Cleaning device and cleaning system

Abstract

The cleaning device comprises a machine body, a cleaning assembly and an obstacle clearing module, the cleaning assembly is arranged on the machine body and used for cleaning a working face, the obstacle clearing module is arranged on the machine body and used for moving an obstacle so that the obstacle can leave the original position, and the obstacle clearing module comprises a driving mechanism and an obstacle clearing component. The driving mechanism is installed on the machine body and connected with the obstacle clearing component so as to drive the obstacle clearing component to move. According to the cleaning device provided by the embodiment of the utility model, the obstacle is automatically identified and moved away from the original position through the obstacle clearing module, so that the working surface of the area corresponding to the original position of the obstacle can be exposed, the cleaning assembly can conveniently clean the working surface of the area corresponding to the original position of the obstacle, and cleaning dead angles and missing areas are effectively reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of cleaning appliances, especially to a cleaning device and a cleaning system. BACKGROUND

[0002] In the related art, the cleaning device is provided with a cleaning module for cleaning the working surface, and an obstacle recognition module is arranged in the cleaning device. When the obstacle recognition module recognizes an obstacle, the cleaning device will change the travel path to avoid the obstacle, which may result in that part of the working surface cannot be cleaned by the cleaning device, for example, the working surface covered by the obstacle cannot be cleaned by the cleaning device.

[0003] To avoid the problem of cleaning omission of the working surface, the user often needs to remove the obstacle on the working surface before the cleaning device performs the cleaning task. If the user fails to clean the obstacle on the working surface in advance, the working surface covered by the obstacle will be omitted and cannot be effectively cleaned, which may seriously affect the overall cleaning effect of the working surface and make the user's experience poor. Therefore, there is room for improvement. SUMMARY

[0004] The utility model aims at at least solving one of the technical problems existing in the prior art. Therefore, one object of the utility model is to provide a cleaning device. The cleaning device is provided with an obstacle removal module on the body. When there is an obstacle on the working surface, the obstacle removal module can automatically identify the obstacle and move the obstacle away from the original position. The working surface corresponding to the original position of the obstacle is exposed, so that the cleaning assembly can clean the working surface corresponding to the original position of the obstacle and the surrounding area, effectively reducing the cleaning dead angle and the omission area. This can enhance the overall cleaning effect of the working surface and reduce the dependence on manual work.

[0005] The utility model further provides a cleaning system comprising the above cleaning device.

[0006] According to the cleaning device of the first aspect of the utility model, the cleaning device comprises a body, a cleaning assembly arranged on the body and used for cleaning the working surface, and an obstacle removal module arranged on the body and used for moving the obstacle away from the original position. The obstacle removal module comprises a driving mechanism and an obstacle removal component. The driving mechanism is installed on the body and connected with the obstacle removal component to drive the movement of the obstacle removal component.

[0007] According to the cleaning device provided in the embodiment of the present application, the obstacle is automatically recognized by the obstacle removing module, and the obstacle is removed from the original position, so that the working surface of the region corresponding to the original position of the obstacle is exposed, the cleaning assembly can clean the working surface of the region corresponding to the original position of the obstacle and the surrounding region of the working surface, the dead angle and the missed region during cleaning are effectively reduced, the cleaning effect of the whole working surface is enhanced, and the dependence on manual work is reduced.

[0008] According to some embodiments of the present application, the obstacle removing component comprises a connecting mechanism and an obstacle removing piece, the connecting mechanism is connected between the obstacle removing piece and the fuselage, the output end of the driving mechanism is directly connected with the connecting mechanism, and the obstacle removing piece is adapted to act on the obstacle to move the obstacle and move away from the original position.

[0009] In the process that the driving mechanism drives the obstacle removing component to move, the connecting mechanism is deformable.

[0010] According to some embodiments of the present application, the connecting mechanism comprises a plurality of connecting rods which are rotatably connected with each other, one of the plurality of connecting rods is a driving rod, and the output end of the driving mechanism is connected with the driving rod.

[0011] According to some embodiments of the present application, the plurality of connecting rods comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the third connecting rod constitutes the driving rod, and when the driving rod moves, the relative positions between the first connecting rod, the second connecting rod, the third connecting rod and / or the fourth connecting rod are variable.

[0012] According to some embodiments of the present application, one end of the first connecting rod is rotatably connected with the fuselage, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with the obstacle removing piece, the second connecting rod and the third connecting rod are crossed and rotatably connected, one end of the fourth connecting rod is rotatably connected with the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected with the obstacle removing piece.

[0013] According to some embodiments of the present application, the rotatable connection point between the third connecting rod and the second connecting rod is a first rotatable connection point, the rotatable connection point between the third connecting rod and the fourth connecting rod is a second rotatable connection point, the connection point between the output end of the driving mechanism and the third connecting rod is a driving connection point, and the first rotatable connection point is located between the second rotatable connection point and the driving connection point.

[0014] According to some embodiments of the utility model, multiple connecting rods include fifth connecting rod, sixth connecting rod, seventh connecting rod, eighth connecting rod, ninth connecting rod and tenth connecting rod, wherein the eighth connecting rod constitutes the drive rod, one end of the fifth connecting rod is rotatably connected with the fuselage, the other end of the fifth connecting rod is rotatably connected with one end of the sixth connecting rod, the other end of the sixth connecting rod is rotatably connected with one end of the seventh connecting rod, the other end of the seventh connecting rod is rotatably connected with the obstacle removing part, the output end of the drive mechanism is connected with the eighth connecting rod, one end of the tenth connecting rod is rotatably connected with the end of the eighth connecting rod and one end of the ninth connecting rod, the other end of the tenth connecting rod is rotatably connected with the obstacle removing part, and the tenth connecting rod intersects with the sixth connecting rod and is rotatably connected, and the other end of the ninth connecting rod is rotatably connected with the fifth connecting rod.

[0015] Wherein, the rotatable connection point of the fifth connecting rod and the fuselage is the fourth rotation connection point, the rotation connection point of the fifth connecting rod and the sixth connecting rod is the fifth rotation connection point, the rotation connection point of the ninth connecting rod and the fifth connecting rod is the sixth rotation connection point, and the sixth rotation connection point is located between the fourth rotation connection point and the fifth rotation connection point.

[0016] According to some embodiments of the utility model, the connecting rod rotatably connected is connected through the connecting piece, and in the rotation axis direction of the connecting rod rotatably connected, the connecting piece does not protrude from the outer surface of the connecting rod.

[0017] According to some embodiments of the utility model, the connecting piece includes a connecting column and a limiting cap, the connecting column is arranged in the two connecting rods rotatably connected, at least one connecting rod is formed with a sink, and the limiting cap is accommodated in the sink.

[0018] According to some embodiments of the utility model, the obstacle removing part is deformable.

[0019] According to some embodiments of the utility model, the size of the obstacle removing part is variable.

[0020] According to some embodiments of the utility model, the length of the obstacle removing part is variable.

[0021] According to some embodiments of the utility model, the obstacle removing part is movable between the obstacle removing position and the storage position, at least part of the obstacle removing part is stored in the fuselage when the obstacle removing part is located at the storage position, at least part of the obstacle removing part is located outside the outer edge of the fuselage for acting on the obstacle to move and leave the original position when the obstacle removing part is located at the obstacle removing position.

[0022] According to some embodiments of the present application, the size of the obstacle removing component in the storage position is smaller than the size of the obstacle removing component in the obstacle removing position.

[0023] According to some embodiments of the present application, the obstacle removing component comprises a connecting mechanism and an obstacle removing part, the connecting mechanism is connected between the obstacle removing part and the fuselage, the connecting mechanism comprises a plurality of connecting rods which are rotatably connected with each other, one of the plurality of connecting rods is a driving rod, the output end of the driving mechanism is directly connected with the driving rod, the obstacle removing part is adapted to act on the obstacle to move the obstacle and leave the original position; wherein, during the movement of the obstacle removing component driven by the driving mechanism, the connecting mechanism is deformable.

[0024] According to some embodiments of the present application, the obstacle removing module is located at at least one end of the fuselage along the left-right direction, the included angle between the driving rod and a preset direction is β when the obstacle removing component is in the obstacle removing position, β is greater than 90°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle removing module is located to the other end of the fuselage.

[0025] According to some embodiments of the present application, the range of β is 100°-135° when the obstacle removing component is in the obstacle removing position.

[0026] According to some embodiments of the present application, the obstacle removing module is located at at least one end of the fuselage along the left-right direction, the included angle between the driving rod and a preset direction is γ when the obstacle removing component is in the storage position, the range of γ is 20°-45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle removing module is located to the other end of the fuselage.

[0027] According to some embodiments of the present application, the obstacle removing module is located at the front end of the fuselage; and / or, the obstacle removing module is arranged at the bottom of the fuselage.

[0028] According to some embodiments of the present application, it comprises an obstacle identifying module, the obstacle identifying module is arranged on the fuselage and is used for identifying the obstacle.

[0029] According to some embodiments of the present application, it comprises an obstacle image collecting module, the obstacle image collecting module is arranged on the fuselage and is used for collecting the image of the obstacle.

[0030] According to the cleaning system of the second aspect of the present application, the cleaning device is provided according to the first aspect of the present application, and the cleaning base station is used for cleaning and / or charging the cleaning device.

[0031] According to the cleaning system of the present application, the obstacle is automatically identified by the obstacle removing module, and the obstacle is removed from the original position, so that the working surface of the area corresponding to the original position of the obstacle is exposed, so that the cleaning assembly can clean the working surface of the area corresponding to the original position of the obstacle and the surrounding area, effectively reducing the cleaning dead angle and the missed area, which can enhance the cleaning effect of the whole working surface, and can reduce the dependence on manual work.

[0032] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0033] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0034] Figure 1 is a schematic diagram of the cleaning device in the first aspect of the present application;

[0035] Figure 2 is Figure 1 a schematic diagram of part of the structure of the cleaning device in Figure 1 , wherein the obstacle removing component is in the storage position;

[0036] Figure 3 is Figure 1 a schematic diagram of part of the structure of the cleaning device in Figure 2 , wherein the obstacle removing component is in the storage position;

[0037] Figure 4 is Figure 1 a schematic diagram of part of the structure of the cleaning device in Figure 3 , wherein the obstacle removing component is in the storage position;

[0038] Figure 5 is Figure 1 a schematic diagram of part of the structure of the cleaning device in Figure 4 , wherein the obstacle removing component is in the obstacle removing position;

[0039] Figure 6 is Figure 1 a schematic diagram of part of the structure of the cleaning device in Figure 5 , wherein the obstacle removing component is in the storage position;

[0040] Figure 7is a schematic diagram of a part structure of the cleaning device in Figure 1 Figure 6 wherein the obstacle removing component is in the obstacle removing position;

[0041] Figure 8 is a schematic diagram of a part structure of the cleaning device in Figure 7

[0042] Figure 9 is a schematic diagram of a part structure of the cleaning device in Figure 8

[0043] Figure 10 is a schematic diagram of a part structure of the cleaning device in Figure 1 Figure 7 wherein the obstacle removing component is in the obstacle removing position;

[0044] Figure 11 is a schematic diagram of the cleaning device according to the second embodiment of the present application, wherein the obstacle removing component is in the storage position;

[0045] Figure 12 is a schematic diagram of the obstacle removing module in the cleaning device in Figure 11

[0046] Figure 13 is a schematic diagram of the obstacle removing module in Figure 12

[0047] Figure 14 is a schematic diagram of a part structure of the cleaning device according to the third embodiment of the present application Figure 1 wherein the obstacle removing component is in the obstacle removing position;

[0048] Figure 15 is a schematic diagram of a part structure of the cleaning device in Figure 14

[0049] Figure 16 is a schematic diagram of a part structure of the cleaning device in Figure 14 Figure 2 wherein the obstacle removing component is in the storage position;

[0050] Figure 17 is a schematic diagram of a part structure of the cleaning device in Figure 16

[0051] Figure 18 is a schematic diagram of the cleaning device according to the third embodiment of the present application;

[0052] Figure 19 is a schematic diagram of the obstacle removing component in the cleaning device according to the fourth embodiment of the present application; ​​​​​​​​​

[0053] Figure 20 is Figure 10 a schematic view of a mounting box in the cleaning device in

[0054] Figure 21 is Figure 20 a schematic view of another angle of the mounting box in

[0055] Figure 22 is Figure 10 a separated schematic view of partial structures of a connecting mechanism, a gear mechanism and a detecting assembly in the cleaning device in

[0056] Figure 23 is Figure 22 a schematic view of a third connecting rod in the connecting mechanism in

[0057] Figure 24 is Figure 22 a schematic view of an output gear in the gear mechanism in

[0058] Figure 25 is Figure 22 a schematic view of a gear shaft in the gear mechanism in

[0059] Figure 26 is Figure 22 a schematic view of an optical coupling detecting piece in the detecting assembly in

[0060] Figure 27 is a schematic view of partial structures of the cleaning device according to the embodiment five in Figure 1 , wherein the obstacle-removing piece is located at the storage position and the auxiliary piece is located at the second position;

[0061] Figure 28 is Figure 27 a schematic view of partial structures of the cleaning device in Figure 2 , wherein the obstacle-removing piece is located at the storage position and the auxiliary piece is located at the second position;

[0062] Figure 29 is Figure 27 a schematic view of partial structures of the cleaning device in Figure 3 , wherein the obstacle-removing piece is located at the storage position and the auxiliary piece is located at the second position;

[0063] Figure 30 is Figure 27 a schematic view of partial structures of the cleaning device in Figure 4 , wherein the obstacle-removing piece is located at the obstacle-removing position and the auxiliary piece is located at the first position;

[0064] Figure 31 is Figure 27 a schematic view of partial structures of the cleaning device in Figure 5wherein the clearing member is in the clearing position and the auxiliary member is in the first position;

[0065] Figure 32 is Figure 27 is a schematic view of the clearing member in the cleaning device in

[0066] Figure 33 is Figure 27 is a schematic view of the auxiliary member in the cleaning device in

[0067] Figure 34 is Figure 33 is a schematic view of the auxiliary member in another angle in

[0068] Figure 35 is Figure 27 is a schematic view of the elastic driving member in the cleaning device in

[0069] Figure 36 is Figure 27 is a schematic view of the fourth connecting rod in the cleaning device in

[0070] Figure 37 is a schematic view of part of the structure of the cleaning device according to the embodiment six in the utility model, wherein the clearing member is in the clearing position and the auxiliary member is in the first position;

[0071] Figure 38 is Figure 39 is an enlarged view of A in

[0072] Figure 40 is Figure 41 is a schematic view of the local structure of the cleaning device in

[0073] Figure 27 is Figure 42 is a schematic view of part of the structure of the clearing member in the utility model, wherein the clearing member is in the clearing position and the auxiliary member is in the first position;

[0074] Figure 40 is Figure 43 is a sectional view of part of the structure of the clearing member in the utility model, wherein the auxiliary member is in the first position;

[0075] Figure 40 is Figure 44 is a schematic view of the clearing member in the utility model;

[0076] Figure 40 is Figure 45 is a schematic view of the fourth connecting rod in the utility model;

[0077] Figure 46 is Figure 40 is a schematic view of the auxiliary member in the utility model;

[0078] Figure 47 This is a schematic diagram of the auxiliary components in the cleaning device according to Embodiment 7 of the present utility model;

[0079] Figure 40 yes Figure 48 A sectional view of a portion of the connecting mechanism in the diagram;

[0080] Figure 41 yes Figures 1-48 A cross-sectional view of another part of the connecting mechanism in the structure;

[0081] Figure 1 yes Figure 6 A cross-sectional view of another part of the connecting mechanism in the structure.

[0082] Figure label:

[0083] 100. Cleaning equipment;

[0084] 1. Body; 11. Front end; 12. Bottom shell; 121. Receiving notch; 13. Limiting structure; 14. Mounting box; 141. Receiving slot; 142. Cover plate; 143. Cable outlet;

[0085] 3. Obstacle clearing module; 31. Drive mechanism; 3121. Output gear; 3122. Output end; 3123. Anti-foolproof protrusion; 3124. Gear body; 3125. Gear shaft; 3126. First shaft part; 3127. Second shaft part; 32. Outward swing mechanism; 321. Turntable; 322. Slider; 324. First mounting hole; 3241. Anti-foolproof notch;

[0086] 33. Obstacle clearing component; 331. Outer side; 332. Clearance opening; 333. Slide groove; 334. Obstacle clearing piece; 3341. Storage opening; 3342. Obstacle clearing push rod; 3343. Rotary hole; 335. Connecting mechanism; 336. Connecting rod; 3361. First connecting rod; 3362. Second connecting rod; 3363. Third connecting rod; 3364. Fourth connecting rod; 3365. Fifth connecting rod; 3366. Sixth connecting rod; 3367. Seventh connecting rod; 3368. Eighth connecting rod; 3369. Ninth connecting rod; 3370. Tenth connecting rod; 3371. First rotating hole 3372. Second rotating connection point; 3373. Third rotating connection point; 3374. Fourth rotating connection point; 3375. Fifth rotating connection point; 3376. Settling groove; 3377. Push-open protrusion; 3378. Anti-reverse protrusion; 3379. Reset protrusion; 3380. Gasket; 340. Connector; 3401. Connecting post; 3402. Limiting cap; 342. Cleaning structure; 343. Auxiliary component; 3431. Rotating shaft; 3432. Matching protrusion; 3433. Limiting protrusion; 3434. Connecting part; 3435. Obstruction clearing part; 344. Elastic drive component;

[0087] 4, detection assembly; 41, detection circuit board; 412, lead terminal; 42, first optocoupler; 43, second optocoupler; 431, second optocoupler seat; 4311, second detection groove; 44, optocoupler detection piece; 441, detection bump; 442, first connecting hole. DETAILED DESCRIPTION

[0088] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are used only for explaining the present application, and cannot be understood as limiting the present application.

[0089] Reference is made below to Figure 7 The cleaning device 100 according to the embodiments of the present application is described.

[0090] Reference is made to Figure 1 , Figure 18 and Figure 1 The cleaning device 100 according to the first aspect of the present application comprises a machine body 1, a cleaning assembly and an obstacle removing module 3. The cleaning assembly is arranged on the machine body 1 and is used for cleaning the working surface. The obstacle removing module 3 is arranged on the machine body 1 and is used for moving the obstacle away from the original position. The machine body 1 can serve as the basic carrier of the cleaning device 100. The machine body 1 can be an integrated structure or a combined structure formed by a plurality of components. The machine body 1 plays a role of bearing and protecting other components of the cleaning device 100, including the cleaning assembly and the obstacle removing module 3, but is not limited thereto.

[0091] The cleaning assembly can directly clean the working surface. If there is an obstacle on the working surface, the obstacle will hinder the cleaning of the area below and around the obstacle by the cleaning assembly, resulting in that the working surface cannot be completely cleaned. By automatically identifying the obstacle by the obstacle removing module 3 and moving the obstacle away from the original position, the working surface corresponding to the original position of the obstacle is exposed, so that the cleaning assembly can clean the working surface corresponding to the original position of the obstacle and the surrounding area, effectively reducing the cleaning dead angle and the missed area, and improving the completeness and coverage of the cleaning of the working surface. In this way, the overall cleaning effect of the working surface can be enhanced, and the dependence on manual work can be reduced. The user only needs to start the cleaning device 100, and the cleaning device 100 can automatically complete the cleaning and obstacle removing work, saving manpower and improving the user's experience.

[0092] The obstacle removing module 3 comprises a driving mechanism 31 and an obstacle removing component 33. The driving mechanism 31 is installed on the machine body 1 and connected with the obstacle removing component 33, so as to drive the obstacle removing component 33 to move.

[0093] In some embodiments, the cleaning device 100 is adapted to cooperate with a cleaning base station for cleaning and / or charging the cleaning device 100, and the cleaning device 100 further comprises an obstacle identification module. The obstacle identification module is arranged on the body 1 and is used to identify obstacles. When the obstacle identification module identifies that there is an obstacle on the working surface, the cleaning device 100 controls the obstacle removal module 3 to move the obstacle so as to make the obstacle leave the original position.

[0094] For example, the obstacle identification module can be an image acquisition device, an infrared sensor, an LDS module, a line laser, etc. For example, the image acquisition device arranged on the body 1 can acquire image information around the cleaning device 100, and the cleaning device 100 can identify whether the cleaning device 100 has approached an obstacle from the acquired image information. In other embodiments, the obstacle detection module can also be other sensors that can detect the surrounding environment.

[0095] In some embodiments, the cleaning assembly can include a wiping member, which can be a dry wiping member to achieve a dry cleaning effect on the working surface. Of course, the wiping member can also be a wet wiping member containing cleaning liquid to achieve a wet cleaning effect on the working surface. The cleaning liquid can be water, liquid containing 84 disinfectant, ethanol, liquid containing sodium chloride, etc. For example, the cleaning device 100 comprises a water tank, and the cleaning liquid in the water tank can be dropped into the wiping member or sprayed onto the working surface and wiped by the wiping member.

[0096] According to the cleaning device 100 of the embodiments of the present application, the obstacle removal module 3 automatically identifies and removes the obstacle from the original position, which can expose the working surface of the area corresponding to the original position of the obstacle, so as to facilitate the cleaning assembly to clean the working surface of the area corresponding to the original position of the obstacle and the surrounding area, effectively reducing the cleaning dead angle and the missed area, which can enhance the overall cleaning effect on the working surface and reduce the dependence on manual work.

[0097] Referring to Figure 18 and Figure 1 According to some embodiments of the present application, the obstacle removal module 3 is located at the front end 11 of the body 1, and compared with the cleaning assembly, the obstacle removal module 3 located at the front end 11 of the body 1 can contact and remove the obstacle in advance. For example, when the cleaning device 100 is moving forward, the obstacle removal module 3 at the front end 11 can clean the obstacle on the working surface in the forward direction of the cleaning device 100 in advance, so as to facilitate the subsequent cleaning assembly to clean the working surface of the area corresponding to the original position of the obstacle, thereby improving the overall cleaning effect on the working surface and reducing the repeated work, which is beneficial to improve the cleaning efficiency.

[0098] Referring to Figure 18 and Figure 1According to some embodiments of the present application, the obstacle removing module 3 is located at the left front end 11 or the right front end 11 of the machine body 1, which makes the obstacle removing module 3 effectively remove the obstacles on one side of the machine body 1, for example, the obstacle removing module 3 located at the left front end 11 or the right front end 11 of the machine body 1 can remove the obstacles in the narrow area adjacent to the single-sided wall or the furniture leg, and then the cleaning assembly can clean the working surface in the narrow area adjacent to the wall or the furniture leg, so as to improve the overall cleaning effect of the working surface, and facilitate the expansion of the obstacle removing range of the obstacle removing module 3.

[0099] For another example, when the cleaning device 100 turns, the obstacle removing module 3 located at the left front end 11 or the right front end 11 can clean the obstacles on the turning side in advance, so as to provide more space for the turning of the cleaning device 100, and make the turning of the cleaning device 100 more smooth.

[0100] Referring to Figure 18 and Figures 2-6 According to some embodiments of the present application, the obstacle removing module 3 is located at the outer edge of the machine body 1, which makes the obstacle removing module 3 effectively remove the obstacles in the narrow area adjacent to the wall or the furniture leg, and then the cleaning assembly can clean the working surface in the narrow area adjacent to the wall or the furniture leg, so as to improve the overall cleaning effect of the working surface, and facilitate the expansion of the obstacle removing range of the obstacle removing module 3.

[0101] Referring to Figures 4-7 and Figures 4-7 According to some embodiments of the present application, at least part of the obstacle removing module 3 is arranged at the bottom of the machine body 1, which can make full use of the space below the machine body 1, so that the structure of the obstacle removing module 3 and the machine body 1 is more compact, the obstacle removing module 3 can reduce the occupation of the external space of the machine body 1, which is beneficial to the miniaturization of the cleaning device 100, and facilitates the carrying and storage of the cleaning device 100.

[0102] For example, part of the obstacle removing module 3 can be arranged at the bottom of the machine body 1; for another example, all of the obstacle removing module 3 can be arranged at the bottom of the machine body 1.

