utility model, the first fitting structure is a first fitting end formed on the first transmission member, the second fitting structure is a first fitting groove formed on the first transmission member, the third fitting structure is a second fitting end formed on the second transmission member, and the fourth fitting structure is a second fitting groove formed on the second transmission member; wherein, in the retracted position, the first fitting end is received in the second fitting groove, and in the extended position, the second fitting end is received in the first fitting groove.

[0031] According to some alternative embodiments of the present utility model, the inner wall surface of the first mating groove includes a first mating surface, the first mating end has a second mating surface, the inner wall surface of the second mating groove includes a third mating surface, the second mating end has a fourth mating surface, and at least a part of the first mating surface, the second mating surface, the third mating surface, and the fourth mating surface are arc surfaces;

[0032] Wherein, in the retracted position, the second mating surface is in contact with the third mating surface, and in the extended position, the first mating surface is in contact with the fourth mating surface.

[0033] According to some alternative embodiments of the present utility model, a mating post is provided on the first cleaning module, and a movable hole is provided on the second transmission member, and the mating post is received in the movable hole.

[0034] According to some alternative embodiments of the present utility model, the movement trajectory of the first cleaning module is a straight line, the movable hole extends along the length direction of the second transmission member, and the mating post is movable relative to the extending direction of the movable hole.

[0035] According to some alternative embodiments of the present utility model, the first cleaning module is a side brush module or a mopping module, and the first cleaning module is adjacent to the outer periphery of the device body.

[0036] According to some alternative embodiments of the present utility model, there are a plurality of first cleaning modules, and the plurality of first cleaning modules are arranged at intervals along the circumferential direction of the device body.

[0037] According to some alternative embodiments of the present utility model, it further includes a second cleaning module installed on the device body, the second cleaning module is a main cleaning module, and the second cleaning module is arranged adjacent to the center of the device body.

[0038] According to some alternative embodiments of the present utility model, the first cleaning module and the second cleaning module are arranged at intervals in the front-rear direction.

[0039] According to the cleaning system of the second aspect embodiment of the present utility model, it includes: a cleaning device, which is the cleaning device according to the first aspect embodiment of the present utility model; a cleaning base station, the cleaning device is adapted to cooperate with the cleaning base station, and the cleaning base station is used to clean and / or charge the cleaning device.

[0040] According to the cleaning system of the embodiments of the present utility model, by providing the above-mentioned cleaning device, the cleaning device is provided with a first driving assembly and the first driving assembly can drive the first cleaning module to slide between a retracted position and an extended position. The first cleaning module can expand the cleaning range by sliding to the extended position, so that it is convenient for the first cleaning module to clean areas such as the corner to reduce or avoid cleaning dead corners during the cleaning process of the cleaning device. In addition, the first cleaning module switches between the retracted position and the extended position by sliding, and the structure of the first driving assembly for driving the sliding of the first cleaning module is simple and has a small volume, and the space required for the movement of the first cleaning module is also small, which is beneficial to the layout optimization and miniaturization of the cleaning device.

[0041] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present utility model. Brief Description of the Drawings

[0042] The above and / or additional aspects and advantages of the present utility model will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0043] Figure 1 is a schematic diagram of a partial structure of a cleaning device according to some embodiments of the present utility model;

[0044] Figure 2 is Figure 1 a schematic diagram of the first cleaning module in

[0045] Figure 3 is Figure 1 a schematic diagram of another perspective of the first cleaning module in

[0046] Figure 4 is Figure 1 a schematic diagram of a partial structure of another perspective of the cleaning device in

[0047] Figure 5 is Figure 4 a cross-sectional view taken along line A-A in

[0048] Figure 6 is Figure 1 a schematic diagram of a partial structure of another perspective of the cleaning device in

[0049] Figure 7 is Figure 6 a cross-sectional view taken along line B-B when the first cleaning module is in the retracted position in

[0050] Figure 8 is Figure 6 a cross-sectional view taken along line B-B when the first cleaning module is in the extended position in

[0051] Figure 9 is Figure 1 a schematic diagram of the first driving component in

[0052] Figure 10 is Figure 9 a cross-sectional view taken along line C-C when the first transmission member is in the first position in

[0053] Figure 11 is Figure 9 a cross-sectional view taken along line C-C when the first transmission member is in the second position in

[0054] Figure 12 is Figure 1 a schematic diagram of a partial structure of the device body in

[0055] Figure 13 is a schematic diagram of another partial structure of the cleaning device when the first cleaning module is in the retracted position according to some embodiments of the present utility model;

[0056] Figure 14 is a schematic diagram of another partial structure of the cleaning device when the first cleaning module is in the extended position according to some embodiments of the present utility model.

[0057] Reference numerals:

[0058] 1. Device body; 11. First guiding structure; 111. Guiding rib; 112. First limiting wall; 1121. Limiting groove; 113. First guiding slot; 114. Supporting rib; 12. Avoidance opening; 13. Guiding chute; 131. Second limiting wall; 14. Motor mounting seat;

[0059] 2. First cleaning module; 21. Second guiding structure; 211. Second guiding slot; 212. Slide plate; 22. Second driving component; 23. Module housing; 231. Avoidance through hole; 232. Limiting convex ring; 24. Cleaning component; 25. Guiding column; 26. Fitting column;

[0060] 3. First driving component; 31. First transmission member; 311. First fitting end; 312. First fitting groove; 313. First fitting surface; 314. Second fitting surface; 32. Second transmission member; 321. Second fitting end; 322. Second fitting groove; 323. Third fitting surface; 324. Fourth fitting surface; 325. Moving hole; 326. Mounting hole; 33. Elastic member; 34. Motor housing; 35. First driving motor;

[0061] 4. Mounting shaft. Detailed implementation manners

[0062] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0063] Reference is made below Figures 1 - 14 to describe a cleaning device and a cleaning system according to an embodiment of the present utility model.

[0064] Referring Figures 1 - 14 to, a cleaning device according to an embodiment of the first aspect of the present utility model, the cleaning device includes: a device body 1, a first cleaning module 2, and a first driving component 3. The first cleaning module 2 and the first driving component 3 are provided on the device body 1, and the first cleaning module 2 is used to contact the working surface to clean the working surface.

[0065] The first cleaning module 2 has a retracted position and an extended position. The first cleaning module 2 is slidable relative to the device body 1 between the retracted position and the extended position. The extended position is farther from the center of the device body 1 than the retracted position, and the cleaning range of the first cleaning module 2 in the extended position is farther from the center, thereby facilitating the expansion of the cleaning range of the first cleaning module 2.

[0066] During the process of the first cleaning module 2 moving from the retracted position to the extended position, the first cleaning module 2 slides in a direction away from the center of the device body 1; during the process of the first cleaning module 2 moving from the extended position to the retracted position, the first cleaning module 2 slides in a direction close to the center of the device body 1.

[0067] If the first cleaning module 2 switches between the retracted position and the extended position by swinging, the spatial area swept by the first cleaning module 2 during the swinging process is relatively large, then the space required for the movement of the first cleaning module 2 is relatively large, which is not conducive to the layout of the cleaning device. However, if the first cleaning module 2 moves between the retracted position and the extended position by sliding, it is conducive to reducing the space required for the movement of the first cleaning module 2.

[0068] The first driving component 3 includes a first driving motor 35. The first driving component 3 is used to drive the first cleaning module 2 to slide between the retracted position and the extended position. The first cleaning module 2 moves between the retracted position and the extended position by sliding. In this way, the structure of the first driving component 3 for driving the first cleaning module 2 to slide is simple and has a small volume, and the required moving space of the first cleaning module 2 is also small, thereby facilitating the layout optimization and miniaturization of the cleaning device.

[0069] Optionally, a motor mounting seat 14 is formed on the device body 1, and the first driving motor 35 is mounted on the motor mounting seat 14.

