Cleaning equipment and cleaning system

Abstract

The utility model provides cleaning equipment and a cleaning system, and relates to the technical field of smart home. The cleaning equipment comprises an equipment body, a lifting mechanism and a cleaning head, the lifting mechanism is arranged on the equipment body and comprises a lifting part and a first driver, the first driver is configured to drive the lifting part to reciprocate between a first position and a second position, and the lifting part is provided with a third position between the first position and the second position; the cleaning head is detachably connected with the lifting piece; when the lifting piece moves to the third position from the side close to the second position, the cleaning head abuts against the equipment body; when the lifting part moves from the third position to the first position or moves to a fourth position between the first position and the third position, the cleaning head is separated from the lifting part. According to the cleaning equipment, the cleaning head can be automatically separated from the equipment body.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of smart home, in particular, to a cleaning device and a cleaning system. BACKGROUND

[0002] With the development of modern society, in order to save time and maintain household hygiene, more and more people begin to purchase cleaning devices so as to clean household hygiene in time and conveniently. The cleaning device can automatically complete the cleaning work of the ground in the room by means of certain artificial intelligence.

[0003] The current intelligent cleaning device needs to be manually detached from the whole machine by the user when the cleaning head needs to be replaced after completing the cleaning work, which affects the user's experience.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. UTILITY MODEL CONTENT

[0005] The purpose of the present disclosure is to provide a cleaning device and a cleaning system.

[0006] According to one aspect of the present disclosure, a cleaning device is provided, which comprises:

[0007] a device body;

[0008] a lifting mechanism, the lifting mechanism being provided on the device body, the lifting mechanism comprising a lifting piece and a first driver, the first driver being configured to drive the lifting piece to reciprocate between a first position and a second position, the lifting piece having a third position between the first position and the second position;

[0009] a cleaning head, the cleaning head being detachably connected with the lifting piece; when the lifting piece moves from a side close to the second position to the third position, the cleaning head abuts against the device body; when the lifting piece moves from the third position to the first position or to a fourth position between the first position and the third position, the cleaning head is separated from the lifting piece.

[0010] In an exemplary embodiment of the present disclosure, the lifting mechanism further comprises a first transmission assembly, the first driver being configured to drive the lifting piece to reciprocate between the first position and the second position through the first transmission assembly; the cleaning device further comprises:

[0011] a stroke detection assembly, the stroke detection assembly being configured to obtain the rotation stroke of an output shaft of the first driver and / or a transmission piece in the first transmission assembly;

[0012] a control unit configured to control a height of the lifting member between the first position and the second position based on the rotation stroke.

[0013] In an example embodiment of the present disclosure, when the lifting member needs to move from a side close to the second position to the first position or the fourth position, the control unit determines a first target rotation stroke of an output shaft of the first driver and / or a transmission member in the first transmission assembly according to a first preset distance;

[0014] The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the first target rotation stroke, the control unit controls the first driver to stop driving.

[0015] In an example embodiment of the present disclosure, the third position and the second position further have an initial position, and the cleaning device further comprises:

[0016] an initial position sensing member fixedly arranged in the lifting mechanism, the initial position sensing member being triggered when the lifting member moves to the initial position, and the initial position sensing member outputting an initial position information.

[0017] In an example embodiment of the present disclosure, when the lifting member needs to move from a side close to the second position to the first position or the fourth position, the first driver drives the lifting member to move to the initial position, and the control unit determines a second preset distance of the lifting member from the initial position to the first position or the fourth position according to the initial position information, and determines a second target rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly according to the second preset distance;

[0018] The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the second target rotation stroke, the control unit controls the first driver to stop driving.

[0019] In an example embodiment of the present disclosure, the lifting member has a fifth position between the third position and the second position.

[0020] When the cleaning head is in a separated state and positionally corresponding with the lifting member, the lifting member moves from one side of the third position to the fifth position, the cleaning head is connected with the lifting member and the cleaning head is in an installed state.

[0021] In an exemplary embodiment of the present disclosure, the lifting member has a fifth position between the third position and the second position; when the cleaning head is in a separated state and positionally corresponding with the lifting member, the lifting member moves from one side of the third position to the fifth position, the cleaning head is connected with the lifting member and the cleaning head is in an installed state.

[0022] When the lifting member moves from one side of the third position to the fifth position, the lifting member needs to move a third preset distance, and the control unit determines a third target rotating stroke of the output shaft of the first driver and / or a transmission member in the first transmission assembly according to the third preset distance.

[0023] The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotating stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the third target rotating stroke, the control unit controls the first driver to stop driving.

[0024] In an exemplary embodiment of the present disclosure, the lifting member has a fifth position between the third position and the second position; when the cleaning head is in a separated state and positionally corresponding with the lifting member, the lifting member moves from one side of the third position to the fifth position, the cleaning head is connected with the lifting member and the cleaning head is in an installed state.

[0025] When the lifting member needs to move from one side of the third position to the fifth position, the first driver drives the lifting member to move to the initial position, the control unit determines a fourth preset distance of the lifting member from the initial position to the fifth position according to the initial position information, and the control unit determines a fourth target rotating stroke of the output shaft of the first driver and / or a transmission member in the first transmission assembly according to the fourth preset distance.

[0026] The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotating stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the fourth target rotating stroke, the control unit controls the first driver to stop driving.

[0027] In an example embodiment of the present disclosure, the cleaning head comprises a rotating shaft part and a supporting plate part, the supporting plate part being detachably connected to the lifting member through the rotating shaft part; when the lifting member is in the third position, the supporting plate part abuts against the device body.

[0028] In an example embodiment of the present disclosure, the device body comprises a bottom shell, when the lifting member is in the third position, the supporting plate part abuts against the bottom shell.

[0029] In an example embodiment of the present disclosure, the device body comprises a limiting structure, when the lifting member is in the third position, the supporting plate part abuts against the limiting structure.

[0030] In an example embodiment of the present disclosure, the lifting mechanism further comprises:

[0031] A fixing member, the lifting member being rotationally connected to the fixing member and reciprocally movable along the axial direction of the rotation relative to the fixing member between the first position and the second position.

[0032] In an example embodiment of the present disclosure, the cleaning device further comprises:

[0033] A mounting member, the mounting member being limitingly connected to the lifting member in the axial direction and reciprocally movable along the axial direction under the driving of the lifting member; the cleaning head being detachably connected to the mounting member.

[0034] In an example embodiment of the present disclosure, the cleaning device further comprises:

[0035] A rotating member, the rotating member being limitingly connected to the mounting member in the rotation direction;

[0036] A second driving assembly, the second driving assembly being configured to drive the rotating member to rotate, so as to drive the cleaning head to rotate through the mounting member.

[0037] In an example embodiment of the present disclosure, the lifting mechanism further comprises:

[0038] A sliding connecting member, the sliding connecting member being located in the mounting member and being movable along the axial direction in the mounting member and being limitingly connected to the mounting member in the circumferential direction; the cleaning head being connected to the sliding connecting member.

[0039] An elastic member, the elastic member being located between the sliding connecting member and the mounting member; when the mounting member moves towards the sliding connecting member along the axial direction, the elastic member is compressed.

[0040] In an example embodiment of the present disclosure, the rotating shaft part is inserted into the mounting member.

[0041] In an exemplary embodiment of the present disclosure, the sliding connector is provided with a first magnetic member, and the rotating shaft part is provided with a second magnetic member; when the rotating shaft part and the lifting member are inserted together, the first magnetic member and the second magnetic member are attracted to each other.

[0042] In an exemplary embodiment of the present disclosure, when the cleaning head is not subjected to external force, the elastic member is in a compressed state.

[0043] In an exemplary embodiment of the present disclosure, when the cleaning head is not subjected to external force, the gap is provided between the part of the supporting plate part of the cleaning head opposite to the lifting member and the lifting member along the axial direction, so that the lifting member can move towards the side of the cleaning head by a preset distance along the axial direction when the cleaning head is in contact with the surface to be cleaned.

[0044] In an exemplary embodiment of the present disclosure, the lifting member has a first cleaning position and a second cleaning position between the third position and the second position; the cleaning pressure of the cleaning head on the surface to be cleaned when the lifting member is in the first cleaning position is less than the cleaning pressure of the cleaning head on the surface to be cleaned when the lifting member is in the second cleaning position.

[0045] In an exemplary embodiment of the present disclosure, the lifting mechanism further comprises:

[0046] The housing is formed with a first accommodating space, and the lifting member is located in the first accommodating space; when the lifting member reciprocates between the first position and the second position through the opening of the first accommodating space, the lifting member can extend out of or retract into the accommodating space through the opening.

[0047] In an exemplary embodiment of the present disclosure, the lifting mechanism further comprises:

[0048] The sealing member is provided on the housing and located at the opening, and the sealing member is configured to seal the gap between the housing and the lifting member.

[0049] According to another aspect of the present disclosure, a cleaning system is provided, which comprises:

[0050] The cleaning device described above;

[0051] The base station is used for interfacing with the cleaning device.

[0052] The cleaning device provided by the present disclosure, when the cleaning head needs to be replaced after use, the lifting piece is controlled to move towards the first position, when the lifting piece moves to the third position, the cleaning head abuts against the device body and cannot continue to move upwards with the lifting piece; at this time, when the lifting piece continues to move towards the first position, the part of the cleaning head connected with the lifting piece starts to separate, until the lifting piece moves to the first position or the fourth position close to the first position, the cleaning head is completely separated from the lifting piece, thereby achieving the purpose of automatically separating the cleaning head from the whole machine, avoiding the need for the user to manually remove the cleaning head, especially when the cleaning head is dirty after use, manual removal by the user seriously affects the user's experience. Therefore, the user's experience can be improved, thereby improving the market competitiveness of the product.

[0053] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0054] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure. It is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained from these drawings without creative labor for those skilled in the art.

[0055] Figure 1 The schematic diagram of the cleaning system provided by an embodiment of the present disclosure.

[0056] Figure 2 The front view schematic diagram of the cleaning device provided by an embodiment of the present disclosure.

[0057] Figure 3 The back view schematic diagram of the cleaning device provided by an embodiment of the present disclosure.

[0058] Figure 4 The schematic diagram of the device body and the cleaning module provided by an embodiment of the present disclosure.

[0059] Figure 5 The schematic diagram of the cleaning head in the raised position provided by an embodiment of the present disclosure.

[0060] Figure 6 The exploded view of the cleaning module provided by an embodiment of the present disclosure.

