Cleaning device and cleaning system

Abstract

The utility model discloses a cleaning device and a cleaning system. The cleaning device comprises a machine body, a cleaning assembly, an obstacle detection assembly and a lifting driving assembly. The obstacle detection assembly is arranged on the machine body in a liftable mode and provided with a matching shaft extending in the vertical direction, the lifting driving assembly is arranged on the machine body and used for driving the obstacle detection assembly to ascend and descend and comprises a first motor and a transmission shaft extending in the vertical direction, and the first motor is in transmission connection with the transmission shaft. The driving shaft is used for driving the driving shaft to rotate, the driving shaft is arranged on the peripheral side of the matching shaft in a sleeving mode, one of the driving shaft and the matching shaft is provided with a matching groove, the other one is provided with a matching protrusion, the matching groove obliquely extends in the direction from bottom to top, and the matching protrusion is contained in the matching groove and can slide in the extending direction of the matching groove. According to the cleaning device, the lifting driving assembly used for driving the obstacle detection assembly to ascend and descend is simple in structure, small in occupied space and beneficial to achieving miniaturization of the whole device.

Description

Technical Field

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

[0002] With the improvement of living standards, intelligent cleaning devices are being used more and more widely in people's lives. These devices automatically move within the area to be cleaned, thus achieving the desired cleaning and bringing great convenience to people's lives.

[0003] To reduce or avoid collisions between cleaning devices and obstacles during movement, related technologies incorporate a liftable obstacle detection module to detect obstacles in the area to be cleaned. However, in these devices, the drive components that actuate the module are complex and space-consuming, hindering overall miniaturization. Therefore, improvements are needed. Utility Model Content

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of the present invention is to provide a cleaning device in which the lifting drive component for driving the obstacle detection component has a simple structure, occupies little space, and facilitates the miniaturization of the entire device.

[0005] This utility model also proposes a cleaning system having the above-mentioned cleaning device.

[0006] A cleaning device according to a first aspect of the present invention includes: a body; a cleaning component disposed on the body and used for cleaning an area to be cleaned; an obstacle detection component movably disposed on the body and used for detecting obstacles in the area to be cleaned, the obstacle detection component having a mating shaft extending in a vertical direction; and a lifting drive component disposed on the body and used for driving the obstacle detection component to move up and down, the lifting drive component including a first motor and a transmission shaft extending in a vertical direction, the first motor being tractably connected to the transmission shaft for driving the transmission shaft to rotate around its own axis, the transmission shaft being sleeved on the outer periphery of the mating shaft; wherein, one of the transmission shaft and the mating shaft is provided with a mating groove and the other with a mating protrusion, the mating groove extending obliquely in a bottom-to-top direction, and the mating protrusion being accommodated in the mating groove and slidable relative to the mating groove along the extension direction of the mating groove.

[0007] According to the cleaning device of this utility model embodiment, by setting the lifting drive assembly for driving the obstacle detection assembly to include a first motor and a drive shaft that can be transmittedly connected, and making the obstacle detection assembly have a mating shaft, the drive shaft is sleeved on the outer periphery of the mating shaft, and the drive shaft and the mating shaft are mated by a mating protrusion and an inclined extending mating groove, when the first motor drives the drive shaft to rotate, it can drive the mating shaft to move up and down relative to the drive shaft, thereby driving the obstacle detection assembly to lift up and down. The lifting drive assembly has a simple structure and occupies little space, which is conducive to realizing the miniaturization of the whole machine.

[0008] According to some embodiments of the present invention, the mating groove extends in a spiral direction from bottom to top.

[0009] According to some embodiments of the present invention, the mating protrusion is formed as a protrusion.

[0010] According to some embodiments of the present invention, the mating protrusion is provided on the inner peripheral wall of the transmission shaft, and the mating groove is provided on the outer peripheral wall of the mating shaft.

[0011] According to some embodiments of the present invention, the mating protrusion is provided at the upper end of the transmission shaft.

[0012] According to some embodiments of the present invention, the mating groove extends upward to the top of the mating shaft; and / or, the mating groove extends downward to the bottom of the mating shaft.

[0013] According to some embodiments of the present invention, a first limiting protrusion is formed on the outer peripheral wall of the mating shaft. The first limiting protrusion is located above the mating groove and above the transmission shaft to limit the mating shaft in the downward direction.

[0014] According to some embodiments of the present invention, the lifting drive assembly further includes a gear transmission mechanism, which is tractably connected between the first motor and the transmission shaft. The gear transmission mechanism includes a drive gear and a transmission gear that are tractably connected. The drive gear is fixed to the motor shaft of the first motor, and the transmission gear is fixed to the transmission shaft and coaxially arranged with the transmission shaft.

[0015] According to some embodiments of this utility model, the drive gear and the transmission gear directly mesh and transmit power.

[0016] According to some embodiments of the present invention, a second limiting protrusion is provided on the outer peripheral wall of the transmission shaft, and the transmission gear is located on the upper side of the second limiting protrusion.

[0017] According to some embodiments of the present invention, the obstacle detection component includes an obstacle detection module and a module support, the obstacle detection module is disposed on the module support, and the module support is flexibly connected to the mating shaft.

[0018] According to some embodiments of the present invention, the module bracket includes a bracket body and a connecting shaft, the obstacle detection module is disposed on the bracket body, the connecting shaft extends in the vertical direction, the mating shaft is sleeved on the outer periphery of the connecting shaft, and an elastic structure is provided between the connecting shaft and the mating shaft.

[0019] According to some embodiments of the present invention, the elastic structure includes a first spring and a second spring. The inner peripheral wall of the mating shaft is provided with a supporting protrusion ring. The first spring and the second spring are respectively sleeved on the outer peripheral side of the connecting shaft and are respectively located on the upper and lower sides of the supporting protrusion ring. The upper end of the first spring abuts or connects with the connecting shaft, the lower end of the first spring abuts or connects with the supporting protrusion ring, the lower end of the second spring abuts or connects with the connecting shaft, and the upper end of the second spring abuts or connects with the supporting protrusion ring.

[0020] According to some embodiments of the present invention, the machine body is provided with a mounting bracket, the lifting drive component and the obstacle detection component are both mounted on the mounting bracket, and the mounting bracket is detachably connected to the machine body.

[0021] According to some embodiments of the present invention, one of the mounting bracket and the obstacle detection component is provided with a guide groove extending in the vertical direction and the other is provided with a guide rib extending in the vertical direction. The guide rib is accommodated in the guide groove and can slide up and down relative to the guide groove.

[0022] According to some embodiments of the present invention, the bottom of the mounting bracket is formed with a mounting hole, the drive shaft passes through the mounting hole and is rotatable relative to the mounting bracket, the mounting bracket is provided with a bearing, the bearing is sleeved on the outer periphery of the drive shaft, and the outer periphery of the drive shaft is provided with a second limiting protrusion, the second limiting protrusion being supported on the upper side of the bearing.

