Cleaning apparatus

Abstract

The application discloses a cleaning device. The cleaning device comprises a main machine and a first cleaning mechanism. The first cleaning mechanism comprises a first power component, a first cleaning component and a first stop component. The first power component is connected with the first cleaning component to drive the first cleaning component to rotate in a first direction or a second direction opposite to the first direction. The first cleaning component has an inner retracted position close to the main machine and an outer expanded position beyond the outer edge of the main machine. The first stop component is arranged on the first power component. When the first cleaning component is in the outer expanded position and contacts with an obstacle, the first stop component is driven by the force applied by the obstacle to move the first cleaning mechanism, so as to drive the first cleaning component to move towards the inner retracted position. The application can solve the problem that the mop of the cleaning device is easy to scratch the wall and furniture when the mop is expanded, and the edge of the wall and furniture is not convenient to clean.

Description

[0001] This application claims priority to Chinese Patent Application No. 2024229809193, filed on December 3, 2024, entitled "Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning technology, and more specifically, to a cleaning device. Background Technology

[0003] In related technologies, cleaning devices such as robotic vacuum cleaners can automatically perform sweeping, mopping, and vacuuming operations to reduce the cleaning burden on users. To improve cleaning efficiency in blind spots such as along walls, edges of obstacles, and inside and outside right angles, robotic vacuum cleaners have a mop that can swing outwards and extend beyond the edge of the body. When the mop extends outwards, it can clean blind spots.

[0004] Currently, cleaning equipment mainly uses visual / navigation algorithms to control the extended power mechanism, such as controlling pull-wire motors and linear motors, to retrieve the extended mop near obstacles like walls and furniture. In this structure, the mop bracket can easily scratch the walls and furniture when it hits them, and it is also inconvenient to clean the edges of obstacles like walls and furniture. Utility Model Content

[0005] The main objective of this application is to provide a cleaning device that solves the problems of existing cleaning devices where the mop bracket easily scratches walls and furniture when it expands outward, and makes it inconvenient to clean the edges of obstacles such as walls and furniture.

[0006] According to one aspect of this application, a cleaning device is provided, comprising:

[0007] Host;

[0008] A first cleaning mechanism, comprising a first power component, a first cleaning component, and a first stop component, wherein the first power component is connected to the first cleaning component to drive the first cleaning component to rotate in a first direction or a second direction opposite to the first direction, the first cleaning component having an inward position close to the host and an outward position extending beyond the outer edge of the host, and within the projection of the host in the height direction, the area of ​​the first cleaning component extending beyond the outer edge of the host when it is in the outward position is greater than the area of ​​the first cleaning component extending beyond the outer edge of the host when it is in the inward position;

[0009] The first stop component is disposed on the first power component. When the first cleaning component is in the outward position and in contact with the obstacle, the first stop component is driven by the force exerted by the obstacle to move the first cleaning mechanism, thereby driving the first cleaning component to move towards the inward position.

[0010] Furthermore, when the first cleaning component is in the extended position, the rotation center of the first cleaning component is located outside the host in the projection along the height direction of the host.

[0011] Furthermore, the first cleaning component includes:

[0012] A mop holder, which is connected to the first power component and rotates in the first direction or the second direction under the drive of the first power component;

[0013] A flexible mop is disposed on the bottom surface of the mop bracket. In the projection of the host in the height direction, the flexible mop protrudes from the outer edge of the mop bracket, and the first stop member is located on the inner side of the flexible mop.

[0014] Within the projection of the host in the height direction, the first stop member at least partially protrudes from the outer edge of the mop bracket.

[0015] Furthermore, the first stop component includes a stop plate that, within the projection of the host unit in the height direction, at least partially protrudes from the outer edge of the mop bracket to contact an obstacle when the first cleaning component is in the extended position.

[0016] Furthermore, the first cleaning component also includes a soft rubber layer that covers at least a portion of the outer periphery of the mop bracket. In the projection of the main unit in the height direction, the soft rubber layer protrudes from the outer edge of the mop bracket and is located inside the first stop component to prevent the mop bracket from contacting obstacles.

[0017] Furthermore, within the projection along the height direction of the host:

[0018] The maximum width D of the stop plate protruding from the outer edge of the mop bracket satisfies the relationship: 0 < D ≤ 5 mm; and / or,

[0019] The maximum width L of the flexible mop protruding from the outer edge of the stop plate satisfies the relationship: 0≤L≤5mm.

[0020] Furthermore, within the projection along the height of the host unit, the stop plate has a convex arc portion protruding from the outer edge of the mop bracket. This convex arc portion extends along the outer periphery of the mop bracket, and the minimum central angle of the convex arc portion is A, where A is the angle between the first radius line and the second radius line.

[0021] The first radius line is the line connecting the center of the mop bracket and the first tangent point. The first tangent point is the tangent point when the mop bracket expands outward to be tangent to the first tangent line of the outermost edge of the host in the predetermined direction. The first tangent line is parallel to the moving direction of the host.

[0022] The second radius line is the line connecting the center of the mop bracket and the second tangent point. The second tangent point is the point where the mop bracket is tangent to the second tangent line when the mop bracket is expanded to its limit position. The second tangent line is a tangent line that passes through the point of the mop bracket that is farthest from the host in a predetermined direction and is parallel to the first tangent line.

[0023] Furthermore, along the predetermined direction of the host, the second tangent and the first tangent are spaced at a predetermined distance, the predetermined distance being the distance between the second tangent and the first tangent when the first cleaning component extends to its furthest point from the host.

[0024] Furthermore, the host is provided with a rotating part, and the maximum outward expansion angle of the first cleaning component is less than 180°;

[0025] Within the projection along the height of the host unit: when the first cleaning component is in the retracted position, the line connecting the center of the mop bracket and the rotating part is J1; when the first cleaning component is extended to its limit position, the line connecting the center of the mop bracket and the rotating part is J2; and the maximum extension angle is the included angle between J1 and J2.

[0026] Furthermore, the main unit is provided with a rotating part and an elastic element. The first cleaning mechanism is rotatably connected to the main unit via the rotating part to drive the first cleaning component to move between the outward expansion position and the inward retraction position. The elastic element extends and retracts along the rotation direction of the rotating part, and both ends of the elastic element are respectively connected to the main unit and the first cleaning mechanism; or,

[0027] The two ends of the elastic element are respectively connected to the host and the first cleaning mechanism. The first cleaning mechanism rotates along the first direction or the second direction to drive the elastic element to move and stretch.

[0028] Furthermore, the main unit is provided with an arc-shaped groove, the center of which coincides with the rotation center of the rotating part; the elastic element is disposed in the arc-shaped groove and can extend and retract along the extension direction of the arc-shaped groove; or,

[0029] The host is provided with a first connecting part, and the first cleaning mechanism is provided with a second connecting part. One end of the elastic member is connected to the first connecting part, and the other end of the elastic member is connected to the second connecting part. When the first cleaning component is in the retracted position, the elastic member is in a stretched state, and during the process of the first cleaning component changing from the retracted position to the expanded position, the stretching amount of the elastic member gradually increases.

[0030] Furthermore, the first power component includes a first driving component and a first transmission assembly, the main unit is provided with a rotating part, and the main unit includes a bottom shell;

[0031] The first driving member is rotatably mounted on the bottom shell via the rotating part. The first driving member has a rotating shaft, which is coaxially arranged with the rotating part, or the rotating shaft is offset from the rotating part and the first driving member can swing around the rotating part.

[0032] The first transmission assembly is connected between the first driving member and the first cleaning member. The rotation of the shaft drives the first transmission assembly to drive the first cleaning member to rotate along the first direction or the second direction. The first stop member is disposed on the first transmission assembly.

[0033] Furthermore, the first cleaning component is located at the bottom of the main unit, and the main unit is provided with a clearance notch extending from the inside of the main unit to the edge of the main unit. An opening is provided at one end of the clearance notch near the edge of the main unit. The first cleaning mechanism moves along the clearance notch to move between the outward expansion position and the inward contraction position. The opening is at least used to allow the first cleaning mechanism to allow the rotation center of the first cleaning component to be located outside the main unit when the first cleaning component is in the outward expansion position.

[0034] Within the projection along the height of the host: when the maximum width of the outer contour of the first transmission component is less than or equal to the maximum outward radius from the rotating part to the clearance notch, the maximum width of the outer contour of the first transmission component is set along a direction parallel to the maximum outward radius or intersects with the maximum outward radius; or,

[0035] When the maximum width of the outer contour of the first transmission component is greater than the maximum outward radius of the rotating part to the clearance notch, the maximum width of the outer contour of the first transmission component intersects with the maximum outward radius.

[0036] Furthermore, the first transmission assembly also includes a reduction gearbox, a first transmission component, and a second transmission component, and the first stop component includes a connecting portion and a stop plate;

[0037] The connecting part is integrally formed or fixedly connected to the outer shell of the gearbox, and the connecting part surrounds the outer periphery of the first transmission member and the second transmission member. The stop plate is integrally formed or fixedly connected to the connecting part, and the stop plate covers part of the outer periphery of the first cleaning component.

[0038] The power input end of the gearbox is connected to the first driving component, and the power output end of the gearbox is connected to the first transmission component to drive the first transmission component to rotate along the first direction or the second direction.

[0039] In this application, by providing a first stop component, when the first cleaning component extends outward to its outermost edge protruding from the main unit in a predetermined direction to clean the edges of obstacles such as walls and furniture, if the first cleaning component is relatively close to the obstacle, the first stop component can contact the obstacle, thereby preventing hard contact between the first cleaning component and the obstacle and thus avoiding scratching the obstacle. Simultaneously, the force exerted by the obstacle on the first stop component allows the entire first cleaning mechanism to swing, driving the first cleaning component to move towards a retracted position, thus achieving inward retraction. Therefore, the cleaning device in this application not only facilitates cleaning the edges of obstacles but also reduces the likelihood of scratching them. Attached Figure Description

[0040] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, are illustrative and descriptive, serving to explain this application and do not constitute an undue limitation thereof. In the drawings:

[0041] Figure 1 This is a perspective structural diagram of a cleaning device disclosed in an embodiment of this application;

[0042] Figure 2 for Figure 1 A top view of the cleaning equipment in the retracted position;

[0043] Figure 3 for Figure 1 A top view of the cleaning equipment in the extended position;

[0044] Figure 4 for Figure 1 A three-dimensional structural diagram of the cleaning equipment with some structures removed and the first cleaning component in the outward expansion position;

[0045] Figure 5 for Figure 4 Exploded view;

[0046] Figure 6 This is a perspective structural diagram of another cleaning device disclosed in an embodiment of this application;

[0047] Figure 7 for Figure 6 A top view of the cleaning equipment in the picture when both the first and second cleaning components are in the retracted position;

[0048] Figure 8 for Figure 6 A top view of the cleaning equipment in the extended position;

[0049] Figure 9 for Figure 6 A three-dimensional structural diagram of the cleaning equipment from another perspective;

[0050] Figure 10 for Figure 6 First exploded view of the cleaning equipment in the diagram;

[0051] Figure 11 This is a schematic diagram of the first cleaning component of the cleaning device disclosed in this application when it expands outward from one position to its limit position.

