A cleaning system

Abstract

The utility model provides a kind of cleaning system, and cleaning system includes: cleaning equipment, crawling accessory, movable mechanism and cleaning piece;Cleaning equipment can independently travel on working surface;Crawling accessory can drive cleaning equipment to realize on specific obstacle passage;Movable mechanism has installation end and movable end, installation end is connected to crawling accessory, and movable end can be moved relative to crawling accessory;Cleaning piece is installed in movable end;Wherein, in the process that crawling accessory drives cleaning equipment to pass through specific obstacle, the movable end of movable mechanism can drive cleaning piece to move, to utilize cleaning piece to clean corresponding to-be-cleaned surface in passage area.The utility model can solve the technical problem that to-be-cleaned surface in passage area cannot be cleaned in the passage process that crawling accessory drives cleaning equipment to cross obstacle.

Description

Technical Field

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

[0002] Currently, the cleaning technology of indoor cleaning equipment (such as robotic vacuum cleaners) in flat floor environments is relatively mature. To expand its application scope, existing technologies have proposed equipping cleaning equipment with crawling attachments (such as tracked or wheeled mobility mechanisms) to enable the cleaning equipment to overcome specific obstacles such as stairs, steps, and thresholds.

[0003] However, existing technologies primarily focus on improving the mobility and passage capabilities of the crawling attachment itself, resulting in relatively limited functionality. During the process of the crawling attachment propelling the cleaning equipment across obstacles, the cleaning function is often interrupted or unable to effectively reach the surface of the obstacle (such as stair treads), leading to disruptions in the cleaning operation of the passage area. This significantly reduces the cleaning effectiveness of the equipment in complex environments, limiting its full application potential. Summary of the Invention

[0004] This utility model provides a cleaning system to solve the technical problem that the surface to be cleaned in the passage area cannot be cleaned during the passage of the cleaning equipment driven by the crawling attachment to cross obstacles.

[0005] This utility model provides a cleaning system, which includes: a cleaning device, a crawling attachment, a moving mechanism, and a cleaning component; the cleaning device can move autonomously on a working surface; the crawling attachment can drive the cleaning device to pass over specific obstacles; the moving mechanism has an installation end and a moving end, the installation end is connected to the crawling attachment, and the moving end can move relative to the crawling attachment; the cleaning component is installed on the moving end; wherein, during the process of the crawling attachment driving the cleaning device to pass over specific obstacles, the moving end of the moving mechanism can drive the cleaning component to move, so as to use the cleaning component to clean the corresponding surface to be cleaned in the passage area.

[0006] The beneficial effects of this design are as follows: The crawling attachment of the cleaning system is equipped with a movable mechanism, through which the cleaning component is mounted. As the crawling attachment propels the cleaning equipment over a specific obstacle, the movable mechanism drives the cleaning component to move relative to the crawling attachment, dynamically adjusting its operating posture. This adjustment allows the cleaning component to remain close to or in contact with the obstacle surface (such as a threshold or step) throughout the passage, thereby achieving effective cleaning of the corresponding surfaces within the passage area.

[0007] In one embodiment of the present invention, the movable mechanism further includes a lifting component, which is linked to the movable mechanism. Under the drive of the lifting component, the movable end has a falling position and a rising position.

[0008] In the falling position, the cleaning component contacts the surface to be cleaned to perform the cleaning operation; in the rising position, the cleaning component moves away from the surface to be cleaned to stop the cleaning operation.

[0009] The beneficial effects of this design are as follows: By incorporating a lifting component that allows the movable end to switch between a descending and a raised position, the cleaning component contacts the surface to be cleaned in the descending position to perform the cleaning operation. In the raised position, the cleaning component moves away from the surface, and the cleaning operation stops. This allows the cleaning system to flexibly control the cleaning mode based on the type of obstacle encountered during its operation. When encountering a surface requiring cleaning (such as stair treads), the movable end can descend to the descending position, allowing the cleaning component to perform the cleaning operation. When a specific obstacle does not require cleaning or the crawling attachment enters a non-cleanable area, the movable end can rise to the raised position, lifting the cleaning component off the ground. This effectively avoids ineffective cleaning, equipment jamming, or component wear, ensuring continuous and efficient automated operation.

[0010] In one embodiment of the present invention, the lifting assembly includes a first driving assembly, with the mounting end rotatably connected to the crawling attachment. The first driving assembly is used to drive the mounting end to rotate around a first axis to realize the movement of the movable end between the falling position and the lifting position, wherein the extension direction of the first axis is perpendicular to the travel direction of the crawling attachment.

