Cleaning equipment and cleaning systems

Abstract

This application provides a cleaning device and a cleaning system. The cleaning device includes a body, a cleaning component, and a drive component. The cleaning component has an inward-retracted position and an outward-swinging position relative to the body. The drive component includes a first drive member and a swing arm assembly. The swing arm assembly is movably connected to the body, and the cleaning component is connected to the end of the swing arm assembly. The first drive member drives the swing arm assembly to move the cleaning component between the inward-retracted position and the outward-swinging position. The swing arm assembly includes a first swing arm and a second swing arm connected in sequence. The first drive member drives the first swing arm to move relative to the body, and the first and second swing arms can rotate relative to each other. In this way, the cleaning component can be extended to the outward-swinging position relative to the body to clean low gaps in furniture such as sofas and cabinets, reducing blind spots and improving the cleaning effect of the cleaning component.

Description

Technical Field

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

[0002] Currently, with the development of science and technology and the improvement of living standards, cleaning equipment such as robotic vacuum cleaners, floor scrubbers, and robot vacuums / mops are becoming increasingly popular in homes. However, due to the limitations of the robot's form factor, the robot's main unit cannot access low-profile furniture such as sofas or cabinets, resulting in blind spots and poor cleaning performance. Utility Model Content

[0003] This application provides a cleaning device and system in several embodiments, which can extend the cleaning cloth to a more distant position and make the cleaning cloth more flexible, thereby enabling the cleaning of low spaces by setting a swing arm assembly between the cloth and the main unit.

[0004] In a first aspect, embodiments of this application provide a cleaning device, including:

[0005] Organism;

[0006] A cleaning component having an inwardly retracted position and an outwardly swinging position relative to the body;

[0007] A drive assembly includes a first drive member and a swing arm assembly. The swing arm assembly is movably connected to the body. The cleaning assembly is connected to the end of the swing arm assembly. The first drive member drives the swing arm assembly to move the cleaning assembly between an inward position and an outward position. The swing arm assembly moves the cleaning assembly between the inward position and the outward position. The swing arm assembly includes a first swing arm and a second swing arm that are sequentially connected. The first drive member drives the first swing arm to move relative to the body. The first swing arm and the second swing arm are rotatable relative to each other.

[0008] Optionally, when the first driving member drives the cleaning component to the retracted position, the bending angle of the second swing arm relative to the first swing arm is α; when the first driving member drives the cleaning component to the outward swing position, the bending angle of the second swing arm relative to the first swing arm is β, where β is greater than α.

[0009] Optionally, when the first driving member drives the cleaning component to the edge position, the bending angle of the second swing arm relative to the first swing arm is γ, where γ is less than α.

[0010] Optionally, the cleaning component has an inward position, an edge position, and an outward swing position relative to the body, wherein the swing distance of the cleaning component relative to the body when it is in the outward swing position is greater than the swing distance of the cleaning component when it is in the edge position.

[0011] Optionally, the second swing arm includes a first guide wheel, and the body includes a sliding guide portion. The first guide wheel is rotatably disposed on the sliding guide portion. When the cleaning component moves from the inward position to the edge position, the sliding guide portion can guide the movement trajectory of the second swing arm through the first guide wheel. The cleaning device includes a second guide wheel rotatably disposed on the body. When the cleaning component moves from the edge position to the outward swing position, the side of the second swing arm away from the first drive member can roll along the second guide wheel to guide the movement trajectory of the second swing arm.

[0012] Optionally, the cleaning device includes a position sensor electrically connected to the drive assembly. The position sensor is used to sense when the cleaning assembly moves to the retracted position, the edge position, or the outward swing position and feeds back to the drive assembly to stop driving the swing arm assembly.

[0013] Optionally, the sliding guide portion is in the shape of an arc or an involute arc.

[0014] Optionally, the drive assembly includes an elastic element disposed on the first swing arm and elastically abutting against the second swing arm;

[0015] When the cleaning component moves from the retracted position to the edge position, the first swing arm and the second swing arm compress the elastic element and store elastic potential energy; when the cleaning component moves from the edge position to the outward swing position, the elastic element releases elastic potential energy to drive the second swing arm to rotate relative to the first swing arm.

[0016] Optionally, the elastic element is a torsion spring, a rubber strip, or a spring sheet.

[0017] Optionally, the cleaning assembly includes a cleaning disc and a cleaning element disposed on the cleaning disc, the cleaning disc being rotatably disposed at the end of the second swing arm away from the first swing arm.

[0018] Optionally, the side wall of the body includes an opening through which the swing arm assembly moves to an outward swing position; when the cleaning assembly is in the outward swing position, at least the end of the second swing arm of the swing arm assembly extends beyond the side wall of the body.

[0019] Optionally, the body includes a main housing and a door assembly. The main housing forms a receiving space for accommodating the drive assembly. The receiving space communicates with the external environment through the opening. The door assembly is movably disposed on the main housing to close the opening when the cleaning assembly is in the retracted position and to open the opening when the cleaning assembly moves toward the outward swing position.

[0020] Optionally, the cleaning device includes a water replenishment structure for replenishing water to the cleaning component. The water replenishment structure includes at least one water outlet, which is disposed on the swing arm assembly and moves with the swing arm assembly.

[0021] Optionally, the cleaning component includes a cleaning disc with a hollowed-out area. The cleaning disc is used to install cleaning parts. When the cleaning disc is in the retracted position or the outward swing position, at least a portion of the water outlets' vertical projections on the cleaning disc always overlap with the hollowed-out area. The water outlets are located on the final stage swing arm, or the water outlets are located on the first stage swing arm near the pivot shaft connected to the final stage swing arm.

[0022] Optionally, when the cleaning component is in the outward swing position, the edge position, and the inward retraction position, the vertical projection of the water outlet on the cleaning disc falls within the hollow area.

[0023] Secondly, embodiments of this application provide a cleaning system, the cleaning system including a base station and a cleaning device as described above, the base station being used to supply power to the cleaning device and / or to clean the cleaning device.

[0024] The various embodiments provided in this manual, by incorporating a swing arm assembly between the cleaning cloth and the main unit, allow the cleaning component to extend outward relative to the main body, enabling cleaning of low gaps in furniture such as sofas and cabinets and reducing blind spots. Furthermore, the cleaning component retracts into its inward position relative to the main body, preventing scratches, falls, and other issues, thus improving cleaning effectiveness and interactivity. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a cleaning device provided for one embodiment of this specification.

[0026] Figure 2 Another structural schematic diagram of a cleaning device provided for one embodiment of this specification.

[0027] Figure 3 This is a partial structural diagram of a cleaning device provided for one embodiment of this specification.

[0028] Figure 4This is a schematic diagram of the cleaning component of a cleaning device provided in an embodiment of this specification, in its retracted position.

[0029] Figure 5 This is a schematic diagram of the cleaning component of a cleaning device provided in one embodiment of this specification, in the outward-facing position.

[0030] Figure 6 This is a schematic diagram of the cleaning component of a cleaning device provided in one embodiment of this specification, positioned along the edge.

[0031] Figure 7 This is a partial structural diagram of a driving component provided for one embodiment of this specification.

[0032] Figure 8 This is a partial structural diagram of a cleaning component provided in one embodiment of this specification.

[0033] Figure 9 Provided for one embodiment of this specification Figure 8 A magnified structural diagram of A in the diagram.

[0034] Figure 10 This is a schematic diagram of the modular structure of a cleaning system provided in one embodiment of this specification.

[0035] Explanation of reference numerals in the attached figures

[0036] 100. Cleaning equipment; 10. Body; 11. Sliding guide; 12. Main housing; 121. Accommodation space; 122. Opening; 13. Door assembly; 20. Cleaning assembly; 21. Cleaning tray; 22. Cleaning component; 30. Drive assembly; 3. Swing arm assembly; 31. First swing arm; 32. Second swing arm; 321. First guide wheel; 33. Elastic component; 34. First drive component; 40. Second guide wheel; 50. Position sensor; 60. Water replenishment structure; 61. Water outlet; 200. Cleaning system; 201. Base station. Detailed Implementation

[0037] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0038] In this specification, the accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to show the details of the local features more clearly.

[0039] Unless otherwise stated, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0040] In the description of this specification, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] In the description of this specification, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description in this specification and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. In other words, they should not be construed as limitations on this application.

[0042] In the description of this specification, unless otherwise expressly defined, the terms "installation," "connection," "joining," "fixing," "setting," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this specification according to the specific circumstances.

[0043] In the various embodiments described below, the cleaning device 100 may further include a walking system mounted on the body 10. This walking system drives the body 10 to move independently on the surface to be cleaned. The walking system generally includes a driver and walking components. The walking components are typically two in number, symmetrically arranged on the body 10. These walking components include, but are not limited to, drive wheels, track wheels, or adjustable steering wheels. For example, the steering wheels are Mecanum wheels. Furthermore, the walking system can be oscillatingly mounted on the body 10 to enable the cleaning device to overcome obstacles during movement. The surface to be cleaned may be, but is not limited to, the surface of an object such as a floor, tabletop, glass, or wall. For ease of description, the surface to be cleaned will be described using the floor as an example below.