[0023] According to some embodiments of the present invention, the obstacle detection component includes an obstacle detection module, a protective cover, and a collision sensor. The protective cover is disposed on the upper end of the obstacle detection module and is movable relative to the obstacle detection module. The collision sensor is disposed on the inner side of the protective cover to detect a collision between the protective cover and an obstacle.

[0024] According to some embodiments of the present invention, the collision sensor is configured to be triggered when the protective cover moves relative to the obstacle detection module and the collision sensor comes into contact with the obstacle detection module.

[0025] According to some embodiments of the present invention, the top of the obstacle detection module has an upwardly protruding detection rib, and the collision sensor is configured to be triggered when the protective cover moves relative to the obstacle detection module and the collision sensor contacts the detection rib.

[0026] According to some embodiments of this utility model, the collision sensor is a micro switch.

[0027] According to some embodiments of the present invention, there are multiple collision sensors, including a first collision sensor and a second collision sensor, wherein the trigger surface of the first collision sensor faces downward and the trigger surface of the second collision sensor faces backward.

[0028] According to some embodiments of the present invention, one of the protective cover and the obstacle detection module is provided with a locking hole and the other is provided with a buckle, the buckle is inserted into the locking hole and the buckle is in clearance fit with the locking hole.

[0029] According to some embodiments of the present invention, the obstacle detection component further includes a voice module, which is installed in the protective cover and located inside the protective cover.

[0030] According to some embodiments of the present invention, the obstacle detection component includes an obstacle detection module, a module support, and a rotation drive component. The obstacle detection module is mounted on the module support and is rotatable relative to the module support. The rotation drive component is connected to the obstacle detection module to drive the obstacle detection module to rotate.

[0031] A cleaning system according to a second aspect of the present invention includes: a cleaning device according to the first aspect of the present invention described above; and a cleaning base station, wherein the cleaning device and the cleaning base station are detachably coupled, and the cleaning base station is used to clean and / or charge the cleaning device.

[0032] According to the cleaning system of this utility model embodiment, by setting the above-mentioned cleaning device, the lifting drive component used to drive the obstacle detection component in the cleaning device has a simple structure and occupies little space, which is conducive to realizing the miniaturization of the whole machine.

[0033] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0034] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0035] Figure 1 This is a partial structural schematic diagram of a cleaning device according to some embodiments of the present utility model, wherein the obstacle detection component is located in the first position;

[0036] Figure 2 yes Figure 1 A cross-sectional view of a portion of the cleaning device in the diagram;

[0037] Figure 3 yes Figure 1 A schematic diagram of the fit between the drive shaft and the mating shaft;

[0038] Figure 4 This is a partial structural schematic diagram of a cleaning device according to some embodiments of the present invention, wherein the obstacle detection component is located in the second position;

[0039] Figure 5 yes Figure 4 A cross-sectional view of a portion of the cleaning device in the diagram;

[0040] Figure 6 yes Figure 4 A schematic diagram of the fit between the drive shaft and the mating shaft;

[0041] Figure 7 This is a cross-sectional view of the drive shaft of the cleaning device according to some embodiments of the present invention;

[0042] Figure 8 This is a cross-sectional view from another angle of a portion of the structure of a cleaning device according to some embodiments of the present invention, wherein the obstacle detection component is located in a first position;

[0043] Figure 9 This is a distribution diagram of the collision sensors of the cleaning device according to some embodiments of the present invention;

[0044] Figure 10 This is a schematic diagram showing a buckle set on the top of the obstacle detection module of the cleaning device according to some embodiments of the present invention;

[0045] Figure 11 This is a schematic diagram showing the internal setting of a locking hole in the protective cover of a cleaning device according to some embodiments of the present invention.

[0046] Figure label:

[0047] 10. Mounting bracket; 11. Guide rib; 12. Mounting hole; 13. Bearing;

[0048] 20. Obstacle detection component;

[0049] 30. Obstacle detection module; 31. Detection rib; 32. Buckle;

[0050] 40. Module bracket; 41. Bracket body; 42. Connecting shaft; 43. Guide groove;

[0051] 50. Mating shaft; 51. Mating groove; 52. First limiting protrusion; 53. Supporting protrusion;

[0052] 60. Elastic structure; 61. First spring; 62. Second spring;

[0053] 70. Protective cover; 71. Clip hole; 72. Sensor circuit board; 73. Collision sensor; 731. First collision sensor; 732. Second collision sensor;

[0054] 80. Rotary drive assembly; 81. Second motor;

[0055] 90. Lifting drive assembly; 91. First motor; 92. Drive shaft; 921. Matching protrusion; 922. Second limiting protrusion; 93. Gear transmission mechanism; 931. Drive gear; 932. Transmission gear. Detailed Implementation

[0056] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0057] The following is for reference. Figures 1-11 This invention describes a cleaning apparatus according to an embodiment of the present invention.

[0058] Reference Figures 1-6 The cleaning device according to the first aspect of the present invention includes: a body, a cleaning component, an obstacle detection component 20, and a lifting drive component 90.

[0059] A cleaning component is located on the main body and is used to clean the area to be cleaned. For example, the cleaning component may be located at the bottom of the main body. The cleaning component may include a first cleaning part, which may be located at or near the center of the main body. The first cleaning part may include a roller brush or a mop. Further, the cleaning component may also include a cleaning fluid tank for storing and supplying cleaning fluid to the first cleaning part, which can perform dry or wet cleaning as needed. The cleaning component may also include a second cleaning part, which may be located near the edge of the main body. The second cleaning part may include a side brush.

[0060] The bottom of the machine can also be equipped with guide wheels to enable the cleaning device to move automatically in the area to be cleaned.

[0061] An obstacle detection component 20 is vertically mounted on the machine body and is used to detect obstacles in the area to be cleaned. A lifting drive component 90 is mounted on the machine body and is used to drive the obstacle detection component 20 to move up and down. By being installed in the obstacle detection component 20, during the movement of the cleaning device, the obstacle detection component 20 can detect whether there are obstacles in front of or near the cleaning device. Thus, based on the detection results of the obstacle detection component 20, obstacles in the cleaning area can be automatically avoided.

[0062] The obstacle detection component 20 includes an obstacle detection module 30, which is used to detect obstacles in the area to be cleaned. The obstacle detection module 30 may include a lidar sensor (LDS).

[0063] For example, a receiving cavity for accommodating the obstacle detection component 20 can be provided inside the fuselage, and the receiving cavity can extend upward through the top of the fuselage. When the obstacle detection component 20 rises, at least a portion of the obstacle detection component 20 can be located above the fuselage; when the obstacle detection component 20 descends, at least a portion of the obstacle detection component 20 can be accommodated in the receiving cavity inside the fuselage.