[0070] For example, the first driving motor 35 rotates in the forward direction, and the first driving motor 35 drives the first cleaning module 2 to slide from the retracted position to the extended position; for example, the first driving motor 35 rotates in the reverse direction, and the first driving motor 35 drives the first cleaning module 2 to slide from the extended position to the retracted position.

[0071] For example, the cleaning device is a floor sweeping robot, and the first cleaning module 2 is a side brush module. When the cleaning device needs to clean a corner, the first driving assembly 3 drives the first cleaning module 2 to slide from the retracted position to the extended position so that the first cleaning module 2 can clean the corner area; after the first cleaning module 2 finishes cleaning the corner area, the first driving assembly 3 drives the first cleaning module 2 to slide from the extended position to the retracted position.

[0072] According to the cleaning device of the embodiment of the present invention, by providing the first driving assembly 3 and enabling the first driving assembly 3 to drive the first cleaning module 2 to slide between the retracted position and the extended position, the first cleaning module 2 can expand the cleaning range by sliding to the extended position, which is convenient for the first cleaning module 2 to clean areas such as corners to reduce or avoid cleaning dead corners during the cleaning process of the cleaning device. In addition, the first cleaning module 2 switches between the retracted position and the extended position by sliding, and the structure of the first driving assembly 3 for driving the sliding of the first cleaning module 2 is simple and small in size, and the space required for the movement of the first cleaning module 2 is also small, which is conducive to the layout optimization and miniaturization of the cleaning device.

[0073] Reference Figures 2 - 3 、 Figure 12 According to some embodiments of the present invention, a first guiding structure 11 is provided on the device body 1, and a second guiding structure 21 is provided on the first cleaning module 2. Through the cooperation of the first guiding structure 11 and the second guiding structure 21, the first cleaning module 2 is guided to slide between the retracted position and the extended position. By respectively providing the mutually cooperating first guiding structure 11 and the second guiding structure 21 on the device body 1 and the first cleaning module 2, the cooperation relationship between the first guiding structure 11 and the second guiding structure 21 provides a guiding effect on the first cleaning module 2 so that the first cleaning module 2 can stably slide relative to the device body 1 between the retracted position and the extended position under this guiding effect.

[0074] Optionally, the first guiding structure 11 is integrally formed with the device body 1; optionally, the first guiding structure 11 is detachably installed on the device body 1.

[0075] Reference Figures 2 - 3 、 Figure 12, according to some alternative embodiments of the present utility model, an avoidance opening 12 for avoiding the first cleaning module 2 is formed on the device body 1, and the avoidance opening 12 penetrates through the outer peripheral wall of the device body 1. By providing the avoidance opening 12 that penetrates through the outer peripheral wall of the device body 1, it is possible to prevent the device body 1 from interfering with the sliding of the first cleaning module 2 relative to the device body 1 between the retracted position and the extended position.

[0076] The side wall of the avoidance opening 12 forms a first guiding slot 113, the first guiding structure 11 includes the first guiding slot 113, the first guiding slot 113 extends along the sliding direction of the first cleaning module 2, the second guiding structure 21 includes a sliding plate 212 formed on the first cleaning module 2, and the edge portion of the sliding plate 212 is slidably received in the first guiding slot 113. By providing the first guiding slot 113 and the sliding plate 212 and making the edge portion of the sliding plate 212 slidably received in the first guiding slot 113, the sliding cooperation between the edge portion of the sliding plate 212 and the first guiding slot 113 provides a guiding effect for the first cleaning module 2, so that the first cleaning module 2 can stably slide between the retracted position and the extended position along its sliding direction.

[0077] Optionally, the thickness of the edge portion of the sliding plate 212 is greater than that of other parts of the sliding plate 212; optionally, the edge portion of the sliding plate 212 forms an arc surface; optionally, the edge portion of the sliding plate 212 has a convex structure for cooperating with the first guiding slot 113; this is beneficial to reducing the friction between the sliding plate 212 and the first guiding slot 113, facilitating the smooth sliding of the sliding plate 212, and thus facilitating the smooth sliding of the first cleaning module 2.

[0078] The first guiding structure 11 further includes a guiding rib 111 and a supporting rib 114, the guiding rib 111 is located above the first guiding slot, and the guiding rib 111 and the supporting rib 114 define the first guiding slot 113. The guiding rib 111 and the supporting rib 114 limit the sliding plate received in the first guiding slot 113, and thus form a limiting effect on the first cleaning module in the up and down directions through the sliding plate 212, which is beneficial to the stable sliding of the first cleaning module 2 between the retracted position and the extended position.

[0079] The second guiding structure 21 further includes a second guiding slot 211 formed on the first cleaning module 2, the sliding plate 212 and the first cleaning module 2 define the second guiding slot 211, the second guiding slot 211 extends along the sliding direction of the first cleaning module 2, and the guiding ribs 111 are respectively slidably received in the second guiding slot 211. For example, the second guiding slots 211 are two spaced and oppositely arranged along the width direction of the avoidance opening 12, and the guiding ribs 111 are respectively slidably received in the two second guiding slots 211.

[0080] Wherein, the relative slidability between the guiding rib 111 and the second guiding slot 211 means that the guiding rib 111 and the second guiding slot 211 can slide relative to each other.

[0081] By slidably receiving the guiding rib 111 in the two second guiding slots 211, the tight fit between the guiding rib 111 and the second guiding slot 211 is beneficial to further improve the guiding accuracy of the first cleaning module 2 during the sliding process, avoid unnecessary offsets, and improve the cleaning stability.

[0082] Reference Figures 2 - 3 , according to some alternative embodiments of the present invention, the second guiding structure 21 includes a sliding plate 212, and the second guiding slots 211 are defined between the opposite ends of the sliding plate 212 and the first cleaning module 2 respectively. By making the second guiding structure 21 include the sliding plate 212, it is beneficial to improve the rigidity and structural strength of the second guiding structure 21, etc., so as to reduce or avoid defects such as deformation or fracture of the second guiding structure 21 during the use of the cleaning device, which is beneficial to improve the working stability and service life of the cleaning device; in addition, the second guiding slots 211 are defined by making full use of the spaced space between the sliding plate 212 and the first cleaning module 2.

[0083] Reference Figure 12 , according to some alternative embodiments of the present invention, the first guiding structure 11 further includes a guiding rib 111 and a supporting rib 114. The guiding rib 111 is located above the first guiding slot, and the guiding rib 111 and the supporting rib 114 define the first guiding slot 113. The first guiding structure 11 further includes a first limiting wall 112. Part of the side wall of the avoidance opening 12 constitutes the first limiting wall 112. The first limiting wall 112 is connected between the two guiding ribs 111. The first limiting wall 112 is connected to the end of the guiding rib 111 adjacent to the center of the device body 1. The layout between the first limiting wall 112 and the two guiding ribs 111 is reasonable. When the first cleaning module 2 is in the retracted position, the first cleaning module 2 abuts against the first limiting wall 112 to limit the first cleaning module 2 from continuing to slide in the direction closer to the center of the device body 1, so that the first cleaning module 2 is stably in the retracted position. By making the first guiding structure 11 include the first limiting wall 112 and connecting the first limiting wall 112 to the end of the guiding rib 111 adjacent to the center of the device body 1, the first limiting wall 112 provides a limiting function for the first cleaning module 2. The first limiting wall 112 can provide a clear position reference, so that the first cleaning module 2 will not continue to slide when in the retracted position, stop stably in the retracted position, and can also avoid equipment damage caused by excessive sliding.

[0084] Optionally, a limiting groove 1121 is further formed on the first limiting wall 112, and a limiting bump is formed on the first cleaning module 2. When the first cleaning module 2 is in the retracted position, the first cleaning module 2 abuts against the first limiting wall 112, and the limiting bump is correspondingly received in the limiting groove 1121.

