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 movably connected to the body, the cleaning component having an inward retracted position and an outward swing position, the cleaning component being suitable for wet cleaning of the surface to be cleaned; a swing arm assembly rotatably connected to the body, the cleaning component being connected to the output end of the swing arm assembly, so as to drive the cleaning component to move between the inward retracted position and the outward swing position via the swing arm assembly; and a water replenishment mechanism for supplying liquid to the cleaning component, the water replenishment mechanism including at least one water outlet disposed on the swing arm assembly. According to the cleaning device of this application, the rotation of the swing arm assembly can drive the cleaning component to switch between the inward retracted position and the outward swing position, thereby expanding the cleaning range of the cleaning component. The water outlet of the water replenishment mechanism is disposed on the swing arm assembly and can adjust its position synchronously with the movement of the swing arm assembly, ensuring that the water outlet can supply liquid when the cleaning component is in any position.

Description

Technical Field

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

[0002] Cleaning equipment such as robotic vacuum cleaners and mops are gradually becoming important tools for household cleaning. In household cleaning scenarios, the low gaps under furniture such as sofas and cabinets are often difficult to clean. Due to their low height, the main unit of traditional cleaning equipment is difficult to access directly, leading to the long-term accumulation of dust and debris in these areas, affecting the cleanliness of the home environment and seriously reducing the user experience.

[0003] Some cleaning devices use movable cleaning components to clean areas that the main unit cannot directly access. However, the limited range of movement restricts the cleaning effect and makes it difficult to adapt to more cleaning scenarios.

[0004] Therefore, there is an urgent need for a new type of cleaning equipment. Utility Model Content

[0005] In view of this, the present invention aims to provide a cleaning device and cleaning system to solve the problem of limited external swing range of cleaning components in the prior art.

[0006] In a first aspect, this application provides a cleaning device, comprising:

[0007] Organism;

[0008] The cleaning component is movably connected to the main body. The cleaning component has an inward position and an outward position. The cleaning component is suitable for wet cleaning of the surface to be cleaned.

[0009] The swing arm assembly is rotatably connected to the machine body, and the cleaning component is connected to the output end of the swing arm assembly so that the cleaning component can be driven to move between the inward position and the outward position through the swing arm assembly.

[0010] A water supply mechanism is used to supply liquid to the cleaning components. The water supply mechanism includes at least one water outlet, which is disposed on the swing arm assembly and swings with the swing arm assembly.

[0011] According to the cleaning device of this application, the cleaning component includes a cleaning disc with a hollow area. The cleaning disc is used to install cleaning parts. When the cleaning disc is in an inward or outward position, at least a portion of the water outlets always overlap with the hollow area in the vertical projection of the cleaning disc.

[0012] Optionally, the body has a mounting cavity, and when the cleaning component is in the outward swing position, at least the end of the swing arm component extends out of the mounting cavity. The cleaning component also has an edge position, which is located on the trajectory of the cleaning component moving between the outward swing position and the inward retraction position. 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.

[0013] Optionally, 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 disc and the water outlet is h, where R1≤h≤R2.

[0014] Optionally, the swing arm assembly includes a multi-stage swing arm connected in sequence. The multi-stage swing arm includes a first-stage swing arm and a last-stage swing arm. The first-stage swing arm is connected to the machine body, and the output end of the last-stage swing arm is connected to the cleaning component. The included angle between the first-stage swing arm and the last-stage swing arm is different when the cleaning component is in the outward swing position and the inward retraction position.

[0015] Optionally, the distance between the water outlet and the rotation center of the cleaning disc is a predetermined value, which allows the cleaning component to be connected to the hollow area for water replenishment at any position on the swing trajectory.

[0016] Optionally, a water outlet is provided on the swing arm assembly, which is located on the last stage swing arm or near the pivot on the first stage swing arm that connects to the last stage swing arm.

[0017] Optionally, the machine body is also equipped with a water supply box, and a limiting part is provided on the outer wall of the swing arm where the water outlet is located. A water supply pipe is snapped into the limiting part, and the water supply pipe connects the water outlet and the water supply box.

[0018] Optionally, the cleaning equipment also includes a liquid guiding pipeline, at least a portion of which is located within the inner cavity of the primary swing arm. The inlet of the liquid guiding pipeline is connected to the water supply box, and the outlet of the liquid guiding pipeline is connected to the water supply pipe via a rotary sealing joint, which is located within the inner cavity of the swing arm having a water outlet.

[0019] Optionally, the first-stage swing arm and the last-stage swing arm are directly driven together and a torsion spring is provided between them. When the cleaning assembly moves to the outward swing position, the torsion spring opens the included angle between the first-stage swing arm and the last-stage swing arm to its maximum.

[0020] Optionally, the cleaning component also has an edge position, a first guide is provided on the final stage swing arm, and a second guide and a second track are provided on the body. During the process of the cleaning component moving from the inward position to the edge position, the final stage swing arm presses against the first guide in the second track. During the process of the cleaning component moving from the edge position to the outward swing position, the final stage swing arm presses against the second guide.

[0021] Optionally, the cleaning equipment also includes: a drive assembly, which is connected to the swing arm assembly to drive the swing arm assembly to move; a position sensor is also provided on the body, which is electrically connected to the drive assembly; the position sensor is used to sense when the cleaning assembly moves to the inward position, the edge position, or the outward position and feeds back to the drive assembly to stop driving the swing arm assembly.

[0022] Secondly, this application proposes a cleaning system, including the aforementioned cleaning equipment, and also including a base station or charging dock adapted to the cleaning equipment.

[0023] The technical solutions provided in this application have the following advantages compared with the prior art:

[0024] The cleaning equipment provided in this application has a swing arm assembly rotatably connected to the machine body. Its output end is connected to the cleaning component. The rotation of the swing arm assembly can drive the cleaning component to switch between an inward position and an outward position, thereby expanding the swing range of the cleaning component. When the cleaning component is in the inward position, it can adapt to narrow spaces or facilitate the movement of the cleaning equipment. When it swings outward, it can expand the cleaning range and adapt to cleaning low areas that the machine body cannot reach. The water outlet of the water supply mechanism is set on the swing arm assembly and can adjust its position synchronously with the movement of the swing arm assembly. When the swing arm assembly drives the cleaning component to the outward position, the water outlet moves outward synchronously, always maintaining a relatively fixed positional relationship with the cleaning component. This ensures that the water outlet can supply liquid to the cleaning component in every position, avoiding water supply blind spots caused by the increased outward swing distance of the cleaning component. This improves the cleaning ability and efficiency of the cleaning equipment in complex environments and avoids sanitary dead corners. Attached Figure Description

[0025] Figure 1 The image shown is a bottom view of a cleaning device according to an embodiment of this application, wherein the cleaning component is in an outward-facing position.