[0103] Referring to Figure 6According to some embodiments of this utility model, a downward-looking sensor is included. The downward-looking sensor is located at the bottom of the body 1 and includes a downward-looking sensor. The obstacle clearing module 3 is provided with a clearance part 332 for avoiding the downward-looking sensor. The downward-looking sensor is located at the bottom of the body 1, which can make full use of the space below the body 1, making the structure of the downward-looking sensor and the body 1 compact. This reduces the space occupied by the downward-looking sensor on the external space of the body 1, which is beneficial to the miniaturization of the cleaning device 100 and facilitates the handling and storage of the cleaning device 100. The clearance part 332 can prevent the obstacle clearing module 3 from obstructing the downward-looking sensor, thereby ensuring that the downward-looking sensor can detect the situation under the body 1 in real time, so that the cleaning device 100 can more accurately determine its own position information, and thus realize the intelligent control of the cleaning device 100.

[0104] For example, the clearance part 332 can be a light-transmitting part, which allows light to pass through the clearance part 332, thereby avoiding obstruction of the downward-looking sensor and enabling the downward-looking sensor to detect the situation under the fuselage 1 more accurately.

[0105] For example, the obstacle clearing module 3 could also be a light-transmitting component, which would avoid obstructing the downward-facing sensor and allow the downward-facing sensor to more accurately detect the situation under the fuselage 1.

[0106] In some embodiments, the downward-facing sensor is electrically connected to the control module of the cleaning device 100. The control module is used to control the movement path and direction of the cleaning device 100 based on the position information detected by the downward-facing sensor. The downward-facing sensor is located at the bottom of the body 1, which allows the sensor to more directly identify the information of the working surface below the cleaning device 100. For example, if the cleaning device 100 is located on a higher working surface and is about to move to a lower working surface, the position of the cleaning device 100 can be identified in a timely and accurate manner by the downward-facing sensor located at the bottom of the body 1, and the information can be transmitted to the control component. The control component can change the movement path and direction of the cleaning device 100 to reduce or avoid damage caused by the cleaning device 100 falling from a height, which is beneficial to extending the service life of the cleaning device 100.

[0107] Reference Figure 7 According to some embodiments of this utility model, the obstacle removal module 3 includes a drive mechanism 31 and an obstacle removal component 33. The drive mechanism 31 is mounted on the body 1 and connected to the obstacle removal component 33 to drive the obstacle removal component 33 to move. The body 1 can support and protect the drive mechanism 31. By driving the obstacle removal component 33 to move through the drive mechanism 31, the obstacle removal component 33 can move the obstacle to make the obstacle leave its original position.

[0108] Reference Figure 6According to some embodiments of the present application, the clearing component 33 is movable between the clearing position and the storage position, at least part of the clearing component 33 is stored in the fuselage 1 when the clearing component 33 is in the storage position, and at least part of the clearing component 33 is located outside the outer edge of the fuselage 1 when the clearing component 33 is in the clearing position.

[0109] For example, at least part of the clearing component 33 is stored in the fuselage 1 when the clearing component 33 is in the storage position; for another example, the entire clearing component 33 is stored in the fuselage 1 when the clearing component 33 is in the storage position. Correspondingly, at least part of the clearing component 33 is located outside the outer edge of the fuselage 1 when the clearing component 33 is in the clearing position can include the following cases: for example, part of the clearing component 33 is located outside the outer edge of the fuselage 1 when the clearing component 33 is in the clearing position; for another example, the entire clearing component 33 is located outside the outer edge of the fuselage 1 when the clearing component 33 is in the clearing position.

[0110] The driving mechanism 31 can drive the clearing component 33 to move between the storage position and the clearing position, when the driving mechanism 31 drives the clearing component 33 to move from the storage position to the clearing position, the clearing range of the clearing component 33 can be expanded, and the process of the clearing component 33 moving the obstacle can be realized, when the driving mechanism 31 drives the clearing component 33 to move from the clearing position to the storage position, the occupation of the external space of the fuselage 1 by the clearing component 33 can be reduced, which is conducive to the layout optimization and miniaturization of the cleaning device 100.

[0111] Referring to Figure 7 and Figure 10According to some embodiments of the utility model, when the obstacle removing part 33 is located at the storage position, the projection of the obstacle removing part 33 on the horizontal plane coincides with the first coinciding area of the fuselage 1, and when the obstacle removing part 33 is located at the obstacle removing position, the projection of the obstacle removing part 33 on the horizontal plane coincides with the second coinciding area of the fuselage 1, and the first coinciding area is larger than the second coinciding area. Compared with the obstacle removing part 33 being located at the obstacle removing position, when the obstacle removing part 33 is located at the storage position, the first coinciding area of the obstacle removing part 33 and the fuselage 1 on the horizontal plane is larger, so that the obstacle removing part 33 can better fit the contour of the fuselage 1 when being located at the storage position, so that the overall cleaning device 100 can reduce the occupation of the external space of the fuselage 1, which is beneficial to the miniaturization of the cleaning device 100 and facilitates the carrying and storage of the cleaning device 100. Compared with the obstacle removing part 33 being located at the storage position, when the obstacle removing part 33 is located at the obstacle removing position, the second coinciding area of the obstacle removing part 33 and the fuselage 1 on the horizontal plane is smaller, so that the obstacle removing part 33 can extend more to the outside of the fuselage 1 when being located at the obstacle removing position, so that the obstacle removing range of the obstacle removing part 33 is larger.

[0112] Referring to Figure 11 , Figure 18 , Figure 6 , Figure 7 and Figure 10 , according to some embodiments of the utility model, when the obstacle removing part 33 is located at the storage position, the projection of the obstacle removing part 33 on the horizontal plane is located within the projection of the fuselage 1 on the horizontal plane, and when the obstacle removing part 33 is located at the storage position, so that the obstacle removing part 33 can be completely accommodated inside the fuselage 1, avoiding the obstacle removing part 33 occupying the external space of the fuselage 1, which is beneficial to the miniaturization of the cleaning device 100 and facilitates the carrying and storage of the cleaning device 100.

[0113] Referring to Figure 11 , Figure 18 , Figure 6 , Figure 7 and Figure 10 , according to some embodiments of the utility model, when the obstacle removing part 33 is located at the storage position, the side edge of the obstacle removing part 33 close to the outer edge of the fuselage 1 is the outer side edge 331, and the contour line of the outer side edge 331 is consistent with the outer edge contour line of the fuselage 1. When the obstacle removing part 33 is located at the storage position, the outer edge contour line of the fuselage 1 is consistent with the contour line of the outer side edge 331 of the obstacle removing part 33, so that the distance between the outer side edge 331 of the obstacle removing part 33 and the outer edge of the fuselage 1 can be smaller, so that the distance of the obstacle removing part 33 from the storage position to the obstacle removing position can be shortened, and when the obstacle removing part 33 moves from the storage position to the obstacle removing position, the obstacle removing part 33 can move to the obstacle removing position at a faster speed to remove the obstacle, thereby facilitating to improve the obstacle removing efficiency of the obstacle removing part 33.

[0114] Referring to Figure 11 ,Figure 18 、 Figure 6 、 Figure 7 and Figure 6 According to some embodiments of the present application, the body 1 comprises a bottom shell 12, and the obstacle removing module 3 is mounted on the bottom shell 12. An accommodation gap 121 is formed on the outer edge of the bottom shell 12, and at least part of the obstacle removing component 33 is located in the accommodation gap 121 when the obstacle removing component 33 is in the storage position. For example, part of the obstacle removing component 33 can be located in the accommodation gap 121. For another example, the entire obstacle removing component 33 can be located in the accommodation gap 121.

[0115] When the obstacle removing component 33 is in the storage position, at least part of the obstacle removing component 33 is located in the accommodation gap 121, which can make the structure of the obstacle removing component 33 and the bottom shell 12 more compact, reduce the occupation of the external space of the body 1, and facilitate the miniaturization of the cleaning device 100, and facilitate the carrying and storage of the cleaning device 100.

[0116] Referring to Figure 7 and Figure 7 According to some embodiments of the present application, a downward-looking sensor is arranged on the bottom of the body 1, and an avoiding portion 332 for avoiding the downward-looking sensor is arranged on the obstacle removing component 33. When the obstacle removing component 33 is in the storage position, the avoiding portion 332 is located below the downward-looking sensor and the avoiding portion 332 and the downward-looking sensor are arranged opposite to each other in the up-down direction. The avoiding portion 332 can avoid the obstruction of the obstacle removing module 3 to the downward-looking sensor, so that the downward-looking sensor can detect the situation of the lower part of the body 1 in real time, so as to facilitate the cleaning device 100 to determine the position information of itself more accurately, and then realize the intelligent control of the cleaning device 100. When the obstacle removing component 33 is in the storage position, the avoiding portion 332 and the downward-looking sensor are arranged opposite to each other in the up-down direction, which can further reduce the obstruction area of the obstacle removing component 33 to the downward-looking sensor, so that the downward-looking sensor can obtain clearer and more accurate image information.

[0117] Referring to Figure 13 and Figure 14 According to some embodiments of the present application, the mechanism for driving the obstacle removing component 33 to move between the obstacle removing position and the storage position is the same mechanism as the mechanism for driving the obstacle removing component 33 to move to make the obstacle move. While realizing the movement of the obstacle removing component 33 to the obstacle removing position to expand the obstacle removing range, the obstacle removing component 33 can also be driven to move to make the obstacle move, which can reduce the number of parts and simplify the overall structure of the cleaning device 100, thereby facilitating the layout optimization of the cleaning device 100 and reducing the manufacturing cost of the cleaning device 100.

[0118] Referring to Figure 8 , Figure 13And Figure 15 According to some embodiments of the present utility model, the obstacle removing component 33 removes the obstacle by pushing or clamping the obstacle, so that the obstacle is removed from the original position. The structure of the pushing type obstacle removing component 33 is relatively simple, and when the driving mechanism 31 drives the obstacle removing component 33 to move from the storage position to the obstacle removing position, the obstacle removing component 33 can also push the obstacle, so that the obstacle is removed from the original position. In this way, the number of parts can be reduced, and the overall structure of the cleaning device 100 can be simplified. The clamping type obstacle removing component 33 has a more reliable effect on removing the obstacle. For example, the obstacle removing component 33 includes a clamping part, which can stably clamp obstacles of different shapes, reducing or avoiding the situation that the obstacle bounces back to the original position during movement, causing the obstacle removing component 33 to repeatedly clean.

[0119] For example, the obstacle removing component 33 can swing relative to the body 1 between the storage position and the obstacle removing position. The obstacle removing component 33 sweeps a larger space area during the swinging process, effectively expanding the obstacle removing range of the obstacle removing component 33, and also pushing the obstacle to remove the obstacle from the original position.

[0120] For another example, the obstacle removing component 33 can include a clamping part, which can clamp the obstacle. For irregularly shaped obstacles, such as balls and cylindrical objects, the clamping part can stably grasp the obstacle. Through the clamping action, the obstacle can be firmly grasped, and the driving mechanism 31 drives the obstacle removing component 33 to move to the obstacle removing position. In this way, the obstacle can be reliably removed from the original position, effectively reducing or avoiding the situation that the obstacle slips during movement, bounces back to the original position, and causes repeated cleaning.

[0121] Referring to Figure 19 , Figures 11-13 , Figure 8 And Figure 9 According to some embodiments of the present utility model, the output end 3122 of the driving mechanism 31 is directly connected with the obstacle removing component 33, or the output end 3122 of the driving mechanism 31 is connected with the obstacle removing component 33 through the outward swinging mechanism 32. If the output end 3122 of the driving mechanism 31 is directly connected with the obstacle removing component 33, the power transmission path between the driving mechanism 31 and the obstacle removing component 33 can be shortened, so that the energy loss in the power transmission process can be reduced, the obstacle removing delay caused by the too long power transmission path between the driving mechanism 31 and the obstacle removing component 33 can be reduced, the obstacle removing efficiency of the obstacle removing component 33 can be improved, the direct connection between the output end 3122 of the driving mechanism 31 and the obstacle removing component 33 can also simplify the overall structure of the obstacle removing component 33 and the driving mechanism 31, reduce the number and complexity of intermediate parts, and reduce the manufacturing cost.

[0122] If the output end 3122 of the driving mechanism 31 is connected with the obstacle removing component 33 through the outward swinging mechanism 32, one end of the outward swinging mechanism 32 is in driving connection with the output end 3122 of the driving mechanism 31, and the other end of the outward swinging mechanism 32 is connected with the obstacle removing component 33, the driving mechanism 31 drives the outward swinging mechanism 32 to move, the outward swinging mechanism 32 drives the obstacle removing component 33 to move, and then the driving mechanism 31 can drive the obstacle removing component 33 to move between the storage position and the obstacle removing position relative to the fuselage 1, so that the obstacle removing range of the obstacle removing component 33 can be effectively expanded.

[0123] With reference to Figure 12 According to some embodiments of the utility model, the obstacle removing component 33 is rotatably connected with the fuselage 1, the outward swinging mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the sliding groove 333 is formed on the obstacle removing component 33, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used to drive the obstacle removing component 33 to move. When the driving mechanism 31 works, the output end 3122 of the driving mechanism 31 rotates to drive the rotating disc 321 to rotate, and the rotating movement of the rotating disc 321 can be converted into the sliding movement of the sliding block 322 in the sliding groove 333, so that the sliding block 322 drives the obstacle removing component 33 to move between the storage position and the obstacle removing position.

[0124] The sliding groove 333 is formed on the obstacle removing component 33, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the cooperation between the sliding block 322 and the sliding groove 333 can provide a guiding effect for the obstacle removing component 33, so that the obstacle removing component 33 can stably move between the storage position and the obstacle removing position relative to the fuselage 1. In addition, the sliding block 322 is accommodated in the sliding groove 333, so that the obstacle removing component 33 can be effectively prevented from shaking or tilting relative to the fuselage 1 during the movement process, and the obstacle removing component 33 can stably move, thereby facilitating the stable operation of the cleaning device 100.

[0125] For example, when the rotating disc 321 rotates in the forward direction, the sliding block 322 rotates under the driving action of the driving force of the rotating disc 321 and drives the obstacle removing component 33 to move from the storage position to the obstacle removing position, and when the rotating disc 321 rotates in the reverse direction, the sliding block 322 rotates under the driving action of the driving force of the rotating disc 321 and drives the obstacle removing component 33 to move from the obstacle removing position to the storage position.

[0126] With reference to Figure 13 , Figure 6 , Figure 7 and Figure 14According to some embodiments of the present application, the sliding groove 333 extends along the radial direction of the rotation axis of the obstacle removing component 33. By extending the sliding groove 333 along the radial direction of the rotation axis of the obstacle removing component 33, the sliding direction of the sliding block 322 in the sliding groove 333 is consistent with the rotation direction of the obstacle removing component 33, which helps to realize accurate power transmission.

[0127] With reference to Figure 19 , Figure 6 , Figure 7 and Figure 14 According to some embodiments of the present application, the obstacle removing component 33 is deformable, which can expand the obstacle removing range of the obstacle removing component 33 and facilitate storage.

[0128] With reference to Figure 19 , Figure 6 , Figure 7 and Figure 14 According to some embodiments of the present application, the size of the obstacle removing component 33 is variable. For example, the size of the obstacle removing component 33 when located at the storage position is smaller than the size of the obstacle removing component 33 when located at the obstacle removing position. When the obstacle removing component 33 is located at the obstacle removing position, the size of the obstacle removing component 33 is larger, which can effectively expand the obstacle removing range of the obstacle removing component 33. When the obstacle removing component 33 is located at the storage position, the size of the obstacle removing component 33 is smaller, which can reduce the occupation of the external space of the fuselage 1.

[0129] By making the size of the obstacle removing component 33 variable, the size of the obstacle removing component 33 can be increased to expand the obstacle removing range of the obstacle removing component 33, or the size of the obstacle removing component 33 can be reduced to facilitate storage, so that the obstacle removing component 33 can more flexibly meet the actual use requirements, which is beneficial to improve the user's use experience.

[0130] For example, the obstacle removing component 33 includes a connecting mechanism 335 and an obstacle removing piece 334, the obstacle removing piece 334 is used to move obstacles, the driving mechanism 31 and the obstacle removing piece 334 can be connected through the connecting mechanism 335, the connecting mechanism 335 can be a connecting rod telescopic mechanism, the connecting rod telescopic mechanism includes a plurality of hingedly connected connecting rods 336, the connecting rod telescopic mechanism can realize the movement process of the obstacle removing piece 334 between the storage position and the obstacle removing position by changing the length and angle of the connecting rod telescopic mechanism under the driving action of the driving force of the driving mechanism 31, and can realize the size change of the obstacle removing component 33.

[0131] With reference to Figure 19 , Figure 6 , Figure 7 and Figure 14According to some embodiments of the present application, the length of the obstacle removing component 33 is variable, so that the size of the obstacle removing component 33 can be changed to expand the obstacle removing range or reduce the space occupied by the obstacle removing component 33, thereby facilitating the storage and transportation of the cleaning device 100, and the movement process of the obstacle removing component 33 from the storage position to the obstacle removing position can also be realized.

[0132] With reference to Figure 19 , Figure 6 , Figure 7 and Figure 14 According to some embodiments of the present application, the size of the obstacle removing component 33 in the storage position is smaller than the size of the obstacle removing component 33 in the obstacle removing position, and when the obstacle removing component 33 is in the obstacle removing position, the size of the obstacle removing component 33 is larger, which can effectively expand the obstacle removing range of the obstacle removing component 33, and when the obstacle removing component 33 is in the storage position, the size of the obstacle removing component 33 is smaller, which can reduce the occupation of the external space of the fuselage 1.

[0133] With reference to Figure 19 , Figure 7 , Figure 8 and Figure 12 According to some embodiments of the present application, the obstacle removing component 33 comprises a connecting mechanism 335 and an obstacle removing piece 334, the connecting mechanism 335 is connected between the obstacle removing piece 334 and the fuselage 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or connected through the outer swing mechanism 32, and the obstacle removing piece 334 is adapted to act on the obstacle to move the obstacle away from the original position. Among them, the connecting mechanism 335 is deformable during the movement of the driving mechanism 31 driving the obstacle removing component 33.

[0134] If the driving mechanism 31 is directly connected with one end of the connecting mechanism 335 or connected through the outer swing mechanism 32, and the other end of the connecting mechanism 335 is connected with the obstacle removing piece 334, the driving mechanism 31 drives the connecting mechanism 335 to move, the connecting mechanism 335 drives the obstacle removing piece 334 to move, and then the driving mechanism 31 can drive the obstacle removing piece 334 to move relative to the fuselage 1 between the storage position and the obstacle removing position, thereby effectively expanding the obstacle removing range of the obstacle removing piece 334, and during the movement of the driving mechanism 31 driving the obstacle removing component 33, the connecting mechanism 335 is deformable, which can expand the obstacle removing range of the obstacle removing component 33 and facilitate storage.

[0135] With reference to Figure 13 , Figure 7 , Figure 8 and Figure 12According to some embodiments of the utility model, drive mechanism 31 includes carousel 321 and sliding block 322, carousel 321 rotatably installs in the output end 3122 of drive mechanism 31, sliding block 322 is located carousel 321 and sliding block 322 and the rotation center of carousel 321 are spaced apart and set, sliding block 322 and connecting mechanism 335 are movably connected. When drive mechanism 31 works, the rotation of the output end 3122 of drive mechanism 31 can drive carousel 321 to rotate, the rotary motion of carousel 321 can be converted into the sliding of sliding block 322 in sliding groove 333, and then the process that sliding block 322 drives connecting mechanism 335 to move can be realized, to make connecting mechanism 335 deform.

[0136] With reference to Figure 13 、 Figure 6 、 Figure 7 and Figure 14 According to some embodiments of the utility model, connecting mechanism 335 is equipped with sliding groove 333, sliding block 322 is accommodated in sliding groove 333 and sliding block 322 is slidably along the extension direction of sliding groove 333, and sliding block 322 is used to drive obstacle removing component 33 to move. By being equipped with sliding groove 333 on connecting mechanism 335, sliding block 322 is accommodated in sliding groove 333 and sliding block 322 is slidably along the extension direction of sliding groove 333, and the cooperation of sliding block 322 and sliding groove 333 can provide guiding effect for connecting mechanism 335, so that connecting mechanism 335 can stably move between the storage position and the obstacle removing position relative to fuselage 1. In addition, sliding block 322 is accommodated in sliding groove 333, which can effectively prevent connecting mechanism 335 from shaking or tilting relative to fuselage 1 during movement, and is conducive to the stable movement of connecting mechanism 335, thereby facilitating the stable operation of obstacle removing component 33.

[0137] With reference to Figure 19 、 Figure 12 、 Figure 13 and Figure 12 According to some embodiments of the utility model, connecting mechanism 335 includes a plurality of mutually rotatable connecting rods 336, one of the plurality of connecting rods 336 is a driving rod, and the output end 3122 of drive mechanism 31 is connected with the driving rod. The plurality of mutually rotatable connecting rods 336 can form a linkage mechanism, and under the driving action of the driving force of drive mechanism 31, the angle and length between the plurality of mutually rotatable connecting rods 336 will change, which can realize the deformation of connecting mechanism 335, thereby realizing the size change of obstacle removing component 33.

[0138] For example, the output end 3122 of drive mechanism 31 can be directly connected with the driving rod.

[0139] With reference to Figure 13 and Figure 12According to some embodiments of the utility model, the clearance module 3 is located at least one end of the fuselage 1 along the left-right direction, and the included angle between the driving rod and the preset direction is alpha when the clearance component 33 is located at the clearance position, alpha is greater than 90 DEG, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from one end where the clearance module 3 is located to the other end of the fuselage 1. For example, the included angle alpha between the driving rod and the preset direction when the clearance component 33 is located at the clearance position can be 95 DEG, 100 DEG, 130 DEG, 150 DEG, 180 DEG, 200 DEG etc. When the clearance component 33 is located at the clearance position, by the included angle alpha between the driving rod and the preset direction being greater than 90 DEG, the clearance component 33 can be located at the left front or right front of the fuselage 1, so that the clearance range of the clearance component 33 is as large as possible, and the dead angle of clearance is reduced, thereby facilitating the subsequent cleaning assembly to clean the working surface, so as to effectively enhance the cleaning effect of the cleaning device 100 on the whole working surface.

[0140] Referring to Figure 13 and Figure 7 According to some embodiments of the utility model, the range of alpha is 100 DEG to 135 DEG when the clearance component 33 is located at the clearance position. For example, alpha can be 100 DEG, 110 DEG, 120 DEG, 130 DEG, 135 DEG etc., by alpha being not less than 100 DEG, the clearance component 33 can be located at the left front or right front of the fuselage 1, so as to ensure that the clearance range of the clearance component 33 is large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100, and by alpha being not greater than 135 DEG, the extension distance of the clearance component 33 at least one end in the left-right direction is reasonable, and when the cleaning device 100 encounters an obstacle, the clearance component 33 can be adjusted to a suitable position to move the obstacle relatively quickly.

[0141] For example, when the clearance component 33 is located at the clearance position, if the included angle alpha between the driving rod and the preset direction is too large, the clearance component 33 may need more time to adjust the position, resulting in a long response time of the clearance action, and thereby affecting the overall cleaning efficiency of the cleaning device 100. And the relatively small included angle alpha can make the clearance component 33 quickly in place, so as to improve the clearance efficiency.

[0142] By the range of alpha being 100 DEG to 135 DEG, the clearance range of the clearance component 33 and the clearance efficiency can be considered, the clearance range of the clearance component 33 is ensured to be large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100, and when the cleaning device 100 encounters an obstacle, the clearance component 33 can be adjusted to a suitable position to move the obstacle relatively quickly.

[0143] Referring to Figure 8 and Figure 12, according to some embodiments of the utility model, the obstacle removing module 3 is located at least one end of fuselage 1 along left and right direction, when the obstacle removing part 33 is located in the storage position, the included angle between the driving rod and the preset direction is gamma, the range of gamma is 20~45 DEG, the preset direction is parallel to the left and right direction, and in the left and right direction, the preset direction points to the other end of fuselage 1 from the end where the obstacle removing module 3 is located. For example, when the obstacle removing part 33 is located in the storage position, the included angle gamma between the driving rod and the preset direction can be 20 DEG, 25 DEG, 30 DEG, 35 DEG, 40 DEG, 45 DEG etc. When the obstacle removing part 33 is located in the storage position, by not less than 20 DEG, the distance of the obstacle removing part 33 from the storage position to the obstacle removing position can be short, so that the obstacle removing part 33 can move from the storage position to the obstacle removing position more rapidly, thereby the obstacle removing efficiency can be improved, by not more than 45 DEG, the projection of the obstacle removing part 33 on the horizontal plane can be located in the projection of fuselage 1 on the horizontal plane, thereby the occupation of the obstacle removing part 33 to the external space of fuselage 1 can be reduced or avoided, which is conducive to the storage and carrying of cleaning device 100.