[0044] In the following embodiments, the cleaning device 100 is further described in terms of height, length, and width. The height direction is parallel to the overall height of the cleaning device when it is used on the surface to be cleaned, with a roughly flat floor as a reference. The height direction is approximately perpendicular to the surface to be cleaned. The length direction is the direction of travel of the cleaning device 100, and the width direction is the direction of movement of the swing arm assembly 3 of the cleaning device 100.

[0045] Please see Figures 1 to 5 One embodiment of this application provides a cleaning device 100, which includes a body 10, a cleaning component 20, and a drive component 30. The cleaning component 20 has an inward retracted position and an outward swing position relative to the body 10. The drive component 30 includes a first drive member 34 and a swing arm assembly 3. The swing arm assembly 3 is movably connected to the body 10, and the cleaning component 20 is connected to the end of the swing arm assembly 3. The first drive member 34 drives the swing arm assembly 3 to move the cleaning component 20 between the inward retracted position and the outward swing position. The swing arm assembly 3 drives the cleaning component 20 to move between an inward position and an outward position. The swing arm assembly 3 includes a first swing arm 31 and a second swing arm 32 that are connected in sequence. The first swing arm 31 is rotatably connected to the body 10. The cleaning component 20 is movably connected to the end of the second swing arm 32 away from the first swing arm 31. The swing arm assembly 3 drives the cleaning component 20 to move between an inward position and an outward position. The first drive member 34 drives the first swing arm 31 to move relative to the body 10. The first swing arm 31 and the second swing arm 32 can rotate relative to each other.

[0046] Thus, by setting the swing arm assembly 3 between the cloth and the main body 10, the cleaning component 20 can extend outward relative to the main body 10 to clean the low gaps in furniture such as sofas and cabinets, reducing blind spots. At the same time, the cleaning component 20 can retract into the inward position relative to the main body 10 to avoid problems such as scratching or falling off, thus improving the cleaning effect and interactivity of the cleaning component 20.

[0047] In some embodiments, the cleaning component 20 has an inward position, an edge position, and an outward swing position relative to the body 10, and the swing distance of the cleaning component 20 relative to the body 10 when it is in the outward swing position is greater than the swing distance of the cleaning component 20 when it is in the edge position.

[0048] In detail, the swing arm assembly 3 connects the cleaning component 20 and the body 10, realizing the movable connection between the cleaning component 20 and the body 10. The movement of the swing arm assembly 3 can change the position of the cleaning component 20, so that the cleaning component 20 has an inward position, an edge position, and an outward position. Under different cleaning scenarios, the cleaning component 20 can be in the inward position, the edge position, the outward position, or any position between the inward position, the edge position, and the outward position. The position of the cleaning component 20 between the inward position, the edge position, and the outward position can be set as needed.

[0049] Understandably, when the cleaning component 20 is in the outward swing position, the swing arm assembly 3 extends outward to cover a larger area in order to maximize the cleaning range. When the cleaning component 20 is in the inward retracted position, the swing arm assembly 3 retracts, allowing the cleaning component 20 to be closer to the center of the cleaning disc 21.

[0050] For example, when the cleaning component 20 is cleaning a regular area or in standby mode, the cleaning component 20 can be in a retracted position to reduce space occupation and avoid interference. When the cleaning component 20 needs to extend into a deep, low area in a horizontal position for cleaning, the cleaning component 20 can be in an outward position. When the cleaning component 20 needs to clean the edge area, the cleaning component 20 can be in a position between the retracted position and the outward position.

[0051] When no power source is installed in the body 10, the swing arm assembly 3 can be manually pulled out to the outward swing position, retracted to the inward position, or moved to the edge position.

[0052] In related technologies, traditional cleaning equipment often adopts a single swing arm design, which has a simple working principle. However, the single swing arm design has significant drawbacks. Existing technology makes it difficult to reach certain areas with a single swing arm, and the lifting scheme requires a significant amount of space within the machine, resulting in poor cleaning performance in corners and low-lying areas. The machine's limitations prevent traditional cleaning equipment from approaching walls or furniture in low-lying spaces. In other words, the single swing arm design offers limited accessibility to corners and furniture in low-lying areas, necessitating an increase in arm length to reduce blind spots. However, while lengthening the arm is necessary to address the need for cleaning at greater distances, it also results in a larger space requirement. Due to the geometric constraints of the single swing arm (fixed arc trajectory), the arm length determines the maximum swing distance; an excessively long arm increases the overall size, while an excessively short arm fails to cover edge areas. Furthermore, the need to allow for swing space during deployment prevents the equipment from working close to walls or in narrow areas, and the leverage effect at the swing end reduces the ground pressure, weakening the cleaning effect. Because robots have a compact interior space, the challenge lies in how to extend them further outwards while maintaining a sufficiently compact spatial arrangement.

[0053] In this embodiment, the drive assembly 30 includes a first drive member 34 and a swing arm assembly 3. The swing arm assembly 3 is movably connected to the body 10, and the cleaning assembly 20 is connected to the end of the swing arm assembly 3. The first drive member 34 drives the swing arm assembly 3 to move the cleaning assembly 20 between an inward position and an outward position.

[0054] The swing arm assembly 3 includes a first swing arm 31 and a second swing arm 32 connected in sequence. The first swing arm 31 is rotatably connected to the body 10. The cleaning component 20 is movably connected to the end of the second swing arm 32 away from the first swing arm 31. The swing arm assembly 3 drives the cleaning component 20 to move between an inward position and an outward position. The first drive member 34 drives the first swing arm 31 to move relative to the body 10. The first swing arm 31 and the second swing arm 32 can rotate relative to each other.

[0055] Furthermore, in this embodiment, the specific number of stages and groups of the swing arm assembly 3 is not limited to meet different needs. The swing arm assembly 3 may include one or more groups. For example, in some embodiments, it includes two cleaning components 20. The swing arm assembly 3 includes two groups, each group of swing arm assemblies 3 corresponding to one cleaning component 20. The two groups of swing arm assemblies 3 respectively drive the corresponding cleaning components 20 to move in opposite directions when swinging outward or towards each other when retracting inward. A group of swing arm assemblies 3 may include a number of secondary or tertiary swing arms or more to ensure that the cleaning component 20 can move to the required position.

[0056] In this embodiment, the first swing arm 31 and the second swing arm 32 move relative to each other, which can extend the cleaning component 20 relative to the body 10 to the outward swing position. At this time, the cleaning device 100 can perform cleaning actions on the low gaps of furniture such as sofas and cabinets, reducing cleaning blind spots and improving the cleaning effect of the cleaning component 20.

[0057] In this embodiment, the specific type of cleaning device 100 is not limited to meet different needs. For example, cleaning device 100 can be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc. In this application, a mopping robot is used as an example for illustration. In addition, in this embodiment, the shape of the body 10 is not limited to meet different needs. For example, the body 10 can be circular, D-shaped, triangular, or other shapes.

[0058] In this embodiment, the first driving member 34 is used to drive the cleaning component 20 to perform cleaning work at the edge position when the cleaning device 100 needs to clean the first scene; and to drive the cleaning component 20 to perform cleaning work at the outward swing position when the cleaning device 100 needs to clean the second scene; in the second scene, the accessibility of the cleaning device 100 to the area to be cleaned is less than that in the first scene.

[0059] In this way, the cleaning device 100 can change the position of the cleaning component 20 according to different scenarios, thereby changing the shape of the cleaning device 100 to suit different scenarios, making the application of scenarios more comprehensive.

[0060] In this embodiment, the first scene includes at least an edge cleaning scene, and the second scene includes at least one of an obstacle suspension scene, an obstacle concave scene, and an irregular angle scene.

[0061] It should be noted that accessibility refers to the extent to which the cleaning device 10 can approach obstacles. When the cleaning device 100 is cleaning different scenarios, it will determine the required application scenario based on the accessibility. For example, the first scenario can be cleaning along a wall. The cleaning device 100 can clean close to the wall, meaning that the cleaning device 100 is closer to the obstacle. Therefore, the driving cleaning component 20 can be positioned along the edge to perform the cleaning work. The second scenario can be a scenario that gradually narrows from top to bottom, such as toilets, under beds, and cabinets with low bottom spaces, or irregular corners against walls, the bottom of cabinets against walls, and the corners of table legs against walls—areas that are difficult for the cleaning device 10 to approach. In this case, the cleaning device 100 can clean close to the wall, meaning that the cleaning device 100 is closer to the obstacle. Therefore, the driving cleaning component 20 can be positioned outwards to perform the cleaning work.

[0062] Specifically, the retracted position of the cleaning component 20 represents the position of the cleaning device 100 during normal cleaning. The first scenario is when the cleaning component 20 is in the edge-along position, and the cleaning device 100 is in a normal edge-along movement state. For example, the cleaning device 100 can move along a relatively regular edge, such as a wall edge, including but not limited to wall edges, standard wall corners (inner right angles, outer right angles), etc. The second scenario includes but is not limited to scenarios with suspended obstacles, recessed obstacles, and irregular angles. Scenarios with suspended obstacles and recessed obstacles refer to locations such as the bottom of sofas, the bottom of cabinets, recessed baseboards, and the legs of tables and chairs against the wall. Irregular angle scenarios refer to narrow corners or complex joints with non-standard geometric shapes. For example, irregular angle scenarios can be L-shaped wall corner extension areas, the joint between stairs and handrails, the gap at the bottom of bay window sills, the dense support area of ​​multi-legged furniture, the joint of curved furniture, and the location where pipes pass through walls, etc.