[0026] Figure 2 The image shown is a perspective view of a cleaning device according to an embodiment of this application, wherein the cleaning component is in a retracted position.

[0027] Figure 3 The image shown is a side view of a cleaning device according to an embodiment of this application, wherein the cleaning component is in a retracted position.

[0028] Figure 4 The image shown is a bottom view of a cleaning device according to an embodiment of this application, wherein the cleaning component is in a retracted position.

[0029] Figure 5 The image shown is a perspective view of a cleaning device according to an embodiment of this application, wherein the cleaning component is in an outward-facing position.

[0030] Figure 6The image shown is a top view of a cleaning device according to an embodiment of this application, wherein the cleaning component is in an outward-facing position.

[0031] Figure 7 The image shown is a top view of a cleaning device according to an embodiment of this application, wherein the cleaning component is located along the edge.

[0032] Figure 8 The image shown is a perspective view of a cleaning device according to an embodiment of this application, wherein the cleaning component is located along the edge.

[0033] Figure 9 As shown Figure 8 Enlarged view of point A in the middle.

[0034] Figure 10 The image shown is a perspective view of the primary swing arm of the cleaning device according to an embodiment of this application.

[0035] Figure 11 The image shown is a bottom view of the primary swing arm of the cleaning device according to an embodiment of this application.

[0036] Figure 12 As shown Figure 11 Cross-sectional view at EE.

[0037] Figure label:

[0038] The components include: body 10, second guide 11, second track 12, notch 13, sealing door 14, limiting part 15, slot cover 151, groove 152, cleaning motor 16, cleaning assembly 20, cleaning disc 21, hollow area 22, inner ring structure 221, outer ring structure 222, transition section 223, swing arm assembly 30, first-stage swing arm 31, last-stage swing arm 32, first guide 321, water outlet 41, torsion spring 60, hinge shaft 70, and drive assembly 80. Detailed Implementation

[0039] The technical solutions of the embodiments of this application 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. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0041] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0042] The cleaning equipment proposed in this application may be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc.

[0043] In the various embodiments described below, the cleaning device 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, a height direction is also introduced, which is parallel to the overall height direction of the cleaning device when it is used on the surface to be cleaned in this embodiment. With a roughly flat floor as a reference for the surface to be cleaned, the height direction is roughly perpendicular to the surface to be cleaned.

[0045] like Figure 1 , Figure 2 as well as Figure 5 As shown, the cleaning device according to an embodiment of this application includes a body 10, a cleaning component 20, a swing arm component 30, and a water replenishment mechanism.

[0046] Specifically, the cleaning component 20 is movably connected to the body 10, and the cleaning component 20 has an inward position and an outward position. The cleaning component 20 is suitable for wet cleaning of the surface to be cleaned. The swing arm assembly 30 is rotatably connected to the body 10, and the cleaning component 20 is connected to the output end of the swing arm assembly 30 so that the cleaning component 20 can be driven to move between the inward position and the outward position through the swing arm assembly 30. The water replenishment mechanism is used to supply liquid to the cleaning component 20. The water replenishment mechanism includes at least one water outlet 41, which is disposed on the swing arm assembly 30 and swings with the swing arm assembly 30.

[0047] The body 10 has a mounting cavity for installing other components. The shape of the body 10 is not limited, including but not limited to circular, elliptical, square, or other shapes. When the cleaning component 20 is in the retracted position, the swing arm component 30 can be completely housed in the mounting cavity, or the swing arm component 30 can be partially housed in the mounting cavity. When the cleaning component 20 is in the outward swing position, at least the end of the swing arm component 30 extends out of the mounting cavity. The traditional method of setting a water outlet at the bottom of the body 10 is limited, so a position that can dynamically replenish water and provide a stable water supply is required.

[0048] In detail, the swing arm assembly 30 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 30 can change the position of the cleaning component 20, so that the cleaning component 20 has an inward position and an outward position. In different cleaning scenarios, the cleaning component 20 can be in the inward position, the outward position, or any position between the inward position and the outward position. The position of the cleaning component 20 between the inward position and the outward position can be set as needed.

[0049] like Figure 5 and Figure 6 As shown, when the cleaning component 20 is in the outward swing position, the swing arm component 30 extends outward to cover a larger area in order to maximize the cleaning range. Figure 2 , Figure 3 and Figure 4 As shown, when the cleaning component 20 is in the retracted position, the swing arm component 30 retracts, which allows 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 the 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 the 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 30 can be manually pulled out to the outward swing position or retracted to the inward position.

[0052] When the body 10 is equipped with a power source for driving the swing arm assembly 30, the first-stage swing arm 31 is connected to the output end of the power source, and the swing arm assembly 30 is driven to move by the power source.

[0053] In this embodiment, the swing arm assembly 30 includes one or more sets. For example, in some embodiments, it includes two cleaning components 20. The swing arm assembly 30 includes two sets, each set of swing arm assemblies 30 corresponding to one cleaning component 20. The two sets of swing arm assemblies 30 respectively drive the corresponding cleaning components 20 to move in opposite directions when swinging outward or to move towards each other when retracting inward.

[0054] like Figure 4 As shown, when the cleaning equipment also includes a walking system, the width direction of the body 10 is perpendicular to the traveling direction of the body 10, and the length direction of the body 10 is parallel to the traveling direction of the body 10. Two sets of cleaning components 20 are respectively arranged on both sides of the width direction of the body 10. When the cleaning components 20 move from the inward position to the outward position under the drive of the swing arm assembly 30, their movement direction is perpendicular to or nearly perpendicular to the traveling direction of the body 10. Of course, the number of cleaning components 20 can be one, three, four, five or more, and the cleaning equipment can also include a cleaning module fixed on the body 10.

[0055] When the cleaning component 20 is in the retracted position, the arrangement of the cleaning component 20 and the walking system on the body 10 is preferably such that the walking system and the cleaning component 20 are staggered along the length of the body 10. This avoids interference between the installation of the swing arm component 30 and the walking system. During setup, the cleaning component 20 can be positioned behind the walking system to prevent the walking component from contaminating the cleaned ground after the cleaning component 20 has cleaned it. If the ground can dry quickly after being cleaned by the wet cleaning module, the cleaning component 20 can also be positioned in front of the walking component.