[0144] By the range of gamma being 20~45 DEG, the external space of fuselage 1 occupied by the obstacle removing part 33 when in the storage position and the obstacle removing efficiency can be well balanced, the projection of the obstacle removing part 33 on the horizontal plane can be located in the projection of fuselage 1 on the horizontal plane, so as to reduce or avoid the occupation of the obstacle removing part 33 to the external space of fuselage 1, and the distance of the obstacle removing part 33 from the storage position to the obstacle removing position can be short, so that the obstacle removing part 33 can move from the storage position to the obstacle removing position more rapidly, thereby the obstacle removing efficiency can be improved.

[0145] Referring to Figure 13 , Figure 7 , Figure 8 and Figure 9 , according to some embodiments of the utility model, the driving rod is rotatably connected with fuselage 1, a sliding groove 333 extending along the extension direction of the driving rod is formed on the driving rod, the outer swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used to drive the obstacle removing part 33 to move. When the driving mechanism 31 works, the rotation of the output end 3122 of the driving mechanism 31 can drive the rotating disc 321 to rotate, and the rotating movement of the rotating disc 321 can be converted into the sliding movement of the sliding block 322 in the sliding groove 333, so as to realize the process that the sliding block 322 drives the obstacle removing part 33 to move between the storage position and the obstacle removing position.

[0146] The sliding block 322 is accommodated in the sliding groove 333 and can slide along the extension direction of the sliding groove 333, and the cooperation between the sliding block 322 and the sliding groove 333 can provide a guiding effect for the driving rod, so that the driving rod can stably move between the storage position and the obstacle removing position relative to the machine body 1. In addition, the sliding block 322 is accommodated in the sliding groove 333, which can effectively avoid the shaking or tilting of the driving rod relative to the machine body 1 during movement, and is beneficial to the stable movement of the driving rod, thereby being beneficial to the stable operation of the obstacle removing component 33.

[0147] With reference to Figure 14 , Figure 15 , Figure 7 , Figure 8 and Figure 9 According to some embodiments of the utility model, the plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes the driving rod, and the relative positions between the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and / or the fourth connecting rod 3364 can be changed when the driving rod moves.

[0148] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the length and angle of the four-bar linkage mechanism can be changed by changing the relative positions between the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and / or the fourth connecting rod 3364 when the driving rod moves, and the change of the length and angle of the four-bar linkage mechanism can drive the obstacle removing component 334 to move, thereby realizing the process of driving the obstacle removing component 334 to move by the driving mechanism through the driving rod.

[0149] The relative positions between the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and / or the fourth connecting rod 3364 can be changed when the driving rod moves, which can include the following cases: for example, the relative positions between the first connecting rod 3361 and the second connecting rod 3362 or the third connecting rod 3363 or the fourth connecting rod 3364 can be changed, or the relative positions between the second connecting rod 3362 and the third connecting rod 3363 or the fourth connecting rod 3364 can be changed, or the relative positions between the third connecting rod 3363 and the fourth connecting rod 3364 can be changed; for another example, the relative positions between the first connecting rod 3361, the second connecting rod 3362 and the third connecting rod 3363 or the fourth connecting rod 3364 can be changed, or the relative positions between the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can be changed, or the relative positions between the first connecting rod 3361, the third connecting rod 3363 and the fourth connecting rod 3364 can be changed; for yet another example, the relative positions between the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can be changed.

[0150] Referring to Figure 14 , Figure 15 , Figure 7 , Figure 8 and Figure 9 , according to some embodiments of the utility model, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the clearing member 334, the second connecting rod 3362 intersects with the third connecting rod 3363 and is rotatably connected with the third connecting rod 3363, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the clearing member 334. When the driving rod moves, by one end of the first connecting rod 3361 being rotatably connected with the fuselage, the other end of the first connecting rod 3361 being rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 being rotatably connected with the clearing member 334, the second connecting rod 3362 intersecting with the third connecting rod 3363 and being rotatably connected with the third connecting rod 3363, one end of the fourth connecting rod 3364 being rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 being rotatably connected with the clearing member 334, the relative positions between the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and / or the fourth connecting rod 3364 can be changed, so that the process that the driving mechanism drives the clearing member 334 to move through the driving rod is realized.

[0151] Referring to Figure 14 , Figure 15 ,Figures 15-17 、 Figures 15-17 and Figures 15-17 According to some embodiments of the present application, the rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is the first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is the second rotating connection point 3372, and the connection point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is the driving connection point. The first rotating connection point 3371 is located between the second rotating connection point 3372 and the driving connection point.

[0152] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363, and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the clearing member 334 can be realized by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected with the output end 3122 of the driving mechanism 31, and under the driving action of the driving force of the driving mechanism 31, the third connecting rod 3363 rotates around the driving connection point. The third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotating connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotating connection point 3372. One end of the first connecting rod 3361 is rotatably connected with the fuselage 1, and the other end of the first connecting rod 3361 is rotatably connected with the second connecting rod 3362. The rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the fuselage 1. Through the deformation of the whole four-bar linkage mechanism, under the common driving of the second connecting rod 3362 and the fourth connecting rod 3364, the clearing member 334 can be driven to move, so that the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0153] For example, when the third connecting rod 3363 rotates in the forward direction, the second connecting rod 3362 rotates in the forward direction around the first rotating connection point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the forward direction, and the fourth connecting rod 3364 rotates in the forward direction around the second rotating connection point 3372 under the driving action of the driving force of the third connecting rod 3363. Through the change of the included angle between each connecting rod 336, the relative position between each connecting rod 336 also changes, the extension of the whole four-bar linkage mechanism can be realized, and the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move away from the outer edge of the fuselage 1. In this way, the process that the driving mechanism 31 drives the clearing member 334 to move from the storage position to the clearing position through the connecting mechanism 335 can be realized.

[0154] For another example, when the third connecting rod 3363 rotates reversely, the second connecting rod 3362 rotates reversely around the first rotating connecting point 3371 under the driving of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate reversely, the fourth connecting rod 3364 rotates reversely around the second rotating connecting point 3372 under the driving of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the contraction of the whole four-connecting-rod mechanism can be realized, and the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to approach the machine body 1 and be accommodated at the bottom of the machine body 1, so as to realize the process that the clearing member 334 is driven by the driving mechanism 31 through the connecting mechanism 335 to move from the clearing position to the storage position.

[0155] With reference to Figures 7-9 According to some embodiments of the present application, the clearing module 3 is located at least one end of the machine body 1 in the left-right direction, and the included angle between the driving rod and the preset direction is β when the clearing member 33 is located at the clearing position, β is greater than 90°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from one end where the clearing module 3 is located to the other end of the machine body 1. For example, the included angle β between the driving rod and the preset direction can be 95°, 100°, 130°, 150°, 180°, 200°, etc. when the clearing member 33 is located at the clearing position. When the clearing member 33 is located at the clearing position, the included angle β between the driving rod and the preset direction is greater than 90°, so that the clearing member 33 can be located at the left front or right front of the machine body 1, so that the clearing range of the clearing member 33 is as large as possible, the dead angle of clearing is reduced, and the subsequent cleaning assembly can clean the working surface, so as to effectively enhance the cleaning effect of the cleaning device 100 on the whole working surface.

[0156] With reference to Figure 7 According to some embodiments of the present application, the range of β is 100°-135° when the clearing member 33 is located at the clearing position. For example, β can be 100°, 110°, 120°, 130°, 135°, etc. Through β not less than 100°, the clearing member 33 can be located at the left front or right front of the machine body 1, so as to ensure that the clearing range of the clearing member 33 is large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100; through β not greater than 135°, the extension distance of the clearing member 33 at least one end in the left-right direction is reasonable, and when the cleaning device 100 encounters an obstacle, the clearing member 33 can be adjusted to a suitable position to move the obstacle relatively quickly.

[0157] For example, when the clearing component 33 is located at the clearing position, if the included angle β between the driving rod and the preset direction is too large, the clearing component 33 can need more time to adjust the position, resulting in a long response time of the clearing action, and thus affecting the cleaning efficiency of the cleaning device 100. A relatively small included angle β can make the clearing component 33 quickly reach the position, so as to improve the clearing efficiency.

[0158] By setting the range of β to 100°-135°, the clearing range and the clearing efficiency of the clearing component 33 can be considered, the clearing range of the clearing component 33 is ensured to be large, so as to effectively enhance the cleaning effect of the cleaning device 100 as a whole, and when the cleaning device 100 encounters an obstacle, the clearing component 33 can quickly adjust to the appropriate position to move the obstacle.

[0159] With reference to Figure 8 According to some embodiments of the present application, the clearing module 3 is located at at least one end of the machine body 1 in the left-right direction, and when the clearing component 33 is located at the storage position, the included angle between the driving rod and the preset direction is γ, the range of γ is 20°-45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from one end where the clearing module 3 is located to the other end of the machine body 1. For example, when the clearing component 33 is located at the storage position, the included angle γ between the driving rod and the preset direction can be 20°, 25°, 30°, 35°, 40°, 45°, etc. When the clearing component 33 is located at the storage position, by setting γ to be not less than 20°, the distance from the storage position to the clearing position of the clearing component 33 can be short, so that the clearing component 33 can quickly move from the storage position to the clearing position, thereby improving the clearing efficiency; by setting γ to be not more than 45°, the projection of the clearing component 33 on the horizontal plane can be located within the projection of the machine body 1 on the horizontal plane, thereby reducing or avoiding the occupation of the external space of the machine body 1 by the clearing component 33, which is beneficial to the storage and transportation of the cleaning device 100.

[0160] By setting the range of γ to 20°-45°, the external space of the machine body 1 occupied by the clearing component 33 when the clearing component 33 is located at the storage position and the clearing efficiency can be considered, the projection of the clearing component 33 on the horizontal plane can be located within the projection of the machine body 1 on the horizontal plane, so as to reduce or avoid the occupation of the external space of the machine body 1 by the clearing component 33, and the distance from the storage position to the clearing position of the clearing component 33 can be short, so that the clearing component 33 can quickly move from the storage position to the clearing position, thereby improving the clearing efficiency.

[0161] With reference to Figure 9According to some embodiments of the utility model, third connecting rod 3363 can be rotatably connected with fuselage 1, the rotatable connecting point of third connecting rod 3363 and fuselage 1 is third rotatable connecting point 3373, third connecting rod 3363 is formed with the chute 333 extending along the extension direction of third connecting rod 3363, the chute 333 is located between third rotatable connecting point 3373 and first rotatable connecting point 3371, the swing mechanism 32 includes turntable 321 and sliding block 322, turntable 321 is rotatably installed on the output end 3122 of drive mechanism 31, sliding block 322 is arranged on turntable 321, and the rotation center of sliding block 322 and turntable 321 is spaced apart, sliding block 322 is accommodated in the chute 333, and sliding block 322 is slidable along the extension direction of the chute 333, sliding block 322 is used to drive the movement of the obstacle removing component 33, and the position of sliding block 322 constitutes a driving connecting point.

[0162] When drive mechanism 31 drives turntable 321 to rotate around its rotation center, sliding block 322 limited in the chute 333 can be relatively moved along the extension direction of third connecting rod 3363, and third connecting rod 3363 can be driven to rotate around third rotatable connecting point 3373 by the cooperation between sliding block 322 and chute 333. Since first connecting rod 3361, second connecting rod 3362, third connecting rod 3363 and fourth connecting rod 3364 form a four-bar linkage mechanism, when third connecting rod 3363 rotates, second connecting rod 3362 can be driven to rotate around first rotatable connecting point 3371, and fourth connecting rod 3364 can be driven to rotate around second rotatable connecting point 3372, and second connecting rod 3362 can drive first connecting rod 3361 to move relative to fuselage 1, so that the obstacle removing component 334 can be driven to move under the common driving of second connecting rod 3362 and fourth connecting rod 3364 through the deformation of the four-bar linkage mechanism as a whole, so that the process that drive mechanism 31 drives obstacle removing component 334 to move between the storage position and the obstacle removing position through connecting mechanism 335 can be realized.

[0163] For example, when the rotating disc 321 rotates in the forward direction, the slider 322 moves along the extension direction of the third connecting rod 3363 and towards the third rotating connection point 3373, the movement of the slider 322 can drive the third connecting rod 3363 to move, the second connecting rod 3362 rotates in the forward direction around the first rotating connection point 3371 under the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the forward direction, the fourth connecting rod 3364 rotates in the forward direction around the second rotating connection point 3372 under the driving force of the third connecting rod 3363, through the change of the included angle between the connecting rods 336, the relative positions between the connecting rods 336 also change, and the stretching of the entire four-bar linkage mechanism can be realized, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move away from the outer edge of the machine body 1, so that the process that the driving mechanism 31 drives the clearing member 334 to move from the storage position to the clearing position through the connecting mechanism 335 can be realized.

[0164] For another example, when the rotating disc 321 rotates in the reverse direction, the slider 322 moves along the extension direction of the third connecting rod 3363 and towards the third rotating connection point 3373, the movement of the slider 322 can drive the third connecting rod 3363 to move, the second connecting rod 3362 rotates in the reverse direction around the first rotating connection point 3371 under the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the reverse direction, the fourth connecting rod 3364 rotates in the reverse direction around the second rotating connection point 3372 under the driving force of the third connecting rod 3363, through the change of the included angle between the connecting rods 336, the relative positions between the connecting rods 336 also change, and the contraction of the entire four-bar linkage mechanism can be realized, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move close to the machine body 1 and be accommodated in the bottom of the machine body 1, so that the process that the driving mechanism 31 drives the clearing member 334 to move from the clearing position to the storage position through the connecting mechanism 335 can be realized.

[0165] Referring to Figure 19 , Figures 7-9 and Figure 10According to some embodiments of the utility model, multiple connecting rods 336 include fifth connecting rod 3365, sixth connecting rod 3366, seventh connecting rod 3367, eighth connecting rod 3368, ninth connecting rod 3369 and tenth connecting rod 3370, wherein eighth connecting rod 3368 constitutes a drive rod, one end of fifth connecting rod 3365 is rotatably connected with fuselage 1, the other end of fifth connecting rod 3365 is rotatably connected with one end of sixth connecting rod 3366, the other end of sixth connecting rod 3366 is rotatably connected with one end of seventh connecting rod 3367, the other end of seventh connecting rod 3367 is rotatably connected with clearing member 334, the output end 3122 of drive mechanism 31 is connected with eighth connecting rod 3368, one end of tenth connecting rod 3370 is rotatably connected with the end of eighth connecting rod 3368 and one end of ninth connecting rod 3369, the other end of tenth connecting rod 3370 is rotatably connected with clearing member 334, tenth connecting rod 3370 intersects with sixth connecting rod 3366 and tenth connecting rod 3370 is rotatably connected with sixth connecting rod 3366, the other end of ninth connecting rod 3369 is rotatably connected with fifth connecting rod 3365.

[0166] Wherein, the rotatable connecting point of fifth connecting rod 3365 and fuselage 1 is fourth rotating connecting point 3374, the rotating connecting point of fifth connecting rod 3365 and sixth connecting rod 3366 is fifth rotating connecting point 3375, the rotating connecting point of ninth connecting rod 3369 and fifth connecting rod 3365 is sixth rotating connecting point, and sixth rotating connecting point is located between fourth rotating connecting point 3374 and fifth rotating connecting point 3375.

[0167] For example, the fifth connecting rod 3365, the sixth connecting rod 3366, the seventh connecting rod 3367, the eighth connecting rod 3368, the ninth connecting rod 3369 and the tenth connecting rod 3370 can form a linkage telescopic mechanism, and the movement of the clearing member 334 can be realized by the length and angle of the linkage telescopic mechanism. For example, the connecting point of the output end 3122 of the driving mechanism 31 and the eighth connecting rod 3368 constitutes a driving connecting point, the eighth connecting rod 3368 is connected with the output end 3122 of the driving mechanism 31, under the driving action of the driving force of the driving mechanism 31, the eighth connecting rod 3368 rotates around the driving connecting point, the eighth connecting rod 3368 can drive the ninth connecting rod 3369 and the tenth connecting rod 3370 to rotate, the ninth connecting rod 3369 can drive the fifth connecting rod 3365 to rotate, the fifth connecting rod 3365 can drive the sixth connecting rod 3366 to rotate, and the sixth connecting rod 3366 can drive the seventh connecting rod 3367 to rotate, so as to realize the deformation of the linkage telescopic mechanism, and further realize the movement of the clearing member 334 under the common driving action of the driving force of the seventh connecting rod 3367 and the tenth connecting rod 3370, so as to realize the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335.

[0168] In some embodiments, the eighth connecting rod 3368 is rotatably connected with the machine body 1, the rotation connecting point of the eighth connecting rod 3368 and the machine body 1 is the seventh rotation connecting point, the eighth connecting rod 3368 is formed with a sliding groove 333 extending along the extension direction of the eighth connecting rod 3368, the rotation connecting point of the eighth connecting rod 3368 and the ninth connecting rod 3369 and the tenth connecting rod 3370 is the eighth rotation connecting point, the sliding groove 333 is located between the seventh rotation connecting point and the eighth rotation connecting point, the swing mechanism 32 includes a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used to drive the clearing member 33 to move, and the position of the sliding block 322 constitutes a driving connecting point.

[0169] When the driving mechanism 31 drives the rotating disc 321 to rotate around the rotating center thereof, the sliding block 322 limited in the sliding groove 333 can be driven to move along the extension direction of the eighth connecting rod 3368, and the eighth connecting rod 3368 can be driven to rotate around the seventh rotating connecting point through the cooperation between the sliding block 322 and the sliding groove 333. Since the fifth connecting rod 3365, the sixth connecting rod 3366, the seventh connecting rod 3367, the eighth connecting rod 3368, the ninth connecting rod 3369 and the tenth connecting rod 3370 can form a connecting rod telescopic mechanism, when the eighth connecting rod 3368 rotates, the ninth connecting rod 3369 and the tenth connecting rod 3370 can be driven to rotate, the fifth connecting rod 3365 can be driven to rotate by the ninth connecting rod 3369, the sixth connecting rod 3366 can be driven to rotate by the fifth connecting rod 3365, and the seventh connecting rod 3367 can be driven to rotate by the sixth connecting rod 3366, so that the movement of the clearing member 334 can be realized through the deformation of the connecting rod telescopic mechanism under the driving force of the seventh connecting rod 3367 and the tenth connecting rod 3370, and the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0170] With reference to Figure 12 According to some embodiments of the present application, the rotatable connecting connecting rod 336 is connected through the connecting piece 340, and in the direction of the rotating axis of the rotatable connecting connecting rod 336, the connecting piece 340 does not protrude from the outer surface of the connecting rod 336. Through the connecting piece 340 not protruding from the outer surface of the connecting rod 336, interference between the connecting rod 336 and the connecting piece 340 when the connecting rod 336 rotates can be avoided, so that the rotation of the connecting rod 336 is more smooth.

[0171] With reference to Figure 10 According to some embodiments of the present application, the connecting piece 340 includes a connecting column 3401 and a limiting cap 3402, the connecting column 3401 is arranged in the two rotatable connecting connecting rods 336, at least one connecting rod 336 is formed with a sink groove 3376, and the limiting cap 3402 is accommodated in the sink groove 3376. The connecting column 3401 is arranged in the two connecting rods 336, so that the rotatable connection between the two connecting points can be realized. The sink groove 3376 can facilitate the accommodation of the connecting piece 340 therein, and can make the structure of the connecting piece 340 and the connecting rod 336 compact. The limiting cap 3402 can limit the assembly of the connecting column 3401 on the connecting rod 336, and through the accommodation of the limiting cap 3402 in the sink groove 3376, the limiting cap 3402 can be prevented from protruding from the outer surface of the connecting rod 336, so that interference between the connecting rod 336 and the limiting cap 3402 when the connecting rod 336 rotates can be avoided, so that the rotation of the connecting rod 336 is more smooth.

[0172] In some embodiments, the connecting column 3401 is arranged through the two rotatably connected connecting rods 336, the two connecting rods 336 are both provided with the sink groove 3376, the two ends of the connecting column 3401 are both provided with the limiting cap 3402, the limiting cap 3402 at one end is arranged in the sink groove 3376 of one of the connecting rods 336, and the limiting cap 3402 at the other end is arranged in the sink groove 3376 of the other connecting rod 336 in a clearance fit, the limiting cap 3402 at one end abuts against the bottom wall of the sink groove 3376 of one of the connecting rods 336, and the limiting cap 3402 at the other end is in a clearance fit with the bottom wall of the sink groove 3376 of the other connecting rod 336, the limiting cap 3402 at the two ends of the connecting column 3401 is arranged in the sink groove 3376 of the two connecting rods 336, which can limit the fixed connection of the connecting column 3401 between the two connecting rods 336, effectively constrain the connecting column 3401, reduce or prevent the back and forth movement of the connecting column 3401 between the two connecting rods 336, thereby improving the connection stability between the two connecting rods 336, and reducing or avoiding the connection failure between the two connecting rods 336 due to the position offset of the connecting column 3401 or the interference between the connecting column 3401 and the connecting rod 336 protruding from the outer surface of the connecting rod 336.

[0173] The limiting cap 3402 at one end abuts against the bottom wall of the sink groove 3376 of one of the connecting rods 336, and the limiting cap 3402 at the other end is in a clearance fit with the bottom wall of the sink groove 3376 of the other connecting rod 336, which can make the relative rotation between the two connecting rods 336 more smooth while realizing the fixed connection between the two connecting rods 336, and reduce or avoid the jamming of the two connecting rods 336.

[0174] For example, the connecting piece 340 further comprises a gasket 3380 arranged between the limiting cap 3402 at the other end and the bottom wall of the sink groove 3376 of the other connecting rod 336, so as to ensure that there is a certain gap between the limiting cap 3402 at the other end and the bottom wall of the sink groove 3376 of the other connecting rod 336.

[0175] Referring to Figure 12 According to some embodiments of the present application, the output end 3122 of the driving mechanism 31 is connected with the obstacle removing component 33 through the outward swinging mechanism 32, the transmission point between the outward swinging mechanism 32 and the obstacle removing component 33 is the obstacle removing transmission point, the force of the obstacle removing component 33 on the outward swinging mechanism 32 at the obstacle removing transmission point is the reaction force, and the speed of the outward swinging mechanism 32 at the obstacle removing transmission point under the reaction force is the reaction speed. When the obstacle removing component 33 is located at the obstacle removing position, the included angle between the reaction speed and the reaction force is φ, and φ is greater than or equal to 90°. The driving mechanism 31 drives the obstacle removing component 33 to move between the storage position and the obstacle removing position through the outward swinging mechanism 32, so as to expand the obstacle removing range of the obstacle removing component 33.

[0176] In the process that the removing obstacle component 33 moves the obstacle to make the obstacle leave the original position, the obstacle will generate a reaction force to the removing obstacle component 33, which makes the removing obstacle component 33 generate a reaction force to the swing mechanism 32 to make the removing obstacle component 33 move from the removing obstacle position to the storage position, and the swing mechanism 32 has a corresponding reaction speed at the removing obstacle transmission point.

[0177] By the angle φ between the reaction force of the obstacle to the swing mechanism 32 through the removing obstacle component 33 and the reaction speed of the swing mechanism 32 at the removing obstacle transmission point being greater than or equal to 90°, the removing obstacle component 33 and the swing mechanism 32 can enter the transmission dead point position, at this time, the projection component of the reaction force in the direction of the reaction speed tends to be zero or opposite, the force of the reaction force in the direction of the reaction speed of the removing obstacle component 33 is invalid, that is, the reaction force of the obstacle to the swing mechanism 32 through the removing obstacle component 33 cannot push the removing obstacle component 33 to move to the storage position, so that the removing obstacle component 33 can be more stably kept in the removing obstacle position, effectively reducing or preventing the influence of the reaction force of the obstacle to the removing obstacle component 33, thereby ensuring the removing obstacle effect of the removing obstacle component 33.

