Cleaning device and cleaning equipment

Abstract

The embodiment of the utility model discloses a cleaning device and cleaning equipment, and the cleaning device comprises a connecting assembly which is used for being connected with a machine body of the cleaning equipment; the cleaning assembly is used for cleaning the bearing surface; an adjusting structure; the connecting assembly is movably connected with the cleaning assembly in the circumferential direction of the cleaning assembly through the adjusting structure. And under the condition that the machine body is locally lifted, the adjusting structure is used for enabling the cleaning surface of the cleaning assembly to be attached to the bearing surface.

Description

Technical Field

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

[0002] In related technologies, the cleaning components of a sweeping robot are generally directly connected to the body of the sweeping robot. When the cleaning components of the sweeping robot are working, if the body is partially lifted, the cleaning components of the sweeping robot will deflect with the partial lifting of the body, and the cleaning components will not be able to fit with the supporting surface, resulting in part of the supporting surface not being cleaned, thereby affecting the cleaning effect of the cleaning components. Utility Model Content

[0003] In view of this, embodiments of the present application hope to provide a cleaning device and a cleaning equipment.

[0004] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0005] The present invention provides a cleaning device comprising:

[0006] A connecting assembly, used for connecting to a body of the cleaning device;

[0007] A cleaning component for cleaning the bearing surface;

[0008] Adjustment structure; the connecting component is movably connected to the cleaning component in the circumferential direction of the cleaning component through the adjustment structure; when the fuselage is partially lifted, the adjustment structure is used to make the cleaning surface of the cleaning component fit with the bearing surface.

[0009] In some optional implementations,

[0010] The adjustment structure includes a ball head structure; and / or the adjustment structure includes an elastic structure.

[0011] In some optional implementations, the adjustment structure includes: a ball socket portion and a ball head portion cooperating with the ball socket; one of the ball socket portion and the ball head portion is arranged in the connecting component, and the other of the ball socket portion and the ball head portion is arranged in the cleaning component.

[0012] In some optional implementations, the adjustment structure includes

[0013] a ball head structure, through which the cleaning assembly is connected to the connecting assembly;

[0014] The first elastic structure is arranged between the connecting component and the cleaning component in a direction perpendicular to the cleaning surface of the cleaning component to provide a restoring force for the connecting component to move in a direction perpendicular to the cleaning surface of the cleaning component.

[0015] In some optional implementations, the first elastic structure is in a cylindrical shape, and the first elastic structure is sleeved outside the ball head structure.

[0016] In some optional implementations, the connecting assembly is provided with a limiting slot, and one end of the first elastic structure is located in the limiting slot.

[0017] In some optional implementations, the adjusting structure comprises a second elastic structure.

[0018] The connecting assembly is provided with a first end and a second end arranged oppositely; the first end of the connecting assembly is used for connecting with the fuselage; the second end of the connecting assembly is connected with the cleaning assembly through the second elastic structure.

[0019] The second elastic structure is arranged on the end face side of the second end of the connecting assembly; and / or the second elastic structure is arranged on the circumferential side of the second end of the connecting assembly.

[0020] In some optional implementations, the second elastic structure is a spring; or the second elastic structure is a high polymer structure.

[0021] In some optional implementations, the cleaning assembly comprises:

[0022] A cleaning support having a first mounting through hole;

[0023] A cleaning piece arranged on the end face side of the cleaning support;

[0024] The adjusting structure comprises a second elastic structure arranged in the first mounting through hole, and the second elastic structure has a second mounting through hole.

[0025] The connecting assembly is provided with a first end and a second end arranged oppositely; the first end of the connecting assembly is used for connecting with the fuselage; the second end of the connecting assembly is inserted into the second mounting through hole.

[0026] In some optional implementations, the cleaning assembly further comprises:

[0027] A collision-preventing piece annularly arranged on the circumferential side of the cleaning support; the collision-preventing piece has elasticity.

[0028] In some optional implementations, the connecting assembly comprises:

[0029] A first connecting piece used for connecting with the fuselage of the cleaning device;

[0030] a second connecting member, connected to the first connecting member in a first direction so as to be movably connected thereto and connected to the cleaning assembly via the adjustment structure; wherein the first direction is perpendicular to the bottom surface of the body;

[0031] The third elastic member is connected to the first connecting member and the second connecting member respectively to adjust the length of the connecting assembly in the first direction.

[0032] In some optional implementations, the first connecting member includes a first cylindrical portion and a first fixing portion located within the first cylindrical portion, and the second connecting member includes a second cylindrical portion and a second fixing portion located within the second cylindrical portion;

[0033] The first cylindrical portion and the second cylindrical portion are plugged into each other in a first direction, and define an accommodating cavity between the first connecting member and the second connecting member; the first fixing portion and the second fixing portion are located in the accommodating cavity;

[0034] The third elastic member is located in the accommodating cavity; two ends of the third elastic member are respectively connected to the first fixing portion and the second fixing portion.

[0035] An embodiment of the present application further provides a cleaning device, comprising the cleaning device described in the present application and a body; the connecting component of the cleaning device is connected to the body.

[0036] In some optional implementations, the method further includes:

[0037] a drive wheel assembly movably disposed on the fuselage; the drive wheel assembly comprising a drive wheel located at the bottom of the fuselage; the drive wheel assembly being configured to adjust the height of the drive wheel protruding from the bottom of the fuselage by moving relative to the fuselage;

[0038] A driven wheel assembly is movably disposed on the fuselage; the driven wheel assembly includes a driven wheel located at the bottom of the fuselage; the driven wheel assembly is used to adjust the height of the driven wheel protruding from the bottom of the fuselage by moving relative to the fuselage;

[0039] When the driving wheel assembly and / or the driven wheel assembly moves relative to the fuselage to partially lift the fuselage, the fuselage drives the connecting assembly to move toward one side of the cleaning assembly through the adjustment structure so that the cleaning surface of the cleaning assembly fits with the bearing surface.

[0040] The cleaning device of the embodiment of the present application is characterized in that the connecting component is movably connected to the cleaning component in the circumferential direction of the cleaning component through an adjustment structure; when the fuselage is partially lifted, the adjustment structure is used to make the cleaning surface of the cleaning component fit with the carrying surface, and the cleaning component can clean the entire area of ​​the carrying surface, thereby greatly improving the cleaning effect of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of an optional structure of the cleaning device in an embodiment of the present application; wherein the cleaning component does not contact the carrying surface;

[0042] Figure 2 for Figure 1 a cleaning device, wherein the cleaning component contacts the carrying surface;

[0043] Figure 3 This is another optional structural diagram of the cleaning device in the embodiment of the present application; wherein the cleaning component is in contact with the carrying surface;

[0044] Figure 4 This is another optional structural diagram of the cleaning device in the embodiment of the present application; wherein the cleaning component is in contact with the carrying surface;

[0045] Figure 5 for Figure 2 sectional view of

[0046] Figure 6 for Figure 5 Another scene diagram, where Figure 6 The distance between the middle fuselage and the load-bearing surface is less than Figure 5 The distance between the middle fuselage and the load-bearing surface;

[0047] Figure 7 This is another optional structural diagram of the cleaning device in the embodiment of the present application; wherein the cleaning component is in contact with the cleaning bearing surface;

[0048] Figure 8 for Figure 7 Another scene picture, in which Figure 8 The height of the driven wheel protruding from the fuselage is greater than Figure 7 The height of the middle driven wheel protruding from the fuselage;

[0049] Figure 9 for Figure 7 Another scene diagram, where Figure 9 The height of the driven wheel protruding from the fuselage is greater than Figure 8 The height of the middle driven wheel protruding from the fuselage;

[0050] Figure 10 for Figure 2 A view from another perspective;

[0051] Figure 11 This is a schematic diagram of an optional structure of a driving wheel device in an embodiment of the present application;

[0052] Figure 12 This is another optional structural diagram of the driving wheel device in the embodiment of the present application;

[0053] Figure 13 for Figure 7 An optional partial structural diagram;

[0054] Figure 14 for Figure 13 sectional view of

[0055] Figure 15 for Figure 7 Another optional partial structural diagram;

[0056] Figure 16 for Figure 15 sectional view of

[0057] Figure 17 for Figure 8 An optional partial structural diagram;

[0058] Figure 18 for Figure 17 sectional view of

[0059] Figure 19 for Figure 9 An optional partial structural diagram;

[0060] Figure 20 for Figure 19 sectional view of

[0061] Figure 21 This is a schematic diagram of an optional structure of a cleaning device in an embodiment of the present application;

[0062] Figure 22 This is another optional structural diagram of the cleaning device in the embodiment of the present application;

[0063] Figure 23 for Figure 22 Another scene diagram;

[0064] Figure 24 for Figure 22 Schematic diagram of another scene.

[0065] Reference numerals: 100, fuselage; 110, seat; 111, first slide; 112, first opening; 113, second limiter; 200, driving wheel assembly; 210, first support member; 211, first connecting portion; 212, second connecting portion; 213, third connecting portion; 220, driving wheel; 230, third power member; 300, driven wheel assembly; 310, support assembly; 311, first mounting member; 3111, second slide; 312, second mounting member 3121, blocking portion; 3122, mating portion; 313, first mating surface; 3131, plane area; 3132, inclined surface area; 314, first convex wall; 315, second convex wall; 316, receiving groove; 317, first limiting portion; 320, wheel body assembly; 321, wheel axle; 322, wheel shell; 323, driven wheel; 400, cleaning assembly; 410, cleaning bracket; 411, first mounting hole; 420, cleaning member; 430, anti- Strike member; 500, second lifting device; 510, second power member; 520, rotating member; 521, first portion of rotating member; 522, second portion of rotating member; 523, mating member; 530, connecting shaft; 600, first lifting device; 610, first power member; 620, winding member; 710, traction member; 720, guide member; 730, first elastic member; 740, second elastic member; 750, bearing surface; 760, coupling; 770, bearing ;780, cover shell;800, connecting assembly;810, first connecting member;811, first cylindrical portion;812, first fixing portion;820, second connecting member;821, second cylindrical portion;822, second fixing portion;830, third elastic member;840, limiting groove;900, adjustment structure;910, ball head structure;911, ball socket portion;912, ball head portion;920, first elastic structure;930, second elastic structure;931, second mounting through hole. DETAILED DESCRIPTION

[0066] The technical solution of the present application is further elaborated in detail below with reference to the accompanying drawings and specific embodiments.

