Cleaning device and cleaning system
By incorporating elastic elements into the caster wheel assembly, elastic potential energy is converted into obstacle-crossing energy, solving the problem of excessive wear on the caster wheels during obstacle crossing in cleaning devices. This achieves more efficient obstacle crossing and lower wear, improving space utilization and cleaning efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-24
- Publication Date
- 2026-03-10
AI Technical Summary
Existing intelligent mobile cleaning devices suffer significant wear and tear when the casters collide with obstacles during obstacle crossing, and the existing obstacle crossing mechanism increases manufacturing costs and occupies internal space.
An elastic element is installed on the caster wheel assembly. The first end of the elastic element abuts against the machine body, and the second end abuts against the bracket. When the cleaning device is in the first position, it is pre-compressed along the axis of the rotating shaft. The elastic potential energy is converted into obstacle-crossing energy upon collision, which helps the cleaning device to lift and reduces wear.
It effectively reduces wear and tear when the omnidirectional wheel assembly collides with obstacles, improves space utilization, reduces manufacturing costs, and enhances the cleaning device's obstacle-crossing ability and cleaning efficiency in complex environments.
Smart Images
Figure CN223979760U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of cleaning equipment, in particular to a cleaning device and a cleaning system. BACKGROUND
[0002] The intelligent mobile cleaning device (for example, a robot vacuum cleaner) can help people clean the ground, greatly reducing the labor intensity and time of people cleaning. However, due to the complexity of the working scene, such as the threshold between the balcony and the living room, the threshold between the living room and the bathroom, and the like, the intelligent mobile cleaning device may be stuck when passing through these scenes due to insufficient obstacle climbing ability, and cannot climb over the obstacles, thereby failing to continue to perform the cleaning work.
[0003] At present, in the intelligent mobile cleaning device, the lifting of the cleaning device chassis is usually realized by the motor driving the pull rope or by setting the lifting mechanism on the driving wheel, so as to climb over the obstacles. However, in the above-mentioned scheme, other mechanisms need to be added in the cleaning device to realize the lifting of the chassis, which affects the position layout of each component in the cleaning device, resulting in low space utilization and increased manufacturing cost. At the same time, in the process of obstacle climbing of the cleaning device, the universal wheel of the cleaning device is greatly worn when colliding with the obstacle. UTILITY MODEL CONTENT
[0004] The main purpose of the present application is to provide a cleaning device and a cleaning system to solve the problem of the great wear of the universal wheel when colliding with the obstacle in the process of obstacle climbing of the cleaning device in the prior art.
[0005] According to one aspect of the present application, a cleaning device is provided, comprising:
[0006] a machine body;
[0007] a universal wheel set, the universal wheel set being arranged at the bottom of the machine body, the universal wheel set comprising a wheel body, a support and an elastic member, the support being rotatably connected to the machine body through a rotating shaft, the wheel body being rotatably mounted on the support, the elastic member being sleeved on the rotating shaft, the elastic member having a first end and a second end opposite to the first end, the first end abutting against the machine body, and the second end abutting against the support;
[0008] wherein the machine body has a first position that is lowered relative to the universal wheel set when subjected to an external force, the rotating shaft extends along the height direction of the machine body, the elastic member is coaxially arranged with the rotating shaft, and the elastic member is configured to be pre-compressed along the axis direction of the rotating shaft when the cleaning device is in the first position.
[0009] Further, the universal wheel set further comprises a flexible buffer member, the flexible buffer member being sleeved on the rotating shaft and located between the rotating shaft and the elastic member.
[0010] Further, the flexible buffer member comprises a plastic member or a rubber member.
[0011] Further, the elastic member comprises a compression spring or an elastic pad or an elastic column.
[0012] Further, the cleaning device further comprises a front impact assembly, the front impact assembly being arranged around the outer surface of the body.
[0013] Further, the front impact assembly comprises:
[0014] a first front impact portion, the first front impact portion being arranged around part of the circumferential surface of the body and extending along the circumferential surface of the body;
[0015] a second front impact portion, the second front impact portion being arranged at one side of the first front impact portion close to the bottom surface of the body, the second front impact portion being arranged around part of the circumferential surface of the body and extending along the circumferential surface of the body, and the distance between the second front impact portion and the bottom surface of the body gradually decreases in the direction from the center of the body to the outer edge of the body.
