Cleaning apparatus

Abstract

The application discloses a cleaning device, which comprises a main machine, a first cleaning mechanism, a first detection component and a second detection component. The first cleaning mechanism comprises a first power component and a first cleaning component. The first cleaning component has an inner retracted position and an outer expanded position. In the height direction of the main machine, the projection of the first cleaning component is within the outer edge of the main machine. When the first cleaning component is in the outer expanded position, the area of the first cleaning component beyond the outer edge of the main machine is greater than that when the first cleaning component is in the inner retracted position. The first detection component is arranged on the main machine and is used at least for detecting whether the first cleaning component is in the inner retracted position. The second detection component is arranged on the first cleaning mechanism and is used at least for detecting whether the first cleaning component falls, whether the first cleaning component is in a lifting limit position and whether the first cleaning component is in a descending limit position. The cleaning device can at least solve the problem that the cleaning device cannot detect whether the outer expanded mop is in place and whether the outer expanded mop is lifted in real time.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and more specifically, to a cleaning device. Background Technology

[0002] With technological advancements, robotic vacuum cleaners can control the mop to expand or retract based on different environments and cleaning needs. Existing robotic vacuum cleaners, by incorporating sensors within the main unit, can detect the two extreme positions of the expanded mop (retracted and expanded), thus determining whether the mop is in either position. Furthermore, based on the sensor-detected position data, the robot can also determine whether the mop is raised or lowered, and whether it has detached from the main unit. However, because the sensors in existing robotic vacuum cleaners are located inside the main unit, they cannot move with the expanded mop. Therefore, current robotic vacuum cleaners can generally only detect the position data of the expanded mop when it is in the retracted or expanded positions, but cannot perform real-time position detection. Consequently, they cannot know in real time whether the expanded mop is raised or lowered (i.e., whether the expanded mop is raised) or whether it has detached from the main unit (i.e., whether the expanded mop is in position). Utility Model Content

[0003] The main objective of this application is to provide a cleaning device to solve the problem that existing cleaning devices cannot detect in real time whether the extended mop is in place and whether it is raised.

[0004] According to one aspect of this application, a cleaning device is provided, comprising:

[0005] Host;

[0006] A first cleaning mechanism includes a first power component and a first cleaning component. The first cleaning component is detachably disposed on the first power component and can be raised and lowered along the height direction of the host. The first power component drives the first cleaning component to rotate along a first direction or a second direction opposite to the first direction. The first cleaning component has an inward position close to the host and an outward position extending beyond the outer edge of the host. In the projection of the host along the height direction, when the first cleaning component is in the outward position, the area of ​​the first cleaning component extending beyond the outer edge of the host is greater than the area of ​​the first cleaning component extending beyond the outer edge of the host when the first cleaning component is in the inward position.

[0007] A first detection component is disposed on the host unit, and the first detection component is used at least to detect whether the first cleaning component is in the retracted position;

[0008] The second detection component is disposed on the first cleaning mechanism and moves with the first cleaning mechanism. The second detection component is used to detect at least the in-situ state and lifting position of the first cleaning component, the lifting position including the in-situ state and lifting position of the raised position and the lowered position.

[0009] Furthermore, both the first detection component and the second detection component include at least one of a push button switch element, a limit switch element, a proximity switch element, and a magnetic switch element.

[0010] Furthermore, the first cleaning mechanism includes a magnetic suction component, the first power component includes an output shaft, and the first cleaning component is detachably connected to the output shaft via the magnetic suction component. The magnetic suction component includes a first magnetic suction element and a second magnetic suction element.

[0011] The first magnetic element is disposed at one end of the output shaft near the first cleaning component, and the second magnetic element is disposed at one end of the first cleaning component near the output shaft.

[0012] Furthermore, the first detection component includes a switch Hall element, which determines the position of the first cleaning component based on a trigger signal that triggers the switch Hall element, thereby determining whether the first cleaning component is in the retracted position.

[0013] Furthermore, the second detection component includes a linear Hall element, which collects position data of the first cleaning component based on the change in magnetic field strength of the magnetic attraction component to determine whether the first cleaning component has fallen, whether it is in the raised position, or whether it is in the lowered position.

[0014] Furthermore, the first power component includes an output shaft, and the second detection component is disposed on and fixedly connected to the first power component. When the first cleaning component is in the raised position:

[0015] Along the height direction of the first power component, the second detection component is at the same height as the end of the first cleaning component near the output shaft; or,

[0016] The second detection component is close to the end of the output shaft that is near the first cleaning component.

[0017] Furthermore, the first power component includes a transmission component, and the second detection component is fixedly connected to the transmission component and moves with the transmission component.

[0018] Furthermore, the first cleaning mechanism also includes a first stop component, on which a mounting portion is provided;

[0019] The first stop component is disposed on the transmission component and moves with the transmission component. The mounting part is located on the first stop component near the rotation axis of the first cleaning component. The second detection component is connected to the first stop component through the mounting part.

[0020] Furthermore, the first stop component includes a connecting portion and a stop plate, and the first cleaning mechanism further includes a transmission element;

[0021] The first cleaning component is connected to the first power component through the transmission element. The connecting part is fixedly connected to the transmission component and surrounds the outer periphery of the transmission element. The stop plate is connected to the connecting part, and the stop plate covers at least part of the outer periphery of the first cleaning component.

[0022] There is an annular gap between the inner wall of the connecting part and the outer periphery of the transmission element, and the width of the annular gap is D, and D≥0.3mm.

[0023] Furthermore, the host is provided with an avoidance notch, which extends from the inside of the host to the edge of the host, and an opening is provided at one end of the avoidance notch near the edge of the host, and the first detection component is provided at the end of the avoidance notch opposite to the opening.