[0063] Understandably, in the second scenario, the cleaning device 100 requires a certain amount of space due to the space occupied by its body 10. Most furniture does not provide sufficient space for the body 100 to enter or even approach, resulting in poor accessibility. The cleaning robot cannot get very close to obstacles, and the conventional outward swing distance is insufficient to clean the edges of obstacles. Therefore, in this embodiment, to address the cleaning needs of the second scenario, the swing arm assembly 3 is designed as a multi-stage swing arm. These multi-stage swing arms work together to extend the cleaning component 20 relative to the body 10 to the outward swing position. When the cleaning component 20 is in the outward swing position, in the second direction, the shortest distance L between the outer edge of the cleaning component 20 and the outer edge of the body 10 is greater than or equal to 50mm. This allows the cleaning component 20 to clean low-ceilinged spaces, providing a large cleaning range.

[0064] In this embodiment, when the first driving member 34 drives the cleaning component 20 to the retracted position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is α; when the first driving member 34 drives the cleaning component 20 to the outward swing position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is β, where β is greater than α.

[0065] In this embodiment, when the cleaning component 20 is in the retracted position, the bending angle α of the second swing arm 32 relative to the first swing arm 31 is an acute angle; when the cleaning component 20 is in the outward swing position, the bending angle β of the second swing arm 32 relative to the first swing arm 31 is an obtuse angle. Thus, after the second swing arm 32 and the first swing arm 31 are bent relative to each other (cleaning component 20 is in the retracted position), the cleaning component 20 retracts to below the body 10 to clean the ground or surface in the direction of travel of the body 10; after the second swing arm 32 and the first swing arm 31 are extended relative to each other (cleaning component 20 is in the outward swing position), the cleaning component 20 extends to a position farther from the body 10 to clean low spaces in furniture that the body 10 cannot access.

[0066] Understandably, when the cleaning component 20 is in the retracted position, it is positioned entirely below the body 10, resulting in a large overlap between the projections of the cleaning component 20 and the body 10 on the ground. When the cleaning component 20 is in the outward-swinging position, the bending angle of the second swing arm 32 relative to the first swing arm 31 increases, causing the cleaning component 20 to protrude entirely from the body 10, resulting in a smaller overlap between the projections of the cleaning component 20 and the body 10 on the ground.

[0067] In this embodiment, the drive assembly 30 adopts a double-swing arm structure design, and the double swing arms can move relative to the body 10 to realize the transformation of the cleaning device 100 form. The first swing arm 31 is rotatably connected to the bottom of the body 10 via a rotating shaft, and the second swing arm 32 is rotatably connected to the distal end of the first swing arm 31 via a rotating shaft structure. The cleaning assembly 20 is installed at the end of the second swing arm 32 via a movable connecting mechanism. When the cleaning assembly 20 is in the retracted position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is α, and the cleaning device 100 maintains a compact form; when the cleaning assembly 20 switches to the outward swing position, the bending angle increases to β, allowing the cleaning assembly 20 to extend outward.

[0068] In the embodiments of this application, a set of swing arm assemblies 3 may further include three or four swing arms, and the specifics are not limited here. In the following embodiments, a set of swing arm assemblies 3 including two swing arms will be used as an example for illustration.

[0069] In this embodiment, a double-swing-arm linkage mechanism is adopted. Through the rotational movement of the first swing arm 31 and the second swing arm 32, a wide range of position adjustment of the cleaning component 20 is achieved. A specific angular relationship (β>α) is set to ensure sufficient extension distance when swinging outward. The movable connection design allows the cleaning component 20 to adapt to ground undulations during operation. In this way, by setting the first swing arm 31 and the second swing arm 32 at an angle, it is ensured that the first swing arm 31 and the second swing arm 32 have a good outward swing distance after being extended, and it is also possible for the first swing arm 31 and the second swing arm 32 to rotate relative to each other to the inward position, thereby ensuring the compactness of the overall layout of the cleaning equipment 100.

[0070] In this embodiment, when the cleaning device 100 detects low spaces such as under furniture, it drives the first swing arm 31 to rotate. Simultaneously, the second swing arm 32 rotates to a corresponding angle under the influence of the first swing arm 31, moving the cleaning component 20 from an inward-retracted position to an outward-swinging position. That is, when the cleaning device 100 determines it is in the second scenario, it needs to drive the cleaning component 20 to the outward-swinging position to perform cleaning. Through the combined movement of the two swing arms, the cleaning component 20 can extend beyond the edge of the body 10, effectively covering low gaps under furniture such as sofas and cabinets. This eliminates the need for the body 100 to enter the space under furniture; the cleaning component 20's proximity to the ground allows the cleaning device 100 to adapt to furniture spaces of varying heights. When the cleaning device 100 detects that the roller brush assembly cannot reach the edge to clean corners, it drives the first swing arm 31 to rotate. Simultaneously, the second swing arm 32 rotates to a corresponding angle under the influence of the first swing arm 31, moving the cleaning component 20 from an inward-retracted position to an edge-side position. In other words, when the cleaning device 100 determines that it is in the first scenario, it needs to drive the cleaning component 20 to the edge position to perform edge cleaning scenario work. In this way, the cleaning component 20 does not need to extend too far from the body 10 to clean areas such as walls, furniture edges, and baseboards.

[0071] In this embodiment, after the cleaning component 20 moves to the inward position, the edge position, or the outward position, the cleaning component 20 can always maintain contact pressure with the ground by means of active ground pressurization or the counterweight of the machine body 10 to pressurize the rag, so as to ensure the cleaning effect and significantly improve the cleaning coverage.

[0072] Please see Figures 4 to 6 In some embodiments, when the first drive member 34 drives the cleaning assembly 20 to the edge position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is γ, where γ is less than α. The edge position is located between the retracted position and the outward swing position.

[0073] Thus, the inward-retracting position, the outward-swinging position, and the edge-mounting position can correspond to three scenarios of the cleaning device 100, achieving different cleaning methods and ensuring better cleaning results. Specifically, the inward-retracting position corresponds to the normal mopping position of the cleaning device 100; the edge-mounting position corresponds to the position of the mop when the cleaning device 100 needs to mop along the corner of the wall; and the outward-swinging position corresponds to the position of the mop when the cleaning device 100 needs to clean low gaps.

[0074] In this embodiment, γ satisfies γ < α < β. That is, during the process of the cleaning component 20 moving from the inward position to the edge position and then to the outward swing position, the relative angle between the second swing arm 32 and the first swing arm 31 first decreases and then increases. The range of the increasing angle is greater than the range of the decreasing angle. In one embodiment, γ and α are both acute angles, and β is an obtuse angle. This allows the cleaning device 100 to flexibly adjust its working mode according to different cleaning scenarios, optimize the cleaning coverage, and improve cleaning efficiency.

[0075] Of course, it is understandable that in some embodiments, when the cleaning component 20 is in the edge position relative to the body 10, the bending angle γ of the second swing arm 32 relative to the first swing arm 31 does not need to be less than the bending angle α of the second swing arm 32 relative to the first swing arm 31 in the retracted position, in order to accommodate the different structures and angle arrangements of the second swing arm 32 and the first swing arm 31. It is only necessary to ensure that when the first drive member 34 drives the cleaning component 20 to the outward swing position, the bending angle β of the second swing arm 32 relative to the first swing arm 31 is the maximum angle.

[0076] Specifically, when the cleaning component 20 is in the retracted position, it is suitable for routine cleaning in open areas (such as living rooms and bedrooms). The cleaning device 100 maintains a compact shape, ensuring that the device will not collide with furniture or obstacles when moving, improving maneuverability, and is suitable for cleaning large areas. When the cleaning component 20 is in the edge position, it is suitable for cleaning areas where the cleaning device 100 needs to perform fine cleaning along walls, furniture edges, baseboards, etc. The first swing arm 31 drives the second swing arm 32 to rotate slightly, causing the cleaning component 20 to extend outward a certain distance, ensuring that the mop or brush can fit close to the corners, avoiding cleaning dead corners. It effectively removes dust accumulated along the walls, avoiding the problem of the cleaning device 100 not being able to clean along the edges, and improving the cleaning effect of corners. When the cleaning component 20 is in the outward position, it is suitable for cleaning areas where the cleaning device 100 needs to reach into low spaces such as under sofas, beds, and cabinets. The second swing arm 32 extends significantly, allowing the cleaning component 20 to extend further outward. It can automatically adjust its extension length according to the furniture height, ensuring the cleaning component 20 always contacts the ground. This greatly reduces cleaning blind spots under low furniture and improves whole-house cleaning coverage. For example, when the cleaning device 100 detects that the low space under the furniture is high enough for the cleaning component 20 to reach, it can automatically adjust its specific mode. For instance, it can adjust the cleaning component 20 from an edge position to an outward-swinging position, allowing cleaning of blind spots under low furniture without additional user control, thus enriching the user experience of the cleaning device 100.