[0064] For example, the obstacle detection component 20 is vertically and vertically mounted on the fuselage between a first position and a second position, with the first position being lower than the second position. When the obstacle detection component 20 is in the first position, it is completely contained within the fuselage; when the obstacle detection component 20 is in the second position, at least a portion of it is located above the fuselage.

[0065] For example, when the obstacle detection component 20 rises to the second position, it can detect obstacles in the area to be cleaned, thus reducing the chance of the cleaning device colliding with obstacles during its movement. Alternatively, when the obstacle detection component 20 descends to the first position, it can be stored inside the unit, preventing interference or collision between the obstacle detection component 20 and obstacles above the low space when the cleaning device enters low spaces such as under beds or sofas.

[0066] The cleaning device may include a control module located on the main body. The control module can control the cleaning components and the obstacle detection component 20. For example, the control module can control whether the cleaning components are operating. As another example, the control module can control the raising and lowering of the obstacle detection component 20. The control module can be electrically connected to the first motor 91 of the raising and lowering drive component 90, and by controlling the first motor 91, the raising and lowering of the obstacle detection component 20 can be controlled. The raising and lowering of the obstacle detection component 20 can be controlled based on whether it is needed or not, or based on whether the cleaning device has entered or is about to enter a low-ceilinged space.

[0067] The obstacle detection assembly 20 has a mating shaft 50 extending in the vertical direction, which can be located at the lower end of the obstacle detection assembly 20. The lifting drive assembly 90 includes a first motor 91 and a drive shaft 92 extending in the vertical direction. The first motor 91 is driveably connected to the drive shaft 92 to drive the drive shaft 92 to rotate around its own axis, the axis of which extends in the vertical direction. The drive shaft 92 is a hollow shaft, sleeved on the outer periphery of the mating shaft 50. One of the drive shaft 92 and the mating shaft 50 has a mating groove 51, and the other has a mating protrusion 921. For example, the inner peripheral wall of the drive shaft 92 has a mating groove 51, and the outer peripheral wall of the mating shaft 50 has a mating protrusion 921; or, for another example, the inner peripheral wall of the drive shaft 92 has a mating protrusion 921, and the outer peripheral wall of the mating shaft 50 has a mating groove.

[0068] The mating groove 51 extends obliquely from bottom to top, and the extension trajectory of the mating groove 51 can be a curve. The mating protrusion 921 is accommodated in the mating groove 51 and the mating protrusion 921 can slide relative to the mating groove 51 along the extension direction of the mating groove 51.

[0069] When the obstacle detection component 20 needs to be raised or lowered, the first motor 91 operates and drives the transmission shaft 92 to rotate around its own axis. Since the mating protrusion 921 is accommodated in the mating groove 51 and the mating groove 51 extends obliquely from bottom to top, the rotational motion of the transmission shaft 92 can be converted into the up-and-down motion of the mating shaft 50. This allows the obstacle detection component 20 to move in the up-and-down direction, thereby raising or lowering the obstacle detection component 20. For example, when the first motor 91 drives the transmission shaft 92 to rotate in the first direction, the transmission shaft 92 can drive the mating shaft 50 to move upward, thereby raising the obstacle detection component 20. When the first motor 91 drives the transmission shaft 92 to rotate in the second direction, which is opposite to the first direction, the transmission shaft 92 can drive the mating shaft 50 to move downward, thereby lowering the obstacle detection component 20.

[0070] The first motor 91 drives the transmission shaft 92 to rotate, and the transmission shaft 92 and the mating shaft 50 of the obstacle detection component 20 are connected by the mating protrusion 921 and the inclined extended mating groove 51, which can drive the mating shaft 50 to move up and down relative to the transmission shaft 92, thereby driving the obstacle detection component 20 to rise and fall. The lifting drive component 90 has a simple structure and occupies little space, which is conducive to the miniaturization of the whole machine; in addition, this driving method has high driving accuracy.

[0071] According to the cleaning device of this utility model embodiment, by setting the lifting drive assembly 90 for driving the obstacle detection assembly 20 to include a first motor 91 and a drive shaft 92 that can be transmittedly connected, and making the obstacle detection assembly 20 have a mating shaft 50, the drive shaft 92 is sleeved on the outer periphery of the mating shaft 50, and the drive shaft 92 and the mating shaft 50 are mated by a mating protrusion 921 and an inclined mating groove 51, when the first motor 91 drives the drive shaft 92 to rotate, the mating shaft 50 can be driven to move up and down relative to the drive shaft 92, thereby driving the obstacle detection assembly 20 to lift. The lifting drive assembly 90 has a simple structure and occupies little space, which is conducive to realizing the miniaturization of the whole machine.

[0072] According to some embodiments of this utility model, refer to Figure 6 The mating groove 51 extends in a spiral direction from bottom to top. That is, the extension trajectory of the mating groove 51 is a spiral. In this way, with a fixed length of the drive shaft 92, the extension length of the mating groove 51 can be made longer, thereby further improving the driving accuracy and driving stability.

[0073] According to some embodiments of this utility model, refer to Figure 7The mating protrusion 921 is formed into a protrusion shape. By setting the mating protrusion 921 into a protrusion shape, the structure of the mating protrusion 921 is simple and easy to process and form; in addition, the mating area between the mating protrusion 921 and the mating groove can be reduced, and the friction between the inner wall of the mating protrusion 921 and the mating groove can be reduced, thereby making the vertical movement resistance of the mating shaft 50 relative to the transmission shaft 92 smaller.

[0074] According to some embodiments of this utility model, refer to Figures 1-7 The mating protrusion 921 is provided on the inner peripheral wall of the drive shaft 92, and the mating groove 51 is provided on the outer peripheral wall of the mating shaft 50. By providing the mating protrusion 921 on the inner peripheral wall of the drive shaft 92 and the mating groove 51 on the outer peripheral wall of the mating shaft 50, it is convenient to assemble the drive shaft 92 and the mating shaft 50.

[0075] When the first motor 91 drives the transmission shaft 92 to rotate, the mating protrusion 921 on the transmission shaft 92 is accommodated in the mating groove 51 on the mating shaft 50. During the rotation of the transmission shaft 92, the mating protrusion 921 moves along the extension direction of the mating groove 51. Since the mating groove 51 extends obliquely from bottom to top, the mating protrusion 921 exerts an upward or downward force on the mating shaft 50 by pressing the inner wall of the mating groove 51, thereby driving the mating shaft 50 to move upward or downward, and thus driving the obstacle detection component 20 to move upward or downward.

[0076] According to some embodiments of this utility model, refer to Figure 7 The mating protrusion 921 is located at the upper end of the drive shaft 92. By setting the mating protrusion 921 at the upper end of the drive shaft 92, it is beneficial to increase the vertical travel of the mating shaft 50 relative to the drive shaft 92, thereby increasing the lifting distance of the obstacle detection component 20 and the detection range of the obstacle detection component 20.