[0024] In this application, the cleaning equipment can detect the position of the first cleaning component by setting a first detection component and a second detection component, thereby determining the specific position of the first cleaning component relative to the main unit. Compared to existing cleaning equipment, this application sets the second detection component on the first cleaning mechanism, allowing the second detection component to move with the first cleaning mechanism, so that the second detection component can detect the position of the first cleaning component in real time. Even in some special cases, such as when the rotation center of the first cleaning component exceeds the body of the main unit or when the first cleaning component is between the inward and outward limit positions, the cleaning equipment can still detect in real time whether the first cleaning component has fallen, whether it is at the lifting limit position, or whether it is at the lowering limit position, so as to control the first cleaning component according to the cleaning needs, improve the performance of the cleaning equipment, and help the cleaning equipment complete the cleaning work better. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, are illustrative and descriptive of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0026] Figure 1 This is a first-view perspective structural diagram of a cleaning device disclosed in an embodiment of this application;

[0027] Figure 2 for Figure 1 The top view of the cleaning equipment shown;

[0028] Figure 3 for Figure 1 A top view of the cleaning equipment in the extended position;

[0029] Figure 4 This is a perspective view of a cleaning device disclosed in an embodiment of this application from a second perspective.

[0030] Figure 5 for Figure 1 A top view of the bottom shell of the cleaning equipment and the first cleaning mechanism (the first cleaning component is in the outward expansion position);

[0031] Figure 6 for Figure 1 A partial top view of the bottom shell, first power unit, and first stop unit (the first stop unit is near the inside of the bottom shell) of the cleaning equipment;

[0032] Figure 7 for Figure 1 A structural diagram of the bottom shell and the first detection component of the cleaning equipment in a third-person perspective;

[0033] Figure 8 for Figure 7 An enlarged view of part A in the image;

[0034] Figure 9 for Figure 1 A structural diagram of the bottom shell and the first detection component of the cleaning equipment in a fourth-angle view;

[0035] Figure 10 for Figure 9 An enlarged view of part B in the image;

[0036] Figure 11 This is a perspective structural diagram of the first cleaning mechanism disclosed in the embodiments of this application;

[0037] Figure 12 for Figure 11 An exploded view of the first cleaning mechanism in the system;

[0038] Figure 13 for Figure 11 A fifth-angle cross-sectional view of the first cleaning facility in the center;

[0039] Figure 14 This is a schematic diagram of the first cleaning component of the cleaning device disclosed in this application moving from one position to the outward expansion limit position.

[0040] The above figures include the following reference numerals:

[0041] 100. Cleaning equipment; 10. Main unit; 11. Circumvention notch; 111. Opening; 12. Bottom shell; 13. Elastic component; 20. First cleaning mechanism; 21. First power component; 211. Output shaft; 212. Transmission component; 22. First cleaning component; 221. Mop holder; 222. Flexible mop; 23. Magnetic component; 231. First magnetic element; 232. Second magnetic element; 24. First stop component; 241. Connecting part; 2411. Mounting part; 242. Stop plate; 25. Transmission component; 30. First detection component; 31. Switch Hall element; 40. Second detection component; 41. Linear Hall element; 50. Second cleaning mechanism. Detailed Implementation

[0042] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0045] As described in the background section, while existing robotic vacuum cleaners can control the mop to expand or retract according to different environments and cleaning needs, the sensors used to detect the mop are generally all located inside the main unit of the robot. These sensors cannot move with the expanding mop, thus the existing sensor setup cannot detect in real time whether the expanding mop is in a raised or lowered state (i.e., whether the expanding mop is raised) or whether the expanding mop has detached from the main unit (i.e., whether the expanding mop is in position). Therefore, this application provides a new cleaning device that can still detect whether the expanding mop is in position and whether it is raised when the rotation center of the expanding mop extends beyond the main unit and when the expanding mop is between its retracted and expanded limits. The cleaning device of this application will be described below with reference to the accompanying drawings.

[0046] See Figures 1 to 13 As shown, this application embodiment provides a cleaning device 100, which includes, but is not limited to, a sweeping robot (including robots with one or more cleaning mechanisms), a floor scrubber (a robot with mopping function but no sweeping function), a sweeping and mopping robot, a floor scrubber (such as a handheld floor scrubber or a non-handheld floor scrubber), or a base station having the above-mentioned sweeping robot, floor scrubber, sweeping and mopping robot, or floor scrubber. The cleaning device 100 includes a main unit 10, a first cleaning mechanism 20, a first detection component 30, and a second detection component 40.

[0047] The first cleaning mechanism 20 includes a first power component 21 and a first cleaning component 22. The first cleaning component 22 is detachably mounted on the first power component 21 and can move up and down along the height direction of the main unit 10. The first power component 21 drives the first cleaning component 22 to rotate in a first direction or a second direction opposite to the first direction. The first cleaning component 22 has an inward position close to the main unit 10 and an outward position extending beyond the outer edge of the main unit 10. Within the projection of the main unit 10 in the height direction, when the first cleaning component 22 is in the outward position, the cleaning device 100 allows the first power component 21 to partially extend beyond the outer edge of the main unit 10, and even allows the rotation center of the first cleaning component 22 to extend beyond the outer edge of the main unit 10. This application mainly describes the case where the rotation center of the first cleaning component 22 extends beyond the outer edge of the main unit 10, and the area of ​​the first cleaning component 22 extending beyond the outer edge of the main unit 10 is larger than the area of ​​the first cleaning component 22 extending beyond the outer edge of the main unit 10 when it is in the inward position. A first detection component 30 is mounted on the main unit 10, and the first detection component 30 is used at least to detect whether the first cleaning component 22 is in the inward position. The second detection component 40 is disposed on the first cleaning mechanism 20 and moves with the first cleaning mechanism 20. The second detection component 40 is used to detect at least the in-situ state and lifting / lowering of the first cleaning component 22, including the raised position and the lowered position.