[0077] Furthermore, in this embodiment, the specific angles of the first swing arm 31 and the second swing arm 32 are not limited when the cleaning component 20 is in the edge position, the outward swing position, and the inward retraction position, in order to meet different needs. For example, the edge position, the outward swing position, and the inward retraction position can be a fixed position or a range of positions. That is to say, when the cleaning component 20 is in the edge position, the outward swing position, and the inward retraction position, the included angle of the first swing arm 31 and the second swing arm 32 can be a range.

[0078] In some embodiments, the cleaning device 100 includes a position sensor 50, which is electrically connected to the drive assembly 30. The position sensor 50 is used to sense when the cleaning assembly 20 moves to an inward position, an edge position, or an outward position and then feeds back to the drive assembly 30 to stop driving the swing arm assembly 3.

[0079] Thus, the position sensor 50 can detect the position of the cleaning component 20 and control the drive component 30 to stop after the cleaning component 20 moves to the predetermined position, so that the cleaning component 20 can be stably maintained in the current position by the cooperation of the guide and the pulley.

[0080] In addition, in some embodiments, the cleaning device 100 can detect the relative position of the cleaning component 20 and the body 10 through the position sensor 50, and adjust the position of the cleaning component 20 through the drive component 30 to ensure that the position of the cleaning component 20 is accurate.

[0081] In this embodiment, the specific type of the positioning sensor 50 is not limited to meet different needs. For example, the positioning sensor 50 can be an optical sensor, an angle sensor, or a pressure sensor.

[0082] For example, in one embodiment, when the position sensor 50 is an optical sensor, it can be disposed on the upper side of the first drive member 34 to directly detect the positions of the two swing arms, and then determine the position of the cleaning component 20 by the position of the swing arms. In another embodiment, when the position sensor 50 is an angle sensor, an angle sensor can be disposed at the joint of the swing arms to monitor the bending angle of the first swing arm 31 and the second swing arm 32 in real time.

[0083] In some embodiments, the second swing arm 32 further includes a guide member. When the cleaning component 20 moves between the edge position and the retracted position, the guide member can assist the movement of the second swing arm 32 to ensure that the cleaning component 20 moves smoothly when it moves between the edge position and the retracted position, and avoid jamming.

[0084] Specifically, the cleaning component 20 can cooperate with the positioning sensor 50 during movement, allowing the positioning sensor 50 to detect whether the cleaning component 20 has moved into position. When the cleaning component 20 moves from the retracted position to the edge position, the guide can guide the second swing arm 32; or when the cleaning component 20 moves from the edge position to the retracted position, the guide can guide the second swing arm 32. During this process, the first drive component 34 actively controls the rotation of the swing arm, the guide guides the position of the swing arm, and the positioning sensor 50 can simultaneously detect the position of the swing arm, ensuring that after the first swing arm 31 and the second swing arm 32 move to the corresponding positions, the first drive component 34 stops driving, ensuring that the cleaning component 20 is accurate in the edge position, the retracted position, and the outward swing position.

[0085] In the embodiments of this application, the specific form of the guide is not limited, in order to meet different needs. For example, the guide can be a slide rail or a pulley.

[0086] In some embodiments, the guide may include a first guide wheel 321 formed on the second swing arm 32, and the body 10 includes a sliding guide portion 11. The first guide wheel 321 is rotatably disposed on the sliding guide portion 11. When the cleaning assembly 20 moves from the retracted position to the edge position, the sliding guide portion 11 can guide the movement trajectory of the second swing arm 32 via the first guide wheel 321. Thus, during the transition between the retracted and edge positions of the cleaning assembly 20, the first guide wheel 321, in conjunction with the sliding guide portion 11, assists the movement of the second swing arm 32. During the rotation of the first swing arm 31 relative to the body 10, the second swing arm 32 can move to the corresponding position under the guidance of the first guide wheel 321 and the sliding guide portion 11, ensuring the accurate positioning of the cleaning assembly 20 in the edge and retracted positions.

[0087] In this embodiment, the first guide wheel 321 is rotatably fitted into the sliding guide portion 11, forming a stable kinematic pair. When the cleaning component 20 moves from the retracted position to the edge position, the sliding guide portion 11 precisely guides the movement trajectory of the second swing arm 32 through the rolling contact of the first guide wheel 321, allowing it to smoothly transition along a preset path.

[0088] In this embodiment, the specific form of the sliding guide 11 is not limited to meet different needs. For example, the sliding guide 11 can be constructed by both a straight area and an arc-shaped area, and can be specifically defined according to the movement process of the second swing arm 32.

[0089] In some embodiments, the guide may further include a second guide wheel 40 rotatably disposed on the body 10, wherein when the cleaning component 20 moves from the edge position to the outward swing position, the side of the second swing arm 32 away from the first drive member 34 can roll along the second guide wheel 40 to guide the movement trajectory of the second swing arm 32.

[0090] Thus, during the transition between the edge position and the outward swing position of the cleaning component 20, the second guide wheel 40 cooperates with one side of the second swing arm 32 to assist the movement of the first swing arm 31 and the second swing arm 32, ensuring that the cleaning component 20 is accurately positioned in the edge position and the outward swing position.

[0091] In this embodiment, the axis of the rotatable second guide wheel 40 is parallel to the axis of the first guide wheel 321. When the cleaning assembly 20 moves from the edge position to the outward swing position, the first guide wheel 321 disengages from the sliding guide part 11, and the second guide wheel 40 contacts the side of the second swing arm 32, guiding it to further unfold outward through rolling friction.

[0092] For example, when the cleaning component 20 moves from the retracted position to the edge position, the first guide wheel 321 can roll along the sliding guide portion 11 so that the cleaning component 20 can move stably to the edge position. Then, when the cleaning component 20 moves from the edge position to the outward swing position, the second guide wheel 40 can abut against the side of the second swing arm 32 away from the first drive member 34 and roll, thereby stably pushing the second swing arm 32 out. In this way, the movement trajectory of the second swing arm 32 is smooth and there is no obvious jamming problem.

[0093] In some embodiments, the sliding guide portion 11 is in the shape of an arc or an involute arc. In this way, as the sliding guide portion 11 guides the second swing arm 32 to move via the first guide wheel 321, the second swing arm 32 swings smoothly, the motor load is reduced, and interference caused by excessive compression angle is avoided.

[0094] In this embodiment, the sliding guide 11 can also be an arc-shaped guide rail, a grooved track, or a linear track, and the specific type is not limited here. The contour of the sliding guide 11 is precisely designed so that its curvature matches the ideal movement path of the second swing arm 32. When the first swing arm 31 rotates relative to the body 10, the first guide wheel 321 rolls along the sliding guide 11, forcibly constraining the movement direction of the second swing arm 32 and preventing deviation or shaking.

[0095] For example, the sliding guide 11 may adopt an involute arc track so that the second swing arm 32 maintains a constant contact pressure between the cleaning component 20 and the wall surface during the unfolding process, thereby improving the edge cleaning effect.

[0096] Please see Figure 7 In some embodiments, the drive assembly 30 includes an elastic element 33 disposed on the first swing arm 31 and elastically abutting against the second swing arm 32.

[0097] When the cleaning component 20 moves from the inward position to the edge position, the first swing arm 31 and the second swing arm 32 compress the elastic element 33 and store elastic potential energy; when the cleaning component 20 moves from the edge position to the outward swing position, the elastic element 33 releases elastic potential energy to drive the second swing arm 32 to rotate relative to the first swing arm 31.

[0098] Thus, the elastic element 33 can always be in a compressed state, meaning that the elastic element 33 always has an elastic force that pushes the second swing arm 32 to unfold relative to the first swing arm 31. The elastic element 33 can be used to adjust the relative position of the second swing arm 32 and the first swing arm 31, thereby realizing the switching of the cleaning equipment 100 mode.

[0099] Specifically, when the first drive member 34 drives the swing arm assembly 3 to move from the inward position to the edge position, the first swing arm 31 and the second swing arm 32 can further compress the elastic member 33, so that the elastic member 33 stores more elastic potential energy. When the first drive member 34 drives the swing arm assembly 3 to move from the edge position to the outward swing position, the elastic member 33 can release its elastic potential energy to push the second swing arm 32 to unfold relative to the first swing arm 31, thereby allowing the cleaning disc 21 and the cleaning member 22 to extend to a sufficiently far position.

[0100] In this embodiment, as the cleaning component 20 moves from the retracted position to the edge position, the second guide wheel 40 guides the movement of the second swing arm 32, causing the angle between the second swing arm 32 and the first swing arm 31 to decrease, thereby further compressing the elastic member 33. As the cleaning component 20 moves from the edge position to the outward swing position, the second guide wheel 40 and the elastic member 33 can jointly limit the movement of the second swing arm 32. The elastic member 33 consistently pushes the second swing arm 32 against the second guide wheel 40, ensuring the stability of the movement of the second swing arm 32.

[0101] In some embodiments, the first swing arm 31 includes a first limiting portion (not shown in the figure), the second swing arm 32 includes a second limiting portion (not shown in the figure), and the elastic member 33 includes two elastic ends (not shown in the figure). When the cleaning assembly 20 is in the outward swing position, the first limiting portion and the second limiting portion limit the two elastic ends respectively to fix the relative angle between the first swing arm 31 and the second swing arm 32. In this way, the elastic member 33 can cooperate with the first limiting portion and the second limiting portion to achieve the maximum extension angle of the second swing arm 32 when it is in the outward swing position, and prevent the second swing arm 32 from being misaligned under the action of the elastic member 33.