[0016] Further, the cleaning device further comprises a protection portion, the protection portion being arranged at the bottom surface of the body, the protection portion having an avoiding passage for the universal wheel set to pass through, and the distance between the protection portion and the bottom surface of the body gradually decreases in the direction from the center of the body to the outer edge of the body.
[0017] Further, the protection portion and the body have a first included angle A, wherein A satisfies the relationship: 10°≤A≤60°; and / or,
[0018] the second front impact portion and the body have a second included angle B, wherein B satisfies the relationship: 10°≤B≤60°.
[0019] Further, when the cleaning device is in the first position, the minimum distance between the protection portion and the surface to be cleaned is h1, the maximum distance between the protection portion and the surface to be cleaned is h2, and the maximum distance between the second front impact portion and the surface to be cleaned is h3 in the height direction of the body, wherein h1
[0020] a limiting step is arranged in the avoiding passage, the rotating shaft and the elastic member are located in the avoiding passage, and the first end of the elastic member abuts against the limiting step.
[0021] In another aspect, the present application also provides a cleaning system, which comprises the above cleaning device.
[0022] The application is provided with an elastic member on the universal wheel set, and the first end of the elastic member is in abutment with the fuselage, the second end of the elastic member is in abutment with the support, and the elastic member is configured to be pre-compressed along the axis direction of the rotating shaft when the cleaning device is in the first position. Thus, when the cleaning device is in the first position, the elastic member is pre-compressed along the axis direction of the rotating shaft, and the elastic member absorbs energy, thereby converting the energy into elastic potential energy and storing it. When the cleaning device runs to the obstacle, the wheel body of the universal wheel set arranged at the bottom of the fuselage collides with the obstacle. At this time, the elastic potential energy of the pre-compressed elastic member can be released to do useful work on the cleaning device, that is, the elastic potential energy can be converted into the obstacle-crossing energy of the cleaning device, so that the cleaning device presents a lifting trend under the action of the universal wheel set, thereby reducing the impact force of the universal wheel set and the obstacle at the moment of impact, effectively reducing the wear of the universal wheel set and the obstacle when colliding. BRIEF DESCRIPTION OF DRAWINGS
[0023] The drawings described herein are used to provide further understanding of the application, and form a part of the application. The illustrative embodiments of the application and their descriptions are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:
[0024] Figure 1 The structure schematic view of the cleaning device disclosed in the embodiments of the application;
[0025] Figure 2 The side view of the cleaning device disclosed in the embodiments of the application;
[0026] Figure 3 The enlarged view of the C area in the drawings; Figure 2
[0027] Figure 4 The bottom view of the cleaning device disclosed in the embodiments of the application;
[0028] Figure 5 The structure schematic view of the universal wheel set disclosed in the embodiments of the application;
[0029] Figure 6 The partial sectional view of the cleaning device disclosed in the embodiments of the application.
[0030] Among the above drawings, the following reference signs are included:
[0031] 10, fuselage; 20, universal wheel set; 21, wheel body; 22, support; 23, elastic member; 24, rotating shaft; 30, flexible buffer; 40, front impact assembly; 41, first front impact part; 42, protection part; 421, avoidance channel; 423, limiting step; 43, second front impact part; 50, surface to be cleaned. DETAILED DESCRIPTION
[0032] It should be noted that the embodiments and the features in the embodiments in the present application can be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.
[0033] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise, and it should also be understood that the terms "comprise" and / or "include" as used herein indicate the presence of the features, steps, operations, devices, components and / or combinations thereof.
[0034] The relative arrangement, numerical expressions and numerical values of the components and steps set forth in the embodiments are not intended to limit the scope of the present application, unless otherwise specifically stated. At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the purpose of description. The techniques, methods and devices known to those skilled in the relevant art can not be discussed in detail, but in appropriate cases, the techniques, methods and devices should be considered as part of the authorized description. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.