[0048] In this application, when the first cleaning component 22 rotates in the first direction and is subjected to a torque in the second direction, the first cleaning mechanism 20 swings relative to the main unit 10 in the second direction, causing the first cleaning component 22 to be in an outwardly expanded position. Specifically, when the first power component 21 drives the first cleaning component 22 to rotate in the first direction, when the first cleaning component 22 contacts the surface to be cleaned, such as the ground or countertop, a torque is generated. This torque causes the entire first cleaning mechanism 20 to swing relative to the main unit 10 in the second direction opposite to the first direction, causing the first cleaning component 22 to protrude beyond the outer edge of the main unit 10 and be in an outwardly expanded position. When the first cleaning component 22 is in the outwardly expanded position, if the main unit 10 is viewed from the height direction of the main unit 10, the rotation center of the first cleaning component 22 (i.e., Figure 3 and Figure 5 As shown in the figure, O) extends beyond the outer edge of the main unit 10. Thus, when the first cleaning component 22 is in the extended position and performs edge cleaning, the first cleaning component 22 can extend further outward relative to the main unit 10. This not only expands the cleaning range of the cleaning device 100 to a certain extent, but also allows the first cleaning component 22 to better avoid obstacles such as the main unit 10 and furniture or walls. This avoids interference between the main unit 10 and obstacles, which would interfere with the cleaning work of the cleaning device 100.

[0049] Furthermore, when the first cleaning component 22 rotates in the second direction and is subjected to a torque in the first direction, the first cleaning mechanism 20 swings relative to the main unit 10 in the first direction, thereby causing the first cleaning component 22 to be in the retracted position. Specifically, when the first power component 21 drives the first cleaning component 22 to rotate in the second direction, when the first cleaning component 22 contacts the surface to be cleaned, such as the ground or countertop, a torque is generated. This torque causes the entire first cleaning mechanism 20 to swing relative to the main unit 10 in the first direction, which is opposite to the second direction, thereby causing the first cleaning component 22 to retract to the inside of the main unit 10 and be in the retracted position. At this time, it is convenient to retract and extend the cleaning device 100.

[0050] During the operation of the cleaning equipment 100, the first detection component 30 installed on the main unit 10 can detect the position of the first cleaning component 22, thereby determining whether the first cleaning component 22 is in an inward position or a non-inward position (i.e., an outward position or a position between an outward and inward position). Furthermore, the second detection component 40 installed on the first cleaning mechanism 20 can move with the first cleaning mechanism 20 and detect the position of the first cleaning component 22 in the height direction of the main unit 10 in real time, thereby detecting whether the first cleaning component 22 has fallen, is in a raised position, or is in a lowered position. Although the second detection component 40 can detect whether the first cleaning component 22 has fallen, is in a raised position, or is in a lowered position in real time, in actual operation, the second detection component 40 is generally designed to be more sensitive to the raised limit position of the raised position and the lower limit position of the lowered position. For ease of explanation, this application will describe the cleaning equipment 100 using the raised limit position of the raised position and the lower limit position of the lowered position. The cleaning equipment 100 detects the position data of the first cleaning component 22 through the first detection component 30 and the second detection component 40 in order to carry out subsequent cleaning work.

[0051] In other words, the cleaning device of this application can detect the position of the first cleaning component 22 by setting the first detection component 30 and the second detection component 40, thereby knowing the specific position of the first cleaning component 22 relative to the host 10. Compared with existing cleaning devices, this application sets the second detection component 40 on the first cleaning mechanism 20, so that the second detection component 40 can move with the first cleaning mechanism 20, so that the second detection component 40 can detect the position of the first cleaning component 22 in real time. Even in some special cases, such as when the rotation center O of the first cleaning component 22 exceeds the body of the host 10 or when the first cleaning component 22 is between the inward limit position and the outward limit position, the cleaning device 100 can still detect in real time whether the first cleaning component 22 has fallen, whether it is at the lifting limit position, and whether it is at the lowering limit position, so as to control the first cleaning component 22 according to the cleaning needs, improve the performance of the cleaning device 100, and help the cleaning device 100 to better complete the cleaning work.

[0052] It is understood that the first direction in this application can be clockwise or counterclockwise. When the first direction is clockwise, the second direction is counterclockwise; when the first direction is counterclockwise, the second direction is clockwise. Figure 5 As shown, in this embodiment, the first direction is clockwise (i.e., Figure 5 The direction indicated by 'e' is the first direction, and the second direction is counterclockwise (i.e., the direction indicated by 'e'). Figure 5 (The direction indicated by f in the middle). In this application, the specific directions referred to by the first direction and the second direction can vary depending on the viewing angle and the installation position of the first cleaning mechanism 20 on the bottom shell 12. Figure 5 From the presented perspective, if the first cleaning mechanism 20 is located on the left side of the bottom shell 12, then the first direction is counterclockwise (i.e., Figure 5 The direction indicated by f in the middle), the second direction is clockwise (i.e. Figure 5 (The direction indicated by 'e' in the text). This application mainly describes the case where the first direction is clockwise and the second direction is counterclockwise (i.e., the first cleaning mechanism 20 is located on the right side of the bottom shell 12). Furthermore, the torque in this application can be the frictional torque exerted by the ground or countertop on the first cleaning component 22 when it rubs against the ground or countertop; it can also be the torque generated by the reaction force of other objects on the first cleaning component 22 when the centrifugal force of the first cleaning component 22's own rotation acts on other objects; or it can be the torque exerted by other friction mechanisms on the first cleaning component 22 when the first cleaning component 22 comes into contact with other friction mechanisms.