[0061] Figure 7 The front view of the cleaning head in the raised position provided by an embodiment of the present disclosure.

[0062] Figure 8 The cross-sectional schematic diagram of the cleaning head in the raised position provided by an embodiment of the present disclosure.

[0063] Figure 9 Schematic view of the cleaning head in a first cleaning position according to an embodiment of the present disclosure.

[0064] Figure 10 Front view of the cleaning head in a first cleaning position according to an embodiment of the present disclosure.

[0065] Figures 11-18 Schematic view of the process of separating the cleaning head from the device body by moving the lifting member according to an embodiment of the present disclosure.

[0066] Figure 19 Schematic view of the cleaning head in a first cleaning position according to an embodiment of the present disclosure.

[0067] Figure 20 Schematic view of the mounting member according to an embodiment of the present disclosure.

[0068] Figure 21 Schematic view of the rotating member according to an embodiment of the present disclosure.

[0069] Figure 22 Schematic view of the rotating member from another perspective according to an embodiment of the present disclosure.

[0070] Figure 23 Schematic view of the fixing member and the middle shell according to an embodiment of the present disclosure.

[0071] Figure 24 Schematic view of the lifting member according to an embodiment of the present disclosure.

[0072] Figure 25 Schematic view of the lifting member from another perspective according to an embodiment of the present disclosure.

[0073] Figure 26 Schematic view of the cleaning head in a second cleaning position according to an embodiment of the present disclosure.

[0074] Figure 27 Front view of the cleaning head in a second cleaning position according to an embodiment of the present disclosure.

[0075] Figure 28 Schematic view of the cleaning head in a second cleaning position according to an embodiment of the present disclosure.

[0076] Figure 29 Schematic view of the sliding connecting member, the elastic member and the mounting member according to an embodiment of the present disclosure.

[0077] Figure 30 Schematic view of the sliding connecting member according to an embodiment of the present disclosure.

[0078] Figure 31 A perspective view of the mount provided for an embodiment of the present disclosure.

[0079] Figure 32 A top view of the sliding connector provided for an embodiment of the present disclosure.

[0080] Figure 33 A bottom view of the sliding connector provided for an embodiment of the present disclosure.

[0081] Figure 34 A perspective view of the bottom shell provided for an embodiment of the present disclosure.

[0082] Figure 35 A perspective view of the snap ring provided for an embodiment of the present disclosure.

[0083] Figure 36 A perspective view of the stopper provided for an embodiment of the present disclosure.

[0084] Figure 37 A perspective view of the lift mechanism upstroke detection assembly provided for an embodiment of the present disclosure.

[0085] Figure 38 A perspective view of the lift mechanism upstroke detection assembly provided for an embodiment of the present disclosure.

[0086] Figure 39 An exploded perspective view of the lift mechanism upstroke detection assembly provided for an embodiment of the present disclosure.

[0087] Figure 40 A perspective view of the inductive switch when the lifting member is in the first position provided for an embodiment of the present disclosure.

[0088] Figure 41 A perspective view of the inductive switch when the lifting member is away from the first position provided for an embodiment of the present disclosure.

[0089] Figure 42 A perspective view of the cleaning head turned to the front of the device body by the swing arm provided for an embodiment of the present disclosure.

[0090] Figure 43 A perspective view of the cleaning head turned to the back of the device body by the swing arm provided for an embodiment of the present disclosure.

[0091] BRIEF DESCRIPTION OF THE DRAWINGS:

[0092] 10, cleaning device; 20, base station; 30, device body; 40, cleaning head; 410, tray portion; 420, rotating shaft portion; 430, second magnetic member; 50, lifting mechanism; 511, top cover; 512, middle shell; 513, bottom shell; 5130, annular clamping groove; 5131, limiting protrusion; 5132, annular protrusion; 514, first accommodating space; 515, second accommodating space; 516, third accommodating space; 521, fixing member; 522, lifting member; 5220, limiting clamping groove; 523, mounting member; 5231, sliding groove; 5232, positioning protrusion; 5233, clamping table; 5234, clamping ring; 524, rotating member; 5241, sliding block; 525, first gear; 526, third gear; 527, second transmission gear set; 53, first driving assembly; 531, first driver; 5321, driving gear; 5322, first connecting gear; 5323, second connecting gear; 5324, driven gear; 533, second gear; 54, sliding connecting member; 541, elastic clamping arm; 542, mounting structure; 543, protrusion structure; 55, elastic member; 56, first magnetic member; 571, first bearing; 572, second bearing; 573, third bearing; 58, first limiting member; 581, clamping protrusion; 59, sealing member; 60, stroke detection assembly; 610, rotary grating; 620, photoelectric sensing member; 630, assembling member; 70, non-contact sensing switch; 710, transmitter; 720, receiver. DETAILED DESCRIPTION

[0093] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any

[0094] Although relative terms such as "upper," "lower," etc. are used herein to describe one component's relationship to another component of a device, such terminology is used for convenience only when describing the figures and does not imply that the device will be used in that orientation. It will be understood that, when the device is turned over, the component described as being "upper" will then be "lower." When a structure is "on" another structure, it can be directly on the other structure or "indirectly" on the other structure by way of another structure.

[0095] The terms "one", "a", "an", "said", and "the" are used to indicate the presence of one or more elements / supplements / etc.; the terms "include" and "have" are used to indicate an open-ended inclusion and refer to the presence of additional elements / supplements / etc. in addition to the listed elements / supplements / etc.; the terms "first", "second", and "third" are used only as labels and are not a limitation on the number of objects.

[0096] Embodiments of the present disclosure provide a cleaning system, such as Figures 1-3 As shown, the cleaning system includes a cleaning device 10 and a base station 20. The cleaning device 10 can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc.; the cleaning device 10 can include a device body 30, a driving module, a sensing module, a control module, a cleaning module, an energy module, and a human-computer interaction module, etc. The base station 20 is used to dock the cleaning device 10, i.e. the cleaning device 10 can be parked, and the cleaning device 10 can perform functions such as charging, self-cleaning, parking, sewage discharge, and water replenishment on the base station 20.

[0097] In an embodiment, the device body 30 is configured to automatically move along a target direction on a travel surface, which can be a surface to be cleaned by the cleaning device 10. The cleaning device 10 can be a sweeping and mopping integrated robot, and the cleaning device 10 works on the ground.

[0098] In an embodiment, the driving module includes a driving wheel assembly, and the driving module can control the left wheel and the right wheel simultaneously. In order to more accurately control the movement of the robot, the driving module preferably includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 30.

[0099] In an embodiment, in order to enable the automatic cleaning device 10 to move more stably on the ground or have stronger movement ability, the automatic cleaning device 10 can include one or more steering wheels; the steering wheel can be a driven wheel or a driving wheel, and its structural form includes but is not limited to a universal wheel, and the steering wheel can be located in front of the driving wheel assembly. A driving motor provides power for the driving wheel assembly and / or the steering wheel.

[0100] In an embodiment, the perception module includes a position determining device located above the device body 30, a bumper located at the front part of the device body 30, a cliff sensor and an ultrasonic sensor located at the bottom of the device body 30, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and the like, which provide various position information and motion state information of the device body 30 to the control module. For example, the front part of the device body 30 is provided with a bumper, and when the driving wheel assembly propels the cleaning device 10 to walk on the ground during the cleaning process, the bumper detects one or more objects in the travel path of the cleaning device 10 through the sensor module, such as a collision sensor, and the cleaning device 10 can control the driving structure to respond to the objects, such as a step, an obstacle, a wall, and the like, for example, to cross the step.

[0101] In an embodiment, the control module can comprehensively judge the current working state of the robot, such as climbing a step, passing a threshold, being on a carpet, being stuck at a cliff, being lifted up or down, being full of dust, and the like, based on the distance information, speed information, and the like, fed back by the bumper, the cliff sensor and the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and the like, and can give specific next action strategies for different situations, so that the work of the cleaning device 10 is more in line with the requirements of the owner, and the user experience is better. Further, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 10.

[0102] In an embodiment, the energy module includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The host machine is connected with the charging pile for charging through the charging electrode arranged on the side or the bottom of the machine body.

[0103] In an embodiment, the human-computer interaction module includes keys on the host panel, which are used for the user to select functions; can also include a display screen and / or an indicator light and / or a loudspeaker, which show the current state of the machine or the function selection items to the user; and can also include a mobile phone client program. For the path navigation type cleaning device 10, the mobile phone client can show the user the map of the environment where the device is located, and the position of the machine, and can provide more rich and personalized function items to the user.

[0104] In an embodiment, the cleaning module can include a dry cleaning module, or a dry and wet cleaning module. Among them, the dry cleaning module can include a rolling brush assembly, an edge brush, etc., and the wet cleaning module can include the cleaning head 40, a water tank, etc.

[0105] At present, the lifting mechanism is widely used in the cleaning components of the cleaning device 10; in the related art, the lifting mechanism usually adopts a connecting rod and slider scheme, for example, by connecting the connecting rod and the slider together to transmit the movement; the connecting rod and slider scheme often has a large volume ratio, and needs to occupy additional space in the device body 30; at the same time, the lifting mechanism cannot adjust the ground pressure of the cleaning head, resulting in poor cleaning effect.

[0106] In view of the above technical problems, the present disclosure provides a cleaning module, as shown in Figures 4-19 As shown, the cleaning module includes a lifting mechanism 50 and a cleaning head 40, the lifting mechanism 50 includes a fixing piece 521, a lifting piece 522, a mounting piece 523 and a first driving assembly 53, the first driving assembly 53 is configured to drive the lifting piece 522 to rotate forward or reverse, the lifting piece 522 is rotationally connected with the fixing piece 521 and can reciprocate along the axial direction of rotation between the first position and the second position relative to the fixing piece 521; the mounting piece 523 is limitingly connected with the lifting piece 522 in the axial direction and can reciprocate along the axial direction under the driving of the lifting piece 522; the cleaning head 40 is connected with the mounting piece 523, and the cleaning head 40 is used for cleaning the surface to be cleaned; the lifting piece 522 has a first cleaning position and a second cleaning position between the first position and the second position, and the cleaning pressure of the cleaning head 40 on the surface to be cleaned when the lifting piece 522 is located at the first cleaning position is less than the cleaning pressure of the cleaning head 40 on the surface to be cleaned when the lifting piece 522 is located at the second cleaning position.