[0035] As mentioned in the background, the existing cleaning device usually adopts the way of driving the pull rope by the motor or the way of setting the lifting mechanism on the driving wheel to realize the lifting of the chassis of the cleaning device, so as to overcome the obstacles. However, these ways need to add other mechanisms in the cleaning device to realize the lifting of the chassis, which reduces the space utilization rate of the cleaning device. At the same time, in the process of overcoming the obstacles of the cleaning device, the moving wheels of the cleaning device will collide with the obstacles, resulting in greater wear of the moving wheels. Therefore, the inventors of the present application design a new type of cleaning device which can solve the problem of greater wear of the universal wheels when colliding with obstacles in the process of overcoming obstacles of the cleaning device in the prior art. The cleaning device of the present application will be described in detail below in combination with the drawings.
[0036] Referring to Figures 1 to 6 As shown, according to the embodiments of the present application, a cleaning device is provided, which comprises a body 10 and a universal wheel set 20.
[0037] Specifically, the universal wheel set 20 is arranged at the bottom of the machine body 10, the universal wheel set 20 comprises a wheel body 21, a support 22 and an elastic member 23, the support 22 is rotatably connected to the machine body 10 through a rotating shaft 24, the wheel body 21 is rotatably mounted on the support 22, the elastic member 23 is sleeved on the rotating shaft 24, the elastic member 23 has a first end and a second end opposite to the first end, the first end abuts against the machine body 10, and the second end abuts against the support 22; wherein the machine body 10 has a first position which is lowered relative to the universal wheel set 20 when subjected to an external force, the rotating shaft 24 extends along the height direction of the machine body 10, the elastic member 23 is coaxially arranged with the rotating shaft 24, and the elastic member 23 is configured to be pre-compressed along the axis direction of the rotating shaft 24 when the cleaning device is in the first position.
[0038] It should be noted that the external force borne by the machine body 10 can be the gravity of the machine body itself or an external force applied to the machine body 10 by other devices; the "height direction of the machine body 10" in the present application refers to the direction indicated by the letter X. Figure 2
[0039] When the cleaning device in the embodiment is working, the wheel body 21 can be driven to rotate around the axis of the rotating shaft 24 through the action of the rotating shaft 24 arranged on the support 22, so that the walking path of the cleaning device in space can be changed to drive the cleaning device to perform cleaning work. However, since there are inevitably obstacles on the ground or table surface of the space, when the cleaning device moves, the universal wheel set 20 of the cleaning device will collide with the obstacles, thereby causing large wear of the universal wheel set 20.
[0040] Therefore, the elastic member 23 is arranged on the universal wheel set 20 in the embodiment, the first end of the elastic member 23 abuts against the machine body 10, the second end of the elastic member 23 abuts against the support 22, and the elastic member 23 is configured to be pre-compressed along the axis direction of the rotating shaft 24 when the cleaning device is in the first position. In this way, when the cleaning device is in the first position, the elastic member 23 will be pre-compressed along the axis direction of the rotating shaft 24, the elastic member 23 absorbs energy, thereby storing the energy as elastic potential energy; when the cleaning device runs to the obstacles, the wheel body 21 of the universal wheel set 20 arranged at the bottom of the machine body 10 will collide with the obstacles, at this time, the pre-compressed elastic potential energy of the elastic member 23 can be released to do useful work on the cleaning device, that is, the elastic potential energy can be converted into obstacle-crossing energy of the cleaning device, so that the cleaning device presents a lifting trend under the action of the universal wheel set 20, thereby reducing the impact force at the moment of collision between the universal wheel set 20 and the obstacles, effectively reducing the wear of the universal wheel set 20 when colliding with the obstacles.
[0041] In other words, in this embodiment, energy conversion can be achieved by setting an elastic element 23 on the pivot 24 of the universal wheel assembly 20, thereby achieving the auxiliary lifting of the cleaning device. Compared with the prior art, this embodiment does not require adding other mechanisms to the cleaning device to achieve the lifting of the cleaning device, thus not affecting the position layout of the components inside the cleaning device, improving space utilization and reducing manufacturing costs.