[0053] For example, the retracted position includes multiple retracted position points. When the first cleaning component 22 retracts to the innermost position of the host 10, the first cleaning component 22 is at the extreme position of the retracted position. The outward expansion position includes multiple outward expansion position points. When the first cleaning component 22 expands to the outermost position of the host 10, the first cleaning component 22 is at the extreme position of the outward expansion position. Positions within a first predetermined distance range from the extreme position of the retracted position to the extreme position of the outward expansion position are all considered retracted positions. Positions within a second predetermined distance range from the extreme position of the outward expansion position to the extreme position of the retracted position are all considered outward expansion positions. The specific sizes of the first and second predetermined distances can be adjusted accordingly based on needs and actual circumstances. This application does not limit the specific sizes of the first and second predetermined distances. Any implementation that adjusts the first and second predetermined distances under the concept of this application is within the scope of protection claimed in this application.

[0054] See Figure 14 As shown, the first cleaning mechanism 20 moves between an inward position and an outward position around the swing center O1. R1 is a first tangent line along a predetermined direction of the main unit 10 and tangent to the edge of the main unit 10. When the first cleaning component 22 moves along the predetermined direction of the main unit 10, if the first cleaning component 22 is in a position that does not exceed the first tangent line R1 (i.e., the first cleaning component 22 is in a position that does not exceed the first tangent line R1), Figure 14 If the first cleaning component 22 is in the retracted position (as shown by the solid line in the middle), then the first cleaning component 22 is in the retracted position; if the first cleaning component 22 is in the position beyond the first tangent R1 (i.e., the first cleaning component 22 is in the position beyond the first tangent R1), then the first cleaning component 22 is in the retracted position; if the first cleaning component 22 is in the position beyond the first tangent R1, then the first cleaning component 22 is in the position beyond the first tangent R1. Figure 14 The position of the first cleaning component 22 is shown by the solid line in the middle, for example... Figure 14 (The position of the first cleaning component 22 is shown by the dashed line in the middle), then the first cleaning component 22 is in the outward expansion position.

[0055] Further, see Figures 6 to 13As shown, both the first detection component 30 and the second detection component 40 include at least one of a push-button switch element, a limit switch element, a proximity switch element, and a magnetic switch element. Specifically, both the first detection component 30 and the second detection component 40 can be at least one of the push-button switch element, a limit switch element, a proximity switch element, and a magnetic switch element. The first detection component 30 and the second detection component 40 can use the same switching element (i.e., push-button switch element, limit switch element, proximity switch element, and magnetic switch element), or they can use different switching elements. In this application, the specific types of the first detection component 30 and the second detection component 40 can be reasonably selected according to the specific structure of the cleaning equipment 100 and actual needs. This application does not impose specific limitations. Any implementation that adjusts the first detection component 30 and the second detection component 40 under the concept of this application is within the scope of protection claimed in this application. This embodiment mainly focuses on the use of different switching elements for the first detection component 30 and the second detection component 40. It should be noted that the methods and results of position detection (i.e., detection of the first cleaning component 22) by the first detection component 30 and the second detection component 40 differ depending on the type of switching element used. For example, if the first detection component 30 uses a push-button switch or a limit switch, the retracted position of the first cleaning component 22 detected by the first detection component 30 is a specific position (generally the extreme position of the retracted position). If the first detection component 30 uses a push-button switch or a limit switch, the retracted position of the first cleaning component 22 detected by the first detection component 30 is a range (composed of multiple retracted positions). Similarly, if the second detection component 40 uses a push-button switch or a limit switch, a multi-position push-button switch or limit switch is required to detect whether the first cleaning component 22 has fallen, is at its raised limit position, or is at its lowered limit position.

[0056] Further, see Figure 12 and Figure 13 As shown, the first cleaning mechanism 20 includes a magnetic suction component 23, the first power component 21 includes an output shaft 211, and the first cleaning component 22 is detachably connected to the output shaft 211 via the magnetic suction component 23. The magnetic suction component 23 includes a first magnetic suction element 231 and a second magnetic suction element 232. The first magnetic suction element 231 is disposed at one end of the output shaft 211 near the first cleaning component 22, and the second magnetic suction element 232 is disposed at one end of the first cleaning component 22 near the output shaft 211.

[0057] Specifically, the first cleaning component 22 includes a mop bracket 221 and a flexible mop 222. The mop bracket 221 is connected to the output shaft 211 and rotates in a first direction or a second direction under the drive of the first power component 21. The flexible mop 222 is disposed on the bottom surface of the mop bracket 221 and is fixedly connected to the mop bracket 221 by means of adhesive or snap-fit, thereby forming a detachable first cleaning component 22. In actual installation, the arrangement of the first magnetic element 231 and the second magnetic element 232 should be such that the ends of the first magnetic element 231 and the second magnetic element 232 that are close to each other can attract each other. The first cleaning component 22 can be connected to the output shaft 211 by the magnetic force between the first magnetic element 231 and the second magnetic element 232. This makes the installation and removal of the first cleaning component 22 very simple and quick, requiring no tools or complicated procedures. The user simply aligns the first cleaning component 22 with the output shaft 211, and the first cleaning component 22 automatically attaches itself to the output shaft 211 through the magnetic force between the first magnetic element 231 and the second magnetic element 232. Disassembly is easy with a gentle pull. The magnetic attraction between the first magnetic element 231 and the second magnetic element 232 has sufficient strength to ensure a stable connection between the first cleaning component 22 and the output shaft 211 under normal operating conditions, preventing loosening or detachment due to vibration or impact, thus ensuring stability and safety during the cleaning process. If the first cleaning component 22 is pulled off by a low obstacle (such as a carpet or threshold) or is manually removed during operation, the magnetic element 23 allows the user to quickly reinstall the first cleaning component 22 back onto the output shaft 211.