[0107] The cleaning head 40 is connected with the device body 30 through the lifting mechanism 50, and the cleaning head 40 can be located at a raised position close to the device body 30 or at a lowered position close to the cleaning surface under the driving of the lifting mechanism 50. By lifting or lowering the cleaning head 40, when the device body 30 moves and the cleaning head 40 does not need to perform cleaning work, for example, when obstacle crossing is performed, the cleaning head 40 can be avoided to cause obstruction, and the passing rate of obstacle crossing is improved. When the dry cleaning module and the wet cleaning module are arranged on the cleaning module, in the case of using a single cleaning mode, the wet or dry cleaning head 40 can be lifted to improve the cleaning efficiency. The cleaning module provided by the present disclosure is rotatably connected with the fixing member 521 and can reciprocate along the axial direction of rotation between the first position and the second position relative to the fixing member 521. The mounting member 523 is limitingly connected with the lifting member 522 in the axial direction and can reciprocate along the axial direction under the driving of the lifting member 522. When the lifting member 522 moves towards the first position, the cleaning head 40 can be driven to move towards the raised position, so that the cleaning head 40 can be located at the raised position under the driving of the mounting member 523. When the lifting member 522 moves towards the second position, the cleaning head 40 can be driven to move towards the lowered position, so that the cleaning head 40 can be located at the lowered position under the driving of the mounting member 523. That is, the structure for driving the cleaning head 40 to move up and down is rotatably connected, and only moves in the height direction of the device body 30, so that the lifting mechanism 50 is compact in structure and occupies small space, and the space utilization rate of the cleaning device 10 can be improved. At the same time, when the lifting member 522 moves towards the second position, it can be located at the first cleaning position and the second cleaning position. When the lifting member 522 is lowered to the first cleaning position, the cleaning pressure of the cleaning head 40 on the surface to be cleaned is smaller than that when the lifting member 522 is located at the second cleaning position. Therefore, the cleaning pressure of the cleaning head 40 on the surface to be cleaned can be adjusted by adjusting the lowered position of the lifting member 522.

[0108] It should be noted that the first position and the second position are the highest position and the lowest position of the lifting member, and between the first position and the second position, there are also the first cleaning position and the second cleaning position, and a third cleaning position can also be included to realize more levels of cleaning pressure adjustment, which is not limited by the present disclosure. When the cleaning head 40 is lifted or lowered under the driving of the lifting mechanism 50, the reciprocating distance between the raised position and the lowered position can be calibrated according to the lowest point of the contact between the cleaning device 10 and the cleaning surface, for example, the lowest point of the contact between the cleaning head 40 and the cleaning surface is closer to the cleaning surface relative to the lowest point of the contact between other parts of the cleaning device 10 and the cleaning surface, so that the cleaning head 40 can be in close contact with the cleaning surface to improve the cleaning effect. When the cleaning head 40 is in the raised position, it is spaced apart from the cleaning surface by a predetermined distance, and the device body 30 can be closely arranged, so as to avoid the entry of foreign matter into the gap between the cleaning head 40 and the device body 30 when the gap is large.

[0109] In an embodiment, the lifting member 522 has a third position between the first position and the second position, and the cleaning head 40 is detachably connected with the lifting member 522; as shown in FIG. 6, when the lifting member 522 is located at the second position or a side close to the second position and moves to the third position, the cleaning head 40 abuts against the device body 30; as shown in FIG. 7, when the lifting member 522 moves from the third position to the first position or to a fourth position between the first position and the third position, the cleaning head 40 is separated from the lifting member 522. Figures 11-13 Figures 14-16 Figure 17 Figure 18

[0110] When the cleaning head 40 needs to be replaced after use, the above separation action of the cleaning head 40 is performed after the cleaning device 10 returns to the base station 20, and the lifting member 522 is controlled to move towards the first position. When the lifting member 522 moves to the third position, the cleaning head 40 abuts against the device body 30 and cannot continue to move upwards with the lifting member 522. At this time, when the lifting member 522 continues to move towards the first position, the part of the cleaning head 40 connected with the lifting member 522 starts to separate, until the lifting member 522 moves to the first position or a fourth position close to the first position, the cleaning head 40 is completely separated from the lifting member 522, thereby achieving the purpose of automatically separating the cleaning head 40 from the whole machine; as shown in FIG. 7, when the first magnetic member 56 and the second magnetic member 430 are used to achieve the magnetic attraction connection between the cleaning head 40 and the lifting member 522, the magnetic force between the first magnetic member 56 and the second magnetic member 430 is overcome during the separation of the cleaning head 40, thereby facilitating the smooth separation of the cleaning head 40 from the device body 30 after abutting against the device body 30 and the mounting member 523, and avoiding the need for the user to manually remove the cleaning head 40, especially when the cleaning head 40 is dirty after use, which seriously affects the user experience. Therefore, the cleaning device provided by the present disclosure can improve the user experience and thus improve the market competitiveness of the product. Figure 8

[0111] In an embodiment, the lifting member 522 has a fifth position between the third position and the second position; when the cleaning head 40 is in a separated state and the positions correspond, for example, when the cleaning device 10 is located on the base station 20 and the cleaning head 40 is placed in the cleaning tank of the base station 20, the lifting member 522 is controlled to move from one side of the third position to one side of the fifth position, the cleaning head 40 is connected with the lifting member 522, and when the lifting member 522 moves to the fifth position, the cleaning head 40 is connected with the lifting member 522 in place, and the cleaning head 40 is in a mounted state, thereby completing the installation of the cleaning head 40.

[0112] In an embodiment, as shown in FIG. 8, the first magnetic member 56 and the second magnetic member 430 are arranged on the lifting member 522 and the cleaning head 40 respectively, and the first magnetic member 56 and the second magnetic member 430 are arranged on the same side of the lifting member 522 and the cleaning head 40 respectively. Figure 8 Figure 19 ​​​​​​As shown, the cleaning module further comprises a rotating member 524 and a second driving assembly, the rotating member 524 is limitingly connected with the mounting member 523 in the rotating direction, and the second driving assembly is configured to drive the rotating member 524 to rotate, so as to drive the cleaning head 40 to rotate through the mounting member 523. The mounting member 523 is slidingly connected with the lifting member 522 in the axial direction and can reciprocate along the axial direction of the lifting member 522 under the driving of the lifting member 522; the mounting member 523 can rotate relative to the lifting member 522, that is, when the mounting member 523 reciprocates along the axial direction under the driving of the lifting member 522, the mounting member 523 and the lifting member 522 can also rotate relative to each other; then through the rotating member 524, the mounting member 523 can be driven to rotate, and at this time the lifting member 522 can not reciprocate or rotate, that is, the lifting member 522 can be in a static state. For example, when the cleaning head 40 is in the lowered position and performs the cleaning operation, the second driving assembly can be used to drive the mounting member 523 to rotate, so as to drive the cleaning head 40 to rotate and perform the cleaning operation.

[0113] The cleaning head 40 comprises a supporting plate part 410 and a rotating shaft part 420, and the cleaning head 40 is detachably connected with the mounting member 523 through the rotating shaft part 420, for example, is connected through plug-in connection, magnetic attraction connection, clamping connection or the like. The supporting plate part 410 can be provided with a mop, and the cleaning head 40 can be driven to rotate, so as to effectively mop and wipe the cleaning surface through the rotating mop, thereby improving the cleaning effect. It can be understood that the cleaning head 40 can be used for dry cleaning or wet cleaning, and the cleaning head 40 used for wet cleaning is for example a rotating mop, a vibrating mop or the like, and the cleaning head 40 used for dry cleaning is for example a side brush, a main brush or the like, which can be set as required, and the present disclosure does not limit the same.

[0114] In an embodiment, when the lifting member 522 moves to the third position, the supporting plate part 410 of the cleaning head 40 abuts against the equipment body 30, and when the lifting member 522 continues to move towards the first position, the rotating shaft part 420 can be separated from the mounting member 523 through the abutting force provided by the supporting plate part 410 and the equipment body 30, until the lifting member 522 moves to the first position or a fourth position close to the first position, so that the rotating shaft part 420 is completely separated from the mounting member 523, thereby achieving the automatic detachment of the cleaning head 40. The area of the supporting plate part 410 is relatively large, and therefore the abutting force provided by the supporting plate part 410 and the equipment body 30 is relatively stable.

[0115] In an embodiment, the equipment body 30 comprises a bottom shell, and when the lifting member 522 is located at the third position, the supporting plate part 410 abuts against the bottom shell, and the rotating shaft part 420 is separated from the mounting member 523 through the abutting force provided by the supporting plate part 410 and the bottom shell of the equipment body 30. In another embodiment, the equipment body 30 can also comprise a limiting structure, and when the lifting member 522 is located at the third position, the supporting plate part 410 abuts against the limiting structure, and the rotating shaft part 420 is separated from the mounting member 523 through the abutting force provided by the supporting plate part 410 and the limiting structure of the equipment body 30.

[0116] In one embodiment, such as Figure 8 and Figure 19 As shown, the rotating component 524 is fitted onto the mounting component 523, the fixing component 521 is fitted onto the rotating component 524, and the lifting component 522 is fitted onto the fixing component 521. This fitting method assembles the fixing component 521, rotating component 524, lifting component 522, and mounting component 523 together. When the cleaning head 40 moves to the raised position, the fixing component 521, rotating component 524, and mounting component 523 essentially overlap in the height direction, thus reducing the space required in the height direction. In the width direction, the lifting component 522 is located on the outermost side, while the fixing component 521, rotating component 524, and mounting component 523 are located within the lifting component 522, occupying only the width of one lifting component 522 in the width direction. This makes the motion mechanism structure formed by the fixing component 521, rotating component 524, and mounting component 523 compact and space-saving.

[0117] In one embodiment, such as Figures 20-22 As shown, the outer peripheral surface of the mounting component 523 is provided with a sliding groove 5231 extending along the axial direction, and the inner wall of the rotating component 524 is provided with a slider 5241, which is located in the sliding groove 5231, thereby realizing the upper limit connection between the rotating component 524 and the mounting component 523 in the rotation direction.

[0118] The slider 5241 and the slide groove 5231 simultaneously form a guide for the up-and-down movement of the mounting part 523. Multiple sliders 5241 and slide grooves 5231 can be set to enhance the guiding effect and thus improve the stability of the mounting part 523 when it moves relative to the rotating part 524.

