Cleaning device and cleaning robot
By arranging a pusher and a guide ramp on the cleaning device, and using a drive assembly to realize the translation and lifting of the cleaning assembly, the problems of high cost and large space in the prior art are solved, and efficient cleaning control is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ANKER INNOVATIONS TECH CO LTD
- Filing Date
- 2025-04-08
- Publication Date
- 2026-06-16
AI Technical Summary
Existing cleaning robots require at least two motors and a matching transmission mechanism to achieve the translation and lifting of cleaning components, resulting in high costs and large space requirements.
A cleaning device is employed, in which a pusher and a guide ramp are arranged on the housing of the cleaning device, and a drive assembly is used to realize the translation and lifting functions of the cleaning component. The movement of the cleaning component is controlled by a limit groove and a stop.
It reduces the manufacturing cost of the cleaning device and the required installation space, and enables the translation and lifting control of the cleaning components.
Smart Images
Figure CN224357535U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cleaning equipment technology, and in particular to a cleaning device and a cleaning robot. Background Technology
[0002] A cleaning robot is a smart home cleaning device with cleaning components for cleaning floors. To improve the coverage and cleaning capabilities of the robot, the cleaning components need to be able to move and rise relative to the main body of the robot. This allows the robot to extend beyond the edge of the main body when cleaning corners or other edges, and to lift off the ground when other cleaning methods are needed. Such cleaning robots typically require at least two motors and corresponding transmission mechanisms to control the movement and lifting of the cleaning components, resulting in high cost and large space requirements. Utility Model Content
[0003] An embodiment of this application provides a cleaning device, the cleaning device comprising:
[0004] Cleaning device housing;
[0005] A pusher is movably arranged on the housing of the cleaning device. The pusher includes a guide portion having a guide slope that gradually rises along a first direction.
[0006] The drive assembly is fixedly connected to the housing of the cleaning device, and is used to drive the pusher to move in a first direction or a second direction opposite to the first direction; and
[0007] The cleaning component has an overlapping part, which allows the cleaning component to be movably overlapped on the guide slope.
[0008] Among them, a limiting groove is provided on the guide slope. When the overlapping part moves to the limiting groove, the limiting groove is used to limit the movement of the overlapping part on the guide slope, so that the pusher can push the cleaning component to move along the first direction or the second direction opposite to the first direction.
[0009] The cleaning device housing also includes a stop portion for limiting the movement of the cleaning component in the second direction, so that the overlapping portion disengages from the limiting groove and moves on the guide ramp, thereby enabling the pusher to push the cleaning component to move in the third direction.
[0010] The third direction is perpendicular to the first and second directions.
[0011] Embodiments of this application also provide a cleaning robot, which includes a main body and the cleaning device described above.
[0012] The advantages of the cleaning device provided in this application, which differ from existing technologies, are:
[0013] This application movably arranges the pusher on the housing of the cleaning device, and allows the cleaning component to movably overlap the guide ramp of the pusher via an overlapping part. This enables the cleaning component to move along the first direction under the pusher's push when the drive component drives the pusher to move, thus achieving the translation function of the cleaning component. Furthermore, when the drive component drives the pusher to move along a second direction opposite to the first direction, the overlapping part disengages from the limiting groove and moves on the guide ramp under the limiting action of the stop part, thereby pushing the cleaning component to move along a third direction perpendicular to the first and second directions, thus achieving the lifting function of the cleaning component. Therefore, the cleaning device of this application only requires one drive component capable of driving the pusher to move in two opposite directions to achieve the control of the translation and lifting of the cleaning component, which helps to reduce the manufacturing cost of the cleaning device and reduce its required installation space. Attached Figure Description
[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.
[0015] Figure 1 This is a three-dimensional structural schematic diagram of the cleaning device provided in some embodiments of this application;
[0016] Figure 2 This is a schematic diagram of the cleaning device provided in some embodiments of this application in its first state;
[0017] Figure 3 yes Figure 2 A schematic diagram of the cleaning device in the second state in the embodiment;
[0018] Figure 4 yes Figure 2 A schematic diagram of the cleaning device in the third state in the embodiment;
[0019] Figure 5 yes Figure 1 Exploded view of the cleaning device in the embodiment;
[0020] Figure 6 This is a partial structural schematic diagram of a cleaning device provided in some embodiments of this application;
[0021] Figure 7 This is a schematic diagram of the cleaning device provided in some other embodiments of this application in its first state;
[0022] Figure 8 yes Figure 7 A schematic diagram of the cleaning device in the second state in the embodiment;
[0023] Figure 9 yes Figure 7 A schematic diagram of the cleaning device in the third state in the embodiment;
[0024] Figure 10 This is a three-dimensional structural diagram of the cleaning robot provided in some embodiments of this application in its first state;
[0025] Figure 11 yes Figure 10 A three-dimensional structural diagram of the cleaning robot in the second state in the embodiment;
[0026] Figure 12 yes Figure 10 A three-dimensional structural diagram of the cleaning robot in the third state in the embodiment. Detailed Implementation
[0027] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.
[0028] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0029] This application provides a cleaning robot and its cleaning device. The cleaning robot includes, but is not limited to, mopping robots and sweeping robots. The cleaning device can be applied to the cleaning robot or other cleaning equipment; the following description primarily uses the application of the cleaning device to a cleaning robot as an example. Please refer to... Figure 1 , Figure 1 This is a three-dimensional structural schematic diagram of a cleaning device provided in some embodiments of this application.
[0030] The cleaning device 10 includes a pushing member 100, a driving assembly 200, and a cleaning assembly 300. The pushing member 100 can be connected to both the driving assembly 200 and the cleaning assembly 300, and is used to apply a force to the cleaning assembly 300 under the drive of the driving assembly 200, causing the cleaning assembly 300 to move. The driving assembly 200 can drive the pushing member 100 to move along a first direction X or a second direction Y, where the second direction Y is opposite to the first direction X. The cleaning assembly 300 can be used to clean the floor, and is, for example, but not limited to, a mop assembly, a side brush assembly, etc.
[0031] The pusher 100, driven by the drive assembly 200, can perform linear motion, in which the first direction X and the second direction Y are linear directions; it can also perform arc motion or rotational motion, in which the first direction X and the second direction Y are rotational directions. The following description mainly uses the drive assembly 200 driving the pusher 100 to perform linear motion as an example.