[0067] In the description of the embodiments of this application, it should be noted that, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meaning of the above terms can be understood according to the specific circumstances.

[0068] It should be noted that the terms "first, second, and third" in the embodiments of the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first, second, and third" can be interchanged to represent a specific order or precedence where permitted. It should be understood that the objects distinguished by "first, second, and third" can be interchanged where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0069] The following combination Figures 1 to 24 The driving wheel device, cleaning device and cleaning equipment described in the embodiments of the present application are described in detail.

[0070] The structure of the cleaning device is not limited. For example, the cleaning device can be a sweeping robot. The cleaning device can include a cleaning assembly 400, which is used to clean the carrying surface 750. The cleaning assembly 400 is used to contact the carrying surface 750. When the cleaning device travels on the carrying surface 750, the cleaning assembly 400 cleans the carrying surface 750 by contacting and rubbing with the carrying surface 750. It is understandable that the pressure between the cleaning assembly 400 and the carrying surface 750 affects the cleaning ability of the cleaning assembly 400; when the pressure between the cleaning assembly 400 and the carrying surface 750 is greater, the cleaning ability of the cleaning assembly 400 is higher, and when the pressure between the cleaning assembly 400 and the carrying surface 750 is lower, the cleaning ability of the cleaning assembly 400 is weaker.

[0071] In the embodiment of the present application, the manner in which the cleaning component 400 cleans the carrying surface 750 is not limited. Figure 1 and Figure 2 As shown, the cleaning assembly 400 is rotatably disposed on the body 100. The cleaning assembly 400 rotates relative to the body 100 to contact the carrying surface 750 to clean the carrying surface 750. Figure 1 is a schematic diagram of the cleaning component 400 in a state where the carrying surface 750 is not cleaned. Figure 2 Schematic diagram of the cleaning assembly 400 in the state of cleaning the carrying surface 750; the number of cleaning assemblies 400 is not limited. For example, the number of cleaning assemblies 400 can be two. For another example, Figure 3 As shown, the cleaning component 400 can clean the carrying surface 750 by vibration. As an example, the cleaning component 400 is a flat vibration mop. Figure 4 As shown, the cleaning assembly 400 is a crawler mop.

[0072] The support surface 750 is a surface that supports the cleaning device. For example, the support surface 750 can be the ground or a tabletop. Depending on the material of the support surface 750, the optimal pressure between the cleaning component 400 and the support surface 750 when the cleaning component 400 cleans the support surface 750 will also vary.

[0073] In related art, a robot vacuum cleaner comprises a cleaning component and a main body. The cleaning component has a cleaning position and an uncleaning position relative to the main body. In the uncleaning position, the cleaning component is spaced apart from the support surface. In the cleaning position, the cleaning component contacts and cleans the support surface. Typically, the pressure between the cleaning component and the support surface remains constant, resulting in poor adaptability.

[0074] The cleaning device provided in the embodiment of the present application includes a body 100 and a cleaning component 400, and the cleaning component 400 is arranged on the bottom side of the body 100; the pressure between the cleaning component 400 and the carrying surface 750 can be adjusted so that the cleaning device can adapt to different cleaning scenarios, thereby greatly improving the adaptability of the cleaning device.

[0075] In the embodiment of the present application, the cleaning device can have a general cleaning state achieved by the driving wheel assembly 200. Here, the cleaning device adjusts the pressure between the cleaning assembly 400 and the carrying surface 750 by the movement of the driving wheel assembly 200. The cleaning device can also have a first cleaning state and a second cleaning state achieved by the driven wheel assembly 300. Here, the cleaning device adjusts the pressure between the cleaning assembly 400 and the carrying surface 750 by the movement of the driven wheel assembly 300. The user can select the use state of the cleaning device according to their needs.

[0076] For example, when the cleaning component 400 cleans the carrying surface 750, the cleaning device can control the distance between the body 100 and the carrying surface 750 to adjust the pressure between the cleaning component 400 and the carrying surface 750. As an example, in a general cleaning state, such as Figure 5 and Figure 6 As shown, the cleaning device can control the entire body 100 to rise or fall relative to the carrying surface 750 by driving the wheel assembly 200 to adjust the pressure between the cleaning assembly 400 and the carrying surface 750. Here, the bottom surface of the body 100 is parallel or substantially parallel to the carrying surface 750. The bottom surface of the body 100 refers to the surface of the body 100 facing the carrying surface 750. As another example, in the first cleaning state, Figure 7 、 Figure 8 and Figure 9 As shown, the cleaning device can control the partial elevation or descent of the body 100 relative to the carrying surface 750 via the driven wheel assembly 300 to adjust the pressure between the cleaning assembly 400 and the carrying surface 750. Here, the bottom surface of the body 100 is not parallel to the carrying surface 750, and the body 100 can be in a tilted forward or tilted backward state. For another example, when the cleaning assembly 400 is cleaning the carrying surface 750, the cleaning assembly 400 can move relative to the body 100 to adjust the pressure change between the cleaning assembly 400 and the carrying surface 750.

[0077] When the cleaning device includes a cleaning assembly 400, a driving wheel assembly 200 and a driven wheel assembly 300, the number and arrangement of the cleaning assembly 400, the driving wheel assembly 200 and the driven wheel assembly 300 are not limited. Figure 10 As shown, the cleaning device includes two driving wheel assemblies 200, two cleaning assemblies 400, and a driven wheel assembly 300. The driven wheel assembly 300 and the two cleaning assemblies 400 can be located on opposite sides of the two driving wheel assemblies 200; of course, the driven wheel assembly 300 and the two cleaning assemblies 400 can also be located on the same side of the two driving wheel assemblies 200. For another example, the cleaning device can include two driving wheel assemblies 200, a cleaning assembly 400, and a driven wheel assembly 300. The cleaning assembly 400 and the driven wheel assembly 300 can be located on opposite sides of the two driving wheel assemblies 200; of course, the driven wheel assembly 300 and the cleaning assembly 400 can also be located on the same side of the two driving wheel assemblies 200. For another example, the cleaning device may include a driving wheel assembly 200, two cleaning assemblies 400 and two driven wheel assemblies 300. The two driven wheel assemblies 300 and the two cleaning assemblies 400 may be located on opposite sides of the driving wheel assembly 200; of course, the two driven wheel assemblies 300 and the two cleaning assemblies 400 may also be located on the same side of the driving wheel assembly 200.

[0078] In the embodiment of the present application, the driving wheel assembly 200 is used to drive the cleaning device to travel. Here, the driving wheel assembly 200 may further include a third power member 230, which may be a motor, and the third power member 230 is used to drive the driving wheel 220 of the driving wheel assembly 200 to rotate.

[0079] Example 1, as Figure 11 As shown, the embodiment of the present application describes a driving wheel device, including a driving wheel assembly 200 and a traction member 710. The driving wheel assembly 200 includes: a first support member 210 and a driving wheel 220. The first support member 210 has a first connecting portion 211 and a second connecting portion 212 located in different areas; the first connecting portion 211 is used to be rotatably connected to the body 100 of the cleaning device; the driving wheel 220 is rotatably disposed on the first support member 210 and is used to contact the supporting surface 750; the traction member 710 is used to be movably disposed on the body 100 of the cleaning device; the traction member 710 is connected to the second connecting portion 212, and is used to rotate the first support member 210 relative to the body 100 to adjust the height of the driving wheel 220 protruding from the body 100; wherein the traction member 710 is a non-elastic structure.

[0080] The present application also describes a cleaning device, such as Figure 5 and Figure 6As shown, the cleaning device includes the driving wheel device and the machine body 100 of the present application; the first connecting part 211 is rotatably connected with the machine body 100; the traction member 710 is movably arranged on the machine body 100; the traction member 710 is used to rotate the first supporting member 210 relative to the machine body 100, so as to adjust the height of the driving wheel 220 protruding from the machine body 100.

[0081] In the prior art, the sweeping robot includes a machine body, a wheel set structure and a spring, the wheel set structure is rotated relative to the machine body by stretching the spring, here, the spring is an elastic structure, and the spring is only used to make the wheel set structure of the sweeping robot have a buffering force during driving. Even if the wheel set structure is stretched by the spring, since the spring has elasticity, the length of the spring will change during stretching, and the spring cannot stretch the wheel structure at a stable length, so as to accurately adjust the position of the wheel set structure relative to the machine body. However, the driving wheel device of the present application is a non-elastic structure, at this time, the height of the driving wheel 220 protruding from the machine body 100 can be accurately adjusted by the traction member 710.

[0082] In the present application, the structure of the first supporting member 210 is not limited. For example, the first supporting member 210 can be a plate-shaped structure. The first connecting part 211 and the machine body 100 of the cleaning device can be rotatably connected through a rotating shaft structure.

[0083] In the present application, the driving wheel 220 can be rotatably arranged on the first supporting member 210 through a rotating shaft structure.

[0084] In the present application, the traction member 710 can be movably arranged on the machine body 100 through a sliding groove or a sliding rail, and the traction member 710 and the second connecting part 212 can be connected through welding, clamping, bonding or the like.

[0085] The material of the traction member 710 is not limited. As long as the traction member 710 is a non-elastic structure. For example, the traction member 710 can be a flexible structure. As an example, the traction member 710 is a pull rope. For another example, the traction member 710 can be a rigid structure. As an example, the traction member 710 can be a plastic strip or a steel strip. For another example, the traction member 710 can be a flexible structure or a rigid structure. As an example, the traction member 710 is a steel wire rope.