[0011] The beneficial effects of this design are as follows: the movement of the movable end between the falling and rising positions is achieved by the first drive component driving the mounting end to rotate around the first axis. Compared to mechanisms that directly lift and lower along the height direction of the crawling attachment, this rotary lifting structure occupies less installation space in the height direction of the crawling attachment, thus facilitating control of the overall height of the crawling attachment. This makes it easier to store the crawling attachment and to move it in and out of the cleaning equipment's base station. Furthermore, since the first axis is set perpendicular to the travel direction of the crawling attachment, the lifting motion and the crawling attachment's forward direction are spatially perpendicular. This not only reduces mutual interference between the lifting motion and the crawling attachment's travel motion but also helps maintain the stability of the overall center of gravity of the cleaning system during lifting and lowering, reducing interference with the smoothness of the crawling attachment's movement caused by changes in the position of the movable mechanism.

[0012] In one embodiment of the present invention, a first clearance space is provided on the side of the crawling attachment near the mounting end. The first clearance space is configured to avoid the mounting end during the rotation of the mounting end around a first axis.

[0013] The advantages of this design are as follows: By providing a first clearance space on the crawling attachment, interference between the movable mounting end and the crawling attachment during rotation is effectively avoided, thus ensuring smoother and more reliable lifting movements. Simultaneously, this structure reduces restrictions on the rotation angle of the mounting end, making it possible to increase the lifting angle range and further expand the operating range of the cleaning component. Furthermore, the mounting end can extend partially or completely into the support mechanism, significantly reducing the external space occupied by the movable mechanism along the length of the crawling attachment, which contributes to the compactness of the overall cleaning system structure.

[0014] In one embodiment of the present invention, the first driving component includes a first driving member and a pulling rope. The first driving member is disposed on the crawling attachment, and one end of the pulling rope is fixedly connected to the mounting end, and the other end is fixedly connected to the output end of the first driving member.

[0015] The first driving component can retract or release the pull rope; when the pull rope is retracted, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the pull force of the pull rope, so as to drive the movable end to rise; when the pull rope is released, the mounting end rotates around the rotation center of the mounting end in a second rotation direction opposite to the first rotation direction, so as to drive the movable end to fall.

[0016] The advantages of this design are as follows: The first drive assembly consists of only two core components: the first drive element and the pull rope. The overall structure is relatively simple, with fewer components. This means that the probability of failure during operation of the first drive assembly is lower, contributing to improved overall reliability of the cleaning system. It also reduces the installation space occupied by the first drive assembly, facilitating a more compact design. Furthermore, the pull rope, being a rope type, allows for flexible adjustment of the force transmission direction using pulleys and other structures. This frees the installation location of the first drive element from being limited to the vicinity of the installation end, allowing it to be placed in other areas with ample space, good heat dissipation, and easy maintenance. This feature provides greater flexibility for a more compact and rational layout of the entire machine. Additionally, because the pull rope operates stably under tension and is less prone to instability, and its inherent flexibility allows it to better adapt to load fluctuations and buffer impact loads, thus helping to protect the drive components and transmission mechanism and extending their service life.

[0017] In one embodiment of the present invention, the installation direction of the first driving member on the crawling attachment is consistent with the height direction of the crawling attachment, and the output end of the first driving member faces the bottom wall side of the crawling attachment.

[0018] The advantages of this design are as follows: As a load-bearing component of the cleaning equipment, the crawling attachment typically needs sufficient height to meet load-bearing requirements and ensure stable operation when the equipment crosses obstacles. However, the width of the crawling attachment needs to cover the width of the cleaning equipment itself, and crawling mechanisms are also required on both sides, resulting in limited space in the width direction. In this embodiment, by arranging the first drive component along the height direction, its occupation of the crawling attachment's width space can be effectively reduced, allowing full utilization of the crawling attachment's height-related space. Therefore, this installation method helps optimize the spatial layout of the crawling attachment and improves the overall structural compactness.

[0019] In one embodiment of the present invention, the first driving component includes a first driving member and a pulling rope. The first driving member is disposed on the crawling attachment, and a through hole is provided at the mounting end. One end of the pulling rope is fixedly connected to the output end of the first driving member, and the other end passes through the through hole and is fixedly connected to the crawling attachment.

[0020] The first driving component can retract or release the pull rope; when the pull rope is retracted, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the pull force of the pull rope, so as to drive the movable end to rise; when the pull rope is released, the mounting end rotates around the rotation center of the mounting end in a second rotation direction opposite to the first rotation direction, so as to drive the movable end to fall.

[0021] The advantages of this design are as follows: The first drive assembly consists of only two core components: the first drive element and the pull rope. The overall structure is relatively simple, with fewer components. This means that the probability of failure during operation of the first drive assembly is lower, contributing to improved overall reliability of the cleaning system. It also reduces the installation space occupied by the first drive assembly, facilitating a more compact design. Furthermore, the pull rope, being a rope type, allows for flexible adjustment of the force transmission direction using pulleys and other structures. This frees the installation location of the first drive element from being limited to the vicinity of the installation end, allowing it to be placed in other areas with ample space, good heat dissipation, and easy maintenance. This feature provides greater flexibility for a more compact and rational layout of the entire machine. Additionally, because the pull rope operates stably under tension and is less prone to instability, and its inherent flexibility allows it to better adapt to load fluctuations and buffer impact loads, thus helping to protect the drive components and transmission mechanism and extending their service life.