[0032] The cleaning component 300 can be connected to the pusher 100. The cleaning component 300 can move to different positions under the push of the pusher 100, causing the cleaning device 10 to switch to different states. The cleaning device 10 can have a first state, a second state, and a third state. In the first state, the cleaning component 300 is in a first position. In the second state, the cleaning component 300 is in a second position. In the third state, the cleaning component 300 is in a third position. The first, second, and third positions are three different positions.
[0033] The cleaning component 300 can switch from a first position to a second position by moving along a first direction X. The second position and the first position can be two positions arranged along the first direction X. The cleaning component 300 can also switch from a first position to a third position by moving along a third direction Z1. The third position and the first position can be two positions arranged along the third direction Z1.
[0034] The third direction Z1 is perpendicular to the first direction X and the second direction Y. The third direction Z1 can be considered as the height direction. For example, the first direction X, the second direction Y, and the third direction Z1 can correspond to the left, right, and up directions, respectively. The movement of the cleaning component 300 under the push of the pusher 100 can be a linear movement or an arc movement, which can be set according to actual needs.
[0035] The cleaning component 300 can also switch from the third position to the first position by moving along the fourth direction Z2. The fourth direction Z2 is opposite to the third direction Z1. The fourth direction Z2 can correspond to the down direction.
[0036] Understandably, all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0037] Please see Figures 1 to 4 , Figure 2 This is a schematic diagram of the cleaning device provided in some embodiments of this application in its first state. Figure 3 yes Figure 2 A schematic diagram of the cleaning device in the second state in the embodiment. Figure 4 yes Figure 2 A schematic diagram of the cleaning device in the embodiment in its third state. Wherein, Figure 2 The cleaning component 300 shown is in the first position. Figure 3 The cleaning component 300 shown is in the second position. Figure 4 The cleaning component 300 shown is in the third position.
[0038] The cleaning device 10 includes a cleaning device housing 12, and a pusher 100 is movably disposed on the cleaning device housing 12. A drive assembly 200 is fixedly connected to the cleaning device housing 12. The drive assembly 200 can be used to drive the pusher 100 to move relative to the cleaning device housing 12 along a first direction X or a second direction Y.
[0039] The cleaning device 10 is used to clean a work surface, such as, but not limited to, the ground. When the cleaning component 300 is in the first position, as... Figure 2 As shown, the projection of the cleaning component 300 onto the working surface lies within the cleaning device housing 12. When the cleaning component 300 is in the second position, as... Figure 3 As shown, the projection of the cleaning component 300 onto the working surface is at least partially outside the cleaning device housing 12. When the cleaning component 300 is in the third position, as... Figure 4 As shown, the height of the cleaning component 300 in the direction perpendicular to the working surface is greater than that in the first position and the second position. That is, the height of the cleaning component 300 in the first position and the second position is less than that in the third position.
[0040] In the first state, the cleaning device 10 can use the drive assembly 200 to drive the pusher 100 to move along the first direction X, so that the cleaning assembly 300 moves from... Figure 2 The first position shown is moved to Figure 3 The second position shown allows the cleaning device 10 to switch to the second state. In the first state, the cleaning device 10 can also use the drive assembly 200 to drive the pusher 100 to move along the second direction Y, so that the cleaning assembly 300 moves from... Figure 2The first position shown is moved to Figure 4 The third position shown causes the cleaning device 10 to switch to a third state. Understandably, the drive assembly 200 can drive the pusher 100 to move in the opposite direction, causing the cleaning assembly 300 to return to its original position. For example, the drive assembly 200 driving the pusher 100 to move along the second direction Y can cause the cleaning assembly 300 to return from the second position to the first position. Similarly, the drive assembly 200 driving the pusher 100 to move along the first direction X can cause the cleaning assembly 300 to return from the third position to the first position.
[0041] The pusher 100 may include a guide portion 110. The guide portion 110 may gradually rise along a first direction X and have a first end 111 and a second end 112 arranged along the first direction X. The guide portion 110 can be considered as a ramp, with the first end 111 considered as the bottom of the ramp or a portion near the bottom of the ramp, and the second end 112 considered as the peak of the ramp or a portion near the peak of the ramp. Understandably, in the third direction Z1, the second end 112 is higher than the first end 111. The specific structure of the guide portion 110 will be described in detail below.
[0042] The guide portion 110 has a guide ramp 113 that gradually rises along a first direction X. The second end 112 and the first end 111 can be located at opposite ends of the guide ramp 113. The cleaning assembly 300 is movably attached to the guide ramp 113.
[0043] As the guide ramp 113 gradually rises along the first direction X, when the pusher 100 moves along the second direction Y, the guide ramp 113 can form an upward path for the cleaning component 300, causing the cleaning component 300 to move from the first position to the third position along the third direction Z1. Conversely, when the pusher 100 moves along the first direction X, it can push the cleaning component 300 to move along the first direction X, causing the cleaning component 300 to move from the first position to the second position.
[0044] The cleaning component 300 can be located on the bottom side of the pusher 100 and connected to the guide portion 110. In both the first and second states, the cleaning component 300 can be connected to the first end 111. In some applications, in the first state, the pusher 100 can move along a first direction X under the drive of the drive component 200, so that the cleaning component 300 moves along the first direction X under the push of the first end 111, and from such... Figure 2 The first position shown is moved to, as Figure 3The second position is shown. In some other application scenarios, in the first state, the pusher 100 can move along the second direction Y under the drive of the drive component 200, so that the cleaning component 300 moves along the third direction Z1 from the first position to the third position, wherein the cleaning component 300 can climb from one end of the guide ramp 113 near the first end 111 to the other end of the guide ramp 113 near the second end 112.
[0045] The trajectory of the cleaning component 300 moving from the first position to the third position may be, but is not limited to, a trajectory extending along the third direction Z1. For example, the cleaning component 300 may move in a direction inclined to the third direction Z1, thus having a movement distance along the third direction Z1, i.e., moving along the third direction Z1. It is understood that when the movement made by the cleaning component 300 has a movement distance along the third direction Z1, it should be regarded as moving along the third direction Z1.
[0046] Understandably, the cleaning component 300 can also move from the third position to the first position in a similar manner. In the third state, the cleaning device 10 can use the drive component 200 to drive the pusher 100 to move along the first direction X, so that the cleaning component 300 moves along the fourth direction Z2 and moves from the third position to the first position, thereby switching the cleaning device 10 to the first state. Similarly, when the movement made by the cleaning component 300 has a travel distance along the fourth direction Z2, it should be regarded as movement along the fourth direction Z2.