[0058] Exemplarily, in some other embodiments, the first magnetic element 231 and the second magnetic element 232 can be a single unit (i.e., the first magnetic element 231 and the second magnetic element 232 are integrally formed to constitute the magnetic component 23), and the magnetic component 23 is fixedly connected to the end of the first cleaning component 22 near the output shaft 211. The end of the output shaft 211 near the first cleaning component 22 is made of a ferromagnetic metal (such as iron, cobalt, and nickel) or a ferromagnetic alloy (such as steel, iron-nickel alloy, and iron-cobalt alloy). Thus, through the magnetic attraction of the magnetic component 23, the first cleaning component 22 and the output shaft 211 can be firmly attracted together, thereby allowing the power of the first power component 21 to be transmitted to the first cleaning component 22 for cleaning. This application mainly describes the case where the first magnetic element 231 and the second magnetic element 232 are separately arranged, with the first magnetic element 231 located at the end of the output shaft 211 near the first cleaning component 22, and the second magnetic element 232 located at the end of the first cleaning component 22 near the output shaft 211.

[0059] Further, see Figures 6 to 8As shown, the first detection component 30 includes a switch Hall element 31. The switch Hall element 31 determines the position of the first cleaning component 22 based on the trigger signal of the trigger switch Hall element 31, so as to determine whether the first cleaning component 22 is in the retracted position.

[0060] Specifically, the Hall element 31 is highly sensitive to changes in magnetic field strength and can accurately sense the strength of the magnetic field generated by the magnetic suction component 23. By using a preset magnetic field threshold, it can accurately determine whether the first cleaning component 22 is in the retracted position. Then, by triggering the Hall element 31, the position of the first cleaning component 22 is determined, achieving high-precision position detection of the first cleaning component 22. If the preset magnetic field threshold is 'a', when the magnetic field strength detected by the Hall element 31 is greater than or equal to 'a', the first cleaning component 22 is in the retracted position; when the magnetic field strength detected by the Hall element 31 is less than 'a', the first cleaning component 22 is in a non-retracted position (i.e., an outward-expanding position or a position between the outward-expanding and retracted positions). The reason why the first detection component 30 in this embodiment uses the Hall element 31 is because the Hall element 31 has a fast response speed and can monitor magnetic field changes in real time, so as to reflect the position status of the first cleaning component 22 in a timely manner and ensure that the system of the cleaning device 100 can respond quickly to changes in the position of the first cleaning component 22. Furthermore, because the Hall element 31 has strong anti-interference capabilities against environmental factors such as temperature, humidity, and dust, it can maintain stable detection performance under various working environments, reducing the possibility of false judgments. Therefore, using the Hall element 31 can cope with the complex working environment of the cleaning equipment 100, allowing the cleaning equipment 100 to perform better. The non-contact detection method using the magnetic component 23 and the Hall element 31 avoids problems such as mechanical wear and poor contact, improving the system reliability and service life of the cleaning equipment 100. In addition, since the Hall element 31 typically outputs digital signals, it is easy to interface with the control system of the cleaning equipment 100 and to acquire data from the first cleaning component 22, simplifying the signal processing flow of the cleaning equipment 100.

[0061] Further, see Figures 9 to 13 As shown, the second detection component 40 includes a linear Hall element 41. The linear Hall element 41 collects position data of the first cleaning component 22 based on the change in magnetic field strength of the magnetic attraction component 23 to determine whether the first cleaning component 22 has fallen, whether it is at the lifting limit position, and whether it is at the lowering limit position.

[0062] Specifically, the linear Hall element 41 provides a linear output signal proportional to the change in magnetic field strength. Therefore, it can accurately measure the change in magnetic field generated by the magnetic suction component 23, thereby accurately determining the position of the first cleaning component 22, including whether it has fallen, reached its lifting limit position, or reached its lowering limit position. Furthermore, the linear output signal characteristic allows for the detection of minute positional changes, which is crucial for accurately detecting the positional changes of the first cleaning component 22 in the height direction of the host 10. This is because the travel distance of the first cleaning component 22 between its lifting and lowering limits is relatively small. Since the linear Hall element 41 can accurately measure the change in magnetic field generated by the magnetic suction component 23, the cleaning device 100 of this application uses the linear Hall element 41 to detect minute positional changes of the first cleaning component 22 between its lifting and lowering limits through minute changes in magnetic field strength, thereby achieving accurate position detection of the first cleaning component 22 for subsequent cleaning operations. Furthermore, since the linear Hall element 41 has good resistance to electromagnetic interference, temperature changes, and vibration, it can provide stable and reliable measurement results under various environmental conditions. This perfectly matches the working environment of the cleaning equipment 100. Therefore, the use of the linear Hall element 41 in the cleaning equipment 100 of this application can enable the cleaning equipment 100 to achieve better performance. Moreover, since the magnetic component 23 and the linear Hall element 41 adopt a non-contact detection method, the problems of mechanical wear and poor contact can be avoided, which increases the system durability and long-term stability of the cleaning equipment 100 to a certain extent.

[0063] Further, see Figure 10 , Figure 12 as well as Figure 13As shown, the first power component 21 includes an output shaft 211, and the second detection component 40 is disposed on and fixedly connected to the first power component 21. When the first cleaning component 22 is at its lifting limit position, the second detection component 40 is at the same height as the end of the first cleaning component 22 near the output shaft 211 along the height direction of the first power component 21. Specifically, in this application, the second detection component 40 is fixed on the first power component 21, and when the first cleaning component 22 reaches its lifting limit position, the second detection component 40 is at the same height as the end of the first cleaning component 22 near the output shaft, and the second detection component 40 is kept as close as possible to the output shaft 211. This ensures the accuracy of the second detection component 40 in detecting the position of the first cleaning component 22 in the height direction of the first power component 21 (i.e., the height direction of the host 10). By ensuring high-precision alignment between the second detection component 40 and the first cleaning component 22 at their lifting limit positions, the cleaning device 100 of this application can reduce errors in the process of detecting the position of the first cleaning component 22, thereby improving the control accuracy of the entire system of the cleaning device 100.