[0022] In one embodiment of the present invention, the first driving component includes a first driving member and a pulling rope. The first driving member is disposed at the mounting end, one end of the pulling rope is fixedly connected to the output end of the first driving member, and the other end is fixedly connected to the crawling attachment.

[0023] The first driving component can retract or release the pull rope; when the pull rope is retracted, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the pull force of the pull rope, so as to drive the movable end to rise; when the pull rope is released, the mounting end rotates around the rotation center of the mounting end in a second rotation direction opposite to the first rotation direction, so as to drive the movable end to fall.

[0024] The advantages of this design are as follows: The first drive assembly consists of only two core components: the first drive element and the pull rope. The overall structure is relatively simple, with fewer components. This means that the probability of failure during operation of the first drive assembly is lower, contributing to improved overall reliability of the cleaning system. It also reduces the installation space occupied by the first drive assembly, facilitating a more compact design. Furthermore, the pull rope, being a rope type, allows for flexible adjustment of the force transmission direction using pulleys and other structures. This frees the installation location of the first drive element from being limited to the vicinity of the installation end, allowing it to be placed in other areas with ample space, good heat dissipation, and easy maintenance. This feature provides greater flexibility for a more compact and rational layout of the entire machine. Additionally, because the pull rope operates stably under tension and is less prone to instability, and its inherent flexibility allows it to better adapt to load fluctuations and buffer impact loads, thus helping to protect the drive components and transmission mechanism and extending their service life.

[0025] In one embodiment of the present invention, the first driving component includes a first driving member and a pulling rope. The first driving member is disposed at the mounting end, the crawling attachment is provided with a through hole, one end of the pulling rope is fixedly connected to the output end of the first driving member, and the other end passes through the through hole and is fixedly connected to the mounting end.

[0026] The first driving component can retract or release the pull rope; when the pull rope is retracted, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the pull force of the pull rope, so as to drive the movable end to rise; when the pull rope is released, the mounting end rotates around the rotation center of the mounting end in a second rotation direction opposite to the first rotation direction, so as to drive the movable end to fall.

[0027] The advantages of this design are as follows: The first drive assembly consists of only two core components: the first drive element and the pull rope. The overall structure is relatively simple, with fewer components. This means that the probability of failure during operation of the first drive assembly is lower, contributing to improved overall reliability of the cleaning system. It also reduces the installation space occupied by the first drive assembly, facilitating a more compact design. Furthermore, the pull rope, being a rope type, allows for flexible adjustment of the force transmission direction using pulleys and other structures. This frees the installation location of the first drive element from being limited to the vicinity of the installation end, allowing it to be placed in other areas with ample space, good heat dissipation, and easy maintenance. This feature provides greater flexibility for a more compact and rational layout of the entire machine. Additionally, because the pull rope operates stably under tension and is less prone to instability, and its inherent flexibility allows it to better adapt to load fluctuations and buffer impact loads, thus helping to protect the drive components and transmission mechanism and extending their service life.

[0028] In one embodiment of this utility model, an elastic reset member is further provided between the mounting end and the crawling attachment. When the pull rope is wound up, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the action of the pulling force, and the elastic reset member stores elastic potential energy. When the pull rope is released, the elastic reset member releases the elastic potential energy, driving the mounting end to rotate around the rotation center of the mounting end in a second rotation direction, so that the cleaning part is reset to the falling position.

[0029] The beneficial effects of this design are as follows: By incorporating an elastic reset component, the descent and reset process of the cleaning component can be driven by its actively released elastic potential energy, providing a deterministic power source. In contrast, a passive reset structure relying solely on the weight of the cleaning component and its mounting end is entirely dependent on gravity, making it susceptible to interference from factors such as frictional resistance at the pivot point, oil adhesion, or hair entanglement, leading to reset failure or incomplete reset. Furthermore, the elastic reset component provides a large initial torque upon release, driving the mounting end to rotate rapidly and enabling the cleaning component to fall quickly. This helps shorten the time interval between the raised and lowered states of the movable end, improving the efficiency of adjusting the cleaning component's operating posture. In one embodiment of this invention, the elastic reset component possesses elastic potential energy in both the lowered and raised positions of the movable end.

[0030] The beneficial effect of this design is that as the movable end swings up and down between the falling and rising positions, the elastic reset component always possesses a certain elastic potential energy, thus balancing and restraining the elastic potential energy and the tension of the pull rope. This effect improves the stability of the mounting end during the up-and-down swinging process, thereby enhancing the stability of the movable end during the up-and-down swinging process.

[0031] In one embodiment of the present invention, the crawling attachment is further provided with a guide wheel for guiding the running path of the pull rope. Along the height direction of the crawling attachment, the installation position of the guide wheel is lower than the connection point of the pull rope at the installation end. The section of the pull rope located between the output end and the installation end of the first drive member passes around the lower side of the guide wheel and abuts against the outer peripheral surface of the guide wheel.