[0056] The water replenishment mechanism is used to supply liquid to the cleaning components 20. The water replenishment mechanism includes at least one water outlet 41, which is disposed on the swing arm assembly 30. The water replenishment mechanism includes one or more water outlets 41 disposed on the swing arm assembly 30. Of course, multiple cleaning components 20 can be disposed on the body 10. Here, the water outlet 41 refers to the water outlet 41 corresponding to the cleaning component 20 disposed on the swing arm assembly 30. For some cleaning components 20 directly disposed on the body 10, the water outlet 41 can be directly disposed on the body 10. In this embodiment, the water replenishment mechanism may also include a water supply box and a water supply pipe. The water supply pipe connects the water outlet 41 and the water supply box. The water supply box can be disposed on the body 10 or the swing arm assembly 30. Preferably, the water supply box is disposed on the body 10.

[0057] According to the cleaning equipment of this application embodiment, the water outlet 41 of the water replenishment mechanism is disposed on the swing arm assembly 30 and can be adjusted synchronously with the movement of the swing arm assembly 30. When the swing arm assembly 30 drives the cleaning component 20 to swing outward, the water outlet 41 moves outward synchronously, always maintaining a relatively fixed positional relationship with the cleaning component 20, ensuring that the water outlet 41 can supply liquid to the cleaning component 20 when the cleaning component 20 is in each position, avoiding the water supply blind zone caused by the increase of the outward swing distance of the cleaning component 20, thereby improving the cleaning ability and cleaning efficiency of the cleaning equipment in complex environments and avoiding sanitary dead corners.

[0058] like Figure 1 , Figure 4 , Figure 5 and Figure 7 As shown, in the cleaning device according to the embodiment of this application, the cleaning component 20 includes a cleaning disc 21, and a hollow area 22 is provided on the cleaning disc 21. The cleaning disc 21 is used to install cleaning components. When the cleaning disc 21 is in the retracted position or the outward swing position, at least part of the water outlet 41 has an overlapping area with the hollow area 22 on the vertical projection of the water outlet 41 on the cleaning disc 21.

[0059] Because the vertical projection of the water outlet 41 always overlaps with the hollow area 22 of the cleaning tray 21, the liquid can directly act on the part of the cleaning component exposed in the hollow area 22 through the hollow area 22. When swinging outward, within the expanded range of motion of the cleaning tray 21, the water outlet 41 can still ensure that the liquid continuously acts on the effective area of ​​the cleaning component through linkage with the swing arm assembly 30, improving the uniformity of wetting of the cleaning component; when retracting inward, the liquid directly wets the cleaning component through the hollow area 22, ensuring the wetness during regular cleaning. The cleaning component can be a flexible cloth or a hard wiping component.

[0060] For example, as the cleaning disc 21 changes position with the swing arm assembly 30, the vertical projection of the outlet 41 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 22.

[0061] Currently, traditional cleaning equipment typically uses a fixed connecting mechanism to connect the cleaning components and the main body. The swing range of the cleaning components is limited by the rotation radius of the connecting structure, making it difficult to adapt to deeper, lower sanitary areas. Extending the length of the connecting mechanism can expand the swing range of the cleaning components, but since the water outlet is located on the main body, the distance between the water outlet and the cleaning components increases with the rotation of the connecting structure. This can easily lead to blind spots or uneven liquid supply. For example, when the cleaning components swing out to their extreme position, the water outlet fixed to the main body may be too far away, causing the liquid spray pressure to decrease and the coverage area to shift, making it impossible to accurately supply liquid to the cleaning components. This results in waste of cleaning media such as water or detergent, and leaves cleaning dead areas. At the same time, extending the length of the connecting mechanism also increases the space occupied by the connecting structure and the cleaning components when the cleaning components are retracted, encroaching on the installation space of other components.

[0062] In view of this, embodiments of this application provide a cleaning device aimed at overcoming the aforementioned technical problems.

[0063] like Figure 1 , Figure 2 as well as Figure 5 As shown, in some embodiments, the swing arm assembly 30 includes a multi-stage swing arm connected in sequence. The multi-stage swing arm includes a first-stage swing arm 31 and a last-stage swing arm 32. The first-stage swing arm 31 is connected to the body 10, and the end of the last-stage swing arm 32 is connected to the cleaning assembly 20. The included angle between the first-stage swing arm 31 and the last-stage swing arm 32 is different when the cleaning assembly 20 is in the outward swing position and the inward retraction position.

[0064] The swing arm assembly 30 includes multiple swing arms connected in sequence. These multiple swing arms connect the cleaning component 20 and the body 10, enabling a movable connection between the cleaning component 20 and the body 10. This significantly increases the outward swing distance at the end of the final swing arm 32 without increasing the length of a single swing arm. The movement of the multiple swing arms can change the position of the cleaning component 20. The angle between the first-stage swing arm 31 and the final-stage swing arm 32 will be larger (compared to the angle between them when the cleaning component 20 is in the retracted position), and the included angle between the first-stage swing arm 31 and the final-stage swing arm 32 will be smaller. Of course, in other embodiments, due to different structural settings, the included angle between the first-stage swing arm 31 and the final-stage swing arm 32 when the cleaning component 20 is in the outward swing position is smaller than the included angle between the first-stage swing arm 31 and the final-stage swing arm 32 when the cleaning component 20 is in the retracted position.

[0065] In some embodiments, the first-stage swing arm 31 rotates around a fixed point. By controlling the swing amplitude of the first-stage swing arm 31, the swing amplitude of the last-stage swing arm 32 can be adjusted in conjunction. For example, if the first-stage swing arm 31 rotates by 20°, the last-stage swing arm 32 rotates by 50°. The number of swing arms can be set as needed. There may be at least one additional swing arm between the first-stage swing arm 31 and the last-stage swing arm 32. For example, in some embodiments, there is one additional swing arm between the first-stage swing arm 31 and the last-stage swing arm 32. In some embodiments, there are two additional swing arms between the first-stage swing arm 31 and the last-stage swing arm 32. This application does not impose any limitations. Of course, the first-stage swing arm 31 and the last-stage swing arm 32 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 30 can be controlled by controlling the rotation angle of the electric motor, thereby releasing or retrieving the cleaning assembly 20.

[0066] According to the cleaning device of the present application embodiment, the swing arm assembly 30 is a multi-stage transmission structure. The first-stage swing arm 31 is connected to the body 10, and the last-stage swing arm 32 is connected to the cleaning component 20. Through the swing of the multi-stage swing arms and the difference in the included angle between the first-stage swing arm 31 and the last-stage swing arm 32 when the cleaning component 20 is in the outward swing position and the inward retraction position, that is, when the swing arm assembly 30 drives the cleaning component 20 to move to the outward swing position, the angle between the first-stage swing arm 31 and the last-stage swing arm 32 increases, and when the swing arm assembly 30 drives the cleaning component 20 to move to the inward retraction position, the angle between the first-stage swing arm 31 and the last-stage swing arm 32 decreases, thereby expanding the swing range of the cleaning component 20.