[0064] Optionally, the first power component 21 includes an output shaft 211, and the second detection component 40 is disposed on the first power component 21 and fixedly connected to the housing of the first power component 21. When the first cleaning component 22 is at its maximum lifting position, the second detection component 40 and the end of the output shaft 211 near the first cleaning component 22 are close together along the height direction of the first power component 21. Specifically, when the detection accuracy of the second detection component 40 is high and its sensitivity to changes in magnetic field strength is high, it is not necessary to restrict the second detection component 40 to be at the same height as the end of the first cleaning component 22 near the output shaft. Instead, a certain height redundancy is allowed between the second detection component 40 and the end of the first cleaning component 22 near the output shaft in the height direction of the host 10. In other words, when the detection accuracy of the second detection component 40 is high and the sensitivity to changes in magnetic field strength is high, the installation position of the second detection component 40 in the height direction of the host 10 can be slightly higher or slightly lower than the end of the first cleaning component 22 near the output shaft. In this way, it is only necessary to ensure that the second detection component 40 is close to the end of the output shaft 211 near the first cleaning component 22.

[0065] It is understood that the second detection component 40 mentioned in this application, which is disposed on the first power component 21 and fixedly connected to the housing of the first power component 21, specifically refers to the fact that the second detection component 40 can be directly disposed on the housing of the first power component 21, or it can be disposed on other structures fixedly connected to the housing of the first power component 21, such as the first stop component 24. The first stop component 24 is configured to contact the obstacle when the first cleaning component 22 is in the outwardly extended position, so as to prevent the first cleaning component 22 from making hard contact with the obstacle. It is understood that the prevention of hard contact between the first cleaning component 22 and the obstacle mentioned here refers to the situation where there is no hard object in the first cleaning component 22 or no other structure with a hard support inside that directly contacts the obstacle. This embodiment shows the case where the second detection component 40 is disposed on the first stop component 24 fixedly connected to the housing of the first power component 21, and this application will also describe the case where the second detection component 40 is disposed on the first stop component 24.

[0066] Further, see Figure 6 , Figures 11 to 13 As shown, the first power component 21 includes a transmission component 212, and the second detection component 40 is fixedly connected to the transmission component 212 and moves with the transmission component 212. Specifically, the transmission component 212 is typically used to reduce the speed of the motor of the first power component 21 while increasing the output torque. This means that by adjusting the speed and torque output by the motor, the rotation of the first cleaning component 22 can be more precisely controlled, thereby further controlling the first cleaning component 22 to perform cleaning work.

[0067] Further, see Figure 5 , Figure 6 , Figures 9 to 13 As shown, the first cleaning mechanism 20 also includes a first stop component 24, on which a mounting portion 2411 is provided. The first stop component 24 is disposed on and moves with the transmission member 212. When the first stop component 24 is in the outward-expanding position and contacts an obstacle, the first stop component 24 contacts the obstacle before the first cleaning component 22 and is driven by the force exerted by the obstacle, causing the first cleaning mechanism 20 to move, thereby moving the first cleaning component 22 towards the inward-retracting position. The mounting portion is located on the first stop component 24 near the rotation axis of the first cleaning component 22, and the second detection component 40 is connected to the first stop component 24 via the mounting portion 2411.

[0068] Specifically, the first stop component 24 is disposed on and moves with the transmission component 212, and when it is in the outward position and contacts an obstacle, it contacts the obstacle before the first cleaning component 22. This design can effectively prevent the first cleaning component 22 from directly colliding with the obstacle, reduce the risk of damage to the first cleaning component 22 due to collision during operation, and extend the service life of the first cleaning component 22. The first stop component 24 is driven by the force exerted by the obstacle to move the first cleaning mechanism 20, thereby driving the first cleaning component 22 to move towards the inward position. This design allows the cleaning mechanism to automatically adjust the position of the first cleaning component 22 according to the actual obstacle encountered, preventing the cleaning component from continuing to work forcibly when encountering an obstacle, improving the adaptability and flexibility of the first cleaning mechanism 20, and better adapting to different cleaning environments. The mounting part 2411 is located on the first stop component 24 near the rotation axis of the first cleaning component 22 (i.e., Figure 10 The position of the first stop component 24 is determined by the rotation axis of the output shaft 211. The second detection component 40 is connected to the first stop component 24 via the mounting part 2411. This arrangement facilitates the installation of the second detection component 40, enabling it to more accurately obtain the position data of the first stop component 24. This provides data support for the control and adjustment of the entire first cleaning mechanism 20, and helps to achieve intelligent control of the cleaning equipment 100.

[0069] Further, see Figure 5 , Figure 6 , Figures 9 to 13 As shown, the first stop component 24 includes a connecting portion 241 and a stop plate 242, and the first cleaning mechanism 20 also includes a transmission element 25. The first cleaning component 22 is connected to the first power component 21 via the transmission element 25. The connecting portion 241 is fixedly connected to the transmission component 212 and surrounds the outer periphery of the transmission element 25. The stop plate 242 is connected to the connecting portion 241 and at least covers a portion of the outer periphery of the first cleaning component. An annular gap exists between the inner wall surface of the connecting portion 241 and the outer periphery of the transmission element 25, with a width D ≥ 0.3 mm.