[0047] It should be noted that the cleaning component 300 and the pushing member 100 are not limited to the above embodiments. For example, the cleaning component 300 may be located on the top side of the pushing member 100, or arranged horizontally with the pushing member 100, as long as a part of the cleaning component 300 is connected to the pushing member 100 and can make the aforementioned movement under the pushing of the pushing member 100. No specific limitation is made. The following description mainly uses the example of the cleaning component 300 being located on the bottom side of the pushing member 100.
[0048] In this embodiment, a pusher 100 with a guide portion 110 connects a drive assembly 200 and a cleaning assembly 300. This allows the cleaning assembly 300 to move from a first position to a second position when the drive assembly 200 drives the pusher 100 to move along the first direction X, thus achieving a translation function. Furthermore, it can climb along the guide slope 113 when the drive assembly 200 drives the pusher 100 to move along the second direction Y, thus moving from the first position to a third position, thus achieving a lifting function. Therefore, the cleaning device 10 of this application only requires one drive assembly 200 capable of driving the pusher 100 to move in two opposite directions to achieve translation and lifting control of the cleaning assembly 300. This helps to reduce the manufacturing cost of the cleaning device 10 and reduce the required installation space.
[0049] It should be understood that the terminology used in this specification and appended claims is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. Similarly, the terms “first” and “second” in the description of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include one or more of the stated features. Furthermore, the term “multiple” in the description of this application means two or more, unless otherwise explicitly specified.
[0050] The specific structure of the cleaning device 10 will be further explained below. Please refer to [link / reference needed]. Figure 1 and Figure 5 , Figure 5 yes Figure 1 An exploded view of the cleaning device in the embodiment.
[0051] In some embodiments, the guide portion 110 may be provided with a mounting hole 101 penetrating its top and bottom surfaces. A guide ramp 113 is arranged on the top surface of the guide portion 110. The top surface of the guide portion 110 can be considered as the upper surface of the guide portion 110, and the bottom surface of the guide portion 110 can be considered as the lower surface of the guide portion 110. Each portion of the guide portion 110 extending along the first direction X, such as the first end 111 and the second end 112, may have a top surface and a bottom surface. The top surface of the guide portion 110 is formed by the mating of the top surfaces of each portion of the guide portion 110, and the bottom surface of the guide portion 110 is formed by the mating of the bottom surfaces of each portion of the guide portion 110. In other embodiments, the guide ramp 113 may completely constitute the top surface of the guide portion 110. In this case, the top surfaces of the first end 111 and the second end 112 both constitute a portion of the guide ramp 113.
[0052] The top surfaces of the portions of the guide portion 110 extending along the first direction X can be the same surface, and the bottom surfaces of the portions can also be the same surface, such as, but not limited to, a plane. At least a portion of the top surface of the guide portion 110 can gradually rise along the first direction X to form a sloped surface, i.e., a guide ramp 113. The mounting hole 101 can be a strip-shaped hole extending along the first direction X. The mounting hole 101 can be formed in the middle of the guide portion 110 so that the guide portion 110 forms an inner surface exposed to the mounting hole 101.
[0053] The cleaning component 300 is provided with an overlap portion 311, which is movably overlapped on the guide ramp 113. The overlap portion 311 can be used to push the cleaning component 300 to move along a first direction X, a second direction Y, or a third direction Z1. The pusher 100 can also be used to guide the overlap portion 311 through the guide ramp 113 to push the cleaning component 300 to move from a first position to a third position along the third direction Z1, and to push the cleaning component 300 to move from a third position to a first position along the fourth direction Z2.
[0054] The cleaning assembly 300 may include a connected bracket 310 and a cleaning component 320. An overlapping portion 311 may be disposed on the bracket 310, and the bracket 310 is movably overlapped on the guide ramp 113 via the overlapping portion 311. A pushing member 100 may be used to move along a first direction X under the drive of the driving assembly 200, thereby pushing the overlapping portion 311 to move along the first direction X, causing the cleaning assembly 300 to move from a first position to a second position. The pushing member 100 may also be used to move along a second direction Y under the drive of the driving assembly 200, causing the overlapping portion 311 to move on the guide ramp 113, thereby causing the cleaning assembly 300 to move along a third direction Z1 from the first position to a third position. In other embodiments, the cleaning component 320 may also be disposed on other structures, such as on the cleaning device housing 12, and is not limited to being disposed on the bracket 310.
[0055] The bracket 310 can be used to mount the cleaning component 320, which can be used to clean floors or other external surfaces. The cleaning component 320 includes, but is not limited to, mops and side brushes. The cleaning component 320 can be movably mounted on the bracket 310, and its shape can be designed as needed. For example, the cleaning component 320 can be... Figure 5 The illustrated mop is cylindrical and can rotate relative to the support 310 along its circumference, i.e., roll relative to the support 310, to facilitate cleaning the floor. The cleaning component 320 can be located on the bottom side of the support 310, and the support 310 can cover or enclose the upper part of the cleaning component 320. In other embodiments, the cleaning component 320 can also be located in other positions relative to the support 310, and the cleaning component 320 can also be of other shapes, such as a disc, and can rotate relative to the support 310 to facilitate cleaning external surfaces. The driving structure for the movement of the cleaning component 320 relative to the support 310 can refer to the prior art and will not be described here.
[0056] The bracket 310 can be located on the bottom side of the pusher 100. The overlapping portion 311 can pass through the mounting hole 101 and connect to the bracket 310. The portion of the overlapping portion 311 located in the mounting hole 101 can contact the inner surface of the guide portion 110. In some applications, the pusher 100 can move along a first direction X under the drive of the drive assembly 200, so that the overlapping portion 311 moves along the first direction X under the push of the inner surface of the first end 111, so that the cleaning assembly 300 moves from a first position to a second position, thereby allowing the cleaning device 10 to switch from a first state to a second state. In other embodiments, the overlapping portion 311 can also be spaced apart from the first end 111.
[0057] In the first state, the portion of the overlapping part 311 located in the mounting hole 101 can contact the inner end face of the first end 111. When the pusher 100 moves along the first direction X, the inner side of its first end 111 can apply a force toward the first direction X to the portion of the overlapping part 311 located in the mounting hole 101, thereby pushing the overlapping part 311 to move along the first direction X.
[0058] In other embodiments, the overlapping portion 311 may also overlap the top surface of the guide portion 110 in other ways, not limited to the through-hole 101 in the above embodiments; wherein, the overlapping portion 311 can move along the first direction X under the push of the first end 111, thereby pushing the cleaning component 300 from the first position to the second position. For example, a portion of the overlapping portion 311 may be disposed opposite to the outer side surface of the guide portion 110, and the portion protruding from the outer side surface of the guide portion 110 may overlap the top surface of the guide portion 110, wherein the outer side surface of the guide portion 110 is connected between the top surface and the bottom surface of the guide portion 110.