[0086] As an example, as shown in Figure 12 As an example, the traction member 710 can be a flexible structure; the driving wheel device can further include a guide member 720, the guide member 720 is arranged on the machine body 100 and located on one side of the first supporting member 210; the guide member 720 defines a guide groove; part of the traction member 710 is located in the guide groove, and the guide groove can make the traction member 710 move along the arrangement direction of the guide groove, so as to prevent the traction member 710 from shaking.

[0087] Here, the guide member 720 can be fixed to the body 100 by bonding, clamping, welding, etc. Here, the direction of the guide groove can be perpendicular to the axis of rotation of the first support member 210. By setting the guide groove perpendicular to the axis of rotation of the first support member 210, the force pulling the pulling member 710 can be reduced. Of course, the direction of the guide groove can also be non-perpendicular to the axis of rotation of the first support member 210.

[0088] The method by which the pulling member 710 causes the first support member 210 to rotate relative to the body 100 to adjust the height of the drive wheel 220 protruding from the body 100 is not limited. For example, the first end of the pulling member 710 is connected to the second connecting portion 212, and the second end of the pulling member 710 can be extended outside the body 100 and removably fixed. The second end of the pulling member 710 can be pulled by an external force to cause the first support member 210 to rotate relative to the body 100, or the second end of the pulling member 710 can be loosened to cause the first support member 210 to rotate in the opposite direction relative to the body 100, thereby adjusting the height of the drive wheel 220 protruding from the body 100.

[0089] In some optional implementations of the examples of the present application, the driving wheel device may further include: a first lifting device 600, the first lifting device 600 is used to be set on the fuselage 100 and connected to the traction member 710; the first lifting device 600 is used to drive the traction member 710 to move relative to the fuselage 100; thereby, the first lifting device 600 can be used to automatically control the movement of the traction member 710 to automatically adjust the height of the driving wheel 220 protruding from the fuselage 100.

[0090] In this implementation, the structure of the first lifting device 600 is not limited.

[0091] For example, Figure 12 As shown, the first lifting device 600 may include a first power member 610 and a winding member 620. The first power member 610 is configured to be mounted on the fuselage 100; the winding member 620 is connected to the output shaft of the first power member 610; the first portion of the traction member 710 is connected to the first support member 210, and the second portion of the traction member 710 is configured to be wound around the winding member 620.

[0092] Here, the structure of the first power member 610 is not limited. For example, the first power member 610 can be a motor. The first power member 610 can be fixed to the fuselage 100 by a clamping structure, a threaded structure, or the like. When the first power member 610 is used to drive the winding member 620 to rotate in the forward direction via the output shaft, the second portion of the traction member 710 can be wound around the outside of the winding member 620 to stretch the first portion of the traction member 710, thereby pulling the first support member 210 to rotate in the forward direction; when the winding member 620 rotates in the reverse direction, the second portion of the traction member 710 can be detached from the winding member 620 to loosen the first portion of the traction member 710, thereby enabling the first support member 210 to rotate in the reverse direction.

[0093] Of course, the first lifting device 600 may also only include the first power member 610 . Here, the second portion of the traction member 710 is used to be wound around the output shaft of the first power member 610 .

[0094] For another example, the first lifting device 600 may include a first power member 610, a turbine, and a rack. The first power member 610 is used to drive the turbine to rotate. The turbine and the rack are meshed. The second portion of the traction member 710 is connected to the rack. When the first power member 610 drives the turbine to rotate, the rack controls the movement of the second portion of the traction member 710 to achieve the movement of the first portion of the traction member 710. Of course, the rack can also be directly connected to the second connecting portion of the first support member to directly drive the drive wheel assembly to rotate.

[0095] For another example, the first lifting device 600 may further include a telescopic oil cylinder or a telescopic air cylinder. The first lifting device 600 may use the telescopic oil cylinder or the telescopic air cylinder to drive the traction member 710 to move, thereby rotating the first support member 210 relative to the fuselage 100 to adjust the height of the drive wheel 220 protruding from the fuselage 100. Of course, the rod of the telescopic oil cylinder or the telescopic air cylinder may also be directly connected to the second connecting portion of the first support member to directly drive the drive wheel assembly to rotate.

[0096] In some optional implementations of the embodiments of the present application, such as Figure 12 As shown, the driving wheel device may further include: a first elastic member 730, the first elastic member 730 being connected to the third connecting portion 213 of the first support member 210; the first elastic member 730 being used to connect to the fuselage 100 to provide a rotational damping force to the first support member 210; providing a rotational damping force to the first support member 210 through the first elastic member 730 can enable the driving wheel assembly 200 to have a buffering force relative to the fuselage 100, thereby improving the adaptability of the driving wheel device.

[0097] In this implementation, the traction member 710 can pull the first support member 210 to rotate in the forward direction. When the traction member 710 is loose, the first support member 210 can slowly rotate in the reverse direction based on the damping force of the first elastic member 730, thereby smoothly adjusting the height of the driving wheel 220 protruding from the fuselage 100.

[0098] In this implementation, during the travel of the cleaning device, the first elastic member 730 can also improve the buffering force of the cleaning device.

[0099] In this embodiment, the structure of the first elastic member 730 is not limited. For example, the first elastic member 730 can be a spring. For another example, the first elastic member 730 can be a rubber rope.

[0100] In this implementation, the first elastic member 730 and the third connection portion 213 of the first support member 210 can be connected by welding, clamping, etc. The first elastic member 730 and the body 100 can be connected by welding, clamping, etc.

[0101] In this implementation, the first support member 210 has a first end and a second end that are relatively arranged; the first connecting portion 211 is located at the first end of the first support member 210; the second connecting portion 212 and the third connecting portion 213 are spaced apart and located at the second end of the first support member 210. By spaced apart the second connecting portion 212 and the third connecting portion 213 at the second end of the first support member 210, the first elastic member 730 and the traction member 710 can be spaced apart, thereby preventing the first elastic member 730 and the traction member 710 from interfering with each other.

[0102] In some optional implementations of the embodiments of the present application, the cleaning device may further include: a cleaning assembly 400, a driven wheel assembly 300, and a first lifting device 600. The cleaning assembly 400 is disposed at the bottom of the body 100. The driven wheel assembly 300 is disposed at the body 100 and includes a driven wheel 323 located at the bottom of the body 100.

[0103] The first lifting device 600 is disposed on the body 100 and connected to the traction member 710; the first lifting device 600 is used to drive the traction member 710 to move relative to the body 100 to adjust the force distribution of the driven wheel 323, the driving wheel 220 and the cleaning assembly 400 relative to the bearing surface 750.

[0104] In this implementation, the cleaning device may further include: a controller, which is used to control the first lifting device 600 to drive the traction member 710 to move so as to adjust the distance between the fuselage 100 and the carrying surface 750; by controlling the first lifting device 600 to drive the traction member 710 to move through the controller, the height of the driving wheel 220 protruding from the fuselage 100 can be accurately adjusted, thereby achieving accurate adjustment of the distance between the fuselage 100 and the carrying surface 750, thereby improving the adaptability of the cleaning device.

[0105] In this implementation, the distance between the body 100 and the carrying surface 750 can be adjusted based on the cleaning scene being cleaned by the cleaning device. For example, when the cleaning scene has many low obstacles, the first lifting device 600 can be used to drive the traction member 710 to move, thereby increasing the height of the driving wheel 220 protruding from the body 100, thereby increasing the distance between the body 100 and the carrying surface 750.

[0106] As an example, the first lifting device 600 is used to drive the driving wheel 220 to protrude from the bottom of the body 100 to increase the distance between the body 100 and the carrying surface 750 to reduce the pressure between the cleaning assembly 400 and the carrying surface 750 .

[0107] As another example, the first lifting device 600 is used to drive the driving wheel 220 to protrude from the bottom of the body 100 to reduce the distance between the body 100 and the carrying surface 750 , thereby increasing the pressure between the cleaning assembly 400 and the carrying surface 750 .

[0108] In this embodiment of the present application, the driven wheel assembly 300 can be movably disposed on the body 100 and includes a driven wheel 323 located on the bottom side of the body 100. The driven wheel assembly 300 is configured to adjust the height of the driven wheel 323 protruding from the bottom side of the body 100 by moving relative to the body 100, thereby flexibly cooperating with the driving wheel assembly 200 to support the body 100 during travel. Of course, the driven wheel assembly 300 can also be fixed to the body 100, in which case the height of the driven wheel 323 protruding from the bottom side of the body 100 cannot be adjusted.

[0109] The driven wheel assembly 300 is rotatably connected to the body 100. The manner in which the driven wheel assembly 300 is rotatably connected to the body 100 is similar to the manner in which the driving wheel assembly 200 is rotatably connected to the body 100, and will not be further described here. As an example, the driven wheel assembly 300 is rotatably connected to the body 100 via a rotating shaft structure. Alternatively, the driven wheel assembly 300 may be connected to the body 100 via a spring.

[0110] Of course, the driven wheel assembly 300 and the body 100 can also be connected in a translationally movable manner to reduce the installation space of the driven wheel assembly 300. For example, the driven wheel assembly 300 can be translationally arranged on the body 100 via a slide or a slide rail.

[0111] In this embodiment, the cleaning device may further include a second lifting device 500. The second lifting device 500 is disposed between the body 100 and the driven wheel assembly 300. The second lifting device 500 is used to adjust the relative position of the driven wheel assembly 300 and the body 100, thereby adjusting the force distribution of the driven wheel 323, the driving wheel 220, and the cleaning assembly 400 relative to the bearing surface 750.

[0112] The second lifting device 500 is used to drive the driven wheel assembly 300 to move, so that the driven wheel assembly 300 can be automatically moved by the second lifting device 500.

[0113] Here, the controller can be used to control the second lifting device 500 to drive the driven wheel assembly 300 to move, so as to accurately adjust the height of the driven wheel 323 protruding from the bottom side of the fuselage 100.

[0114] Here, the structure of the second lifting device 500 is not limited. For example, the second lifting device 500 can be a telescopic oil cylinder or a telescopic air cylinder.