[0085] Reference Figures 4 - 5 , according to some optional embodiments of the present invention, the first cleaning module 2 includes a second driving assembly 22, a module housing 23, and a cleaning component 24. The second driving assembly 22 is disposed inside the module housing 23, and the module housing 23 can provide a protective effect on the second driving assembly 22. The cleaning component 24 is located outside the module housing 23 and below the module housing 23. The second driving assembly 22 extends downward out of the module housing 23 and is connected to the cleaning component 24 to drive the cleaning component 24 to move. For example, the second driving assembly 22 is used to drive the cleaning component 24 to rotate to clean the working surface.

[0086] An avoidance through hole 231 for avoiding the second driving assembly 22 is formed on the bottom surface of the module housing 23, so that the second driving assembly 22 can extend out and form a transmission connection with the cleaning component 24.

[0087] The second guiding structure 21 is disposed on the bottom surface of the module housing 23. A limiting convex ring 232 is further formed on the bottom surface of the module housing 23. The limiting convex ring 232 is disposed around the avoidance through hole 231, and the limiting convex ring 232 can provide a protective effect on the structure extending through the avoidance through hole 231. Wherein, when the first cleaning module 2 is in the retracted position, the limiting convex ring 232 abuts against the first limiting wall 112, and the first limiting wall 112 forms a limiting effect on the first cleaning module 2 through the limiting convex ring 232 to limit the first cleaning module 2 from continuing to slide in the direction closer to the center of the device body 1, so that the first cleaning module 2 is stably in the retracted position.

[0088] Optionally, a limiting groove 1121 is further formed on the first limiting wall 112, and a limiting bump is formed on the outer peripheral side of the limiting convex ring 232. When the first cleaning module 2 is in the retracted position, the first cleaning module 2 abuts against the first limiting wall 112, and the limiting bump is correspondingly received in the limiting groove 1121.

[0089] Optionally, the sliding plate 212 of the second guiding structure 21 is connected to the outer peripheral side of the limiting convex ring 232, so that the connection structure between the sliding plate 212 and the module housing 23 does not need to be separately provided, and at the same time, it does not prevent the second guiding slot 211 from being defined between the sliding plate 212 and the module housing 23.

[0090] By providing a limiting protrusion 232 on the module shell 23 of the first cleaning module 2, and making the limiting protrusion 232 abut against the first limiting wall 112 when the first cleaning module 2 is in the retracted position, the limiting protrusion 232 can protect the structure extending through the avoidance through hole 231 on the module shell 23, and at the same time, can also make the first cleaning module 2 stably stop in the retracted position by abutting with the first limiting wall 112.

[0091] Optionally, the second drive assembly 22 includes a second drive motor, a transmission shaft and a gear transmission mechanism. The second drive motor and the transmission shaft are connected via the gear transmission mechanism. The transmission shaft is passed through a limiting convex ring 232 at the bottom and extends out of the module housing 23 to be connected to the cleaning component 24. The limiting convex ring 232 also protects the lower end of the transmission shaft.

[0092] Optionally, the cleaning component 24 includes a cleaning shell and a cleaning brush disposed in the cleaning shell, and the cleaning brush can contact the working surface to clean the working surface.

[0093] refer to Figure 12 According to some optional embodiments of the utility model, a guide groove 13 is also provided on the device body 1. In the width direction of the avoidance opening 12, the guide groove 13 is located on the side of the first guide slot 113 away from the avoidance opening 12. The first cleaning module 2 is provided with a guide column 25, which can be slidably accommodated in the guide groove 13.

[0094] Optionally, the guide slot 13 is provided on the first guide structure 11. Optionally, there are two guide slots 13, and the two guide slots 13 are respectively located on one side of the two second guide slots 211 away from the avoidance opening 12.

[0095] By providing a guide slot 13 on the device body 1 and providing a guide post 25 slidably accommodated in the guide slot 13 on the first cleaning module 2, the cooperation between the guide post 25 and the guide slot 13 can also provide a guiding effect on the first cleaning module 2, so that the first cleaning module 2 can stably slide between the retracted position and the extended position relative to the device body 1. The guiding effect formed by the guide slot 13 and the guide post 25 cooperates with the guiding effect formed by the second guide slot 211 and the guide rib 111, which is conducive to further improving the guiding accuracy. In addition, the guide post 25 is accommodated in the guide slot 13, which can effectively prevent the first cleaning module 2 from shaking or tilting relative to the device body 1 during the sliding process, which is conducive to the smooth sliding of the first cleaning module 2, thereby facilitating the stable operation of the cleaning device.

[0096] refer to Figure 12, according to some alternative embodiments of the present utility model, one end of the guiding chute 13 away from the center of the device body 1 has a second limiting wall 131. When the first cleaning module 2 is in the extended position, the guiding post 25 abuts against the second limiting wall 131, and the second limiting wall 131 forms a limiting effect on the first cleaning module 2 through the guiding post 25 to limit the first cleaning module 2 from continuing to slide in the direction away from the center of the device body 1, so that the first cleaning module 2 can stably stop at the extended position.

[0097] The presence of the first limiting wall 112 and the second limiting wall 131 reduces the need for complex sensors in the cleaning device, which is beneficial to simplifying the logic and hardware configuration of the control system of the cleaning device.

[0098] Reference Figures 4 - 5 , according to some alternative embodiments of the present utility model, the first cleaning module 2 includes a second driving assembly 22, a module housing 23, and a cleaning component 24. The second driving assembly 22 is disposed inside the module housing 23, and the module housing 23 can provide protection for the second driving assembly 22. The cleaning component 24 is located outside and below the module housing 23. The second driving assembly 22 extends downward out of the module housing 23 and is connected to the cleaning component 24 to drive the cleaning component 24 to move. For example, the second driving assembly 22 is used to drive the cleaning component 24 to rotate to clean the working surface.

[0099] An avoidance through hole 231 for avoiding the second driving assembly 22 is formed on the bottom surface of the module housing 23, so that the second driving assembly 22 can extend out and form a transmission connection with the cleaning component 24, so that the second driving assembly 22 can drive the cleaning component 24 to rotate to clean the working surface.

[0100] According to some embodiments of the present utility model, the first driving assembly 3 includes an elastic member 33. One end of the elastic member 33 is connected to the motor housing 34 of the first driving motor 35 or to the device body 1, and the other end of the elastic member 33 is in transmission connection with the first cleaning module 2. The elastic member 33 is used to drive the first cleaning module 2 to move from the retracted position to the extended position. Optionally, the other end of the elastic member 33 is directly connected to the first cleaning module 2 to drive the first cleaning module 2 to move from the retracted position to the extended position. Optionally, the other end of the elastic member 33 is indirectly connected to the first cleaning module 2 to transmit the driving force to the first cleaning module 2 to drive the first cleaning module 2 to move from the retracted position to the extended position.

[0101] By making the first driving assembly 3 include the elastic member 33, the elastic acting force of the elastic member 33 is used as the driving force to drive the first cleaning module 2 to slide between the retracted position and the extended position. The elastic member 33 is used as a driving structure, which has a simple structure and is convenient to set.

[0102] For example, the first cleaning module 2 has an active retraction mode and a passive retraction mode. In the active retraction mode, the first drive motor 35 is used to drive the first cleaning module 2 to move from the extended position to the retracted position. In the passive retraction mode, when the first drive motor 35 stops working, the first cleaning module 2 moves from the extended position towards the retracted position under the action of an obstacle outside the cleaning device, overcoming the acting force of the elastic member. By providing the elastic member 33, when the cleaning device hits an external obstacle, the first cleaning module 2 can move from the extended position towards the retracted position in the passive retraction mode, overcoming the elastic force of the elastic member 33, which can reduce or avoid damage or jamming of the cleaning device. In addition, when the cleaning device bypasses the obstacle, under the restoring action of the elastic member 33, the first cleaning module 2 can automatically return to the extended position so that the first cleaning module 2 can continue cleaning. The provision of the elastic member 33 can also reduce or avoid changes in the body state or body position of the cleaning device caused by collisions with obstacles.