[0052] Figure 12 This is a structural diagram of a portion of the first or second cleaning mechanism of the cleaning equipment disclosed in the embodiments of this application;

[0053] Figure 13 This is a cross-sectional view of the first or second cleaning mechanism of the cleaning equipment disclosed in the embodiments of this application;

[0054] Figure 14 This is a perspective structural diagram of the second transmission component of a cleaning device that is not disclosed in the embodiments of the application.

[0055] Figure 15 The cleaning device disclosed in this application does not have a first stop component, and the force analysis diagram is shown when it collides with an obstacle.

[0056] Figure 16 The cleaning equipment disclosed in this application is provided with a first stop component, and a force analysis diagram is shown when it collides with an obstacle.

[0057] Figure 17 for Figure 6 A top view of the cleaning equipment in the picture when both the first and second cleaning components are in the retracted position;

[0058] Figure 18 for Figure 17A bottom view of the cleaning equipment in the picture when both the first and second cleaning components are in the retracted position;

[0059] Figure 19 for Figure 17 A top view of the cleaning equipment after removing the outer casing;

[0060] Figure 20 for Figure 17 A structural diagram of the cleaning equipment in the image, after removing the first and second cleaning mechanisms and viewing it from another angle.

[0061] Figure 21 This is a schematic diagram showing the first cleaning component disclosed in this application after being retracted to its limit position and expanded to its limit position;

[0062] Figure 22 for Figure 17 A top view of the bottom casing of the cleaning equipment;

[0063] Figure 23 This is a schematic diagram of the first cleaning component of the cleaning device disclosed in the embodiments of this application when it is extended to its limit position relative to the bottom shell.

[0064] The above figures include the following reference numerals:

[0065] 100. Cleaning equipment; 10. Main unit; 11. Rotating part; 12. Elastic element; 13. Arc-shaped groove; 14. Clearance notch; 15. First connecting part; 16. Second connecting part; 17. Bottom shell; 171. Positioning post; 20. First cleaning mechanism; 21. First power component; 211. First drive component; 212. First transmission assembly; 22. First cleaning component; 221. Mop bracket; 222. Flexible mop; 223. Soft rubber layer; 23. First stop component; 231, stop plate; 23101, convex arc portion; 232, connecting portion; 2321, clearance opening; 2311, gearbox; 23111, output shaft; 23112, support block; 2312, first transmission component; 2313, second transmission component; 23131, trajectory surface; 23131a, first region; 23131b, second region; 23131c, third region; 23131d, connecting region; 23132, limit Position structure; 2314, elastic element; 30, second cleaning mechanism; 31, second power component; 311, second drive component; 312, second transmission assembly; 32, second cleaning component; 40, central sweeping mechanism; 50, cover plate assembly; X, first radius line; Y, second radius line; B1, first tangent point; B2, second tangent point; R1, first tangent line; R2, second tangent line; O, center of mop bracket; S, predetermined distance; α, maximum outward expansion angle; M, outer wheel Maximum width of the profile; r, outward radius; g, centerline; L4, common tangent; L5, edge tangent; 60, auxiliary component; 61, radar; 62, water tank; 63, caster wheel assembly; 64, dust collection box; 641, dust conveying channel; 65, air pump; 66, first conveying channel; 661, first bending section; 67, second conveying channel; 671, second bending section; 68, moving wheel set; 70, limiting component; 71, limiting element; 72, elastic reset element. Detailed Implementation

[0066] 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.

[0067] 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.

[0068] 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.

[0069] As described in the background section, existing cleaning equipment often scratches walls, furniture, and other obstacles when the mop hits them, and it is also inconvenient to clean the edges of these obstacles. Therefore, this application provides a new cleaning device that, when its mop and other cleaning components come into contact with walls or furniture, is less likely to scratch them, and facilitates cleaning the edges of these obstacles. The cleaning device of this application will be described below with reference to the accompanying drawings.

[0070] See Figures 1 to 23 As shown in the illustration, this application 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 scrubbing robot (a robot with mopping function but no sweeping function), a sweeping and mopping robot, a floor scrubbing robot (such as a handheld floor scrubbing robot or a non-handheld floor scrubbing robot), or a base station having the aforementioned sweeping robot, floor scrubbing robot, sweeping and mopping robot, or floor scrubbing robot. The cleaning device 100 includes a main unit 10 and a first cleaning mechanism 20.

[0071] The first cleaning mechanism 20 includes a first power component 21, a first cleaning component 22, and a first stop component 23. The first power component 21 is connected to the first cleaning component 22 to drive 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 inwardly recessed position near the main unit 10 (e.g., ...). Figure 1 , Figure 2 , Figure 6 as well as Figure 7 (as shown) and the extended positions beyond the outer edge of the host 10 (such as...) Figure 3 , Figure 8As shown in the figure, within the projection along the height direction of the host 10, the area of ​​the first cleaning component 22 extending beyond the outer edge of the host 10 when it is in the outward position is greater than the area of ​​the first cleaning component 22 extending beyond the outer edge of the host 10 when it is in the inward position. It is understood that when the first cleaning component 22 is in the inward position, it may partially extend beyond the outer edge of the host 10, or it may be entirely located inside the host 10 without protruding beyond its outer edge. When the first cleaning component 22 is in the outward position, the area of ​​the first cleaning component 22 protruding beyond the outer edge of the host 10 is greater than the area of ​​the first cleaning component 22 protruding beyond its outer edge when it is in the inward position. In some embodiments of this application, when the first cleaning component 22 is in the outward position, it is preferable that the first cleaning component 22 protrudes beyond the outermost edge of the host 10 in a predetermined direction (perpendicular to the direction of movement of the host 10). This makes it more suitable for the host 10 to move and drive the first cleaning component 22 to clean the edges of obstacles such as walls and furniture.

[0072] When the cleaning device 100 of this application is in operation, the cleaning device 100 is configured such that 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, thereby 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, thereby causing the first cleaning component 22 to protrude beyond the outer edge of the main unit 10 and be in an outwardly expanded position. At this time, the first cleaning component 22 can avoid interference between the main unit 10 and obstacles such as furniture or walls, and can contact the edge of the wall or furniture to perform edge cleaning.

[0073] The cleaning equipment is also configured such that 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 an inward position. Specifically, when the first power component 21 drives the first cleaning component 22 to rotate in the second direction, a torque is generated when the first cleaning component 22 contacts the surface to be cleaned, such as the ground or countertop. 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 an inward position. At this time, it is convenient to retract and extend the cleaning equipment 100.

[0074] It is understood that the first direction in this application can be either 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. 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, or the torque generated by the reaction force of other objects acting on the first cleaning component 22 when the centrifugal force of the first cleaning component 22 rotates and acts on other objects, or the torque exerted by other friction mechanisms on the first cleaning component 22 when it comes into contact with other friction mechanisms.

[0075] 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 according to 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. See also Figure 11 As shown, R1 is a first tangent line R1 that is tangent to the edge of the host 10 along a predetermined direction. When the first cleaning component 22 moves along the direction from N1 to N2, 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 11 If the mop holder 221 is positioned 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 positioned beyond the first tangent R1 (i.e., the first cleaning component 22 is positioned beyond the first tangent R1), then the first cleaning component 22 is in the retracted position; Figure 11 The position of the mop bracket 221 is shown by the solid line in the middle, for example... Figure 11 (The position of the mop bracket 221 is shown by the dashed line in the middle), then the first cleaning component 22 is in the outward expansion position.

[0076] Further, see Figure 3 , Figure 8 as well as Figure 11As shown, when the first cleaning component 22 is in the outward expansion position, the rotation center of the first cleaning component 22 is located outside the host 10 in the projection along the height direction of the host 10. It is understood that in this embodiment, when the first cleaning component 22 moves between the outward expansion position and the inward retraction position, the rotation center of the first cleaning component 22 can be located outside or inside the host 10 in the projection along the height direction of the host 10. This application preferably seeks to protect the case where the first cleaning component 22 is located outside the host 10 at at least one moment during the outward expansion phase.

[0077] Specifically, the rotation center of the first cleaning component 22 is... Figure 11 The center O of the mop bracket. When the cleaning equipment performs edge cleaning (i.e., cleaning close to the edge of walls, furniture, or other obstacles), the first cleaning component 22 needs to be moved to an outward position to ensure cleaning effectiveness. However, when the outward-extended first cleaning component 22 cleans corners (inner or outer right-angle corners), the main unit 10 needs to rotate accordingly to adjust its own posture to ensure the first cleaning component 22 is close to the corner. During this process, if the rotation center of the first cleaning component 22 is located inside the main unit 10 in the projection direction of the main unit 10, the first cleaning component 22 may not extend outward as much as possible from the outer edge of the main unit 10, resulting in poor edge cleaning performance (because the main unit 10 may bump into walls or other obstacles, thus changing the posture of the first cleaning component 22). Therefore, in this application, when the first cleaning component 22 expands to the expanded position at a certain moment, the rotation center of the first cleaning component 22 is located outside the host 10 in the projection direction of the host 10. This can prevent the host 10 from interfering with the wall surface when the first cleaning component 22 is cleaning along the edge, thus preventing the first cleaning component 22 from moving close to the wall or corner. This can expand the cleaning range of the first cleaning component 22 to a certain extent, thereby greatly improving the cleaning efficiency of the cleaning equipment.

[0078] Furthermore, a first stop component 23 is disposed on the first power component 21. This first stop component 23 is configured to contact the obstacle when the first cleaning component 22 is in the outwardly extended position, thereby preventing the first cleaning component 22 from making hard contact with the obstacle. It is understood that preventing the first cleaning component 22 from making hard contact with the obstacle means that there is no hard object in the first cleaning component 22 or other structures with hard supports inside that directly contact the obstacle.

[0079] The first stop component 23, under the reaction force exerted by the obstacle, causes the first cleaning mechanism 20 to swing (specifically, swing relative to the main unit 10), thereby moving the first cleaning component 22 toward a position closer to the inward retraction. It is understood that the obstacles described in this application include, but are not limited to, indoor walls, coffee tables, chairs, beds, refrigerators, and other furniture, as well as other objects placed in the space.

[0080] This application incorporates a first stop component 23. When the first cleaning component 22 extends outward to its outermost edge protruding from the main unit 10 in a predetermined direction to clean the edges of obstacles such as walls and furniture, if the first cleaning component 22 is close to the obstacle, the first stop component 23 contacts the obstacle to prevent hard contact, thus preventing the rotating first cleaning component 22 from scratching the obstacle. Simultaneously, the first stop component 23, subjected to the reaction force exerted by the obstacle, causes the entire first cleaning mechanism 20 to swing, moving the first cleaning component 22 towards an inward position. Afterward, when the force exerted by the obstacle on the first stop component 23 disappears, the first power component 21 continuously drives the first cleaning component 22 to rotate along a first direction. The frictional torque generated by the first cleaning component 22 contacting the ground can cause the first cleaning component 22 to shift to an outward position to clean the edges of obstacles.

[0081] It is evident that the cleaning device 100 in this application not only facilitates cleaning the edges of obstacles, but also prevents scratching the obstacles.