[0115] As an example, the first lifting device 600 is used to adjust the relative position of the driving wheel 220 and the fuselage 100, and the second lifting device 500 is used to adjust the relative position of the driven wheel assembly 300 and the fuselage 100, so that the height of the driven wheel 323 protruding from the bottom of the fuselage 100 is the same as the height of the driving wheel 220 protruding from the bottom of the fuselage 100.

[0116] By making the height of the driven wheel 323 protruding from the bottom side of the body 100 the same as the height of the driving wheel 220 protruding from the bottom side of the body 100 , the cleaning assembly 400 can be better fitted to the carrying surface 750 .

[0117] As another example, Figure 8 and Figure 9 As shown, the cleaning assembly 400 and the driven wheel assembly 300 are located on opposite sides of the driving wheel assembly 200; in the first cleaning state, the second lifting device 500 is used to drive the driven wheel 323 to increase its height protruding from the bottom of the fuselage 100, thereby reducing the distance between the corresponding parts of the fuselage 100 and the cleaning assembly 400 and the carrying surface 750, so as to increase the pressure between the cleaning assembly 400 and the carrying surface 750.

[0118] Here, the cleaning assembly 400 can be connected to the connecting assembly 800 via the adjustment structure 900 so that the cleaning surface of the cleaning member 420 is always attached to the supporting surface 750 , thereby improving the cleaning ability of the cleaning assembly 400 .

[0119] As another example, the cleaning assembly 400 and the driven wheel assembly 300 are located on opposite sides of the driving wheel assembly 200; in the second cleaning state, the second lifting device 500 is used to drive the driven wheel 323 to protrude from the bottom of the fuselage 100 to reduce its height and increase the distance between the corresponding parts of the fuselage 100 and the cleaning assembly 400 and the carrying surface 750, so as to reduce the pressure between the cleaning assembly 400 and the carrying surface 750.

[0120] Here, since the center of gravity of the cleaning device is located between the driving wheel assembly 200 and the driven wheel assembly 300, when the height of the bottom of the fuselage 100 protruding from the second lifting device 500 for driving the driven wheel 323 decreases, the height of the fuselage 100 on the side of the driven wheel assembly 300 will decrease.

[0121] In this implementation, the cleaning device may also include: a third lifting device, which is arranged between the fuselage 100 and the cleaning component 400; the third lifting device is used to adjust the relative position of the cleaning component 400 and the fuselage 100, so as to adjust the force distribution of the driven wheel, the driving wheel and the cleaning component relative to the bearing surface, so as to adjust the force distribution of the driven wheel 323, the driving wheel 220 and the cleaning component 400 relative to the bearing surface 750.

[0122] As an example, in a slipping state, the third lifting device is used to drive the height of the cleaning component 400 protruding from the bottom of the fuselage 100 to decrease, so as to reduce the force between the cleaning component 400 and the bearing surface 750, thereby increasing the force between the driven wheel 323 and the driving wheel 220 and the bearing surface 750, so as to eliminate the slipping state of the driven wheel 323 and / or the driving wheel 220, so that the cleaning equipment can travel normally.

[0123] As another example, in the non-slip state, the third lifting device is used to drive the cleaning assembly 400 to increase its height protruding from the bottom of the fuselage 100 to increase the force between the cleaning assembly 400 and the supporting surface 750, thereby improving the cleaning ability of the cleaning assembly 400.

[0124] In this embodiment, the structure of the third lifting device is not limited, as long as it can adjust the force between the cleaning assembly 400 and the supporting surface 750. For example, the third lifting device may include a first motor, a gear assembly, a housing, a first lifting cylinder, and a second lifting cylinder; the housing is fixed to the body 100, the first motor is disposed in the housing, the housing has a first sliding groove extending therethrough along a first direction, the first lifting cylinder is movably disposed in the first sliding groove, and a friction plate and a spring are further disposed in the first sliding groove, the spring is disposed in the housing, and the friction plate is sandwiched between the spring and the flange of the first lifting cylinder to provide friction to the first lifting cylinder. The gear assembly is connected to the driving shaft of the first motor, and the driving shaft of the first motor is used to drive the gear assembly to rotate. The output gear of the gear assembly is provided with a second slide groove, and the second slide groove is coaxially arranged with the first lifting cylinder. The second slide groove is located on the bottom side of the first slide groove away from the fuselage 100, and the second lifting cylinder can be inserted into the second slide groove and the cavity of the first lifting cylinder for translation, and the second lifting cylinder and the first lifting cylinder are matched through a spiral structure; the first motor is used to drive the gear assembly to drive the second lifting cylinder to rotate. Since the second lifting cylinder and the first lifting cylinder are matched through a spiral structure, and there is friction between the first lifting cylinder and the friction plate, the second lifting cylinder can both rotate and move along the axial direction of the second slide groove. The second lifting cylinder can be connected to the cleaning assembly 400, so as to realize the driving of the cleaning assembly 400 to switch between the cleaning state and the non-cleaning state.

[0125] Here, the third lifting device may further include a second motor. The housing may be arranged on the body in a translational manner along a first direction via a slide or a rail. The second motor is used to drive the housing to move in the first direction, thereby adjusting the height of the cleaning assembly 400 protruding from the bottom of the body 100. Here, the second motor may drive the housing to move via a turbine and a rack. The drive shaft of the second motor is connected to the turbine, the turbine is meshed with the rack, and the rack may be fixed to the housing.

[0126] Of course, the third lifting device can also be a telescopic oil cylinder or a pneumatic cylinder, which is used to drive the shell to move along the first direction to adjust the height of the cleaning component 400 protruding from the bottom of the fuselage 100.

[0127] Example 1, such as Figure 13 and Figure 14As shown, the cleaning device may further include: a base 110, which is disposed on the body 100; a first slideway 111 extending through the base 110 along a first direction; and a driven wheel assembly 300, which may include: a support assembly 310 and a wheel assembly 320. The support assembly 310 is movably disposed on the first slideway 111, with a first end of the support assembly 310 being coupled to the second lifting device 500 via a first port of the first slideway 111; the wheel assembly 320 is coupled to the support assembly 310 via a second port of the first slideway 111; at least a portion of the driven wheel 323 of the wheel assembly 320 is located outside the base 110; thereby, the second lifting device 500 can drive the support assembly 310 to drive the wheel assembly 320 to move along the first direction.

[0128] In Example 1, the first direction is not limited, as long as the first direction is not parallel to the bottom surface of the body 100. In this example, the first direction can be perpendicular to the bottom surface of the body 100, and the bottom surface of the body 100 is substantially parallel to the supporting surface 750. When the first direction is perpendicular to the bottom surface of the body 100, the first direction is substantially vertical, thereby enabling the driven wheel assembly 300 to move while reducing the installation space of the driven wheel assembly 300.

[0129] In Example 1, the structure of the second lifting device 500 is not limited.

[0130] For example, Figure 13 As shown, the second lifting device 500 may include a second power member 510 and a rotating member 520. The second power member 510 is disposed on the fuselage 100; the rotating member 520 is connected to the output shaft of the second power member 510 and contacts the support assembly 310 to drive the support assembly 310 to move along the first direction.

[0131] Here, the structure of the second power member 510 is not limited. For example, the second power member 510 can be a motor. The rotating member 520 can be directly fixed to the output shaft of the second power member 510 by means of clamping, bonding, etc. Of course, if Figure 13 As shown, the rotating member 520 can also be fixed to the connecting shaft 530 by means of clamping, bonding, etc., and the connecting shaft 530 can be connected to the output shaft of the second power member 510 through a coupling 760.

[0132] Here, the outer side of the support assembly 310 may have a first mating surface 313 in contact with the rotating member 520 , the second power member 510 is used to drive the rotating member 520 to rotate, and the rotating member 520 is used to push the support assembly 310 to move along the first direction through the first mating surface 313 .

[0133] Here, the shape of the first mating surface 313 is not limited. Figure 14As shown, the first portion 521 of the rotating member is connected to the output shaft of the second power member 510, and the second portion 522 of the rotating member is in contact with the first mating surface 313; the second portion 522 of the rotating member is protruding from one side of the first portion 521 of the rotating member; the first mating surface 313 includes: a plane area 3131 located on one side of the first portion 521 of the rotating member, and an inclined surface area 3132 connected to the plane area 3131. The second portion 522 of the rotating member can move between the inclined surface area 3132 and the plane area 3131 to push the support assembly 310 to move along the first direction. Here, the first mating surfaces 313 can also be all inclined surfaces, or the first mating surfaces 313 can also be all planes. For another example, the first portion 521 of the rotating member is connected to the output shaft of the second power member 510, and the second portion 522 of the rotating member contacts the first mating surface 313. The second portion 522 of the rotating member is protruded from the circumference of the first portion 521 of the rotating member, and the protrusion heights of the second portion 522 of the rotating member are different. When the rotating member 520 rotates, due to the different protrusion heights of the second portion 522 of the rotating member, the second portion 522 of the rotating member can push the support assembly 310 to move in the first direction. Here, the first mating surface 313 can be a flat surface or an inclined surface.

[0134] Here, as Figure 13 and Figure 14 As shown, the support assembly 310 has a first convex wall 314 at one end of the first mating surface 313 perpendicular to the axial direction of the rotating part 520; the support assembly 310 has two second convex walls 315 spaced apart on the first mating surface 313 parallel to the axial direction of the rotating part 520, and the two second convex walls 315 and the first convex wall 314 define a receiving groove 316, and a portion of the rotating part 520 is located in the receiving groove 316.

[0135] Here, the second portion 522 of the rotating member may have an arcuate surface in contact with the first mating surface 313, so that the second portion 522 of the rotating member can move smoothly on the first mating surface 313. Figure 13 and Figure 14 As shown, the second portion 522 of the rotating member may also have a rotatably arranged matching member 523 , and the matching member 523 is in rolling contact with the first matching surface 313 to reduce the friction force of the rotating member 520 during rotation.