[0067] like Figure 1 As shown, the cleaning assembly 20 includes a cleaning disc 21, which is used to install cleaning components. The cleaning components are installed at the bottom of the cleaning disc 21. A cleaning drive unit is provided on the final stage swing arm 32. The cleaning drive unit is used to drive the cleaning disc 21 to reciprocate or rotate. During the movement, the cleaning components generate friction with the ground to clean the ground. In actual use, the end of the final stage swing arm 32 is close to the cleaning disc 21. When the water outlet 41 is set on the final stage swing arm 32, the spray range of the water outlet 41 is easily blocked by the solid area of ​​the cleaning disc 21 and cannot spray into the hollow area 22. 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 41 of the final stage swing arm 32 changes accordingly, causing the liquid spray to deviate from the projection of the hollow area 22. When the swing arm assembly 30 includes an intermediate swing arm, if the water outlet 41 is set on the first-stage swing arm 31, when the cleaning assembly 20 is in the outward swing position, the distance between the water outlet 41 on the first-stage swing arm 31 and the hollow area 22 on the cleaning disc 21 increases significantly, making it difficult to cover the liquid spray range. Therefore, this application proposes a cleaning device.

[0068] like Figures 5-7As shown, in some embodiments, the number of the water outlets 41 is two, one of which is arranged on the primary swing arm 31 and the other is arranged on the final swing arm 32. The liquid replenishment axes of the two water outlets 41 both have a certain inclination angle with the rotation central axis of the cleaning assembly 20, such as 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55° and 60°, etc. The included angles between the liquid replenishment axes of the two water outlets 41 and the rotation central axis of the cleaning assembly 20 can be the same or different. In different embodiments, different control logics can be adopted for the liquid supply of the water outlet 41. For example, when the cleaning assembly 20 is in the retracted position, the water outlet 41 arranged on the primary swing arm 31 can be controlled to spray and supply liquid to the cleaning assembly 20; when the cleaning assembly 20 is in the swung-out position, the water outlet 41 arranged on the final swing arm 32 and the water outlet 41 arranged on the primary swing arm 31 are controlled to jointly spray and supply liquid to the cleaning assembly 20.

[0069] As Figure 1 As shown, in some embodiments, the hollow area 22 includes an inner ring structure 221, an outer ring structure 222 and a transition section 223 connecting the inner ring structure 221 and the outer ring structure 222. The radius of the inner ring structure 221 is R1, the radius of the outer ring structure 222 is R2, and the distance between the rotation central axis of the cleaning disk 21 and the water outlet 41 is h, where R1 ≤ h ≤ R2.

[0070] In the above embodiments, the inner ring structure 221 can be a partial ring structure for defining the edge on one side of the hollow area 22. The outer ring structure 222 can also be a partial ring structure for defining the edge on the other side of the hollow area 22.

[0071] When the distance between the rotation central axis of the cleaning disk 21 and the water outlet 41 is h, where R1 ≤ h ≤ R2, this can ensure that at least one water outlet 41 can maintain a stable position with the hollow area 22 when the cleaning disk 21 is in the retracted position and the swung-out position, etc., ensuring that the water outlet 41 can supply liquid to the hollow area 22 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.

[0072] In some embodiments, a circular water outlet 41 is provided at the bottom of the upper swing arm adjacent to the last-stage swing arm 32. The spraying axis of the water outlet 41 is perpendicular to the plane where the cleaning disc 21 is located. h satisfies: R1 < h < R2. When the swing arm assembly 30 is folded so that the cleaning assembly 20 is in the retracted position, at least a part of the vertical projection of the water outlet 41 on the cleaning disc 21 overlaps with the hollow area 22. When the swing arm assembly 30 is unfolded to drive the cleaning assembly 20 to move to the outer swing position, at least a part of the vertical projection of the water outlet 41 on the cleaning disc 21 overlaps with the hollow area 22, thereby ensuring that the water outlet 41 can effectively supply liquid to the hollow area 22.

[0073] As Figure 1 , Figure 4 , Figure 5 and Figure 7 shown, for the cleaning device according to the embodiment of the present application, the distance between the water outlet 41 and the rotation center of the cleaning disc 21 is a predetermined value, and the predetermined value enables the water outlet 41 to communicate with the hollow area for water replenishment at any position on the swing track of the cleaning assembly 20.

[0074] The distance between the water outlet 41 and the rotation center of the cleaning disc 21 is a predetermined value. When the water outlet 41 is provided on the upper swing arm connected to the last-stage swing arm 32, if the multi-stage swing arm only includes the first-stage swing arm 31 and the last-stage swing arm 32, the water outlet 41 is provided on the first-stage swing arm 31. 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 32, and its movement amplitude following the first-stage swing arm 31 forms a linkage relationship with the movement amplitude of the last-stage swing arm 32 driving the cleaning disc 21: when swinging outwards, the intermediate swing arm expands following the first-stage swing arm 31, the water outlet 41 moves outwards following the intermediate swing arm, and at the same time the last-stage swing arm 32 pushes the cleaning disc 21 to extend outwards. The movement trajectories of both make the distance between the water outlet 41 and the rotation center of the cleaning disc 21 a predetermined value; when retracting, the intermediate swing arm folds following the first-stage swing arm 31, the water outlet 41 retracts following the intermediate swing arm, and the cleaning disc 21 retracts synchronously. The distance between the water outlet 41 and the rotation center of the cleaning disc 21 is a predetermined value.

[0075] For the cleaning device according to the embodiment of the present application, the distance between the water outlet 41 and the rotation center of the cleaning disc 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 part of the vertical projection of the water outlet 41 on the cleaning disc 21 to overlap with the hollow area 22, ensuring that the water outlet 41 can always supply liquid to the part of the cleaning member exposed in the hollow area 22.

[0076] In this embodiment, the hollow area 22 can be configured in various ways. For example, in some embodiments, the hollow area 22 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 spaced apart 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 41. In some embodiments, the hollow area 22 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 22 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 41.

[0077] 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 32.

[0078] In this embodiment, the replenishment axis of the outlet 41 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 41 and the rotation center axis of the final stage swing arm 32 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.