[0082] See Figure 15 and Figure 16 As shown, the first cleaning component 22 rotates clockwise, where f is the frictional force between the first cleaning component 22 and the ground, F1 is the contact force generated when the obstacle comes into contact with the first cleaning component 22 or the first stop component 23, and F2 is the frictional force exerted by the obstacle on the first stop component 23 or the first cleaning component 22. The torques exerted by the above forces on the first cleaning mechanism 20 are M, respectively. f =f*L3,M F1 =F1*L2, M F2 =F1*L1. Wherein, the net torque of the first cleaning mechanism 20 is defined as follows: if the net torque is greater than 0, the first cleaning mechanism 20 rotates counterclockwise; if the torque is less than 0, the first cleaning mechanism 20 rotates clockwise. The net torque on the first cleaning mechanism 20 is M. f +M F1 +M F2 .

[0083] exist Figure 15 In the middle, based on the force analysis, it can be determined that: M f +M F1 +M F2>0, meaning that without the first stop component 23, when the first cleaning component 22 contacts the obstacle, the resultant torque of the first cleaning mechanism 20 is positive, the first cleaning mechanism 20 rotates counterclockwise, always exhibiting an outward expansion trend, and the first cleaning mechanism 20 cannot retract upon impact. Figure 16 In the middle, based on the force analysis, it can be determined that: M f +M F1 +M F2 <0, that is to say, when the first stop component 23 is set in this embodiment, when the first cleaning component 22 comes into contact with the obstacle, the resultant torque of the first cleaning mechanism 20 is negative, the first cleaning mechanism 20 rotates in the clockwise direction, and the torque generated by the contact force between the first stop component 23 and the obstacle on the rotation center of the entire first cleaning mechanism 20 will cause the component to retract, so that the entire first cleaning mechanism 20 can achieve flexible outward expansion.

[0084] like Figures 2 to 5 , Figure 8 as well as Figure 13 As shown, within the projection of the host 10 in the height direction, the first stop member 23 at least partially protrudes from the outer edge of the first cleaning member 22 to contact the obstacle, thereby preventing the first cleaning member 22 from making hard contact with the obstacle. That is to say, in this application, by connecting the first stop member 23 to the first power member 21 and making the first stop member 23 protrude from the outer edge of the first cleaning member 22 at least partially within the projection of the host 10 in the height direction, the first cleaning member 22 can contact the obstacle when it expands to the outward position, thereby preventing the first cleaning member 22 from making hard contact with the obstacle and preventing the first cleaning member 22 from scratching the obstacle when rotating. The structure is simple and easy to implement.

[0085] In some embodiments of this application, the first cleaning component 22 includes, but is not limited to, a mop assembly, a roller assembly, and a side sweeper assembly. This application focuses on the mop assembly as the first cleaning component 22. Specifically, the first cleaning component 22 includes a mop support 221 and a flexible mop 222. The mop support 221 is connected to a first power component 21 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 support 221. In the projection along the height direction of the main unit 10, the flexible mop 222 protrudes beyond the outer edge of the mop support 221, and a first stop component 23 is located inside the flexible mop 222. Furthermore, in the projection along the height direction of the main unit 10, the first stop component 23 at least partially protrudes beyond the outer edge of the mop support 221. With this configuration, when the first stop component 23 contacts the obstacle, the flexible mop 222 can also contact the obstacle. At this time, if the mop support 221 rotates the flexible mop 222, the flexible mop 222 can effectively clean the edges of the obstacle. During this process, the first stop component 23 protects the mop support 221 from contacting the obstacle, thus preventing damage to the mop support 221 from external impact. Therefore, the cleaning device 100 of this application, during the cleaning operation, can not only clean the edges of obstacles but also avoids scratching them. Further, see... Figures 3 to 5 As shown, the first stop component 23 includes a stop plate 231. In the projection along the height direction of the main unit 10, the stop plate 231 at least partially protrudes from the outer edge of the mop bracket 221. Thus, when the first cleaning component 22 expands to its expanded position, the stop plate 231 can contact the obstacle before the rigid mop bracket 221 on the first cleaning component 22, preventing the rigid mop bracket 221 from scratching the obstacle during the cleaning operation. Furthermore, because the stop plate 231 contacts the obstacle before the rigid mop bracket 221 on the first cleaning component 22, the stop plate 231 can, to a certain extent, prevent the mop bracket 221 from colliding with and being damaged by the obstacle.

[0086] For ease of processing and assembly, the stop plate 231 in this application can be disposed on the first transmission component 212 of the first power component 21 by means of snap-fit, screw-fit, welding, magnetic attraction, integral molding, etc., specifically disposed on the outer shell or surface of the first transmission component 212, which is not specifically limited in this application. In addition, in other embodiments of this application, the first stop component 23 can also be a stop block, stop post, etc. Any other variation under the concept of this application is within the protection scope of this application.

[0087] Further, see Figure 3 , Figures 6 to 8 , Figure 10 , Figures 12 to 13 as well as Figure 22 As shown, the first cleaning component 22 also includes a soft rubber layer 223, which covers at least a portion of the outer periphery of the mop bracket 221. In the projection of the main unit 10 in the height direction, the soft rubber layer 223 protrudes from the outer edge of the mop bracket 221 and is located inside the first stop component 23 to prevent the mop bracket 221 from contacting obstacles.

[0088] Specifically, the soft rubber layer 223 can cover the entire outer periphery of the mop bracket 221, or it can cover a portion of the outer periphery of the mop bracket 221. This embodiment shows the case where the soft rubber layer 223 covers a portion of the outer periphery of the mop bracket 221, specifically, the soft rubber layer 223 covers the outer ring of the mop bracket 221 along the radial direction of the mop bracket 221. Although the stop plate 231 can provide some protection for the mop bracket 221, due to the complexity of the working environment of the cleaning equipment, some obstacles may collide with the mop bracket 221 from areas not protected by the stop plate 231, which can easily damage the mop bracket 221. The soft rubber layer 223 can provide some protection for the mop bracket 221. When the mop bracket 221 encounters an obstacle, the soft rubber layer 223 makes contact first, which can play a certain buffering role, preventing the mop bracket 221 from directly colliding with the obstacle and avoiding damage to the mop bracket 221 and the obstacle (when the obstacle is a table leg or wall, it is necessary to prevent the table leg or wall from being damaged).

[0089] Furthermore, such as Figure 13 As shown, within the projection along the height of the host 10, the maximum width D of the stop plate 231 protruding from the outer edge of the mop bracket 221 satisfies the relationship: 0 < D ≤ 5 mm. For example, the value of D can be 1 mm, 2 mm, 3 mm, 4 mm, or 5 mm. When the maximum width D of the stop plate 231 protruding from the outer edge of the mop bracket 221 is less than or equal to 0, the stop plate 231 cannot contact the obstacle before the mop bracket 221. When the maximum width D of the stop plate 231 protruding from the outer edge of the mop bracket 221 is greater than 5 mm, the mop bracket 221 cannot adequately support the flexible mop 222, making it difficult to effectively clean the edges of the obstacle. Therefore, by ensuring that the maximum width D of the stop plate 231 protruding from the outer edge of the mop bracket 221 satisfies the relationship 0 < D ≤ 5 mm, this application not only prevents the rigid mop bracket 221 from scratching the obstacle but also facilitates support for the flexible mop 222, enabling effective cleaning of the edges of the obstacle.

[0090] Optionally, the maximum width L of the flexible mop 222 protruding from the outer edge of the stop plate 231 in this application satisfies the relationship 0≤L≤5mm. For example, the value of L can be 0mm, 1mm, 2mm, 3mm, 4mm, or 5mm, etc. When the maximum width L of the flexible mop 222 protruding from the outer edge of the stop plate 231 is less than 0, the flexible mop 222 cannot contact the obstacle, making it inconvenient to clean the edge of the obstacle. When the maximum width of the flexible mop 222 protruding from the outer edge of the stop plate 231 is greater than 5mm, during the operation of the cleaning device 100, the flexible mop 222 is prone to snagging on objects in the space, and it is not convenient to stably install the flexible mop 222 on the mop bracket 221. When the cleaning device 100 is working, it is prone to jamming. As can be seen, by making the maximum spacing width L of the flexible mop 222 protruding from the outer edge of the stop plate 231 satisfy the relationship 0≤L≤5mm, it is not only convenient to clean the edge of the obstacle, but also convenient to install the flexible mop 222 stably on the mop bracket 221, preventing the flexible mop 222 from getting caught on the obstacle or other objects in the space, thereby improving the operational stability and reliability of the cleaning equipment 100.

[0091] It should be noted that the maximum width L of the flexible mop 222 protruding from the outer edge of the stop plate 231 described in this application is the maximum width of the cleaning device 100 in its natural state. The cleaning device 100 in its natural state means that the cleaning device 100 is placed on a horizontal surface, the flexible mop 222 is in contact with the ground, and the flexible mop 222 is not subjected to pressure.

[0092] In actual assembly, the flexible mop 222 in this application is detachably mounted on the bottom of the mop bracket 221 via Velcro. This design facilitates the removal of the flexible mop 222 for cleaning or replacement. Of course, in other embodiments of this application, the flexible mop 222 can also be detachably mounted on the mop bracket 221 via fasteners such as snaps, magnets, or screws. Any other variations within the concept of this application are within the scope of protection of this application.

[0093] Combination Figures 1 to 10 As shown, the stop plate 231 in this application includes a circular plate or a sector-shaped plate. The accompanying drawings of this application show the case where the stop plate 231 is a sector-shaped plate. In this application, the stop plate 231 is set as a sector-shaped plate, which can reduce the space occupied by the stop plate 231 in the cleaning equipment 100 to a certain extent, making it easier to avoid other components on the cleaning equipment 100, thereby facilitating the lightweight and miniaturized design of the cleaning equipment 100, and also reducing the material cost of the cleaning equipment 100.

[0094] See Figures 10 to 12As shown, the mop bracket 221 in this application includes a mop bracket 221. In the projection of the main unit 10 in the height direction, the stop plate 231 has a convex arc portion 23101 protruding from the mop bracket 221. The convex arc portion 23101 extends along the outer periphery of the mop bracket 221. In actual design, the minimum central angle of the convex arc portion 23101 is A, where A is the angle between the first radius line X and the second radius line Y. Wherein, the first radius line X is the line connecting the center O of the mop bracket and the first tangent point B1, where the first tangent point B1 is the point of tangency formed when the mop bracket 221 expands outward to be tangent to the first tangent line R1 at the outermost edge of the host 10 in a predetermined direction, and the first tangent line R1 is parallel to the moving direction of the host 10; the second radius line Y is the line connecting the center O of the mop bracket and the second tangent point B2, where the second tangent point B2 is the point of tangency between the mop bracket 221 and the second tangent line R2 when the mop bracket 221 expands outward to its extreme position, and the second tangent line R2 is the point on the mop bracket 221 that is farthest from the host 10 in the predetermined direction, and is parallel to the first tangent line R1. It can be understood that the extreme position mentioned in this application refers to the position where the mop bracket 221 expands outward to be farthest from the outermost edge of the host 10 in the predetermined direction.