[0032] The advantages of this design are as follows: By setting the installation height of the guide wheel below the connection point of the pull rope at the installation end, the guide wheel acts similarly to a fixed pulley, converting the tension in a fixed direction generated by the operation of the first drive component on the pull rope into an effective tension force acting on the installation end with a clear downward component. This force direction conversion mechanism provides greater freedom in the layout of the first drive component. The drive component does not need to be restricted to directly generating downward tension above the installation end; instead, it can be flexibly installed in an empty position to the side or rear, depending on the internal space planning of the crawling attachment, and ultimately guide the tension to the target path through the guide wheel.

[0033] In one embodiment of the present invention, the movable mechanism further includes a third driving component, which is disposed at the movable end and is used to drive the cleaning component to rotate so as to perform a rotational cleaning operation on the surface to be cleaned.

[0034] The advantages of this design are as follows: Because the third drive component can drive the cleaning component to rotate, the cleaning trajectory of the cleaning component can be transformed from a straight line or simple planar movement to a rotational path, thereby expanding the cleaning range. Simultaneously, when cleaning irregularly shaped or large surfaces, the rotational cleaning method allows for rapid movement of the cleaning component, reducing blind spots, improving the thoroughness of cleaning, and ensuring cleaning effectiveness. Furthermore, because the friction between the cleaning component and the surface increases with speed during rotation, it is more effective at removing dirt and dust. For example, for stubborn stains, the increased friction of rotational cleaning makes them easier to peel off, improving cleaning results.

[0035] In one embodiment of the present invention, the moving mechanism further includes a moving arm and a second drive assembly. One end of the moving arm is rotatably connected to the mounting end, and the cleaning component is mounted on the other end of the moving arm. The second drive assembly is used to drive the moving arm to swing relative to the crawling attachment.

[0036] The beneficial effects of this design are as follows: by setting up a movable arm and a second drive assembly, the second drive assembly is used to drive the movable arm to swing relative to the crawling attachment, which in turn drives the cleaning component connected to the movable arm to swing synchronously, thereby expanding the cleaning area of ​​the cleaning component. This design allows the cleaning component to perform cleaning operations in a larger area, improving cleaning efficiency and coverage.

[0037] In one embodiment of the present invention, under the drive of the second drive component, the movable arm can move between a retracted position and an outward swing position; in the retracted position, the angle between the extension direction of the movable arm and the travel direction of the crawling attachment is less than or equal to a preset angle; in the outward swing position, the angle between the extension direction of the movable arm and the travel direction of the crawling attachment is greater than the preset angle; wherein, the cleaning component can clean the surface to be cleaned between the retracted position and the outward swing position.

[0038] The advantages of this design are as follows: By setting the retracted and outward swing positions, the operating mode of the mobile arm can be easily controlled. For example, when the cleaning component does not need to perform cleaning operations, the mobile arm can be switched to the retracted position. In this position, because the mobile arm and the cleaning component are close to the wall of the support mechanism, they form a retracted posture. Therefore, the probability of collision and interference between the cleaning component and the mobile arm during the movement of the crawling attachment can be reduced. At the same time, it is also convenient to store the crawling attachment or to facilitate the crawling attachment's entry and exit from the cleaning equipment's base station. When the cleaning component needs to clean a surface at a distance, the mobile arm can be controlled to the outward swing position. In this position, because the mobile arm extends outward in the width direction of the crawling attachment, the cleaning component also moves away from the wall of the support mechanism, forming an extended posture. Therefore, the cleaning component can contact a wider surface to be cleaned, expanding the cleaning range.

[0039] In one embodiment of the present invention, two sets of movable mechanisms are provided, and the two sets of movable mechanisms are respectively provided on both sides of the width direction of the crawling attachment; the outward swing position has a first outward swing position and a second outward swing position; when the cleaning components of the two sets of movable mechanisms are running between the retracted position and the first outward swing position, the cleaning paths formed by the two sets of cleaning components at least partially overlap, and when running between the first outward swing position and the second outward swing position, the cleaning paths formed by the two sets of cleaning components no longer interfere with each other and overlap.

[0040] The benefits of this design are as follows: It effectively reduces cleaning omissions in the central area of ​​the openwork zone, ensuring continuous cleaning coverage and preventing the formation of cleaning blind spots. Simultaneously, it expands the cleaning area of ​​the cleaning component along both sides of the crawling attachment's width, increasing the working area during a single crawling motion and improving overall operational efficiency.

[0041] In one embodiment of the present invention, at the second outward swing position, the cleaning component can at least partially swing outward to the outside of the width direction of the crawling attachment, and the width direction of the crawling attachment is perpendicular to the travel direction of the crawling attachment.