[0136] In an implementation, the second lifting device 500 can be used to provide a force to the driven wheel 323 to move toward the side away from the fuselage 100; the cleaning device can also include: a second elastic member 740, the second elastic member 740 is arranged between the driven wheel assembly 300 and the fuselage 100; the elastic member is used to provide a force to the driven wheel 323 to move toward the side close to the fuselage 100.

[0137] The second lifting device 500 can overcome the elasticity of the second elastic member 740 and drive the driven wheel 323 to the side away from the fuselage 100. When it is necessary to move the driven wheel 323 to the side close to the fuselage 100, the second lifting device 500 can reduce the force driving the driven wheel 323 to move to the side away from the fuselage 100. At this time, the driven wheel assembly 300 can move to the side close to the fuselage 100 based on the restoring force of the second elastic member 740.

[0138] Here, the structure of the second elastic member 740 is not limited. For example, the second elastic member 740 can be a spring or a rubber structure.

[0139] Of course, in other implementations, the second lifting device 500 may not include the second elastic member 740. In this case, the second lifting device 500 may be directly connected to the driven wheel assembly 300 to drive the driven wheel assembly 300 to move. For example, the second lifting device 500 may include a telescopic cylinder, and the rod of the telescopic cylinder may be directly connected to the driven wheel assembly 300. For another example, the second lifting device 500 may include a rack, and the rack may be directly connected to the driven wheel assembly 300.

[0140] In Example 1, the base body 110 may be provided with a first opening 112 on one side of the first slide 111; the first limiting portion 317 of the support assembly 310 passes through the first opening 112 and protrudes from the outside of the base body 110; the base body 110 has a protruding second limiting portion 113 on the side close to the driven wheel 323; the second elastic member 740 may be provided between the first limiting portion 317 and the second limiting portion 113.

[0141] In Example 1, the second lifting device 500 may include: a second power member 510 and a rotating member 520. The second power member 510 is disposed on the fuselage 100; the rotating member 520 is connected to the output shaft of the second power member 510 and contacts the support assembly 310 through the first port of the first slide 111 to drive the support assembly 310 to move along the first direction;

[0142] like Figure 15 and Figure 16 As shown, the cleaning device may further include: a cover 780 , which covers the rotating member 520 and at least a portion of the base 110 ; and a second elastic member 740 located in a space defined by the cover 780 and the base 110 .

[0143] Here, the second lifting device 500 can also include: a connecting shaft 530, which can be rotatably set on the cover 780 through two bearings 770; one end of the connecting shaft 530 extends out of the cover 780 and is connected to the output shaft of the second power member 510; the rotating member 520 is set on the connecting shaft 530.

[0144] In the embodiment of the application, the wheel assembly 320 may include: an axle 321, a wheel housing 322, and a driven wheel 323 rotatably mounted on the wheel housing 322; the axle 321 may be directly fixed to the support assembly 310. The axle 321 may also be rotatably mounted on the support assembly 310.

[0145] As an example, the support assembly 310 may include a first mounting member 311 and a second mounting member 312 . The first mounting member 311 is provided with a through second slideway 3111 along the first direction, and the wheel axle 321 is rotatably inserted into the second slideway 3111 from the first end of the second slideway 3111, and one end of the wheel axle 321 passes through the second end of the second slideway 3111 and is connected to the wheel shell 322; the second mounting member 312 is connected to the first mounting member 311; the second mounting member 312 has a matching portion 3122 and a blocking portion 3121, the matching portion 3122 is sleeved outside the first mounting member 311 and is slidably inserted into the first slideway 111, the blocking portion 3121 is blocked at the first end of the second slideway 3111, and the blocking portion 3121 has a first matching surface 313 that contacts the rotating member 520 on the side facing away from the wheel axle 321, so that the wheel body assembly 320 can both rotate in the second slideway 3111 and slide in the first slideway 111.

[0146] Here, the second mounting member 312 and the first mounting member 311 can be connected by means of clamping, bonding, welding, etc.

[0147] It should be noted that Figure 15 and Figure 16 for Figure 7 A schematic structural diagram of the driven wheel assembly 300 in FIG. Figure 17 and Figure 18 for Figure 8 A schematic structural diagram of the driven wheel assembly 300 in FIG. Figure 19 and Figure 20 for Figure 9 Schematic diagram of the structure of the driven wheel assembly 300. Figure 8 The height of the middle driven wheel 323 protruding from the fuselage 100 is greater than Figure 7 The middle driven wheel 323 protrudes from the fuselage 100 by a height. Figure 9 The height of the middle driven wheel 323 protruding from the fuselage 100 is greater than Figure 8 The middle driven wheel 323 protrudes from the body 100 by a certain height.

[0148] In some optional implementations of the embodiments of the present application, the cleaning device may further include a connecting assembly 800, a cleaning assembly 400, and an adjustment structure 900. The connecting assembly 800 is connected to the body 100; the connecting assembly 800 is movably connected to the cleaning assembly 400 in the circumferential direction of the cleaning assembly 400 via the adjustment structure 900; when the body 100 is partially raised, the adjustment structure 900 is used to make the cleaning surface of the cleaning member 420 fit with the carrying surface 750. By making the cleaning surface of the cleaning member 420 fit with the carrying surface 750, the cleaning ability of the cleaning member 420 can be greatly improved.

[0149] Of course, in other implementations, the cleaning device may not include the adjustment structure 900 . Here, the connecting component 800 may be directly connected to the cleaning component 400 .

[0150] In this implementation, the connecting assembly 800 and the body 100 can be detachably connected via a snap-fit ​​structure or a magnetic structure. Of course, the connecting assembly 800 and the body 100 can also be fixedly connected.

[0151] Here, the connecting assembly 800 can be realized by the third lifting device on the fuselage 100 Figure 1 The state of not contacting the bearing surface 750 and Figure 2 In the state of contact with the carrying surface 750 , the third lifting device on the body 100 is extended and retracted in a manner similar to the dispensing structure of the sweeping robot in the related art, which will not be described in detail here.

[0152] In this embodiment, the structure of the cleaning assembly 400 is not limited. For example, the cleaning assembly 400 may include a cleaning bracket 410 and a cleaning member 420. The cleaning bracket 410 may be directly connected to the connecting assembly 800 or connected to the connecting assembly 800 via an adjustment structure 900. The cleaning member 420 is used to clean the carrying surface 750 and may be a fabric structure. As an example, the cleaning member 420 is a mop.

[0153] In one application scenario, when the cleaning capability of the cleaning device needs to be increased, the driving wheel assembly 200 can be rotated to reduce the distance between the body 100 and the supporting surface 750, thereby increasing the pressure between the cleaning element 420 and the supporting surface 750. Simultaneously, the driven wheel assembly 300 can be controlled to move so that the height of the driven wheel 323 protruding from the bottom side of the body 100 is the same as the height of the driving wheel 220 protruding from the bottom side of the body 100, so that the cleaning device travels generally horizontally. When the cleaning capability of the cleaning device needs to be increased again, the driven wheel assembly 300 can be controlled to move to increase the height of the driven wheel 323 protruding from the bottom side of the body 100, thereby reducing the distance between the corresponding portions of the body 100 and the supporting surface 750 of the cleaning element 420, thereby further increasing the pressure between the cleaning element 420 and the supporting surface 750.

[0154] In a second embodiment, the present application also describes a cleaning device, which includes a body 100, a cleaning assembly 400, a driving wheel assembly 200, a driven wheel assembly 300, and a first lifting device. The cleaning assembly 400 is disposed at the bottom of the body; the driving wheel assembly 200 is disposed on the body; the driving wheel assembly 200 includes a driving wheel 220 located at the bottom of the body 100; the driven wheel assembly 300 is disposed on the body 100; the driven wheel assembly 300 includes a driven wheel 323 located at the bottom of the body 100; and a first lifting device 600 is disposed between the body 100 and the driving wheel assembly 200. The first lifting device 600 is used to adjust the relative position of the driving wheel 220 and the body 100, thereby adjusting the force distribution of the driven wheel 323, the driving wheel 220, and the cleaning assembly 400 relative to the bearing surface.

[0155] In the embodiment of the present application, the height adjustment range of the body 100 relative to the support surface 750 is not limited. For example, the height adjustment range of the body 100 relative to the support surface 750 can be 0.5 cm to 5 cm. By using the drive wheel assembly 200, the height adjustment range of the body 100 relative to the support surface 750 can be 0.5 cm to 5 cm, which can greatly improve the adaptability of the cleaning device. For another example, the height adjustment range of the body 100 relative to the support surface 750 can be 1 cm to 5 cm, 2 cm to 5 cm, 3 cm to 5 cm, or 2 cm to 4 cm.

[0156] The cleaning device of the embodiment of the present application can adjust the force distribution of the driven wheel 323, the driving wheel 220 and the cleaning assembly 400 relative to the bearing surface through the first lifting device 600 and the driving wheel assembly 200, thereby greatly improving the adaptability of the cleaning device.

[0157] In the embodiment of the present application, the body 100, the cleaning assembly 400, the driven wheel assembly 300, and the first lifting device 600 are similar to the body 100, the cleaning assembly 400, the driven wheel assembly 300, and the first lifting device 600 in the above-mentioned embodiment 1, and are not repeated here.

[0158] In the embodiment of the present application, the drive wheel assembly 200 is movably disposed on the fuselage 100. The drive wheel assembly 200 can be rotatably connected to the fuselage 100. The implementation method of the rotatable connection between the drive wheel assembly 200 and the fuselage 100 is not limited. For example, the drive wheel assembly 200 can be rotatably connected to the fuselage 100 in the manner of the above-mentioned embodiment 1. Here, the drive wheel assembly 200 can adjust the distance between the fuselage 100 and the supporting surface 750; it should be noted that here, the traction member 710 can be an elastic structure or a non-elastic structure.

[0159] Of course, the driving wheel assembly 200 and the body 100 may also be connected in a translationally movable manner. Here, the driving wheel assembly 200 can be used to adjust the distance between the body 100 and the supporting surface 750. The implementation method of the translationally movable connection between the driving wheel assembly 200 and the body 100 is similar to the implementation method of the translationally movable connection between the driven wheel assembly 300 and the body 100 in the first embodiment above, and will not be repeated here.