[0119] In one embodiment, such as Figures 23-25 As shown, the fixing member 521 has an external thread, and the lifting member 522 has an internal thread. The fixing member 521 and the lifting member 522 are threadedly connected. By providing threads on the fixing member 521 and the lifting member 522, the fixing member 521 and the lifting member 522, which are sleeved together, form a screw and nut structure. This allows the lifting member 522 to move up and down along the axial direction of the fixing member 521 by rotating on the fixing member 521. At the same time, by controlling the rotation angle, the up and down movement distance of the lifting member 522 can be precisely controlled, thereby improving the accuracy of the position control of the cleaning head 40.

[0120] Among them, such as Figure 19 As shown, a first bearing 571 is provided between the inner ring of the rotating component 524 and the top cover 511, and a second bearing 572 is provided between the outer ring of the rotating component 524 and the fixed component 521, so as to realize the rotation and reassembly of the rotating component 524.

[0121] In one embodiment, such as Figure 21And Figure 22 As shown in FIG. 5, the outer circumferential surface of the rotating member 524 is provided with a third gear 526, and the second driving assembly drives the third gear 526 to rotate, thereby driving the rotating member 524 to rotate.

[0122] The third gear 526 and the rotating member 524 can be integrally formed, which can improve the coaxiality of the third gear 526 and the rotating member 524, reduce the assembly procedure, improve the structural strength, and reduce the cost. Of course, the third gear 526 can be sleeved on the rotating member 524 and can be fixedly connected through bonding, clamping, welding or the like. The present disclosure does not limit this.

[0123] The second driving assembly includes a second driver and a second transmission gear set 527. The second driver can be a driving motor, and the second driver is in transmission connection with the third gear 526 through the second transmission gear set 527. By providing the second transmission gear set 527, the rotational speed ratio between the third gear 526 and the second driver can be set, and the position of the second driver can be adjusted, so that the second driver is closely arranged with other components, the structural compactness between components is improved, and the space utilization is improved.

[0124] In an embodiment, as shown in FIG. 5, Figure 24 And Figure 25 As shown in FIG. 5, the outer circumferential surface of the lifting member 522 is provided with a first gear 525, and the first driving assembly 53 is configured to drive the first gear 525 to rotate, so as to drive the lifting member 522 to rotate.

[0125] The first driving assembly 53 includes a first driver 531 and a second gear 533. The first driver 531 is configured to drive the second gear 533 to rotate. The second gear 533 is in meshing connection with the first gear 525. The width of the teeth of at least one of the second gear 533 and the first gear 525 in the axial direction is greater than or equal to the distance between the first position and the second position, so that the second gear 533 can drive the lifting member 522 to move between the first position and the second position through the first gear 525. The first driver 531 can be a driving motor, which is convenient for automatic control.

[0126] The first gear 525 is located on the lifting piece 522 away from the cleaning head 40 in the axial direction, and the width of the gear teeth of the second gear 533 in the axial direction is greater than the distance between the first position and the second position, that is, the first gear 525 is driven to move relative to the second gear 533 under the driving of the lifting piece 522, and when the lifting piece 522 reciprocates between the first position and the second position, the first gear 525 is always engaged with the second gear 533. At the same time, the first gear 525 is located on the lifting piece 522 away from the cleaning head 40 in the axial direction, that is, the second gear 533 drives the end of the lifting piece 522 away from the cleaning head 40 in the axial direction to move up and down, so that the second gear 533 moves close to the end of the lifting piece 522 away from the cleaning head 40 in the axial direction, that is, it is arranged close to the device body 30 on the thickness direction of the device body 30, which is compact in structure and avoids occupying additional space.

[0127] The first gear 525 and the lifting piece 522 can be integrally formed, which can improve the coaxiality of the first gear 525 and the lifting piece 522, reduce the assembly procedure, improve the structural strength, and reduce the cost. Of course, the first gear 525 can be sleeved on the lifting piece 522 and can be fixedly connected by bonding, clamping, welding or the like, which is not limited in the present disclosure.

[0128] In an embodiment, the first driving assembly 53 further comprises a first transmission gear set, and the first driver 531 is in transmission connection with the second gear 533 through the first transmission gear set. By arranging the first transmission gear set, the speed ratio between the second gear 533 and the first driver 531 can be set, and the position of the first driver 531 can be adjusted to closely arrange the first driver 531 with other components, improve the structural compactness between components, and improve the space utilization. The first transmission gear set can include a worm arranged on the output shaft of the first driver 531 and a turbine connecting the worm and the second gear 533, and the part of the turbine engaged with the second gear 533 can be a bevel gear.

[0129] In an embodiment, as shown in Figures 26-29 The sliding connecting piece 54 is located in the mounting piece 523 and can move in the axial direction and is in limiting connection with the mounting piece 523 in the circumferential direction; the cleaning head 40 is connected with the sliding connecting piece 54; the elastic member 55 is located between the sliding connecting piece 54 and the mounting piece 523; when the mounting piece 523 moves towards the sliding connecting piece 54 in the axial direction, the elastic member 55 can be compressed.

[0130] When the lifting member 522 is lowered to the first cleaning position to bring the cleaning head 40 into contact with the ground, if the lifting member 522 continues to be lowered towards the second cleaning position, the mounting member 523 can be moved relative to the sliding connecting member 54 to press the elastic member 55, and the elastic restoring force of the elastic member 55 can be used to increase the cleaning pressure of the cleaning head 40 on the surface to be cleaned, so as to adjust the cleaning pressure of the cleaning head 40 on the surface to be cleaned and improve the cleaning effect. At the same time, when the lifting member 522 stops moving, if the cleaning head 40 is subjected to an external force, for example, when the cleaning head 40 encounters an uneven cleaning surface during cleaning, the cleaning head 40 can move upward to compress the spring, so as to form a buffering effect through the elastic member 55.

[0131] When the cleaning head 40 is not subjected to an external force, the elastic member 55 is in a compressed state, that is, the elastic member 55 provides an elastic force to the cleaning head 40 towards the cleaning surface, so that the cleaning head 40 is subjected to an initial downward pressure relative to the mounting member 523 when not subjected to an external force. When the external force acting on the cleaning head 40 is greater than the initial downward pressure, the cleaning head 40 compresses the elastic member 55 to move towards the raised position.

[0132] When the cleaning head 40 is not subjected to an external force, the gap between the supporting plate part 410 of the cleaning head 40 and the opposite part of the lifting member 522 in the axial direction allows the lifting member 522 to move axially towards the lifting mechanism 50 by a predetermined distance.

[0133] As shown in Figure 28 , the supporting plate part 410 of the cleaning head 40 can be sunken around the rotating shaft part 420, that is, the remaining area of the supporting plate part 410 can be arranged towards the device body 30, so as to reduce the overall thickness of the cleaning module.

[0134] In an embodiment, an axial limiting structure is arranged between the sliding connecting member 54 and the mounting member 523, and the axial limiting structure is used to limit the axial exit of the sliding connecting member 54 from the mounting member 523. As shown in Figures 29-31 , the top of the sliding connecting member 54 is provided with an elastic clamping arm 541, and the inner wall of the mounting member 523 is provided with a clamping table 5233 matched with the elastic clamping arm 541; when the sliding connecting member 54 is assembled into the mounting member 523, the elastic clamping arm 541 can be located on the side of the clamping table 5233 towards the top of the mounting member 523 through the deformation of the elastic clamping arm 541, so as to limit the elastic clamping arm 541 through the clamping table 5233, and further limit the exit of the sliding connecting member 54 from the mounting member 523, so that the sliding connecting member 54 can be lifted and slid between the clamping table 5233 and the top of the mounting member 523.

[0135] As shown in Figures 29-31As shown, the mounting space formed by the mounting member 523 is hexagonal, and the sliding connecting member 54 is also hexagonal, and the hexagonal space and the hexagonal structure are matched to limit the sliding connecting member 54 in the mounting space of the mounting member 523 in the rotating direction. It can be understood that the mounting space formed by the mounting member 523 can also be rectangular or triangular, and the sliding connecting member 54 can also be rectangular or triangular, and the shape of the mounting space formed by the mounting member 523 and the shape of the sliding connecting member 54 can be the same or different, and the mounting space formed by the mounting member 523 and the sliding connecting member 54 can be limited in the rotating direction, and the present disclosure does not limit this.

[0136] As shown in Figure 29 , the elastic member 55 can be a spring, and the mounting member 523 and the sliding connecting member 54 are both formed with a spring containing space, a part of the spring is arranged in the containing space of the mounting member 523 and abuts against the top of the mounting member 523, and the other part of the spring is arranged in the containing space of the sliding connecting member 54 and abuts against the bottom of the sliding connecting member 54, forming an assembly of the spring.

[0137] As shown in Figure 31 and Figure 32 , the bottom of the mounting member 523 is formed with a plurality of positioning protrusions 5232, which circumscribe to limit the ends of the elastic member 55 and prevent them from moving left and right. The bottom of the sliding connecting member 54 can be provided with a plurality of protruding structures 543, and the other end of the elastic member 55 can be located on the plurality of protruding structures 543.

[0138] In an embodiment, as shown in Figure 29 and Figure 33 , the bottom of the sliding connecting member 54 is provided with a mounting structure 542, by which the first magnetic member 56 can be limited at the bottom of the sliding connecting member 54. The mounting structure 542 can include a tapered structure, and the first magnetic member 56 is sleeved on the mounting structure 542, so as to form a limiting assembly of the first magnetic member 56 through the tapered structure.

[0139] In an embodiment, the cleaning module further comprises a housing, the housing is formed with a first containing space 514, the fixing member 521, the lifting member 522 and the mounting member 523 are located in the first containing space 514, and when the lifting member 522 reciprocates between the first position and the second position through the opening of the first containing space 514, it can extend out of or retract into the containing space through the opening. Through the housing, the lifting mechanism 50 is protected, so as to avoid sewage, sundries and the like from entering the lifting mechanism 50 during the cleaning operation or during the self-cleaning of the base station 20, and the stability and service life of the lifting mechanism 50 are improved.

[0140] As shown in Figure 28As shown, the housing can be formed by combining a top cover 511, a middle shell 512 and a bottom shell 513 to facilitate the assembly of each component on the housing.

[0141] Among them, such as Figure 23 As shown, the fastener 521 is located in the first receiving space of the middle shell 512. The fastener 521 and the middle shell 512 can be integrally formed. Since the outer circumferential surface of the fastener 521 is threaded, the coaxiality of the fastener 521 and the lifting member 522 can be improved, reducing assembly procedures, increasing structural strength, and reducing costs. Of course, the fastener 521 can also be fixedly connected to the middle shell 512 by means of bonding, snap-fitting, welding, etc., and this disclosure does not limit this.