[0103] Reference Figures 6 - 11 , according to some embodiments of the present invention, the first drive assembly 3 includes a first transmission member 31 and a second transmission member 32. The first transmission member 31 is connected to the motor shaft of the first drive motor 35, and the motor shaft drives the first transmission member 31 to rotate. The second transmission member 32 is drivably connected between the first transmission member 31 and the first cleaning module 2, and the second transmission member 32 can drive the first cleaning module 2 to slide between the retracted position and the extended position. The first transmission member 31 is rotatable about the motor shaft between a first position and a second position. When the first transmission member 31 is in the first position, the first cleaning module 2 is in the retracted position, and when the first transmission member 31 is in the second position, the first cleaning module 2 is in the extended position.

[0104] For example, the cleaning device is a floor sweeping robot, and the first cleaning module 2 is a side brush module. When the cleaning device needs to clean a corner, the first transmission member 31 rotates from the first position to the second position so that the second transmission member 32 drives the first cleaning module 2 to slide from the retracted position to the extended position for the first cleaning module 2 to clean the corner area; after the first cleaning module 2 finishes cleaning the corner area, the first transmission member 31 rotates from the second position to the first position so that the second transmission member 32 drives the first cleaning module 2 to slide from the extended position to the retracted position.

[0105] By controlling the rotation position of the first transmission member 31 through the first drive motor 35, precise control of the extension and retraction actions of the first cleaning module 2 can be achieved, ensuring the accuracy and consistency of the cleaning operation; and the provision of the first transmission member 31 and the second transmission member 32 can efficiently convert the rotational motion of the motor into the sliding of the first cleaning module 2.

[0106] Reference Figures 6 - 11, according to some alternative embodiments of the present utility model, the first transmission member 31 is a swing block, the second transmission member 32 is a swing rod, one end of the second transmission member 32 is in abutting cooperation with the first transmission member 31, and the other end of the second transmission member 32 is connected to the first cleaning module 2.

[0107] The first driving assembly 3 includes an elastic member 33. One end of the elastic member 33 is connected to the motor housing 34 of the first driving motor 35, and the other end of the elastic member 33 is connected to the second transmission member 32. The elastic member 33 is used to drive the first cleaning module 2 to move from the retracted position to the extended position. By providing the elastic member 33, the elastic member 33 provides a driving force so as to be able to drive the first cleaning module 2 to slide from the retracted position to the extended position, so that the elastic member 33 can cooperate with the first driving motor 35 to control the sliding of the first cleaning module 2 between the retracted position and the extended position, so that the cleaning device can achieve the function of expanding the cleaning range.

[0108] Optionally, when the first driving motor 35 rotates in the forward direction, the first driving motor 35 drives the first transmission member 31 to rotate from the first position to the second position. During the process of the first transmission member 31 rotating from the first position to the second position, the first transmission member 31 gradually cancels the driving force on itself, and the second transmission member 32 rotates under the driving action of the elastic force of the elastic member 33 and drives the first cleaning module 2 to slide from the retracted position to the extended position.

[0109] Optionally, when the first driving motor 35 rotates in the reverse direction, the first driving motor 35 drives the first transmission member 31 to rotate from the second position to the first position. During the process of the first transmission member 31 moving from the second position to the first position, the first transmission member 31 transmits a force to the second transmission member 32, and the second transmission member 32 rotates under the driving action of the driving force of the first driving motor 35 and drives the first cleaning module 2 to slide from the extended position to the retracted position.

[0110] Among them, the first cleaning module 2 has an active retraction mode and a passive retraction mode. In the active retraction mode, the first driving motor 35 is used to drive the first cleaning module 2 to move from the extended position to the retracted position. In the passive retraction mode, when the first driving motor 35 stops working, the first cleaning module 2 moves from the extended position towards the direction close to the retracted position under the action of an obstacle outside the cleaning device. By providing the elastic member 33, when the cleaning device hits an external obstacle, the first cleaning module 2 can move from the extended position towards the direction close to the retracted position against the elastic force of the elastic member 33 in the passive retraction mode, which can reduce or avoid damage or jamming of the cleaning device. In addition, when the cleaning device bypasses the obstacle, under the restoring action of the elastic member 33, the first cleaning module 2 can automatically return to the extended position so that the first cleaning module 2 can continue to clean. The setting of the elastic member 33 can also reduce or avoid changes in the body state or body position of the cleaning device caused by the collision with the obstacle.

[0111] Reference Figure 9 , according to some optional embodiments of the present invention, the elastic member 33 is a torsion spring or a tension spring. If the elastic member 33 is a torsion spring, one end of the torsion spring is connected to the motor housing 34, and the other end of the torsion spring is connected to the second transmission member 32. When the first cleaning module 2 is in the retracted position, the torsion spring is in a twisted state and stores energy. The motor housing 34 is fixedly arranged, so that the other end of the torsion spring applies an elastic torsional force to the second transmission member 32, and the other end of the second transmission member 32 is connected to the first cleaning module 2, so that the torsion spring can drive the first cleaning module 2 to move; if the elastic member 33 is a tension spring, one end of the tension spring is connected to the motor housing 34, and the other end of the tension spring is connected to the second transmission member 32. When the first cleaning module 2 is in the retracted position, the tension spring is in a stretched state and stores energy. The motor housing 34 is fixedly arranged, so that the other end of the tension spring applies an elastic restoring force to the second transmission member 32, and the other end of the second transmission member 32 is connected to the first cleaning module 2, so that the tension spring can drive the first cleaning module 2 to move.

[0112] Reference Figures 6 - 11 , according to some optional embodiments of the present invention, an installation shaft 4 is provided on the motor housing 34 of the first driving motor 35, and the installation shaft 4 is in the same extending direction as the motor shaft. An installation hole 326 is provided on the second transmission member 32, and the installation shaft 4 passes through the installation hole 326 and the second transmission member can rotate around the installation shaft 4.

[0113] By using the cooperation between the mounting shaft 4 provided on the motor housing 34 of the first drive motor 35 and the mounting hole 326 on the second transmission member 32, the mounting shaft 4 can provide a rotation fulcrum for the second transmission member 32, so that the second transmission member 32 can stably rotate around this fulcrum under the driving action of the first drive motor 35 or the elastic member 33, thereby enabling the second transmission member 32 to stably drive the first cleaning module 2 to slide between the retracted position and the extended position. By making the mounting shaft 4 consistent with the extension direction of the motor shaft, it is ensured that the rotation of the second transmission member 32 is coordinated with the rotation direction of the first transmission member 31, which helps to achieve precise power transmission. By passing the mounting shaft 4 through the mounting hole 326 of the second transmission member 32, it is beneficial to integrate the second transmission member 32 and the motor into a module, facilitating modular installation, and thus facilitating the production and maintenance of the cleaning device.

[0114] Reference Figures 6 - 11 , according to some alternative embodiments of the present invention, the elastic member 33 is a torsion spring, and the torsion spring is sleeved on the mounting shaft 4 and arranged axially along the mounting shaft 4 with the mounting hole 326. By making the elastic member 33 a torsion spring and sleeving it on the mounting shaft 4, the torsion spring and the second transmission member 32 are coaxially arranged, with a compact structure, and the driving force provided by the other end of the torsion spring to the second transmission member 32 can stably and efficiently drive the second transmission member 32 to rotate to drive the first cleaning module 2 to slide.

[0115] Reference Figures 6 - 11 , according to some alternative embodiments of the present invention, there is a transmission contact point between the second transmission member and the first transmission member, and the connection line between the transmission contact point and the axis of the motor shaft is the first connection line, and the acting force between the second transmission member and the first transmission member is the first acting force.

[0116] When the first cleaning module 2 is in the retracted position, the acting force between the second transmission member 32 and the first transmission member 31 passes through the motor shaft, so that when the first cleaning module 2 is in the retracted position, there will be no torque that causes the first transmission member 31 to rotate around the motor shaft, and the first transmission member 31 will not rotate towards the second position. In this way, after the first drive motor 35 stops working, neither the first transmission member 31 nor the second transmission member 32 will move due to the elastic force of the elastic member 33, so that the first cleaning module 2 can be stably in the retracted position for the cleaning device to work stably.