[0102] In this embodiment, the first limiting part and the second limiting part can limit the maximum unfolding angle of the elastic member 33, thereby limiting the maximum angle of the relative position of the second swing arm 32 and the first swing arm 31, keeping the cleaning assembly 20 stable in the outward swing position. That is, when the first driving member 34 drives the swing arm assembly 3 to move from the edge position to the outward swing position, the elastic member 33 releases elastic potential energy to push the second swing arm 32 to unfold relative to the first swing arm 31. During this process, the first limiting part and the second limiting part can restrict the elastic member 33, thereby limiting the accuracy of the swing arm assembly 3 when it is in the outward swing position.

[0103] In some embodiments, the elastic element 33 is a torsion spring, a rubber strip, or a spring sheet. Thus, the elastic element 33 can be one of a torsion spring, a rubber strip, or a spring sheet.

[0104] In this embodiment, the specific type of elastic element 33 is not limited to meet different needs.

[0105] In some embodiments, the cleaning assembly 20 includes a cleaning disc 21 and a cleaning element 22 disposed on the cleaning disc 21. The cleaning disc 21 is rotatably disposed at the end of the second swing arm 32 away from the first swing arm 31, and the cleaning element 22 is in contact with the ground and used for cleaning the ground. In this way, the cleaning disc 21 can drive the cleaning element 22 to rotate relative to the second swing arm 32, and the cleaning element 22 can clean the ground or other surfaces.

[0106] Specifically, in this embodiment, the cleaning component 20 may include a track cleaning cloth and a roller cleaning cloth, or a round cleaning cloth, etc., and the specifics are not limited here.

[0107] In this embodiment, both the cleaning disc 21 and the cleaning component 22 are circular in shape, and can achieve friction with the ground through rotation, thereby cleaning the ground. The cleaning disc 21 can be hollow to reduce the weight of the cleaning assembly 20 and facilitate the replenishment of water to the cleaning component 22. The cleaning component 22 is detachably connected to the cleaning disc 21, and can be replaced when it becomes dirty, or different types of cleaning components 22 can be directly replaced to achieve different forms of cleaning.

[0108] In this embodiment, the type of cleaning component 22 is not limited to meet different needs. For example, the cleaning component 22 can be an absorbent material such as a cloth or mop for wiping the floor. Alternatively, the cleaning component 22 can be a floor brush for sweeping the floor.

[0109] In one embodiment, the cleaning component 20 is a disc-shaped cloth, and there are two cleaning components 20. The two cleaning components 20 are symmetrically arranged along the center line of the cleaning device 100, and at least one of the two disc-shaped cloths can extend along the width direction of the cleaning device 100; or, the cleaning component 20 is a roller cloth or a conveyor cloth, and the roller cloth or conveyor cloth can extend along the width direction of the cleaning device 100.

[0110] Specifically, at least one of the disc-shaped cleaning cloths can be moved outward by the movement of the second swing arm 32 and the first swing arm 31. In one example, both cleaning components 20 can be moved outward by the second swing arm 32 and the first swing arm 31; in another example, one of the two cleaning components 20 can be moved outward by the second swing arm 32 and the first swing arm 31, while the other cannot move and only performs corresponding cleaning in the retracted position.

[0111] In one embodiment, there are two cleaning components 20, one of which is a disc-shaped cleaning cloth and the other is a roller cleaning cloth or a conveyor belt cleaning cloth. The disc-shaped cleaning cloth can extend along the width direction of the cleaning device 100; or the disc-shaped cleaning cloth can be fixedly mounted on the cleaning device 100. The roller cleaning cloth or conveyor belt cleaning cloth can be fixedly mounted on the cleaning device 100; or the roller cleaning cloth or conveyor belt cleaning cloth can also extend along the width direction of the cleaning device 100.

[0112] In some embodiments, the cleaning device 100 moves forward in a first direction, and the cleaning component 20 moves in a second direction when it is in the outward swing position. The first direction is the length direction of the cleaning device 100, and the second direction is the width direction of the cleaning device 100. It should be noted that the length direction of the cleaning device 100 is not necessarily the longest position in the dimensions of the cleaning device 100; the width and length directions of the cleaning device 100 are only used to distinguish directions. Specific details need to be explained according to the shape of the cleaning device 100.

[0113] In this way, the cleaning equipment 100 can clean the ground in the first direction during its movement. At the same time, for low spaces that the machine body 10 cannot enter, the cleaning component 20 can extend and be in an outward swing position. Thus, as the cleaning equipment 100 moves along the first direction, the cleaning component 20 can extend to the second direction to clean the low space.

[0114] In this embodiment, the body 10 can be disc-shaped, and the cleaning component 20 can be disposed on the left or right side of the central axis of the body 10. When the cleaning component 20 is located on the left side, it can extend to the left along the second direction when it moves to the outward position; when the cleaning component 20 is located on the right side, it can extend to the right along the second direction when it moves to the outward position.

[0115] In some embodiments, when the cleaning component 20 is in the outward swing position, the shortest distance L between the outer edge of the cleaning component 20 and the outer edge of the body 10 in the second direction is greater than or equal to 50 mm. For example, when the cleaning component 20 is in the outward swing position, the shortest distance L between the outer edge of the cleaning component 20 and the outer edge of the body 10 in the second direction can be 50 mm, 51 mm, 52 mm, 53 mm, 54 mm, 55 mm, 56 mm, 57 mm, 58 mm, 59 mm, or 60 mm.

[0116] Thus, when the cleaning component 20 extends out of the body 10 and is in the outward swing position, the distance L between the outer edge of the cleaning disc 21 and the outer edge of the body 10 is greater than or equal to 50mm. In this way, the cleaning disc 21 can drive the cleaning component 22 to clean low spaces, resulting in a large cleaning range.

[0117] Specifically, the cleaning component 20 can be comprised of a circular cleaning disc 21 and a cleaning element 22. The cleaning disc 21 can drive the cleaning element 22 to clean low-ceilinged spaces, providing a large cleaning range. In other words, the extent to which the cleaning disc 21 extends corresponds to the cleaning range of the cleaning component 20 after it is extended outwards. When the cleaning component 20 is in the extended position, the overlap between the cleaning component 20 and the body 10 is minimal, and the cleaning component 20 extends relative to the body 10 to its maximum extent. At this time, the shortest distance L between the outer edge of the cleaning component 20 and the outer edge of the body 10 is at least 50mm.

[0118] It should be noted that "the shortest distance L between the outer edge of the cleaning component 20 and the outer edge of the body 10" refers to the shortest distance between the cleaning disc 21 and the edge of the body 10. For example, the direction of travel of the body 10 can be perpendicular to the shortest distance between the cleaning disc 21 and the edge of the body 10.

[0119] In addition, through analysis of various scenarios, the shortest distance L between the outer edge of the cleaning component 20 and the outer edge of the body 10 is at least 50mm to ensure good coverage, while avoiding large uncleaned areas caused by the wiping cloth being splayed outwards, which would increase the workload of supplementary cleaning.

[0120] In some embodiments, the relative position of the cleaning component 20 and the body 10 is not determined by the outer edge, but by the position of the rotating shaft of the cleaning disc 21. In addition, when the cleaning component 20 is in the outward swing position, it may extend in a first direction, a second direction, or a direction between the second and first directions; the specific direction is not limited here.

[0121] For example, when the cleaning component 20 is in the outward swing position, the distance L between the outer edge of the cleaning disc 21 and the outer edge of the body 10 in the second direction can be 55.7 mm.

[0122] In some embodiments, the cleaning components 20 may be one, three, or four, and no specific limitation is made here to meet different needs. In one example, there may be four cleaning components 20. The cleaning elements 22 of the two cleaning components 20 at the front of the body 10 may be cleaning brushes, and the cleaning elements 22 of the two cleaning components 20 at the rear of the body 10 may be cloths.

[0123] In some embodiments, the sidewall of the body 10 includes an opening 122 through which the swing arm assembly 3 moves to an outward swing position; when the cleaning assembly 20 is in the outward swing position, at least the end of the second swing arm 32 of the swing arm assembly 3 extends beyond the sidewall of the body 10.

[0124] Specifically, when the cleaning component 20 is in the edge-side position, it may or may not extend beyond the side wall of the body 10. When the cleaning component 20 is in the edge-side position and extends beyond the side wall of the body 10, it can clean areas such as the wall edge; when it is in the edge-side position and does not extend beyond the side wall of the body 10, it is less prone to scratches. When the cleaning component 20 is in the outward-swinging position, at least a portion of the end of the second swing arm 32 extends beyond the side wall of the body 10, providing a larger side cleaning range and reducing cleaning dead angles.

[0125] In some embodiments, the body 10 includes a main housing 12 and a door assembly 13. The main housing 12 forms a receiving space 121 for accommodating the drive assembly 30. The receiving space 121 communicates with the external environment through an opening 122. The door assembly 13 is movably disposed on the main housing 12 to close the opening 122 when the cleaning assembly 20 is in the retracted position and to open the opening 122 when the cleaning assembly 20 moves toward the outward swing position.