[0178] Referring to Figure 30 According to some embodiments of the utility model, the removing obstacle component 33 is rotatably connected with the fuselage 1, the swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the removing obstacle component 33 is formed with a sliding groove 333, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used to drive the removing obstacle component 33 to move, wherein the transmission point between the sliding block 322 and the inner wall of the sliding groove 333 is the removing obstacle transmission point. When the driving mechanism 31 works, the rotation of the output end 3122 of the driving mechanism 31 can drive the rotating disc 321 to rotate, and the rotating movement of the rotating disc 321 can be converted into the sliding movement of the sliding block 322 in the sliding groove 333, so as to realize the process that the sliding block 322 drives the removing obstacle component 33 to move between the storage position and the removing obstacle position. When the removing obstacle component 33 moves the obstacle, since the transmission point between the sliding block 322 and the inner wall of the sliding groove 333 is the removing obstacle transmission point, the reaction force of the obstacle to the removing obstacle component 33, that is, the reaction force of the inner wall of the sliding groove 333 to the sliding block 322, the speed of the sliding block 322 under the reaction force and at the removing obstacle transmission point is the reaction speed.

[0179] When the obstacle removing component 33 is located at the obstacle removing position, the angle φ between the reaction force of the inner wall of the sliding groove 333 on the sliding block 322 and the reaction speed of the sliding block 322 at the obstacle removing transmission point is greater than or equal to 90°, so that the sliding block 322 and the inner wall of the sliding groove 333 enter a transmission dead point position, at this time, the projection component of the reaction force of the sliding block 322 in the direction of the reaction speed of the sliding block 322 tends to be zero or is opposite, the force applied by the reaction force of the sliding block 322 in the direction of the reaction speed of the sliding block 322 is invalid, that is, the reaction force of the obstacle on the sliding block 322 through the inner wall of the sliding groove 333 cannot push the sliding block 322 to move along the extension direction of the sliding groove 333, so that the sliding block 322 can be kept stationary, so that the obstacle removing component 33 can be more stably kept at the obstacle removing position, the influence of the reaction force of the obstacle on the obstacle removing component 33 is effectively reduced or prevented, and the obstacle removing effect of the obstacle removing component 33 can be ensured.

[0180] With reference to Figure 32 , Figure 30 , Figure 32 and Figure 30 , according to some embodiments of the utility model, the connecting mechanism 335 includes a plurality of mutually rotatable connecting rods 336, one of the plurality of connecting rods 336 is a driving rod, the driving rod is rotatably connected with the fuselage 1, the sliding groove 333 is formed on the driving rod and extends along the extension direction of the driving rod. When the obstacle removing component 33 removes the obstacle, the reaction force of the obstacle on the obstacle removing component 33 is transmitted through the plurality of connecting rods 336 layer by layer and is converted into the reaction force of the inner wall of the sliding groove 333 on the sliding block 322, the sliding block 322 is under the reaction force and the speed of the sliding block 322 at the obstacle removing transmission point is the reaction speed.

[0181] When the obstacle removing component 33 is located at the obstacle removing position, the angle φ between the reaction force of the inner wall of the sliding groove 333 on the sliding block 322 and the reaction speed of the sliding block 322 at the obstacle removing transmission point is greater than or equal to 90°, so that the sliding block 322 and the inner wall of the sliding groove 333 enter a transmission dead point position, at this time, the projection component of the reaction force of the sliding block 322 in the direction of the reaction speed of the sliding block 322 tends to be zero or is opposite, the force applied by the reaction force of the sliding block 322 in the direction of the reaction speed of the sliding block 322 is invalid, that is, the reaction force of the obstacle on the sliding block 322 through the inner wall of the sliding groove 333 cannot push the sliding block 322 to move along the extension direction of the driving rod, so that the sliding block 322 can be kept stationary, so that the driving rod can be stably kept at the position, and the obstacle removing component 33 can be more stably kept at the obstacle removing position.

[0182] With reference to Figure 32According to some embodiments of the utility model, multiple connecting rods 336 include first connecting rod 3361, second connecting rod 3362, third connecting rod 3363 and fourth connecting rod 3364, wherein third connecting rod 3363 constitutes a drive rod, one end of first connecting rod 3361 is rotatably connected with fuselage 1, the other end of first connecting rod 3361 is rotatably connected with one end of second connecting rod 3362, the other end of second connecting rod 3362 is rotatably connected with clearing member 334, second connecting rod 3362 and third connecting rod 3363 are crossed and second connecting rod 3362 and third connecting rod 3363 are rotatably connected, third connecting rod 3363 is formed with sliding groove 333, third connecting rod 3363 is rotatably connected with fuselage 1, one end of fourth connecting rod 3364 is rotatably connected with the end of third connecting rod 3363 and the other end of fourth connecting rod 3364 is rotatably connected with clearing member 334.

[0183] Wherein, the rotation connecting point of third connecting rod 3363 and second connecting rod 3362 is first rotation connecting point 3371, the rotation connecting point of third connecting rod 3363 and fourth connecting rod 3364 is second rotation connecting point 3372, the rotation connecting point of third connecting rod 3363 and fuselage 1 is third rotation connecting point 3373, the connecting point of output end 3122 of drive mechanism 31 and third connecting rod 3363 is drive connecting point, first rotation connecting point 3371 is located between second rotation connecting point 3372 and sliding groove 333, and sliding groove 333 is located between third rotation connecting point 3373 and first rotation connecting point 3371.

[0184] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the clearing member 334 can be realized by changing the length and angle of the four-bar linkage mechanism. When the driving mechanism 31 drives the rotating disc 321 to rotate around the rotation center thereof, the sliding block 322 limited in the sliding groove 333 can be driven to move along the extension direction of the third connecting rod 3363, and the third connecting rod 3363 can be driven to rotate around the third rotation connecting point 3373 through the cooperation between the sliding block 322 and the sliding groove 333. Since the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 form a four-bar linkage mechanism, when the third connecting rod 3363 rotates, the second connecting rod 3362 can be driven to rotate around the first rotation connecting point 3371 and the fourth connecting rod 3364 can be driven to rotate around the second rotation connecting point 3372, and the second connecting rod 3362 can drive the first connecting rod 3361 to move relative to the machine body 1. Thus, through the deformation of the four-bar linkage mechanism as a whole, the clearing member 334 can be driven to move under the joint driving of the second connecting rod 3362 and the fourth connecting rod 3364, so that the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0185] When the clearing member 33 moves the obstacle, since the transmission point between the sliding block 322 and the inner wall of the sliding groove 333 is the clearing transmission point, the reaction force generated by the obstacle on the clearing member 33 can be transmitted through the second connecting rod 3362 and the fourth connecting rod 3364 and then changed into the reaction force of the inner wall of the sliding groove 333 on the sliding block 322 on the third connecting rod 3363. The sliding block 322 is under the reaction force, and the speed of the sliding block 322 at the clearing transmission point is the reaction speed.

[0186] When the clearing member 33 is located at the clearing position, the angle φ between the reaction force of the inner wall of the sliding groove 333 on the sliding block 322 and the reaction speed of the sliding block 322 at the clearing transmission point is greater than or equal to 90°, so that the sliding block 322 and the inner wall of the sliding groove 333 can enter the transmission dead point position. At this time, the reaction force of the sliding block 322 is ineffective in the direction of the reaction speed of the sliding block 322, that is, the reaction force of the obstacle on the sliding block 322 through the inner wall of the sliding groove 333 cannot drive the sliding block 322 to move along the extension direction of the third connecting rod 3363, so that the sliding block 322 can be kept stationary, and the third connecting rod 3363 can be stably kept at the position, so that the clearing member 33 can be more stably kept at the clearing position.

[0187] Referring to Figure 30 and Figure 32According to some embodiments of the present application, the obstacle removing component 33 comprises a contact portion adapted to contact with the obstacle, and the contact portion is arc-shaped. When the obstacle removing component 33 contacts with the obstacle to make the obstacle leave the original position, the arc-shaped contact portion can make the obstacle better adhere to obstacles with different shapes and different surfaces, such as circular, square or irregular obstacles, and the arc-shaped contact portion can increase the contact area between the obstacle removing component 33 and the obstacle, so that the obstacle removing process is more stable and reliable. Moreover, when the obstacle removing component 33 contacts with the obstacle, the arc-shaped contact portion can also guide the obstacle to move along an arc-shaped trajectory, so that the obstacle removing process is more smooth, the obstacle removing component 33 is less jammed and hindered by the obstacle, and the obstacle removing difficulty is reduced.

[0188] With reference to Figure 30 and Figure 32 According to some embodiments of the present application, at least part of the obstacle removing component 33 constitutes the front impact plate of the cleaning device 100. For example, part of the obstacle removing component 33 can constitute the front impact plate of the cleaning device 100. By at least part of the obstacle removing component 33 constituting the front impact plate of the cleaning device 100, for example, the front impact plate is a front-side arc-shaped plate structure, the obstacle can be perceived through the collision of the front impact plate, so that the driving mechanism 31 drives the obstacle removing component 33 to move towards the obstacle removing position to make the obstacle leave the original position more quickly.

[0189] With reference to Figure 30 and Figure 32 According to some embodiments of the present application, a flexible layer is arranged on the obstacle removing component 33, and the flexible layer is used to contact with the obstacle. When the obstacle removing component 33 moves the obstacle, the flexible layer arranged on the obstacle removing component 33 can buffer the force applied by the obstacle removing component 33 to the obstacle due to its soft characteristics, so that the obstacle can be protected to a certain extent, and the friction and wear between the obstacle removing component 33 and the obstacle can be reduced or avoided.

[0190] With reference to Figure 30 and Figure 32 According to some embodiments of the present application, the flexible layer is a rubber layer or a silica gel layer. Since rubber and silica gel both have good flexibility, the rubber layer or the silica gel layer can be deformed when contacting with the obstacle, so as to buffer the force between the obstacle removing component 33 and the obstacle, thereby reducing or avoiding the friction and wear between the obstacle removing component 33 and the obstacle.

[0191] With reference to Figure 30 and Figure 32According to some embodiments of the utility model, the flexible layer is fixed on the obstacle removing component 33 by adhesion, or the flexible layer is integrally formed on the obstacle removing component 33. If the flexible layer is fixed on the obstacle removing component 33 by adhesion, the connection between the flexible layer and the obstacle removing component 33 is simple and has strong stability. If the flexible layer is integrally formed on the obstacle removing component 33, the structural strength of the obstacle removing component 33 as a whole can be enhanced, and the assembly process between the flexible layer and the obstacle removing component 33 can be omitted, so that the assembly efficiency of the obstacle removing module 3 as a whole can be improved.

[0192] With reference to Figures 29-31 and Figure 28 According to some embodiments of the utility model, the obstacle removing component 33 is provided with a cleaning structure 342, and the cleaning structure 342 is used for cleaning the work surface and / or the obstacle. For example, the cleaning structure 342 can be a brush, a blade, a wiping cloth or the like. By providing the cleaning structure 342 on the obstacle removing component 33, the work surface can be cleaned by the cleaning structure 342 while the obstacle removing component 33 removes the obstacle on the work surface, so that the overall cleaning effect of the cleaning device 100 can be enhanced.

[0193] With reference to Figure 31 and Figure 37 According to some embodiments of the utility model, the cleaning structure 342 is arranged at the bottom of the obstacle removing component 33, so that the cleaning structure 342 is adjacent to the work surface to clean the work surface. Without the need to provide an additional driving mechanism 31 to adjust the position or angle of the cleaning structure 342, the number of components can be reduced, and the overall structure of the cleaning device 100 can be simplified.

[0194] With reference to Figure 39 and Figure 38 According to some embodiments of the utility model, the cleaning structure 342 is adhered to the obstacle removing component 33 or detachably arranged on the obstacle removing component 33. If the cleaning structure 342 is adhered to the obstacle removing component 33, the connection between the cleaning structure 342 and the obstacle removing component 33 is simple and has strong stability. If the cleaning structure 342 is detachably arranged on the obstacle removing component 33, the cleaning structure 342 can be easily cleaned or replaced.

[0195] With reference to Figure 40 and Figure 41According to some embodiments of the utility model, the cleaning structure 342 comprises at least one of a cleaning brush, a cleaning cloth and a cleaning scraping strip. For example, the cleaning structure 342 can comprise a cleaning brush or a cleaning cloth or a cleaning scraping strip, or comprise a cleaning brush and a cleaning cloth or a cleaning brush and a cleaning scraping strip or a cleaning cloth and a cleaning scraping strip, or comprise a cleaning brush, a cleaning cloth and a cleaning scraping strip. The cleaning brush, the cleaning cloth and the cleaning scraping strip can all have a certain cleaning effect on the working surface, and the cleaning structure 342 comprising at least one of a cleaning brush, a cleaning cloth and a cleaning scraping strip can have an effective cleaning effect on the working surface.

[0196] With reference to Figures 27-31 According to some embodiments of the utility model, the obstacle removing component 33 comprises an obstacle removing piece 334 and an auxiliary piece 343, the auxiliary piece 343 is movably arranged on the obstacle removing piece 334, the output end 3122 of the driving mechanism 31 is directly connected with the obstacle removing piece 334 or is connected with the obstacle removing piece 334 through the outer swing mechanism 32, so as to drive the obstacle removing component 33 to move, and at least one of the obstacle removing piece 334 and the auxiliary piece 343 can act on the obstacle, so that the obstacle moves and leaves the original position. If the output end 3122 of the driving mechanism 31 is directly connected with the obstacle removing piece 334, the power transmission path between the driving mechanism 31 and the obstacle removing component 33 can be shortened, so that the energy loss in the power transmission process can be reduced, the obstacle removing delay caused by the too long power transmission path between the driving mechanism 31 and the obstacle removing component 33 can be reduced, the obstacle removing efficiency of the obstacle removing component 33 can be improved, and the structure of the obstacle removing component 33 and the driving mechanism 31 as a whole can be simplified by directly connecting the output end 3122 of the driving mechanism 31 with the obstacle removing component 33, the number and complexity of intermediate components are reduced, and the manufacturing cost can be reduced.

[0197] If the output end 3122 of the driving mechanism 31 is connected with the obstacle removing component 33 through the outer swing mechanism 32, one end of the outer swing mechanism 32 is drivingly connected with the output end 3122 of the driving mechanism 31, the other end of the outer swing mechanism 32 is connected with the obstacle removing component 33, the driving mechanism 31 drives the outer swing mechanism 32 to move, the outer swing mechanism 32 drives the obstacle removing component 33 to move, and then the driving mechanism 31 can drive the obstacle removing component 33 to move relative to the fuselage 1 between the storage position and the obstacle removing position, so that the obstacle removing range of the obstacle removing component 33 can be effectively expanded.

[0198] The auxiliary piece 343 can help the obstacle removing piece 334 to move the obstacle, at least one of the obstacle removing piece 334 and the auxiliary piece 343 can act on the obstacle, so that the obstacle is moved away from the original position, and the obstacle removing effect of the obstacle removing component 33 can be enhanced.

[0199] For example, the auxiliary member 343 is rotatably arranged on the clearing member 334, and the distance between the outer side edge 331 of the auxiliary member 343 and the outer edge of the fuselage 1 is greater than the distance between the outer side edge 331 of the clearing member 334 and the outer edge of the fuselage 1, so that the clearing range of the clearing member 334 is expanded; or the bottom of the auxiliary member 343 is closer to the working surface than the bottom of the clearing member 334 when the auxiliary member 343 is rotated to a certain angle, for example, when there are low obstacles on the working surface, the height of the obstacles is smaller, and the bottom of the auxiliary member 343 is closer to the working surface, so that the obstacles are moved by the auxiliary member 343, and the clearing effect of the clearing member 33 is effectively enhanced.

[0200] With reference to Figure 31 , Figure 41 、 Figures 37-39 and Figure 27 According to some embodiments of the present application, the auxiliary member 343 is rotatably connected with the clearing member 334, and the position of the auxiliary member 343 relative to the clearing member 334 can be adjusted to expand the clearing range of the clearing member 33, so that the clearing efficiency and the clearing effect are improved.

[0201] For example, the bottom of the auxiliary member 343 is lower than the bottom of the clearing member 334, so that the distance between the clearing member 33 and the working surface is smaller, which is helpful for better moving low obstacles; for another example, the distance between the outer side edge 331 of the auxiliary member 343 and the outer edge of the fuselage 1 is greater than the distance between the outer side edge 331 of the clearing member 334 and the outer edge of the fuselage 1, so as to expand the clearing range of the clearing member 33, which can reduce repeated work and improve the clearing efficiency.

[0202] With reference to Figure 30 、 Figure 37 and Figure 39 According to some embodiments of the present application, the auxiliary member 343 is downwardly flipped or moved relative to the clearing member 334. By flipping or moving the auxiliary member 343 downwardly relative to the clearing member 334, at least part of the auxiliary member 343 is lower than the bottom of the clearing member 334, so that the distance between the clearing member 33 and the working surface is smaller, which is helpful for better moving low obstacles.

[0203] With reference to Figure 33According to some embodiments of the present application, the auxiliary member 343 is movable between the first position and the second position, when the auxiliary member 343 is located at the first position, at least part of the auxiliary member 343 is located above or below the clearing member 334, and the auxiliary member 343 is adapted to contact the obstacle, when the auxiliary member 343 is located at the second position, the auxiliary member 343 is accommodated in the clearing member 334. Wherein, at least part of the auxiliary member 343 located above or below the clearing member 334 can include the following cases: for example, part of the auxiliary member 343 can be located above or below the clearing member 334; for another example, all of the auxiliary member 343 can be located above or below the clearing member 334.

[0204] For example, when the auxiliary member 343 is located at the first position, at least part of the auxiliary member 343 is located below the clearing member 334, which can make the distance between the bottom of the clearing member 33 as a whole and the working surface smaller, which is helpful for better moving the obstacle, especially the low obstacle, so as to enhance the clearing effect and effectively reduce the clearing dead angle and the missed area. When the auxiliary member 343 is located at the second position, the auxiliary member 343 is accommodated in the clearing member 334, which can reduce the occupation of the external space of the clearing member 334, so that the structure of the auxiliary member 343 and the clearing member 334 as a whole is more compact, which is conducive to the miniaturization of the cleaning device 100, and facilitates the carrying and storage of the cleaning device 100.

[0205] Referring to Figure 35 and Figure 38 , according to some embodiments of the present application, when the auxiliary member 343 is located at the first position, the lowest position of the auxiliary member 343 is lower than the lowest position of the clearing member 334. When the auxiliary member 343 is located at the first position, the lowest position of the auxiliary member 343 is lower than the lowest position of the clearing member 334, which can make the distance between the bottom of the clearing member 33 as a whole and the working surface smaller, which is helpful for better moving the obstacle, especially the low obstacle, so as to enhance the clearing effect and effectively reduce the clearing dead angle and the missed area.

[0206] Referring to Figure 27 , according to some embodiments of the present application, the clearing member 334 is provided with a receiving opening 3341, and when the auxiliary member 343 is located at the second position, at least part of the auxiliary member 343 is accommodated in the receiving opening 3341. Wherein, at least part of the auxiliary member 343 accommodated in the receiving opening 3341 can include the following cases: for example, part of the auxiliary member 343 can be accommodated in the receiving opening 3341; for another example, all of the auxiliary member 343 can be accommodated in the receiving opening 3341.

[0207] When the auxiliary member 343 is located at the second position, at least part of the auxiliary member 343 is accommodated in the accommodation opening 3341, which can reduce the occupation of the external space of the clearing member 334, so that the structure of the whole of the clearing member 334 and the auxiliary member 343 is more compact, thereby facilitating the miniaturization of the cleaning device 100 and facilitating the carrying and accommodation of the cleaning device 100.

[0208] With reference to Figure 30 , Figure 27 , Figure 30 and Figure 36 According to some embodiments of the present application, the clearing member 334 comprises a connecting mechanism 335 and a clearing push rod 3342, the connecting mechanism 335 is connected between the clearing push rod 3342 and the fuselage 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or connected through the outer swing mechanism 32 to drive the clearing member 33 to move between the accommodation position and the clearing position, the auxiliary member 343 is rotatably connected with the clearing push rod 3342, one end of the elastic driving member 344 is connected with the auxiliary member 343, and the other end of the elastic driving member 344 is connected with the clearing push rod 3342, wherein one of the elastic driving member 344 and the connecting mechanism 335 is used to drive the auxiliary member 343 to move from the first position to the second position, and the other of the elastic driving member 344 and the connecting mechanism 335 is used to drive the auxiliary member 343 to move from the second position to the first position.

[0209] The connecting mechanism 335 can drive the auxiliary member 343 to move under the driving action of the driving force of the driving mechanism 31, and thus can drive the auxiliary member 343 to move from the first position to the second position or from the second position to the first position. By providing the elastic driving member 344, the elastic driving member 344 provides a driving force to enable the auxiliary member 343 to move, and thus can drive the auxiliary member 343 to move from the first position to the second position or from the second position to the first position, so that the elastic driving member 344 can cooperate with the connecting mechanism 335 to control the movement of the auxiliary member 343 between the first position and the second position, so that the clearing member 33 can realize the function of expanding the clearing range.

[0210] For example, the connecting mechanism 335 can drive the auxiliary member 343 to move under the driving action of the driving force of the driving mechanism 31, and the driving force acting on the auxiliary member 343 can overcome the elastic force of the elastic driving member 344 to drive the auxiliary member 343 to move from the first position to the second position, and the elastic driving member 344 is subjected to the elastic restoring force of itself, and can drive the auxiliary member 343 to move from the second position to the first position through the clearing push rod 3342.

[0211] Correspondingly, the auxiliary member 343 can also be driven from the first position to the second position by the elastic force of the elastic driving member 344, and the connecting mechanism 335 drives the auxiliary member 343 to move under the driving of the driving mechanism 31, and the driving force acting on the auxiliary member 343 can overcome the elastic force of the elastic driving member 344, so that the auxiliary member 343 is driven from the second position to the first position.

[0212] With reference to Figure 27 , Figure 30 and Figure 36 , according to some embodiments of the present application, the auxiliary member 343 is provided with a rotating shaft 3431, the clearing push rod 3342 is provided with a rotating hole 3343, the rotating shaft 3431 is rotatably arranged in the rotating hole 3343, and the elastic driving member 344 is a torsion spring and is sleeved on the outer circumferential side of the rotating shaft 3431. By making the elastic driving member 344 a torsion spring and sleeving the elastic driving member 344 on the outer circumferential side of the rotating shaft 3431, the torsion spring and the rotating shaft 3431 can be coaxially arranged, the overall structure of the torsion spring and the rotating shaft 3431 is compact, and the driving force provided by the other end of the torsion spring to the auxiliary member 343 can stably and efficiently drive the auxiliary member 343 to move.

[0213] With reference to Figure 27 and Figure 30 , according to some embodiments of the present application, during the process that the driving mechanism 31 drives the clearing member 33 to move to the clearing position, the connecting mechanism 335 is adapted to act on the auxiliary member 343 to drive the auxiliary member 343 to move from the second position to the first position, and the elastic driving member 344 is used to drive the auxiliary member 343 to move from the first position to the second position. The connecting mechanism 335 can drive the clearing push rod 3342 to move under the driving of the driving force of the driving mechanism 31, and the driving force applied to the auxiliary member 343 by the connecting mechanism 335 can overcome the elastic force of the elastic driving member 344 to drive the auxiliary member 343 to move from the second position to the first position, and the elastic driving member 344 can drive the auxiliary member 343 to move from the first position to the second position under the action of its own elastic force.

[0214] When the driving mechanism 31 drives the clearing member 33 to move to the clearing position through the connecting mechanism 335, the connecting mechanism 335 can also drive the auxiliary member 343 to move from the second position to the first position, which can reduce the number of parts, simplify the overall structure of the cleaning device 100, and thus be conducive to the layout optimization of the cleaning device 100 and the reduction of the manufacturing cost of the cleaning device 100.

[0215] With reference to Figure 36 , Figures 37-41 and Figure 38According to some embodiments of the present application, the connecting mechanism 335 is provided with a pushing protrusion 3377, and during the movement of the clearing component 33 to the clearing position, the pushing protrusion 3377 is in contact with the auxiliary part 343 to drive the auxiliary part 343 to move to the first position. The pushing protrusion 3377 can improve the overall structural strength of the connecting mechanism 335 to some extent, and the pushing protrusion 3377 is in contact with the auxiliary part 343 to drive the auxiliary part 343 to move, so as to reduce the distance between the connecting mechanism 335 and the auxiliary part 343, so that the connecting mechanism 335 can drive the auxiliary part 343 to move to the first position, thereby improving the clearing efficiency.

[0216] Optionally, during the movement of the clearing component 33 from the storage position to the clearing position, the pushing protrusion 3377 can gradually approach and be in contact with the auxiliary part 343, and under the driving action of the driving force of the connecting mechanism 335, the pushing protrusion 3377 can overcome the elastic force of the elastic driving part 344 to drive the auxiliary part 343 to move to the first position.