[0117] Alternatively, at the retracted position, the first acting force is spaced apart from the motor shaft, and the angle between the first acting force and the first connecting line is less than 45° or greater than 135°. In this way, when the first cleaning module 2 is at the retracted position, the torque generated by the acting force of the second transmission member 32 on the first transmission member 31 to make the first transmission member 31 rotate around the motor shaft is small and insufficient to cause the first transmission member 31 to rotate towards the second position. After the first driving motor 35 stops working, neither the first transmission member 31 nor the second transmission member 32 will move due to the elastic force of the elastic member 33, so that the first cleaning module 2 can be stably in the retracted position for the cleaning device to work stably.

[0118] Optionally, when the first cleaning module 2 is in the extended position, the second transmission member 32 is disengaged from the first transmission member 31, and there is no mutual acting force between the first transmission member 31 and the second transmission member 32.

[0119] Optionally, when the first cleaning module 2 is in the extended position, the second transmission member 32 is in contact with the first transmission member 31 and there is a mutual acting force, and the acting force between the first transmission member 31 and the second transmission member 32 is spaced apart from the motor shaft. Optionally, one end of the first transmission member 31 and the second transmission member 32 is always in contact.

[0120] Reference Figures 9 - 11 According to some optional embodiments of the present invention, a first mating structure and a second mating structure are formed on the first transmission member 31, and a third mating structure and a fourth mating structure are formed on the second transmission member 32; wherein, when the first cleaning module 2 is in the retracted position, the first mating structure cooperates with the third mating structure, and when the first cleaning module 2 is in the extended position, the second mating structure cooperates with the fourth mating structure. Such a setting enables the first transmission member 31 and the second transmission member 32 to achieve precise docking through the cooperation of the first mating structure and the third mating structure or the cooperation of the second mating structure and the fourth mating structure respectively when the first cleaning module 2 is in the retracted position or the extended position, so as to improve the connection stability between the first transmission member 31 and the second transmission member 32, thereby facilitating ensuring the stability of the first cleaning module 2 in the retracted position and the extended position.

[0121] Reference Figures 9 - 11 According to some optional embodiments of the present invention, the first mating structure is a first mating end 311 formed on the first transmission member 31, the second mating structure is a first mating groove 312 formed on the first transmission member 31, the third mating structure is a second mating end 321 formed on the second transmission member 32, and the fourth mating structure is a second mating groove 322 formed on the second transmission member 32; wherein, at the retracted position, the first mating end 311 is received in the second mating groove 322, and at the extended position, the second mating end 321 is received in the first mating groove 312.

[0122] Optionally, at the extended position, the second mating end 321 can also be disengaged from the first mating groove 312.

[0123] When the first cleaning module 2 is in the retracted position, the first mating end 311 on the first transmission member 31 is received in the second mating groove 322 on the second transmission member 32. This mating structure can ensure a stable connection between the first transmission member 31 and the second transmission member 32 when in the retracted position, enabling the first cleaning module 2 to be stably held in the retracted position. When the first cleaning module 2 is in the extended position, the second mating end 321 on the second transmission member 32 is received in the first mating groove 312 on the first transmission member 31. This mating structure can ensure a stable connection between the first transmission member 31 and the second transmission member 32 when in the extended position, contributing to the stability of the first cleaning module 2 in the extended position. Moreover, the mating structure of the mating end and the mating groove is simple in structure and convenient to assemble.

[0124] Reference Figures 9 - 11 , according to some optional embodiments of the present utility model, the inner wall surface of the first mating groove 312 includes a first mating surface 313, the first mating end 311 has a second mating surface 314, the inner wall surface of the second mating groove 322 includes a third mating surface 323, the second mating end 321 has a fourth mating surface 324, and at least a part of the first mating surface 313, the second mating surface 314, the third mating surface 323, and the fourth mating surface 324 are arc-shaped surfaces; wherein, when the first cleaning module 2 is in the retracted position, the second mating surface 314 is in contact with the third mating surface 323, and when the first cleaning module 2 is in the extended position, the first mating surface 313 is in contact with the fourth mating surface 324.

[0125] Among them, at least a part of the first mating surface 313, the second mating surface 314, the third mating surface 323, and the fourth mating surface 324 being arc-shaped surfaces can include the following several situations: for example, a part of the first mating surface 313, the second mating surface 314, the third mating surface 323, and the fourth mating surface 324 are formed as arc-shaped surfaces; for another example, the first mating surface 313, the second mating surface 314, the third mating surface 323, and the fourth mating surface 324 are all formed as arc-shaped surfaces as a whole.

[0126] By making at least a part of the first mating surface 313, the second mating surface 314, the third mating surface 323, and the fourth mating surface 324 be arc-shaped surfaces, the design of the arc-shaped surface can improve the connection stability between the first transmission member 31 and the second transmission member 32 during the transmission process and reduce or avoid shaking during the transmission process, enhancing the mechanical stability of the transmission system, and the design of the arc-shaped surface can better adapt to the change of the relative position between the first transmission member 31 and the second transmission member 32 during the transmission process.

[0127] Moreover, when the first cleaning module 2 is in the extended position and in the passive retraction mode, the arc-shaped surface design enables the second mating end 321 to rotate smoothly relative to the first mating groove 312, and a relative displacement occurs between the first mating surface 313 and the fourth mating surface 324, so as to prevent the first transmission member 31 from interfering with the sliding of the first cleaning module 2 between the retracted position and the extended position.

[0128] In addition, the arc-shaped surface design enables a relatively large contact area between the contact positions of the first transmission member 31 and the second transmission member 32, thereby dispersing the stress at the contact points, reducing the concentrated wear at the contact points, and extending the service life of the device.

[0129] Reference Figures 9 - 11 , according to some alternative embodiments of the present invention, a mating post 26 is provided on the first cleaning module 2, and a movable hole 325 is provided on the second transmission member 32, and the mating post 26 is received in the movable hole 325. By providing the mating post 26 on the first cleaning module 2 and the movable hole 325 for receiving the mating post 26 on the second transmission member 32, an effective transmission relationship can be formed between the first cleaning module 2 and the second transmission member 32 through the cooperation between the mating post 26 and the movable hole 325, and the movable hole 325 allows the mating post 26 to be movable relative to the movable hole 325, so that the situation of jamming between the first cleaning module 2 and the second transmission member 32 can be avoided during the process of the second transmission member 32 converting rotation into the sliding of the first cleaning module 2.

[0130] Reference Figures 9 - 11 , optionally, the movable hole 325 is formed as an oblong hole, and the mating post 26 can rotate and slide relative to the oblong hole.

[0131] Reference Figures 9 - 11 , according to some alternative embodiments of the present invention, the movement track of the first cleaning module 2 is a straight line, the movable hole 325 extends along the length direction of the second transmission member 32, and the mating post 26 is movable relative to the extending direction of the movable hole 325. By making the movable hole 325 extend along the length direction of the second transmission member 32 and making the mating post 26 movable relative to the extending direction of the movable hole 325, the mating post 26 can slide in the movable hole 325 during the process of the second transmission member 32 driving the first cleaning module 2 to slide.

[0132] Optionally, the sliding track of the first cleaning module 2 is arc-shaped, the movable hole 325 is formed as a circular hole, and the mating post 26 is received in the movable hole 325 and can rotate relative to the movable hole 325.

[0133] Reference Figures 13 - 14, according to some alternative embodiments of the present utility model, the first cleaning module is a side brush module or a mopping module, and the first cleaning module 2 is adjacent to the outer periphery of the device body 1. Optionally, the first cleaning module 2 is a side brush module, which enables the first cleaning module 2 to effectively clean narrow areas around walls, furniture feet or other obstacles. By making the first cleaning module 2 adjacent to the outer periphery of the device body 1, it is beneficial to expand the cleaning range of the cleaning device.