[0077] According to some embodiments of this utility model, refer to Figure 6 The mating groove 51 is provided on the outer peripheral wall of the mating shaft 50, and extends upward to the top of the mating shaft 50. By extending the mating groove 51 upward to the top of the mating shaft 50, the extension height of the mating groove 51 in the vertical direction can be increased, which is beneficial to increasing the vertical travel of the mating shaft 50 relative to the transmission shaft 92, thereby increasing the lifting distance of the obstacle detection component 20 and increasing the detection range of the obstacle detection component 20.

[0078] According to some embodiments of this utility model, refer to Figure 6The mating groove 51 is provided on the outer peripheral wall of the mating shaft 50, and extends downward to the bottom of the mating shaft 50. By extending the mating groove 51 downward to the bottom of the mating shaft 50, the extension height of the mating groove 51 in the vertical direction can be increased, which is beneficial to increasing the vertical travel of the mating shaft 50 relative to the transmission shaft 92, thereby increasing the lifting distance of the obstacle detection component 20 and increasing the detection range of the obstacle detection component 20.

[0079] According to some embodiments of this utility model, refer to Figure 6 A mating groove 51 is provided on the outer peripheral wall of the mating shaft 50. The mating groove 51 extends upward to the top of the mating shaft 50 and downward to the bottom of the mating shaft 50. By extending the mating groove 51 upward to the top of the mating shaft 50 and downward to the bottom of the mating shaft 50, the extension height of the mating groove 51 in the vertical direction can be increased. This is beneficial to increasing the vertical travel of the mating shaft 50 relative to the transmission shaft 92, thereby increasing the lifting distance of the obstacle detection component 20 and the detection range of the obstacle detection component 20.

[0080] According to some embodiments of this utility model, refer to Figure 2 and Figure 5 A first limiting protrusion 52 is formed on the outer peripheral wall of the mating shaft 50. The first limiting protrusion 52 is located above the mating groove 51 and above the drive shaft 92, thereby limiting the mating shaft 50 in the downward direction. For example, the first limiting protrusion 52 can be provided at the top of the mating shaft 50. By providing the aforementioned first limiting protrusion 52 on the outer peripheral wall of the mating shaft 50, and by positioning the first limiting protrusion 52 above the mating groove 51 and the drive shaft 92, when the obstacle detection component 20 descends to the lower limit position, for example, when the obstacle detection component 20 descends to the first position, the first limiting protrusion 52 can support and abut against the upper end face of the drive shaft 92, thus preventing the mating shaft 50 from continuing to move downward. This limits the mating shaft 50 in the downward direction and also limits the obstacle detection component 20 downward, allowing it to be stably maintained in the first position when it descends to the first position.

[0081] Optionally, the first limiting protrusion 52 can be an annular shape extending circumferentially along the mating shaft 50.

[0082] According to some embodiments of this utility model, refer to Figures 1-5The lifting drive assembly 90 also includes a gear transmission mechanism 93, which is tractably connected between the first motor 91 and the transmission shaft 92. The gear transmission mechanism 93 includes a drive gear 931 and a transmission gear 932 that are tractably connected. The drive gear 931 is fixed to the motor shaft of the first motor 91 and can be sleeved on the outer periphery of the motor shaft of the first motor 91 and fixed relative to the motor shaft of the first motor 91. The transmission gear 932 is fixed to the transmission shaft 92 and is coaxially arranged with the transmission shaft 92. The transmission gear 932 can be sleeved on the outer periphery of the transmission shaft 92 and fixed relative to the transmission shaft 92. The transmission gear 932 can be located at the upper end of the transmission shaft 92.

[0083] When the first motor 91 is working, it drives the drive gear 931 to rotate via its motor shaft. Since the drive gear 931 is tractably connected to the transmission gear 932, the rotating drive gear 931 drives the transmission gear 932 to rotate. Because the transmission gear 932 is fixed to and coaxially arranged with the transmission shaft 92, the rotating transmission gear 932 drives the transmission shaft 92 to rotate synchronously. Through the engagement of the mating protrusion 921 and the inclined extending mating groove 51 between the transmission shaft 92 and the mating shaft 50 of the obstacle detection component 20, the mating shaft 50 can move up and down relative to the transmission shaft 92, thereby causing the obstacle detection component 20 to rise and fall.

[0084] According to some embodiments of this utility model, refer to Figure 2 and Figure 5 The drive gear 931 and the transmission gear 932 directly mesh and transmit power. By making the drive gear 931 and the transmission gear 932 directly mesh and transmit power, the number of parts in the gear transmission mechanism 93 can be reduced, which further helps to reduce the space occupied by the lifting drive assembly 90; and, the transmission mechanism between the first motor 91 and the transmission shaft 92 is simple and the transmission resistance is small.

[0085] According to some embodiments of this utility model, refer to Figure 2 and Figure 5A second limiting protrusion 922 is provided on the outer peripheral wall of the drive shaft 92, and the drive gear 932 is located on the upper side of the second limiting protrusion 922. By providing the second limiting protrusion 922 on the outer peripheral wall of the drive shaft 92, and making the drive gear 932 located on the upper side of the second limiting protrusion 922, when the drive gear 932 is installed onto the drive shaft 92, the drive gear 932 can be sleeved onto the drive shaft 92 from the upper end, and the drive gear 932 can move relative to the drive shaft 92 until the drive gear 932 contacts the second limiting protrusion 922, indicating that the drive gear 932 is installed in place, and can then be fixed to the drive shaft 92. The second limiting protrusion 922 provided on the drive shaft 92 can position the drive gear 932 during installation and also support the drive gear 932 to prevent it from sliding down.

[0086] Optionally, the second limiting protrusion 922 can be an annular shape extending circumferentially along the drive shaft 92.

[0087] According to some embodiments of this utility model, refer to Figure 2 and Figure 5 The obstacle detection assembly 20 includes an obstacle detection module 30 and a module support 40. The obstacle detection module 30 is mounted on the module support 40, and the module support 40 is flexibly connected to the mating shaft 50. When the first motor 91 operates, the first motor 91 drives the transmission shaft 92 to rotate. The rotating transmission shaft 92 drives the mating shaft 50 to move up and down, which in turn drives the module support 40 to move up and down, thereby causing the obstacle detection module 30 to move up and down. By flexibly connecting the module support 40 of the obstacle detection module 30 to the mating shaft 50, a buffering effect is achieved when the first motor 91 drives the mating shaft 50 to move up and down. This reduces the vibration transmitted from the lifting drive assembly 90 to the obstacle detection module 30, which helps extend the service life and improve the reliability of the obstacle detection module 30.