[0217] Correspondingly, during the movement of the clearing component 33 from the clearing position to the storage position, the pushing protrusion 3377 can be disengaged from the auxiliary part 343 and gradually move away from the auxiliary part 343 to gradually cancel the driving force on the auxiliary part 343, and the auxiliary part 343 can move from the first position to the second position under the driving action of the elastic force of the elastic driving part 344.

[0218] Referring to Figure 39 , Figure 40 and Figure 43 , according to some embodiments of the present application, the connecting mechanism 335 includes a plurality of connecting rods 336 that are rotatably connected to each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected to the driving rod or connected through the outer swing mechanism 32, and the connecting rod 336 that is rotatably connected to the clearing push rod 3342 is provided with the pushing protrusion 3377.

[0219] The plurality of connecting rods 336 that are rotatably connected to each other can form a connecting rod mechanism, and under the driving action of the driving force of the driving mechanism 31, the angle and length between the plurality of connecting rods 336 that are rotatably connected to each other can change, so as to realize the deformation of the connecting mechanism 335, and further change the distance between the pushing protrusion 3377 and the auxiliary part 343, so as to facilitate the process of driving the auxiliary part 343 to move by the pushing protrusion 3377.

[0220] For example, in the process that the driving mechanism 31 drives the clearing component 33 to move to the clearing position through the connecting mechanism 335, the push-away protrusion 3377 can gradually approach the auxiliary piece 343 and finally contact the auxiliary piece 343 through the deformation of the connecting mechanism 335, so as to realize the process that the auxiliary piece 343 is driven to move from the second position to the first position.

[0221] With reference to Figure 38 , Figure 39 and Figure 40 , according to some embodiments of the utility model, the plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the clearing piece 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the clearing piece 334.

[0222] Wherein, the rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotating connection point 3372, the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connection point, the first rotating connection point 3371 is located between the second rotating connection point 3372 and the driving connection point, and the push-away protrusion 3377 is arranged on the fourth connecting rod 3364 and located on the side of the fourth connecting rod 3364 close to the auxiliary piece 343.

[0223] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the clearing member 334 can be realized by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected with the output end 3122 of the driving mechanism 31, and under the driving action of the driving force of the driving mechanism 31, the third connecting rod 3363 rotates around the driving connection point, the third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotating connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotating connection point 3372. One end of the first connecting rod 3361 is rotatably connected with the machine body 1, and the other end of the first connecting rod 3361 is rotatably connected with the second connecting rod 3362, and the rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the machine body 1. Through the deformation of the four-bar linkage mechanism as a whole, under the common driving of the second connecting rod 3362 and the fourth connecting rod 3364, the clearing member 334 can be driven to move, so that the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0224] Moreover, in the process that the driving mechanism 31 drives the clearing member 334 to move to the clearing position through the connecting mechanism 335, the pushing protrusion on the fourth connecting rod 3364 can also drive the auxiliary member 343 to move from the second position to the first position.

[0225] Wherein, by locating the pushing-away protrusion 3377 on the side of the fourth connecting rod 3364 close to the auxiliary member 343, the distance between the pushing-away protrusion 3377 and the auxiliary member 343 can be closer, so that the pushing-away protrusion 3377 can more quickly drive the auxiliary member 343 to move to the first position, thereby improving the clearing efficiency.

[0226] For example, when the third connecting rod 3363 rotates in the positive direction, the second connecting rod 3362 rotates in the positive direction about the first rotating connecting point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the positive direction, the fourth connecting rod 3364 rotates in the positive direction about the second rotating connecting point 3372 under the driving action of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the entire four-connecting-rod mechanism is stretched, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move away from the outer edge of the machine body 1, so that the process that the driving mechanism 31 drives the clearing member 334 to move from the storage position to the clearing position through the connecting mechanism 335 is realized; and in the process that the fourth connecting rod 3364 moves toward the outer edge of the machine body 1, the pushing protrusion provided on the fourth connecting rod 3364 can gradually approach the auxiliary member 343 and finally contact the auxiliary member 343, so as to drive the auxiliary member 343 to move to the first position.

[0227] For another example, when the third connecting rod 3363 rotates in the reverse direction, the second connecting rod 3362 rotates in the reverse direction about the first rotating connecting point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the reverse direction, the fourth connecting rod 3364 rotates in the reverse direction about the second rotating connecting point 3372 under the driving action of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the entire four-connecting-rod mechanism is contracted, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move close to the machine body 1 and be accommodated in the bottom of the machine body 1, so as to realize the process that the driving mechanism 31 drives the clearing member 334 to move from the clearing position to the storage position through the connecting mechanism 335; and in the process that the fourth connecting rod 3364 moves in the reverse direction, the pushing protrusion provided on the fourth connecting rod 3364 can be disengaged from the auxiliary member 343 and gradually move away from the auxiliary member 343, so as to gradually cancel the driving force on the auxiliary member 343, and the auxiliary member 343 moves to the second position under the driving action of the elastic force of the elastic driving member 344.

[0228] With reference to Figure 43According to some embodiments of the utility model, in the process that the driving mechanism 31 drives the obstacle removing component 33 to move to the obstacle removing position, the connecting mechanism 335 is suitable for acting with the auxiliary part 343 to drive the auxiliary part 343 to move from the first position to the second position, and the elastic driving part 344 is used to drive the auxiliary part 343 to move from the second position to the first position. The connecting mechanism 335 can drive the obstacle removing push rod 3342 to move under the driving of the driving force of the driving mechanism 31, and the driving force applied to the auxiliary part 343 by the connecting mechanism 335 can overcome the elastic force of the elastic driving part 344 to drive the auxiliary part 343 to move from the first position to the second position, and the elastic driving part 344 can drive the auxiliary part 343 to move from the second position to the first position under the elastic force of itself.

[0229] When the driving mechanism 31 drives the obstacle removing component 33 to move to the obstacle removing position through the connecting mechanism 335, the connecting mechanism 335 can also drive the auxiliary part 343 to move from the first position to the second position, so that the number of parts can be reduced, the overall structure of the cleaning device 100 is simplified, and thus the layout optimization of the cleaning device 100 is facilitated, and the manufacturing cost of the cleaning device 100 is also reduced.

[0230] Referring to Figure 38 , Figure 39 , Figure 40 and Figure 43 According to some embodiments of the utility model, the connecting mechanism 335 comprises a plurality of connecting rods 336 rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected with the driving rod or connected through the outer swing mechanism 32, and the connecting rod 336 rotatably connected with the obstacle removing push rod 3342 is provided with an anti-return protrusion 3378. When the auxiliary part 343 is at the first position, the anti-return protrusion 3378 abuts against the outer side surface of the auxiliary part 343 to limit the auxiliary part 343 at the first position, and the anti-return protrusion 3378 is separated from the auxiliary part 343 in the process that the obstacle removing part 334 moves from the obstacle removing position to the storage position.

[0231] The anti-return protrusion 3378 can enhance the overall structural strength of the connecting mechanism 335 to some extent, the connecting rod 336 rotatably connected with the obstacle removing push rod 3342 is provided with the anti-return protrusion 3378 which can abut against the outer side surface of the auxiliary part 343, the anti-return protrusion 3378 can overcome the elastic force of the elastic driving part 344 under the driving of the driving force of the driving mechanism 31 to limit the auxiliary part 343, so that the auxiliary part 343 is stably kept at the first position, and when the obstacle removing part 334 moves from the obstacle removing position to the storage position, the anti-return protrusion 3378 is separated from the auxiliary part 343 to release the limiting effect on the auxiliary part 343.

[0232] Optionally, during the movement of the obstacle removing component 33 from the storage position to the obstacle removing position, the auxiliary piece 343 is driven by the elastic force of the elastic driving piece 344 to move from the second position to the first position, and the anti-back protrusion 3378 gradually approaches and abuts against the outer side surface of the auxiliary piece 343 to limit the auxiliary piece 343 in the first position.

[0233] With reference to Figure 38 , Figure 39 , Figure 40 and Figure 43 According to some embodiments of the utility model, the plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the obstacle removing piece 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the obstacle removing piece 334.

[0234] Wherein, the rotation connecting point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotation connecting point 3371, the rotation connecting point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotation connecting point 3372, the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connecting point, the first rotation connecting point 3371 is located between the second rotation connecting point 3372 and the driving connecting point, and the anti-back protrusion 3378 is arranged on the fourth connecting rod 3364 and located on the side of the fourth connecting rod 3364 close to the auxiliary piece 343.

[0235] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the clearing tool 334 can be realized by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected with the output end 3122 of the driving mechanism 31, and under the driving action of the driving force of the driving mechanism 31, the third connecting rod 3363 rotates around the driving connection point. The third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotating connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotating connection point 3372. One end of the first connecting rod 3361 is rotatably connected with the machine body 1, and the other end of the first connecting rod 3361 is rotatably connected with the second connecting rod 3362. The rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the machine body 1. Through the deformation of the four-bar linkage mechanism as a whole, under the common driving of the second connecting rod 3362 and the fourth connecting rod 3364, the clearing tool 334 can be driven to move, so that the process that the driving mechanism 31 drives the clearing tool 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0236] Moreover, in the process that the driving mechanism 31 drives the clearing tool 334 to move to the clearing position through the connecting mechanism 335, the anti-return protrusion 3378 on the fourth connecting rod 3364 can gradually approach the auxiliary tool 343 and finally abut against the outer side surface of the auxiliary tool 343, so as to limit the auxiliary tool 343, thereby stably keeping the auxiliary tool 343 in the first position.

[0237] Among them, by locating the anti-return protrusion 3378 on the side of the fourth connecting rod 3364 close to the auxiliary tool 343, the distance between the anti-return protrusion 3378 and the auxiliary tool 343 can be close, so as to facilitate the anti-return protrusion 3378 to contact the auxiliary tool 343 more quickly, so as to limit the auxiliary tool 343 to the first position, which is beneficial to improve the clearing efficiency.

[0238] For example, when the third connecting rod 3363 rotates in the positive direction, the second connecting rod 3362 rotates in the positive direction about the first rotating connecting point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the positive direction, the fourth connecting rod 3364 rotates in the positive direction about the second rotating connecting point 3372 under the driving action of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the entire four-connecting-rod mechanism is stretched, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move away from the outer edge of the machine body 1, so that the process that the clearing member 334 is driven by the driving mechanism 31 through the connecting mechanism 335 to move from the storage position to the clearing position is realized; and the auxiliary member 343 is driven by the elastic force of the elastic driving member 344 to move from the second position to the first position, and the anti-return protrusion 3378 provided on the fourth connecting rod 3364 can gradually approach the outer side surface of the auxiliary member 343 and finally contact the auxiliary member 343 to limit the auxiliary member 343 in the first position.

[0239] For another example, when the third connecting rod 3363 rotates in the reverse direction, the second connecting rod 3362 rotates in the reverse direction about the first rotating connecting point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the reverse direction, the fourth connecting rod 3364 rotates in the reverse direction about the second rotating connecting point 3372 under the driving action of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the entire four-connecting-rod mechanism is contracted, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move close to the machine body 1 and be accommodated in the bottom of the machine body 1, so that the process that the clearing member 334 is driven by the driving mechanism 31 through the connecting mechanism 335 to move from the clearing position to the storage position is realized; and in the reverse movement process of the fourth connecting rod 3364, the anti-return protrusion 3378 provided on the fourth connecting rod 3364 can be separated from the auxiliary member 343 to cancel the limiting effect on the auxiliary member 343.

[0240] With reference to Figures 37-40 , Figure 41 , Figure 42 and Figure 44According to some embodiments of the utility model, the connecting mechanism 335 includes a plurality of connecting rods 336 rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected with the driving rod or connected through the outer swing mechanism 32, the connecting rod 336 rotatably connected with the obstacle removing push rod 3342 in the plurality of connecting rods 336 is provided with a reset protrusion 3379, in the process that the obstacle removing component 33 moves from the obstacle removing position to the storage position, the reset protrusion 3379 contacts the auxiliary part 343 to drive the auxiliary part 343 to move to the second position.

[0241] The reset protrusion 3379 can enhance the structural strength of the connecting mechanism 335 to some extent, by providing the reset protrusion 3379 on the connecting rod 336 rotatably connected with the obstacle removing push rod 3342 and the reset protrusion 3379 can abut against the auxiliary part 343, in the process that the obstacle removing component 33 moves from the obstacle removing position to the storage position, the reset protrusion 3379 can gradually approach the auxiliary part 343 and finally abut against the auxiliary part 343, under the driving force of the driving mechanism 31, the driving force of the reset protrusion 3379 on the auxiliary part 343 can overcome the elastic force of the elastic driving part 344 to drive the auxiliary part 343 to move to the second position, reducing the occupation of the external space of the obstacle removing component 33, and facilitating the carrying and storage of the cleaning device 100 as a whole.

[0242] Referring to Figure 45 , Figure 41 , Figure 44 and Figure 45 , according to some embodiments of the utility model, the inner side surface of the auxiliary part 343 is provided with a matching protrusion 3432, in the process that the obstacle removing part 334 moves from the obstacle removing position to the storage position, the reset protrusion 3379 contacts the matching protrusion 3432 to drive the auxiliary part 343 to move to the second position. The matching protrusion 3432 can enhance the structural strength of the auxiliary part 343 to some extent, in the process that the obstacle removing part 334 moves from the obstacle removing position to the storage position, by the contact between the reset protrusion 3379 and the matching protrusion 3432, the distance between the reset protrusion 3379 and the auxiliary part 343 can be shortened to some extent, so that the reset protrusion 3379 can drive the auxiliary part 343 to move to the second position relatively rapidly.

[0243] Referring to Figure 31According to some embodiments of the utility model, multiple connecting rods 336 include first connecting rod 3361, second connecting rod 3362, third connecting rod 3363 and fourth connecting rod 3364, wherein third connecting rod 3363 constitutes a drive rod, one end of first connecting rod 3361 is rotatably connected with fuselage 1, the other end of first connecting rod 3361 is rotatably connected with one end of second connecting rod 3362, the other end of second connecting rod 3362 is rotatably connected with clearing member 334, second connecting rod 3362 and third connecting rod 3363 cross and are rotatably connected, one end of fourth connecting rod 3364 is rotatably connected with the end of third connecting rod 3363 and the other end of fourth connecting rod 3364 is rotatably connected with clearing member 334.

[0244] Wherein, the rotatable connecting point of third connecting rod 3363 and second connecting rod 3362 is first rotatable connecting point 3371, the rotatable connecting point of third connecting rod 3363 and fourth connecting rod 3364 is second rotatable connecting point 3372, the connecting point of output end 3122 of drive mechanism 31 and third connecting rod 3363 is drive connecting point, first rotatable connecting point 3371 is located between second rotatable connecting point 3372 and drive connecting point, reset protrusion 3379 is arranged on fourth connecting rod 3364.

[0245] First connecting rod 3361, second connecting rod 3362, third connecting rod 3363 and fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of clearing member 334 can be realized by changing the length and angle of the four-bar linkage mechanism. By connecting third connecting rod 3363 with output end 3122 of drive mechanism 31, under the driving force of drive mechanism 31, third connecting rod 3363 rotates around drive connecting point, third connecting rod 3363 can drive second connecting rod 3362 to rotate around first rotatable connecting point 3371, and third connecting rod 3363 can drive fourth connecting rod 3364 to rotate around second rotatable connecting point 3372, by rotatably connecting one end of first connecting rod 3361 with fuselage 1 and rotatably connecting the other end of first connecting rod 3361 with second connecting rod 3362, the rotation of second connecting rod 3362 can also drive first connecting rod 3361 to rotate relative to fuselage 1, by the deformation of the whole four-bar linkage mechanism, under the common driving of second connecting rod 3362 and fourth connecting rod 3364, clearing member 334 can be driven to move, so that the process that drive mechanism 31 drives clearing member 334 to move between the storage position and the clearing position through connecting mechanism 335 can be realized.

[0246] And, in the process that the driving mechanism 31 drives the recovery tool 334 to move from the recovery position to the storage position through the connecting mechanism 335, the reset protrusion 3379 on the fourth connecting rod 3364 gradually approaches the auxiliary member 343 and finally contacts with the auxiliary member 343 to drive the auxiliary member 343 to move from the first position to the second position.

[0247] Further, the fourth connecting rod 3364 is further provided with an anti-return protrusion 3378, and the reset protrusion 3379 and the anti-return protrusion 3378 are respectively located on the opposite sides of the connecting point between the fourth connecting rod 3364 and the recovery tool 334. When the auxiliary member 343 is in the first position, the anti-return protrusion 3378 abuts against the outer side surface of the auxiliary member 343 to limit the auxiliary member 343 in the first position, and in the process that the recovery tool 334 moves from the recovery position to the storage position, the anti-return protrusion 3378 is separated from the auxiliary member 343.

[0248] For example, when the third connecting rod 3363 rotates in the positive direction, the second connecting rod 3362 rotates in the positive direction around the first rotation connecting point 3371 under the driving of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the positive direction, and the fourth connecting rod 3364 rotates in the positive direction around the second rotation connecting point 3372 under the driving of the driving force of the third connecting rod 3363, and through the change of the included angle between the connecting rods 336, the relative positions between the connecting rods 336 also change, so that the stretching of the whole four-connecting-rod mechanism can be realized, and the second connecting rod 3362 and the fourth connecting rod 3364 can drive the recovery tool 334 to move away from the outer edge of the machine body 1, so that the process that the driving mechanism 31 drives the recovery tool 334 to move from the storage position to the recovery position through the connecting mechanism 335 can be realized; and in the process that the fourth connecting rod 3364 moves toward the outer edge of the machine body 1, the reset protrusion 3379 gradually moves away from the auxiliary member 343 to gradually cancel the driving force on the auxiliary member 343, the auxiliary member 343 moves from the second position to the first position under the driving of the elastic force of the elastic driving member 344, and the anti-return protrusion 3378 on the fourth connecting rod 3364 can gradually approach the outer side surface of the auxiliary member 343 and finally contact with the auxiliary member 343 to limit the auxiliary member 343 in the first position.

[0249] For another example, when the third connecting rod 3363 rotates reversely, the second connecting rod 3362 rotates reversely around the first rotating connecting point 3371 under the driving of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate reversely, the fourth connecting rod 3364 rotates reversely around the second rotating connecting point 3372 under the driving of the driving force of the third connecting rod 3363, through the change of the included angle between the connecting rods 336, the relative position between the connecting rods 336 also changes, the contraction of the whole four-connecting-rod mechanism can be realized, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to approach the machine body 1 and be accommodated in the bottom of the machine body 1, so as to realize the process that the clearing member 334 is driven by the driving mechanism 31 through the connecting mechanism 335 to move from the clearing position to the storage position; and in the reverse movement process of the fourth connecting rod 3364, the anti-return protrusion 3378 arranged on the fourth connecting rod 3364 can be separated from the auxiliary member 343, so as to cancel the limiting effect on the auxiliary member 343, and the reset protrusion 3379 gradually approaches the auxiliary member 343 and finally contacts the auxiliary member 343, so as to drive the auxiliary member 343 to move from the first position to the second position.

[0250] With reference to Figure 34 , Figure 44 , Figure 45 and Figures 11-13 According to some embodiments of the present application, the inner side of the auxiliary member 343 is provided with a limiting protrusion 3433, when the auxiliary member 343 is located at the first position, the limiting protrusion 3433 abuts against the clearing push rod 3342 to limit the auxiliary member 343, when the elastic driving member 344 drives the auxiliary member 343 to open to the first position, through the abutment of the limiting protrusion 3433 and the clearing push rod 3342, the limiting effect on the auxiliary member 343 can be achieved, so that the opening angle of the auxiliary member 343 can be prevented from being too large, so that the auxiliary member 343 can be opened to a preset angle position.

[0251] With reference to Figures 22-24 , Figures 22-24 and Figure 22According to some embodiments of the utility model, the auxiliary part 343 includes a connecting part 3434 and a barrier removing part 3435, the connecting part 3434 is movably connected with the barrier removing part 334, the barrier removing part 3435 is connected below the connecting part 3434 and is adapted to act on the barrier, and the length of the barrier removing part 3435 is greater than the length of the connecting part 3434 in the circumferential direction of the fuselage 1. For example, when the auxiliary part 343 is located at the first position, the distance between the bottom of the auxiliary part 343 and the working surface can be further reduced by connecting the barrier removing part 3435 below the connecting part 3434, which can more effectively move the barrier on the working surface, especially low barriers, effectively reducing the barrier removing dead angle and missing area. Furthermore, by making the length of the barrier removing part 3435 greater than the length of the connecting part 3434 in the circumferential direction of the fuselage 1, the auxiliary part 343 can cover a larger area in the circumferential direction of the fuselage 1, thereby effectively expanding the barrier removing range of the barrier removing part 33 as a whole and improving the barrier removing effect of the barrier removing part 33 as a whole.

[0252] Referring to Figure 24 and Figure 25 , according to some embodiments of the utility model, the auxiliary part 343 is provided with a flexible layer, which is used to contact the barrier. When the auxiliary part 343 moves the barrier, the flexible layer provided on the auxiliary part 343 can buffer the force exerted by the auxiliary part 343 on the barrier due to its soft characteristics, which can protect the barrier to some extent and reduce or avoid friction and wear between the auxiliary part 343 and the barrier.

[0253] Referring to Figure 22 and Figure 24 , according to some embodiments of the utility model, the auxiliary part 343 is provided with a cleaning structure 342 for cleaning the working surface and / or the barrier. For example, the cleaning structure 342 can be a brush, a scraper, a wiping cloth, etc. By providing the cleaning structure 342 on the auxiliary part 343, the working surface can be cleaned by the cleaning structure 342 while the auxiliary part 343 assists the barrier removing part 334 in removing the barrier on the working surface, thereby enhancing the overall cleaning effect of the cleaning device 100.

[0254] Referring to Figure 25 , according to some embodiments of the utility model, the fuselage 1 is provided with a limiting structure 13. In the storage position, the limiting structure 13 is located on the side of the barrier removing part 33 away from the barrier removing position to limit the barrier removing part 33 in the direction from the barrier removing position to the storage position. During the movement of the barrier removing part 33 from the barrier removing position to the storage position, the limiting structure 13 provided on the fuselage 1 can limit the barrier removing part 33, which can prevent the retraction angle of the barrier removing part 33 from being too large, so that the barrier removing part 33 can be retracted to a preset angle position.

[0255] With reference to Figure 22 According to some embodiments of the present application, the driving mechanism 31 comprises a driving motor and a transmission mechanism, the transmission mechanism is connected with the obstacle removing component 33, the transmission mechanism comprises a gear mechanism, a motor shaft of the driving motor is connected with the gear mechanism to drive the gear mechanism to move, the gear mechanism comprises an output gear 3121, an axial one end of the output gear 3121 has an output end 3122, the output end 3122 is directly connected with the obstacle removing component 33 or connected through the outer swing mechanism 32. The gear mechanism is in driving connection with the motor shaft of the driving motor, the output end 3122 of the output gear 3121 is directly in driving connection with the obstacle removing component 33 or in driving connection with the obstacle removing component 33 through the outer swing mechanism 32. When the driving motor works, the rotation of the motor shaft can drive the gear mechanism to rotate, the rotation of the output gear 3121 in the gear mechanism can directly drive the obstacle removing component 33 to rotate or drive the obstacle removing component 33 to rotate through the outer swing mechanism 32, so as to realize the process that the driving motor drives the obstacle removing component 33 to move between the obstacle removing position and the storage position through the gear mechanism.

[0256] With reference to Figure 25 According to some embodiments of the present application, the first mounting hole 324 is arranged on the obstacle removing component 33 or the outer swing mechanism 32, the output end 3122 is inserted into the first mounting hole 324, the cross section of the output end 3122 and the cross section of the first mounting hole 324 are both non-circular, compared with the case that the cross section of the output end 3122 and the cross section of the first mounting hole 324 are both circular, the non-circular cross section can make the output end 3122 and the first mounting hole 324 have a relatively single direction and angle, when the output gear 3121 is assembled with the obstacle removing component 33 or the outer swing mechanism 32, the single direction and angle can play a guiding role in the assembly of the output end 3122 and the obstacle removing component 33 or the outer swing mechanism 32, so as to make the output end 3122 and the obstacle removing component 33 or the outer swing mechanism 32 be assembled according to the preset direction and angle, and thus the accuracy of power transmission between the driving mechanism 31 and the obstacle removing component 33 can be improved.