[0042] Furthermore, since the elastic element 23 in this embodiment is coaxially arranged with the rotating shaft 24, and the elastic element 23 is pre-compressed along the axial direction of the rotating shaft 24, the elastic potential energy stored in the elastic element 23 can be 100% converted into the potential energy of the body 10 to assist the cleaning device in overcoming obstacles. After the cleaning device overcomes the obstacle, the gravity of the cleaning device does work on the elastic element 23 again, causing the elastic element 23 to be pre-compressed again along the axial direction of the rotating shaft 24 in preparation for the next collision with the obstacle.
[0043] Further, see Figure 5 As shown, the universal wheel assembly 20 in this embodiment also includes a flexible buffer 30, which is sleeved on the pivot 24 and located between the pivot 24 and the elastic member 23.
[0044] Specifically, the swivel caster 20 moves the cleaning device by rolling the wheels 21. The steering action of the cleaning device is generated by the rotation of the shaft 24. Since the elastic element 23 is sleeved on the outside of the shaft 24, friction will occur between the shaft 24 and the elastic element 23 during the rotation. This will not only affect the rotation of the shaft 24, thus affecting the steering of the swivel caster 20, but also cause surface wear on the shaft 24 and the elastic element 23, thereby generating noise and reducing the service life of the elastic element 23 and the shaft 24. Therefore, in this embodiment, the flexible buffer 30 is sleeved on the outside of the rotating shaft 24 and positioned between the rotating shaft 24 and the elastic element 23. This arrangement ensures that, on the one hand, it does not affect the release of the elastic force of the elastic element 23, that is, it does not affect the conversion of the elastic potential energy of the elastic element 23 into kinetic energy along the axis of the rotating shaft 24 by the universal wheel assembly 20; on the other hand, during the rotation of the rotating shaft 24, the rotating shaft 24 will not come into contact with the elastic element 23, and the rotation of the rotating shaft 24 will not be affected. At the same time, there will be no wear between the elastic element 23 and the rotating shaft 24, thereby avoiding noise and extending the service life of the elastic element 23 and the rotating shaft 24 to a certain extent.
[0045] Furthermore, the flexible buffer 30 in this embodiment includes a plastic part or a rubber part. That is to say, the flexible buffer 30 in this embodiment can be made of plastic or rubber. Since both plastic and rubber parts have good elasticity and flexibility, during the rotation of the rotating shaft 24, the plastic or rubber part disposed between the rotating shaft 24 and the elastic element 23 can prevent the rotating shaft 24 from contacting the elastic element 23, thereby avoiding noise generation and extending the service life of the elastic element 23 and the rotating shaft 24 to a certain extent.
[0046] Furthermore, the elastic element 23 in this embodiment includes a compression spring, an elastic pad, or an elastic column. Specifically, since the compression spring, elastic pad, and elastic column have good buffering performance, when the caster assembly 20 collides with an obstacle, the compression spring, elastic pad, and elastic column can effectively buffer and absorb vibration and impact, thereby reducing the wear on the caster assembly 20. At the same time, since the compression spring, elastic pad, and elastic column have good supporting performance, when the cleaning device is in the first position, the compression spring, elastic pad, and elastic column can be pre-compressed under the gravity of the cleaning device and can provide a reaction force to the cleaning device to put the cleaning device in a pre-lifted state. Exemplarily, the elastic element 23 in this embodiment... Figure 5 The illustration shows the case where the elastic element 23 is configured as a compression spring. With this configuration, when the elastic element 23 is pre-compressed along the axial direction of the pivot 24, energy can be converted into elastic potential energy and stored. When it collides with an obstacle, the elastic potential energy is released to do work, thereby reducing the wear of the caster wheel assembly 20 when it collides with an obstacle.
[0047] Further, see Figures 1 to 2 As shown, the cleaning device in this embodiment also includes a front impact component 40, which surrounds the outer surface of the body 10.