[0095] In this application, by setting the minimum central angle of the convex arc portion 23101 to A, and making A the angle between the first radius line X and the second radius line Y, the first stop component 23 can contact the obstacle before the mop bracket 221 when the cleaning device 100 moves and the first cleaning component 22 is at the outer edge of the main unit 10, thus preventing the obstacle from colliding with the mop bracket 221. Furthermore, when designing the stop plate 231, it is only necessary to ensure that the stop plate 231 has a convex arc portion 23101 protruding from the mop bracket 221, and that the central angle corresponding to the convex arc portion 23101 is greater than or equal to A. This optimizes the size of the stop plate 231, thereby ensuring that the first stop component 23 contacts the obstacle before the mop bracket 221, while also rationally designing the smallest possible size for the first stop component 23, allowing it to effectively avoid other components on the cleaning device 100.

[0096] Further, see Figure 3 , Figure 8 as well as Figure 11 As shown, along the predetermined direction of the host 10, the second tangent R2 and the first tangent R1 are spaced apart by a predetermined distance S. The predetermined distance S is the distance between the second tangent R2 and the first tangent R1 when the first cleaning component 22 extends to the farthest point from the host 10.

[0097] Specifically, the predetermined orientation of host 10 is that host 10 is in the position of Figure 3 , Figure 8 as well as Figure 11In the current state, the direction from the left side of the host 10 to the right side of the host 10 is perpendicular to the direction of movement of the host 10. In this application, the size of the predetermined distance S can be reasonably selected according to the dimensions of the host 10 and the first cleaning component 22. Given that the rotation center of the first cleaning component 22 protrudes beyond the outer edge of the host 10, by reasonably adjusting the size of the predetermined distance S, the extreme position of the first cleaning component 22 relative to the host 10 can be reasonably arranged. Thus, the cleaning range of the first cleaning component 22 can be controlled. Therefore, for different types of cleaning equipment and cleaning environments, by reasonably selecting the size of the predetermined distance S, the first cleaning component 22 can achieve a better cleaning effect after expansion. Meanwhile, in order to better perform cleaning tasks when the first cleaning component 22 is extended to its limit position, in this application, the structure of the first cleaning mechanism 20 can be optimized after the first cleaning component 22 is extended to its limit position, so that the first cleaning component 22 can move back and forth in the direction of the second tangent R2, thereby giving the first cleaning component 22 a degree of freedom parallel to the moving direction of the host 10, and thus making the first cleaning component 22 more flexible when performing cleaning tasks, which can improve the cleaning efficiency of the cleaning equipment to a certain extent.

[0098] Further, see Figure 11 , Figure 19 as well as Figure 21 As shown, the main unit 10 is equipped with a rotating part 11, and the maximum outward expansion angle α of the first cleaning component 22 is less than 180°. Specifically, within the projection along the height of the main unit 10: when the first cleaning component 22 is in the retracted position, the line connecting the center O of the mop bracket and the rotating part 11 is J1; when the first cleaning component 22 is expanded to its extreme position, the line connecting the center O of the mop bracket and the rotating part 11 is J2, and the maximum outward expansion angle α is the included angle between J1 and J2.

[0099] Specifically, the rotating part 11 facilitates the installation of the first cleaning mechanism 20 onto the main unit 10, and allows the first cleaning mechanism 20 to rotate relative to the main unit 10. This enables the first cleaning component 22 to switch between an outwardly expanding position and an inwardly retracted position, thus allowing the first cleaning component 22 to perform cleaning tasks more flexibly and enabling the cleaning equipment to meet the cleaning needs of more scenarios. Figure 21As shown, when the first cleaning component 22 is in the retracted position, the projection of the center of the mop bracket in the height direction of the main unit is O1. At this time, the line connecting the center O1 of the mop bracket and the rotating part 11 is J1. When the first cleaning component 22 is extended to its limit position, the projection of the center of the mop bracket in the height direction of the main unit is O2. At this time, the line connecting the center O2 of the mop bracket and the rotating part 11 is J2. In this application, the included angle between J1 and J2 (i.e., the maximum expansion angle α) is limited to less than 180° because this setting facilitates the transition of the first cleaning component 22 between the extended and retracted positions. If the maximum expansion angle α is equal to 180°, the first cleaning component 22 will encounter a dead point during the transition from the extended to the retracted position, resulting in an unclear swing direction of the first cleaning component 22. If the maximum outward expansion angle α is greater than 180°, it will cause interference between the first cleaning component 22 and other structures of the cleaning equipment (such as the moving wheel set 68). In order to prevent interference between the structures of the cleaning equipment, more space needs to be reserved for the first cleaning mechanism 20, which will result in an increase in the size of the main unit 10. Therefore, in this application, the maximum outward expansion angle α of the first cleaning component 22 is set to be less than 180°.

[0100] Combination Figures 1 to 5 As shown, the main unit 10 is provided with a rotating part 11 and an elastic element 12. The first cleaning mechanism 20 is rotatably connected to the main unit 10 through the rotating part 11 to drive the first cleaning component 22 to move between an outward expansion position and an inward retraction position. The elastic element 12 extends and retracts along the rotation direction of the rotating part 11, and both ends of the elastic element 12 are respectively connected to the first cleaning mechanism 20 and the main unit 10. Exemplarily, the elastic element 12 in this application can be a spring, an elastic rubber strip, etc. Through the action of the elastic element 12, when an obstacle applies a force to the first cleaning mechanism 20, the elastic element 12 can maintain the current position of the first cleaning mechanism 20, which is more suitable for making the flexible mop 222 on the first cleaning component 22 continuously contact the edge of the obstacle to perform cleaning operations. That is to say, the setting of the elastic element 12 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.

[0101] Optionally, see Figure 22As shown in another embodiment of this application, another implementation of the elastic member 12 is illustrated. The two ends of the elastic member 12 are connected to the main unit 10 and the first cleaning mechanism 20, respectively. The first cleaning mechanism 20 rotates along a first direction or a second direction to drive the elastic member 12 to swing and stretch. Specifically, unlike the above-mentioned arrangement where the elastic member 12 extends and retracts along the rotation direction of the rotating part 11, here the elastic member 12 does not extend and retract along the rotation direction of the rotating part 11, but swings around its end and stretches along its length. Through the action of this elastic member 12, during the process of an obstacle applying force to the first cleaning mechanism 20, the elastic member 12 can maintain the current position of the first cleaning mechanism 20 through its elasticity, 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. Furthermore, when the first cleaning component 22 needs to move from an outward-expanding position to an inward-retracting position, the elastic member 12 can flexibly retract the first cleaning component 22 through its elasticity, avoiding damage to the first cleaning component 22 or other components on the cleaning equipment due to mechanical impact.

[0102] like Figure 5 As shown, in order to limit and guide the elastic element 12, the main unit 10 in this application is provided with an arc-shaped groove 13. The center of the arc-shaped groove 13 coincides with the rotation center of the rotating part 11. The elastic element 12 is installed in the arc-shaped groove 13 and can extend and retract along the extension direction of the arc-shaped groove 13. Optionally, the two ends of the elastic element 12 in this application can be fixed to the main unit 10 and the first cleaning mechanism 20 respectively by means of hooks, buckles, welding, etc. Any other modifications under the concept of this application are within the protection scope of this application.

[0103] Optionally, see Figure 22 As shown, regarding the arrangement of the elastic element 12 swinging and stretching during operation: the main unit 10 is provided with a first connecting part 15, the first cleaning mechanism 20 is provided with a second connecting part 16, one end of the elastic element 12 is connected to the first connecting part 15, and the other end of the elastic element 12 is connected to the second connecting part 16. When the first cleaning component 22 is in the retracted position, the elastic element 12 is in a stretched state, and as the first cleaning component 22 transitions from the retracted position to the outward expansion position, the stretching amount of the elastic element 12 gradually increases.

[0104] Specifically, the first connecting part 15 and the second connecting part 16 provide a suitable installation position for the elastic element 12. When the first cleaning component 22 is in the retracted position, the elastic element 12 is in a stretched state, and the stretching amount of the elastic element 12 gradually increases during the transition of the first cleaning component 22 from the retracted position to the outward expansion position. That is, the stretching amount of the elastic element 12 when the first cleaning component 22 is in the outward expansion position is greater than the stretching amount of the elastic element 12 when the first cleaning component 22 is in the retracted position. In this way, the first cleaning component 22 has a tendency to move towards the retracted position when it is in the outward expansion position. If the external force maintaining the first cleaning component 22 in the outward expansion position decreases or disappears, the first cleaning component 22 can automatically retract to the retracted position under the action of the elastic element 12, ensuring that the equipment operates flexibly in complex environments. This embodiment shows the case where the elastic element 12 is a tension spring, and the specific structure of the elastic element 12 can be reasonably adjusted according to the actual situation.

[0105] Further, see Figure 4 , Figure 5 as well as Figure 10 As shown, the first power component 21 in this application includes a first drive member 211 and a first transmission assembly 212. The first drive member 211 is rotatably mounted on the bottom shell 17 via a rotating part 11. The first drive member 211 has a rotating shaft, which is coaxially arranged with the rotating part 11. The first transmission assembly 212 is connected between the first drive member 211 and the first cleaning component 22. The rotation of the rotating shaft drives the first transmission assembly 212 to drive the first cleaning component 22 to rotate in a first direction or a second direction. Specifically, the first drive member 211 in this application includes a motor, and the rotating shaft of the motor is coaxially arranged with the rotating part 11. In this way, the space occupied by the first power component 21 when swinging relative to the main unit 10 can be optimized, which is more suitable for the rational layout of the components on the cleaning equipment 100.

[0106] Optionally, see Figure 19 , Figure 20 as well as Figure 22 As shown, in another embodiment of this application, the rotating shaft and the rotating part 11 are misaligned, and the first driving member 211 can swing around the rotating part 11. This arrangement not only facilitates the layout of the first driving member 211 and the first transmission assembly 212, making the internal structure of the host 10 more compact, but also facilitates the power transmission between the first driving member 211 and the first transmission assembly 212, minimizing the power loss of the first driving member 211.

[0107] For example, the rotating part 11 in this application includes a rotating shaft and other structures. In actual installation, a bearing is installed on the first driving member 211, i.e. the housing of the motor, and the bearing is fixedly sleeved on the rotating shaft. Any other modifications under the concept of this application are within the protection scope of this application.