[0142] In one embodiment, the cleaning module further includes a seal 59, which is disposed on the housing and located at the opening. The seal 59 is configured to seal the gap between the housing and the lifting member 522, i.e., the gap between the bottom shell 513 and the lifting member 522. When the lifting member 522 moves toward the second position relative to the fixed member 521, it extends out of the bottom shell 513 through the opening. By providing the seal 59 between the bottom shell 513 and the lifting member 522, the gap between the opening of the bottom shell 513 and the lifting member 522 can be sealed, preventing sewage or foreign objects from entering the bottom shell 513, thereby improving the reliability of the lifting mechanism 50.

[0143] Among them, the sealing element 59 can be a rubber sealing ring. Since the sealing element 59 is fixedly installed at the opening of the bottom shell 513, the sealing element 59 is in close contact with the outer peripheral surface of the lifting element 522 to form a sealing effect. The rubber sealing ring can provide good sealing performance, and at the same time has a good service life and good economic maintenance in the later stage.

[0144] Among them, such as Figure 34 As shown, an annular groove 5130 for assembling the seal 59 can be provided at the opening of the bottom shell 513. The seal 59 is placed in the annular groove 5130, forming a limiting assembly of the seal 59 in the axial direction of the lifting member 522, preventing it from moving axially under the frictional force generated by the lifting member 522, and improving the sealing effect of the seal 59. The annular groove 5130 can be formed by an annular boss 5132 extending from the inner wall of the opening of the bottom shell 513 and multiple limiting protrusions 5131. The seal 59 is limited and assembled in the annular groove 5130 between the annular boss 5132 and the multiple limiting protrusions 5131.

[0145] The annular sealing member 59 is provided with a plurality of sealing convex rings towards the upper inner circumferential surface of the lifting member 522, i.e. a plurality of annular sealing surfaces are formed between the sealing member 59 and the outer circumferential surface of the lifting member 522, so as to improve the sealing effect; at the same time, the deformation ability of the sealing member 59 is improved, and the fit degree when abutting against the outer circumferential surface of the lifting member 522 is further improved, so as to further improve the sealing effect.

[0146] In an embodiment, the shell is further formed with a second accommodating space 515, and the first driving assembly 53 is arranged in the second accommodating space 515. The first driving assembly 53 is assembled on the middle shell 512, i.e. the second accommodating space 515 is formed on the middle shell 512, so as to protect the first driving assembly 53, avoid sewage, sundries and the like from entering the first driving assembly 53 during the cleaning operation or the self-cleaning process of the base station 20, and improve the stability and service life of the first driving assembly 53.

[0147] In an embodiment, the shell is further formed with a third accommodating space 516, and the second driving assembly is arranged in the third accommodating space 516. The first driving assembly 53 is assembled on the middle shell 512 and the top cover 511, i.e. the third accommodating space 516 is formed by cooperation of the middle shell 512 and the top cover 511, so as to protect the second driving assembly, avoid sewage, sundries and the like from entering the second driving assembly during the cleaning operation or the self-cleaning process of the base station 20, and improve the stability and service life of the second driving assembly.

[0148] The shell is used to seal and assemble the lifting mechanism 50, the first driving assembly 53 and the second driving assembly, so that the functional assemblies are basically positioned in the shell, the overall structure of the cleaning module is compact, and the space utilization rate is high.

[0149] In an embodiment, as shown in Figure 28 , the mounting member 523 and the lifting member 522 are provided with a third bearing 573, and the mounting member 523 and the lifting member 522 are rotatably connected through the third bearing 573. The third bearing 573 includes an inner ring and an outer ring.

[0150] In an embodiment, as shown in Figure 28 , Figure 29 , Figure 35 and Figure 36As shown, the cleaning module also includes a first limiting member 58, which is connected to the end of the lifting member 522 near the cleaning head 40. The locking platform on the inner wall of the lifting member 522 and the first limiting member 58 form an axial clamping and limiting of the outer ring of the third bearing 573. The cleaning module also includes a second limiting member, such as a retaining ring 5234, which is sleeved on the mounting member 523 and is axially engaged with the mounting member 523. The retaining ring 5234 and the locking platform on the outer circumferential surface of the mounting member 523 form a clamping and limiting of the inner ring of the third bearing 573, thereby enabling the mounting member 523 and the lifting member 522 to achieve axial limiting connection through the third bearing 573, so as to move synchronously along the axial direction.

[0151] The retaining ring 5234 has an opening, and a retaining groove is formed on the outer peripheral surface of the mounting member 523. The retaining ring 5234 is located in the retaining groove, forming a limiting assembly of the retaining ring 5234 on the mounting member 523.

[0152] Among them, such as Figure 25 and Figure 36 As shown, multiple limiting slots 5220 are formed on the lifting member 522, and multiple locking protrusions 581 are formed on the first limiting member 58. The multiple locking protrusions 581 are located one-to-one in the multiple limiting slots 5220, realizing the locking engagement between the first limiting member 58 and the lifting member 522. At the same time, after the first limiting member 58 and the lifting member 522 are locked together, it also limits the axial retraction of the mounting member 523 from the lifting member.

[0153] In one embodiment, such as Figure 37 and Figure 38 As shown, the cleaning equipment also includes a stroke detection component 60 and a control unit. The stroke detection component 60 is configured to acquire the rotational stroke of the output shaft of the first driver 531 and / or the rotational stroke of the transmission component in the first transmission assembly. The control unit is configured to control the height of the lifting component between a first position and a second position based on the rotational stroke.

[0154] By setting up the stroke detection component 60 and the control unit, the rotational stroke of the output shaft of the first driver 531 and / or the rotational stroke of any transmission component in the first transmission assembly can be detected. Then, by controlling the rotational stroke of the output shaft and / or the rotational stroke of any transmission component in the first transmission assembly through the control unit, the lifting stroke of the lifting component 522 can be indirectly controlled, thereby achieving precise driving of the lifting component 522. This allows the cleaning head 40 to stop precisely at the required height, ultimately achieving precise adjustment of the ground pressure of the cleaning head 40 to improve the cleaning effect.

[0155] In an embodiment, when the lifting member 522 needs to be lifted or lowered by a preset distance, the control unit can determine a target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the preset distance. At this time, the first driver 531 is controlled to drive by the control unit, and the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly is detected by the stroke detection assembly 60. When the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver 531 to stop driving, so that the lifting member 522 stops lifting or lowering after lifting or lowering by the preset distance, thereby achieving accurate driving of the lifting member 522.

[0156] In an embodiment, when the lifting member 522 needs to be lifted or lowered by a preset distance, the control unit can determine a target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the preset distance. At this time, the first driver 531 is controlled to drive by the control unit, and the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly is detected by the stroke detection assembly 60. When the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver 531 to stop driving, so that the lifting member 522 stops lifting or lowering after lifting or lowering by the preset distance, thereby achieving accurate driving of the lifting member 522.

[0157] It can be understood that when the control unit determines the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the preset distance, the target rotation stroke is determined in combination with the transmission ratio between the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly and the lifting member 522.

[0158] In an embodiment, when the lifting member 522 needs to be lifted or lowered by a preset distance, the control unit can determine a target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the preset distance. At this time, the first driver 531 is controlled to drive by the control unit, and the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly is detected by the stroke detection assembly 60. When the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver 531 to stop driving, so that the lifting member 522 stops lifting or lowering after lifting or lowering by the preset distance, thereby achieving accurate driving of the lifting member 522.

[0159] In an embodiment, the stroke detection assembly 60 includes a stroke sensor, which can be a Hall effect sensor, an optical stroke sensor, a magneto-electric stroke sensor, an absolute encoder, or an incremental encoder.

[0160] In an embodiment, the stroke detection assembly 60 comprises a rotating part and a sensing part, the stroke detection assembly 60 is configured to obtain the rotating stroke of the output shaft of the first driver 531, the rotating part is connected with the rotating shaft of the first driver, and the sensing part is configured to obtain the rotating stroke of the rotating part.

[0161] In an embodiment, the stroke detection assembly 60 comprises a rotating part and a sensing part, the stroke detection assembly 60 is configured to obtain the rotating stroke of the transmission member in the first transmission assembly, the rotating part is connected with the transmission member in the first transmission assembly, and the sensing part is configured to obtain the rotating stroke of the rotating part.

[0162] In an embodiment, the rotating part comprises a rotary grating, the rotary grating is fixedly connected with the rotating shaft of the first driver or the transmission member, and rotates synchronously with the rotating shaft of the first driver or the transmission member; the sensing part comprises a photoelectric sensing member, the photoelectric sensing member is fixedly arranged in the lifting mechanism, and the photoelectric sensing member is configured to detect the number of times that the light shielding part of the rotary grating triggers the photoelectric sensing member. After obtaining the number of times that the photoelectric sensing member is triggered, the rotating stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly can be directly determined according to the number of times that the stroke detection assembly is triggered in the rotating process; the number of rotations of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly can be determined through the number of times that the photoelectric sensing member is triggered, and the rotating stroke can be determined through the number of rotations; the rotating angle of the rotary grating can be determined through the number of times that the photoelectric sensing member is triggered, and the rotating stroke can be determined through the rotating angle. In the following, the three determination methods of the rotating stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly will be described in detail.

[0163] In an embodiment, the rotating stroke is the number of times that the stroke detection assembly is triggered in the rotating process of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly. In the following, the stroke detection assembly 60 will be taken as an example to be described in detail.

[0164] As Figure 34As shown, the rotary grating 610 is connected with the rotating shaft of the first driver 531 and rotates synchronously with the rotating shaft of the first driver 531; the photoelectric sensing piece 620 is fixedly arranged on the first driver 531 and is arranged correspondingly with the rotary grating 610, and the photoelectric sensing piece 620 detects the number of times that the light shielding part of the rotary grating 610 triggers the photoelectric sensing piece 620. When the first driver 531 rotates, the rotary grating 610 rotates synchronously with the output shaft of the first driver 531; for example, the rotary grating 610 can be sleeved on the output shaft of the first driver 531. The rotary grating 610 is provided with a light shielding part and at least one light transmitting part, and the photoelectric sensing piece 620 includes an emitter and a receiver. In the rotation process of the rotary grating 610, when the photoelectric sensing piece 620 corresponds to the light shielding part, the signal transmission between the emitter and the receiver of the photoelectric sensing piece 620 is blocked by the light shielding part of the rotary grating 610; when the photoelectric sensing piece 620 corresponds to the light transmitting part of the rotary grating 610, the receiver can receive the signal emitted by the emitter, so that the number of times that the photoelectric sensing piece 620 is triggered can be obtained.