[0079] In this embodiment, the water outlet 41 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 41 is set on the upper top face of the first stage swing arm, the liquid replenishment axis of the water outlet 41 needs to be inclined to the rotation center axis of the last stage swing arm 32 to ensure that the water outlet 41 can spray liquid towards the cleaning disc 21 in the downward direction.

[0080] In some configuration scenarios of this embodiment, the hollow area 22 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 31 and the last-stage swing arm 32. The water outlet 41 is arranged on the lower end surface of the first-stage swing arm 31. There are multiple water outlets 41, which are arranged at intervals. The spray axis of some water outlets 41 is perpendicular to the cleaning disc 21, and the spray axis of some water outlets 41 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 41 at the corresponding position can be opened.

[0081] In some embodiments, a water outlet 41 is provided on the swing arm assembly 30, and the water outlet 41 is disposed on the final stage swing arm 32. The replenishment axis of the water outlet 41 is perpendicular to the cleaning disc 21.

[0082] like Figure 1, Figure 8 and Figure 9 As shown, in some embodiments, a water outlet 41 is provided on the swing arm assembly 30, and the water outlet 41 is located near the pivot on the first-stage swing arm 31 that connects to the last-stage swing arm 32. The water outlet 41 is located on the lower end face of the first-stage swing arm 31. The replenishment axis of the water outlet 41 is perpendicular to the cleaning disc 21. The hollow area 22 includes multiple fan-shaped sub-areas arranged around the rotational central axis of the cleaning disc 21.

[0083] like Figures 7-9 As shown, 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 41 on the cleaning plate 21 falls within the hollow area 22.

[0084] When the cleaning component 20 is in the outward swing position, the angle between the first-stage swing arm 31 and the last-stage swing arm 32 is β. When the cleaning component 20 is in the inward retraction position, the angle between the first-stage swing arm 31 and the last-stage swing arm 32 is α. When the cleaning component 20 is in the edge position, the angle between the first-stage swing arm 31 and the last-stage swing arm 32 is γ, where α < γ < β.

[0085] 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.

[0086] According to the cleaning device 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 41 on the cleaning tray 21 falls into the hollow area 22. The liquid can directly wet the cleaning component through the hollow area 22, avoiding spraying onto the solid structure of the cleaning tray 21 and avoiding waste.

[0087] In this embodiment, the cleaning equipment may further include a sensing system, which includes an LDS located on top of the body, a buffer and vision sensor located at the front of the body 10, an edge sensor located on the front side wall of the body 10, and an ultrasonic sensor located at the bottom of the body 10. The LDS, buffer, and edge sensor can all measure distances to obtain the distance between the edge of the body 10 and obstacles. The control system controls the cleaning equipment to perform corresponding actions based on this distance. For example, controlling the cleaning component 20 to move from an outward swing position to an inward retraction position to avoid obstacles, controlling the cleaning component 20 to move from an inward retraction position to an edge-side position to clean, controlling the cleaning component 20 to move from an edge-side position to an inward retraction position to avoid obstacles, controlling the cleaning component 20 to move from an outward swing position to an edge-side position to avoid obstacles, etc. The vision sensor is used to identify images of the environment in which the cleaning equipment is located to obtain information about obstacles. The control system controls the cleaning equipment to perform actions based on this information, such as controlling the cleaning component 20 to move to an outward swing position to clean, controlling the cleaning component 20 to move to an edge-side position to clean, or controlling the cleaning component 20 to move to, etc.

[0088] For example, when the cleaning equipment is performing a cleaning task, the sensors of the sensing system detect the first distance between the body 10 and the edge of the obstacle in real time. If the first distance is less than or equal to a first preset threshold, edge cleaning of the obstacle is required. The cleaning component 20 needs to be moved outward from the retracted position to the edge-side position to clean the edge of the obstacle. Since the cleaning component 20 can extend a greater distance beyond the body 10 in the edge-side position compared to the retracted position, it can get closer to the edge of the obstacle and perform edge cleaning, thereby reducing or avoiding missed areas in edge cleaning. During edge cleaning, when the first distance detected by the sensor is greater than the first preset threshold, the cleaning component 20 is moved from the outward position to the retracted position. If the sensors of the sensing system detect a maximum and a minimum distance between the body 10 and the edge of the obstacle in real time, when the minimum distance is less than or equal to the first preset threshold and the maximum distance is greater than the first preset threshold, the cleaning component 20 is moved from the retracted position to the outward position.

[0089] 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 30. When the cleaning device 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.

[0090] 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-mounted or outward-mounted position when cleaning in edge-mounted or low-lying areas. This reduces issues such as the cloth scraping and falling off in the outward-mounted state, and the swing arm component 30 easily getting caught or experiencing 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 equipment needing to return to the base station, the base station charging the cleaning equipment, 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 equipment.

[0091] like Figure 1 , Figure 8 and Figure 9 As shown, in some embodiments, the rotation center axis of the final stage swing arm 32 passes through at least one outlet 41.

[0092] In other words, the rotation center axis of the final stage swing arm 32 can always pass through a single outlet 41, or the rotation center axis of the final stage swing arm 32 can be in different outlets 41 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 41 that can supply liquid to the cleaning component.

[0093] Some water outlets 41 are located at the bottom of the upper-level swing arm adjacent to the final-stage swing arm 32. The rotation center axis of the final-stage swing arm 32 passes through at least one water outlet 41 on the swing arm. In the height direction, the swing arm is located above the cleaning disc 21, and the water outlets 41 are also located above the cleaning disc 21. In this way, during the rotation of the final-stage swing arm 32, the position of the water outlets 41 and the hollow area 22 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 22, effectively improving the stability and accuracy of water replenishment, while making the structural layout more compact. It can be understood that the water outlets 41 are located at the bottom of the swing arm, which allows them to be closer to the hollow area 22 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 41 are less likely to be blocked by dust or obstacles.

[0094] In practical applications, when an elastic element, such as a torsion spring 60, is provided between the final swing arm 32 and the previous swing arm, the final swing arm 32 drives the cleaning disc 21 to swing to expand the cleaning range when it penetrates into the narrow space under the sofa. Even if the final swing arm 32 is passively and frequently rotated to change the angle between itself and the previous swing arm when it encounters an obstacle, the water outlet 41 can still stably spray the cleaning liquid onto the cleaning cloth corresponding to the hollow area 22 of the cleaning disc 21, ensuring that the cleaning cloth always stays moist and effectively removes dust and stains from the bottom of the sofa. When cleaning the edge of the wall, the swing of the final swing arm 32 makes the cleaning disc 21 fit against the wall, and the water outlet 41 can also supply water accurately, avoiding liquid splashing onto the wall and causing pollution.