[0108] Further, see Figures 19 to 22 As shown, the first cleaning component 22 is located at the bottom of the main unit 10. The main unit 10 has a clearance notch 14 extending from the inside of the main unit 10 towards its edge. An opening is provided at one end of the clearance notch 14 near the edge of the main unit 10. The first cleaning mechanism 20 moves along the clearance notch 14 between an outwardly expanding position and an inwardly contracting position. The opening is at least used to allow the first cleaning mechanism 20 to move so that the rotation center of the first cleaning component 22 is located outside the main unit 10 when it is in the outwardly expanding position. In some embodiments, within the projection of the main unit 10 in the height direction: when the maximum width M of the outer contour of the first transmission component 212 is less than or equal to the maximum outward radius r from the rotating part 11 to the clearance notch 14, the maximum width M of the outer contour of the first transmission component 212 is parallel to or intersects the maximum outward radius r (i.e., the maximum radius from the edge of the rotating part 11 to the clearance notch 14). Specifically, the first cleaning component 22 is located at the bottom of the main unit 10. This not only facilitates the cleaning of the surface to be cleaned by the first cleaning component 22, but also prevents the first cleaning component 22 from interfering with other components of the cleaning equipment. Simultaneously, to allow the first cleaning component 22 to connect with the first power component 21, and to enable the first power component 21 to drive the first cleaning component 22 to swing relative to the main unit 10, this application provides a clearance notch 14 extending from the inner side of the main unit to the edge of the main unit. The shape and size of the clearance notch 14 can be reasonably adjusted according to the swing direction and size of the first cleaning mechanism 20, thereby preventing the first cleaning mechanism 20 from interfering with other structures of the cleaning equipment (such as the moving wheel set 68) during its swing relative to the main unit 10. Furthermore, in this application, the arrangement of the first transmission component 212 on the main unit 10 can be reasonably adjusted according to the size of the first transmission component 212, such as... Figure 19 As shown, the first transmission component 212 in this embodiment is generally elongated. In the projection of the host 10 in the height direction: when the maximum width M of the outer contour of the first transmission component 212 (that is, the maximum length of the elongated first transmission component 212) is less than or equal to the maximum outer radius r, the maximum width M of the outer contour of the first transmission component 212 is set along the outer radius r of the first cleaning component 22, or intersects with the maximum outer radius r.

[0109] In other embodiments, within the projection along the height of the host 10: when the maximum width M of the outer contour of the first transmission component 212 is greater than the maximum outward radius r from the rotating part 11 to the clearance notch 14, the maximum width M of the outer contour of the first transmission component 212 intersects with the maximum outward radius r. Specifically, when the maximum width M of the outer contour of the first transmission component 212 is greater than the maximum outward radius r, the maximum width M of the outer contour of the first transmission component 212 intersects with the outward radius r of the first cleaning component 22. This arrangement not only prevents the first transmission component 212 from interfering with other structures inside the cleaning equipment (such as the air pump 65), but also reduces the size of the clearance notch 14 to a certain extent. This allows the clearance notch 14 to satisfy the installation of the first cleaning mechanism 20 while avoiding weakening the structural strength of the host 10 due to an excessively large size of the clearance notch 14. This embodiment shows the case where the maximum width M of the outer contour of the first transmission component 212 is less than the maximum outward radius r, and the maximum width M of the outer contour of the first transmission component 212 intersects with the maximum outward radius r.

[0110] Further, see Figure 12 , Figure 13 as well as Figure 23 As shown, the first transmission assembly 212 further includes a reduction gearbox 2311, and the first stop component 23 includes a connecting portion 232 and a stop plate 231; the connecting portion 232 is integrally formed or fixedly connected to the outer shell of the reduction gearbox 2311, and the connecting portion 232 surrounds the outer periphery of the first transmission component 2312 and the second transmission component 2313, the clearance opening 2321 is located at the connecting portion 232, the stop plate 231 is integrally formed or fixedly connected to the connecting portion 232, and the stop plate 231 covers part of the outer periphery of the first cleaning component 22; the power input end of the reduction gearbox 2311 is connected to the first driving component 211, and the power output end of the reduction gearbox 2311 is connected to the first transmission component 2312 to drive the first transmission component 2312 to rotate in a first direction or a second direction.

[0111] Specifically, the gearbox 2311 is typically used to reduce the motor speed while increasing the output torque. This means that by adjusting the motor's output speed and torque, the rotational movement of the first transmission component 2312 can be more precisely controlled, thereby further controlling the first cleaning component 22 to perform cleaning work. The connecting part 232 is integrally formed or fixedly connected to the housing of the gearbox 2311 and surrounds the outer periphery of the first transmission component 2312 and the second transmission component 2313. This design helps protect the first transmission component 2312 and the second transmission component 2313 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 first transmission component 2312 and the second transmission component 2313. Furthermore, the stop plate 231 is integrally formed or fixedly connected to the connecting portion 232, and the stop plate 231 covers part of the outer periphery of the first cleaning component 22. This allows the stop plate 231 to be the first to contact a wall or obstacle when the first cleaning component 22 is in an outward-expanding position for cleaning, thus providing excellent protection for the first cleaning component 22. Additionally, the clearance opening 2321 on the connecting portion 232 can extend along the outer periphery of the connecting portion 232, and the specific position and size of the clearance opening 2321 on the connecting portion 232 can be reasonably adjusted according to actual conditions, as long as it ensures that the first stop component 23 does not interfere with the movement of the limiting component 70. The power input end of the gearbox 2311 is connected to the first drive member 211, and the power output end of the gearbox 2311 is connected to the first transmission member 2312, so that the first drive member 211 can effectively drive the first transmission member 2312 to rotate in two directions (the first direction and the second direction) through the gearbox 2311. This arrangement not only improves the flexibility of operation, but also enhances the adaptability of the internal system of the cleaning equipment 100 and the cleaning efficiency of the cleaning equipment 100.

[0112] Further, see Figures 3 to 5 , Figure 8 as well as Figure 13 As shown, the first cleaning component 22 also includes a mop bracket 221 and a flexible mop 222. In the projection along the height of the main unit 10, the flexible mop 222 protrudes beyond the outer edge of the mop bracket 221. A stop plate 231 is located inside the flexible mop 222, and at least partially protrudes beyond the outer edge of the mop bracket 221. Thus, when the first cleaning component 22 is in its outward-expanding position and encounters an obstacle while cleaning along its edge, the edge of the flexible mop 222 can continue to clean the edge of the obstacle. If the first cleaning component 22 collides with an obstacle, the stop plate 231 can contact the obstacle, thereby providing good protection for the mop bracket 221 and preventing scratches on both the mop bracket 221 and the obstacle (when the obstacle is a table leg or a wall, scratches need to be prevented).

[0113] Further, see Figure 1 , Figure 6 , Figure 8 as well as Figure 10 As shown, the cleaning device also includes a cover assembly 50, which is disposed on the main unit 10. The cover assembly 50 has an open state in which the opening is opened when the first cleaning component 22 changes from an inward position to an outward position, and a cover state in which the opening is covered when the first cleaning component 22 is in the inward position.

[0114] Specifically, the cover assembly 50 is located at the opening of the clearance notch 14, and can open or cover the opening of the clearance notch 14 according to the state of the first cleaning component 22 (i.e., the outward expansion position and the inward retraction position). The cover assembly 50 of this application can be a single cover or two cover plates, and the cover plates of this application can be made entirely of soft rubber (i.e., a fully soft rubber cover plate), or a combination of a hard cover plate and soft rubber (referred to as a semi-soft rubber cover plate). This embodiment shows the case where the cover assembly 50 includes two cover plates. In addition, the two cover plates can open automatically according to the state of the first cleaning component 22, or they can be opened by the thrust generated by the first cleaning mechanism 20 during the swinging process. When the first cleaning component 22 moves from the outward expansion position to the inward retraction position, the two cover plates can automatically cover the opening of the clearance notch 14 along with the first cleaning mechanism 20. Furthermore, when the cover assembly 50 switches between the open and closed states, the principle underlying the switch differs depending on the structure of the two covers (i.e., whether they are fully soft rubber covers or semi-soft rubber covers). When both covers are fully soft rubber covers, the switch is achieved through the good elasticity of the soft rubber. When both covers are semi-soft rubber covers, the switch is achieved through elastic components such as torsion springs and the good elasticity of the soft rubber. The use of soft rubber provides excellent protection for the cover assembly 50, preventing it from colliding with obstacles and causing damage. Simultaneously, the cover assembly 50 prevents dust and debris from entering the main unit 10, reducing wear and tear on internal parts and extending the service life of the cleaning equipment.

[0115] Further, see Figure 22 As shown, the cleaning device also includes a limiting member 70, which has a first state that avoids the first cleaning member 22 to allow the first cleaning member 22 to switch between an inward position and an outward position, and a second state that stops the first cleaning member 22 to prevent the first cleaning member 22 from switching from the inward position to the outward position.

[0116] Specifically, when the first cleaning component 22 needs to move from the retracted position to the outward position so that it can perform edge cleaning, the limiting component 70 changes from the second state to the first state. When edge cleaning is not required, the first cleaning component 22 is in the retracted position. To prevent the first cleaning component 22 from being accidentally pulled out under external force, the limiting component 70 changes from the first state to the second state. The limiting component 70 can switch between the first and second states by rotating, moving, and swinging. This embodiment shows the case where the limiting component 70 switches between the first and second states by swinging. In this embodiment, the limiting component 70 includes a limiting member 71 and an elastic reset member 72. A positioning post 171 is provided on the bottom shell 17. The positioning post 171 is located on the outer periphery of the clearance notch 14. The limiting member 71 is sleeved on the positioning post 171 and can rotate around the limiting member 71, so that the limiting member 71 can switch between a first state and a second state. The two ends of the elastic reset member 72 abut against the bottom shell 17 of the main unit and the limiting member 71 respectively. The elastic reset member 72 can provide elastic force to the limiting member 71, so that the limiting member 71 can automatically return to the second state.

[0117] In some embodiments of this application, the cleaning device 100 may be provided with only one cleaning mechanism, namely the first cleaning mechanism 20 (as shown in Figures 1 to 20). Figure 5 (As shown). In some other embodiments of this application, the cleaning device 100 may also be provided with multiple cleaning mechanisms, such as... Figures 6 to 10As shown, the cleaning device 100 includes two cleaning mechanisms, which are designated as the first cleaning mechanism 20 and the second cleaning mechanism 30 for ease of operation. When the cleaning device 100 has two cleaning mechanisms, it is configured such that 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 32 are opposite; when the first cleaning component 22 is in the expanded position, the rotation directions of the first cleaning component 22 and the second cleaning component 32 are the same or opposite. That is, when the first cleaning component 22 is in the retracted position, if the first cleaning component 22 of the first cleaning mechanism 20 rotates in a first direction, then the second cleaning component 32 of the second cleaning mechanism 30 rotates in a second direction; if the first cleaning component 22 rotates in the second direction, then the second cleaning component 32 rotates in the first direction. When the first cleaning component 22 is in the extended position, if the first cleaning component 22 rotates in the first direction, the second cleaning component 32 can rotate in either the first or the second direction; conversely, if the first cleaning component 22 rotates in the second direction, the second cleaning component 32 can rotate in either the second or the first direction. It should be noted that the first direction can be clockwise or counterclockwise, and the second direction can also be clockwise or counterclockwise, depending on which of the first and second cleaning components 22 can be extended relative to the host 10. Figure 7 As shown, if the cleaning component on the right side of the host 10 (i.e., the first cleaning component 22) can expand outward relative to the host 10, then the first direction is clockwise and the second direction is counterclockwise; if the cleaning component on the left side of the host 10 (i.e., the second cleaning component 32) can expand outward relative to the host 10, then the first direction is counterclockwise and the second direction is clockwise. This embodiment shows the case where the cleaning component on the right side of the host 10 (i.e., the first cleaning component 22) can expand outward relative to the host 10.