[0088] According to some embodiments of this utility model, refer to Figure 2 and Figure 5 The module bracket 40 includes a bracket body 41 and a connecting shaft 42. The obstacle detection module 30 is mounted on the bracket body 41. The connecting shaft 42 extends vertically. The mating shaft 50 can be a hollow shaft, which is sleeved on the outer periphery of the connecting shaft 42. An elastic structure 60 is provided between the connecting shaft 42 and the mating shaft 50. By configuring the module bracket 40 to include a bracket body 41 and a connecting shaft 42, and by sleeved the mating shaft 50 on the outer periphery of the connecting shaft 42, the assembly and connection between the module bracket 40 and the mating shaft 50 are facilitated. Furthermore, the elastic structure 60 provided between the connecting shaft 42 and the mating shaft 50 enables a flexible connection between the module bracket 40 and the mating shaft 50.

[0089] Optionally, the elastic structure 60 may include a spring.

[0090] According to some embodiments of this utility model, refer to Figure 2 and Figure 5 The elastic structure 60 includes a first spring 61 and a second spring 62, both of which can be helical springs. Both the first spring 61 and the second spring 62 can undergo elastic deformation in the vertical direction. The inner peripheral wall of the mating shaft 50 is provided with a supporting protrusion 53, which can be located on the upper part of the mating shaft 50. The first spring 61 and the second spring 62 are respectively sleeved on the outer peripheral side of the connecting shaft 42 and located on the upper and lower sides of the supporting protrusion 53, respectively. The first spring 61 and the second spring 62 are arranged in the vertical direction, with the first spring 61 located on the upper side of the supporting protrusion 53 and the second spring 62 located on the lower side of the supporting protrusion 53.

[0091] The upper end of the first spring 61 abuts or connects to the connecting shaft 42, for example, the upper end of the first spring 61 abuts or connects to the top of the connecting shaft 42, the lower end of the first spring 61 abuts or connects to the supporting protruding ring 53, the lower end of the second spring 62 abuts or connects to the connecting shaft 42, for example, the lower end of the second spring 62 abuts or connects to the bottom of the connecting shaft 42, and the upper end of the second spring 62 abuts or connects to the supporting protruding ring 53.

[0092] By configuring the elastic structure 60 as a first spring 61 and a second spring 62 arranged vertically, the mating shaft 50 and the connecting shaft 42 can be connected through the elastic structure 60, providing a buffering effect. Furthermore, during the upward movement of the obstacle detection module 30 driven by the lifting drive assembly 90, the first spring 61 exerts an upward elastic force on the module support 40, allowing the obstacle detection module 30 to rise more stably. When the obstacle detection module 30 rises to a set position, such as the second position, the upward elastic force exerted by the first spring 61 on the module support 40 helps maintain the obstacle detection module 30 stably in the set position. During the downward movement of the obstacle detection module 30 driven by the lifting drive assembly 90, the second spring 62 can exert a downward elastic force on the module support 40, so that the obstacle detection module 30 can descend more stably. When the obstacle detection module 30 descends to the set position, for example, when the obstacle detection module 30 descends to the first position, the second spring 62 exerts a downward elastic force on the module support 40, so that the obstacle detection module 30 can be kept relatively stably in the set position.

[0093] According to some embodiments of this utility model, refer to Figures 1-5The machine body is equipped with a mounting bracket 10, which is located inside the machine body. Both the lifting drive assembly 90 and the obstacle detection assembly 20 are mounted on the mounting bracket 10, and the mounting bracket 10 is detachably connected to the machine body. By providing the mounting bracket 10 on the machine body and mounting both the lifting drive assembly 90 and the obstacle detection assembly 20 on it, it is convenient to integrate the lifting drive assembly 90 and the obstacle detection assembly 20 onto the mounting bracket 10, facilitating their installation onto the machine body. Furthermore, the detachable connection between the mounting bracket 10 and the machine body allows for easy removal and maintenance of the lifting drive assembly 90 and the obstacle detection assembly 20. For example, the mounting bracket 10 can be removed from the machine body to remove the lifting drive assembly 90 and the obstacle detection assembly 20.

[0094] For example, the mounting bracket 10 is connected to the body by fasteners.

[0095] According to some embodiments of this utility model, refer to Figure 4 One of the mounting bracket 10 and the obstacle detection assembly 20 is provided with a guide groove 43 extending in the vertical direction, and the other is provided with a guide rib 11 extending in the vertical direction. The guide rib 11 is accommodated within the guide groove 43 and can slide vertically relative to the guide groove 43. For example, the mounting bracket 10 is provided with a guide groove 43 extending in the vertical direction, and the obstacle detection assembly 20 is provided with a guide rib 11 extending in the vertical direction; or, the obstacle detection assembly 20 is provided with a guide groove 43 extending in the vertical direction, and the mounting bracket 10 is provided with a guide rib 11 extending in the vertical direction.

[0096] When the obstacle detection component 20 includes the aforementioned module bracket 40 and obstacle detection module 30, the module bracket 40 is provided with guide ribs 11 or guide grooves 43.

[0097] During the process of the lifting drive assembly 90 driving the obstacle detection assembly 20 to move up and down, the obstacle detection assembly 20 can be guided to move stably along the up and down direction through the cooperation of the guide groove 43 and the guide rib 11.

[0098] Optionally, the cross-section of the guide groove 43 and the guide rib 11 can be semi-circular.

[0099] For example, in Figure 5In the example, the obstacle detection component 20 includes the aforementioned module bracket 40 and obstacle detection module 30. The mounting bracket 10 has guide ribs 11 extending in the vertical direction, and the module bracket 40 has guide grooves 43 extending in the vertical direction. There are multiple guide grooves 43 and guide ribs 11, arranged at intervals along the circumference of the mounting bracket 10 and the multiple guide grooves 43 arranged at intervals along the circumference of the module bracket 40. The number and position of the multiple guide ribs 11 are the same as the number and position of the multiple guide grooves 43, and each guide rib 11 is accommodated within its corresponding guide groove 43. When the lifting drive component 90 drives the obstacle detection component 20 to move vertically, each guide rib 11 slides up and down along its corresponding guide groove 43 to guide the obstacle detection component 20 to move stably in the vertical direction.

[0100] According to some embodiments of this utility model, refer to Figure 2 and Figure 5 The mounting bracket 10 has a mounting hole 12 at its bottom, which extends vertically through the bottom of the mounting bracket 10. The drive shaft 92 passes through the mounting hole 12 and is rotatable relative to the mounting bracket 10. A bearing 13 is provided inside the mounting bracket 10 and is fixed to the mounting bracket 10. The bearing 13 is sleeved on the outer periphery of the drive shaft 92. By placing the bearing 13 between the drive shaft 92 and the mounting bracket 10, the wear of the drive shaft 92 can be reduced.

[0101] Furthermore, a second limiting protrusion 922 is provided on the outer peripheral wall of the drive shaft 92. The second limiting protrusion 922 can be annular around the drive shaft 92 and is supported on the upper side of the bearing 13. By providing the second limiting protrusion 922 on the drive shaft 92 located on the upper side of the bearing 13, the drive shaft 92 can be supported and limited to prevent it from falling downwards.