[0095] like Figure 11 and Figure 12 As shown, in some embodiments, the body 10 is also provided with a water supply box, and a limiting part 15 is provided on the outer wall of the swing arm where the water outlet 41 is located. A water supply pipe is snapped into the limiting part 15, and the water supply pipe connects the water outlet 41 and the water supply box.

[0096] The water supply box inside the body 10 is used to store water or cleaning solution. The limiting part 15 is used to lock the water supply pipe. The locking part 15 and the water supply pipe are locked together, which makes the installation and removal of the water supply pipe very convenient. During installation, the water supply pipe only needs to be pressed into the limiting part 15. During maintenance, the limiting part 15 can be pulled out. At the same time, this can fix the water supply pipe. The water supply pipe naturally stretches within the limiting part 15, 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 whole process, greatly improving reliability.

[0097] In some embodiments, the limiting part 15 is configured as a long strip groove 152 with a "C"-shaped cross-section. The long strip groove 152 may protrude from the outer wall of the swing arm or be recessed into the outer wall of the swing arm. An elastic plastic buckle is provided at intervals in the groove, with one end of the buckle fixed to the bottom of the groove and the other end bent towards the groove opening. The water supply pipe is a rigid plastic flexible hose with an outer diameter matching the inner diameter of the C-shaped groove. During installation, the water supply pipe is pushed in along the groove 152 and locked between the corresponding buckles. The limiting part 15 ensures that the water supply pipe is completely embedded in the outer wall of the swing arm. When the swing arm swings, the elastic force of the buckles counteracts the tensile force of the water supply pipe, preventing the water supply pipe from slipping out of the groove 152.

[0098] In some embodiments, the limit is configured as a magnetic slider. A U-shaped metal guide rail is provided on the outer wall of the swing arm, and the magnetic slider is set in the guide rail. A semi-circular groove matching the outer diameter of the water supply pipe is opened on the magnetic slider. After the water supply pipe passes through the semi-circular groove, the slider slides along the guide rail. The magnetic attraction ensures that the slider will not fall off at will, while allowing the water supply pipe to slide freely in the guide rail as the swing arm swings.

[0099] like Figure 11 and Figure 12 As shown, in some embodiments, the limiting part 15 includes a long strip groove 152 with a "C"-shaped cross-section and a groove cover 151 that is fastened or welded to the groove 152. The water supply pipe is embedded in the groove 152, and the groove cover 151 seals the opening of the groove 152. The presence of the groove cover 151 completely hides the water supply pipe inside the outer wall of the swing arm. When there is an external collision, such as when a table leg hits the water supply pipe, the groove cover 151 absorbs the impact force and distributes it to the swing arm, preventing the water supply pipe from being directly damaged by the force. For example, when the cleaning device is a robot vacuum cleaner, the swing arm frequently rubs against the wall when the robot vacuum cleaner cleans a narrow passage. The groove cover 151 protects the water supply pipe from being scratched by the wall, and the water supply pipe in the groove 152 is limited by the groove cover 151 and will not be thrown out by centrifugal force when swinging. The snap-fit ​​groove cover 151 seals the groove with a snap to prevent dust and water stains from entering the groove 152, such as when dirty water splashes onto the floor in a household setting.

[0100] In the above embodiments, the limiting part 15 can be provided on the top wall, side wall, or bottom of the swing arm, depending on the actual pipeline routing requirements.

[0101] like Figure 11 and Figure 12 As shown, in some embodiments, a cleaning motor 16 that drives the cleaning disc 21 to rotate is provided in the upper-level swing arm connected to the final-level swing arm 32. When the limiting part 15 extends to the bottom of the swing arm, the part protruding from the inner cavity of the swing arm avoids the cleaning motor 16 and passes around the side of the cleaning motor 16.

[0102] In some embodiments, the cleaning device further includes a liquid guiding pipe, at least a portion of which is located in the inner cavity of the primary swing arm 31. The inlet of the liquid guiding pipe is connected to the water supply box, and the outlet of the liquid guiding pipe is connected to the water supply pipe through a rotary sealing joint, which is located in the inner cavity of the swing arm having an outlet 41.

[0103] At least part of the liquid guiding pipe is located in the inner cavity of the first-stage swing arm 31. While enabling the water supply box and water supply pipe to be connected, it can be hidden in the inner cavity of the first-stage swing arm 31. 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 30 swings back and forth to clean the ground, the rotary joint can dissipate the torque generated by the rotation of the swing arm assembly 30 and prevent the water supply pipe and liquid guiding pipe from twisting.

[0104] like Figure 10 As shown, in the cleaning device according to the embodiment of this application, the first-stage swing arm 31 and the last-stage swing arm 32 are directly connected by transmission and a torsion spring 60 is provided between them. When the cleaning assembly 20 moves to the outward swing position, the torsion spring 60 opens the included angle between the first-stage swing arm 31 and the last-stage swing arm 32 to the maximum.

[0105] like Figure 10As shown, the first-stage swing arm 31 and the last-stage swing arm 32 are directly connected by a hinge shaft 70. The torsion spring 60 is sleeved on the periphery of the hinge shaft 70, and its two ends are respectively fixed to the end of the first-stage swing arm 31 and the beginning of the last-stage swing arm 32. For example, in some embodiments, the end of the first-stage swing arm 31 can be provided with a lug, and the beginning of the last-stage swing arm 32 can be provided with a slot. The two legs of the torsion spring 60 are respectively inserted into the limiting hole of the lug and the positioning groove of the slot. When the cleaning component 20 retracts, the final swing arm 32 is subjected to external force, such as motor drive or manual push, and rotates towards the machine body 10. The angle between the first swing arm 31 and the final swing arm 32 decreases, and the torsion spring 60 is compressed and stores elastic potential energy. When the external force is removed, such as when the cleaning component 20 moves to the outward swing position to expand the cleaning range, the torsion spring 60 releases potential energy and pushes the final swing arm 32 to rotate outward around the hinge axis 70 until the angle reaches the maximum value set by the limit block. If the limit block is fixed on the first swing arm 31, it limits the angle when it contacts the limit protrusion of the final swing arm 32.

[0106] When swinging outward, the restoring force of the torsion spring 60 becomes the main driving force for opening the included angle. There is no need for the motor to continuously output torque. Only a small reverse force needs to be applied to compress the torsion spring 60 during the initial retraction. When retracting inward, the resistance of the torsion spring 60 can balance the weight of the final stage swing arm 32, such as the weight of the cleaning disc 21 and the cleaning components, so that the final stage swing arm 32 can maintain a stable angle when it is stationary in any intermediate position, such as the edge position.