[0165] More specifically, when the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly rotates and triggers the photoelectric sensing piece once, the lifting member 522 moves a distance H between the first position and the second position; when the preset distance that the lifting member 522 needs to lift is K, the control unit determines the number of times L that the stroke detection assembly is triggered and controls the first driver 531 to drive; wherein L=(K / H); when the number of times that the stroke detection assembly is triggered is L, the control unit controls the first driver 531 to stop driving.

[0166] As can be seen, when the lifting height of the lifting member 522 needs to be controlled, the number of times that the photoelectric sensing piece is triggered can be determined to control the rotation stroke, so that the number of times that the photoelectric sensing piece is triggered can be directly detected to realize the driving control of the first driver 531, the driving precision of the first driver 531 can be improved, and the control precision of the lifting height of the cleaning head 40 can be improved, so that the cleaning effect of the cleaning head 40 can be improved.

[0167] In an embodiment, the rotation stroke is the number of rotations of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly. Hereinafter, the stroke detection assembly 60 includes an optical stroke sensor as an example, which is described in detail.

[0168] As Figure 34As shown, the rotary grating 610 is connected with the rotating shaft of the first driver 531 and rotates synchronously with the rotating shaft of the first driver 531; the photoelectric sensing piece 620 is fixedly arranged on the first driver 531 and is arranged correspondingly with the rotary grating 610, and the photoelectric sensing piece 620 detects the number of times of triggering of the light shielding part of the rotary grating 610. When the first driver 531 rotates, the rotary grating 610 rotates synchronously with the output shaft of the first driver 531. The rotary grating 610 is provided with a light shielding part and at least one light transmitting part, and the photoelectric sensing piece 620 includes an emitter and a receiver. In the rotation process of the rotary grating 610, when the photoelectric sensing piece 620 corresponds to the light shielding part, the signal transmission between the emitter and the receiver of the photoelectric sensing piece 620 is blocked by the light shielding part of the rotary grating 610; when the photoelectric sensing piece 620 corresponds to the light transmitting part of the rotary grating 610, the receiver can receive the signal emitted by the emitter, so that the number of times of triggering of the photoelectric sensing piece 620 can be obtained. For example, when the light shielding part of the rotary grating 610 is one, the number of times of triggering of the photoelectric sensing piece 620 is the number of rotations of the rotating shaft or the transmission member of the first driver 531; when the rotary grating 610 has a plurality of light shielding parts, the number of times of triggering of the photoelectric sensing piece 620 by the plurality of light shielding parts in the rotation process is the number of times of triggering of the stroke detection assembly, and when the number of times of triggering of the photoelectric sensing piece 620 is the same as the number of light shielding parts, it is judged that the number of rotations of the rotating shaft or the transmission member of the first driver 531 is one, and by analogy, the control unit can determine the number of rotations of the rotary grating according to the number of times of photoelectricity.

[0169] More specifically, when the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly rotates one circle, the distance that the lifting member 522 moves between the first position and the second position is H; when the preset distance that the lifting member 522 needs to ascend and descend is K, the control unit determines the number of rotations M of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly and controls the first driver 531 to drive; wherein M=(K / H); when the stroke detection assembly detects that the number of rotations of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly is M, the control unit controls the first driver 531 to stop driving.

[0170] As can be seen, when the lifting height of the lifting member 522 needs to be controlled, the control unit can determine the number of rotations of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly through the number of times of triggering of the photoelectric sensing piece, so as to realize the control of the rotation stroke, and thus the number of rotations of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly can be used to judge the driving control of the first driver 531, so as to improve the driving accuracy of the first driver 531 and further improve the control accuracy of the lifting height of the cleaning head 40, thereby improving the cleaning effect of the cleaning head 40.

[0171] In one embodiment, the rotational stroke is the rotation angle of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly. Specifically, the control unit can determine the rotation angle of the rotating grating based on the number of photoelectric events, thereby determining the rotation angle of the shaft or transmission member of the first driver fixedly connected to the rotating grating. Hereinafter, this disclosure will provide a detailed exemplary description using the stroke detection assembly 60 including an optical stroke sensor as an example.

[0172] like Figure 39 As shown, the rotating grating 610 is connected to the shaft of the first driver 531 and rotates synchronously with the shaft of the first driver 531. The photoelectric sensor 620 is fixedly mounted on the first driver 531 and corresponds to the rotating grating 610. The photoelectric sensor 620 detects the number of times the light-blocking portion of the rotating grating 610 triggers the photoelectric sensor 620. When the first driver 531 rotates, the rotating grating 610 rotates synchronously with the output shaft of the first driver 531. The rotating grating 610 has a light-blocking portion and at least one light-transmitting portion. The photoelectric sensor 620 includes a transmitter and a receiver. During the rotation of the rotating grating 610, when the photoelectric sensor 620 corresponds to the light-blocking portion, the signal transmission between the transmitter and receiver of the photoelectric sensor 620 is blocked by the light-blocking portion of the rotating grating 610; when the photoelectric sensor 620 corresponds to the light-transmitting portion of the rotating grating 610, the receiver can receive the signal emitted by the transmitter. Based on the number of light-blocking parts (e.g., one, two, four, or more), the standard rotation angle A of the rotating grating 610 when it triggers the photoelectric sensor 620 twice is determined. The control unit, based on the standard rotation angle A and the number of times the photoelectric sensor 620 is switched on and off, can determine the rotation angle of the shaft of the first driver 531 connected to the rotating grating 610. For example, when the light-blocking parts are evenly distributed, if there are two light-blocking parts, the standard rotation angle A = 180 degrees; if there are four light-blocking parts, the standard rotation angle is 90 degrees; and so on.

[0173] More specifically, by determining the correspondence between the rotation angle of the rotating shaft of the first driver 531 and the lifting height of the lifting member 522, the control unit can calculate the expected on-off times of the photoelectric sensing member 620 based on the preset rotation angle; when the on-off times detected by the photoelectric sensing member 620 reach the expected on-off times, the control unit controls the first driver 531 to stop rotating. For example, when the output shaft of the first driver 531 rotates 360°, the lifting member 522 moves a distance H between the first position and the second position; when the lifting member 522 needs to move a distance K between the first position and the second position, the control unit controls the rotation angle of the output shaft of the first driver 531 to be P, where P=(K / H)×360°; at this time, the expected on-off times S of the photoelectric sensing member 620=S=P / A, that is, when the on-off times detected by the photoelectric sensing member 620 reach S times, the control unit determines that the rotation angle reaches the preset rotation angle, and the control unit controls the first driver 531 to stop rotating, so that the lifting member 522 stops lifting after lifting a preset distance, thereby achieving precise driving of the lifting of the lifting member 522 from the rotation angle.

[0174] It should be noted that the preset height can be multiple, at least including the height corresponding to the first cleaning position and the second cleaning position, and there is also a corresponding disassembly position height when the mop is disassembled.

[0175] In an embodiment, the first driver 531 drives the lifting member 522 to move through the first transmission assembly, the rotating part of the stroke detection assembly 60 is connected with the first transmission assembly, and the stroke detection assembly 60 is configured to directly obtain the rotation stroke of at least one transmission part in the first transmission assembly. By setting the stroke detection assembly 60, the rotation stroke of at least one transmission part in the first transmission assembly can be detected, and the lifting stroke of the lifting member 522 can be indirectly determined through the rotation stroke of the transmission part, thereby achieving precise driving of the lifting member 522, so that the height of the cleaning head 40 can be determined.

[0176] In an embodiment, as shown in Figure 37 and Figure 38 , the first transmission assembly includes a driving gear 5321, a first connecting gear 5322, a second connecting gear 5323, and a driven gear 5324, the driving gear 5321 is engaged with the first connecting gear 5322, the first connecting gear 5322 is coaxially and synchronously arranged with the second connecting gear 5323, the second connecting gear 5323 is engaged with the driven gear 5324, and the driven gear 5324 is coaxially and synchronously arranged with the second gear 533. The stroke detection assembly 60 can be arranged on the first connecting gear 5322, and the stroke detection assembly 60 obtains the rotation stroke of the first connecting gear 5322.

[0177] , the first transmission assembly includes a driving gear 5321, a first connecting gear 5322, a second connecting gear 5323, and a driven gear 5324, the driving gear 5321 is engaged with the first connecting gear 5322, the first connecting gear 5322 is coaxially and synchronously arranged with the second connecting gear 5323, the second connecting gear 5323 is engaged with the driven gear 5324, and the driven gear 5324 is coaxially and synchronously arranged with the second gear 533. The stroke detection assembly 60 can be arranged on the first connecting gear 5322, and the stroke detection assembly 60 obtains the rotation stroke of the first connecting gear 5322. Figure 37and Figure 38 As shown, the driving gear 5321 and the first connecting gear 5322 can be a worm gear meshing together, and the second connecting gear 5323 and the driven gear 5324 can be a bevel gear meshing together, thereby realizing the change of transmission direction and facilitating the setting of the first driver 531 in the cleaning module.

[0178] like Figure 39 As shown, the detection group for obtaining the rotational stroke of the first connecting gear 5322 includes a rotating grating 610 and a photoelectric sensor 620. The rotating grating 610 is connected to the first connecting gear 5322 and rotates synchronously with it. The photoelectric sensor 620 is correspondingly arranged with the rotating grating 610, and detects the number of times the light-blocking part of the rotating grating 610 triggers the photoelectric sensor 620 to rotate. The photoelectric sensor 620 can be fixed in the lifting mechanism 50 by the mounting accessory 630, for example, fixed on the middle shell 512. When the first driver 531 drives the drive gear 5321 to rotate, the rotating grating 610 rotates synchronously with the drive gear 5321. The rotating grating 610 is provided with a light-shielding part and at least one light-transmitting part. During the rotation of the rotating grating 610, when the photoelectric sensor 620 corresponds to the light-shielding part, the signal transmission between the transmitter and receiver of the photoelectric sensor 620 is blocked by the light-shielding part; when the photoelectric sensor 620 corresponds to the light-transmitting part of the rotating grating 610, the receiver can receive the signal emitted by the transmitter. That is, by the number of signal switching between the transmitter and receiver and the number of light-shielding parts on the rotating grating 610 (the light-transmitting parts are, for example, one, three, five or more), the rotation stroke of the rotating grating 610 can be determined, and then the rotation stroke of the first connecting gear 5322 can be determined.