[0042] The beneficial effects of this setting are as follows: Since the cleaning component can at least partially swing outward to the outside of the width direction of the crawling attachment at the second outward swing position, this setting allows the cleaning range of the cleaning component to break through the limitation of the physical width of the crawling attachment itself, increasing the coverage width of the cleaning operation performed by the cleaning component during a single passage of the crawling attachment, thereby improving the cleaning efficiency of the crawling attachment on the surface to be cleaned when passing under specific obstacles.

[0043] In one embodiment of the present invention, a second clearance space is provided on the side of the crawling attachment near the movable arm. The second clearance space is configured to avoid the movable arm when the movable arm is in the outward swing position.

[0044] The benefits of this design are as follows: By providing a second clearance, sufficient physical margin is allowed for the outward swing of the mobile arm, ensuring that it can swing smoothly to the maximum outward swing angle permitted by the design. This structure effectively reduces the problem of limited outward swing angle caused by structural interference from the crawling attachment itself, providing a structural basis for mobile arm designs with larger outward swing angles, thereby helping to increase the width of the cleaning coverage area.

[0045] In one embodiment of the present invention, the second drive assembly drives the movable arm to swing around the second axis. The movable mechanism also includes a third drive assembly, which is disposed on the side of the movable arm away from the mounting end and is used to drive the cleaning component to rotate around the third axis to perform a rotational cleaning operation on the surface to be cleaned. The first axis and the third axis are arranged parallel to each other.

[0046] The beneficial effects of this design are as follows: the movable arm swings around the second axis, causing the cleaning component to swing laterally, effectively expanding the cleaning range. Simultaneously, the cleaning component rotates around the third axis, enhancing the cleaning intensity of the surface to be cleaned. Through the combined effect of these two movements, the coverage area is expanded while cleaning ability is improved, resulting in a superior cleaning effect. Furthermore, the second and third axes are arranged in parallel, making the swinging and rotating movements structurally independent. This design not only simplifies the transmission mechanism and reduces mechanical complexity but also avoids the risk of interference between the two motion systems, thereby improving the stability of power transmission and the reliability of system operation.

[0047] In one embodiment of the present invention, along the traveling direction of the crawling attachment, the front end of the crawling attachment is provided with a channel for the cleaning equipment to enter, and the rear end of the crawling attachment is formed with a hollow area, and the movable end can drive the cleaning component to move in and out of the hollow area, above the hollow area, and below the hollow area.

[0048] The beneficial effects of this arrangement are as follows: Since the movable end can move the cleaning component within, above, and below the hollowed-out area, the following benefits can be achieved: Firstly, most of the dust and impurities generated during the cleaning operation can be directly discharged through the rear hollowed-out area, preventing them from being blown towards or accumulating on the cleaning equipment installed at the front of the crawling attachment. This layout effectively reduces the risk of dust and impurities contaminating or damaging key front-end components (such as sensors and circuits). Secondly, arranging the installation and working area of ​​the movable mechanism and the cleaning component at the rear of the crawling attachment, away from the front-end passage for the cleaning equipment, avoids motion interference between the movable mechanism and the cleaning equipment during entry and exit, thus simplifying the structural design of the front-end area. In one embodiment of this invention, the specific obstacle is a staircase, and the surface to be cleaned is the stair step surface; the cleaning component is configured to clean the stair step surface when the crawling attachment drives the cleaning equipment down the staircase.

[0049] The beneficial effects of this design are as follows: When the crawling attachment drives the cleaning equipment down the stairs, the downward direction of the cleaning component is consistent with the direction of gravity. Therefore, during the process of the crawling attachment driving the cleaning equipment down the stairs, the cleaning component cleans the steps of the stairs. This allows the dust and debris swept away by the cleaning component to fall naturally downwards under the action of gravity, making them easier to remove or collect. This avoids the problems of dirt accumulation and crushing that may occur when cleaning upwards.

[0050] In one embodiment of the present invention, during the cleaning operation of the cleaning component on the step surface, the cleaning debris on the upper step surface of the staircase can be swept to the adjacent lower step surface and fall down layer by layer until it is finally collected on the bottom floor surface of the staircase.

[0051] The beneficial effects of this design are as follows: During the cleaning process, debris from the upper steps is swept to the adjacent lower steps and falls down each step until it is collected at the bottom. This utilizes gravity and the staircase's structure to automatically and directionally sweep debris from the upper steps to the lower steps, ultimately collecting it at the bottom. This process automatically collects debris from the staircase steps, eliminating the need for collection devices in the middle of the staircase or at each step, thus increasing the automation of staircase cleaning. Furthermore, after cleaning, only a single, concentrated cleaning is needed at the bottom of the staircase, further improving the efficiency and convenience of debris collection. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0053] In the attached diagram:

[0054] Figure 1 This is a three-dimensional structural diagram of a cleaning system provided in an embodiment of the present invention;

[0055] Figure 2 This is a top view of a cleaning system provided in one embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the connection structure between the active mechanism and the cleaning component provided in one embodiment of the present invention;

[0057] Figure 4 for Figure 3 A partial sectional view of the embodiment shown;

[0058] Figure 5 This is a schematic diagram of the cleaning system cleaning the stair tread surface in one embodiment of the present invention.