[0134] Reference Figures 13 - 14 , according to some alternative embodiments of the present utility model, there are a plurality of first cleaning modules 2, and the plurality of first cleaning modules 2 are arranged at intervals along the circumferential direction of the device body 1. By making there be a plurality of first cleaning modules 2 and arranging the plurality of first cleaning modules 2 at intervals along the circumferential direction of the device body, it is beneficial to further increase the cleaning area of the first cleaning module 2, thereby further improving the cleaning effect of the cleaning device.

[0135] According to some alternative embodiments of the present utility model, it further includes a second cleaning module installed on the device body 1. The second cleaning module is the main cleaning module, and the second cleaning module is arranged adjacent to the center of the device body 1. For example, the second cleaning module is a roller brush module. By making the cleaning device further include a main cleaning module arranged adjacent to the center of the device body 1, the cleaning area covered by the main cleaning module is relatively large, which is beneficial to the cleaning device for efficiently cleaning the working surface.

[0136] According to some alternative embodiments of the present utility model, the first cleaning module 2 and the second cleaning module are arranged at intervals in the front-rear direction. By arranging the first cleaning module 2 and the first cleaning module 2 at intervals in the front-rear direction, it can avoid mutual interference between the first cleaning module 2 and the first cleaning module 2 when cleaning the working surface, and at the same time is beneficial to achieving cleaning coverage of different areas of the working surface.

[0137] According to the cleaning system of the second aspect embodiment of the present utility model, the cleaning system includes: the above-mentioned cleaning device and a cleaning base station. The cleaning device is adapted to cooperate with the cleaning base station. The cleaning base station is used for cleaning the cleaning device and can also be used for charging the cleaning device.

[0138] According to the cleaning system of the embodiments of the present utility model, by providing the above-mentioned cleaning device, the cleaning device is provided with a first driving assembly 3 and the first driving assembly 3 can drive the first cleaning module 2 to slide between a retracted position and an extended position. The first cleaning module 2 can expand the cleaning range by sliding to the extended position, so that it is convenient for the first cleaning module 2 to clean areas such as the corner to reduce or avoid cleaning dead corners during the cleaning process of the cleaning device. In addition, the first cleaning module 2 switches between the retracted position and the extended position by sliding. The structure of the first driving assembly 3 for driving the sliding of the first cleaning module 2 is simple and has a small volume, and the space required for the movement of the first cleaning module 2 is also small, which is conducive to the layout optimization and miniaturization of the cleaning device.

[0139] Next, the cleaning device of some embodiments of the present utility model will be described with reference to Figures 1 - 14 the drawings.

[0140] Referring to Figures 1 - 14 FIG. 1, in this embodiment, the cleaning device includes: a device body 1, a first cleaning module 2, a second cleaning module, and a first driving assembly 3. The first cleaning module 2, the second cleaning module, and the first driving assembly 3 are arranged on the device body 1, and the first cleaning module 2 and the second cleaning module are used to contact the working surface to clean the working surface. The first cleaning module 2 has a retracted position and an extended position, and the first cleaning module 2 is slidable relative to the device body 1 between the retracted position and the extended position. The first driving assembly 3 is used to drive the first cleaning module 2 to slide between the retracted position and the extended position.

[0141] Among them, the second cleaning module is the main cleaning module. For example, the second cleaning module is a roller brush module; the first cleaning module 2 is an auxiliary cleaning module. For example, the first cleaning module 2 is a side brush module. The first cleaning module 2 and the second cleaning module are arranged at intervals in the front-rear direction. The second cleaning module is arranged adjacent to the center of the device body 1, and the first cleaning module 2 is arranged adjacent to the outer periphery of the device body 1. There are a plurality of first cleaning modules 2, and the plurality of first cleaning modules 2 are arranged at intervals along the circumferential direction of the device body 1.

[0142] The extended position is farther from the center of the device body 1 than the retracted position. During the process of the first cleaning module 2 moving from the retracted position to the extended position, the first cleaning module 2 slides in a direction away from the center of the device body 1; during the process of the first cleaning module 2 moving from the extended position to the retracted position, the first cleaning module 2 slides in a direction close to the center of the device body 1.

[0143] An avoidance opening 12 for avoiding the first cleaning module 2 is formed on the device body 1. The avoidance opening 12 penetrates the outer peripheral wall of the device body 1. A first guiding slot 113 is formed on the side wall of the avoidance opening 12. The first guiding structure 11 includes the first guiding slot 113. The first guiding slot 113 extends along the sliding direction of the first cleaning module 2. The second guiding structure 21 includes a sliding plate 212 formed on the first cleaning module 2. The edge portion of the sliding plate 212 is slidably received in the first guiding slot 113 relatively.

[0144] The first guiding structure 11 further includes a guiding rib 111 and a supporting rib 114. The guiding rib 111 is located above the first guiding slot. The guiding rib 111 and the supporting rib 114 define the first guiding slot 113. The guiding rib 111 and the supporting rib 114 limit the sliding plate received in the first guiding slot 113, so as to limit the first cleaning module in the up-and-down direction through the sliding plate 212, which is beneficial to the stable sliding of the first cleaning module 2 between the retracted position and the extended position.

[0145] The second guiding structure 21 further includes a second guiding slot 211 formed on the first cleaning module 2. The second guiding slot 211 is defined between the sliding plate 212 and the first cleaning module 2. The second guiding slot 211 extends along the sliding direction of the first cleaning module 2. The guiding rib 111 is slidably received in the second guiding slot 211 relatively. The first guiding structure 11 is integrally formed with the device body 1.

[0146] The first guiding structure 11 further includes a first limiting wall 112. A part of the side wall of the avoidance opening 12 constitutes the first limiting wall 112. The first limiting wall 112 is connected between the two guiding ribs 111. The first limiting wall 112 is connected to one end of the guiding rib 111 adjacent to the center of the device body 1. The layout among the first limiting wall 112 and the two guiding ribs 111 is reasonable. When the first cleaning module 2 is in the retracted position, the first cleaning module 2 abuts against the first limiting wall 112 to limit the first cleaning module 2 from continuing to slide towards the direction close to the center of the device body 1, so that the first cleaning module 2 is stably in the retracted position.

[0147] The first cleaning module 2 is provided with a second guide structure 21, which includes a second guide slot 211 formed on the first cleaning module 2, and the second guide slot 211 extends along the sliding direction of the first cleaning module 2. The second guide slot 211 is two second guide slots 211 that are spaced and arranged oppositely along the width direction of the avoidance opening 12, and the two guide ribs 111 can be respectively relatively slidably accommodated in the two second guide slots 211. The second guide structure 21 includes a slide plate 212, and the second guide slots 211 are defined between the opposite ends of the slide plate 212 and the first cleaning module 2. The first guide structure 11 cooperates with the second guide structure 21 to guide the first cleaning module 2 to slide between the retracted position and the extended position.

[0148] The first cleaning module 2 includes a second driving assembly 22, a module housing 23 and a cleaning component 24. The second driving assembly 22 is arranged in the module housing 23. The module housing 23 can form a protective effect on the second driving assembly 22. The cleaning component 24 is located outside the module housing 23 and below the module housing 23. The second driving assembly 22 extends downward from the module housing 23 and is connected to the cleaning component 24 to drive the cleaning component 24 to move. The bottom surface of the module housing 23 is formed with an avoidance through hole 231 for avoiding the second driving assembly 22, so that the second driving assembly 22 can extend and form a transmission connection with the cleaning component 24. The second guide structure 21 is arranged on the bottom surface of the module housing 23. The bottom surface of the module housing 23 is also formed with a limiting convex ring 232, which is arranged around the avoiding through hole 231. The slide plate 212 of the second guide structure 21 is connected to the outer peripheral side of the limiting convex ring 232.

[0149] Among them, when the first cleaning module 2 is in the retracted position, the limiting protrusion 232 abuts against the first limiting wall 112, and the first limiting wall 112 forms a limiting effect on the first cleaning module 2 through the limiting protrusion 232 to limit the first cleaning module 2 from continuing to slide toward the direction close to the center of the device body 1, so that the first cleaning module 2 is stably in the retracted position.