[0179] It should be noted that the method for determining the rotational stroke of the transmission component in the first transmission assembly is the same as the three methods for determining the output shaft of the first driver 531 described in detail above, and will not be repeated here.

[0180] It is understood that the stroke detection component 60 can be selectively installed on the first driver 531 and the first transmission assembly, or the stroke detection component 60 can be installed simultaneously. That is, the rotational stroke of the output shaft of the first driver 531 and at least one transmission component in the first transmission assembly can be detected at the same time, and the reliability of the stroke detection can be improved by comparing the results.

[0181] In an embodiment, the output shaft of the first driver 531 rotates one circle, and the distance that the lifting member 522 moves between the first position and the second position is 0.1mm-1mm, for example, 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, 1mm, and the like, which are not listed one by one in the present disclosure. It can be seen that the output shaft of the first driver 531 rotates one circle, and the distance that the lifting member 522 moves between the first position and the second position is small, that is, when the lifting member 522 moves a unit distance between the first position and the second position, the output shaft of the first driver 531 needs to rotate multiple circles at this time, so as to realize the accurate control of the lifting height of the lifting member 522 by controlling the rotation stroke of the output shaft of the first driver 531.

[0182] In an embodiment, the transmission ratio between the driving gear 5321 on the output shaft of the first driver 531 and the first gear 525 on the lifting member 522 is 10-100, for example, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, and the like, which are not listed one by one in the present disclosure. It can be seen that the transmission ratio between the driving gear 5321 and the first gear 525 is large, that is, the driving gear 5321 needs to rotate multiple circles when the first gear 525 rotates one circle, which realizes the effect of the speed reducer, so as to realize the accurate control of the lifting height of the lifting member 522 by controlling the rotation stroke of the output shaft of the first driver 531.

[0183] In an embodiment, when the lifting member 522 rotates one circle relative to the fixed member 521, the distance that the lifting member 522 moves along the axial direction relative to the fixed member 521 is 1mm-100mm, for example, 1mm, 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, 90mm, 100mm, and the like. By determining the transmission ratio between the driving gear on the output shaft of the first driver 531 and the first gear 525 on the lifting member 522, and the distance that the lifting member 522 moves along the axial direction relative to the fixed member 521 when the lifting member 522 rotates one circle relative to the fixed member 521, the distance that the lifting member 522 moves between the first position and the second position when the output shaft of the first driver 531 rotates one circle can be determined, so as to realize the accurate control of the lifting height of the lifting member 522 by controlling the rotation angle of the output shaft of the first driver 531.

[0184] In an embodiment, the first position and the second position also have an initial position. The cleaning equipment 10 further comprises an initial position sensing member, which is fixedly arranged in the lifting mechanism 50, triggers the initial position sensing member when the lifting member 522 moves to the initial position, and outputs an initial position information.

[0185] When the lifting member 522 needs to move to the initial position, the control unit drives the first driver 531 to drive, and when the initial position information is obtained, the control unit controls the first driver 531 to stop driving. The initial position sensing member can be fixed on the bottom shell 513 of the middle shell 512.

[0186] By setting the initial position and the initial position sensing member, the reference position of the lifting member 522 can be determined, and the lifting member 522 is driven based on the reference position, so that the accuracy of determining the lifting stroke of the lifting member 522 can be improved. At the same time, the position of the lifting member 522 can be calibrated, so that the lifting member 522 can be lifted based on the initial position, thereby improving the accuracy of driving the lifting position of the lifting member 522.

[0187] In an embodiment, when the lifting member 522 needs to be lifted by a preset distance relative to the initial position to be located at the target position, the control unit determines the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the preset distance, and drives the lifting member 522 to move towards the initial position; when the lifting member 522 moves to the initial position, the initial position sensing member outputs an initial position information, at this time the control unit obtains the initial position information, the control unit controls the first driver 531 to drive the lifting member 522 to move towards the target position, and starts to detect the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly through the stroke detection assembly 60; when the stroke detection assembly 60 detects that the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver 531 to stop driving, so that the lifting member 522 is accurately lifted to the target position.

[0188] When the cleaning device 10 is initially assembled, or after long-term use, there can be a gap between the actual position of the lifting member 522 after lifting and the target position, which can cause subsequent inaccurate control of the lifting of the lifting member 522 to the target position, thereby reducing the ground pressure of the cleaning head 40, thereby affecting the cleaning effect of the cleaning head 40. By returning the lifting member 522 to the initial position, the initial position is used as the reference position, which is not affected by whether the current position of the lifting member 522 is accurate, so that the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly relative to the initial position is determined, so that the lifting member 522 can be accurately lifted to the target position.

[0189] In one embodiment, when the cleaning head 40 is in the raised position, the lifting member 522 triggers the initial position sensor, meaning that the lifting member 522 is in a reference position when the cleaning head 40 is in the raised position. When the lifting member 522 is in this reference position, it serves as the reference point for lifting, thus enabling precise control of the lifting distance. Since the cleaning head 40 is typically in the raised position when the cleaning equipment is in a sleep or off state, by ensuring that the lifting member 522 is in the reference position when the cleaning head 40 is in the raised position, when cleaning operations are required (i.e., the lifting member 522 is in the reference position), the lifting member 522 can be directly controlled by the control unit to lift and lower using the reference position as a reference, improving the response speed of the cleaning equipment. It is understood that the reference position of the lifting member 522 is not limited to the position of the lifting member 522 when the cleaning head 40 is in the raised position. The reference position can also be any position between the first and second positions, and the initial position sensor is triggered at any of these positions to use that position as the reference position.

[0190] In one embodiment, the initial position sensor is a non-contact inductive switch, which can determine the position of the lifting member by sensing the signal. In another embodiment, the initial position sensor can be a contact switch, that is, when the lifting member 522 is located at a preset position during the lifting process, the initial position sensor can be triggered by the physical structure, thereby improving the reliability of the initial position sensor triggering.

[0191] like Figure 40 and Figure 41 As shown, the initial position sensor is a non-contact inductive switch 70, which includes a transmitter 710 and a receiver 720. The transmitter 710 and receiver 720 are fixedly mounted in the lifting mechanism 50 and are correspondingly arranged with respect to the lifting member 522. The receiver 720 is configured to receive the signal emitted by the transmitter 710. When the lifting member 522 moves to the preset position, the lifting member 522 blocks the signal between the transmitter 710 and the receiver 720. For example, when the lifting member 522 moves to the open position, the lifting member 522 blocks the signal between the transmitter 710 and the receiver 720, and the receiver 720 cannot receive the signal emitted by the transmitter 710. When the lifting member 522 leaves the reference position, the lifting member 522 does not block the signal between the transmitter 710 and the receiver 720, and the receiver 720 can receive the signal emitted by the transmitter 710. Therefore, the connection or disconnection of the signal between the transmitter 710 and the receiver 722 can be used to determine whether the lifting member 522 is at the reference position.

[0192] The control unit is connected to the initial position sensor to obtain the reference position of the lifting member 522 based on the initial position sensor, and to precisely control the lifting height of the lifting member 522.

[0193] The detailed cooperation relationship between the control unit, the first driver 531, the stroke detection assembly 60 and the initial position sensing member will be described below. For the detailed cooperation relationship between the control unit, the driver and the stroke detection assembly 60 and the initial position sensing member, refer to the detailed description of the corresponding part above, which will not be repeated here.

[0194] In an embodiment, when the cleaning head 40 needs to be separated, the lifting member 522 needs to move from the side close to the second position to the first position or the fourth position. Since the current position of the lifting member 522 can be recorded or determined by the control unit, the control unit can determine the first preset distance between the current position of the lifting member 522 and the first position or the fourth position. Then, the control unit can directly determine the first target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the first preset distance. The control unit controls the first driver 531 to drive. When the stroke detection assembly 60 detects that the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the first target rotation stroke, the control unit obtains the stroke information (the number of times the stroke detection assembly is triggered, the number of rotation turns or the rotation angle) that the rotation stroke reaches the first target rotation stroke, and the lifting member 522 moves to the first position or the fourth position. At this time, the control unit controls the first driver 531 to stop driving, thereby realizing the separation of the cleaning head 40, for example, the separation of the cleaning head 40 when the cleaning device 10 is located on the base station 20, so that the separated cleaning head 40 is located in the cleaning tank of the base station 20. The first position can be the maximum upward position of the lifting member 522, and the fourth position is a position close to the first position, that is, the cleaning head 40 can be separated from the lifting member 522 when the lifting member 522 is raised to the maximum upward position, or the cleaning head 40 can be separated from the lifting member 522 when the lifting member 522 is raised to a position close to the maximum upward position.

[0195] In another embodiment, when the cleaning head 40 needs to be separated, the lifting member 522 needs to move from the side close to the second position to the first position or the fourth position, the lifting member 522 can be directly driven to move to the initial position by the first driver 531, at this time the initial position sensing sends an initial position information; after the control unit obtains the initial position information, the control unit determines the second preset distance of the lifting member 522 from the initial position to the first position or the fourth position, and determines the second target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the second preset distance; the control unit controls the first driver 531 to drive, when the stroke detection assembly 60 detects that the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit obtains the stroke information that the rotation stroke reaches the second target rotation stroke, at this time the control unit controls the first driver 531 to stop driving, and the lifting member 522 moves to the first position or the fourth position, thereby realizing the separation of the cleaning head 40.