[0118] Combination Figures 6 to 10 , Figures 12 to 14 As shown, in the cleaning device 100, when the first cleaning mechanism 20 is subjected to frictional torques in different directions (such as when the first cleaning mechanism 20 rotates and contacts the ground, the first cleaning mechanism 20 will be subjected to frictional torques from the ground), the first cleaning mechanism 20 can swing relative to the main unit 10, thereby achieving the swaying of the first cleaning mechanism 20. At the same time, the second cleaning mechanism 30 rotates in the opposite direction to the first cleaning mechanism 20, and the frictional forces subjected to the second cleaning mechanism 30 and the first cleaning mechanism 20 can cancel each other out, thereby ensuring the stability of the cleaning device 100 during operation.

[0119] When the cleaning device 100 simultaneously has a first cleaning mechanism 20 and a second cleaning mechanism 30, at least one of the first cleaning mechanism 20 and the second cleaning mechanism 30 can swing relative to the main unit 10. (This application's appendix...) Figure 10 The diagram illustrates a scenario where the first cleaning mechanism 20 can swing relative to the host 10, while the second cleaning mechanism 30 cannot. Of course, in other embodiments of this application, the second cleaning mechanism 30 can also swing relative to the host 10. When both the first cleaning mechanism 20 and the second cleaning mechanism 30 can swing relative to the host 10, the structures of the first cleaning mechanism 20 and the second cleaning mechanism 30 are identical, but the rotation directions of the first cleaning component 22 and the second cleaning component 32 are opposite.

[0120] Further, see Figures 17 to 19 As shown, the first cleaning component 22 and the second cleaning component 32 are both located on the side of the host 10 away from the moving direction of the host 10. When the first cleaning component 22 is retracted to the retracted position, in the projection of the host 10 in the height direction, the first cleaning component 22 and the second cleaning component 32 are symmetrical about the center line g of the host 10, and the projection of the first cleaning mechanism 20 and the projection of the second cleaning mechanism 30 partially overlap. The center line g of the host 10 is parallel to the moving direction of the host 10.

[0121] Specifically, the moving direction of the main unit 10 is the direction pointed to by the front end of the main unit 10 when it moves in a straight line. The dual cleaning action of the first cleaning component 22 and the second cleaning component 32 ensures that the cleaning equipment fully covers and thoroughly cleans the surface to be cleaned, improving cleaning efficiency. Simultaneously, the symmetrical design of the first cleaning component 22 and the second cleaning component 32 allows the main unit 10 to evenly distribute cleaning force during movement, ensuring consistent cleaning effects on both sides of the main unit 10 and avoiding omissions or uneven cleaning. The projections of the first cleaning component 22 and the second cleaning component 32 in the height direction of the main unit 10 overlap, meaning that they (i.e., the first cleaning component 22 and the second cleaning component 32) can work synergistically to perform deeper cleaning of the overlapping areas, improving cleaning quality. The centerline g is parallel to the moving direction of the main unit 10. This design allows the cleaning components (i.e., the first cleaning component 22 and the second cleaning component 32) to more effectively cover the cleaning path during movement, reducing repeated cleaning or blind spots and improving cleaning efficiency. Furthermore, the symmetrical arrangement of the cleaning components along the direction of movement allows the main unit 10 to clean a larger area while moving in a straight line, reducing the number of turns and direction adjustments and further improving cleaning efficiency. Moreover, the symmetrical arrangement of the first cleaning component 22 and the second cleaning component 32 about the center line g helps maintain the stability of the main unit during movement, reducing swaying caused by shifting center of gravity or uneven cleaning force, thus improving the user experience. The cleaning components are located on the side of the main unit opposite to the direction of movement, and their projections overlap. This compact design saves installation space, making the main unit more compact and easier to operate in confined spaces, while also avoiding cleaning dead spots (mainly referring to the cleaning dead spot between the first cleaning component 22 and the second cleaning component 32), improving the comprehensiveness of cleaning.

[0122] Further, see Figure 17 As shown, on the side opposite to the moving direction of the host 10: the common tangent L4 of the edges of the first cleaning component 22 and the second cleaning component 32 is flush with the tangent L5 of the edge of the host 10; or, the common tangent L4 of the edges of the first cleaning component 22 and the second cleaning component 32 is closer to the inner side of the host 10 than the tangent L5 of the edge of the host 10. The common tangent L4 of the edges of the first cleaning component 22 and the second cleaning component 32 is parallel to the predetermined direction of the host 10.

[0123] Specifically, when the first cleaning component 22 is in the retracted position, the common tangent line L4 of the edges of the first cleaning component 22 and the second cleaning component 32 is flush with or closer to the inner side of the host unit's edge tangent line L5. This design ensures that the cleaning components (i.e., the first cleaning component 22 and the second cleaning component 32) can closely fit the edge of the host unit 10 during movement, thereby effectively covering the edge area, reducing cleaning dead corners, and improving cleaning efficiency. The common tangent line L4 is parallel to the predetermined direction of the host unit, meaning that the cleaning components can evenly cover the surface to be cleaned along the predetermined direction during cleaning, thus ensuring the comprehensiveness and consistency of cleaning. Because the cleaning components can closely fit the edge and effectively cover it, the user does not need to operate the cleaning equipment to clean the same area multiple times, reducing repetitive work and improving cleaning efficiency. The design of flush or retracted edges (i.e., the common tangent line L4 is flush with the edge tangent line L5 or the common tangent line L4 is closer to the inner side of the host unit 10 than the edge tangent line L5) helps maintain the stability of the host unit 10 during movement, reducing shaking or displacement caused by the protrusion or swing of the cleaning components, and ensuring the safe operation of the cleaning equipment. At the same time, this design also makes the main unit 10 more compact, making it easier to operate in small spaces (e.g., the main unit 10 rotates in place), thus improving space utilization efficiency.

[0124] This application describes the second cleaning mechanism 30 in detail as being unable to swing relative to the main unit 10. In this embodiment, the second power component 31 of the second cleaning mechanism 30 is fixedly mounted on the main unit 10. The second power component 31 has a second drive member 311 and a second transmission assembly 312. The second drive member 311 is a drive motor. Both the second transmission assembly 312 and the first transmission assembly 212 include a reduction gearbox 2311, a first transmission member 2312, a second transmission member 2313, and an elastic element 2314. The first transmission member 2312 connects the reduction gearbox 2311 and the second transmission member 2313. The second transmission member 2313 connects the first cleaning member 22 or the second cleaning member 32. The second transmission member 2313 has a track surface 23131. The first transmission member 2312 is movably held against the track surface 23131. The elastic element 2314 holds against the second transmission member 2313 to apply a restoring force to the second transmission member 2313.

[0125] The gearbox 2311 is configured to drive the first transmission member 2312 to rotate along the first direction and the second direction under the drive of the first drive member 211 or the second drive member 311, so that the first transmission member 2312 moves on the track surface 23131, and the first cleaning member 22 moves up and down along the height direction of the host 10 and rotates along the first direction and the second direction.

[0126] In the initial state, the first cleaning component 22 and the second cleaning component 32 are positioned relatively high on the main unit 10, i.e., the first cleaning component 22 and the second cleaning component 32 are off the ground or tabletop. When the gearbox 2311 drives the first transmission component 2312 to rotate in the first direction, the first transmission component 2312 abuts against the track surface 23131 and rotates along the track surface 23131. In this application, the track surface 23131 is a convex arc surface. As the first transmission component 2312 moves from a low position to a high position along the track surface 23131, the first transmission component 2312 applies a resisting force to the second transmission component 2313, which can cause the second transmission component 2313 to move away from the first transmission component 2312, i.e., move towards the ground along the height direction of the main unit 10. This can then drive the first cleaning component 22 or the second cleaning component 32 connected to the second transmission component 2313 to move towards the ground. The second transmission component 2313 in this application is provided with a limiting structure 23132. When the first cleaning component 22 and the second cleaning component 32 are in contact with the ground, the gearbox 2311 continuously drives the first transmission component 2312 to move along the height direction of the host 10. At this time, the side of the first transmission component 2312 is in contact with the limiting structure 23132. The second transmission component 2313 can rotate along the first direction under the drive of the first transmission component 2312 to clean the ground. During this process, the first cleaning mechanism 20 is subjected to the frictional torque applied by the ground and can swing relative to the host 10 along the second direction to drive the first cleaning component 22 to switch to the outward position to clean the obstacle along the edge. Since the second driving component 311 of the second cleaning mechanism 30 is fixed, the second cleaning component 32 remains in a fixed position relative to the host 10 and performs cleaning operations in place. It should be noted that the rotation direction of the gearbox 2311 in the second cleaning mechanism 30 is always opposite to the rotation direction of the gearbox 2311 in the first cleaning mechanism 20 to ensure that the cleaning equipment 100 can operate smoothly.

[0127] When the gearbox 2311 drives the first transmission member 2312 to rotate in a second direction opposite to the first direction, the first transmission member 2312 disengages from the limiting structure 23132. The first transmission member 2312 rotates from the highest position of the track surface 23131 to the lowest position of the moving track surface 23131. During this process, the elastic element 2314 applies a restoring force to the second transmission member 2313, that is, applies a supporting force away from the ground along the height direction of the host 10. At this time, the second transmission member 2313 rises in a direction away from the ground, which can drive the first cleaning component 22 and the second cleaning component 32 to rise and detach from the ground.

[0128] As can be seen, the first cleaning component 22 and the second cleaning component 32 in this application can rise and fall, which helps to protect the ground and reduces the difficulty of the cleaning equipment 100 in overcoming obstacles.

[0129] Specifically, along the height direction of the main unit 10, the first transmission component 2312 can be connected below the reduction gearbox 2311. The first transmission component 2312 can be U-shaped and is fixedly mounted on the reduction gearbox 2311 or the output shaft 23111 of the motor. In this case, the output shaft 23111 of the motor or reduction gearbox 2311 extends along the height direction of the main unit 10. The second transmission component 2313 is cylindrical and is sleeved on the output shaft 23111 and can move up and down relative to the output shaft 23111. The elastic element 2314 can be a spring, elastic sleeve, or other structure. The elastic element 2314 is capable of elastic deformation and is sleeved on the output shaft 23111. A support block 23112 is provided at the bottom end of the output shaft 23111. The two ends of the elastic element 2314 abut against the second transmission member 2313 and the support block 23112, respectively. After being compressed by the second transmission member 2313, the elastic element 2314 can recover its elastic deformation, causing it to extend and push the second transmission member 2313 to move along the output shaft 23111. The first cleaning component 22 or the second cleaning component 32 is fixedly connected below the second transmission member 2313. A limiting structure 23132 is provided on the inner or outer wall surface of the second transmission member 2313.