[0160] In the embodiment of the present application, the driving wheel assembly 200 can adjust the distance between the body 100 and the carrying surface 750 based on different cleaning scenarios of the cleaning equipment.

[0161] As an example, when the cleaning scene of the cleaning equipment has many low obstacles, the driving wheel assembly 200 can be driven to move by the first lifting device 600 to increase the height of the driving wheel 220 protruding from the fuselage 100 to increase the distance between the fuselage 100 and the carrying surface 750.

[0162] As another example, the first lifting device 600 is used to drive the driving wheel 220 to protrude higher than the bottom of the body 100 to increase the distance between the body 100 and the carrying surface 750 , thereby reducing the pressure between the cleaning assembly 400 and the carrying surface 750 .

[0163] As another example, the first lifting device 600 is used to drive the driving wheel 220 to protrude from the bottom of the body 100 to reduce the distance between the body 100 and the carrying surface 750 , thereby increasing the pressure between the cleaning assembly 400 and the carrying surface 750 .

[0164] In this embodiment of the present application, the driven wheel assembly 300 can be movably disposed on the body 100 and includes a driven wheel 323 located on the bottom side of the body 100. The driven wheel assembly 300 is configured to adjust the height of the driven wheel 323 protruding from the bottom side of the body 100 by moving relative to the body 100, thereby flexibly cooperating with the driving wheel assembly 200 to support the body 100 during travel. Of course, the driven wheel assembly 300 can also be fixed to the body 100, in which case the height of the driven wheel 323 protruding from the bottom side of the body 100 cannot be adjusted.

[0165] The driven wheel assembly 300 is rotatably connected to the body 100. The manner in which the driven wheel assembly 300 is rotatably connected to the body 100 is similar to the manner in which the driving wheel assembly 200 is rotatably connected to the body 100, and will not be further described here. As an example, the driven wheel assembly 300 is rotatably connected to the body 100 via a rotating shaft structure. Alternatively, the driven wheel assembly 300 may be connected to the body 100 via a spring.

[0166] Of course, the driven wheel assembly 300 and the body 100 can also be connected in a translationally movable manner to reduce the installation space of the driven wheel assembly 300. For example, the driven wheel assembly 300 can be translationally arranged on the body 100 via a slide or a slide rail.

[0167] In some optional implementations of the application embodiments, the cleaning device may further include a second lifting device 500. The second lifting device 500 is disposed between the body 100 and the driven wheel assembly 300; the second lifting device 500 is used to adjust the relative position of the driven wheel assembly 300 and the body 100, thereby adjusting the force distribution of the driven wheel 323, the driving wheel 220, and the cleaning assembly 400 relative to the bearing surface 750.

[0168] In the implementation, the second lifting device 500 has been described in the above embodiment 1 and will not be repeated here.

[0169] In an implementation, the second lifting device 500 is used to drive the driven wheel assembly 300 to move, so that the driven wheel assembly 300 can be automatically moved by the second lifting device 500 .

[0170] As an example, the first lifting device 600 is used to adjust the relative position of the driving wheel 220 and the fuselage 100, and the second lifting device 500 is used to adjust the relative position of the driven wheel assembly 300 and the fuselage 100, so that the height of the driven wheel 323 protruding from the bottom of the fuselage 100 is the same as the height of the driving wheel 220 protruding from the bottom of the fuselage 100.

[0171] By making the height of the driven wheel 323 protruding from the bottom side of the body 100 the same as the height of the driving wheel 220 protruding from the bottom side of the body 100 , the cleaning assembly 400 can be better fitted to the carrying surface 750 .

[0172] As another example, the driving wheel assembly 200 is rotatably connected to the body 100, and the second lifting device 500 is used to drive the driven wheel assembly 300 to move so that the body 100 rotates relative to the driving wheel assembly 200 to adjust the force distribution of the driven wheel 323, the driving wheel 220 and the cleaning assembly 400 relative to the bearing surface.

[0173] In one application, such as Figure 8 and Figure 9 As shown, the cleaning assembly 400 and the driven wheel assembly 300 are located on opposite sides of the driving wheel assembly 200; in the first cleaning state, the second lifting device 500 is used to drive the driven wheel 323 to increase its height protruding from the bottom of the fuselage 100, thereby reducing the distance between the corresponding parts of the fuselage 100 and the cleaning assembly 400 and the carrying surface 750, so as to increase the pressure between the cleaning assembly 400 and the carrying surface 750.

[0174] Here, the cleaning assembly 400 can be connected to the connecting assembly 800 via the adjustment structure 900 so that the cleaning surface of the cleaning member 420 is always attached to the supporting surface 750 , thereby improving the cleaning ability of the cleaning assembly 400 .

[0175] In another application, the cleaning assembly 400 and the driven wheel assembly 300 are located on opposite sides of the driving wheel assembly 200; in the second cleaning state, the second lifting device 500 is used to drive the driven wheel 323 to protrude from the bottom of the fuselage 100 to reduce its height and increase the distance between the corresponding parts of the fuselage 100 and the cleaning assembly 400 and the carrying surface 750, so as to reduce the pressure between the cleaning assembly 400 and the carrying surface 750.

[0176] Here, since the center of gravity of the cleaning device is located between the driving wheel assembly 200 and the driven wheel assembly 300, when the height of the bottom of the fuselage 100 protruding from the second lifting device 500 for driving the driven wheel 323 decreases, the height of the fuselage 100 on the side of the driven wheel assembly 300 will decrease.

[0177] In some optional implementations of the embodiments of the present application, the cleaning device may further include: a third lifting device, which is arranged between the fuselage 100 and the cleaning assembly 400; the third lifting device is used to adjust the relative position of the cleaning assembly 400 and the fuselage 100, so as to adjust the force distribution of the driven wheel, the driving wheel and the cleaning assembly relative to the bearing surface, so as to adjust the force distribution of the driven wheel 323, the driving wheel 220 and the cleaning assembly 400 relative to the bearing surface 750.

[0178] As an example, in a slipping state, the third lifting device is used to drive the height of the cleaning component 400 protruding from the bottom of the fuselage 100 to decrease, so as to reduce the force between the cleaning component 400 and the bearing surface 750, thereby increasing the force between the driven wheel 323 and the driving wheel 220 and the bearing surface 750, so as to eliminate the slipping state of the driven wheel 323 and / or the driving wheel 220, so that the cleaning equipment can travel normally.

[0179] As another example, in the non-slip state, the third lifting device is used to drive the cleaning assembly 400 to increase its height protruding from the bottom of the fuselage 100 to increase the force between the cleaning assembly 400 and the supporting surface 750, thereby improving the cleaning ability of the cleaning assembly 400.

[0180] The third lifting device has been described in the above embodiment 1 and will not be repeated here.

[0181] In some optional implementations of the embodiments of the present application, the drive wheel assembly 200 may include: a first support member 210 and a drive wheel 220. The first support member 210 has a first connection portion 211 and a second connection portion 212 located in different areas; the first connection portion 211 is used to rotatably connect to the body 100; the drive wheel 220 is rotatably disposed on the first support member 210 and is used to contact the support surface 750. The cleaning device may also include: a traction member 710, which is movably disposed on the body 100 of the cleaning device; the traction member 710 is connected to the second connection portion 212. A first lifting device 600 is disposed on the body 100 and connected to the traction member 710; the first lifting device 600 is used to drive the traction member 710 to move relative to the body 100 to adjust the force distribution of the driven wheel 323, the drive wheel 220, and the cleaning assembly 400 relative to the support surface 750.

[0182] In this implementation, the cleaning device may further include: a controller configured to control the first lifting device 600 to drive the traction member 710 to move, so as to adjust the distance between the body 100 and the carrying surface 750 .

[0183] In this embodiment, the pulling member 710 is a flexible structure. The cleaning device may further include a guide member 720 disposed on the body 100 and located on one side of the first support member 210. The guide member 720 defines a guide groove. A portion of the pulling member 710 is located within the guide groove. The guide groove may be disposed perpendicular to the axis of rotation of the first support member 210.

[0184] In this embodiment, the first lifting device 600 may include: a first power member 610 and a winding member 620. The first power member 610 is disposed on the fuselage 100; the winding member 620 is connected to the output shaft of the first power member 610; the first portion of the traction member 710 is connected to the first support member 210, and the second portion of the traction member 710 is configured to be wound around the winding member 620.

[0185] In this implementation, the cleaning device may further include: a first elastic member 730 connected to the third connection portion 213 of the first support member 210 ; the first elastic member 730 is connected to the body 100 to provide rotational damping force to the first support member 210 .

[0186] In this implementation, the first supporting member 210 , the pulling member 710 , the first lifting device 600 and the first elastic member 730 have been described in the above first embodiment, and are not repeated here.

[0187] In some optional implementations of the embodiments of the present application, the cleaning device may further include a base 110, which is disposed on the body 100; the base 110 defines a first slideway 111 extending therethrough along a first direction; and the driven wheel assembly 300 may include a support assembly 310 and a wheel assembly 320. The support assembly 310 is movably disposed on the first slideway 111, with a first end of the support assembly 310 matingly connected to the second lifting device 500 via a first port of the first slideway 111; the wheel assembly 320 is connected to the support assembly 310 via a second port of the first slideway 111; and at least a portion of the driven wheel 323 of the wheel assembly 320 is located outside the base 110.

[0188] In this implementation, the first direction may be perpendicular to the bottom surface of the body 100;

[0189] In this implementation, the second lifting device 500 may include: a second power member 510 and a second power member 510, the second power member 510 is arranged on the fuselage 100; the rotating member 520 is connected to the output shaft of the second power member 510 and contacts the support assembly 310 to drive the support assembly 310 to move along the first direction.

[0190] In this implementation, the support assembly 310 , the wheel assembly 320 and the second lifting device 500 have been described in the above-mentioned embodiment 1, and will not be repeated here.