[0126] In this embodiment, the door baffle assembly 13 can cooperate with the main housing 12 to close or open the opening 122. When the cleaning component 20 is in the retracted position, the drive component 30 can be disposed within the accommodating space 121. At this time, the door baffle assembly 13 can close the accommodating space 121 to prevent the drive component 30 from being exposed, making the cleaning device 100 more aesthetically pleasing. When the cleaning component 20 needs to be switched to the edge position and the outward swing position, the door baffle assembly 13 can move relative to the main housing 12 to expose the accommodating space 121, so that the first swing arm 31 and the second swing arm 32 drive the cleaning component 20 to extend.

[0127] In addition, the gate blocking assembly 13 can cooperate with the position sensor 50 to realize automatic control of the gate blocking assembly 13.

[0128] In some embodiments, the drive assembly 30 includes a first drive member 34 disposed on the body 10. One end of the first swing arm 31, away from the second swing arm 32, is disposed on the first drive member 34. The first drive member 34 is used to drive the first swing arm 31 to rotate relative to the body 10. Thus, the first drive member 34 can connect to and drive the first swing arm 31 to rotate, thereby realizing a change in the form of the cleaning device 100.

[0129] In some embodiments, the cleaning device 100 includes a second drive (not shown) for driving the door baffle assembly 13 to move. Alternatively, in other embodiments, a first drive 34 is used to drive a first swing arm 31 to rotate relative to the body 10 and to drive the door baffle assembly 13 to move. That is, in this embodiment, the door baffle assembly 13 and the swing arm assembly 3 share a single drive, further simplifying the number of structural components.

[0130] In this embodiment, when the cleaning component 20 reaches the retracted position, the edge position, and the outward swing position, the positioning sensor 50 can also be used to detect the relative angle between the first swing arm 31 and the second swing arm 32, ensuring that the bending angle of the second swing arm 32 and the first swing arm 31 is accurately stopped at α, β, or γ, avoiding over-extension or retraction.

[0131] For example, when the cleaning component 20 is in the retracted position, the bending angle α of the second swing arm 32 relative to the first swing arm 31 can be 83.2°; when the cleaning component 20 is in the edge position, the bending angle γ of the second swing arm 32 relative to the first swing arm 31 can be 71°; when the cleaning component 20 is in the outward swing position, the bending angle β of the second swing arm 32 relative to the first swing arm 31 can be 113.7°.

[0132] Please see Figures 8 to 9 In some embodiments, the cleaning device 100 includes a water replenishment structure 60 for replenishing water to the cleaning component 20. The water replenishment structure 60 includes at least one water outlet 61, which is disposed on the swing arm assembly 3 and moves with the swing arm assembly 3.

[0133] In one embodiment, the water outlet 61 can be set on the first swing arm 31 and move together with the first swing arm 31. Regardless of whether the cleaning component 20 is in the retracted position, the edge position, or the outward swing position, the water replenishment structure 60 can replenish water to the cleaning component 22 to ensure the cleaning effect of the cleaning component 20.

[0134] In some embodiments, the cleaning assembly 20 includes a cleaning disc 21 with a hollowed-out area. The cleaning disc 21 is used to install the cleaning component 22. When the cleaning disc 21 is in the retracted position or the outward swing position, at least a portion of the water outlet 61 has its vertical projection on the cleaning disc 21 always overlaps with the hollowed-out area. The water outlet 61 is located on the final stage swing arm, or the water outlet 61 is located on the first stage swing arm near the pivot shaft connected to the final stage swing arm.

[0135] It is understood that, in this embodiment, the number of stages of the swing arm assembly 3 is not limited, as long as the number of stages of the swing arm assembly 3 is greater than or equal to two, to meet different needs. That is to say, the swing arm assembly 3 may include a first-stage swing arm, a second-stage swing arm, a third-stage swing arm, etc. Among them, the first-stage swing arm (the first-stage swing arm, which is also the first swing arm 31 mentioned above) is the swing arm closest to the first driving member 34; the last-stage swing arm (the farthest first-stage swing arm, which is also the second swing arm 32 mentioned above) is the swing arm furthest from the first driving member 34.

[0136] Specifically, the swing arm assembly 3 includes a multi-stage swing arm connected in sequence. The multi-stage swing arm connects the cleaning component 20 and the body 10, realizing a movable connection between the cleaning component 20 and the body 10. This significantly increases the outward swing distance of the end of the final stage swing arm without increasing the length of a single stage swing arm. The movement of the multi-stage swing arm can change the position of the cleaning component 20. The angle between the first stage swing arm and the final stage swing arm will be larger (compared to the angle between them when the cleaning component 20 is in the retracted position). The included angle between the first stage swing arm and the final stage swing arm will become smaller. Of course, in other embodiments, based on different structural settings, the included angle between the first stage swing arm and the final stage swing arm is smaller when the cleaning component 20 is in the outward swing position than the included angle between the first stage swing arm and the final stage swing arm when the cleaning component 20 is in the retracted position.

[0137] In some embodiments, the first-stage swing arm rotates around a fixed point. By controlling the swing amplitude of the first-stage swing arm, the swing amplitude of the last-stage swing arm can be adjusted in conjunction. For example, if the first-stage swing arm rotates 20°, the last-stage swing arm rotates 50°. The number of swing arms can be set as needed. There can be at least one additional swing arm between the first-stage and last-stage swing arms. For example, in some embodiments, there is one additional swing arm between the first-stage and last-stage swing arms; in some embodiments, there are two additional swing arms between the first-stage and last-stage swing arms. This application does not impose any limitations. Of course, the first-stage and last-stage swing arms can also be directly connected by transmission. The power source can be an electric motor. Since the rotation angle of the electric motor is adjustable, the movement of the swing arm assembly 3 is controlled by controlling the rotation angle of the electric motor, thereby releasing or retrieving the cleaning assembly 20.

[0138] A cleaning drive unit is provided on the final stage swing arm. The cleaning drive unit is used to drive the cleaning disc 21 to reciprocate or rotate. During the movement, the cleaning component generates friction with the ground to clean the ground. In actual use, the end of the final stage swing arm is close to the cleaning disc 21. When the water outlet 61 is set on the final stage swing arm, the spray range of the water outlet 61 is easily blocked by the solid area of ​​the cleaning disc 21, and cannot spray into the hollow area. When the cleaning disc 21 swings outward, it may tilt due to the terrain, such as when moving to the edge of a carpet, the overall posture of the machine body 10 changes, and the angle of the water outlet 61 of the final stage swing arm changes accordingly, causing the liquid spray to deviate from the projection of the hollow area. When the swing arm assembly 3 includes an intermediate swing arm, if the water outlet 61 is set on the first stage swing arm, when the cleaning component 20 is in the outward swing position, the distance between the water outlet 61 on the first stage swing arm and the hollow area on the cleaning disc 21 increases significantly, and the liquid spray range is difficult to cover. Therefore, this application proposes a cleaning device 100.

[0139] In some embodiments, the water outlet 61 is provided on the last-stage swing arm, or near the rotating shaft connecting the first-stage swing arm and the last-stage swing arm; the distance between the water outlet 61 and the rotation center of the cleaning disk 21 is a predetermined value, and the predetermined value enables the water outlet 61 to communicate with the hollow area for water replenishment at any position on the swing trajectory of the cleaning assembly 20 swinging between the retracted position and the outward swing position.

[0140] In some embodiments, the number of water outlets 61 is two, one of which is provided on the first-stage swing arm and the other is provided on the last-stage swing arm. The liquid replenishment axes of the two water outlets 61 both have a certain inclination angle with the rotation center axis of the cleaning assembly 20, such as 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, and 60°, etc. The angles between the liquid replenishment axes of the two water outlets 61 and the rotation center axis of the cleaning assembly 20 can be the same or different. Different control logics can be adopted for the liquid supply of the water outlet 61 in different embodiments. For example, when the cleaning assembly 20 is in the retracted position, the water outlet 61 provided on the first-stage swing arm can be controlled to spray liquid for the cleaning assembly 20; when the cleaning assembly 20 is in the outward swing position, the water outlet 61 provided on the last-stage swing arm and the water outlet 61 provided on the first-stage swing arm are controlled to jointly spray liquid for the cleaning assembly 20.

[0141] In some embodiments, the hollow area includes an inner ring structure, an outer ring structure, and a transition section connecting the inner ring structure and the outer ring structure. The radius of the inner ring structure is R1, the radius of the outer ring structure is R2, and the distance between the rotation center axis of the cleaning disk 21 and the water outlet 61 is h, where R1 ≤ h ≤ R2. For example, the inner ring structure and the outer ring structure are used to illustrate the edges of the hollow area. The inner ring structure and the outer ring structure can be partial annular structures, which can be standard annular structures or structures roughly in an arc shape.

[0142] When the distance between the rotation center axis of the cleaning disk 21 and the water outlet 61 is h, where R1 ≤ h ≤ R2, this can ensure that at least one water outlet 61 can maintain a stable position with the hollow area when the cleaning disk 21 is in the retracted position and the outward swing position, etc., ensuring that this water outlet 61 can supply liquid to the hollow area when the cleaning disk 21 is in any position and avoiding liquid supply dead angles. Among them, h is greater than or equal to R1, and at the same time, h is less than or equal to R2. That is, in different embodiments, h can also satisfy R1 < h ≤ R2, or R1 ≤ h < R2, or R1 < h < R2.