[0130] In this application, the trajectory surface 23131 can be disposed on the outer peripheral surface of the second transmission member 2313, or it can be disposed on the inner wall surface of the second transmission member 2313. (See attached diagram of this application.) Figure 14 The diagram shows the case where the trajectory surface 23131 is disposed on the outer peripheral surface of the second transmission member 2313. The limiting structure 23132 is disposed on the trajectory surface 23131 and located at the top of the trajectory surface 23131. In this application, the limiting structure 23132 can be a protrusion structure, consisting of two protrusions respectively disposed on opposite sides of the second transmission member 2313. During actual operation, the two ends of the U-shaped first transmission member 2312 abut against the trajectory surface 23131 between the two limiting structures 23132 and slide along the trajectory surface 23131 to drive the second transmission member 2313 to rise and fall in the first direction. When the two ends of the U-shaped first transmission member 2312 are stopped by the two limiting structures 23132, the second transmission member 2313 rises and falls to its limit position in the first direction.

[0131] In some implementations, please refer to Figures 12 to 14As shown, the trajectory surface 23131 includes a first region 23131a, a second region 23131b, a third region 23131c, and a connecting region 23131d. In the circumferential direction of the second transmission member 2313, the first region 23131a, the second region 23131b, and the third region 23131c are sequentially connected, with the second region 23131b lower than the first region 23131a and the third region 23131c. Adjacent regions can be connected via the connecting region 23131d, and the first transmission member 2312 can move from one region to another via the connecting region 23131d. When the first transmission member 2312 abuts against the first region 23131a or the third region 23131c, the first cleaning component 22 or the second cleaning component 32 is in a cleaning position that abuts against the ground. When the first transmission member 2312 abuts against the second region 23131b, the first cleaning component 22 or the second cleaning component 32 is in a position that allows it to detach from the ground. Thus, through the three areas of the trajectory surface 23131, the first cleaning component 22 or the second cleaning component 32 can switch between the ground-lift position and the cleaning position.

[0132] Further, see Figures 18 to 20 , Figure 22 As shown, the cleaning equipment also includes an auxiliary component 60, which is disposed on the main unit 10. The auxiliary component 60 has a clearance surface, which is at least used to reserve space for the first cleaning component 22 or the second cleaning component 32 to swing between the retracted position and the outward expansion position. The auxiliary component 60 includes at least one of a radar 61, a water tank 62, a caster wheel assembly 63, a dust collection box 64, an air pump 65, a first conveying channel 66, a second conveying channel 67, and a set of movable wheels 68. The auxiliary component 60 includes a set of movable wheels 68, which includes at least two movable wheels, and the at least two movable wheels are spaced apart along a predetermined direction of the main unit 10. The first cleaning mechanism 20 and the second cleaning mechanism 30 are closer to the side of the main unit 10 opposite to the direction of movement than the movable wheels, and both the first cleaning mechanism 20 and the second cleaning mechanism 30 are spaced apart from the movable wheels. Specifically, the first cleaning mechanism 20 and the second cleaning mechanism 30 are located on the side of the main unit opposite to the direction of movement, and are closer to this side than the moving wheels. This arrangement allows the first cleaning mechanism 20 and the second cleaning mechanism 30 to not only further clean areas not thoroughly cleaned by structures such as the middle sweeping mechanism 40, but also to clean the path traversed by the moving wheel assembly 68, ensuring that no moving wheel tracks appear. The spacing between the cleaning mechanisms (i.e., the first cleaning mechanism 20 and the second cleaning mechanism 30) and the moving wheels avoids mutual interference between components, allowing them to perform at their best and work together to complete the cleaning task.

[0133] Optionally, the auxiliary component 60 also includes a radar 61, which is positioned on the top of the main unit 10, near the direction of movement. The first cleaning mechanism 20 and the second cleaning mechanism 30 are spaced apart from the radar 61. Specifically, the radar 61's position on the top of the main unit 10, near the direction of movement, allows it to more effectively detect obstacles during cleaning, plan cleaning paths in advance, reduce collisions and repetitive cleaning, and thus improve cleaning efficiency. The spaced arrangement of the first and second cleaning mechanisms 20 and 30 from the radar 61 prevents interference from the cleaning mechanisms (i.e., the first and second cleaning mechanisms 20 and 30) during operation, ensuring the radar 61 can accurately acquire environmental information and improve navigation accuracy. It also prevents the radar 61 from interfering with the cleaning mechanisms (because the first cleaning mechanism 20 has an outward expansion function and requires a certain amount of swing space). The top-mounted radar position helps to detect and identify obstacles earlier, especially low or hidden obstacles, thereby reducing the risk of equipment collisions and enhancing safety. By detecting and planning paths in advance, Radar 61 can guide cleaning equipment to avoid obstacles that may cause jamming or damage, protecting the equipment from harm. At the same time, its efficient navigation and obstacle detection capabilities reduce the need for manual intervention during the cleaning process, improving ease of use and enabling the cleaning equipment to better adapt to different environments and terrains, especially in environments with furniture and many obstacles, allowing for more flexible movement and cleaning.

[0134] Optionally, the auxiliary component 60 also includes a water tank 62, which is located on the main unit 10 near the end of the moving direction and is positioned close to the bottom of the main unit 10, spaced apart from the first cleaning mechanism 20 and the second cleaning mechanism 30. Specifically, the water tank 62's proximity to the bottom of the main unit 10 facilitates the provision of water to the first cleaning component 22 and the second cleaning component 32, supporting wet mopping and improving floor cleaning performance. The water tank 62's location at the end of the main unit 10 near the moving direction and close to the bottom helps lower the center of gravity of the cleaning equipment, enhancing its stability during operation. Because the water tank 62 is spaced apart from the cleaning mechanisms (i.e., the first cleaning mechanism 20 and the second cleaning mechanism 30), structural collisions or interference between the water tank 62 and the cleaning mechanisms during cleaning are avoided, ensuring safe operation of the cleaning equipment.

[0135] Optionally, the auxiliary component 60 also includes a caster wheel assembly 63, which is disposed on the main unit 10 near the direction of movement and located at the bottom of the main unit 10. The first cleaning mechanism 20 and the second cleaning mechanism 30 are both spaced apart from the caster wheel assembly 63. Specifically, the caster wheel assembly 63 allows the cleaning equipment to move freely in any direction, easily achieving turning and direction adjustment, enhancing maneuverability in complex environments. The caster wheel assembly 63 facilitates the equipment's movement through narrow passages or between furniture, increasing cleaning coverage and reducing blind spots. The caster wheel assembly 63 helps the cleaning equipment move precisely during cleaning, ensuring that the cleaning mechanism can effectively cover the target area, avoiding repeated cleaning or omissions. Located at the bottom of the main unit 10, the caster wheel assembly 63 provides stable support for the main unit 10, maintaining the balance of the cleaning equipment during cleaning and preventing tilting or tipping. The caster wheel assembly 63 is positioned near the end in the direction of movement and spaced apart from the cleaning mechanism. This not only effectively utilizes the bottom space of the main unit 10 and facilitates the layout of other components, but also prevents the caster wheel assembly 63 from colliding or interfering with the cleaning mechanism during operation, ensuring the normal operation of all components of the cleaning equipment.

[0136] Optionally, the auxiliary component 60 also includes a dust collection box 64, which is located on the main unit 10 at the end opposite to the direction of movement and near the top of the main unit 10. The first cleaning mechanism 20 and the second cleaning mechanism 30 are both spaced apart from the dust collection box 64, and the first cleaning mechanism 20 and the second cleaning mechanism 30 are closer to the end of the main unit 10 opposite to the direction of movement than the dust collection box 64. Specifically, the dust collection box 64 is located on the end of the main unit 10 opposite to the direction of movement and near the top of the main unit 10. This makes it easy for people to remove the dust collection box 64 from the main unit 10 for regular maintenance and cleaning. Furthermore, since the first cleaning mechanism 20 and the second cleaning mechanism 30 are spaced apart from the dust collection box 64, this can effectively prevent mutual interference between the structures, ensuring that the first cleaning mechanism 20, the second cleaning mechanism 30, and the dust collection box 64 can all complete their respective tasks and assist the cleaning equipment in completing the cleaning work. The first cleaning mechanism 20 and the second cleaning mechanism 30 are closer to the end of the main unit 10 away from the direction of movement than the dust collection box 64. This not only facilitates the cleaning mechanism (i.e. the first cleaning mechanism 20 and the second cleaning mechanism 30) to perform cleaning work, but also facilitates the first cleaning component 22 to expand outward relative to the main unit (i.e. the first cleaning component 22 changes from an inward position to an outward position).

[0137] Optionally, the auxiliary component 60 also includes an air pump 65. The air pump 65 is disposed on the main unit 10 and located on the side of the dust collection box 64 opposite to the direction of movement. The air pump 65 is located between the first cleaning mechanism 20 and the second cleaning mechanism 30. The dust collection box 64 is connected to the suction end of the air pump 65. The air pump 65 is closer to the side of the main unit 10 opposite to the direction of movement than the dust collection box 64. The first cleaning mechanism 20 and the second cleaning mechanism 30 are both spaced apart from the air pump 65. Specifically, the air pump 65 is disposed on the main unit 10 and closer to the side of the main unit 10 opposite to the direction of movement than the dust collection box 64, and is located between the first cleaning mechanism 20 and the second cleaning mechanism 30. This arrangement makes the structure of the cleaning equipment more compact and saves space. Furthermore, the spaced arrangement between the cleaning mechanisms and the air pump 65 provides a better installation position for the air pump 65 and avoids interference between the air pump 65 and the cleaning mechanisms, ensuring that each structure can perform its respective function.

[0138] Optionally, the auxiliary component 60 further includes a first conveying channel 66, which is disposed on the main unit 10 and located on the side of the air pump 65 near the first cleaning mechanism 20. The dust collection box 64 communicates with the first conveying channel 66 and includes a dust conveying channel 641. The first conveying channel 66 is provided with a first bending section 661 to avoid the first cleaning mechanism 20, and the first conveying channel 66 and the first cleaning mechanism 20 are spaced apart. Specifically, the first conveying channel 66 is spaced apart from the first cleaning mechanism 20 and has a first bending section 661 that can avoid the first cleaning mechanism 20. The first conveying channel 66 is provided so that when the base station of the cleaning equipment (not shown in the figure) collects the garbage inside the dust collection box 64, it can blow air into the dust collection box 64 through the first conveying channel 66. The dust conveying channel 641 is connected to the dust collection end of the base station, and the dust collection end of the base station has a suction function. Through the cooperation of the first conveying channel 66 and the dust conveying channel 641, a circulating airflow can be formed, so that the garbage in the dust collection box 64 can be better collected into the base station.

[0139] Optionally, the auxiliary component 60 further includes a second conveying channel 67 disposed on the main unit 10 and located on the side of the air pump 65 near the second cleaning mechanism 30. The air pump 65 is connected to the second conveying channel 67, and the second conveying channel 67 is provided with a second bend 671 to avoid the second cleaning mechanism 30. The second conveying channel 67 and the second cleaning mechanism 30 are spaced apart. Specifically, the second conveying channel 67 is spaced apart from the second cleaning mechanism 30 and has a second bend 671 that can avoid the second cleaning mechanism 30. The arrangement of the second conveying channel 67 allows the air generated by the air pump 65 to be continuously discharged from the second conveying channel 67, and the suction end of the air pump 65 is connected to the dust collection box 64, thereby helping the dust collection box 64 to better collect the garbage cleaned by the cleaning equipment, facilitating centralized processing or unified collection to the base station later.