[0191] In some optional implementations of the embodiments of the present application, the cleaning device may further include: a connecting assembly 800 and an adjustment structure 900. The connecting assembly 800 is used to connect to the body 100 of the cleaning device; the connecting assembly 800 is movably connected to the cleaning assembly 400 in the circumferential direction of the cleaning assembly 400 via the adjustment structure 900; when the body 100 is partially raised, the adjustment structure 900 is used to make the cleaning surface of the cleaning member 420 conform to the bearing surface 750.

[0192] In this implementation, the docking assembly and the adjustment structure 900 have been described in the above embodiment 1, and will not be repeated here.

[0193] In a third embodiment, the present application describes a cleaning device comprising a connecting assembly 800, a cleaning assembly 400, and an adjustment structure 900. The connecting assembly 800 is used to connect to the body 100 of the cleaning device; the cleaning member 420 of the cleaning assembly 400 is used to clean the carrying surface 750; the connecting assembly 800 is movably connected to the cleaning assembly 400 in a circumferential direction of the cleaning assembly 400 via the adjustment structure 900; when the body 100 is partially raised, the adjustment structure 900 is used to make the cleaning surface of the cleaning member 420 conform to the carrying surface 750.

[0194] The embodiment of the present application also describes a cleaning device, including the cleaning device of the embodiment of the present application and a body 100; the connecting component 800 of the cleaning device is connected to the body 100.

[0195] In the related art, the cleaning components of a sweeping robot are generally directly connected to the body of the sweeping robot. When the cleaning components of the sweeping robot are in operation, if the body is partially lifted, the cleaning components of the sweeping robot will deflect with the partial lifting of the body, and the cleaning components will not be able to fit with the supporting surface, resulting in some areas of the supporting surface not being cleaned, thereby affecting the cleaning effect of the cleaning components. However, the cleaning device of the present application, because the connecting component 800 is movably connected to the cleaning component 400 in the circumferential direction of the cleaning component 400 through the adjustment structure 900; when the body 100 is partially lifted, the adjustment structure 900 is used to make the cleaning surface of the cleaning component 400 fit with the supporting surface 750, and the cleaning component 400 can clean the entire area of ​​the supporting surface 750, thereby greatly improving the cleaning effect of the cleaning device.

[0196] In the embodiment of the present application, the partial lifting of the fuselage 100 means that only a portion of the fuselage 100 is lifted, so that the bottom surface of the fuselage 100 is not parallel to the supporting surface 750. For example, Figure 8 and Figure 9 As shown, when the driven wheel assembly 300 moves, the fuselage 100 is partially lifted. For another example, when the driving wheel assembly 200 moves, the fuselage 100 is partially lifted. For another example, when the cleaning device encounters an obstacle, the fuselage 100 is partially lifted.

[0197] In the embodiment of the present application, the connection component 800 and the fuselage 100 can be detachably connected by a snap-on structure or a magnetic structure. Of course, the connection component 800 and the fuselage 100 can also be connected by bonding, welding, etc. The connection component 800 can be set on the movable structure of the fuselage 100 or on the third lifting device. The connection component 800 can be moved relative to the fuselage 100 through the movable structure or the third lifting device. Figure 1 The status shown and Figure 2 Here, the movable structure is similar to the manner in which the mop of a sweeping robot in the related art can be extended out of the body and retracted into the body, and will not be described in detail here.

[0198] In the embodiment of the present application, the form of the adjustment structure 900 is not limited. For example, the adjustment structure 900 may include a ball head structure 910. As an example, the adjustment structure 900 may include: a socket portion 911 and a ball head portion 912 that cooperates with the socket; one of the socket portion 911 and the ball head portion 912 is provided in the connecting component 800, and the other of the socket portion 911 and the ball head portion 912 is provided in the cleaning component 400. In one application, such as Figure 22 、 Figure 23 and Figure 24 As shown, the ball socket portion 911 is disposed on the connecting assembly 800 , and the ball head portion 912 is disposed on the cleaning assembly 400 .

[0199] For another example, the adjustment structure 900 may include an elastic structure. For another example, the adjustment structure 900 may include a ball head structure 910 and an elastic structure.

[0200] In some optional implementations of the embodiments of the present application, the adjustment structure 900 may include: a ball head structure 910 and a first elastic structure 920. The cleaning assembly 400 is connected to the connecting assembly 800 via the ball head structure 910; the first elastic structure 920 is disposed between the connecting assembly 800 and the cleaning assembly 400 in a direction perpendicular to the cleaning surface of the cleaning member 420 to provide a restoring force to the connecting assembly 800 to move in a direction perpendicular to the cleaning surface of the cleaning member 420.

[0201] In this embodiment, the ball head structure 910 may include: a socket portion 911 and a ball head portion 912 that cooperates with the socket; one of the socket portion 911 and the ball head portion 912 is provided in the connecting assembly 800, and the other of the socket portion 911 and the ball head portion 912 is provided in the cleaning assembly 400. As an example, Figure 22 、 Figure 23 and Figure 24 As shown, the ball socket portion 911 can be provided on the connecting assembly 800 , and the ball head portion 912 can be provided on the cleaning assembly 400 .

[0202] In this implementation, the structure of the first elastic structure 920 is not limited. For example, the first elastic structure 920 can be a spring. For another example, the first elastic structure 920 can be a rubber structure.

[0203] In this implementation, the location of the first elastic structure 920 is not limited. For example, the first elastic structure 920 can be located on one side of the ball head structure 910.

[0204] For another example, the first elastic structure 920 can be cylindrical and can be sleeved outside the ball head structure 910. Here, the connecting assembly 800 can have a limiting groove 840, and one end of the first elastic structure 920 is located in the limiting groove 840. Of course, the connecting assembly 800 can also not have a limiting groove 840. Here, one end of the first elastic structure 920 can be fixed to the connecting assembly 800 by bonding, clamping, welding, etc.

[0205] In this implementation, when the cleaning device is in Figure 7 In the state shown, the driven wheel assembly 300 can be in Figure 13 and Figure 14In the state, the driven wheel 323 of the driven wheel assembly 300 is raised from the body 100 at a lower height, and the cleaning assembly 400 can be in Figure 22 In the state, the first elastic structure 920 is perpendicular to the cleaning surface of the cleaning member 420, and the cleaning surface of the cleaning member 420 contacts the bearing surface 750; the driven wheel assembly 300 can be moved from Figure 13 and Figure 14 The state moves to Figure 17 and Figure 18 When the cleaning equipment is in Figure 8 In the state shown, the cleaning assembly 400 can be in Figure 23 In the state, the first elastic structure 920 is deformed and has a restoring force to move in a direction perpendicular to the cleaning surface of the cleaning member 420. The cleaning surface of the cleaning member 420 contacts the bearing surface 750. At the same time, the pressure between the cleaning member 420 and the bearing surface 750 increases, and the cleaning member 420 can clean the bearing surface 750 more effectively. Figure 17 and Figure 18 The state moves to Figure 19 and Figure 20 When the cleaning equipment is in Figure 9 In the state shown, the cleaning assembly 400 can be in Figure 24 In the state of the first elastic structure 920 continues to deform and has a restoring force to move in a direction perpendicular to the cleaning surface of the cleaning member 420. The cleaning surface of the cleaning member 420 contacts the bearing surface 750. At the same time, the pressure between the cleaning member 420 and the bearing surface 750 is further increased, and the cleaning member 420 can clean the bearing surface 750 more effectively. Figure 17 and Figure 18 The state moves to Figure 13 and Figure 14 When the cleaning equipment is in Figure 7 In the state shown, the cleaning component 400 can be moved from Figure 24 The state moves to Figure 22 status.

[0206] Of course, in other implementations, the adjustment structure 900 may also include only one of the ball head structure 910 and the first elastic structure 920. As an example, the cleaning assembly 400 and the connecting assembly 800 are spaced apart, and the first elastic structure 920 is disposed in the gap between the cleaning assembly 400 and the connecting assembly 800.

[0207] In some optional implementations of the embodiments of the present application, the adjustment structure 900 may include a second elastic structure 930; the connecting component 800 has a first end and a second end relatively arranged; the first end of the connecting component 800 is used to connect to the fuselage 100; the second end of the connecting component 800 is connected to the cleaning component 400 through the second elastic structure 930.

[0208] In this implementation, the second elastic structure 930 can be provided on the end face side of the second end of the connecting assembly 800. The second elastic structure 930 can also be provided on the peripheral side of the second end of the connecting assembly 800. Of course, the second elastic structure 930 can also be provided on both the end face side of the second end of the connecting assembly 800 and the peripheral side of the second end of the connecting assembly 800.

[0209] In this implementation, the second elastic structure 930 may be a spring. Of course, the second elastic structure 930 may also be a polymer structure. As an example, the second elastic structure 930 may be a rubber structure.

[0210] In some optional implementations of the embodiments of the present application, the cleaning assembly 400 includes a cleaning bracket 410 and a cleaning member 420. The connecting assembly 800 is movably connected to the cleaning bracket 410 in the circumferential direction of the cleaning assembly 400 via an adjustment structure 900. The cleaning member 420 can be provided on the end face of the cleaning bracket 410 by bonding, clamping, or the like.

[0211] In this embodiment, the hardness of the cleaning support 410 can be greater than the hardness of the cleaning member 420. This allows the harder cleaning support 410 to improve the rigidity of the cleaning assembly 400, while the softer cleaning member 420 improves the cleaning ability of the cleaning assembly 400. For example, the cleaning support 410 is made of plastic, and the cleaning member 420 is made of fabric. As an example, the cleaning member 420 is a mop.

[0212] In this implementation, the cleaning assembly 400 may further include an anti-collision member 430 , which is arranged around the circumference of the cleaning bracket 410 . The anti-collision member 430 can prevent the cleaning bracket 410 from being damaged and can also prevent the cleaning bracket 410 from damaging foreign objects.

[0213] Here, the anti-collision member 430 may have elasticity. For example, the anti-collision member 430 may be a rubber structure.