[0107] Furthermore, when the cleaning component 20 of the cleaning equipment is in the edge position or the outward swing position, when it encounters an obstacle, the torsion spring 60 is deformable, so the final swing arm 32 can adaptively change its angle under the obstruction of the obstacle, thereby also having an obstacle avoidance effect and avoiding rigid contact with the obstacle.

[0108] like Figure 5 As shown, in some embodiments, the cleaning component 20 also has an edge position, a first guide 321 is provided on the final stage swing arm 32, and a second guide 11 and a second track 12 are provided on the body 10. During the process of the cleaning component 20 moving from the inward position to the edge position, the final stage swing arm 32 presses against the first guide 321 in the second track 12. During the process of the cleaning component 20 moving from the edge position to the outward swing position, the final stage swing arm 32 presses against the second guide 11.

[0109] When the cleaning component 20 is in the retracted position, the first guide 321 is slidably engaged in the second track 12. At this time, the second guide 11 and the final swing arm 32 are not engaged. When the cleaning component 20 moves from the retracted position to the edge position, the first guide 321 slides in the second track 12 and gradually disengages from the second track 12. At this time, due to the action of the torsion spring 60, the final swing arm 32 loses its restraint, and the torsion spring 60 drives the final swing arm 32 to open outward and stop at the edge position. When the cleaning component 20 needs to move from the edge position to the outward swing position, the swing arm assembly 30 moves to make the final swing arm 32 press against the second guide member 11. Then, as the first swing arm 31 continues to rotate, the final swing arm 32 continues to be constrained by the second guide member 11 until the final swing arm 32 disengages from the second guide member 11. The final swing arm 32 loses its constraint, and the torsion spring 60 drives the final swing arm 32 to open to the maximum angle with the first swing arm 31, causing the cleaning component 20 to stop at the outward swing position.

[0110] When the cleaning component 20 is in the outward swing position, both the second guide 11 and the second track 12 are disengaged from the final swing arm 32. As the cleaning component 20 moves from the outward swing position to the edge position, the first swing arm 31 gradually rotates and retracts, while the final swing arm 32 gradually presses against the second guide 11. The torsion spring 60 is compressed and gradually changes the angle between the final swing arm 32 and the first swing arm 31. As the first swing arm 31 continues to rotate, the second guide 11 disengages from the final swing arm 32 and stops at the edge position. When the cleaning component 20 needs to move from the edge position to the inward position, the swing arm component 30 moves to make the first guide 321 slide into the second track 12, thereby continuing to constrain the angle of the final swing arm 32 until the first swing arm 31 rotates to the inward position and stops at the inward position, thus realizing the retraction of the final swing arm 32.

[0111] When the cleaning component 20 is retracted, the movement space of the swing arm component 30 is small. By utilizing the precise cooperation of the first guide 321 and the second track 12, high-precision movement of the final stage swing arm 32 can be achieved.

[0112] In some embodiments, the first guide member 321 is disposed at the front end of the final stage swing arm 32. The first guide member 321 can be a cylindrical protrusion or a roller. The rotation axis of the first guide member 321 is perpendicular to the rotation center axis of the final stage swing arm 32. In this way, the first guide member 321 can slide or roll freely when it contacts the second track 12.

[0113] In some embodiments, the cleaning component 20 and the swing arm assembly 30 can be disposed at the bottom of the body 10. To enable the cleaning component 20 to swing outwards and retract inwards on the body 10, a clearance space needs to be provided on the body 10. When the cleaning component 20 is in the retracted position, the first-stage swing arm 31, the last-stage swing arm 32, and the intermediate swing arms (if any) of the swing arm assembly 30 change their relative angles to minimize their volume and are housed within the clearance space. When the cleaning component 20 is in the outward swing position, the first-stage swing arm 31, the last-stage swing arm 32, and the intermediate swing arms (if any) gradually extend from the clearance space, changing their relative angles to position the cleaning component 20 in the outward swing position. At this time, the second track 12 and the second guide member 11 are both disposed on the inner wall of the same side of the clearance space. The clearance space is an arc-shaped channel to facilitate the retraction or expansion of the swing arm assembly 30.

[0114] A second guide 11 and a second track 12 are provided at corresponding positions on the side wall of the clearance space. The second guide 11 is located at the front end of the clearance space. The second guide 11 can also be a cylindrical protrusion or a roller, which can reduce the friction when the final stage swing arm 32 cooperates with the second guide 11. The second track 12 can be set as an arc-shaped groove 152, and the second guide 11 is connected to the end of the second track 12.

[0115] like Figure 5 As shown, in some embodiments, the cleaning device further includes a drive assembly 80, which is connected to the swing arm assembly 30 to drive the swing arm assembly 30 to move. The body 10 is also provided with a position sensor, which is electrically connected to the drive assembly 80. The position sensor is used to sense when the cleaning assembly 20 moves to the inward position, the edge position, or the outward position and feeds back to the drive assembly 80 to stop driving the swing arm assembly 30.

[0116] The drive assembly 80 is connected to the swing arm assembly 30 via a transmission, enabling stable power transmission to drive the swing arm assembly 30 to rotate. This allows for precise control of the movement of the cleaning assembly 20 between the retracted position, the edge position, and the outward swing position. The position sensor on the body 10 is electrically connected to the drive assembly 80, allowing real-time sensing of whether the cleaning assembly 20 has moved to the target position. When the cleaning assembly 20 reaches the retracted position, the position sensor sends a feedback signal to stop the drive assembly 80, preventing excessive retraction of the swing arm assembly 30 that could cause interference between the cleaning assembly 20 and the body 10 or affect the flexibility of the equipment's movement. When the cleaning assembly 20 reaches the edge position, the drive assembly 80 stops, keeping the cleaning assembly 20 stably close to the edge of the surface to be cleaned, facilitating targeted cleaning of the edge area. When the cleaning assembly 20 reaches the outward swing position, the position sensor sends a feedback signal to stop the drive assembly 80, maintaining the cleaning assembly 20 in its maximum cleaning range to cover a wider area to be cleaned.

[0117] like Figure 3 As shown, in some embodiments, a notch 13 is provided on the side wall of the body 10, and the notch 13 is connected to the bottom of the body 10. The cleaning component 20 is exposed outside the bottom of the body 10. When the cleaning component 20 moves from the retracted position to the outward position, the final stage swing arm 32 needs to pass through the notch 13. When the cleaning component 20 moves from the edge position or the outward swing position to the retracted position, the final stage swing arm 32 needs to pass through the notch 13.