[0257] With reference to Figures 22-24 , Figures 20-22 and Figures 20-22 According to some embodiments of the present application, the rotation axis of the output gear 3121 extends along the up-down direction, the lower end of the output gear 3121 constitutes the output end 3122. The lower end of the output gear 3121 has the output end 3122 and the output end 3122 is connected with the obstacle removing component 33 or the outer swing mechanism 32, so as to realize the driving of the obstacle removing component 33 by the output gear 3121.

[0258] With reference to Figures 20-22 , Figures 20-22 and Figures 20-22According to some embodiments of the utility model, output gear 3121 includes gear body 3124 and gear shaft 3125, gear shaft 3125 includes second shaft part 3127, second shaft part 3127 is coaxial with gear body 3124 Connection, the lower end of gear body 3124 has output end 3122. Gear body 3124 can be used as the carrier of gear shaft 3125, second shaft part 3127 is coaxial with gear body 3124 Connection, can make gear body 3124 and second shaft part 3127 more smooth when rotating, and, through the lower end of gear body 3124 has output end 3122, the lower end of gear body 3124 has output end 3122 and output end 3122 is connected with the obstacle removing component 33 or the outer swing mechanism 32, the drive of output gear 3121 to the obstacle removing component 33 can be realized.

[0259] Referring to Figures 20-22 And Figures 20-22 According to some embodiments of the utility model, the cross section of second shaft part 3127 is '' D '' type, second connecting hole is arranged on gear body 3124, second shaft part 3127 is contained in second connecting hole, and the cross section of second connecting hole is '' D '' type. Compared with the cross section of second shaft part 3127 and the cross section of second connecting hole are circular, the cross section of '' D '' type can make second shaft part 3127 and second connecting hole have relatively single direction and angle, when second shaft part 3127 is assembled with gear body 3124, the single direction and angle can guide the assembly of second shaft part 3127 and gear body 3124, so that second shaft part 3127 and gear body 3124 are assembled according to the preset direction and angle, and then the accuracy of power transmission between second shaft part 3127 and gear body 3124 can be improved.

[0260] Referring to Figures 20-22 According to some embodiments of the utility model, the inner peripheral wall of first mounting hole 324 is formed with anti-stupid gap 3241, the outer peripheral wall of output end 3122 is provided with anti-stupid convex 3123, and anti-stupid convex 3123 is contained in anti-stupid gap 3241. The cooperation of anti-stupid gap 3241 and anti-stupid convex 3123 can make the assembly between output end 3122 of output gear 3121 and obstacle removing component 33 or outer swing mechanism 32 more convenient, and can make the structure of output gear 3121 and obstacle removing component 33 or outer swing mechanism 32 more compact. By containing anti-stupid convex 3123 in anti-stupid gap 3241, the assembly position and direction between output end 3122 and obstacle removing component 33 or outer swing mechanism 32 can be ensured to be accurate, and installation errors caused by misoperation can be avoided.

[0261] Referring to Figure 22According to some embodiments of the utility model, still include detection component 4, detection component 4 is used for detecting the position of clearing obstacle part 33, detection component 4 and drive mechanism 31 are all with the control module of cleaning device 100 electric connection, control module is used for controlling drive mechanism 31 according to the position information of detection component 4 detection, detection component 4 can in time the position information of clearing obstacle part 33 measured is delivered to control module, to facilitate control module according to the position information of clearing obstacle part 33 control drive mechanism 31, to drive clearing obstacle part 33 movement to clearing obstacle position or storage position, detection component 4 can be camera, ultrasonic detector etc.

[0262] For example, when detection component 4 detects that clearing obstacle part 33 movement to clearing obstacle position, control module will control drive mechanism 31 to stop continuing to drive clearing obstacle part 33 movement, to make clearing obstacle part 33 stably keep in clearing obstacle position, correspondingly, when detection component 4 detects that clearing obstacle part 33 movement to storage position, for example, clearing obstacle part 33 and limit structure 13 abut, can the position information of clearing obstacle part 33 in time is delivered to control component, control component control drive mechanism 31 to stop continuing to drive clearing obstacle part 33 movement.

[0263] Refer to Figure 24 According to some embodiments of the utility model, detection component 4 includes detection circuit board 41, first optocoupler 42, second optocoupler 43 and optocoupler detection piece 44, optocoupler detection piece 44 is connected with the output end 3122 of drive mechanism 31, to rotate synchronously with the output end 3122 of drive mechanism 31, detection circuit board 41 is fixed relative to body 1, first optocoupler 42 and second optocoupler 43 are all set up in detection circuit board 41 and first optocoupler 42 and second optocoupler 43 are spaced apart along the rotation direction of clearing obstacle part 33, wherein, when clearing obstacle part 33 is located in storage position, optocoupler detection piece 44 is opposite first optocoupler 42, when clearing obstacle part 33 is located in clearing obstacle position, optocoupler detection piece 44 is opposite second optocoupler 43.

[0264] Detection circuit board 41 can be as the carrier of first optocoupler 42, second optocoupler 43 and optocoupler detection piece 44, detection circuit board 41 can be as integrated structure, also can be the combination structure formed by multiple components cooperation, detection circuit board 41 to the other components of detection component 4 play information and energy transmission, wherein, other components include first optocoupler 42, second optocoupler 43 and optocoupler detection piece 44, but not limited to this.

[0265] The driving mechanism 31 drives the clearing component 33 to move between the storage position and the clearing position, and can synchronously drive the photocoupler detection piece 44 to rotate. Since the first photocoupler 42 and the second photocoupler 43 are both arranged on the detection circuit board 41 and are arranged in the rotation direction of the clearing component 33, when the clearing component 33 is located at the clearing position, the driving mechanism 31 can synchronously drive the photocoupler detection piece 44 to rotate to a position opposite to the second photocoupler 43, for example, the photocoupler detection piece 44 can block or change the propagation path of the light emitted by the second photocoupler 43, so as to trigger the signal generated by the second photocoupler 43 to change, and when the clearing component 33 is located at the storage position, the driving mechanism 31 can synchronously drive the photocoupler detection piece 44 to rotate to a position opposite to the first photocoupler 42, for example, the photocoupler detection piece 44 can block or change the propagation path of the light emitted by the first photocoupler 42, so as to trigger the signal generated by the first photocoupler 42 to change, so as to realize the recognition of the position information of the clearing component 33 by the detection assembly 4.

[0266] Through the cooperation between the photocoupler detection piece 44 and the first photocoupler 42 and the second photocoupler 43, the position information of the clearing component 33 can be perceived, and the corresponding position information can be fed back to the detection circuit board 41, so that the control module can control the driving mechanism 31 in time according to the position information of the clearing component 33 measured by the detection assembly 4, and the intelligent control of the clearing component 33 by the cleaning device 100 can be realized.

[0267] With reference to Figure 25 According to some embodiments of the utility model, the first photocoupler 42 comprises a first photocoupler seat 421 and a first photocoupler 42 device, the first detection groove is formed in the first photocoupler seat 421 and penetrates the first photocoupler seat 421 along the rotation direction of the output end 3122, the first photocoupler 42 device is installed on the first photocoupler seat 421 and located at the bottom wall of the first detection groove, the second photocoupler 43 comprises a second photocoupler seat 431 and a second photocoupler 43 device, the second detection groove 4311 is formed in the second photocoupler seat 431, the second photocoupler 43 device is installed on the second photocoupler seat 431 and located at the bottom wall of the second detection groove 4311, the second detection groove 4311 penetrates the second photocoupler seat 431 along the rotation direction of the output end 3122, the detection protrusion 441 is arranged on the photocoupler detection piece 44, the detection protrusion 441 is accommodated in the first detection groove when the clearing component 33 is located at the storage position, and the detection protrusion 441 is accommodated in the second detection groove 4311 when the clearing component 33 is located at the clearing position.

[0268] The first detection groove and the second detection groove 4311 can facilitate the detection of the protrusion 441 accommodated therein, when the obstacle removing component 33 is located at the storage position or the obstacle removing position, by detecting that the protrusion 441 is located in the first detection groove or the second detection groove 4311 respectively, the first optical coupler 42 or the second optical coupler 43 can timely capture the position information of the protrusion 441 and transmit it to the control module, and then control the driving mechanism 31 through the control module to realize the intelligent control of the cleaning device 100. Moreover, when the obstacle removing component 33 rotates between the storage position and the obstacle removing position, by arranging the detection grooves on the first optical coupler seat 421 and the second optical coupler seat 431, the protrusion 441 can smoothly enter or exit the first detection groove or the second detection groove 4311, reducing the jamming of the protrusion 441 during rotation or interference with the first optical coupler seat 421 or the second optical coupler seat 431.

[0269] With reference to Figure 26 According to some embodiments of the present application, the machine body 1 is provided with a mounting box 14, the driving mechanism 31 is arranged in the mounting box 14, the detection circuit board 41 is mounted on the mounting box 14, and the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 are all located on the side of the detection circuit board 41 away from the driving mechanism 31. The mounting box 14 can support and protect the driving mechanism 31, reduce the influence of external impact or external impurities on the driving mechanism 31, and is beneficial to prolong the service life of the driving mechanism 31.

[0270] The mounting box 14 can also serve as a carrier of the detection assembly 4, by mounting the detection circuit board 41 on the mounting box 14 and arranging the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 on the side of the detection circuit board 41 away from the driving mechanism 31, the detection circuit board 41 can separate the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 from the driving mechanism 31, so as to avoid interference between the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 and the driving mechanism 31 while achieving the driving of the optical coupler detection piece 44 by the driving mechanism 31.

[0271] With reference to Figure 20According to some embodiments of the utility model, one side of installation box 14 forms accommodating groove 141, detection circuit board 41 is accommodated in accommodating groove 141, first photocoupler 42, second photocoupler 43 and photocoupler detection piece 44 are all located on the side of the open side of detection circuit board 41 towards accommodating groove 141. Detection assembly 4 is accommodated in accommodating groove 141, can make detection assembly 4, drive mechanism 31 and the compact structure of installation box 14 whole, through first photocoupler 42, second photocoupler 43 and photocoupler detection piece 44 are all located on the side of the open side of detection circuit board 41 towards accommodating groove 141, can leave certain space for the rotation of photocoupler detection piece 44, to make the rotation of photocoupler detection piece 44 more smooth, thereby facilitate the position information of detection of clearing obstacle component 33, also can make the operation space be larger, further facilitate the maintenance and troubleshooting of detection assembly 4 directly from the open side to operation personnel later stage.

[0272] Referring to Figure 22 According to some embodiments of the utility model, cover plate 142 is further provided on installation box 14, and the cover plate 142 is covered on the open side of accommodating groove 141, so that the outer surface of installation box 14 forms a relatively complete sealing structure, and other wire harnesses in cleaning device 100 can be spaced apart from the components in accommodating groove 141, preventing other wire harnesses in cleaning device 100 from entering accommodating groove 141 and interfering with the components in accommodating groove 141. For example, when photocoupler detection piece 44 rotates, photocoupler detection piece 44 can rotate more smoothly, preventing other wire harnesses from being entangled with photocoupler detection piece 44, causing photocoupler detection piece 44 to jam or even be stuck.

[0273] Referring to ​ According to some embodiments of the utility model, detection circuit board 41 is arranged on the top of installation box 14, so that the installation of detection assembly 4 can avoid limiting the size of the space occupied by drive mechanism 31 in installation box 14, so as to effectively utilize the space inside installation box 14, thereby the height of drive mechanism 31 in the up-down direction can be close to the overall up-down height of installation box 14, so that the size of drive mechanism 31 in the up-down direction can be larger. In addition, the transmission path between drive mechanism 31 and detection assembly 4 can be closer, so that detection assembly 4 can rotate synchronously with drive mechanism 31, thereby the accuracy of position information detection of detection assembly 4 on clearing obstacle component 33 can be improved.

[0274] Referring to ​According to some embodiments of the utility model, drive mechanism 31 includes drive motor and transmission mechanism, transmission mechanism is connected with clearing part 33, transmission mechanism includes gear mechanism, motor shaft of drive motor is connected with gear mechanism to drive gear mechanism movement, gear mechanism includes output gear 3121, the rotation axis of output gear 3121 extends along up-down direction, the avoidance perforation that is equipped with on detection circuit board 41, the upper end of output gear 3121 is equipped in avoidance perforation and output gear 3121 is connected with photocoupler detection piece 44, the lower end of output gear 3121 constitutes output end 3122. Avoidance perforation can facilitate the output gear 3121 and go out, to facilitate output gear 3121 and photocoupler detection piece 44 direct connection, and then can realize the synchronous drive of drive mechanism 31 to clearing part 33 and photocoupler detection piece 44, facilitate subsequent detection assembly 4 to the identification of clearing part 33 position information.

[0275] Referring to ​ , ​ , ​ and ​ , according to some embodiments of the utility model, output gear 3121 includes gear body 3124 and gear shaft 3125, gear shaft 3125 includes first shaft part 3126 and second shaft part 3127, first shaft part 3126 is connected on the upper side of second shaft part 3127, first shaft part 3126 is connected with photocoupler detection piece 44, second shaft part 3127 is coaxially connected with gear body 3124, the lower end of gear body 3124 has output end 3122. Gear body 3124 can be used as the carrier of gear shaft 3125, first shaft part 3126 is connected with photocoupler detection piece 44, and second shaft part 3127 is coaxially connected with gear body 3124, which can make gear body 3124 and second shaft part 3127 rotate more smoothly. Furthermore, by the lower end of gear body 3124 having output end 3122, the lower end of gear body 3124 has output end 3122 and output end 3122 is connected with clearing part 33 or outer swing mechanism 32, the synchronous drive of clearing part 33 and photocoupler detection piece 44 can be realized, and the detection of clearing part 33 position information by detection assembly 4 can be realized.

[0276] Referring to ​ , ​ and Figure 25According to some embodiments of the utility model, the cross section of first shaft part 3126 is "D" type, first connecting hole 442 is equipped on light coupling detection piece 44, first shaft part 3126 is contained in first connecting hole 442, the cross section of first connecting hole 442 is "D" type.Compared with the cross section of first shaft part 3126 and the cross section of first connecting hole 442 are circular, the cross section of "D" type can make first shaft part 3126 and first connecting hole 442 have relatively single direction and angle, when first shaft part 3126 is assembled with light coupling detection piece 44, single direction and angle can guide the assembly of first shaft part 3126 and light coupling detection piece 44, so that first shaft part 3126 and light coupling detection piece 44 are assembled according to preset direction and angle, and then the accuracy of power transmission between output gear 3121 and light coupling detection piece 44 can be improved.

[0277] Referring to Figure 20 , Figure 22 and Figure 25 , according to some embodiments of the utility model, the cross section of second shaft part 3127 is "D" type, second connecting hole is equipped on gear body 3124, second shaft part 3127 is contained in second connecting hole, the cross section of second connecting hole is "D" type.Compared with the cross section of second shaft part 3127 and the cross section of second connecting hole are circular, the cross section of "D" type can make second shaft part 3127 and second connecting hole have relatively single direction and angle, when second shaft part 3127 is assembled with gear body 3124, single direction and angle can guide the assembly of second shaft part 3127 and gear body 3124, so that second shaft part 3127 and gear body 3124 are assembled according to preset direction and angle, and then the accuracy of power transmission between second shaft part 3127 and gear body 3124 can be improved.

[0278] Referring to Figures 20-22 , according to some embodiments of the utility model, lead terminal 412 is equipped on detection circuit board 41, lead terminal 412 is connected with light coupling wire harness, and light coupling wire harness is connected with control module.Lead terminal 412 is connected with control module through light coupling wire harness, and the electrical connection of lead terminal 412 and control module can be indirectly realized, so as to realize the energy and information transmission between control module and detection circuit board 41.

[0279] Referring to Figures 20-22According to some embodiments of the utility model, in the rotation direction of output end 3122, first light coupling 42 and second light coupling 43 are all located on the same side of lead terminal 412, so that the wire harness between lead terminal 412 and first light coupling 42 and second light coupling can be routed in a relatively concentrated area, and the length of the wire harness between lead terminal 412 and first light coupling 42 and second light coupling 43 can be shortened, reducing or avoiding the entanglement between wire harnesses or interference with other components (for example, when light coupling detection piece 44 rotates), which is conducive to optimizing the wiring layout on detection circuit board 41.

[0280] With reference to Figures 20-22 According to some embodiments of the utility model, body 1 is provided with mounting box 14, driving mechanism 31 is arranged in mounting box 14, one side of mounting box 14 is formed with containing groove 141, detection circuit board 41 is contained in containing groove 141, first light coupling 42, second light coupling 43 and light coupling detection piece 44 are all located on the side of the open side of detection circuit board 41 towards containing groove 141, and lead terminal 412 is arranged on the side of the open side of detection circuit board 41 towards containing groove 141. Mounting box 14 is formed with wire outlet 143, and wire outlet 143 is used for the wire outlet of the light coupling wire harness. Wire outlet 143 can facilitate the wire outlet of the light coupling wire harness from mounting box 14, so as to facilitate the electrical connection between lead terminal 412 and the control module through the light coupling wire harness.

[0281] In some embodiments, a sealing member is arranged on the outer circumferential side of the light coupling wire harness, the sealing member is fixed to wire outlet 143, and the sealing member is used for sealing the gap between the outer circumferential side of the light coupling wire harness and the inner wall of wire outlet 143. In this way, the sealing effect at wire outlet 143 can be enhanced, the gap between the outer circumferential side of the light coupling wire harness and the inner wall of wire outlet 143 can be sealed, external impurities (such as dust and moisture) can be blocked from entering mounting box 14 through the gap between the outer circumferential side of the light coupling wire harness and the inner wall of wire outlet 143, so as to protect detection assembly 4 in mounting box 14, and the service life of detection assembly 4 can be prolonged.

[0282] With reference to Figures 20-22 According to some embodiments of the utility model, lead terminal 412 is arranged opposite wire outlet 143. Lead terminal 412 and wire outlet 143 are arranged opposite each other, so that the length of the light coupling wire harness between lead terminal 412 and the control module is relatively small, the wiring in mounting box 14 is more orderly, the light coupling wire harness occupies less space, and the layout on detection circuit board 41 can be optimized.

[0283] With reference to Figures 11-13According to some embodiments of the present application, the cleaning device 100 comprises an obstacle identification module, and the obstacle identification module is arranged on the machine body 1 and is used for identifying obstacles. For example, the obstacle identification module is adapted to cooperate with a control module of the cleaning device 100, and the obstacle identification module is used for identifying whether there is an obstacle on the working surface. When the obstacle identification module identifies that there is an obstacle on the working surface, the obstacle identification module can transmit information to the control module, and the control module drives the obstacle removal module 3 to move the obstacle according to the received information, so that the obstacle leaves the original position. When the obstacle identification module identifies that there is no obstacle on the working surface, the control module can control the obstacle removal module 3 to be stationary or to be withdrawn into the machine body 1 according to the received information.

[0284] In some embodiments, the obstacle identification module can be an LDS (Laser Distance Sensor) module, and the LDS module comprises a light emitting receiver, the light emitting receiver comprises a transmitting end and a receiving end, the light emitting receiver emits light through the transmitting end, the light is reflected back after hitting the obstacle and is received by the receiving end, so that it can be judged whether there is an obstacle on the working surface, and the distance between the obstacle and the cleaning device 100 can be further judged.

[0285] In some other embodiments, the obstacle module can comprise a line laser, and the line laser comprises a laser emitting assembly, the line laser emits laser light along a predetermined direction through the laser emitting assembly, the laser light is reflected back after hitting the obstacle and is received by the laser emitting assembly, so that it can be judged whether there is an obstacle on the working surface.

[0286] Referring to Figures 11-13 According to some embodiments of the present application, the cleaning device 100 comprises an obstacle image acquisition module, and the obstacle image acquisition module is arranged on the machine body 1 and is used for acquiring images of obstacles. By acquiring the images of obstacles, the size and shape of the obstacles can be determined.

[0287] For example, the obstacle image acquisition module comprises an optical camera and an image sensor, the optical camera is responsible for focusing the light reflected by the obstacle on the image sensor, and the image sensor can process the optical signal and convert it into an electrical signal to form an image of the obstacle, so that the size or shape of the obstacle can be determined. The image sensor can also be an ultrasonic sensor.

[0288] The cleaning device 100 according to some embodiments of the present application will be described below with reference to Figures 1-48

[0289] Referring to Figures 14-17 ​In the embodiment, the cleaning device 100 comprises a machine body 1, a cleaning assembly, a barrier removing module 3, a downward looking sensor, a detection assembly 4, a barrier identifying module and a barrier image collecting module. The cleaning assembly is arranged on the machine body 1 and is used for cleaning a working surface. The barrier removing module 3 is arranged on the machine body 1 and is used for moving a barrier to make the barrier leave an original position. The barrier removing module 3 is located at a left front end 11 or a right front end 11 of the machine body 1. The barrier removing module 3 is located at an outer edge of the machine body 1 and is arranged at a bottom of the machine body 1. The downward looking sensor is arranged at the bottom of the machine body 1. The barrier removing module 3 is provided with an avoiding portion 332 for avoiding the downward looking sensor. The detection assembly 4 is used for detecting a position of the barrier removing component 33. The detection assembly 4 and a driving mechanism 31 are electrically connected with a control module of the cleaning device 100. The control module is used for controlling the driving mechanism 31 according to position information detected by the detection assembly 4. The barrier identifying module is arranged on the machine body 1 and is used for identifying a barrier. The barrier image collecting module is arranged on the machine body 1 and is used for collecting an image of the barrier.

[0290] The barrier removing module 3 comprises the driving mechanism 31 and the barrier removing component 33. The driving mechanism 31 is mounted on the machine body 1 and is connected with the barrier removing component 33 to drive the barrier removing component 33 to move. The barrier removing component 33 is movable between a barrier removing position and a storage position. When the barrier removing component 33 is located at the storage position, at least a part of the barrier removing component 33 is stored in the machine body 1. When the barrier removing component 33 is located at the barrier removing position, at least a part of the barrier removing component 33 is located outside an outer edge of the machine body 1 to act on the barrier. The barrier removing component 33 pushes or clamps the barrier to make the barrier leave the original position.

[0291] The machine body 1 comprises a bottom shell 12. The barrier removing module 3 is mounted on the bottom shell 12. An accommodation gap 121 is formed at an outer edge of the bottom shell 12. When the barrier removing component 33 is located at the storage position, at least a part of the barrier removing component 33 is located in the accommodation gap 121. When the barrier removing component 33 is located at the storage position, the avoiding portion 332 is located below the downward looking sensor and is arranged opposite to the downward looking sensor in a vertical direction. A limiting structure 13 is arranged on the machine body 1. In the storage position, the limiting structure 13 is located at a side of the barrier removing component 33 away from the barrier removing position to limit the barrier removing component 33 in a direction from the barrier removing position to the storage position.

[0292] The projection of the clearing member 33 on the horizontal plane coincides with the projection of the fuselage 1 when the clearing member 33 is in the storage position, and the area of the projection of the clearing member 33 on the horizontal plane coincides with the projection of the fuselage 1 when the clearing member 33 is in the clearing position, the first coinciding area is larger than the second coinciding area. The projection of the clearing member 33 on the horizontal plane is within the projection of the fuselage 1 when the clearing member 33 is in the storage position. The side edge of the clearing member 33 close to the outer edge of the fuselage 1 is the outer side edge 331 when the clearing member 33 is in the storage position, and the contour line of the outer side edge 331 coincides with the contour line of the outer edge of the fuselage 1.

[0293] The output end 3122 of the driving mechanism 31 is directly connected with the clearing member 33, and the mechanism for driving the clearing member 33 to move between the clearing position and the storage position is the same as the mechanism for driving the clearing member 33 to move to make the obstacle move.

[0294] The driving mechanism 31 comprises a driving motor and a transmission mechanism, the transmission mechanism is connected with the clearing member 33, the transmission mechanism comprises a gear mechanism, the motor shaft of the driving motor is connected with the gear mechanism to drive the gear mechanism to move, the gear mechanism comprises an output gear 3121, the output end 3122 is arranged at one axial end of the output gear 3121, the output end 3122 is directly connected with the clearing member 33 or connected with the clearing member 33 through the outer swing mechanism 32. The first mounting hole 324 is arranged on the clearing member 33, the output end 3122 is inserted into the first mounting hole 324, and the cross section of the output end 3122 and the cross section of the first mounting hole 324 are both non-circular. The foolproof notch 3241 is formed on the inner peripheral wall of the first mounting hole 324, and the foolproof protrusion 3123 is arranged on the outer peripheral wall of the output end 3122, the foolproof protrusion 3123 is accommodated in the foolproof notch 3241.