[0102] According to some embodiments of this utility model, refer to Figure 1 and Figure 8 The obstacle detection component 20 includes an obstacle detection module 30, a protective cover 70, and a collision sensor 73. The protective cover 70 is positioned above the obstacle detection module 30 and is movable relative to it. The collision sensor 73 is located inside the protective cover 70 to detect collisions between the protective cover 70 and obstacles. The protective cover 70, positioned above the obstacle detection module 30, protects the module from direct impact and prevents significant damage.

[0103] By making the protective cover 70 movable relative to the obstacle detection module 30 and providing a collision sensor 73 inside the protective cover 70, when the protective cover 70 collides with an obstacle, it can move under the force of the obstacle. The collision sensor 73 can detect this movement, thus detecting a collision. When the collision sensor 73 detects movement of the protective cover 70 under the force of the obstacle, it indicates a collision. At this point, the aircraft can be controlled to move backward relative to the obstacle, or the obstacle detection module 30 can be controlled to descend.

[0104] Understandably, during the movement of the cleaning device, if the obstacle detection component 20 is in a raised state, with at least a portion of it protruding from the top of the body (e.g., in the second position), the protective cover 70 is the highest structure within the obstacle detection component 20 and is also the structure most likely to collide with an obstacle. The protective cover 70 will collide with the obstacle detection module 30 before the obstacle itself. Therefore, when the collision sensor 73 detects a collision between the protective cover 70 and an obstacle, by controlling the body to move backward relative to the obstacle or by controlling the obstacle detection module 30 to descend, the obstacle detection component 20 can be promptly separated from the obstacle, thus achieving better protection against obstacle detection.

[0105] For example, the obstacle detection component 20 may include a sensor circuit board 72, which may be disposed inside and fixed to the protective cover 70. A collision sensor 73 may be disposed on the sensor circuit board 72, and the collision sensor 73 may be disposed on the lower side of the sensor circuit board 72. When the cleaning device includes a control module, the sensor circuit board 72 may be electrically connected to the control module. When the collision sensor 73 detects that the protective cover 70 moves under the action of an obstacle, it indicates that the protective cover 70 has collided with the obstacle. At this time, the control module may control the machine body to move backward relative to the obstacle or may use the lifting drive component 90 to drive the obstacle detection module 30 to descend. For example, after the obstacle detection module 30 is descended to the first position, the machine body may be controlled to continue moving.

[0106] For example, when the protective cover 70 collides with an obstacle located above the protective cover 70, the obstacle located above the protective cover 70 exerts a downward force on the protective cover 70, which can push the protective cover 70 to move downward relative to the obstacle detection module 30. In this way, the collision sensor 73 can detect that the protective cover 70 has collided with the obstacle located above it. At this time, the lifting drive assembly 90 can be controlled to drive the obstacle detection module 30 to descend.

[0107] For example, when the protective cover 70 collides with an obstacle located in front, the obstacle in front exerts a backward force on the protective cover 70, which can push the protective cover 70 to move backward relative to the obstacle detection module 30. In this way, the collision sensor 73 can detect that the protective cover 70 has collided with the obstacle in front, and at this time, the machine can be controlled to move backward.

[0108] In some embodiments, the protective cover 70 and the obstacle detection module 30 can be connected by an elastic element. When the protective cover 70 collides with an obstacle, the protective cover 70 moves relative to the obstacle detection module 30. When the protective cover 70 separates from the obstacle, the protective cover 70 can be reset under the elastic force of the elastic element.

[0109] According to some embodiments of this utility model, refer to Figure 8 The collision sensor 73 is configured to be triggered when the protective cover 70 moves relative to the obstacle detection module 30 and the collision sensor 73 comes into contact with the obstacle detection module 30. Under normal circumstances (i.e., when the protective cover 70 does not collide with the obstacle), there is a certain gap between the collision sensor 73, which is located inside the protective cover 70, and the obstacle detection module 30. When the protective cover 70 collides with the obstacle, the protective cover 70 can move under the force of the obstacle. Since the collision sensor 73 is located on the protective cover 70, the protective cover 70 moves with the collision sensor 73, thereby causing the collision sensor 73 to come into contact with the obstacle detection module 30. At this time, the collision sensor 73 is triggered, and the collision sensor 73 can detect the collision between the protective cover 70 and the obstacle.

[0110] For example, when the protective cover 70 collides with an obstacle located above the protective cover 70, the obstacle above the protective cover 70 exerts a downward force on the protective cover 70, which can push the protective cover 70 to move downward relative to the obstacle detection module 30. Since the collision sensor 73 is located on the protective cover 70, the protective cover 70 moves downward together with the collision sensor 73, so that the collision sensor 73 comes into contact with the obstacle detection module 30. At this time, the collision sensor 73 is triggered, so the collision sensor 73 can detect that the protective cover 70 has collided with the obstacle located above it. At this time, the lifting drive assembly 90 can be controlled to drive the obstacle detection module 30 to descend.

[0111] For example, when the protective cover 70 collides with an obstacle located in front, the obstacle in front exerts a backward force on the protective cover 70, which can push the protective cover 70 to move backward relative to the obstacle detection module 30. Since the collision sensor 73 is located on the protective cover 70, the protective cover 70 moves backward with the collision sensor 73, so that the collision sensor 73 comes into contact with the obstacle detection module 30. At this time, the collision sensor 73 is triggered and can detect that the protective cover 70 has collided with the obstacle. In this way, the collision sensor 73 can detect that the protective cover 70 has collided with the obstacle located in front, and at this time, the machine can be controlled to move backward.

[0112] According to some embodiments of this utility model, refer to Figure 8 The obstacle detection module 30 has an upwardly protruding detection rib 31 on its top. The collision sensor 73 is configured to be triggered when the protective cover 70 moves relative to the obstacle detection module 30 and the collision sensor 73 comes into contact with the detection rib 31. By providing the upwardly protruding detection rib 31 on the top of the obstacle detection module 30, it is convenient to cooperate with the collision sensor 73, thereby facilitating the collision sensor 73 to detect collisions between the protective cover 70 and obstacles.

[0113] For example, when the protective cover 70 collides with an obstacle located above the protective cover 70, the obstacle above the protective cover 70 exerts a downward force on the protective cover 70, which can push the protective cover 70 to move downward relative to the obstacle detection module 30. Since the collision sensor 73 is located on the protective cover 70, the protective cover 70 moves downward with the collision sensor 73, so that the collision sensor 73 comes into contact with the detection rib 31 on the obstacle detection module 30. At this time, the collision sensor 73 is triggered, so the collision sensor 73 can detect that the protective cover 70 has collided with the obstacle located above. At this time, the lifting drive assembly 90 can be controlled to drive the obstacle detection module 30 to descend.