[0118] like Figure 3 and Figure 5 As shown, in some embodiments, the body 10 is also provided with a movable sealing door 14. When the cleaning component 20 is in the retracted position, the swing arm component 30 is completely retracted into the clearance space. The control system controls the sealing door 14 to move to close the opening 13. When the cleaning component 20 needs to move from the retracted position to the edge position or the outward swing position, the control system controls the sealing door 14 to move away to avoid the swing arm component 30.

[0119] In this embodiment, if the second guide 11 is located at the front end of the clearance space near the outer side of the body 10, it needs to be located inside the notch 13. This can avoid the sealing door 14. At the same time, when the cleaning component 20 is in the retracted position, the second guide 11 can also be housed in the clearance space to avoid interference with obstacles and damage.

[0120] In this embodiment, multiple openings 13 can be provided on the body 10, each opening 13 corresponding to a movable sealing door 14, and each opening 13 corresponding to a cleaning component 20. Alternatively, one opening 13 may correspond to two or more swingable cleaning components 20.

[0121] The cleaning system according to the embodiments of this application includes the cleaning equipment described above, and also includes a base station or charging dock adapted to the cleaning equipment.

[0122] This application proposes a cleaning system, including the aforementioned cleaning equipment, and also including a base station or charging dock adapted to the cleaning equipment. When using a base station adapted to the cleaning equipment, the base station can provide the cleaning equipment with functions such as liquid supply, liquid drainage, self-cleaning, drying, and charging. When using a charging dock, the charging dock can provide the cleaning equipment with functions such as charging, self-cleaning, and drying.

[0123] The base station provides liquid supply and drainage functions that can automatically replenish the liquid in the water supply tank and discharge the waste liquid in the sewage tank, eliminating the need for users to frequently add water and empty the sewage tank manually, thus significantly reducing the frequency of operation; the self-cleaning function automatically rinses easily soiled parts such as cleaning components after the cleaning equipment is put back in place, avoiding the tedious manual disassembly and cleaning; the drying function accelerates the drying of cleaning components through hot air or ventilation design, reducing bacterial growth and odor generation, and improving the hygiene of the cleaning equipment.

[0124] The charging dock provides charging functionality to ensure the cleaning equipment is always fully charged, guaranteeing reliable battery life. Both the base station and the charging dock improve cleaning efficiency, extend the lifespan of the cleaning equipment, and reduce the risk of malfunction, making the entire cleaning system intelligent, convenient, and reliable.

[0125] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms such as “a,” “an,” etc., used herein may also refer to the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated, unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0126] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0127] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications or equivalent substitutions made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A cleaning apparatus, characterized by, include: Organism; A cleaning component is movably connected to the body, and the cleaning component has an inward position and an outward position. The cleaning component is suitable for wet cleaning of the surface to be cleaned. A swing arm assembly is rotatably connected to the machine body, and a cleaning component is connected to the output end of the swing arm assembly so as to drive the cleaning component to move between an inward position and an outward position through the swing arm assembly. A water replenishment mechanism is provided for supplying liquid to the cleaning component. The water replenishment mechanism includes at least one water outlet, which is disposed on the swing arm assembly and swings with the swing arm assembly.

2. The cleaning equipment according to claim 1, characterized in that, 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 always overlap with the hollowed-out area in their vertical projection on the cleaning disc.

3. The cleaning equipment according to claim 2, characterized in that, The body has a mounting cavity. When the cleaning component is in the outward swing position, at least the end of the swing arm component extends out of the mounting cavity. The cleaning component also has an edge position, which is located on the trajectory of the cleaning component moving between the outward swing position and the inward retraction position. 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.

4. The cleaning equipment according to claim 2 or 3, characterized in that, 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 disc and the water outlet is h, where R1≤h≤R2.

5. The cleaning equipment according to claim 2 or 3, characterized in that, The swing arm assembly includes multiple swing arms connected in sequence. The multiple swing arms include a first-stage swing arm and a last-stage swing arm. The first-stage swing arm is connected to the machine body, and the output end of the last-stage swing arm is connected to the cleaning component. The included angle between the first-stage swing arm and the last-stage swing arm is different when the cleaning component is in the outward swing position and the inward retraction position.

6. The cleaning equipment according to claim 5, characterized in that, The distance between the water outlet and the rotation center of the cleaning disc is a predetermined value, which allows the cleaning component to be at any position on the swing trajectory, and the water outlet is connected to the hollow area for water replenishment.

7. The cleaning equipment according to claim 6, characterized in that, The swing arm assembly is provided with a water outlet, which is located on the last stage swing arm or near the pivot on the first stage swing arm that connects to the last stage swing arm.

8. The cleaning equipment according to claim 7, characterized in that, The machine body is also equipped with a water supply box, and a limiting part is provided on the outer wall of the swing arm where the water outlet is located. A water supply pipe is snapped into the limiting part, and the water supply pipe connects the water outlet and the water supply box.

9. The cleaning equipment according to claim 6, characterized in that, It also includes a liquid guiding pipe, at least a portion of which is located in the inner cavity of the first-stage swing arm. The inlet of the liquid guiding pipe is connected to the water supply box, and the outlet of the liquid guiding pipe is connected to the water supply pipe through a rotary sealing joint. The rotary sealing joint is located in the inner cavity of the swing arm having the water outlet.

10. The cleaning equipment according to any one of claims 5-9, characterized in that, The first-stage swing arm and the last-stage swing arm are directly connected by a drive, and a torsion spring is provided between them. When the cleaning component moves to the outward swing position, the torsion spring causes the included angle between the first-stage swing arm and the last-stage swing arm to open to the maximum.

11. The cleaning equipment according to claim 5, characterized in that, The cleaning component also has an edge position, a first guide is provided on the final stage swing arm, and a second guide and a second track are provided on the body. During the process of the cleaning component moving from the inward position to the edge position, the final stage swing arm abuts against the first guide in the second track. During the process of the cleaning component moving from the edge position to the outward swing position, the final stage swing arm abuts against the second guide.

12. The cleaning equipment according to claim 11, characterized in that, Also includes: A drive assembly is provided, which is connected to the swing arm assembly to drive the swing arm assembly to move. The body is also provided with a position sensor, which is electrically connected to the drive assembly. The position sensor is used to sense when the cleaning assembly moves to the inward position, the edge position, or the outward position and feeds back to the drive assembly to stop driving the swing arm assembly.

13. A cleaning system, characterized in that, The device includes the cleaning equipment as described in any one of claims 1-12, and further includes a base station or charging dock adapted to the cleaning equipment.

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