[0059] Figure 6 This is a schematic diagram of the overall structure of the cleaning system provided in one embodiment of the present invention;

[0060] Figure 7 for Figure 6 A cross-sectional view along the AA direction;

[0061] Figure 8 for Figure 7 A magnified view of a portion of region B in the middle;

[0062] Figure 9 This is a schematic diagram of the crawling attachment after removing some parts in one embodiment of the present invention;

[0063] Figure 10 for Figure 9 A magnified view of a portion of region C in the middle;

[0064] Figure 11 for Figure 9 Another projection view of the embodiment shown;

[0065] Figure 12 for Figure 11 A magnified view of a portion of region D in the middle;

[0066] Figure 13 for Figure 2A magnified view of a portion of region F in the middle.

[0067] The attached figures are labeled as follows:

[0068] 1000 Cleaning system; 100 Crawling attachment; 101 Front end; 1011 Channel; 102 Rear end; 1021 Hollowed-out area; 110 Support mechanism; 111 First clearance space; 112 Second clearance space; 113 Rotating shaft; 120 Crawling mechanism; 121 Crawling component; 200 Movable mechanism; 201 Mounting end; 2011 Mounting cavity; 2012 Pulling point; 202 Movable end; 210 Cleaning component; 211 Third axis Line; 220, movable arm; 221, second axis; 230, second drive assembly; 231, second drive element; 232, second gear assembly; 240, third drive assembly; 241, third drive element; 242, third gear assembly; 250, lifting assembly; 251, elastic reset element; 252, first drive assembly; 2521, first drive element; 2522, traction rope; 260, guide wheel; 300, cleaning equipment; 400, staircase; 410, step surface. Detailed Implementation

[0069] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0070] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0071] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present invention.

[0072] Please see Figures 1 to 13This utility model provides a cleaning system 1000. The crawling attachment 100 of the cleaning system 1000 is provided with a movable mechanism 200 and a cleaning component 210. The cleaning component 210 is connected to the crawling attachment 100 through the movable mechanism 200. When the crawling attachment 100 drives the cleaning device 300 through a specific obstacle, the movable end 202 of the movable mechanism 200 can drive the cleaning component 210 to move, thereby using the cleaning component 210 to clean the corresponding surface to be cleaned in the passage area.

[0073] Please see Figure 1 The cleaning system 1000 provided in one embodiment of the present invention includes: a cleaning device 300, a crawling attachment 100, a moving mechanism 200, and a cleaning component 210.

[0074] The cleaning device 300 is capable of autonomously moving on the work surface. In this embodiment, the cleaning device 300 can be any self-propelled cleaning device 300, such as a floor scrubber, sweeper, or cleaning robot. For ease of description, this application uses a cleaning robot as an example. To perform its cleaning function, the cleaning device 300 includes at least a body and a cleaning mechanism, which is installed on the body for cleaning the surface to be cleaned. The cleaning mechanism can be a wet cleaning mechanism such as a disc-shaped cloth, a roller cloth, or a tracked cloth, or a dry cleaning mechanism such as a roller brush or a vacuuming structure.

[0075] The internal structure of the machine body has a storage space to accommodate various components of the cleaning equipment 300. The shape of the machine body can be arbitrary, such as circular, elliptical, or D-shaped. The cleaning equipment 300 also includes a drive system conventionally provided on existing cleaning equipment 300s. The drive system is located at the bottom of the machine body to enable the cleaning equipment 300 to move independently. The specific structure of the drive system and the connection structure between the drive system and the machine body can be found in the relevant structural descriptions of existing cleaning equipment 300s, and will not be repeated here.

[0076] The crawling attachment 100 enables the cleaning equipment 300 to traverse specific obstacles. Specifically, the crawling attachment 100 can be combined with the cleaning equipment 300 to form a combined unit. The movement of the crawling attachment 100 enables the cleaning equipment 300 to traverse specific obstacles. These specific obstacles can be any one or more of stairs, steps, or ditches. The structural form of the crawling attachment 100 is not limited; for example, it can be a tracked crawling structure. When the crawling attachment 100 is combined with the cleaning equipment 300, the tracked crawling structure can use the grip and support of its tracks to smoothly climb or cross obstacles such as stairs, steps, or ditches. Alternatively, the crawling attachment 100 can also be a multi-wheeled crawling structure. After the cleaning equipment 300 is combined with the multi-wheeled crawling structure, the flexible adjustment and drive of the wheels allow it to smoothly traverse obstacles of different heights and shapes.