[0143] In some embodiments, a circular water outlet 61 is provided at the bottom of the upper swing arm adjacent to the last-stage swing arm. The spraying axis of the water outlet 61 is perpendicular to the plane where the cleaning disk 21 is located, and h satisfies: R1 < h < R2. When the swing arm assembly 3 is folded so that the cleaning assembly 20 is in the retracted position, at least a partial area of the vertical projection of the water outlet 61 on the cleaning disk 21 overlaps with the hollow area. When the swing arm assembly 3 is unfolded to drive the cleaning assembly 20 to move to the outer swing position, at least a partial area of the vertical projection of the water outlet 61 on the cleaning disk 21 overlaps with the hollow area, so as to ensure that the water outlet 61 can effectively supply liquid to the hollow area.

[0144] For the cleaning device 100 according to an embodiment of the present application, the distance between the water outlet 61 and the rotation center of the cleaning disk 21 is a predetermined value, and the predetermined value enables the water outlet 61 to communicate with the hollow area for water replenishment at any position on the swing track of the cleaning assembly 20.

[0145] The distance between the water outlet 61 and the rotation center of the cleaning disk 21 is a predetermined value. When the water outlet 61 is provided on the upper swing arm connected to the last-stage swing arm, if the multi-stage swing arm only includes the first-stage swing arm and the last-stage swing arm, the water outlet 61 is provided on the first-stage swing arm. If the multi-stage swing arm includes an intermediate swing arm, the intermediate swing arm is in the upper-stage transmission position of the last-stage swing arm, and its movement amplitude following the first-stage swing arm forms a linkage relationship with the movement amplitude of the last-stage swing arm driving the cleaning disk 21: when swinging outwards, the intermediate swing arm expands following the first-stage swing arm, the water outlet 61 moves outwards following the intermediate swing arm, and at the same time the last-stage swing arm pushes the cleaning disk 21 to extend outwards. The movement trajectories of both make the distance between the water outlet 61 and the rotation center of the cleaning disk 21 a predetermined value; when retracting, the intermediate swing arm folds following the first-stage swing arm, the water outlet 61 retracts following the intermediate swing arm, the cleaning disk 21 retracts synchronously, and the distance between the water outlet 61 and the rotation center of the cleaning disk 21 is a predetermined value.

[0146] For the cleaning device 100 according to an embodiment of the present application, the distance between the water outlet 61 and the rotation center of the cleaning disk 21 is a predetermined value, so that whether the cleaning assembly 20 is in the outer swing position or in the retracted position, there is always enough space for at least a partial area of the vertical projection of the water outlet 61 on the cleaning disk 21 to overlap with the hollow area, ensuring that the water outlet 61 can always supply liquid to a part of the cleaning member exposed in the hollow area.

[0147] In this embodiment, the hollow area can be configured in various ways. For example, in some embodiments, the hollow area is centered on the central axis of the cleaning disc 21 and includes multiple evenly distributed fan-shaped sub-areas, with the fan-shaped sub-areas separated by solid frames. When the cleaning disc 21 rotates, the multiple fan-shaped sub-areas take turns entering the spray range of the water outlet 61. In some embodiments, the hollow area includes multiple concentric fan-shaped sub-areas centered on the central axis of the cleaning disc 21, with the radius of the outer edge of each concentric fan-shaped sub-area gradually increasing, and solid intervals between the fan-shaped sub-areas of the same concentric circle. In some embodiments, the hollow area is a continuous annular hollow groove with no solid intervals within it. When the cleaning disc 21 rotates, at least a portion of the annular hollow groove is always within the spray range of the water outlet 61.

[0148] In this embodiment, the cleaning disc 21 is perpendicular to the rotation center axis of the cleaning disc 21, and the cleaning disc 21 is perpendicular to the rotation center axis of the final stage swing arm.

[0149] In this embodiment, the replenishment axis of the outlet 61 can be perpendicular to the cleaning disc 21 or inclined to the cleaning disc 21. For example, the inclination angle between the replenishment axis of the outlet 61 and the rotation center axis of the final stage swing arm is 15°, 16°, 17°, 18°, 19°, 20°, 21°, 30°, 31°, 32°, 33°, 34°, 35°, 36°, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44° and 45°, etc.

[0150] In this embodiment, the water outlet 61 can be set on the lower end face, side wall face or upper top face of the first stage swing arm. When the water outlet 61 is set on the upper top face of the first stage swing arm, the liquid replenishment axis of the water outlet 61 needs to be inclined with the rotation center axis of the last stage swing arm to ensure that the water outlet 61 can spray liquid towards the cleaning disc 21 in the downward direction.

[0151] In some configuration scenarios of this embodiment, the hollow area includes multiple fan-shaped sub-areas arranged around the rotation center axis of the cleaning disc 21. The multi-stage swing arm only includes the first-stage swing arm and the last-stage swing arm. The water outlet 61 is arranged on the lower end face of the first-stage swing arm. There are multiple water outlets 61, which are arranged at intervals. The spray axis of some water outlets 61 is perpendicular to the cleaning disc 21, and the spray axis of some water outlets 61 has an angle with the rotation center axis of the cleaning disc 21. When the cleaning disc 21 is at different positions on the moving trajectory, the water outlet 61 at the corresponding position can be opened.

[0152] In some embodiments, the number of water outlets 61 is one and it is located on the final stage swing arm. The replenishment axis of the water outlet 61 is perpendicular to the cleaning disc 21.

[0153] In some embodiments, the number of water outlets 61 is one, and it is located near the pivot on the first-stage swing arm that connects to the last-stage swing arm. The water outlet 61 is located on the lower end face of the first-stage swing arm. The replenishment axis of the water outlet 61 is perpendicular to the cleaning disc 21. The hollow area includes multiple fan-shaped sub-areas arranged around the rotational central axis of the cleaning disc 21.

[0154] In some embodiments, the cleaning component 20 also has an edge position, which is located on the trajectory of the cleaning component 20 moving between the outward swing position and the inward retraction position. When the cleaning component 20 is in the outward swing position, the edge position, and the inward retraction position, the vertical projection of the water outlet 61 on the cleaning disc 21 falls within the hollow area.

[0155] In some embodiments, when the cleaning component 20 is in the edge-side position, the portion of it located outside the periphery of the body 10 is larger than the portion of the cleaning component 20 located outside the periphery of the body 10 when it is in the retracted position. Conversely, when the cleaning component 20 is in the edge-side position, the portion of it located outside the periphery of the body 10 is the same as the portion of it located outside the periphery of the body 10 when it is in the outward-swinging position; that is, when the cleaning component 20 is in the edge-side position, it is completely exposed outside the body 10. Alternatively, when the cleaning component 20 is in the edge-side position, the portion of it located outside the periphery of the body 10 is smaller than the same portion of it located outside the periphery of the body 10 when it is in the outward-swinging position; that is, when the cleaning component 20 is in the edge-side position, it is not completely exposed outside the body 10.

[0156] According to the cleaning device 100 of this application embodiment, when the cleaning component 20 is in the edge position, it is convenient to clean the edges of furniture, baseboards and other areas that are prone to dust accumulation. Regardless of whether the cleaning component 20 is in the outward position, the edge position or the inward position, the vertical projection of the water outlet 61 on the cleaning tray 21 falls into the hollow area. The liquid can directly wet the cleaning component through the hollow area, avoiding spraying onto the solid structure of the cleaning tray 21 and avoiding waste.

[0157] The cleaning component 20 can be precisely switched between preset inward position, edge position, and outward position by the drive of the swing arm component 3. When the cleaning device 100 is in the edge cleaning scenario, the cleaning component 20 moves to the edge position and gets close to the edge of the surface to be cleaned to achieve fine edge cleaning. When facing low areas, suspended concave areas, toilet edges, and other scenarios that are difficult for the robot body to directly approach, the cleaning component 20 moves and stays in the outward position, so that it can clean the position that is far away from the robot body 10.

[0158] If the cleaning component 20 remains in the outward or edge-mounted position, it is easily interfered with or disturbed by obstacles in the environment. Typically, the cleaning component 20 only moves to the edge or outward position when cleaning in edge-mounted or low-lying areas to reduce issues such as the cloth scraping and falling off, the arm assembly 3 getting stuck, or lifespan loss. In non-edge-mounted cleaning or other scenarios, the cleaning component 20 tends to remain in the inward-mounted position. These other scenarios may include, but are not limited to, the cleaning device 100 needing to return to the base station, the base station charging the cleaning device 100, collecting dust from the dustbin into the base station's dust chamber, cleaning cleaning components, disassembling and / or assembling cleaning components, and adding water to the water replenishment mechanism within the cleaning device 100.

[0159] In some embodiments, the rotation center axis of the final stage swing arm passes through at least one outlet 61.

[0160] In other words, the rotation center axis of the final stage swing arm can always pass through a single outlet 61, or the rotation center axis of the final stage swing arm can be in different outlets 61 when the cleaning component 20 is in the retracted position, the edge position, and the outward swing position. This ensures that there is always an outlet 61 that can supply liquid to the cleaning component.