[0070] Specifically, the connecting part 241 is integrally formed or fixedly connected to the housing of the transmission component 212 and surrounds the outer periphery of the transmission element 25. This design helps protect the transmission element 25 from the influence of the external environment, such as dust and debris, and also prevents other components of the cleaning equipment 100 from interfering with the movement of the transmission element 25. In addition, the stop plate 242 is integrally formed or fixedly connected to the connecting part 241, and the stop plate 242 covers part of the outer periphery of the first cleaning component 22. In this way, when the first cleaning component 22 is in the outward position for cleaning, the stop plate 242 can contact the wall or obstacle first, thereby providing good protection for the first cleaning component 22. The power input end of the transmission component 212 is connected to the motor of the first power component 21, and the power output end of the transmission component 212 is connected to the transmission element 25. This allows the motor to effectively drive the transmission element 25 to rotate in two directions (the first direction and the second direction) through the transmission component 212. This arrangement not only improves operational flexibility but also enhances the adaptability of the internal system of the cleaning equipment 100 and the cleaning efficiency of the cleaning equipment 100. Furthermore, the cleaning equipment 100 of this application has an annular gap between the inner wall surface of the connecting portion 241 and the outer periphery of the transmission element 25. The width of the annular gap is D, and D ≥ 0.3 mm. The reason for this design is that during the cleaning process, the first cleaning component 22 is subjected to external force and will wobble along the axis of the output shaft 211. Without an annular gap, the transmission element 25 would easily interfere with the inner wall of the connecting portion 241 during rotation, causing the first cleaning component 22 to rotate intermittently. Therefore, this application provides an annular gap between the inner wall of the connecting portion 241 and the outer periphery of the transmission element 25. Furthermore, the width D of the annular gap is set to be greater than or equal to 0.3 mm because when the width D is greater than or equal to 0.3 mm, the rotation effect of the transmission element 25 is better, and it is less likely to interfere with the inner wall of the connecting portion 241, thus allowing the first cleaning component 22 to perform its cleaning work normally.

[0071] Further, see Figures 5 to 10 As shown, the host 10 is provided with a clearance notch 11, which extends from the inside of the host 10 to the edge of the host 10, and an opening 111 is provided at one end of the clearance notch 11 near the edge of the host 10. The first detection component 30 is provided at one end of the clearance notch 11 away from the opening 111.

[0072] Specifically, the clearance notch 11 on the main unit 10 allows the first cleaning mechanism 20 to swing flexibly inside the main unit 10 without interfering with other internal components. The clearance notch 11 also allows the first cleaning component 22 to pass through it and connect to the first power component 21, thereby driving the first cleaning component 22 to rotate in a first or second direction and switch between an outward and inward position. When actually setting the clearance notch 11, it is necessary to consider not only the internal space of the main unit 10 but also the swing trajectory of the first cleaning mechanism 20, ensuring that the first cleaning component 22 can move along the clearance notch 11 without excessively affecting the structural strength of the main unit 10. The opening 111 allows the rotation center of the first cleaning component 22 to protrude beyond the outer edge of the main unit 10 when it is in the outward position, thus allowing the first cleaning component 22 to extend further outward relative to the main unit 10, thereby expanding the cleaning range of the cleaning device 100. In this application, the first detection component 30 is disposed at one end of the avoidance notch 11 away from the opening 111. In this way, the first detection component 30 can better detect the position of the first cleaning component 22 based on the magnetic field strength of the magnetic attraction component 23, thereby accurately determining whether the first cleaning component 22 is in the retracted position or in the non-retracted position.

[0073] Further, see Figure 5As shown, the main unit 10 is also provided with an elastic component 13, the two ends of which are connected to the first cleaning mechanism 20 and the main unit 10, respectively. Exemplarily, the elastic component 13 in this application can be a spring, an elastic strip, etc. Through the action of the elastic component 13, during the process of an obstacle applying force to the first cleaning mechanism 20, the elastic component 13 can maintain the current position of the first cleaning mechanism 20, making it more suitable for ensuring that the flexible mop 222 on the first cleaning component 22 continuously contacts the edge of the obstacle to perform cleaning operations. That is to say, the provision of the elastic component 13 allows the flexible mop 222 of the first cleaning component 22 to adhere to the obstacle for edge cleaning, and facilitates the flexible retraction of the first cleaning component 22. Furthermore, the elastic component 13 allows the first cleaning component 22 to move inward under the force exerted by the obstacle when the obstacle applies force to it. When the first cleaning component 22 moves to a position between the inward and outward positions, it can briefly pause at that position due to force balance. After the force exerted by the obstacle disappears, the first cleaning component 22 can either expand outward again or retract inward as needed. In other words, the first cleaning component 22 of this application can briefly pause at a position between the inward and outward positions. At this time, the second detection component 40 provided on the first cleaning mechanism 20 can continue to detect the position of the first cleaning component 22 in the height direction of the host 10.

[0074] Furthermore, in some embodiments of this application, the cleaning device 100 may be provided with one cleaning mechanism, namely the first cleaning mechanism 20. In other embodiments of this application, the cleaning device 100 may also be provided with multiple cleaning mechanisms, such as in this embodiment. Figures 1 to 4As shown, the cleaning device 100 includes two cleaning mechanisms, which are designated as the first cleaning mechanism 20 and the second cleaning mechanism 50 for easy distinction. When the cleaning device 100 has two cleaning mechanisms, the cleaning device 100 is configured such that: when the first cleaning component 22 of the first cleaning mechanism 20 rotates in the first direction and is subjected to a torque in the second direction, the first cleaning component 22 of the first cleaning mechanism 20 swings relative to the main unit 10 in the second direction to an outward position, and the second cleaning component of the second cleaning mechanism 50 rotates in the second direction; when the first cleaning component 22 of the first cleaning mechanism 20 rotates in the second direction and is subjected to a torque in the first direction, the first cleaning component 22 of the first cleaning mechanism 20 swings relative to the main unit 10 in the first direction to an inward position, and the second cleaning component of the second cleaning mechanism 50 rotates in the first direction. In some other embodiments of this application, when the first cleaning component 22 is in the retracted position, the rotation directions of the first cleaning component 22 and the second cleaning component of the second cleaning mechanism 50 are opposite. When the first cleaning component 22 is in the outward expansion position, the rotation directions of the first cleaning component 22 and the second cleaning component of the second cleaning mechanism 50 can be opposite or the same, which can be reasonably selected according to actual needs.