[0077] Optionally, please refer to Figure 1 In this embodiment, the crawling attachment 100 includes a support mechanism 110 and a crawling mechanism 120. The support mechanism 110 is disposed on the crawling mechanism 120 and is used to support the cleaning device 300. The crawling mechanism 120 is used to move on the working surface. The crawling mechanism 120 has a tracked structure. The crawling mechanism 120 is disposed in the width direction of the support mechanism 110 (i.e., the width direction of the cleaning device 300 is as follows). Figure 1 (As shown in the X-axis direction). The crawling mechanism 120 includes a first crawling component 121 and a second crawling component 121, with the second crawling component 121 rotatably connected to one end of the first crawling component 121 along its length. The rotatable connection between the first and second crawling components 121 is not limited; for example, it can be rotatably connected via a shaft hole fit or via a rotating shaft 113 bearing, etc. The specific rotatable connection method needs to be determined based on the specific structure between the second and first crawling components 121. It should be noted that the specific structure of the crawling mechanism 120 and the support mechanism 110 can be referred to in the structural description of the prior art, and will not be repeated here.

[0078] By setting up a first crawling component 121 and a second crawling component 121, and rotatably connecting the second crawling component 121 to one end of the first crawling component 121 along its length, this structure enables the crawling mechanism 120 to achieve a more optimized passage posture when dealing with specific obstacles such as stairs. When the crawling attachment 100 travels to an obstacle with continuous steps, such as stairs, the second crawling component 121 can be rotated relative to the first crawling component 121, so that the first crawling component 121 and the second crawling component 121 respectively fit onto steps of different heights, thereby forming stable support and traction, effectively improving the stability and passage ability of the cleaning equipment 300 during climbing or descending.

[0079] Please see Figure 2 and Figure 3 The movable mechanism 200 has a mounting end 201 and a movable end 202. The mounting end 201 is connected to the crawling attachment 100, and the movable end 202 is movable relative to the crawling attachment 100. Specifically, the mounting end 201 is connected to the support mechanism 110. The movable end 202 can move in various ways, including but not limited to: swinging relative to the crawling attachment 100 in a horizontal plane, pitching along the height direction of the crawling attachment 100, or a combination of both.

[0080] The cleaning component 210 is mounted on the movable end 202. The cleaning component 210 can be fixedly connected to the movable end 202 or movably connected to it. For example, it can rotate relative to the movable end 202 or extend and retract relative to it. The specific implementation of the cleaning component 210 is not limited and can be any one or more combinations of cleaning components conventionally known in the art, such as a vacuum cleaner head, a rag, or a cleaning brush. Any functional component capable of performing cleaning operations on the surface to be cleaned falls within the protection scope of this utility model.

[0081] During the process of the crawling attachment 100 driving the cleaning device 300 through a specific obstacle, the movable end 202 of the movable mechanism 200 can drive the cleaning component 210 to move, so as to clean the corresponding surface to be cleaned in the passage area. Specifically, during the process of the crawling attachment 100 driving the cleaning device 300 through a specific obstacle, the movable end 202 is driven by the movable mechanism 200 to move, thereby causing the cleaning component 210 to undergo a positional change relative to the crawling attachment 100, so that the cleaning component 210 can effectively contact and clean the corresponding surface to be cleaned in the passage area.

[0082] Please see Figure 5 For example, when the crawling attachment 100 drives the cleaning equipment 300 to climb stairs and needs to clean the step surface 410 of the stair 400, the movable end 202 can drive the cleaning component 210 (such as a cleaning brush or cloth) to move relative to the crawling attachment 100, so that the cleaning component 210 can adhere tightly to the step surface and maintain continuous contact and pressure during passage, thereby cleaning the step surface 410 and thus cleaning the corresponding surfaces to be cleaned in the passage area. It should be noted that when the cleaning component 210 is a cleaning brush, if it is necessary to clean the step surface 410 of the stair 400 during the process of the crawling attachment 100 driving the cleaning equipment 300 to climb stairs, the cleaning action should usually be performed from the upper step surface to the lower step surface when the crawling attachment 100 descends the stairs, that is, a top-down cleaning strategy should be adopted.

[0083] If the cleaning component 210 is a vacuum cleaner head or a rag, when the crawling attachment 100 drives the cleaning equipment 300 up the stairs, if it is necessary to clean the step surface 410 of the stair 400, this can be done during the crawling attachment 100's descent, performing a cleaning action from the upper step surface to the lower step surface, i.e., adopting a top-down cleaning strategy. Alternatively, it can be done during the crawling attachment 100's ascent, performing a cleaning action from the lower step surface to the upper step surface, i.e., adopting a bottom-up cleaning strategy. In this embodiment, the crawling attachment 100 of the cleaning system 1000 is provided with a movable mechanism 200, and the cleaning component 210 is installed on the crawling attachment 100 through this movable mechanism 200. When the crawling attachment 100 drives the cleaning equipment 300 through a specific obstacle, the movable mechanism 200 drives the cleaning component 210 to move relative to the crawling attachment 100, so as to dynamically adjust the running posture of the cleaning component 210. This adjustment enables the cleaning component 210 to remain close to or in contact with the surface of the obstacle (such as a threshold or step) throughout the passage, thereby achieving effective cleaning of the corresponding surfaces to be cleaned within the passage area.