[0048] Specifically, during the cleaning operation, the front end of the body 10 is prone to collision with surrounding objects and thus suffers wear. Therefore, in this embodiment, a front impact component 40 is enclosed on the outer surface of the body 10. This front impact component 40 protects the body 10, effectively reducing the impact force on the body 10 upon collision with obstacles, lowering the possibility of scratches or even cracks, thereby preventing wear and extending the service life of the cleaning device. Simultaneously, the structure enclosed by the front impact component 40 can serve as an additional support point when overcoming obstacles. For example, when encountering high steps or protruding obstacles, the front impact component 40 provides temporary support after contacting the obstacle, allowing for better weight transfer of the body 10 and helping the caster wheel assembly 20 or other obstacle-crossing components find a point of leverage, thus enabling the cleaning device to overcome obstacles more smoothly.
[0049] Further, see Figures 1 to 2As shown, the front collision component 40 in this embodiment includes a first front collision part 41 and a second front collision part 43.
[0050] Specifically, the first front impact portion 41 surrounds a portion of the peripheral side surface of the fuselage 10 and extends along the peripheral side surface of the fuselage 10; the second front impact portion 43 is disposed on the side of the first front impact portion 41 near the bottom of the fuselage 10, surrounds a portion of the peripheral side surface of the fuselage 10 and extends along the peripheral side surface of the fuselage 10, and the distance between the second front impact portion 43 and the bottom surface of the fuselage 10 gradually decreases along the direction from the center of the fuselage 10 to the outer edge of the fuselage 10. Exemplarily, in this embodiment, both the first front impact portion 41 and the second front impact portion 43 include a front impact plate.
[0051] Specifically, in this embodiment, the first front impact part 41 and the second front impact part 43 are configured to provide protection for the side of the body 10. During the cleaning operation, regardless of whether the body 10 collides with obstacles such as walls or furniture, the first front impact part 41 and the second front impact part 43 can withstand the impact force, reducing the risk of damage to the side of the body 10, thereby protecting the internal components of the body 10. Meanwhile, when the cleaning device encounters obstacles, especially some high obstacles, the first front impact part 41 can contact the upper or middle part of the obstacle, thereby sharing some of the pressure when crossing the obstacle. In addition, the universal wheel assembly 20 at the bottom makes the force on the cleaning device more even, which helps to cross the obstacle more smoothly. The second front impact part 43 can better adapt to obstacles of different heights. For lower obstacles, the second front impact part 43 can contact the bottom of the obstacle more closely, thereby increasing the contact area and friction with the obstacle, providing more stable support for the cleaning device, making it easier to cross the obstacle. The second front impact part 43 can also provide additional support force for the cleaning device, helping the cleaning device maintain balance during the obstacle crossing process.
[0052] Further, see Figures 1 to 2 As shown, the cleaning device in this embodiment also includes a protective part 42, which is disposed on the bottom surface of the body 10. The protective part 42 has a clearance channel 421 for the universal wheel assembly 20 to pass through, and the distance between the protective part 42 and the bottom surface of the body 10 gradually decreases along the direction from the center of the body 10 to the outer edge of the body. Exemplarily, the protective part 42 in this embodiment includes a protective shell.
[0053] Specifically, the protective part 42 can prevent the bottom of the machine body 10 from being worn, scratched and collided during contact and movement with the surface to be cleaned 50, thus protecting the integrity of the machine body 10. At the same time, the protective part 42 has a clearance channel 421 for the universal wheel assembly 20 to pass through, which not only effectively protects the universal wheel assembly 20, but also does not affect the normal rotation and steering function of the universal wheel assembly 20.
[0054] Further, see Figures 2 to 3 As shown, in this embodiment, the protective part 42 and the fuselage 10 have a first included angle A, where A satisfies the relationship: 10°≤A≤60°. For example, A can be set to 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, etc. When A is less than 10°, the protective part 42 is relatively flat relative to the bottom surface of the fuselage 10, resulting in poor dispersion and buffering effect of impact force from below the fuselage 10. When the protective part 42 collides with an obstacle, it is difficult for the protective part 42 to disperse the impact force, resulting in excessive local stress on the fuselage 10 and increasing the risk of damage to the fuselage 10. When A is greater than 60°, the contact area and friction between the protective part 42 and the obstacle are increased during the obstacle-crossing process of the cleaning device. This causes the cleaning device to consume more energy to overcome the friction force when crossing obstacles, making it difficult to ensure that the cleaning device can complete the obstacle-crossing function, and causing greater wear to the cleaning device during obstacle-crossing.