[0075] When the cleaning device 100 simultaneously has a first cleaning mechanism 20 and a second cleaning mechanism 50, at least one of the first cleaning mechanism 20 and the second cleaning mechanism 50 can swing relative to the main unit 10. (This application's appendix...) Figures 1 to 4 The diagram illustrates a scenario where the first cleaning mechanism 20 can swing relative to the host 10, while the second cleaning mechanism 50 cannot. Of course, in other embodiments of this application, the second cleaning mechanism 50 can also swing relative to the host 10. When both the first cleaning mechanism 20 and the second cleaning mechanism 50 can swing relative to the host 10, the structures of the first cleaning mechanism 20 and the second cleaning mechanism 50 are identical, but the rotation directions of the first cleaning component 22 and the second cleaning component of the second cleaning mechanism 50 are opposite.

[0076] As can be seen from the above description, this application can detect the first cleaning component 22 by setting the first detection component 30 and the second detection component 40. By analyzing the data detected by the first cleaning component 22, the position of the first cleaning component 22 can be determined. Since this application fixes the second detection component 40 to the housing of the first cleaning mechanism 20, compared with existing cleaning equipment, the second detection component 40 of this application can move with the first cleaning mechanism 20 between the inward position and the outward position. Thus, even when the rotation center O of the first cleaning component 22 exceeds the back of the main unit 10, or when the first cleaning component 22 is in a position between the inward limit position and the outward limit position, the cleaning equipment 100 can still detect whether the first cleaning component 22 is in place and whether it is raised. Therefore, the first cleaning component 22 can be controlled as needed, so that the cleaning equipment 100 can better complete the cleaning work.

[0077] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0078] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0079] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A cleaning device, characterized in that, include: Host (10); A first cleaning mechanism (20) includes a first power component (21) and a first cleaning component (22). The first cleaning component (22) is detachably disposed on the first power component (21) and can be raised and lowered along the height direction of the host (10). The first power component (21) drives the first cleaning component (22) to rotate along a first direction or a second direction opposite to the first direction. The first cleaning component (22) has an inward position near the host (10) and an outward position beyond the outer edge of the host (10). In the projection of the host (10) in the height direction, when the first cleaning component (22) is located in the outward position, the area of ​​the first cleaning component (22) beyond the outer edge of the host (10) is greater than the area of ​​the first cleaning component (22) beyond the outer edge of the host (10) when the first cleaning component (22) is in the inward position. A first detection component (30) is disposed on the host (10), and the first detection component (30) is used at least to detect whether the first cleaning component (22) is in the retracted position; The second detection component (40) is disposed on the first cleaning mechanism (20) and moves with the first cleaning mechanism (20). The second detection component (40) is used to detect at least the in-situ state and lifting position of the first cleaning component (22), the lifting position including the raised position and the lowered position.

2. The cleaning equipment according to claim 1, characterized in that, Both the first detection component (30) and the second detection component (40) include at least one of a push button switch element, a limit switch element, a proximity switch element, and a magnetic switch element.

3. The cleaning equipment according to claim 1, characterized in that, The first cleaning mechanism (20) includes a magnetic suction component (23), the first power component (21) includes an output shaft (211), and the first cleaning component (22) is detachably connected to the output shaft (211) via the magnetic suction component (23). The magnetic suction component (23) includes a first magnetic suction element (231) and a second magnetic suction element (232). The first magnetic element (231) is disposed at one end of the output shaft (211) near the first cleaning component (22), and the second magnetic element (232) is disposed at one end of the first cleaning component (22) near the output shaft (211).

4. The cleaning equipment according to claim 3, characterized in that, The first detection component (30) includes a switch Hall element (31), which determines the position of the first cleaning component (22) based on a trigger signal that triggers the switch Hall element (31), so as to determine whether the first cleaning component (22) is in the retracted position.

5. The cleaning equipment according to claim 3, characterized in that, The second detection component (40) includes a linear Hall element (41), which collects position data of the first cleaning component (22) based on the change in magnetic field strength of the magnetic attraction component (23) to determine whether the first cleaning component (22) has fallen, is in the raised position, or is in the lowered position.

6. The cleaning equipment according to claim 1, characterized in that, The first power unit (21) includes an output shaft (211), and the second detection unit (40) is disposed on the first power unit (21) and fixedly connected to the first power unit (21). When the first cleaning unit (22) is in the raised position: Along the height direction of the first power component (21), the second detection component (40) is at the same height as the end of the first cleaning component (22) near the output shaft (211); or, The second detection component (40) is close to the end of the output shaft (211) near the first cleaning component (22).

7. The cleaning equipment according to claim 1, characterized in that, The first power component (21) includes a transmission component (212), and the second detection component (40) is fixedly connected to the transmission component (212) and moves with the transmission component (212).

8. The cleaning equipment according to claim 7, characterized in that, The first cleaning mechanism (20) further includes a first stop component (24), on which a mounting part (2411) is provided; The first stop component (24) is disposed on the transmission component (212) and moves with the transmission component (212). The mounting part is located on the first stop component (24) near the rotation axis of the first cleaning component (22). The second detection component (40) is connected to the first stop component (24) through the mounting part (2411).

9. The cleaning equipment according to claim 8, characterized in that, The first stop component (24) includes a connecting part (241) and a stop plate (242), and the first cleaning mechanism (20) also includes a transmission element (25); The first cleaning component (22) is connected to the first power component (21) through the transmission element (25), the connecting part (241) is fixedly connected to the transmission member (212) and surrounds the outer periphery of the transmission element (25), the stop plate (242) is connected to the connecting part (241), and the stop plate (242) covers at least part of the outer periphery of the first cleaning component (22); There is an annular gap between the inner wall surface of the connecting part (241) and the outer periphery of the transmission element (25), the width of the annular gap being D, and D≥0.3mm.

10. The cleaning equipment according to any one of claims 1 to 9, characterized in that, The host (10) is provided with a clearance notch (11), which extends from the inside of the host (10) to the edge of the host (10), and an opening (111) is provided at one end of the clearance notch (11) near the edge of the host (10). The first detection component (30) is provided at the end of the clearance notch (11) away from the opening (111).

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