[0114] For example, when the protective cover 70 collides with an obstacle located in front, the obstacle in front exerts a backward force on the protective cover 70, which can push the protective cover 70 to move backward relative to the obstacle detection module 30. Since the collision sensor 73 is located on the protective cover 70, the protective cover 70 moves backward with the collision sensor 73, so that the collision sensor 73 comes into contact with the detection rib 31 on the obstacle detection module 30. At this time, the collision sensor 73 is triggered and can detect that the protective cover 70 has collided with the obstacle. In this way, the collision sensor 73 can detect that the protective cover 70 has collided with the obstacle located in front, and at this time, the machine can be controlled to move backward.

[0115] According to some embodiments of this utility model, the collision sensor 73 is a micro switch. By setting the collision sensor 73 as a micro switch, when the protective cover 70 moves relative to the obstacle detection module 30 under the force of an obstacle, the protective cover 70 moves along with the collision sensor 73. When the protective cover 70 moves with the collision sensor 73 to the point where the collision sensor 73 contacts the obstacle detection module 30, the obstacle detection module 30 exerts a force on the micro switch. The obstacle detection module 30 squeezes the moving contact of the micro switch, causing the moving contact of the micro switch to move to the closed position, thereby triggering the micro switch and detecting a collision between the protective cover 70 and the obstacle.

[0116] In addition, when the collision sensor 73 is a micro switch, since the moving contact of the micro switch is elastic, when the protective cover 70 is separated from the obstacle, the moving contact of the micro switch resets to the open position under its own elastic force, and during the process of the moving contact of the micro switch resetting to the open position, the moving contact of the micro switch can drive the protective cover 70 to reset.

[0117] According to some embodiments of this utility model, refer to Figure 8 and Figure 9 There are multiple collision sensors 73, including a first collision sensor 731 and a second collision sensor 732. The trigger surface of the first collision sensor 731 faces downward and the trigger surface of the second collision sensor 732 faces backward.

[0118] When the collision sensor 73 is a micro switch, the micro switch includes a moving contact and a stationary contact. The side surface of the moving contact that is away from the stationary contact constitutes the trigger surface of the collision sensor 73.

[0119] For example, when the protective cover 70 collides with an obstacle located above the protective cover 70, the obstacle above the protective cover 70 exerts a downward force on the protective cover 70, thereby pushing the protective cover 70 to move downward relative to the obstacle detection module 30. Since the first collision sensor 731 is located on the protective cover 70, the protective cover 70 moves downward together with the first collision sensor 731, thereby causing the trigger surface of the first collision sensor 731 to come into contact with the obstacle detection module 30. At this time, the first collision sensor 731 is triggered, so the first collision sensor 731 can detect that the protective cover 70 has collided with the obstacle located above it. At this time, the lifting drive assembly 90 can be controlled to drive the obstacle detection module 30 to descend.

[0120] For example, when the protective cover 70 collides with an obstacle located in front, the obstacle exerts a backward force on the protective cover 70, which can push the protective cover 70 to move backward relative to the obstacle detection module 30. Since the second collision sensor 732 is located on the protective cover 70, the protective cover 70 moves backward with the second collision sensor 732, so that the trigger surface of the second collision sensor 732 comes into contact with the obstacle detection module 30. At this time, the second collision sensor 732 is triggered and can detect that the protective cover 70 has collided with the obstacle. In this way, the second collision sensor 732 can detect that the protective cover 70 has collided with the obstacle located in front, and at this time, the machine can be controlled to move backward.

[0121] According to some embodiments of this utility model, refer to Figure 10 and Figure 11 One of the protective cover 70 and the obstacle detection module 30 has a locking hole 71, and the other has a buckle 32. The buckle 32 engages with the locking hole 71 with a clearance fit. For example, the protective cover 70 has a locking hole 71, and the obstacle detection module 30 has a buckle 32; or, the obstacle detection module 30 has a locking hole 71, and the protective cover 70 has a buckle 32. The engagement of the buckle 32 and the locking hole 71 facilitates the assembly of the protective cover 70 and the obstacle detection module 30, and also facilitates the disassembly and replacement of the protective cover 70.

[0122] The protective cover 70 can move relative to the obstacle detection module 30 by means of a gap between the buckle 32 and the locking hole 71. For example, the buckle 32 and the locking hole 71 have a gap in the vertical direction, which allows the protective cover 70 to move vertically relative to the obstacle detection module 30; or the buckle 32 and the locking hole 71 have a gap in the front-back direction, which allows the protective cover 70 to move back and forth relative to the obstacle detection module 30.

[0123] According to some embodiments of this utility model, the obstacle detection component 20 further includes a voice module, which is installed in and located within the protective cover 70. The voice module enables voice control of the cleaning device, making its operation more convenient. Furthermore, installing the voice module within the protective cover 70 fully utilizes its space, and integrating it into the obstacle detection component 20 facilitates modular installation.

[0124] Alternatively, the voice module can be a microphone module.

[0125] According to some embodiments of this utility model, refer to Figures 1-5The obstacle detection component 20 includes an obstacle detection module 30, a module support 40, and a rotation drive component 80. The obstacle detection module 30 is mounted on the module support 40 and is rotatable relative to the module support 40. The rotation axis of the obstacle detection module 30 can extend in the vertical direction. The rotation drive component 80 is connected to the obstacle detection module 30 to drive the obstacle detection module 30 to rotate.

[0126] For example, when the obstacle detection module 30 is in the second position, it can rotate relative to the module support 40. By rotating the obstacle detection module 30 relative to the machine body, it can emit light in different directions, increasing its detection range and further reducing interference or collisions between the cleaning device and obstacles during movement. The obstacle detection module 30 can rotate 360°.

[0127] When the obstacle detection module 30 is rotatable relative to the module support 40, the control module can also control the rotation of the obstacle detection module 30. The rotation drive assembly 80 includes a second motor 81, which can be electrically connected to the control module. The control module can control the rotation of the obstacle detection module 30 by controlling the second motor 81.

[0128] A cleaning system according to a second aspect of the present invention includes: a cleaning device according to the first aspect of the present invention and a cleaning base station, wherein the cleaning device and the cleaning base station are detachably coupled, and the cleaning base station is used to clean and / or charge the cleaning device.

[0129] For example, when the cleaning components of the cleaning device need cleaning, such as the roller brush or mop, the cleaning device can automatically move into the cleaning base station, where the cleaning base station can clean the cleaning components. After cleaning is complete, the cleaning device can move and leave the cleaning base station.

[0130] For example, when the cleaning device needs charging, it can automatically move to or next to the cleaning base station, and its charging port connects to the corresponding interface of the cleaning base station to automatically charge the device. After charging is complete, the cleaning device can move and leave the cleaning base station.

[0131] The cleaning device and the cleaning base station can cooperate in the following way: the cleaning base station has a base station housing cavity. When the cleaning device cooperates with the cleaning base station, the cleaning device moves into the base station housing cavity of the cleaning base station. When the cleaning device separates from the cleaning base station, the cleaning device moves away from the base station housing cavity to move to the outside of the cleaning base station.