[0150] A limiting groove 1121 is further formed on the first limiting wall 112 , and a limiting protrusion is formed on the outer peripheral side of the limiting convex ring 232 . When the first cleaning module 2 is in the retracted position, the first cleaning module 2 abuts against the first limiting wall 112 , and the limiting protrusion is correspondingly accommodated in the limiting groove 1121 .

[0151] The second drive assembly 22 includes a second drive motor, a transmission shaft and a gear transmission mechanism. The second drive motor and the transmission shaft are connected to each other through the gear transmission mechanism. The transmission shaft is penetrated by a limiting convex ring 232 below and extends out of the module housing 23 to be connected to the cleaning component 24.

[0152] The first guiding structure 11 is further provided with a guiding chute 13. In the width direction of the avoidance opening 12, the guiding chute 13 is located on the side of the first guiding slot 113 away from the avoidance opening 12. The first cleaning module 2 is provided with a guiding post 25, and the guiding post 25 is slidably received in the guiding chute 13. There are two guiding chutes 13, and the two guiding chutes 13 are respectively located on the sides of the two second guiding slots 211 away from the avoidance opening 12.

[0153] One end of the guiding chute 13 away from the center of the device body 1 has a second limiting wall 131. When the first cleaning module 2 is in the extended position, the guiding post 25 abuts against the second limiting wall 131, and the second limiting wall 131 forms a limiting effect on the first cleaning module 2 through the guiding post 25 to limit the first cleaning module 2 from continuing to slide in the direction away from the center of the device body 1, so that the first cleaning module 2 can stably stop at the extended position.

[0154] The first driving assembly 3 includes a first driving motor 35, a first transmission member 31, a second transmission member 32 and an elastic member 33. An installation shaft 4 is formed on the motor cover of the first driving motor 35. The second transmission member 32 and the elastic member 33 are sleeved on the installation shaft 4. One end of the elastic member 33 is connected to the motor housing 34 of the first driving motor 35, and the other end of the elastic member 33 is connected to the second transmission member 32. The elastic member 33 is used to drive the first cleaning module 2 to slide from the retracted position to the extended position, and the first driving motor 35 is used to drive the first cleaning module 2 to slide from the extended position to the retracted position. The installation shaft 4 is in the same extending direction as the motor shaft. The second transmission member 32 is provided with an installation hole 326, the installation shaft 4 passes through the installation hole 326 and the second transmission member rotates around the installation shaft 4. The elastic member 33 is a torsion spring, and the torsion spring is sleeved on the installation shaft 4 and arranged axially along the installation shaft 4 with the installation hole 326.

[0155] The first transmission member 31 is connected to the motor shaft of the first driving motor 35, and the motor shaft drives the first transmission member 31 to rotate. The second transmission member 32 is drivably connected between the first transmission member 31 and the first cleaning module 2, and the second transmission member 32 can drive the first cleaning module 2 to slide between the retracted position and the extended position. The first transmission member 31 is rotatable around the motor shaft between a first position and a second position. When the first transmission member 31 is in the first position, the first cleaning module 2 is in the retracted position, and when the first transmission member 31 is in the second position, the first cleaning module 2 is in the extended position.

[0156] The first transmission member 31 is a swing block, and the second transmission member 32 is a swing rod. One end of the second transmission member 32 is in abutting cooperation with the first transmission member 31, and the other end of the second transmission member 32 is connected to the first cleaning module 2. A mating post 26 is provided on the first cleaning module 2, and a movable hole 325 is provided on the second transmission member 32. The mating post 26 is received in the movable hole 325. The movement locus of the first cleaning module 2 is a straight line, the movable hole 325 extends along the length direction of the second transmission member 32, and the mating post 26 is movable relative to the extending direction of the movable hole 325.

[0157] When the first cleaning module 2 is in the retracted position, the acting force between the second transmission member 32 and the first transmission member 31 passes through the motor shaft; when the first cleaning module 2 is in the extended position, the acting force between the second transmission member 32 and the first transmission member 31 is spaced apart from the motor shaft.

[0158] A first mating structure and a second mating structure are formed on the first transmission member 31, and a third mating structure and a fourth mating structure are formed on the second transmission member 32; wherein, when the first cleaning module 2 is in the retracted position, the first mating structure cooperates with the third mating structure, and when the first cleaning module 2 is in the extended position, the second mating structure cooperates with the fourth mating structure. The first mating structure is a first mating end 311 formed on the first transmission member 31, the second mating structure is a first mating groove 312 formed on the first transmission member 31, the third mating structure is a second mating end 321 formed on the second transmission member 32, and the fourth mating structure is a second mating groove 322 formed on the second transmission member 32; wherein, in the retracted position, the first mating end 311 is received in the second mating groove 322, and in the extended position, the second mating end 321 is received in the first mating groove 312. The inner wall surface of the first mating groove 312 includes a first mating surface 313, the first mating end 311 has a second mating surface 314, the inner wall surface of the second mating groove 322 includes a third mating surface 323, the second mating end 321 has a fourth mating surface 324, and at least a part of the first mating surface 313, the second mating surface 314, the third mating surface 323 and the fourth mating surface 324 are arc surfaces; wherein, when the first cleaning module 2 is in the retracted position, the second mating surface 314 is in contact with the third mating surface 323, and when the first cleaning module 2 is in the extended position, the first mating surface 313 is in contact with the fourth mating surface 324.

[0159] For example, when the first driving motor 35 rotates in the forward direction, the first driving motor 35 drives the first transmission member 31 to rotate from the first position to the second position. During the process of the first transmission member 31 rotating from the first position to the second position, the first transmission member 31 gradually cancels the driving force on the first transmission member 31, and the second transmission member 32 rotates under the driving action of the elastic force of the elastic member 33 and drives the first cleaning module 2 to slide from the retracted position to the extended position.

[0160] For example, when the first driving motor 35 rotates in the reverse direction, the first driving motor 35 drives the first transmission member 31 to rotate from the second position to the first position. During the process of the first transmission member 31 moving from the second position to the first position, the first transmission member 31 transmits a force to the second transmission member 32, and the second transmission member 32 rotates under the driving force of the first driving motor 35 and drives the first cleaning module 2 to slide from the extended position to the retracted position.

[0161] The first cleaning module 2 has an active retraction mode and a passive retraction mode. In the active retraction mode, the first driving motor 35 is used to drive the first cleaning module 2 to move from the extended position to the retracted position. In the passive retraction mode, when the first driving motor 35 stops working, the first cleaning module 2 moves from the extended position towards the direction close to the retracted position under the action of an obstacle outside the cleaning device.

[0162] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0163] In the description of the present invention, the "first feature" and "second feature" may include one or more of such features.

[0164] In the description of the present invention, the meaning of "a plurality of" is two or more.

[0165] In the description of the present invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween.

[0166] In the description of the present invention, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature.

[0167] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0168] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that, Comprising: The device body; A first cleaning module, provided on the device body and used to contact the working surface to clean the working surface. The first cleaning module is slidable relative to the device body between a retracted position and an extended position, and the extended position is farther from the center of the device body than the retracted position; A first driving assembly, provided on the device body and including a first driving motor. The first driving assembly is used to drive the first cleaning module to slide between the retracted position and the extended position.

2. The cleaning device according to claim 1, wherein, A first guiding structure is provided on the device body, and a second guiding structure is provided on the first cleaning module. Through the cooperation of the first guiding structure and the second guiding structure, the first cleaning module is guided to slide between the retracted position and the extended position.

3. The cleaning device according to claim 2, characterized in that, An avoidance opening for avoiding the first cleaning module is formed on the device body. The avoidance opening penetrates the outer peripheral wall of the device body. A first guiding slot is formed on the side wall of the avoidance opening. The first guiding structure includes the first guiding slot, and the first guiding slot extends along the sliding direction of the first cleaning module. The second guiding structure includes a sliding plate formed on the first cleaning module, and the edge portion of the sliding plate is slidably received in the first guiding slot.