[0196] In an embodiment, when the cleaning head 40 needs to be installed, the cleaning head 40 is positionally corresponding to the device body 30 (for example, the cleaning head 40 is placed in the cleaning tank of the base station 20, and the cleaning device 10 is located on the base station 20, at this time the cleaning head 40 is positionally corresponding to the device body 30), since the current position of the lifting member 522 can be recorded or determined by the control unit, the control unit can determine that the lifting member 522 needs to move a third preset distance from the current position of the lifting member 522 close to the third position to the fifth position according to the current position of the lifting member 522; then, the control unit determines the third target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the third preset distance; the control unit controls the first driver 531 to drive, when the stroke detection assembly 60 detects that the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the third target rotation stroke, the control unit obtains the stroke information that the rotation stroke reaches the third target rotation stroke, at this time the control unit controls the first driver 531 to stop driving, at this time the cleaning head 40 is connected with the lifting member 522 and the cleaning head 40 is in the installed position, thereby realizing the installation of the cleaning head 40. Wherein, the cleaning head 40 is in the installed position, that is, the position where the cleaning head 40 is connected with the lifting member 522 in place; for example, when the mounting member 523 is arranged between the lifting member 522 and the cleaning head 40, the cleaning head 40 in the installed position can be understood as the state that the shaft portion 420 of the cleaning head 40 is inserted with the mounting member 523 in place, at this time the second magnetic member 430 on the shaft portion 420 can be magnetically attracted and abutted with the first magnetic member 56 in the mounting member 523.

[0197] In another embodiment, when the cleaning head 40 needs to be installed, the cleaning head 40 is positioned corresponding to the device body 30, when the lifting member 522 needs to move from one side of the initial position close to the third position to the fifth position, the control unit can directly drive the lifting member 522 to move to the initial position through the first driver 531, at this time, the initial position sensing sends an initial position information; the control unit determines the fourth preset distance of the lifting member 522 from the initial position to the fifth position according to the initial position information, the control unit determines the fourth target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the fourth preset distance; the control unit controls the first driver 531 to drive, when the travel detection assembly 60 detects that the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the fourth target rotation stroke, the control unit obtains the stroke information that the rotation stroke reaches the fourth target rotation stroke, at this time, the control unit controls the first driver 531 to stop driving, at this time, the cleaning head 40 is connected with the lifting member 522 and the cleaning head 40 is in the installed position, so as to realize the installation of the cleaning head 40.

[0198] In an embodiment, a plurality of cleaning modules can be provided on the cleaning device 10, that is, a plurality of cleaning heads 40 can be provided, for example, two cleaning heads 40; at least one of the plurality of cleaning heads 40 is connected with the device body 30 through the lifting mechanism 50 described above.

[0199] In an embodiment, the cleaning device 10 includes a swing arm, a driving assembly and an elastic member, the cleaning head 40 is connected with the swing arm, the swing arm is rotationally connected with the device body 30, and can be located in the retracted position as shown in Figure 2 and Figure 3 and the extended position as shown in Figure 42 and Figure 43 That is, the cleaning head 40 can rotate relative to the device body 30 between the retracted position and the extended position under the driving of the swing arm, to realize edge cleaning and corner cleaning, so as to cover more cleaning area, reduce dead cleaning angle, and thus improve the cleaning effect.

[0200] It should be noted that, driven by the swing arm, the cleaning head 40 rotates relative to the device body 30 between the retracted position and the extended position. For example, when the cleaning device 10 has a cylindrical structure, the cleaning head 40, in the extended position relative to the retracted position, is positioned radially closer to the periphery of the cleaning device 10. That is, in the thickness direction of the device body 30, the overlapping area of ​​the orthographic projection of the device body 30 and the cleaning head 40 on the preset reference plane when the swing arm is in the retracted position is greater than the overlapping area of ​​the orthographic projection of the device body 30 and the cleaning head 40 on the preset reference plane when the swing arm is in the extended position. Therefore, by rotating the cleaning head 40 to the extended position, edge cleaning and corner cleaning can be achieved, covering more cleaning areas, reducing dead corners, and thus improving the cleaning effect.

[0201] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A cleaning apparatus, characterized by, The cleaning device comprises: a device body; a lifting mechanism arranged on the device body, the lifting mechanism comprising a lifting member and a first driver configured to drive the lifting member to reciprocate between a first position and a second position, the lifting member having a third position between the first position and the second position; a cleaning head detachably connected with the lifting member, the cleaning head being in abutment with the device body when the lifting member moves from a side close to the second position to the third position, and the cleaning head being separated from the lifting member when the lifting member moves from the third position to the first position or to a fourth position between the first position and the third position.

2. The cleaning apparatus of claim 1, wherein, The lifting mechanism further comprises a first transmission assembly, and the first driver is configured to drive the lifting member to reciprocate between the first position and the second position through the first transmission assembly. The cleaning device further comprises: a stroke detection assembly configured to obtain a rotation stroke of an output shaft of the first driver and / or a transmission member in the first transmission assembly; a control unit configured to control a height of the lifting member between the first position and the second position based on the rotation stroke.

3. The cleaning apparatus of claim 2, wherein, When the lifting member moves from a side close to the second position to the first position or the fourth position, the lifting member needs to move a first preset distance, and the control unit determines a first target rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly according to the first preset distance. The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the first target rotation stroke, the control unit controls the first driver to stop driving.

4. The cleaning apparatus of claim 2, wherein, The third position and the second position further have an initial position, and the cleaning device further comprises: an initial position sensing member fixedly arranged in the lifting mechanism, the initial position sensing member being triggered when the lifting member moves to the initial position, and the initial position sensing member outputting an initial position information.

5. The cleaning apparatus of claim 4, wherein, When the lifting member needs to move from a side close to the second position to the first position or the fourth position, the first driver drives the lifting member to move to the initial position, the control unit determines a second preset distance of the lifting member from the initial position to the first position or the fourth position according to the initial position information, and the control unit determines a second target rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly according to the second preset distance. The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the second target rotation stroke, the control unit controls the first driver to stop driving.

6. The cleaning apparatus of claim 1, wherein, The lifting member has a fifth position between the third position and the second position; When the cleaning head is in a separated state and positionally corresponding with the lifting member, the lifting member moves from one side of the third position to the fifth position, the cleaning head is connected with the lifting member and the cleaning head is in an installed state.

7. The cleaning apparatus of claim 2, wherein, The lifting member has a fifth position between the third position and the second position; when the cleaning head is in a separated state and positionally corresponding with the lifting member, the lifting member moves from one side of the third position to the fifth position, the cleaning head is connected with the lifting member and the cleaning head is in an installed state; When the lifting member needs to move from one side close to the third position to the fifth position, the lifting member needs to move a third preset distance, and the control unit determines a third target rotating stroke of an output shaft of the first driver and / or a transmission member in the first transmission assembly according to the third preset distance; The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotating stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the third target rotating stroke, the control unit controls the first driver to stop driving.

8. The cleaning apparatus of claim 4, wherein, The lifting member has a fifth position between the third position and the second position; when the cleaning head is in a separated state and positionally corresponding with the lifting member, the lifting member moves from one side of the third position to the fifth position, the cleaning head is connected with the lifting member and the cleaning head is in an installed state; When the lifting member needs to move from one side close to the third position to the fifth position, the first driver drives the lifting member to move to the initial position, the control unit determines a fourth preset distance of the lifting member from the initial position to the fifth position according to the initial position information, and the control unit determines a fourth target rotating stroke of an output shaft of the first driver and / or a transmission member in the first transmission assembly according to the fourth preset distance; The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotating stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the fourth target rotating stroke, the control unit controls the first driver to stop driving.

9. The cleaning apparatus of claim 1, wherein, The cleaning head comprises a rotating shaft part and a supporting plate part, the supporting plate part is detachably connected with the lifting member through the rotating shaft part; when the lifting member is located at the third position, the supporting plate part abuts against the device body.

10. The cleaning apparatus of claim 9, wherein, The device body comprises a bottom shell, and when the lifting member is located at the third position, the supporting plate part abuts against the bottom shell.

11. The cleaning apparatus of claim 9, wherein, The device body comprises a limiting structure, and when the lifting member is located at the third position, the supporting plate part abuts against the limiting structure.

12. The cleaning apparatus of claim 9, wherein, The lifting mechanism further comprises: A fixing member, the lifting member is rotationally connected with the fixing member and can reciprocate along the axial direction of the rotation between the first position and the second position relative to the fixing member.

13. The cleaning apparatus of claim 12, wherein, The cleaning device further comprises: The mounting member is limitingly connected with the lifting member in the axial direction and can reciprocate along the axial direction under the driving of the lifting member; and the cleaning head is detachably connected with the mounting member.

14. The cleaning apparatus of claim 13, wherein, The cleaning device further comprises: The rotating member is limitingly connected with the mounting member in a rotating direction; The second driving assembly is configured to drive the rotating member to rotate so as to drive the cleaning head to rotate through the mounting member.

15. The cleaning apparatus of claim 13, wherein, The lifting mechanism further comprises: The sliding connecting member is located in the mounting member and can move along the axial direction in the mounting member and is limitingly connected with the mounting member in a circumferential direction; the cleaning head is connected with the sliding connecting member; The elastic member is located between the sliding connecting member and the mounting member; and the elastic member can be compressed when the mounting member moves towards the sliding connecting member along the axial direction.

16. The cleaning apparatus of claim 15, wherein, The shaft portion is inserted into the mounting member.

17. The cleaning apparatus of claim 16, wherein, The sliding connecting member is provided with a first magnetic member, and the shaft portion is provided with a second magnetic member; when the shaft portion and the lifting member are inserted together, the first magnetic member and the second magnetic member are attracted to each other.

18. The cleaning apparatus of claim 15, wherein, When the cleaning head is not subjected to external force, the elastic member is in a compressed state.

19. The cleaning apparatus of claim 18, wherein, When the cleaning head is not subjected to external force, the gap between the supporting plate portion of the cleaning head and the opposite part of the lifting member along the axial direction is provided so that the lifting member can move towards the cleaning head by a preset distance along the axial direction when the cleaning head is in contact with the surface to be cleaned.

20. The cleaning apparatus of claim 1, wherein, The lifting member has a first cleaning position and a second cleaning position between the third position and the second position; the cleaning pressure of the cleaning head on the surface to be cleaned when the lifting member is located at the first cleaning position is smaller than the cleaning pressure of the cleaning head on the surface to be cleaned when the lifting member is located at the second cleaning position.

21. The cleaning apparatus of claim 1, wherein, The lifting mechanism further comprises: The housing is formed with a first accommodating space, and the lifting member is located in the first accommodating space; and when the lifting member reciprocates between the first position and the second position through the opening of the first accommodating space, the lifting member can extend out of or retract into the accommodating space through the opening.

22. The cleaning apparatus of claim 21, wherein, The lifting mechanism further comprises: The sealing member is arranged on the housing and located at the opening; and the sealing member is configured to seal the gap between the housing and the lifting member.

23. A cleaning system characterized by, The cleaning device comprises: The cleaning device according to any one of claims 1 to 22; The base station is used for interfacing with the cleaning device.

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