[0055] Further, see Figures 2 to 3 As shown, in this embodiment, the second front impact part 43 and the fuselage 10 have a second included angle B, wherein B satisfies the relationship: 10°≤B≤60°. For example, B can be set to 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, etc. When B is less than 10°, the second front impact part 43 is relatively flat relative to the bottom surface of the fuselage 10, resulting in poor dispersion and buffering effect of the impact force from the side of the fuselage 10. When the second front impact part 43 collides with the obstacle, it is difficult for the second front impact part 43 to disperse the impact force, resulting in excessive local stress on the fuselage 10 and increasing the risk of damage to the fuselage 10. When B is greater than 60°, the contact area and friction between the second front impact part 43 and the obstacle are increased during the obstacle crossing process of the cleaning device. This makes it necessary for the cleaning device to consume more energy to overcome the friction force when crossing the obstacle, making it difficult to ensure that the cleaning device can complete the obstacle crossing function, and causing greater wear to the cleaning device during obstacle crossing.
[0056] Further, see Figure 2 As shown, in this embodiment, when the cleaning device is in the first position, along the height direction of the body 10, the minimum distance between the protective part 42 and the surface 50 to be cleaned is h1, the maximum distance between the protective part 42 and the surface 50 to be cleaned is h2, and the maximum distance between the second front impact part 43 and the surface 50 to be cleaned is h3; wherein, h1 < h2 < h3. It should be noted that the specific values of h1, h2, and h3 can be designed according to actual conditions, and this application does not impose specific limitations here.
[0057] Specifically, when the cleaning device encounters a low obstacle, because the minimum distance h1 between the protective part 42 and the surface 50 to be cleaned is small when the cleaning device is in the first position, the protective part 42 is more likely to contact the obstacle first. The elastic element 23 is pre-pressed along the axis of the rotating shaft 24. At this time, the elastic element 23 will convert the elastic potential energy into the cleaning device's ability to overcome the obstacle due to the resistance of the obstacle. This allows the protective part 42 to be raised a certain height along the surface of the obstacle, thus successfully crossing the low obstacle. When the cleaning device encounters a high obstacle, the maximum distance h3 between the second front impact part 43 and the surface 50 to be cleaned is larger. This provides the cleaning device with more space to cross the obstacle. The cleaning device can use the design of the second front impact part 43 to approach the obstacle at a certain angle. When it contacts the obstacle, under the action of the elastic element 23, the front end of the cleaning device can be raised along the second front impact part 43, allowing the entire body 10 to cross the obstacle and avoid being stuck due to the obstacle being too high. In other words, the cleaning device in this embodiment can adapt to obstacles of different heights, improving the cleaning device's ability to pass through and adapt to complex environments, thereby improving the cleaning efficiency of the cleaning device.
[0058] In other words, assuming the height of the obstacle is H, when H is less than h1, the obstacle and the cleaning device will not collide during the obstacle-crossing process, and the cleaning device can easily cross the obstacle without lifting. When h1≤h≤h2, the protective part 42 of the cleaning device will come into contact with the obstacle during the obstacle-crossing process. At this time, the elastic element 23 will release the stored elastic potential energy and convert it into obstacle-crossing energy for the cleaning device, thereby assisting the cleaning device in crossing the obstacle. When h2<h≤h3, the second front impact part 43 of the cleaning device will come into contact with the obstacle during the obstacle-crossing process. At this time, the elastic element 23 will release the stored elastic potential energy and convert it into obstacle-crossing energy for the cleaning device, thereby assisting the cleaning device in crossing the obstacle.
[0059] Further, see Figure 6 As shown, in this embodiment, a limiting step 423 is provided in the clearance channel 421, the rotating shaft 24 and the elastic member 23 are both located in the clearance channel 421, and the first end of the elastic member 23 abuts against the limiting step 423.