[0059] In other application scenarios, the pusher 100 can move along the second direction Y under the drive of the drive assembly 200, so that the overlapping part 311 climbs along the guide slope 113. The overlapping part 311 can then push the cleaning assembly 300 from a first position to a third position, allowing the cleaning device 10 to switch from a first state to a third state. Specifically, in the first state, the overlapping part 311 can overlap on the end of the guide slope 113 near the first end 111, and in the third state, it can overlap on the other end of the guide slope 113 near the second end 112. Since the guide slope 113 of the guide part 110 gradually rises along the first direction X and is located on the top surface of the guide part 110, the overlapping part 311 can gradually climb along the guide slope 113 during the movement of the pusher 100 along the second direction Y, allowing the cleaning assembly 300 to move relative to the pusher 100 along the third direction Z1.
[0060] The cleaning device housing 12 includes a stop 121. The stop 121 limits the movement of the cleaning assembly 300 along the second direction Y, so that the overlapping portion 311 moves on the guide ramp 113, thereby allowing the pusher 100 to push the cleaning assembly 300 to move along the third direction Z1. The specific shape of the stop 121 is not limited; for example, it can be a partially flat inner wall of the cleaning device housing 12, or it can be a protrusion on the surface of the cleaning device housing 12, which can be set according to the actual situation. In the first state, the stop 121 is located on the side of the cleaning assembly 300 facing in the second direction Y.
[0061] In the first state, when the pusher 100 moves along the second direction Y, the stop 121 abuts against the bracket 310 to prevent the bracket 310 from moving along the second direction Y with the pusher 100, allowing the pusher 100 to move relative to the bracket 310 and the overlapping portion 311 provided on the bracket 310 along the second direction Y. Understandably, since the guide slope 113 is a slope that gradually rises along the first direction X, during the process of the cleaning device 10 switching from the second state to the first state, the guide slope 113 can provide the overlapping portion 311 with a pushing force in the second direction Y as the cleaning assembly 300 moves from the second position to the first position, thereby allowing the cleaning assembly 300 to move from the second position to the first position under the push of the overlapping portion 311. The above-mentioned limiting structure can prevent the cleaning assembly 300 from moving further along the second direction Y after it reaches the first position.
[0062] In other embodiments, the cleaning device housing 12 may not have a stop 121, and the cleaning device 10 may cooperate with an external structure similar to the stop 121 to achieve the above-mentioned effect.
[0063] Optionally, a limiting groove 114 is provided on the guide slope 113. In some embodiments, the limiting groove 114 is a recess provided on the guide slope 113. The limiting groove 114 may be arranged close to the first end 111. Of course, the limiting groove 114 may also be provided in other areas of the guide slope 113. In other embodiments, the limiting groove 114 is jointly formed by the recess provided on the guide slope 113 and the first end 111. The first end 111 may form part of the groove wall of the limiting groove 114, and the portion of the guide portion 110 close to the first end 111 may form another portion of the groove wall of the limiting groove 114.
[0064] When the overlapping portion 311 moves to the limiting groove 114, the limiting groove 114 limits the movement of the overlapping portion 311 on the guide slope 113, thereby enabling the pusher 100 to push the cleaning assembly 300 to move along the first direction X or the second direction Y. The pusher 100 can be used to limit the overlapping portion 311 through the limiting groove 114 to push the cleaning assembly 300 from the first position to the second position along the first direction X, and to push the cleaning assembly 300 from the second position to the first position along the second direction Y.
[0065] It should be noted that the scenarios in which the driving component 200 drives the pusher 100 to move along the first direction X or the second direction Y may include: the pusher 100 moves along the first direction X under the drive of the driving component 200, and then pushes the cleaning component 300 from the first position to the second position through the limiting groove 114; and the pusher 100 moves along the second direction Y under the drive of the driving component 200, and the overlapping part 311 disengages from the limiting groove 114 and moves on the guide slope 113 under the stopping action of the stop part 121 on the movement of the cleaning component 300 along the second direction Y, and then pushes the cleaning component 300 to move along the third direction Z1 through the guide slope 113 to move from the first position to the third position.
[0066] For example, the pusher 100 can be used to move along the second direction Y under the drive of the drive assembly 200, so that the overlapping portion 311 moves along the second direction Y under the push of the limiting groove 114, thereby moving the cleaning assembly 300 from the second position to the first position. During the process of the cleaning assembly 300 moving from the second position to the first position, the limiting groove 114 contacts the overlapping portion 311 to prevent the overlapping portion 311 from climbing up the guide slope 113, so that the pusher 100 can stably push the cleaning assembly 300 from the second position to the first position. In both the first and second states, the limiting groove 114 can contact the overlapping portion 311.
[0067] The guide ramp 113 can be an inclined plane, and the limiting groove 114 can be a groove provided on the top surface of the guide portion 110, such as, but not limited to, an arc-shaped groove, to provide limited resistance to the overlapping portion 311 when it comes into contact with the overlapping portion 311. In the first state and the second state, the portion of the overlapping portion 311 that overlaps the guide ramp 113 near the first end 111 can be engaged in the limiting groove 114, so that the limiting groove 114 can prevent the overlapping portion 311 from climbing up the top surface of the guide portion 110 during the process of the cleaning assembly 300 moving from the second position to the first position.
[0068] When the overlapping portion 311 is located in the limiting groove 114, the limiting groove 114 can be used to limit the movement of the overlapping portion 311 along the second direction Y, so that the cleaning component 300 can move from the second position to the first position under the push of the overlapping portion 311. When the pusher 100 continues to move along the second direction Y under the drive of the drive component 200, the stop portion 121 can limit the movement of the cleaning component 300 along the second direction Y, so that the overlapping portion 311 disengages from the limiting groove 114 and moves on the guide slope 113, thereby pushing the cleaning component 300 to move along the third direction Z1, so that the cleaning component 300 moves from the first position to the third position along the third direction Z1. In other embodiments, the cleaning device 10 may also use an external structure to replace the stop portion 121.
[0069] Similarly, the scenarios in which the driving component 200 drives the pusher 100 to move along the first direction X or the second direction Y may also include: the pusher 100 moves along the second direction Y under the drive of the driving component 200, thereby pushing the cleaning component 300 from the second position to the first position through the limiting groove 114; and the pusher 100 moves along the first direction X under the drive of the driving component 200, causing the overlapping part 311 to move on the guide slope 113, thereby causing the cleaning component 300 to move along the fourth direction Z2 and move from the third position to the first position.