[0132] According to the cleaning system of this utility model embodiment, by setting the above-mentioned cleaning device, the lifting drive component 90 used to drive the obstacle detection component 20 in the cleaning device has a simple structure and occupies little space, which is conducive to realizing the miniaturization of the whole machine.

[0133] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0134] In the description of this utility model, "first feature" and "second feature" may include one or more of the features.

[0135] In the description of this utility model, "multiple" means two or more.

[0136] In the description of this utility model, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0137] In the description of this utility model, the terms "above", "over" and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0138] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0139] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that, include: body; A cleaning component is provided on the body and is used to clean the area to be cleaned; An obstacle detection component is vertically mounted on the machine body and is used to detect obstacles in the area to be cleaned. The obstacle detection component has a mating shaft extending in the vertical direction. A lifting drive assembly is disposed on the body and used to drive the obstacle detection assembly to lift. The lifting drive assembly includes a first motor and a transmission shaft extending in the vertical direction. The first motor and the transmission shaft are tractably connected to drive the transmission shaft to rotate around its own axis. The transmission shaft is sleeved on the outer periphery of the mating shaft. The transmission shaft and the mating shaft are provided with a mating groove on one and a mating protrusion on the other. The mating groove extends obliquely from bottom to top, and the mating protrusion is accommodated in the mating groove and can slide relative to the mating groove along the extension direction of the mating groove.

2. The cleaning device of claim 1, wherein, The mating groove extends in a spiral direction from bottom to top.

3. The cleaning device of claim 1, wherein, The mating protrusion is formed in the shape of a bump.

4. The cleaning device of claim 1, wherein, The mating protrusion is provided on the inner peripheral wall of the transmission shaft, and the mating groove is provided on the outer peripheral wall of the mating shaft.

5. The cleaning device of claim 4, wherein, The mating protrusion is located at the upper end of the drive shaft.

6. The cleaning device of claim 4, wherein, The mating groove extends upward to the top of the mating shaft; and / or, the mating groove extends downward to the bottom of the mating shaft.

7. The cleaning device of claim 1, wherein, The outer peripheral wall of the mating shaft is formed with a first limiting protrusion, which is located above the mating groove and above the transmission shaft, so as to limit the mating shaft in the downward direction.

8. The cleaning device of claim 1, wherein, The lifting drive assembly further includes a gear transmission mechanism, which is tractably connected between the first motor and the drive shaft. The gear transmission mechanism includes a drive gear and a transmission gear that are tractably connected. The drive gear is fixed to the motor shaft of the first motor, and the transmission gear is fixed to the drive shaft and coaxially arranged with the drive shaft.

9. The cleaning device of claim 8, wherein, The drive gear directly meshes with the transmission gear for transmission.

10. The cleaning device of claim 8, wherein, The outer peripheral wall of the drive shaft is provided with a second limiting protrusion, and the drive gear is located on the upper side of the second limiting protrusion.

11. The cleaning device of claim 1, wherein, The obstacle detection component includes an obstacle detection module and a module support. The obstacle detection module is mounted on the module support, and the module support is flexibly connected to the mating shaft.

12. The cleaning device of claim 11, wherein, The module support includes a support body and a connecting shaft. The obstacle detection module is mounted on the support body. The connecting shaft extends in the vertical direction. The mating shaft is sleeved on the outer periphery of the connecting shaft. An elastic structure is provided between the connecting shaft and the mating shaft.

13. The cleaning device of claim 12, wherein, The elastic structure includes a first spring and a second spring. The inner peripheral wall of the mating shaft is provided with a supporting protrusion ring. The first spring and the second spring are respectively sleeved on the outer peripheral side of the connecting shaft and are respectively located on the upper and lower sides of the supporting protrusion ring. The upper end of the first spring abuts or connects with the connecting shaft, the lower end of the first spring abuts or connects with the supporting protrusion ring, the lower end of the second spring abuts or connects with the connecting shaft, and the upper end of the second spring abuts or connects with the supporting protrusion ring.

14. The cleaning device of claim 1, wherein, The machine body is provided with a mounting bracket, and the lifting drive component and the obstacle detection component are both mounted on the mounting bracket. The mounting bracket is detachably connected to the machine body.

15. The cleaning device of claim 14, wherein, One of the mounting bracket and the obstacle detection assembly is provided with a guide groove extending in the vertical direction and the other is provided with a guide rib extending in the vertical direction. The guide rib is accommodated in the guide groove and can slide up and down relative to the guide groove.

16. The cleaning device of claim 14, wherein, The mounting bracket has a mounting hole at its bottom. The drive shaft passes through the mounting hole and is rotatable relative to the mounting bracket. The mounting bracket contains a bearing, which is sleeved on the outer periphery of the drive shaft. The outer periphery of the drive shaft has a second limiting protrusion, which is supported on the upper side of the bearing.

17. The cleaning device of claim 1, wherein, The obstacle detection component includes an obstacle detection module, a protective cover, and a collision sensor. The protective cover is positioned above the obstacle detection module and is movable relative to the obstacle detection module. The collision sensor is located inside the protective cover to detect collisions between the protective cover and obstacles.

18. The cleaning device of claim 17, wherein, The collision sensor is configured to be triggered when the protective cover moves relative to the obstacle detection module and the collision sensor comes into contact with the obstacle detection module.

19. The cleaning device of claim 18, wherein, The obstacle detection module has an upwardly protruding detection rib on its top, and the collision sensor is configured to be triggered when the protective cover moves relative to the obstacle detection module and the collision sensor comes into contact with the detection rib.

20. The cleaning device of claim 18, wherein, The collision sensor is a micro switch.

21. The cleaning device of claim 18, wherein, The collision sensor is a plurality of sensors, including a first collision sensor and a second collision sensor, wherein the trigger surface of the first collision sensor faces downward and the trigger surface of the second collision sensor faces backward.

22. The cleaning device of claim 17, wherein, One of the protective cover and the obstacle detection module is provided with a locking hole and the other is provided with a buckle. The buckle is inserted into the locking hole and the buckle is in clearance fit with the locking hole.

23. The cleaning device of claim 17, wherein, The obstacle detection component also includes a voice module, which is installed in and located inside the protective cover.

24. The cleaning device of claim 1, wherein, The obstacle detection component includes an obstacle detection module, a module support, and a rotation drive component. The obstacle detection module is mounted on the module support and is rotatable relative to the module support. The rotation drive component is connected to the obstacle detection module to drive the obstacle detection module to rotate.

25. A cleaning system characterized by, include: The cleaning apparatus according to any one of claims 1-24; A cleaning base station, wherein the cleaning device is detachably coupled to the cleaning base station, and the cleaning base station is used to clean and / or charge the cleaning device.

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