4. The cleaning device according to claim 3, characterized in that, The first guiding structure further includes guiding ribs and supporting ribs that are opposite to each other in the up-down direction. The guiding ribs are located above the first guiding slot, and the guiding ribs and the supporting ribs define the first guiding slot. The second guiding structure further includes a second guiding slot formed on the first cleaning module. The second guiding slot is defined between the sliding plate and the first cleaning module, and the second guiding slot extends along the sliding direction of the first cleaning module. The guiding ribs are slidably received in the second guiding slot.

5. The cleaning device according to claim 3, characterized in that The first guiding structure further includes guiding ribs and supporting ribs that are opposite to each other in the up-down direction. The guiding ribs are located above the first guiding slot, and the guiding ribs and the supporting ribs define the first guiding slot. The first guiding structure further includes a first limiting wall. A part of the side wall of the avoidance opening constitutes the first limiting wall. The first limiting wall is connected between the two guiding ribs, and the first limiting wall is connected to the end of the guiding rib adjacent to the center of the device body. In the retracted position, the first cleaning module abuts against the first limiting wall.

6. The cleaning device according to claim 5, characterized in that, The first cleaning module includes a second driving assembly, a module housing, and a cleaning component. The second driving assembly is provided in the module housing. The cleaning component is located outside the module housing and below the module housing. The second driving assembly extends downward out of the module housing and is connected to the cleaning component to drive the cleaning component to move. An avoidance through hole for avoiding the second driving assembly is formed on the bottom surface of the module housing. The second guiding structure is provided on the bottom surface of the module housing. A limiting convex ring is further formed on the bottom surface of the module housing, and the limiting convex ring surrounds the avoidance through hole; Wherein, in the retracted position, the limiting protrusion abuts against the first limiting wall.

7. The cleaning device according to claim 3, characterized in that, The device body is also provided with a guide slot, and in the width direction of the avoidance opening, the guide slot is located on the side of the first guide slot away from the avoidance opening. The first cleaning module is provided with a guide column, and the guide column can be slidably accommodated in the guide slot.

8. The cleaning device according to claim 7, wherein One end of the guide slot away from the center of the device body has a second limiting wall, and in the extended position, the guide column abuts against the second limiting wall.

9. The cleaning device according to claim 1, characterized in that, The first cleaning module includes a second driving component, a module shell and a cleaning part. The second driving component is arranged in the module shell, and the cleaning part is located outside the module shell and below the module shell. The second driving component extends downward from the module shell and is connected to the cleaning part to drive the cleaning part to move. The bottom surface of the module shell is formed with an avoidance through hole for avoiding the second driving component.

10. The cleaning device according to claim 1, wherein The first driving assembly includes an elastic member, one end of which is connected to the motor housing of the first driving motor or to the device body, and the other end of the elastic member is transmission-connected to the first cleaning module, and the elastic member is used to drive the first cleaning module to move from the retracted position to the extended position.

11. The cleaning device according to claim 1, wherein, The first driving assembly includes a first transmission member and a second transmission member, the first transmission member is connected to the motor shaft of the first driving motor, the second transmission member can be transmission-connected between the first transmission member and the first cleaning module, the first transmission member can rotate around the motor shaft between a first position and a second position, when the first transmission member is in the first position, the first cleaning module is in the retracted position, and when the first transmission member is in the second position, the first cleaning module is in the extended position.

12. The cleaning device according to claim 11, characterized in that, The first transmission member is a swing block, the second transmission member is a swing rod, one end of the second transmission member is in abutment with the first transmission member, and the other end of the second transmission member is connected to the first cleaning module; The first driving assembly includes an elastic member, one end of the elastic member is connected to the motor housing of the first driving motor, and the other end of the elastic member is connected to the second transmission member, and the elastic member is used to drive the first cleaning module to move from the retracted position to the extended position; In which, the first cleaning module has an active retraction mode and a passive retraction mode. In the active retraction mode, the first drive motor is used to drive the first cleaning module to move from the extended position to the retracted position. In the passive retraction mode, when the first drive motor stops working, the first cleaning module moves from the extended position toward a direction close to the retracted position under the action of obstacles outside the cleaning device.

13. The cleaning device according to claim 12, characterized in that, The elastic member is a torsion spring or a tension spring.

14. The cleaning device according to claim 12, characterized in that, A mounting shaft is provided on the motor housing of the first drive motor, and the mounting shaft is consistent with the extension direction of the motor shaft. A mounting hole is provided on the second transmission member, and the mounting shaft passes through the mounting hole and the second transmission member is rotatable around the mounting shaft.

15. The cleaning device according to claim 14, characterized in that, The elastic member is a torsion spring, and the torsion spring is sleeved on the mounting shaft and arranged axially along the mounting shaft with the mounting hole.

16. The cleaning device according to claim 12, wherein, There is a driving contact point between the second driving member and the first driving member. The line connecting the driving contact point and the axis of the motor shaft is the first line, and the acting force between the second driving member and the first driving member is the first acting force; At the retracted position, the first acting force passes through the motor shaft; Alternatively, at the retracted position, the first acting force is spaced apart from the motor shaft and the angle between the first acting force and the first line is less than 45° or greater than 135°.

17. The cleaning device according to claim 12, characterized in that, The first driving member is formed with a first fitting structure and a second fitting structure, and the second driving member is formed with a third fitting structure and a fourth fitting structure; Wherein, at the retracted position, the first fitting structure cooperates with the third fitting structure, and at the extended position, the second fitting structure cooperates with the fourth fitting structure.

18. The cleaning device according to claim 17, characterized in that, The first fitting structure is a first fitting end formed on the first driving member, the second fitting structure is a first fitting groove formed on the first driving member, the third fitting structure is a second fitting end formed on the second driving member, and the fourth fitting structure is a second fitting groove formed on the second driving member; wherein, at the retracted position, the first fitting end is received in the second fitting groove, and at the extended position, the second fitting end is received in the first fitting groove.

19. The cleaning device according to claim 18, characterized in that, The inner wall surface of the first fitting groove includes a first fitting surface, the first fitting end has a second fitting surface, the inner wall surface of the second fitting groove includes a third fitting surface, the second fitting end has a fourth fitting surface, and at least a part of the first fitting surface, the second fitting surface, the third fitting surface and the fourth fitting surface are arc surfaces; Wherein, at the retracted position, the second fitting surface is in contact with the third fitting surface, and at the extended position, the first fitting surface is in contact with the fourth fitting surface.

20. The cleaning device according to claim 12, wherein, The first cleaning module is provided with a fitting post, and the second driving member is provided with a movable hole, and the fitting post is received in the movable hole.

21. The cleaning device according to claim 20, wherein, The movement track of the first cleaning module is a straight line, the movable hole extends along the length direction of the second driving member, and the fitting post is movable relative to the extending direction of the movable hole.

22. The cleaning device according to any one of claims 1-21, characterized in that, The first cleaning module is a side brush module or a mopping module, and the first cleaning module is adjacent to the outer periphery of the device body.

23. The cleaning device according to claim 22, characterized in that, There are a plurality of the first cleaning modules, and the plurality of first cleaning modules are arranged at intervals along the circumferential direction of the device body.

24. The cleaning device according to claim 22, characterized in that, It further includes a second cleaning module installed on the device body. The second cleaning module is a main cleaning module, and the second cleaning module is adjacent to the center of the device body.

25. The cleaning device according to claim 24, wherein, The first cleaning module and the second cleaning module are arranged at intervals in the front-rear direction.

26. A cleaning system, characterized in that, Comprising: A cleaning device, which is the cleaning device according to any one of claims 1-25; A cleaning base station, the cleaning device is adapted to cooperate with the cleaning base station, and the cleaning base station is used to clean and / or charge the cleaning device.

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