[0070] In some embodiments, during the movement of the cleaning component 300 from the second position to the first position, the overlap 311 may not be obstructed by structural members other than the pusher 100, so the pusher 100 only needs to apply a small force to prevent the overlap 311 from climbing up the guide ramp 113. When the cleaning component 300 in the first position moves further along the second direction under the push of the pusher 100, the cleaning component 300 will be resisted by the limiting structure. The limiting structure can be the stop 121 of the cleaning device housing 12 or an external structure similar to the stop 121. The resistance exerted by the limiting structure on the cleaning component 300 is greater than the resistance exerted by the limiting groove 114 on the cleaning component 300 through the overlapping part 311. Therefore, when the cleaning component 300 is in the first position and is prevented from moving along the second direction Y by the limiting structure, the cleaning device 10 can control the pusher 100 to move along the second direction Y, so that the overlapping part 311 can cross the limiting groove 114 and climb along the guide slope 113, thereby the cleaning device 10 can switch from the first state to the third state.
[0071] Since the top surface of the guide portion 110 is flat, the overlapping portion 311 can slide and climb along the guide ramp 113 after passing the limiting groove 114 without encountering excessive resistance. It is understood that the top surface of the guide portion 110 is a flat surface relative to a curved surface, and does not specifically refer to a horizontal surface; for example, it can be a flat ramp. In other embodiments, the limiting groove 114 can also be other structures; for example, the limiting groove 114 can be a protrusion provided on the top surface of the guide portion 110. The top surface of the guide portion 110 can also be non-planar, for example, an uneven surface. The degree of unevenness will affect the climbing resistance of the support 310. The specific surface design of the top surface of the guide portion 110 can be customized as needed.
[0072] Optionally, the pusher 100 also includes a base 120. The guide portion 110 may protrude from the base 120. The two ends of the mounting hole 101 may respectively extend to the top surface of the guide portion 110 and the bottom surface of the base 120. The guide portion 110 is connected to the base 120, and the connection method is, for example, but not limited to, integral molding.
[0073] In some embodiments, a guide portion 110 may protrude from the base 120. The guide portion 110 may be disposed in the middle region of the base 120. In other embodiments, a plurality of guide portions 110 may protrude from the base 120, the number of which is, for example, but not limited to, [missing information]. Figure 5 The two shown are examples. Multiple guide portions 110 can be connected to different areas of the bracket 310. For example, the bracket 310 may include multiple spaced-apart overlapping portions 311, which can overlap onto the guide slopes 113 of different guide portions 110 to improve the fit between the cleaning component 300 and the pusher 100, thereby improving the movement stability of the cleaning component 300. The multiple guide portions 110 can be arranged along a first direction X. The bracket 310 can be an elongated structure extending along the first direction X. In other embodiments, the pusher 100 may be entirely composed of guide portions 110.
[0074] In some embodiments, the cleaning device 10 includes a hanging member 312 forming an overlap portion 311, the hanging member 312 being detachably connected to a bracket 310. The bracket 310 may be located on the bottom side of the pusher 100. The cleaning member 320 may be disposed on the side of the bracket 310 opposite to the pusher 100, i.e., on the bottom side of the bracket 310. The bracket 310 may cover or cover the upper portion of the cleaning member 320. The hanging member 312 may overlap the guide ramp 113 and be connected to the bracket 310 through a mounting hole 101. For example, the hanging member 312 may partially pass through the mounting hole 101 and be hung on the guide ramp 113. The hanging member 312 may be used to move in the first direction X by being pushed by a retaining groove 114 when the pusher 100 moves in the first direction X. The mounting member 312 can be used to climb from one end of the guide ramp 113 near the first end 111 to the other end of the guide ramp 113 near the second end 112 when the pusher 100 moves along the second direction Y.
[0075] The top of the hanger 312 can overlap the top surfaces of the two opposing side walls of the guide portion 110. The hanger 312 can be inserted and fixed to the bracket 310 through the mounting hole 101. The top surface of the bracket 310 may be provided with a structure for accommodating the hanger 312 for insertion and fixing. In other embodiments, the hanger 312 can also be detachably connected to the bracket 310 in other ways, such as, but not limited to, threaded connection.
[0076] This embodiment of the application designs the bracket 310 with the above-described structure, allowing the cleaning device 10 to be installed by connecting the bracket 310 and the hanging member 312 from the upper and lower sides of the pusher 100 during installation, and to be disassembled by releasing the bracket 310 and the hanging member 312 from the upper and lower sides of the pusher 100 respectively. This design features reliable structure and simple assembly. In other embodiments, the hanging member 312 may also overlap the guide slope 113 from the outside of the guide portion 110, and is not limited to being inserted through the mounting hole 101. In other embodiments, the overlapping portion 311 is not limited to the hanging member 312 detachably connected to the bracket 310; for example, the overlapping portion 311 may be integrally formed with the bracket 310. The overlapping portion 311 may also be provided in other parts of the cleaning assembly 300, such as in the cleaning member 320, and is not limited to the bracket 310.
[0077] In some embodiments, the cleaning device 10 may include an elastic element 400. The elastic element 400 may be disposed between the pusher 100 and the cleaning assembly 300, and is used to apply a spring force to the cleaning assembly 300. For example, the cleaning assembly 300 may be located on the bottom side of the pusher 100, and the elastic element 400 may be used to apply a downward spring force to the cleaning assembly 300 so that the cleaning assembly 300 can adhere tightly to the ground during the cleaning process. The elastic element 400 may be a compression spring, with one end abutting against the pusher 100 and the other end abutting against the cleaning assembly 300, and is in a deformed state in the first, second, and third states, continuously applying a downward spring force to the cleaning assembly 300.
[0078] Optionally, the cleaning component 300 further includes a pressing member 330, which can be movably connected to the pushing member 100, for example, inserted into the base 120 and slidably engaged with the base 120. The elastic member 400 can be accommodated within the pressing member 330, with its two ends abutting against the base 120 and the pressing member 330 respectively, thereby continuously applying a downward elastic force to the support 310 through the pressing member 330, so that the cleaning component 320 located on the bottom side of the support 310 can be kept in close contact with the ground during the cleaning process.
[0079] Please refer to the following: Figure 1 , Figure 5 and Figure 6 , Figure 6 This is a partial structural schematic diagram of a cleaning device provided in some embodiments of this application.