[0295] The clearing module 3 is arranged at least at one end of the fuselage 1 along the left-right direction, and the included angle between the driving rod and the preset direction is β when the clearing member 33 is in the clearing position, β is greater than 90°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the clearing module 3 is arranged to the other end of the fuselage 1.

[0296] The clearing module 3 is arranged at least at one end of the fuselage 1 along the left-right direction, and the included angle between the driving rod and the preset direction is γ when the clearing member 33 is in the storage position, γ ranges from 20° to 45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the clearing module 3 is arranged to the other end of the fuselage 1.

[0297] The removing obstacle component 33 comprises a connecting mechanism 335 and an obstacle removing member 334, the connecting mechanism 335 is connected between the obstacle removing member 334 and the fuselage 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or connected through the outer swing mechanism 32, the obstacle removing member 334 is adapted to act on the obstacle to move the obstacle and leave the original position.

[0298] The connecting mechanism 335 comprises a plurality of connecting rods 336 which are rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected with the driving rod or connected through the outer swing mechanism 32. The driving rod is rotatably connected with the fuselage 1, the driving rod is formed with a sliding groove 333 extending along the extending direction of the driving rod, the outer swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and spaced apart from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and slidable along the extending direction of the sliding groove 333, the sliding block 322 is used to drive the removing obstacle component 33 to move.

[0299] The plurality of connecting rods 336 comprises a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes the driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the obstacle removing member 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the obstacle removing member 334.

[0300] The rotatable connecting point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotatable connecting point 3371, the rotatable connecting point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotatable connecting point 3372, the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connecting point, the first rotatable connecting point 3371 is located between the second rotatable connecting point 3372 and the driving connecting point.

[0301] The rotatably connected connecting rods 336 are connected through a connecting piece 340, in the direction of the rotation axis of the rotatably connected connecting rods 336, the connecting piece 340 does not protrude from the outer surface of the connecting rods 336. The connecting piece 340 comprises a connecting column 3401 and a limiting cap 3402, the connecting column 3401 is arranged through the two rotatably connected connecting rods 336, at least one of the connecting rods 336 is formed with a sunken groove 3376, the limiting cap 3402 is accommodated in the sunken groove 3376.

[0302] The clearing component 33 comprises a contact portion adapted to contact the obstacle, the contact portion is arc-shaped, and at least part of the clearing component 33 constitutes a front bumper of the cleaning device 100. The clearing component 33 is provided with a flexible layer for contacting the obstacle, the flexible layer is a rubber layer or a silica gel layer, and the flexible layer is fixedly bonded to the clearing component 33 or integrally formed on the clearing component 33.

[0303] The clearing component 33 is provided with a cleaning structure 342 for cleaning the work surface and / or the obstacle, the cleaning structure 342 is arranged at the bottom of the clearing component 33, and the cleaning structure 342 is fixedly bonded to the clearing component 33 or detachably arranged on the clearing component 33. The cleaning structure 342 comprises at least one of a cleaning brush, a cleaning cloth, and a cleaning scraping strip.

[0304] The detection assembly 4 comprises a detection circuit board 41, a first optocoupler 42, a second optocoupler 43, and an optocoupler detection piece 44. The optocoupler detection piece 44 is connected with the output end 3122 of the driving mechanism 31 to rotate synchronously with the output end 3122 of the driving mechanism 31. The detection circuit board 41 is fixed relative to the machine body 1. The first optocoupler 42 and the second optocoupler 43 are both arranged on the detection circuit board 41 and are spaced apart along the rotation direction of the clearing component 33. When the clearing component 33 is located at the storage position, the optocoupler detection piece 44 is opposite to the first optocoupler 42. When the clearing component 33 is located at the clearing position, the optocoupler detection piece 44 is opposite to the second optocoupler 43.

[0305] The first optocoupler 42 comprises a first optocoupler seat 421 and a first optocoupler 42 device. The first optocoupler seat 421 is formed with a first detection groove penetrating through the first optocoupler seat 421 along the rotation direction of the output end 3122. The first optocoupler 42 device is mounted on the first optocoupler seat 421 and located at the bottom wall of the first detection groove. The second optocoupler 43 comprises a second optocoupler seat 431 and a second optocoupler 43 device. The second optocoupler seat 431 is formed with a second detection groove 4311 penetrating through the second optocoupler seat 431 along the rotation direction of the output end 3122. The second optocoupler 43 device is mounted on the second optocoupler seat 431 and located at the bottom wall of the second detection groove 4311. The optocoupler detection piece 44 is provided with a detection protrusion 441. When the clearing component 33 is located at the storage position, the detection protrusion 441 is accommodated in the first detection groove. When the clearing component 33 is located at the clearing position, the detection protrusion 441 is accommodated in the second detection groove 4311.

[0306] The machine body 1 is provided with a mounting box 14. The driving mechanism 31 is arranged in the mounting box 14. The detection circuit board 41 is mounted on the mounting box 14. The first optocoupler 42, the second optocoupler 43, and the optocoupler detection piece 44 are all located on the side of the detection circuit board 41 away from the driving mechanism 31.

[0307] A receiving groove 141 is formed on one side of the mounting box 14, and the detection circuit board 41 is housed in the receiving groove 141. The first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 are all located on the side of the detection circuit board 41 facing the open side of the receiving groove 141. The mounting box 14 is also provided with a cover plate 142, which covers the open side of the receiving groove 141.

[0308] The drive mechanism 31 includes a drive motor and a transmission mechanism. The transmission mechanism includes a gear mechanism. The motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move. The gear mechanism includes an output gear 3121. The rotation axis of the output gear 3121 extends in the vertical direction. The detection circuit board 41 is provided with a clearance hole. The upper end of the output gear 3121 passes through the clearance hole and is connected to the optocoupler detection element 44. The lower end of the output gear 3121 forms the output end 3122. The output gear 3121 includes a gear body 3124 and a gear shaft 3125. The gear shaft 3125 includes a first shaft portion 3126 and a second shaft portion 3127. The first shaft portion 3126 is connected to the upper side of the second shaft portion 3127 and is connected to the optocoupler detection element 44. The second shaft portion 3127 is coaxially connected to the gear body 3124. The lower end of the gear body 3124 has the output end 3122.

[0309] The first shaft portion 3126 has a "D" shaped cross-section, and the optocoupler detection element 44 is provided with a first connecting hole 442. The first shaft portion 3126 is accommodated in the first connecting hole 442, and the cross-section of the first connecting hole 442 is "D" shaped; and / or, the second shaft portion 3127 has a "D" shaped cross-section, and the gear body 3124 is provided with a second connecting hole. The second shaft portion 3127 is accommodated in the second connecting hole, and the cross-section of the second connecting hole is "D" shaped.

[0310] The detection circuit board 41 is provided with lead terminals 412, which are connected to an optocoupler harness, which is connected to the control module. In the rotation direction of the output terminal 3122, the first optocoupler 42 and the second optocoupler 43 are both located on the same side of the lead terminals 412. The mounting box 14 has a cable outlet 143 for the optocoupler harness to exit.

[0311] Next, we will refer to Figures 11-13 The cleaning device 100 according to other embodiments of the present invention will be described. In this embodiment, the parts that are the same as those in the above embodiments will not be described again, and reference can be made to the above embodiments. The main difference from the above embodiments will be described.

[0312] The output end 3122 of the driving mechanism 31 is connected with the clearing component 33 through the outward swinging mechanism 32, the clearing component 33 is rotatably connected with the machine body 1, the outward swinging mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the sliding groove 333 is formed on the clearing component 33, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used for driving the clearing component 33 to move. The sliding groove 333 extends along the radial direction of the rotation axis of the clearing component 33. During the driving of the clearing component 33 by the driving mechanism 31, the size of the clearing component 33 is variable.

[0313] The output end 3122 of the driving mechanism 31 is connected with the clearing component 33 through the outward swinging mechanism 32, the transmission point between the outward swinging mechanism 32 and the clearing component 33 is a clearing transmission point, the force of the clearing component 33 on the outward swinging mechanism 32 at the clearing transmission point is a reaction force, and the speed of the outward swinging mechanism 32 at the clearing transmission point under the reaction force is a reaction speed; wherein, when the clearing component 33 is located at the clearing position, the included angle between the reaction speed and the reaction force is φ, and φ is greater than or equal to 90°.

[0314] The clearing module 3 is located at at least one end of the machine body 1 along the left-right direction, and the included angle between the driving rod and the preset direction is α when the clearing component 33 is located at the clearing position, α is greater than 90°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the clearing module 3 is located to the other end of the machine body 1.

[0315] The clearing module 3 is located at at least one end of the machine body 1 along the left-right direction, and the included angle between the driving rod and the preset direction is γ when the clearing component 33 is located at the storage position, γ is in the range of 20°-45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the clearing module 3 is located to the other end of the machine body 1.

[0316] Next, the cleaning device 100 of some other embodiments of the present application will be described. Figures 6-9 The cleaning device 100 of some other embodiments of the present application will be described.

[0317] The clearing component 33 comprises a connecting mechanism 335 and a clearing piece 334, the connecting mechanism 335 is connected between the clearing piece 334 and the machine body 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or is connected with the connecting mechanism 335 through the outward swinging mechanism 32, and the clearing piece 334 is adapted to act on the obstacle to move the obstacle and leave the original position.

[0318] The connecting mechanism 335 comprises a plurality of connecting rods 336 rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected with the driving rod or connected with the driving rod through the outer swing mechanism 32. The driving rod is rotatably connected with the machine body 1, the driving rod is formed with a sliding groove 333 extending along the extending direction of the driving rod, the outer swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is arranged at intervals from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extending direction of the sliding groove 333, and the sliding block 322 is used to drive the clearing component 33 to move.

[0319] The plurality of connecting rods 336 comprises a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes the driving rod, one end of the first connecting rod 3361 is rotatably connected with the machine body 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the clearing component 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the clearing component 334.

[0320] The rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotating connection point 3372, the third connecting rod 3363 is rotatably connected with the machine body 1, the rotating connection point of the third connecting rod 3363 and the machine body 1 is a third rotating connection point 3373, the third connecting rod 3363 is formed with a sliding groove 333 extending along the extending direction of the third connecting rod 3363, the sliding groove 333 is located between the third rotating connection point 3373 and the first rotating connection point 3371, the outer swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is arranged at intervals from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extending direction of the sliding groove 333, the sliding block 322 is used to drive the clearing component 33 to move, and the position where the sliding block 322 is located constitutes a driving connection point.

[0321] Next, the cleaning device 100 of some other embodiments of the present application will be described. Figure 19 The cleaning device 100 of some other embodiments of the present application will be described. In this embodiment, the same parts as the above embodiments are not described again, and the above embodiments can be referred to, and the differences from the above embodiments will be mainly described.

[0322] The plurality of connecting rods 336 comprises a fifth connecting rod 3365, a sixth connecting rod 3366, a seventh connecting rod 3367, an eighth connecting rod 3368, a ninth connecting rod 3369 and a tenth connecting rod 3370, wherein the eighth connecting rod 3368 constitutes a driving rod, one end of the fifth connecting rod 3365 is rotatably connected with the fuselage 1, the other end of the fifth connecting rod 3365 is rotatably connected with one end of the sixth connecting rod 3366, the other end of the sixth connecting rod 3366 is rotatably connected with one end of the seventh connecting rod 3367, the other end of the seventh connecting rod 3367 is rotatably connected with the clearing member 334, the output end 3122 of the driving mechanism 31 is connected with the eighth connecting rod 3368, one end of the tenth connecting rod 3370 is rotatably connected with the end of the eighth connecting rod 3368 and one end of the ninth connecting rod 3369 at the same point, the other end of the tenth connecting rod 3370 is rotatably connected with the clearing member 334, and the tenth connecting rod 3370 intersects with the sixth connecting rod 3366 and is rotatably connected, and the other end of the ninth connecting rod 3369 is rotatably connected with the fifth connecting rod 3365.

[0323] The rotatable connection point of the fifth connecting rod 3365 with the fuselage 1 is a fourth rotatable connection point 3374, the rotatable connection point of the fifth connecting rod 3365 with the sixth connecting rod 3366 is a fifth rotatable connection point 3375, and the rotatable connection point of the ninth connecting rod 3369 with the fifth connecting rod 3365 is a sixth rotatable connection point, which is located between the fourth rotatable connection point 3374 and the fifth rotatable connection point 3375.

[0324] Next, the cleaning device 100 of some other embodiments of the present application will be described. Figures 27-30 The cleaning device 100 of some other embodiments of the present application will be described.

[0325] The clearing member 334 and the auxiliary member 343 are rotatably connected, and the auxiliary member 343 can be flipped downward or moved relative to the clearing member 334. The auxiliary member 343 is movable between a first position and a second position, at least part of the auxiliary member 343 is located above or below the clearing member 334 when the auxiliary member 343 is in the first position, and the auxiliary member 343 is adapted to act on the obstacle, and the auxiliary member 343 is accommodated in the clearing member 334 when the auxiliary member 343 is in the second position.

[0326] The clearing member 334 and the auxiliary member 343 are rotatably connected, and the auxiliary member 343 can be flipped downward or moved relative to the clearing member 334. The auxiliary member 343 is movable between a first position and a second position, at least part of the auxiliary member 343 is located above or below the clearing member 334 when the auxiliary member 343 is in the first position, and the auxiliary member 343 is adapted to act on the obstacle, and the auxiliary member 343 is accommodated in the clearing member 334 when the auxiliary member 343 is in the second position.

[0327] When the auxiliary member 343 is in the first position, the lowest position of the auxiliary member 343 is lower than the lowest position of the recovery member 334. The recovery member 334 is provided with a receiving opening 3341, and when the auxiliary member 343 is in the second position, at least part of the auxiliary member 343 is received in the receiving opening 3341.

[0328] The recovery member 334 comprises a connecting mechanism 335 and a recovery push rod 3342, the connecting mechanism 335 is connected between the recovery push rod 3342 and the fuselage 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or connected through the outer swing mechanism 32 to drive the recovery member 33 to move between the receiving position and the recovery position, the auxiliary member 343 is rotatably connected with the recovery push rod 3342, one end of the elastic driving member 344 is connected with the auxiliary member 343, and the other end of the elastic driving member 344 is connected with the recovery push rod 3342; wherein one of the elastic driving member 344 and the connecting mechanism 335 is used to drive the auxiliary member 343 to move from the first position to the second position, and the other of the elastic driving member 344 and the connecting mechanism 335 is used to drive the auxiliary member 343 to move from the second position to the first position.

[0329] The auxiliary member 343 is provided with a rotating shaft 3431, the recovery push rod 3342 is provided with a rotating hole 3343, the rotating shaft 3431 is rotatably arranged in the rotating hole 3343, and the elastic driving member 344 is a torsion spring and is sleeved on the outer circumferential side of the rotating shaft 3431.

[0330] During the process that the driving mechanism 31 drives the recovery member 33 to move to the recovery position, the connecting mechanism 335 is adapted to act on the auxiliary member 343 to drive the auxiliary member 343 to move from the second position to the first position, and the elastic driving member 344 is used to drive the auxiliary member 343 to move from the first position to the second position.

[0331] The plurality of connecting rods 336 comprises a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the recovery member 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the recovery member 334.

[0332] The rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotating connection point 3372, and the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connection point. The first rotating connection point 3371 is located between the second rotating connection point 3372 and the driving connection point, and the push-away protrusion 3377 is arranged on the fourth connecting rod 3364 and located on the side of the fourth connecting rod 3364 close to the auxiliary member 343. During movement of the obstacle removing component 33 to the obstacle removing position, the push-away protrusion 3377 is in contact with the auxiliary member 343 to push the auxiliary member 343 to move to the first position.

[0333] The auxiliary member 343 comprises a connecting portion 3434 and an obstacle removing portion 3435. The connecting portion 3434 is movably connected with the obstacle removing member 334, and the obstacle removing portion 3435 is connected below the connecting portion 3434 and is adapted to act on the obstacle. In the circumferential direction of the fuselage 1, the length of the obstacle removing portion 3435 is greater than the length of the connecting portion 3434. The auxiliary member 343 is provided with a flexible layer for contacting the obstacle. The auxiliary member 343 is provided with a cleaning structure 342 for cleaning the working surface and / or the obstacle.

[0334] Referring to Figures 37-40 The cleaning device 100 of another embodiment of the utility model is described. In this embodiment, the same parts as the above-mentioned embodiments are not described again, and the above-mentioned embodiments can be referred to. The main difference from the above-mentioned embodiments is described.

[0335] During movement of the obstacle removing component 33 to the obstacle removing position driven by the driving mechanism 31, the connecting mechanism 335 is adapted to act on the auxiliary member 343 to drive the auxiliary member 343 to move from the first position to the second position, and the elastic driving member 344 is used to drive the auxiliary member 343 to move from the second position to the first position.

[0336] The plurality of connecting rods 336 comprise a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364. The third connecting rod 3363 constitutes a driving rod. One end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the obstacle removing member 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected with the obstacle removing member 334.

[0337] The rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotating connection point 3372, and the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connection point; the first rotating connection point 3371 is located between the second rotating connection point 3372 and the driving connection point; the anti-return protrusion 3378 and the reset protrusion 3379 are arranged on the fourth connecting rod 3364. When the auxiliary part 343 is in the first position, the anti-return protrusion 3378 abuts against the outer side surface of the auxiliary part 343, so as to limit the auxiliary part 343 in the first position; during movement of the clearing part 334 from the clearing position to the storage position, the anti-return protrusion 3378 is separated from the auxiliary part 343. During movement of the clearing part 33 from the clearing position to the storage position, the reset protrusion 3379 is in contact with the auxiliary part 343, so as to drive the auxiliary part 343 to move to the second position.

[0338] The inner side surface of the auxiliary part 343 is provided with a matching protrusion 3432 and a limiting protrusion 3433; during movement of the clearing part 334 from the clearing position to the storage position, the reset protrusion 3379 is in contact with the matching protrusion 3432, so as to drive the auxiliary part 343 to move to the second position. When the auxiliary part 343 is in the first position, the limiting protrusion 3433 abuts against the clearing push rod 3342, so as to limit the auxiliary part 343.

[0339] Referring to Figure 6 and Figure 7 According to the control method of the cleaning device 100, the cleaning device 100 comprises a machine body 1, a cleaning assembly and a clearing module 3; the cleaning assembly is arranged on the machine body 1 and is used for cleaning a working surface; the clearing module 3 is arranged on the machine body 1 and is used for moving an obstacle, so that the obstacle is away from an original position; the control method of the cleaning device 100 comprises the following steps: confirming that there is an obstacle in front of the cleaning device 100 and confirming that the distance between the obstacle and the cleaning device 100 is less than a first preset distance.

[0340] When the distance between the obstacle and the cleaning device 100 is less than the first preset distance, it indicates that the distance between the obstacle and the cleaning device 100 is small, and the obstacle will affect the cleaning effect of the cleaning device 100; by confirming that the distance between the obstacle and the cleaning device 100 is less than the first preset distance, the obstacle existing on the working surface in the working area of the cleaning device 100 can be identified in time, and the clearing module 3 is driven to move the obstacle, so that the obstacle is away from the original position, thereby facilitating the cleaning of the cleaning assembly, reducing the cleaning dead angle and the missed area, and improving the overall cleaning effect of the cleaning assembly on the working surface.

[0341] For example, the first preset distance can be 10cm-20cm, which can reserve a certain time for the control module of the cleaning device 100 to control the movement of the obstacle removing module 3 to move the obstacle, and can also reserve a certain space for the obstacle removing module 3 to extend; and the movement of the obstacle removing component 33 can be controlled frequently due to the first preset distance being too long, and the cleaning efficiency of the cleaning device 100 can be ensured.

[0342] In some embodiments, the cleaning device 100 comprises an obstacle identifying module adapted to cooperate with the control module of the cleaning device 100, the obstacle identifying module being used to identify whether there is an obstacle on the working surface. When the obstacle identifying module identifies that there is an obstacle on the working surface, the obstacle identifying module can transmit information to the control module, and the control module drives the obstacle removing module 3 to move the obstacle according to the received information, so that the obstacle leaves the original position. When the obstacle identifying module identifies that there is no obstacle on the working surface, the control module can control the obstacle removing module 3 to be stationary or to be retracted into the body 1 according to the received information.

[0343] The cleaning device 100 is controlled to move towards the obstacle, the obstacle removing module 3 is controlled to work to move the obstacle, and the obstacle is caused to leave the original position; for example, the obstacle removing module 3 is located at the outer edge of the body 1, the obstacle removing module 3 comprises a driving mechanism 31 and an obstacle removing component 33, the driving mechanism 31 is installed on the body 1 and connected with the obstacle removing component 33 to drive the obstacle removing component 33 to move between the storage position and the obstacle removing position. Controlling the cleaning device 100 to move towards the obstacle can make the distance between the obstacle removing component 33 and the obstacle closer, which facilitates the movement of the obstacle removing component 33 to move the obstacle. By controlling the driving mechanism 31 to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position, the obstacle can be caused to leave the original position, thereby facilitating the cleaning assembly of the cleaning device 100 to clean the area where the original position of the obstacle is located.

[0344] In some embodiments, the bottom of the obstacle removing component 33 is provided with a cleaning structure 342 for cleaning the working surface and / or the obstacle. After the obstacle removing component 33 moves the obstacle away from the original position, the cleaning structure 342 provided at the bottom of the obstacle removing component 33 can also clean the area where the original position of the obstacle is located, which is beneficial to improve the overall cleaning efficiency of the cleaning device 100.

[0345] The area where the original position of the obstacle is located is cleaned, and the obstacle removing module 3 is controlled to stop working and reset.

[0346] After the obstacle removing component 33 removes the obstacle from the original position, the control unit controls the cleaning assembly to clean the area corresponding to the original position of the obstacle, and controls the obstacle removing component 33 to stop working and controls the driving mechanism 31 to drive the obstacle removing component 33 to move from the obstacle removing position to the storage position, so as to control the driving mechanism 31 to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position next time.

[0347] Through the above steps, the obstacle can be identified and removed from the original position by the cleaning device 100, so that the area corresponding to the original position of the obstacle can be cleaned by the cleaning assembly, which can reduce the dead angle and the missed area, thereby improving the overall cleaning effect of the cleaning device 100 and improving the cleaning efficiency and the user experience.

[0348] According to the control method, the obstacle removing module 3 is arranged on the machine body 1 of the cleaning device 100, when there is an obstacle on the working surface, the obstacle removing module 3 can automatically identify the obstacle and remove the obstacle from the original position, so that the working surface corresponding to the original position of the obstacle can be exposed, and the cleaning assembly can clean the working surface corresponding to the original position of the obstacle and the surrounding area, which can effectively reduce the dead angle and the missed area, thereby enhancing the overall cleaning effect of the working surface, reducing the dependence on manual work, and improving the user experience.

[0349] Referring to Figure 6 and Figure 7 , according to some embodiments of the present application, the method further comprises: determining whether the obstacle is a movable obstacle, controlling the cleaning device 100 to move towards the obstacle when it is determined that the obstacle is a movable obstacle, and controlling the cleaning device 100 to avoid the obstacle when it is determined that the obstacle is not a movable obstacle. By determining whether the obstacle is a movable obstacle, the driving mechanism 31 can drive the obstacle removing module 3 to avoid the obstacle in time when it is determined that the obstacle is not a movable obstacle, which can reduce or avoid the collision between the obstacle removing component 33 and the obstacle, thereby reducing or avoiding the wear and tear or damage of the obstacle removing component 33.

[0350] Referring to Figure 6 and Figure 7 , according to some embodiments of the present application, the method further comprises: collecting an image of the obstacle; for example, the cleaning device 100 can include an obstacle image collection module, and the obstacle image collection module is used to collect the image of the obstacle.

[0351] According to the collected image of the obstacle, it can be determined whether the obstacle is a movable obstacle. According to the collected image of the obstacle, it can be determined more accurately whether the obstacle is a movable obstacle, thereby reducing the possibility of misjudgment.

[0352] Referring to Figure 6And Figure 7 According to some embodiments of the present application, according to the image of the collected obstacle, it is determined whether the obstacle belongs to a movable obstacle, comprising:

[0353] According to the image of the collected obstacle, the size and shape of the obstacle are determined to determine whether the obstacle belongs to a movable obstacle.