[0214] In this implementation, if Figure 21As shown, the cleaning bracket 410 may have a first mounting through hole 411; the cleaning member 420 may be arranged on the end face side of the cleaning bracket 410; the adjustment structure 900 may include a second elastic structure 930, the second elastic structure 930 may be arranged in the first mounting through hole 411, and the second elastic structure 930 may have a second mounting through hole 931; the connecting component 800 may have a first end and a second end arranged relatively to each other; the first end of the connecting component 800 is used to connect to the fuselage 100; the second end of the connecting component 800 can be inserted into the second mounting through hole 931.

[0215] Here, the second elastic structure 930 can be disposed in the first mounting through hole 411 by means of an adhesive structure or a clamping structure.

[0216] Here, the second end of the connecting assembly 800 can be set in the second mounting through hole 931 through an adhesive structure or a clamping structure.

[0217] In some optional implementations of the embodiments of the present application, such as Figure 21 As shown, the connecting assembly 800 may include: a first connecting member 810, a second connecting member 820, and a third elastic member 830. The first connecting member 810 is used to connect to the body 100 of the cleaning device; the second connecting member 820 is connected to the first connecting member 810 in a first direction so as to be movably connected, and is connected to the cleaning assembly 400 via an adjustment structure 900; wherein the first direction is perpendicular to the bottom surface of the body 100; the third elastic member 830 is connected to the first connecting member 810 and the second connecting member 820 respectively to adjust the length of the connecting assembly 800 in the first direction, so that the third elastic member 830 can provide a buffering effect on the connecting assembly 800 in the first direction, thereby improving the adaptability of the cleaning device.

[0218] In this implementation, the structures of the first connecting member 810 and the second connecting member 820 are not limited.

[0219] For example, the first connector 810 may include a first cylindrical portion 811 and a first fixing portion 812 located within the first cylindrical portion 811. The second connector 820 may include a second cylindrical portion 821 and a second fixing portion 822 located within the second cylindrical portion 821. The first cylindrical portion 811 and the second cylindrical portion 821 are plugged into each other in a first direction, defining an accommodating cavity between the first connector 810 and the second connector 820; the first fixing portion 812 and the second fixing portion 822 are located within the accommodating cavity; the third elastic member 830 is located within the accommodating cavity; and the ends of the third elastic member 830 are connected to the first fixing portion 812 and the second fixing portion 822, respectively.

[0220] Here, the first fixing portion 812 may be a protruding structure provided in the first cylindrical portion 811, and the second fixing portion 822 may be a protruding structure provided in the second cylindrical portion 821. Figure 21 shown.

[0221] Here, the structure of the third elastic member 830 is not limited. For example, the third elastic member 830 can be a spring. For another example, the third elastic member 830 can be a rubber structure.

[0222] Here, both ends of the third elastic member 830 may be connected to the first fixing portion 812 and the second fixing portion 822 respectively by bonding, clamping, or the like.

[0223] In some optional implementations of the embodiments of the present application, the cleaning device may further include a drive wheel assembly 200, which is movably disposed on the body 100; the drive wheel assembly 200 includes a drive wheel 220 located on the bottom side of the body 100; the drive wheel assembly 200 is used to adjust the height of the drive wheel 220 protruding from the bottom of the body 100 by moving relative to the body 100.

[0224] In this embodiment, the driving wheel assembly 200 can be rotatably connected to the body 100. Of course, the driving wheel assembly 200 can also be connected to the body 100 in a translational manner.

[0225] In this implementation, the cleaning device may further include a first lifting device 600 , which is used to drive the driving wheel assembly 200 to move relative to the body 100 .

[0226] In this implementation, the driving wheel assembly 200 and the first lifting device 600 are similar to the driving wheel assembly 200 and the first lifting device 600 in the above-mentioned embodiment 2, and are not described again here.

[0227] In some optional implementations of the embodiments of the present application, the cleaning device may further include: a driven wheel assembly 300, which is movably arranged on the body 100; the driven wheel assembly 300 includes a driven wheel 323 located on the bottom side of the body 100; the driven wheel assembly 300 is used to adjust the height of the driven wheel 323 protruding from the bottom side of the body 100 by moving relative to the body 100.

[0228] In this embodiment, the driven wheel assembly 300 can be rotatably connected to the body 100. Of course, the driving wheel assembly 200 can also be connected to the body 100 in a translational manner.

[0229] In this implementation, the cleaning device may further include a second lifting device 500 , and the second lifting device 500 is used to drive the driven wheel assembly 300 to move.

[0230] In this implementation, the driven wheel assembly 300 and the second lifting device 500 are similar to the driven wheel assembly 300 and the second lifting device 500 in the above-mentioned embodiment 1, and are not described again here.

[0231] In some optional implementations of the embodiments of the present application, when the driving wheel assembly 200 and / or the driven wheel assembly 300 move relative to the fuselage 100 to partially lift the fuselage 100, the fuselage 100 drives the connecting assembly 800 to move toward one side of the cleaning assembly 400 through the adjustment structure 900, so that the cleaning surface of the cleaning assembly 400 is in contact with the supporting surface 750.

[0232] In this implementation, the driving wheel assembly 200 may move relative to the fuselage 100 to partially lift the fuselage 100, or the driven wheel assembly 300 may move relative to the fuselage 100 to partially lift the fuselage 100. Alternatively, the driving wheel assembly 200 may move relative to the fuselage 100, and the driven wheel assembly 300 may move relative to the fuselage 100 to partially lift the fuselage 100.

[0233] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A cleaning device for cleaning equipment, characterized in that: include: A connecting assembly, used for connecting to a body of the cleaning device; A cleaning component for cleaning the bearing surface; Adjust the structure; The connecting assembly is movably connected to the cleaning assembly in the circumferential direction of the cleaning assembly through the adjusting structure; when the fuselage is partially lifted, the adjusting structure is used to make the cleaning surface of the cleaning assembly fit with the bearing surface.

2. The cleaning device according to claim 1, characterized in that The adjustment structure includes a ball head structure; and / or the adjustment structure includes an elastic structure.

3. The cleaning device according to claim 1, characterized in that The adjustment structure includes: a ball socket and a ball head portion matched with the ball socket; one of the ball socket and the ball head portion is arranged on the connecting component, and the other of the ball socket and the ball head portion is arranged on the cleaning component.

4. The cleaning device according to claim 1, characterized in that The adjustment structure includes a ball head structure, through which the cleaning assembly is connected to the connecting assembly; The first elastic structure is arranged between the connecting component and the cleaning component in a direction perpendicular to the cleaning surface of the cleaning component to provide a restoring force for the connecting component to move in a direction perpendicular to the cleaning surface of the cleaning component.

5. The cleaning device according to claim 4, characterized in that The first elastic structure is cylindrical and is sleeved outside the ball head structure.

6. The cleaning device according to claim 5, characterized in that The connecting component is provided with a limiting groove, and one end of the first elastic structure is located in the limiting groove.

7. The cleaning device according to claim 1, characterized in that The adjustment structure includes a second elastic structure; The connecting assembly has a first end and a second end that are oppositely disposed; the first end of the connecting assembly is used to connect to the body; the second end of the connecting assembly is connected to the cleaning assembly via the second elastic structure; Wherein, the second elastic structure is arranged on the end face side of the second end of the connecting component; and / or, the second elastic structure is arranged on the circumferential side of the second end of the connecting component.

8. The cleaning device according to claim 7, characterized in that The second elastic structure is a spring; or the second elastic structure is a polymer structure.

9. The cleaning device according to claim 1, wherein: The cleaning component includes: A cleaning bracket having a first mounting through hole; A cleaning member, disposed on the end surface side of the cleaning bracket; The adjustment structure includes a second elastic structure, the second elastic structure is arranged in the first mounting through hole, and the second elastic structure has a second mounting through hole; The connecting component has a first end and a second end that are arranged opposite to each other; the first end of the connecting component is used to be connected to the fuselage; and the second end of the connecting component is inserted into the second mounting through hole.

10. The cleaning device according to claim 9, characterized in that The cleaning component also includes: The anti-collision component is arranged on the peripheral side of the cleaning bracket; the anti-collision component is elastic.

11. The cleaning device according to any one of claims 1 to 10, characterized in that: The connection component includes: A first connecting member, used to connect to the body of the cleaning device; a second connecting member, connected to the first connecting member in a first direction so as to be movably connected thereto and connected to the cleaning assembly via the adjustment structure; wherein the first direction is perpendicular to the bottom surface of the body; The third elastic member is connected to the first connecting member and the second connecting member respectively to adjust the length of the connecting assembly in the first direction.

12. The cleaning device according to claim 11, characterized in that The first connecting member includes a first cylindrical portion and a first fixing portion located in the first cylindrical portion, and the second connecting member includes a second cylindrical portion and a second fixing portion located in the second cylindrical portion; The first cylindrical portion and the second cylindrical portion are plugged into each other in a first direction, and define an accommodating cavity between the first connecting member and the second connecting member; the first fixing portion and the second fixing portion are located in the accommodating cavity; The third elastic member is located in the accommodating cavity; two ends of the third elastic member are respectively connected to the first fixing portion and the second fixing portion.

13. A cleaning device, characterized in that: It comprises the cleaning device and a body according to any one of claims 1 to 12; the connecting component of the cleaning device is connected to the body.

14. The cleaning device according to claim 13, characterized in that Also includes: a driving wheel assembly movably disposed on the fuselage; the driving wheel assembly comprising a driving wheel located at the bottom of the fuselage; The driving wheel assembly is used to adjust the height of the driving wheel protruding from the bottom of the fuselage by moving relative to the fuselage; A driven wheel assembly is movably disposed on the fuselage; the driven wheel assembly includes a driven wheel located at the bottom of the fuselage; the driven wheel assembly is used to adjust the height of the driven wheel protruding from the bottom of the fuselage by moving relative to the fuselage; When the driving wheel assembly and / or the driven wheel assembly moves relative to the fuselage to partially lift the fuselage, the fuselage drives the connecting assembly to move toward one side of the cleaning assembly through the adjustment structure so that the cleaning surface of the cleaning assembly fits with the bearing surface.

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