[0080] In some embodiments, the pusher 100 has a receiving groove 301 on the side facing the cleaning assembly 300. One end of the elastic member 400 abuts against the groove wall of the receiving groove 301, for example... Figure 6 The bottom wall of the receiving groove 301 is shown. The pressing member 330 has a hollow structure, with one end pressing against the cleaning component 300 and the other end having an opening 302 communicating with its internal space. The elastic member 400 is at least partially disposed within the pressing member 330 through the opening 302, and the other end of the elastic member 400 presses against the inner wall of the pressing member 330. In other words, the two ends of the elastic member 400 press against the groove wall of the receiving groove 301 and the inner wall of the pressing member 330, respectively.
[0081] The other end of the pressing member 330, i.e. the end with the opening 302, is disposed in the receiving groove 301. The pressing member 330 elastically extends and retracts in the receiving groove 301 through the elastic member 400 and elastically abuts against the cleaning component 300. The pressing member 330 can be at least partially accommodated in the receiving groove 301.
[0082] Taking the cleaning component 300 located below the pressing member 330 as an example, based on the above design, the pressing member 330, limited by the receiving groove 301, can float up and down through elastic expansion and contraction, and elastically abuts against the cleaning component 300 under the push of the elastic member 400, for example, against the upper surface of the bracket 310. Therefore, the cleaning device 10 can achieve elastic pressing of the pressing member 330 against the bracket 310 without the need for other limiting structures. The surface of the bracket 310 contacting the pressing member 330 can be as follows: Figure 5 The plane shown. In other embodiments, the surface of the support 310 that contacts the pressure member 330 may also be non-planar, for example, but not limited to, an arcuate concave surface.
[0083] It should be understood that the terms "comprising" and "having," and any variations thereof, used in this application and the appended claims, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.
[0084] It should be noted that, Figure 5 The cleaning device 10 shown is merely an example provided in this application embodiment, and the cleaning device 10 of this application is not limited to the structure described above. Please refer to... Figures 7 to 9 , Figure 7 This is a schematic diagram of the cleaning device provided in some other embodiments of this application in its first state. Figure 8 yes Figure 7 A schematic diagram of the cleaning device in the second state in the embodiment. Figure 9 yes Figure 7 A schematic diagram of the cleaning device in the embodiment in its third state. Wherein, Figure 7 The cleaning component 300 shown is in the first position. Figure 8 The cleaning component 300 shown is in the second position. Figure 9 The cleaning component 300 shown is in the third position.
[0085] In some embodiments, the guide ramp 113 may be the bottom surface of the guide portion 110. The cleaning component 300 may overlap the bottom surface of the guide portion 110 via the overlapping portion 311. For example, a slide rail may be provided on the bottom surface of the guide portion 110, and the cleaning component 300 may overlap the slide rail via the overlapping portion 311 to achieve overlap of the cleaning component 300 on the guide ramp 113.
[0086] The pusher 100 can move along a first direction X under the drive of the drive assembly 200, so as to push the overlapping portion 311 to move along the first direction X, thereby moving the cleaning assembly 300 from a first position to a second position. The pusher 100 can also move along a second direction Y under the drive of the drive assembly 200, so as to cause the overlapping portion 311 to climb along the guide ramp 113, thereby moving the cleaning assembly 300 from a first position to a third position.
[0087] The principle and related structure of this embodiment for realizing the translation and lifting of the cleaning component 300 are similar to those of the above embodiments. For details not covered herein, please refer to the above embodiments.
[0088] Please refer to the above text. Figures 10 to 12 , Figure 10 This is a partial three-dimensional structural diagram of the cleaning robot provided in some embodiments of this application in its first state. Figure 11 yes Figure 10 A partial three-dimensional structural diagram of the cleaning robot in the second state in the embodiment. Figure 12 yes Figure 10 A partial three-dimensional structural diagram of the cleaning robot in the third state in the embodiment.
[0089] Figures 10 to 12 The images shown are of the cleaning robot 20 with part of its outer shell removed, viewed from above.
[0090] In some embodiments, the cleaning robot 20 includes a main body 21 and a cleaning device 10. The cleaning device 10 can be connected to the main body 21. The specific structure of the cleaning device 10 can be referred to the description above. It should be noted that the cleaning equipment used by the cleaning device 10 is not limited to the cleaning robot 20; this embodiment is merely an example of this application.
[0091] The main body 21 is used to move on a working surface, such as, but not limited to, the ground. The cleaning robot 20 can clean the working surface using the cleaning component 300 while the main body 21 is moving. The cleaning device 10 can use the drive component 200 to drive the pusher 100 to move along a first direction X, so that the cleaning component 300 moves from... Figure 10 The first position shown is moved to Figure 11 The second position shown can also be achieved by using the drive assembly 200 to drive the pusher 100 to move along the second direction Y, so that the cleaning assembly 300 moves from... Figure 10 The first position shown is moved to Figure 12 The third position shown.
[0092] The cleaning device housing 12 of the cleaning device 10 may include a stop 121 and an inlet / outlet 122. Relative to the cleaning component 300 in the first position, the inlet / outlet 122 may be located in the first direction X, and the stop 121 may be located in the second direction Y. For example, the cleaning device housing 12 may have a stop 121 on one side and an inlet / outlet 122 on the other side along the first direction X, with the cleaning component 300 in the first position located between the stop 121 and the inlet / outlet 122. The inlet / outlet 122 may be a through hole formed on the outer edge of the cleaning device housing 12. During the process of the cleaning device 10 switching from the first state to the second state, i.e., during the movement of the pusher 100 along the first direction X, the cleaning component 300 can move from the first position along the first direction X and reach the second position through the inlet / outlet 122.
[0093] In the first state, the projection of the cleaning component 300 onto the working surface is located within the cleaning device housing 12, and the projection of the cleaning device housing 12 onto the working surface can completely cover the cleaning component 300 in the first position. In the second state, the projection of the cleaning component 300 onto the working surface is at least partially located outside the cleaning device housing 12, and the projection of the cleaning device housing 12 onto the working surface can partially cover the cleaning component 300 in the second position. The cleaning component 300 can partially protrude from the outer edge of the cleaning device housing 12 to facilitate cleaning of corners and other edge areas.
[0094] The cleaning device 10 can be moved along the first direction X using the drive component 200, causing the cleaning component 300 to move from a first position to a second position and protrude beyond the outer edge of the cleaning device housing 12, thus realizing the outward expansion function of the cleaning component 300 and improving the cleaning capability of the cleaning device 10. The cleaning robot 20 can control the cleaning component 300 using different cleaning programs in the first and second states. In the third state, the height of the cleaning component 300 in the direction perpendicular to the working surface is greater than in the first and second positions, and the projection of the cleaning device housing 12 onto the working surface can completely cover the cleaning component 300 in the first position.