[0354] For example, the cleaning device 100 can include an obstacle image acquisition module, which is adapted to cooperate with the control module of the cleaning device 100. The obstacle image acquisition module acquires the image of the obstacle to determine the size and shape of the obstacle, for example, by acquiring the image of the obstacle, it is determined that the size or shape of the obstacle is within the set range, it is confirmed that the obstacle belongs to a movable obstacle, the cleaning device 100 is controlled to move towards the obstacle, and the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position, so that the obstacle can be removed from the original position, thereby facilitating the cleaning assembly of the cleaning device 100 to clean the area where the original position of the obstacle is located.

[0355] For another example, when it is determined that the size or shape of the obstacle exceeds the set range by acquiring the image of the obstacle, it is confirmed that the obstacle does not belong to a movable obstacle, and the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move towards the storage position to avoid the obstacle, thereby reducing or avoiding the possibility of collision and wear or even damage of the obstacle removing component 33 and the obstacle.

[0356] In some embodiments, the cleaning device 100 further comprises a prompting assembly. If the size of the obstacle collected by the obstacle image acquisition module exceeds the set range, the prompting assembly sends a prompt information to prompt the user to move the obstacle. The prompting assembly can be a display screen, an LED lamp, a sound, a vibrator, etc. The prompt information can be text or picture output by the display screen, light or flashing light emitted by the LED lamp, sound played by the sound, vibration generated by the vibrator, etc. The obstacle image acquisition module can be a camera, an ultrasonic detector, etc.

[0357] Through the above control logic, by determining the size and shape of the obstacle according to the collected image of the obstacle, it can be more accurately determined whether the obstacle belongs to a movable obstacle.

[0358] Referring to Figure 6 And Figure 7 According to some embodiments of the present application, the cleaning device 100 is controlled to move towards the obstacle, the obstacle removing module 3 is controlled to work to move the obstacle, and the obstacle is removed from the original position, comprising:

[0359] The cleaning device 100 is controlled to move towards the obstacle to a distance between the cleaning device 100 and the obstacle being less than a second preset distance, and the second preset distance being less than the first preset distance.

[0360] The obstacle removing module 3 is controlled to work to move the obstacle and make the obstacle leave the original position.

[0361] The driving mechanism 31 is controlled to drive the obstacle removing component 33 to move to the obstacle removing position, so as to shorten the distance between the cleaning component and the obstacle, and when the distance between the obstacle and the cleaning device 100 is less than the second preset distance, the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move to the obstacle removing position to remove the obstacle from the original position, so as to ensure that the obstacle removing component 33 can effectively move the obstacle and improve the obstacle removing efficiency of the obstacle removing component 33, and avoid affecting the obstacle removing efficiency of the obstacle removing module 3 due to the too long distance between the obstacle removing module 3 and the obstacle.

[0362] For example, the second preset distance can be 2cm-10cm, so as to leave a certain distance between the cleaning device 100 and the obstacle, so as to facilitate the movement of the obstacle removing component 33 towards the outside of the body 1, and ensure that the obstacle removing component 33 can effectively move the obstacle.

[0363] For example, the obstacle removing component 33 includes a clamping part, and when the obstacle removing component 33 clamps the obstacle to make the obstacle leave the original position, the second preset distance can be 2cm-10cm, so as to leave a certain space between the cleaning device 100 and the obstacle, so as to facilitate the movement of the clamping part from the inside of the body 1 to the outside, and make the clamping part can effectively grasp the obstacle, thereby improving the obstacle removing efficiency of the obstacle removing component 33.

[0364] Referring to Figure 6 and Figure 7 According to some embodiments of the utility model, the obstacle removing module 3 is controlled to work to move the obstacle and make the obstacle leave the original position, comprising:

[0365] The output power of the obstacle removing module 3 is controlled to be the initial power, and the obstacle removing module 3 is controlled to contact the obstacle.

[0366] After the obstacle removing module 3 works for a first preset time, it is judged whether the obstacle moves, and when the obstacle does not move, the output power of the obstacle removing module 3 is increased.

[0367] Firstly, the output power of the obstacle removing module 3 is controlled to be the initial power, and the obstacle removing module 3 is controlled to contact the obstacle to make the obstacle leave the original position, after the obstacle removing component 33 works for a first preset time, it is judged whether the obstacle moves, if the obstacle does not move, it indicates that the driving force of the obstacle removing module 3 on the obstacle is small, and the obstacle cannot be effectively pushed, at this time, by increasing the output power of the obstacle removing module 3, the driving force on the obstacle can be increased, so as to increase the possibility of the obstacle removing module 3 moving the obstacle.

[0368] The first preset duration can be in the range of 3s to 10s, which can keep the output power of the obstacle clearing module 3 in a relatively stable state for a short period of time, reduce the fluctuation of the obstacle clearing module 3, and improve the stability of the control system of the cleaning device 100; and ensure that the obstacle clearing module 3 can adjust its output power in a timely manner according to the latest situation, thereby improving the obstacle clearing efficiency of the obstacle clearing module 3.

[0369] For example, the obstacle clearing module 3 includes a drive mechanism 31 and an obstacle clearing component 33. The drive mechanism 31 is mounted on the body 1 and connected to the obstacle clearing component 33 for driving the obstacle clearing component 33 to move. The drive mechanism 31 includes a drive motor with an output end 3122. The output end 3122 is directly connected to the obstacle clearing component 33 or connected through an external swing mechanism 32.

[0370] First, the output power of the drive motor is controlled to the initial power, and the drive motor is controlled to directly drive or drive the obstacle clearing component 33 through the external swing mechanism 32 to move to the obstacle clearing position so that the obstacle clearing component 33 contacts the obstacle, thereby moving the obstacle away from its original position. After the obstacle clearing component 33 has been working for a first preset time, it is determined whether the obstacle has moved. If the obstacle has not moved, it indicates that the driving force applied by the drive motor to the obstacle clearing component 33 is too small and cannot effectively push the obstacle. At this time, by increasing the output power of the drive motor, the driving force applied by the drive mechanism 31 to the obstacle clearing component 33 can be made greater, thereby increasing the possibility of the obstacle clearing component 33 moving the obstacle. If the obstacle moves, the cleaning component is controlled to clean the area where the obstacle was originally located, and the obstacle clearing component 33 is controlled to stop working and the drive mechanism 31 is controlled to drive the obstacle clearing component 33 from the obstacle clearing position to the storage position, so that the drive mechanism 31 can drive the obstacle clearing component 33 from the storage position to the obstacle clearing position again next time.

[0371] Reference Figure 6 and Figure 7 According to some embodiments of this utility model, when the obstacle is not moved, the output power of the obstacle clearing module 3 is increased, including:

[0372] If the obstacle does not move when the output power of the obstacle clearing module 3 increases to the preset output power, it is determined that the obstacle is an unpushable obstacle, and the obstacle clearing module 3 is controlled to stop working and reset. If the obstacle still does not move when the output power of the obstacle clearing module 3 increases to the preset output power, it indicates that the obstacle is an unpushable obstacle. By controlling the obstacle clearing module 3 to stop working and reset, excessive energy consumption due to prolonged operation of the drive motor of the obstacle clearing module 3 can be avoided.

[0373] Reference Figure 6 and Figure 7 According to some embodiments of this utility model, determining whether an obstacle has moved includes:

[0374] detecting whether the distance between the machine body 1 and the obstacle increases;

[0375] in the case of detecting that the distance between the machine body 1 and the obstacle increases, determining that the obstacle moves;

[0376] in the case of detecting that the distance between the machine body 1 and the obstacle does not change, determining that the obstacle does not move.

[0377] If the obstacle-removing module 3 can move the obstacle under the current driving force, the distance between the machine body 1 and the obstacle will increase, and if the obstacle-removing module 3 cannot move the obstacle under the current driving force, the distance between the machine body 1 and the obstacle does not change. By judging the change of the distance between the machine body 1 and the obstacle, it can be more accurately confirmed whether the obstacle belongs to the movable obstacle.

[0378] It needs to be explained that when the obstacle-removing module 3 contacts and pushes the obstacle, the machine body 1 does not move on the working surface.

[0379] Referring to Figure 6 and Figure 7 According to some embodiments of the utility model, judging whether the obstacle moves, comprising:

[0380] detecting the current change of the obstacle-removing module 3;

[0381] in the case of detecting that the current of the obstacle-removing module 3 remains in the preset range, determining that the obstacle moves;

[0382] in the case of detecting that the current of the obstacle-removing module 3 suddenly increases, determining that the obstacle does not move.

[0383] If the obstacle-removing module 3 can move the obstacle under the current driving force, the current of the obstacle-removing module 3 will be relatively stable and remain in the preset range. If the obstacle-removing module 3 cannot move the obstacle under the current driving force, the obstacle-removing module 3 is in the locked-rotor state, and the current of the obstacle-removing module 3 becomes the locked-rotor current. Since the locked-rotor current is greater than the normal current, the current of the obstacle-removing module 3 will suddenly increase. By judging the current change of the obstacle-removing module 3, it can be more directly and accurately confirmed whether the obstacle belongs to the movable obstacle, reducing the possibility of misjudgment of the control system of the cleaning device 100.

[0384] For example, the obstacle-removing module 3 includes a driving mechanism 31 and an obstacle-removing component 33, the driving mechanism 31 is installed on the machine body 1, and the driving mechanism 31 is connected with the obstacle-removing component 33 for driving the obstacle-removing component 33 to move. The driving mechanism 31 includes a driving motor, and the driving motor has an output end 3122 which is directly connected with the obstacle-removing component 33 or connected through an outer swing mechanism 32.

[0385] First, the output current of the driving motor is controlled to be an initial current within a preset range, and the driving motor is controlled to drive the obstacle removing component 33 to move to an obstacle removing position to make the obstacle removing component 33 contact with the obstacle, so as to move the obstacle away from the original position. After the obstacle removing component 33 works for a first preset time length, it is judged whether the obstacle moves.

[0386] If it is detected that the current of the driving motor still remains within the preset range, it is judged that the obstacle moves, the cleaning assembly is controlled to clean the area where the original position of the obstacle is located, and the obstacle removing component 33 is controlled to stop working and the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move from the obstacle removing position to the storage position, so as to facilitate the driving mechanism 31 to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position next time.

[0387] If it is detected that the current of the driving motor suddenly increases, it indicates that the obstacle does not move. At this time, by increasing the output current of the driving motor, the driving force output by the driving motor to the obstacle removing component 33 can be larger, so as to increase the possibility of the obstacle removing component 33 moving the obstacle.

[0388] By detecting the current change of the driving motor in the obstacle removing module 3, whether the obstacle is a movable obstacle can be directly and accurately confirmed, and the possibility of misjudgment of the control system of the cleaning device 100 is reduced.

[0389] Referring to Figure 6 and Figure 7 According to some embodiments of the utility model, the obstacle removing module 3 includes a driving mechanism 31 and an obstacle removing component 33, the driving mechanism 31 is arranged on the machine body 1, and the driving mechanism 31 is connected with the obstacle removing component 33 to drive the obstacle removing component 33 to move.

[0390] The control of the obstacle removing module 3 to work to move the obstacle includes that the driving mechanism 31 drives the obstacle removing component to move, so that at least part of the obstacle removing component 33 swings out of the machine body 1. The control of the obstacle removing module 3 to stop working and reset includes that the driving mechanism 31 drives the obstacle removing component 33 to retract into the machine body 1.

[0391] At least part of the obstacle removing component 33 swinging out of the machine body 1 can include the following cases: for example, part of the obstacle removing component 33 can swing out of the machine body 1; for another example, all of the obstacle removing component 33 can swing out of the machine body 1.

[0392] The control of the driving mechanism 31 to drive the obstacle removing component 33 to move so that at least part of the obstacle removing component 33 swings out of the machine body 1 can expand the obstacle removing range of the obstacle removing component 33. In the process of the obstacle removing component 33 swinging out of the machine body 1, for example, the outer side edge 331 of the obstacle removing component 33 contacts with the obstacle and can apply a certain pushing force to the obstacle, so as to push the obstacle away from the original position, thereby realizing the process of the obstacle removing module 3 moving the obstacle.

[0393] The control driving mechanism 31 drives the clearing component 33 to retract to the machine body 1, so that the clearing component 33 moves back to the storage position, which can realize the process of controlling the clearing module 3 to stop working and reset, thereby reducing the occupation of the external space of the cleaning device 100, facilitating the overall miniaturization of the cleaning device 100, facilitating the storage and transportation of the cleaning device 100, and facilitating the control of the driving mechanism 31 to drive the clearing component 33 to move from the storage position to the clearing position next time.

[0394] Referring to Figure 6 and Figure 7 According to some embodiments of the present application, the clearing component 33 is provided with a cleaning structure 342, wherein the original position area of the obstacle includes: controlling the clearing component 33 to move in the original position area of the obstacle, so that the cleaning structure 342 cleans the original position area of the obstacle; for example, the cleaning structure 342 includes at least one of a cleaning brush, a cleaning cloth and a cleaning scraping strip, by providing the cleaning structure 342 on the clearing component 33, controlling the clearing component 33 to move in the original position area of the obstacle, the original position area of the obstacle can be cleaned, which can increase the cleaning range of the cleaning device 100, and facilitate to enhance the overall cleaning efficiency of the cleaning device 100.

[0395] Alternatively, the machine body 1 of the cleaning device 100 is controlled to move to the original position area of the obstacle, and the cleaning assembly is controlled to clean the original position area of the obstacle.

[0396] After the clearing component 33 removes the obstacle from the original position, the machine body 1 of the cleaning device 100 is controlled to move to the original position area of the obstacle, and the cleaning assembly is controlled to clean the original position area of the obstacle, which can effectively reduce the cleaning dead angle and the missed area, thereby enhancing the overall cleaning effect of the cleaning device 100.

[0397] Referring to Figure 6 and Figure 7 According to some embodiments of the present application, further comprising:

[0398] Confirming that the downward-looking sensor of the cleaning device 100 is blocked, for example, it can be determined that the downward-looking sensor is blocked by that the downward-looking sensor cannot receive light or the received light is less than a preset threshold;

[0399] Detecting whether the clearing module 3 stops working, in the case that the clearing module 3 stops working, detecting whether the clearing component 33 is located in the storage position, in the case that the clearing component 33 is not located in the storage position, retracting the clearing component 33 to the storage position, in the case that the clearing module 3 works, it is determined that the cleaning device 100 has a falling risk.

[0400] If the obstacle removing module 3 is stopped and the obstacle removing component 33 is not in the storage position, the obstacle removing component 33 can be between the obstacle removing position and the storage position, which can block at least part of the downward looking sensor, so that the downward looking sensor cannot timely receive light or the received light is less than the threshold value. By retracting the obstacle removing component 33 to the storage position, the avoiding part 332 of the obstacle removing component 33 can be located below the downward looking sensor and oppositely arranged with the downward looking sensor in the up-down direction, so that the light can be more smoothly transmitted to the downward looking sensor.

[0401] If the obstacle removing module 3 is working, the obstacle removing component 33 is in the obstacle removing position, and the obstacle removing component 33 does not block the downward looking sensor at this time, which indicates that the downward looking sensor cannot receive light or the received light is less than the threshold value, which indicates that the front end of the cleaning device 100 is located at a lower working surface, and it is determined that the cleaning device 100 has a falling risk.

[0402] By detecting whether the obstacle removing module 3 is stopped and confirming whether the obstacle removing component 33 is in the storage position, it can be determined whether the obstacle removing component 33 blocks the downward looking sensor. When it is confirmed that the obstacle removing component 33 does not block the downward looking sensor and it is confirmed that the downward looking sensor is blocked, it can be determined that the cleaning device 100 has a falling risk.

[0403] Referring to Figure 6 and Figure 7 , according to some embodiments of the present application, when it is confirmed that the obstacle removing component 33 is not in the storage position, the obstacle removing component 33 is retracted to the storage position, which comprises:

[0404] When it is confirmed that the obstacle removing component 33 is not in the storage position, the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move towards the storage position. By controlling the driving mechanism 31 to drive the obstacle removing component 33 to move towards the storage position, when the obstacle removing component 33 moves to the storage position, the avoiding part 332 of the obstacle removing component 33 can be located below the downward looking sensor and oppositely arranged with the downward looking sensor in the up-down direction, so that the light can be more smoothly transmitted to the downward looking sensor, so that the downward looking sensor can more accurately determine whether the cleaning device 100 has a falling risk.

[0405] Referring to Figure 6 and Figure 7 , according to some embodiments of the present application, after the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move towards the storage position, it is determined whether the downward looking sensor is blocked;

[0406] When it is confirmed that the downward-looking sensor is blocked, the cleaning device 100 prompts the user to manually retract the obstacle-removing component 33 to the storage position, through the cleaning device 100 prompt, the user can be reminded, and through the user manually moving the obstacle-removing component 33 towards the storage position, when the obstacle-removing component 33 moves to the storage position, the avoiding portion 332 of the obstacle-removing component 33 is located below the downward-looking sensor and is arranged opposite to the downward-looking sensor in the up-down direction, so that the light can propagate more smoothly to the downward-looking sensor, so that the downward-looking sensor can more accurately determine whether the cleaning device 100 has a falling risk.

[0407] Referring to Figure 6 and Figure 7 Figure 6 Figure 7 According to the cleaning system of the third aspect of the present application, the cleaning device 100 and the cleaning base station are provided, the cleaning device 100 and the cleaning base station are detachably matched, the cleaning base station is used for cleaning and / or charging the cleaning device 100, wherein the cleaning base station comprises a cleaning mechanism, and the cleaning mechanism is used for cleaning the cleaning structure 342.

[0408] According to the cleaning system of the present application, the obstacle-removing module 3 automatically identifies the obstacle and moves the obstacle away from the original position, so that the working surface of the area corresponding to the original position of the obstacle is exposed, so that the cleaning assembly can clean the working surface of the area corresponding to the original position of the obstacle and the surrounding area, effectively reducing the cleaning dead angle and the missed area, which can enhance the overall cleaning effect of the working surface and reduce the dependence on manual operation.

[0409] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0410] In the description of the present application, "first feature" and "second feature" can include one or more features.

[0411] In the description of the present application, the first feature "above" or "below" the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them.

[0412] In the description of the utility model, first feature is in second feature "on", "above" and "on" include first feature is in second feature directly above and oblique, or just indicate first feature horizontal height is higher than second feature.

[0413] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0414] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and its equivalents.

Claims

1. A cleaning device, characterized in that, The utility model relates to a cleaning and removing device, comprising: a machine body; a cleaning assembly arranged on the machine body and used for cleaning a work surface; a removing module arranged on the machine body and used for moving an obstacle away from an original position, the removing module comprising a driving mechanism and a removing component, the driving mechanism being mounted on the machine body and connected with the removing component for driving the removing component to move.

2. The cleaning device of claim 1, wherein, The removing component comprises a connecting mechanism and a removing part, the connecting mechanism being connected between the removing part and the machine body, an output end of the driving mechanism being connected with the connecting mechanism, and the removing part being adapted to cooperate with the obstacle to move the obstacle away from the original position; wherein the connecting mechanism is deformable during the movement of the removing component driven by the driving mechanism.

3. The cleaning device of claim 2, wherein, The connecting mechanism comprises a plurality of connecting rods rotatably connected with each other, one of the plurality of connecting rods being a driving rod, and the output end of the driving mechanism being connected with the driving rod.

4. The cleaning device of claim 3, wherein, The plurality of connecting rods comprise a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the third connecting rod constitutes the driving rod, and wherein the relative positions between the first connecting rod, the second connecting rod, the third connecting rod and / or the fourth connecting rod are variable when the driving rod moves.

5. The cleaning device of claim 4, wherein, One end of the first connecting rod is rotatably connected with the machine body, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with the removing part, the second connecting rod intersects with the third connecting rod and is rotatably connected therewith, one end of the fourth connecting rod is rotatably connected with an end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected with the removing part.

6. The cleaning device of claim 4, wherein, The rotatable connection point between the third connecting rod and the second connecting rod is a first rotatable connection point, the rotatable connection point between the third connecting rod and the fourth connecting rod is a second rotatable connection point, and the connection point between the output end of the driving mechanism and the third connecting rod is a driving connection point, the first rotatable connection point being located between the second rotatable connection point and the driving connection point.

7. The cleaning device of claim 3, wherein, The plurality of connecting rods comprise a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a tenth connecting rod, wherein the eighth connecting rod constitutes the driving rod, one end of the fifth connecting rod is rotatably connected with the machine body, the other end of the fifth connecting rod is rotatably connected with one end of the sixth connecting rod, the other end of the sixth connecting rod is rotatably connected with one end of the seventh connecting rod, the other end of the seventh connecting rod is rotatably connected with the removing part, an output end of the driving mechanism is connected with the eighth connecting rod, one end of the tenth connecting rod and one end of the ninth connecting rod are rotatably connected with each other at the same point, the other end of the tenth connecting rod is rotatably connected with the removing part, the tenth connecting rod intersects with the sixth connecting rod and is rotatably connected therewith, and the other end of the ninth connecting rod is rotatably connected with the fifth connecting rod. The fifth connecting rod and the rotatable connecting point of the fuselage are a fourth rotatable connecting point, the fifth connecting rod and the rotatable connecting point of the sixth connecting rod are a fifth rotatable connecting point, the ninth connecting rod and the rotatable connecting point of the fifth connecting rod are a sixth rotatable connecting point, and the sixth rotatable connecting point is located between the fourth rotatable connecting point and the fifth rotatable connecting point.

8. The cleaning device of claim 3, wherein, The rotatably connected connecting rods are connected through a connecting piece, and in the direction of the rotation axis of the rotatably connected connecting rods, the connecting piece does not protrude from the outer surface of the connecting rods.

9. The cleaning device of claim 8, wherein, The connecting piece includes a connecting column and a limiting cap, the connecting column is arranged in the two rotatably connected connecting rods, at least one of the connecting rods is provided with a recess, and the limiting cap is arranged in the recess.

10. The cleaning device of claim 1, wherein, The obstacle removing component is deformable.

11. The cleaning device of claim 1, wherein, The obstacle removing component is variable in size.

12. The cleaning device of claim 11, wherein, The obstacle removing component is variable in length.

13. The cleaning device of claim 1, wherein, The obstacle removing component is movable between an obstacle removing position and a storage position. At least part of the obstacle removing component is stored in the fuselage when the obstacle removing component is in the storage position. At least part of the obstacle removing component is located outside the outer edge of the fuselage when the obstacle removing component is in the obstacle removing position, so as to act on the obstacle to move the obstacle away from the original position.

14. The cleaning device of claim 13, wherein, The size of the obstacle removing component in the storage position is smaller than the size of the obstacle removing component in the obstacle removing position.

15. The cleaning device of claim 13, wherein, The obstacle removing component includes a connecting mechanism and an obstacle removing piece, the connecting mechanism is connected between the obstacle removing piece and the fuselage, the connecting mechanism includes a plurality of rotatably connected connecting rods, one of the plurality of connecting rods is a driving rod, the output end of the driving mechanism is directly connected with the driving rod, and the obstacle removing piece is adapted to act on the obstacle to move the obstacle away from the original position. During the movement of the obstacle removing component driven by the driving mechanism, the connecting mechanism is deformable.

16. The cleaning device of claim 15, wherein, The obstacle removing module is located at at least one end of the fuselage along the left-right direction, and the included angle between the driving rod and a preset direction is β when the obstacle removing component is in the obstacle removing position, β is greater than 90°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the obstacle removing module is located to the other end of the fuselage.

17. The cleaning device of claim 16, wherein, When the obstacle removing component is in the obstacle removing position, β ranges from 100° to 135°.

18. The cleaning device of claim 15, wherein, The obstacle removing module is located at at least one end of the fuselage along the left-right direction, and the included angle between the driving rod and a preset direction is γ when the obstacle removing component is in the storage position, γ ranges from 20° to 45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the obstacle removing module is located to the other end of the fuselage.

19. The cleaning device of claim 1, wherein, The obstacle removing module is located at the front end of the fuselage, and / or the obstacle removing module is arranged at the bottom of the fuselage.

20. The cleaning device of any one of claims 1-19, wherein, The obstacle removing module includes: An obstacle identifying module, which is arranged on the fuselage and is used to identify the obstacle.

21. The cleaning device of claim 20, wherein, The obstacle removing module includes: An obstacle image collecting module, which is arranged on the fuselage and is used to collect the image of the obstacle.

22. A cleaning system characterized by, The obstacle removing module includes: The cleaning device of any one of claims 1-21; A cleaning base station with which the cleaning device is separably engageable, the cleaning base station being for cleaning and / or charging the cleaning device.

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