[0140] Exemplary, this embodiment illustrates an auxiliary component 60 including a radar 61, a water tank 62, a caster wheel assembly 63, a dust collection box 64, an air pump 65, a first conveying channel 66, a second conveying channel 67, and a set of movable wheels 68. Specifically, the coordinated operation of the dust collection box 64, the air pump 65, the first conveying channel 66, and the second conveying channel 67 ensures that the debris and dust collected by the sweeping mechanism 40 are efficiently sucked into and stored in the dust collection box 64, improving the cleaning efficiency of the cleaning equipment. This arrangement not only ensures a more compact structure for the cleaning equipment, saving installation space, but also avoids interference between the first and second conveying channels 66 and 67 on the cleaning mechanism. Thus, while ensuring full utilization of the internal space of the main unit 10, it also avoids mutual interference between the various structures of the cleaning equipment, thereby enabling the cleaning equipment to operate safely and stably.

[0141] Combination Figures 1 to 23 As shown, the cleaning device 100 in this application also includes a central sweeping mechanism 40, which is located at the center of the bottom of the main unit 10, and a set of movable wheels 68 is located at the bottom of the main unit 10. The set of movable wheels 68 is driven by a motor or other drive mechanism. In actual operation, by controlling the motor or other drive mechanism, the main unit 10 can be moved within space. During this process, by acting on the first power component 21 and the second power component 31, the first cleaning component 22 and the second cleaning component 32 can be raised, lowered, and rotated to clean the floor or countertop. At the same time, the frictional torque generated by the first power component 21 driving the first cleaning component 22 to rotate can cause the first cleaning component 22 to expand outward to clean the edges of obstacles. Furthermore, as the first cleaning mechanism 20 rotates relative to the main unit 10, the first stop component 23 can move synchronously with the first cleaning mechanism 20. When the first cleaning component 22 approaches an obstacle, the first stop component 23 can contact the obstacle in the space, preventing the first cleaning component 22 from scratching the obstacle during edge cleaning and facilitating edge cleaning of the obstacle, thus avoiding missed areas. Additionally, when the first cleaning component 22 contacts an obstacle, it can apply a reaction force to the first cleaning mechanism 20, causing the first cleaning mechanism 20 to retract and move towards the retracted position. This allows the first cleaning mechanism 20 to achieve flexible retraction without the need for additional detection mechanisms or control logic, resulting in a simple structure that effectively improves the user comfort and design cost of the cleaning equipment 100.

[0142] 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.

[0143] 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.

[0144] 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), a first cleaning component (22), and a first stop component (23). The first power component (21) is connected to the first cleaning component (22) to drive 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 host (10) and an outward position extending beyond the outer edge of the host (10). In the projection of the host (10) in the height direction, the area of ​​the first cleaning component (22) extending beyond the outer edge of the host (10) when it is in the outward position is greater than the area of ​​the first cleaning component (22) extending beyond the outer edge of the host (10) when it is in the inward position. The first stop component (23) is disposed on the first power component (21). When the first cleaning component (22) is in the outward position and in contact with the obstacle, the first stop component (23) is driven by the force exerted by the obstacle to move the first cleaning mechanism (20) so as to drive the first cleaning component (22) to move towards the inward position.

2. The cleaning equipment according to claim 1, characterized in that, When the first cleaning component (22) is in the extended position, the rotation center of the first cleaning component (22) is located outside the host (10) in the projection of the host (10) in the height direction.

3. The cleaning equipment according to claim 1, characterized in that, The first cleaning component (22) includes: A mop bracket (221) is connected to the first power unit (21) and rotates in the first direction or the second direction under the drive of the first power unit (21). A flexible mop (222) is disposed on the bottom surface of the mop bracket (221). In the projection of the host (10) in the height direction, the flexible mop (222) protrudes from the outer edge of the mop bracket (221), and the first stop member (23) is located on the inner side of the flexible mop (222). Within the projection of the host (10) in the height direction, the first stop member (23) protrudes at least partially from the outer edge of the mop bracket (221).

4. The cleaning equipment according to claim 3, characterized in that, The first stop member (23) includes a stop plate (231) that, in the projection of the host (10) in the height direction, protrudes at least partially from the outer edge of the mop bracket (221) for contacting an obstacle when the first cleaning member (22) is in the extended position.

5. The cleaning equipment according to claim 3, characterized in that, The first cleaning component (22) further includes a soft rubber layer (223) which covers at least a portion of the outer periphery of the mop bracket (221). In the projection of the host (10) in the height direction, the soft rubber layer (223) protrudes from the outer edge of the mop bracket (221) and is located inside the first stop component (23) to prevent the mop bracket (221) from contacting obstacles.

6. The cleaning equipment according to claim 4, characterized in that, Within the projection along the height direction of the host (10): The maximum width D of the stop plate (231) protruding from the outer edge of the mop bracket (221) satisfies the relationship: 0 < D ≤ 5 mm; and / or, The maximum width L of the flexible mop (222) protruding from the outer edge of the stop plate (231) satisfies the relationship: 0≤L≤5mm.

7. The cleaning equipment according to claim 4, characterized in that, Within the projection of the host unit (10) in the height direction, the stop plate (231) has a convex arc portion (23101) protruding from the outer edge of the mop bracket (221). The convex arc portion (23101) extends along the outer periphery of the mop bracket (221), and the minimum central angle of the convex arc portion (23101) is A, where A is the angle between the first radius line (X) and the second radius line (Y). The first radius line (X) is the line connecting the center (O) of the mop bracket and the first tangent point (B1). The first tangent point (B1) is the tangent point when the mop bracket (221) expands outward to be tangent to the first tangent line (R1) of the outermost edge of the host (10) in a predetermined direction. The first tangent line (R1) is parallel to the moving direction of the host (10). The second radius line (Y) is the line connecting the center (O) and the second tangent point (B2) of the mop bracket. The second tangent point (B2) is the point of tangency between the mop bracket (221) and the second tangent line (R2) when the mop bracket (221) is expanded to its limit position. The second tangent line (R2) is the tangent line that passes through the point of the mop bracket (221) that is farthest from the host (10) in a predetermined direction and is parallel to the first tangent line (R1).

8. The cleaning equipment according to claim 7, characterized in that, Along a predetermined direction of the host (10), the second tangent (R2) and the first tangent (R1) are spaced by a predetermined distance (S), the predetermined distance (S) being the distance between the second tangent (R2) and the first tangent (R1) when the first cleaning component (22) extends to its furthest point from the host (10).

9. The cleaning equipment according to claim 7, characterized in that, The host (10) is provided with a rotating part (11), and the maximum outward expansion angle (α) of the first cleaning component (22) is less than 180°; Within the projection of the host (10) in the height direction: when the first cleaning component (22) is in the retracted position, the line connecting the center (O) of the mop bracket and the rotating part (11) is J1; when the first cleaning component (22) is expanded to the limit position, the line connecting the center (O) of the mop bracket and the rotating part (11) is J2; and the maximum expansion angle (α) is the angle between J1 and J2.

10. The cleaning equipment according to claim 1, characterized in that, The host (10) is provided with a rotating part (11) and an elastic element (12). The first cleaning mechanism (20) is rotatably connected to the host (10) through the rotating part (11) to drive the first cleaning component (22) to move between the outward expansion position and the inward contraction position. The elastic element (12) extends and retracts along the rotation direction of the rotating part (11). The two ends of the elastic element (12) are respectively connected to the host (10) and the first cleaning mechanism (20); or, The two ends of the elastic element (12) are respectively connected to the host (10) and the first cleaning mechanism (20). The first cleaning mechanism (20) rotates along the first direction or the second direction to drive the elastic element (12) to move and stretch.

11. The cleaning equipment according to claim 10, characterized in that, The host (10) is provided with an arc-shaped groove (13), the center of which coincides with the rotation center of the rotating part (11). The elastic element (12) is disposed in the arc-shaped groove (13) and can extend and retract along the extension direction of the arc-shaped groove (13); or, The host (10) is provided with a first connecting part (15), and the first cleaning mechanism (20) is provided with a second connecting part (16). One end of the elastic member (12) is connected to the first connecting part (15), and the other end of the elastic member (12) is connected to the second connecting part (16). When the first cleaning component (22) is in the retracted position, the elastic member (12) is in a stretched state. During the process of the first cleaning component (22) changing from the retracted position to the expanded position, the stretching amount of the elastic member (12) gradually increases.

12. The cleaning equipment according to claim 1, characterized in that, The first power component (21) includes a first drive component (211) and a first transmission assembly (212), the host (10) is provided with a rotating part (11), and the host includes a bottom shell (17); The first driving member (211) is rotatably mounted on the bottom shell (17) via the rotating part (11). The first driving member (211) has a rotating shaft, which is coaxially arranged with the rotating part (11), or the rotating shaft is misaligned with the rotating part (11) and the first driving member (211) can move around the rotating part (11). The first transmission assembly (212) is connected between the first driving member (211) and the first cleaning member (22). The rotation of the shaft drives the first transmission assembly (212) to drive the first cleaning member (22) to rotate along the first direction or the second direction. The first stop member (23) is disposed on the first transmission assembly (212).

13. The cleaning equipment according to claim 12, characterized in that, The first cleaning component (22) is located at the bottom of the host (10). The host (10) is provided with a clearance notch (14). The clearance notch (14) extends from the inside of the host (10) to the edge of the host (10). The clearance notch (14) has an opening at one end near the edge of the host (10). The first cleaning mechanism (20) moves along the clearance notch (14) to move between the outward expansion position and the inward contraction position. The opening is at least used to avoid the first cleaning mechanism (20) so that when the first cleaning component (22) is in the outward expansion position, the rotation center of the first cleaning component (22) is located outside the host (10). Within the projection of the host (10) in the height direction: when the maximum width (M) of the outer contour of the first transmission component (212) is less than or equal to the maximum outward radius (r) from the rotating part (11) to the clearance notch (14), the maximum width (M) of the outer contour of the first transmission component (212) is set in a direction parallel to the maximum outward radius (r) or intersects with the maximum outward radius (r); or, When the maximum width (M) of the outer contour of the first transmission component (212) is greater than the maximum outward radius (r) from the rotating part (11) to the clearance notch (14), the maximum width (M) of the outer contour of the first transmission component (212) intersects with the maximum outward radius (r).

14. The cleaning equipment according to claim 12, characterized in that, The first transmission assembly (212) further includes a reduction gearbox (2311), a first transmission component (2312), and a second transmission component (2313), and the first stop component (23) includes a connecting part (232) and a stop plate (231); The connecting part (232) is integrally formed or fixedly connected to the outer shell of the gearbox (2311), and the connecting part (232) surrounds the outer periphery of the first transmission member (2312) and the second transmission member (2313). The stop plate (231) is integrally formed or fixedly connected to the connecting part (232), and the stop plate (231) covers part of the outer periphery of the first cleaning component (22). The power input end of the gearbox (2311) is connected to the first drive member (211), and the power output end of the gearbox (2311) is connected to the first transmission member (2312) to drive the first transmission member (2312) to rotate along the first direction or the second direction.

Images