[0095] The stop portion 121 can be used to prevent the support 310 from moving along the second direction Y with the pusher 100 when the pusher 100 moves along the second direction Y, so that the pusher 100 can move relative to the support 310 along the second direction Y. In other embodiments, the cleaning robot 20 can also use a structural component other than the cleaning device housing 12 as a limiting structure similar to the stop portion 121, such as part of the main body 21. During the movement of the pusher 100 along the second direction Y, the stop portion 121 can abut against the cleaning component 300, so that the cleaning component 300 moves relative to the guide portion 110 along the third direction Z1, and moves from the first position to the third position.
[0096] In the first state, the stop 121 can be arranged with the cleaning component 300 along the second direction Y to prevent the cleaning component 300 from moving along the second direction Y during the process of the cleaning device 10 switching from the first state to the third state, so that the cleaning component 300 can climb from the end of the guide ramp 113 near the first end 111 of the cleaning device 10 to the other end of the guide ramp 113 near the second end 112, and reach the third position.
[0097] In both the first and second states, the cleaning component 300 can remain in close contact with the work surface. In the third state, the cleaning component 300 can detach from the work surface, so that it will not clean the work surface when the main body 21 moves. The cleaning robot 20 can use the drive component 200 to move along the second direction Y, thereby raising the cleaning component 300 from the first position relative to the cleaning device housing 12 to the third position, or it can use the drive component 200 to move in the opposite direction, thereby lowering the cleaning component 300 from the third position relative to the cleaning device housing 12 back to the first position, thus realizing the lifting and lowering function of the cleaning component 300.
[0098] The cleaning device 10 may include a normal cleaning mode, corresponding to the first state. When the cleaning component 300 is in the first position, the cleaning device 10 is in the normal cleaning mode. The cleaning device 10 may also include an edge cleaning mode, corresponding to the second state. When the cleaning component 300 is in the second position, the cleaning device 10 is in the edge cleaning mode. The cleaning device 10 may also include an avoidance mode, corresponding to the third state. When the cleaning component is in the third position, the cleaning device 10 is in the avoidance mode. Understandably, the cleaning strategy adopted by the cleaning device 10 may differ in different modes.
[0099] In some application scenarios, the cleaning robot 20 does not need to use the cleaning component 300 to clean the work surface. In this case, the cleaning robot 20 can lift the cleaning component 300 away from the work surface in the manner described above, so that the cleaning device 10 switches to avoidance mode. Taking the cleaning component 300 including a mop as an example, when there is a lot of garbage on the work surface, the cleaning robot 20 can use cleaning mechanisms such as roller brushes and side brushes to sweep up the garbage. If the cleaning component 300 is close to the work surface, it may wet the garbage and result in incomplete cleaning. However, in this application scenario, the cleaning robot 20 of this application can first control the cleaning component 300 to lift it away from the work surface, and then control the cleaning component 300 to lower it back to the work surface after cleaning is completed.
[0100] In some embodiments, the cleaning device 10 further includes a detection component 500 for detecting the current position of the cleaning component 300, the current position including a first position, a second position, a third position, a position between the first and second positions, and a position between the first and third positions. The cleaning device 10 can employ different cleaning procedures based on the detection results of the detection component 500.
[0101] The detection component 500 may include at least one sensor 510 for detecting whether the cleaning component 300 is in a first position, a second position, and a third position. For example, the detection component 500 may include three sensors 510, which are used sequentially to detect whether the cleaning component 300 is in the first position, the second position, and the third position. In other embodiments, the detection component 500 may also use three or fewer sensors 510 to perform the above detection. The detection component 500 may also include sensors 510 located at other positions to detect whether the cleaning component 300 is in other positions, or the detection component 500 may infer the current position of the detection component 500 based on the detection information of the sensors 510.
[0102] The detection component 500 may include a control board 520. The control board 520 may be connected to the detection component 500. For example... Figure 1 and Figure 5 As shown, the control board 520 may be provided with three sensors 510 arranged along the first direction X. The sensors 510 can be used to detect the position of the pusher 100 and determine the position of the cleaning assembly 300 based on the position of the pusher 100. The base 120 of the pusher 100 may have a protrusion on its side to cooperate with the sensor 510 for detection. The type of sensor 510 can be selected according to the actual situation, for example, but not limited to, a photoelectric sensor.
[0103] The control board 520 can be used to control the cleaning device 10 to switch to edge cleaning mode when the detection component 500 detects that the current position of the cleaning component 300 is the second position. The control board 520 can also be used to control the cleaning device 10 to switch to avoidance mode when the detection component 500 detects that the current position of the cleaning component 300 is the third position.
[0104] The control board 520 can also control the cleaning device 10 to switch to normal cleaning mode when the detection component 500 detects that the current position of the cleaning component 300 is the first position. Of course, the modes that the cleaning device 10 can switch to are not limited to the above three working modes. For example, when the control board 520 receives a preset command, it can also control the cleaning device 10 to be in standby mode when the cleaning component 300 is in the first position.
[0105] like Figures 10 to 12 As shown, when the pusher 100 moves the cleaning component 300 to the first position, the second position, and the third position, the corresponding sensor 510 can detect the preset part of the pusher 100, thereby determining that the cleaning component 300 has moved into place. At this time, the control board 520 can activate the corresponding control program according to the detection results of the sensor 510. The control board 520 can be fixed relative to the cleaning device housing 12. The specific setting position of the control board 520 can be set according to the actual situation, for example, but not limited to, setting it on the drive component 200 or setting it on the cleaning device housing 12.
[0106] In some embodiments, the drive assembly 200 includes a driver 210 and a directional changer 220. The driver 210 is connected to the directional changer 220 for outputting rotational force, and the directional changer 220 is connected to the pusher 100 for converting the rotational force into a driving force capable of driving the pusher 100 to perform linear motion. The first direction X and the second direction Y can be two opposite linear directions. The driver 210 is, for example, a motor with a gearbox, and the directional changer 220 is, for example, a ball screw, with the output shaft of the motor connected to the ball screw. In other embodiments, the driver 210 and the directional changer 220 can also have other structures; for example, the directional changer 220 can include gears and racks.
[0107] When the driver 210 rotates in the forward direction, it causes the pusher 100 to move linearly along the first direction X, thereby pushing the cleaning assembly 300 to one side of the cleaning device housing 12. When the sensor 510 detects that the cleaning assembly 300 has reached the second position, the cleaning robot 20 can use the control program corresponding to the second state to control the cleaning assembly 300 to start cleaning along the edge.