[0060] Specifically, in this embodiment, the setting of the limiting step provides a reliable support point for the elastic element 23, so that the elastic element 23 can be pre-pressed in the axial direction of the rotating shaft 24. When the cleaning device encounters different working conditions, such as overcoming obstacles or being squeezed by external forces, the elastic element 23 can play its role in buffering and shock absorption, thereby improving the adaptability of the cleaning device in different working environments.
[0061] On the other hand, embodiments of this application also provide a cleaning system that includes the aforementioned cleaning device, and therefore, the cleaning system encompasses all the technical effects of the aforementioned cleaning device. Since the technical effects of the cleaning device have already been described in detail above, they will not be repeated here.
[0062] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.
[0063] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.
[0064] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A cleaning device, characterized in that, The cleaning device comprises: a machine body (10); a universal wheel set (20) arranged at the bottom of the machine body (10), the universal wheel set (20) comprising a wheel body (21), a support (22) and an elastic member (23), the support (22) being rotatably connected to the machine body (10) through a rotating shaft (24), the wheel body (21) being rotatably mounted on the support (22), and the elastic member (23) being sleeved on the rotating shaft (24), the elastic member (23) having a first end and a second end opposite to the first end, the first end abutting against the machine body (10), and the second end abutting against the support (22); wherein the machine body (10) has a first position that is lowered relative to the universal wheel set (20) when subjected to an external force, the rotating shaft (24) extends along the height direction of the machine body (10), the elastic member (23) is coaxially arranged with the rotating shaft (24), and the elastic member (23) is configured to be pre-compressed along the axis direction of the rotating shaft (24) when the cleaning device is in the first position.
2. The cleaning device of claim 1, wherein, The universal wheel set (20) further comprises a flexible buffer member (30) sleeved on the rotating shaft (24) and located between the rotating shaft (24) and the elastic member (23).
3. The cleaning device of claim 2, wherein, The flexible buffer member (30) comprises a plastic member or a rubber member.
4. The cleaning device of claim 1, wherein, The elastic member (23) comprises a compression spring or an elastic pad or an elastic column.
5. The cleaning device of claim 1, wherein, The cleaning device further comprises a front collision assembly (40) arranged around the outer surface of the machine body (10).
6. The cleaning device of claim 5, wherein, The front collision assembly (40) comprises: a first front collision part (41) arranged around part of the circumferential surface of the machine body (10) and extending along the circumferential surface of the machine body (10); a second front collision part (43) arranged on one side of the first front collision part (41) close to the bottom of the machine body (10), the second front collision part (43) being arranged around part of the circumferential surface of the machine body (10) and extending along the circumferential surface of the machine body (10), and the distance between the second front collision part (43) and the bottom surface of the machine body (10) gradually decreases in the direction from the center of the machine body (10) to the outer edge of the machine body (10).
7. The cleaning device of claim 6, wherein, The cleaning device further comprises a protection part (42) arranged on the bottom surface of the machine body (10), the protection part (42) having an avoiding passage (421) for the universal wheel set (20) to pass through, and the distance between the protection part (42) and the bottom surface of the machine body (10) gradually decreases in the direction from the center of the machine body (10) to the outer edge of the machine body (10).
8. The cleaning device of claim 7, wherein, The first included angle A between the protection part (42) and the machine body (10) satisfies the relationship: 10°≤A≤60°; and / or, The second included angle B between the second front collision part (43) and the machine body (10) satisfies the relationship: 10°≤B≤60°.
9. The cleaning device of claim 7, wherein, When the cleaning device is in the first position, the minimum distance between the protective part (42) and the surface to be cleaned (50) along the height direction of the fuselage (10) is h1, the maximum distance between the protective part (42) and the surface to be cleaned (50) is h2, and the maximum distance between the second front impact part (43) and the surface to be cleaned (50) is h3, wherein h1 < h2 < h3; and / or, The limiting step (423) is arranged in the avoiding channel (421), the rotating shaft (24) and the elastic member (23) are located in the avoiding channel (421), and the first end of the elastic member (23) abuts against the limiting step (423).
10. A cleaning system characterized by, The cleaning system comprises the cleaning device according to any one of claims 1 to 9.