[0161] Some water outlets 61 are located at the bottom of the upper-level swing arm adjacent to the final-stage swing arm. The rotation center axis of the final-stage swing arm passes through at least one water outlet 61 on the swing arm. In the height direction, the swing arm is located above the cleaning disc 21, and the water outlets 61 are also located above the cleaning disc 21. In this way, during the rotation of the final-stage swing arm, the position of the water outlets 61 relative to the hollow area remains stable. Regardless of whether the cleaning component 20 is in the retracted position, the edge position, or the outward swing position, the liquid can be accurately sprayed onto the hollow area, effectively improving the stability and accuracy of water replenishment, while making the structural layout more compact. It is understandable that by setting the water outlets 61 at the bottom of the swing arm, they can be closer to the hollow area of ​​the cleaning disc 21, resulting in lower liquid replenishment pressure. Furthermore, since the bottom of the swing arm is close to the ground, the water outlets 61 are less likely to be blocked by dust or obstacles.

[0162] Specifically, when the cleaning component 20 is in the outward swing position, the edge position, and the inward retraction position, the vertical projection of the water outlet 61 on the cleaning tray 21 falls within the hollow area. Since the vertical projection of the water outlet 61 always overlaps with the hollow area of ​​the cleaning tray 21, liquid can directly act on the exposed portion of the cleaning component 22 through the hollow area. When swinging outward, within the expanded range of motion of the cleaning tray 21, the water outlet 61 can still ensure that liquid continuously acts on the effective area of ​​the cleaning component 22 through linkage with the swing arm component 3, improving the uniformity of wetting of the cleaning component 22. When retracted, liquid directly wets the cleaning component 22 through the hollow area, ensuring the wettability during regular cleaning. The cleaning component 22 can be a flexible cloth or a hard wiping device.

[0163] For example, as the cleaning disc 21 changes position with the swing arm assembly 3, the vertical projection of the outlet 61 on the cleaning disc 21 will change. No matter where the cleaning disc 21 is in the movement trajectory, it always has an overlap area of ​​at least 10% to 40% with the hollow area.

[0164] In some embodiments, the body 10 is further provided with a water supply box (not shown in the figure), and a limiting part is provided on the outer wall of the swing arm where the water outlet 61 is located. A water supply pipe is snapped into the limiting part, and the water supply pipe connects the water outlet 61 and the water supply box.

[0165] The water supply box inside the body 10 is used to store water or cleaning solution. The limiting part snaps into the water supply pipe, making the installation and removal of the water supply pipe very convenient. During installation, simply press the water supply pipe into the limiting part, and pull out the limiting part for maintenance. At the same time, this can fix the water supply pipe. The water supply pipe naturally stretches within the limiting part, always maintaining a stable connection. The cleaning solution is continuously and evenly sprayed onto the cleaning tray 21, effectively completing the cleaning task. The water supply pipe does not fall off or leak during the entire process, greatly improving reliability.

[0166] In some embodiments, the cleaning device 100 further includes a liquid guiding line (not shown in the figure), at least a portion of which is located in the inner cavity of the primary swing arm. The inlet of the liquid guiding line is connected to the water supply box, and the outlet of the liquid guiding line is connected to the water supply pipe through a rotary sealing joint, which is disposed in the inner cavity of the swing arm having an outlet 61.

[0167] At least part of the liquid guiding pipe is located in the inner cavity of the first-stage swing arm. While connecting the water supply box and the water supply pipe, it can be hidden in the inner cavity of the first-stage swing arm. The closed environment of the inner cavity can reduce the corrosion of the liquid guiding pipe by dust and water stains and delay the aging of the liquid guiding pipe. When the swing arm assembly 3 swings back and forth to clean the ground, the rotary joint can dissipate the torque generated by the rotation of the swing arm assembly 3 and prevent the water supply pipe and the liquid guiding pipe from twisting.

[0168] Please see Figure 10This application provides a cleaning system 200, which includes a base station 201 and a cleaning device 100 as described above. The base station 201 is used to supply power to the cleaning device 100 and / or to clean the cleaning device 100.

[0169] Specifically, the base station 201 can charge the cleaning equipment 100, collect dust from the dust box into the dust chamber of the base station 201, clean the cleaning component 22, disassemble and / or assemble the cleaning component 22, and fill the water tank of the water replenishment mechanism in the cleaning equipment 100 with water.

[0170] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0171] The functions and effects of this embodiment can be explained by referring to the foregoing implementation methods, and will not be repeated here.

[0172] It is understood that in the various embodiments of this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this specification.

[0173] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and the embodiments in this specification are not limited in this respect.

[0174] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the aforementioned method implementations, and will not be repeated here.

[0175] The above are merely specific embodiments of this specification, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this specification should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cleaning device, characterized in that, include: Organism; A cleaning component having an inwardly retracted position and an outwardly swinging position relative to the body; A drive assembly includes a first drive member and a swing arm assembly. The swing arm assembly is movably connected to the body. The cleaning assembly is connected to the end of the swing arm assembly. The first drive member drives the swing arm assembly to move the cleaning assembly between an inward position and an outward position. The swing arm assembly moves the cleaning assembly between the inward position and the outward position. The swing arm assembly includes a first swing arm and a second swing arm that are sequentially connected. The first drive member drives the first swing arm to move relative to the body. The first swing arm and the second swing arm are rotatable relative to each other.

2. The cleaning equipment according to claim 1, characterized in that, When the first driving member drives the cleaning component to the retracted position, the bending angle of the second swing arm relative to the first swing arm is α; when the first driving member drives the cleaning component to the outward swing position, the bending angle of the second swing arm relative to the first swing arm is β, where β is greater than α.

3. The cleaning equipment according to claim 2, characterized in that, When the first drive unit drives the cleaning component to the edge position, the bending angle of the second swing arm relative to the first swing arm is γ, where γ is less than α.

4. The cleaning equipment according to claim 1, characterized in that, The cleaning component has an inward position, an edge position, and an outward swing position relative to the body. When the cleaning component is in the outward swing position, the swing distance relative to the body is greater than the swing distance when the cleaning component is in the edge position.

5. The cleaning equipment according to claim 4, characterized in that, The second swing arm includes a first guide wheel, and the body includes a sliding guide portion. The first guide wheel is rotatably disposed on the sliding guide portion. When the cleaning component moves from the inward position to the edge position, the sliding guide portion can guide the movement trajectory of the second swing arm through the first guide wheel. The cleaning device includes a second guide wheel rotatably disposed on the body. When the cleaning component moves from the edge position to the outward swing position, the side of the second swing arm away from the first drive member can roll along the second guide wheel to guide the movement trajectory of the second swing arm.

6. The cleaning equipment according to claim 5, characterized in that, The cleaning device includes a positioning sensor, which is electrically connected to the drive assembly. The positioning sensor is used to sense when the cleaning assembly moves to the inward position, the edge position, or the outward position and then feeds back to the drive assembly to stop driving the swing arm assembly.

7. The cleaning equipment according to claim 5, characterized in that, The sliding guide is in the shape of an arc or an involute arc.

8. The cleaning equipment according to claim 4, characterized in that, The drive assembly includes an elastic element, which is disposed on the first swing arm and elastically abuts against the second swing arm; When the cleaning component moves from the retracted position to the edge position, the first swing arm and the second swing arm compress the elastic element and store elastic potential energy; when the cleaning component moves from the edge position to the outward swing position, the elastic element releases elastic potential energy to drive the second swing arm to rotate relative to the first swing arm.

9. The cleaning equipment according to claim 8, characterized in that, The elastic element is a torsion spring, a rubber strip, or a spring sheet.

10. The cleaning equipment according to claim 1, characterized in that, The cleaning assembly includes a cleaning disc and a cleaning component disposed on the cleaning disc, the cleaning disc being rotatably disposed at the end of the second swing arm away from the first swing arm.

11. The cleaning equipment according to claim 1, characterized in that, The side wall of the body includes an opening through which the swing arm assembly moves to an outward swing position; when the cleaning assembly is in the outward swing position, at least the end of the second swing arm of the swing arm assembly extends beyond the side wall of the body.

12. The cleaning equipment according to claim 11, characterized in that, The body includes a main housing and a door assembly. The main housing forms a receiving space for accommodating the drive assembly. The receiving space communicates with the external environment through the opening. The door assembly is movably disposed on the main housing to close the opening when the cleaning assembly is in the retracted position and to open the opening when the cleaning assembly moves toward the outward swing position.

13. The cleaning equipment according to claim 4, characterized in that, The cleaning device includes a water replenishment structure for replenishing water to the cleaning components. The water replenishment structure includes at least one water outlet, which is disposed on the swing arm assembly and moves with the swing arm assembly.

14. The cleaning equipment according to claim 13, characterized in that, The cleaning assembly includes a cleaning disc with a hollowed-out area. The cleaning disc is used to install cleaning components. When the cleaning disc is in the retracted position or the outward swing position, at least a portion of the water outlets' vertical projections on the cleaning disc always overlap with the hollowed-out area. The water outlets are located on the final stage swing arm, or the water outlets are located on the first stage swing arm near the pivot shaft connected to the final stage swing arm.

15. The cleaning equipment according to claim 14, characterized in that, When the cleaning component is in the outward swing position, the edge position, and the inward retraction position, the vertical projection of the water outlet on the cleaning disc falls within the hollow area.

16. A cleaning system, characterized in that, Includes a base station and the cleaning device according to any one of claims 1-15, wherein the base station is used to supply power to the cleaning device and / or to clean the cleaning device.

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