[0108] When the driver 210 rotates in the reverse direction, the pusher 100 can move linearly along the second direction Y, thereby pushing the cleaning component 300 into the cleaning device housing 12. When the sensor 510 detects that the cleaning component 300 has reached the first position, the cleaning robot 20 can use the control program corresponding to the first state to control the cleaning component 300 to start cleaning.
[0109] When the drive 210 rotates further in the reverse direction, the guide portion 110 of the pusher 100 can force the cleaning assembly 300 to rise relative to the cleaning device housing 12. When the sensor 510 detects that the cleaning assembly 300 has reached the third position, the cleaning robot 20 can control the drive 210 to stop rotating. It is understood that in other embodiments, the drive assembly 200 may also include other drive mechanisms, such as push rod motors. The driving force provided by the drive assembly 200 to the pusher 100 is not limited to a linear force; for example, the drive assembly 200 may provide a rotational force to the pusher 100, causing it to rotate.
[0110] Optionally, the cleaning device 10 is used to control the running direction of the drive component 200 based on the detection result of the detection component 500, for example, controlling the drive component 200 to rotate forward or backward. The cleaning device 10 can also be used to control the operating state of the drive component 200 based on the detection result of the detection component 500, for example, controlling the drive component 200 to start rotating or stop rotating.
[0111] In the description of this application, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0112] The above description is only a partial embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A cleaning device, characterized in that, The cleaning device includes: Cleaning device housing; A pusher is movably disposed on the housing of the cleaning device, the pusher including a guide portion having a guide slope that gradually rises along a first direction; A drive assembly, fixedly connected to the housing of the cleaning device, is used to drive the pusher to move along the first direction or a second direction opposite to the first direction; and A cleaning component, wherein the cleaning component is provided with an overlapping portion, and the cleaning component is movably overlapped on the guide slope through the overlapping portion; The guide slope is provided with a limiting groove. When the overlapping part moves to the limiting groove, the limiting groove is used to limit the movement of the overlapping part on the guide slope, so that the pusher can push the cleaning component to move along the first direction or a second direction opposite to the first direction. The cleaning device housing also includes a stop portion, which is used to limit the movement of the cleaning component in the second direction, so that the overlapping portion disengages from the limiting groove and moves on the guide slope, thereby enabling the pusher to push the cleaning component to move in the third direction. The third direction is perpendicular to both the first direction and the second direction.
2. The cleaning device according to claim 1, characterized in that, The pusher is used to limit the overlapping portion through the limiting groove, so as to push the cleaning component to move from the first position to the second position along the first direction, and to push the cleaning component to move from the second position to the first position along the second direction; The pusher is also used to guide the overlap via the guide ramp to push the cleaning assembly from the first position to the third position along the third direction, and to push the cleaning assembly from the third position to the first position along the fourth direction, which is opposite to the third direction.
3. The cleaning device according to claim 2, characterized in that, The cleaning assembly includes a connected bracket and a cleaning component. The overlapping portion is disposed on the bracket, and the bracket is movably overlapped on the guide slope through the overlapping portion. The guide portion includes a first end and a second end arranged along the first direction and located at both ends of the guide slope.
4. The cleaning device according to claim 3, characterized in that, The limiting groove is a groove provided on the guide slope and is arranged close to the first end.
5. The cleaning device according to claim 3, characterized in that, The guide portion is provided with mounting holes that penetrate its top and bottom surfaces. The guide ramp is arranged on the top surface of the guide portion. The bracket passes through the mounting holes and overlaps with the guide ramp through the overlapping portion.
6. The cleaning device according to claim 5, characterized in that, The pusher also includes a base, the guide portion protrudes from the base, and the two ends of the mounting hole respectively extend to the top surface of the guide portion and the bottom surface of the base; The base has one guide portion protruding from it; or, the base has multiple guide portions protruding from it, and the multiple guide portions are arranged along the first direction.
7. The cleaning device according to claim 3, characterized in that, The cleaning device includes a hanging member forming the overlapping portion, the hanging member being detachably connected to the bracket, the bracket being located on the bottom side of the pusher, the cleaning member being disposed on the side of the bracket opposite to the pusher, and the hanging member overlapping the top surface of the guide portion.
8. The cleaning apparatus according to any one of claims 2-7, characterized in that, The cleaning device is used to clean the working surface, wherein... When the cleaning component is in the first position, the projection of the cleaning component on the working surface is located inside the housing of the cleaning device; When the cleaning component is in the second position, the projection of the cleaning component on the working surface is at least partially outside the housing of the cleaning device; When the cleaning component is in the third position, the height of the cleaning component in the direction perpendicular to the working surface is greater than that in the first position and the second position.
9. The cleaning apparatus according to any one of claims 1-7, characterized in that, The cleaning device further includes an elastic element disposed between the pusher and the cleaning assembly, for applying elastic force to the cleaning assembly.
10. The cleaning device according to claim 9, characterized in that, The pusher has a receiving groove on the side facing the cleaning component, and one end of the elastic member abuts against the groove wall of the receiving groove; The cleaning device also includes a pressing member, which is a hollow structure, with one end pressing against the cleaning component and the other end having an opening communicating with its internal space; the elastic member is at least partially disposed inside the pressing member through the opening, and the other end of the elastic member presses against the inner wall of the pressing member. The other end of the pressing member is disposed in the receiving groove, and the pressing member elastically expands and contracts within the receiving groove through the elastic member, and elastically abuts against the cleaning component.
11. The cleaning apparatus according to any one of claims 2-7, characterized in that, The cleaning device also includes a detection component and a control board. The detection component is used to detect the current position of the cleaning component. The cleaning device includes an edge cleaning mode and an avoidance mode. The control board is used to control the cleaning device to adjust its operating mode to the edge cleaning mode when the detection component detects that the current position of the cleaning component is the second position, and to control the cleaning device to adjust its operating mode to the avoidance mode when the detection component detects that the current position of the cleaning component is the third position.
12. The cleaning apparatus according to any one of claims 1-7, characterized in that, The first direction and the second direction are two opposite straight lines; the drive assembly includes a driver and a directional changer, the driver is connected to the directional changer for outputting rotational force, and the directional changer is connected to the pusher for converting the rotational force into a driving force capable of driving the pusher to make linear motion.
13. A cleaning robot, characterized in that, The cleaning robot includes a main body and a cleaning device as described in any one of claims 1-12.