[0084] Please see Figure 5 , Figure 7 and Figure 8 In one embodiment of this utility model, the movable mechanism 200 includes a lifting component 250, which is linked to the movable mechanism 200. Driven by the lifting component 250, the movable end 202 has a falling position and a rising position. When the movable end 202 is in the falling position, the cleaning component 210 contacts the surface to be cleaned, thereby starting the cleaning operation; and when the movable end 202 is in the rising position, the cleaning component 210 leaves the surface to be cleaned, and the cleaning operation stops.

[0085] The specific structure of the lifting assembly 250 is not limited. In some embodiments, the lifting assembly 250 can be a translation mechanism capable of driving the movable end 202 to move vertically up and down along the height direction of the crawling attachment 100. For example, it can be a motor and ball screw structure, with the moving end of the ball screw connected to the movable end 202 and the rotating end of the ball screw connected to the output shaft of the motor. The ball screw extends along the height direction of the crawling attachment 100. When the motor runs, it drives the ball screw to run, thereby driving the movable end 202 to move up and down along the height direction of the crawling attachment 100, so as to realize the movement of the movable end 202 between the falling position and the lifting position. The lifting assembly 250 can also be a cylinder, with one of the cylinder body or the piston end of the cylinder fixedly connected to the crawling attachment 100 and the other fixedly connected to the movable end 202. The cylinder extends and retracts along the height direction of the crawling attachment 100, thereby driving the movable end 202 to move between the falling position and the lifting position.

[0086] In other embodiments, the lifting assembly 250 may also be a rotating mechanism capable of driving the movable end 202 to swing up and down along the crawling attachment 100 in the height direction. For example, it may be a motor and a linkage mechanism. When the motor operates, it drives the linkage mechanism to cause the movable end 202 to swing up and down relative to the crawling attachment 100, thereby enabling the movable end 202 to move between a falling position and a rising position. For example, in one embodiment, the lifting assembly 250 may also be a motor and a pull rope structure. The two ends of the pull rope are respectively connected to the movable end 202 and the output end of the motor. When the motor operates, it can wind or release the pull rope, and the movable end 202 moves between the falling position and the rising position under the pulling force of the pull rope. In another embodiment, a rotating shaft is rotatably connected to the crawling attachment 100, and the mounting end 201 is fixedly connected to the rotating shaft. The lifting assembly 250 is a motor or a combination of a motor and a gear set. When the lifting assembly 250 is a motor, the motor's output end is coaxially fixed to the rotating shaft. Driving the rotating shaft drives the mounting end 201 to rotate, which in turn causes the movable end 202 to swing up and down. When the lifting assembly 250 is a combination of a motor and a gear set, the motor's output shaft is connected to the input end of the gear set, and the gear set's output end is fixed to the rotating shaft. The motor drives the gear set to run, and the gear set drives the rotating shaft to rotate, thereby driving the mounting end 201 to rotate, which in turn causes the movable end 202 to swing up and down. It should be noted that in this embodiment, the falling position of the movable end 202 relative to the crawling attachment 100 is not a fixed position, but needs to be adjusted according to the type of obstacles encountered by the crawling attachment 100 during its passage. For details, please refer to... Figure 5 When the crawling attachment 100 travels on the stairs 400, in order to clean the step surface 410 of the stairs 400, the falling position of the movable end 202 needs to be adjusted so that the cleaning component 210 can effectively contact the step surface 410 to perform the cleaning operation. When the crawling attachment 100 needs to cross a threshold, in order to clean the threshold surface, the falling position of the movable end 202 needs to be adjusted accordingly to ensure that the cleaning component 210 can contact the threshold surface for cleaning. In this embodiment, the lifting position of the movable end 202 relative to the crawling attachment 100 can be a fixed position or a non-fixed position, as long as it is ensured that the cleaning component 210 can leave the surface to be cleaned when in the lifting position.

[0087] In this embodiment, a lifting assembly 250 is provided, enabling the movable end 202 to switch between a descending position and a raised position. In the descending position, the cleaning component 210 contacts the surface to be cleaned to perform cleaning operations; in the raised position, the cleaning component 210 leaves the surface to be cleaned, and the cleaning operation stops. Thus, the cleaning system 1000 can flexibly control the cleaning operation mode according to the type of actual obstacle during its movement. When encountering a surface to be cleaned (such as the step surface 410 of the staircase 400), the movable end 202 can descend to the descending position, allowing the cleaning component 210 to perform the cleaning operation. When a specific obstacle does not require cleaning or the crawling attachment 100 enters a non-cleanable area, the movable end 202 can rise to the raised position, lifting the cleaning component 210 off the ground, effectively avoiding ineffective cleaning, equipment jamming, or component wear.

[0088] Please see Figure 7 and Figure 8 In one embodiment of this utility model, the lifting assembly 250 includes a first driving assembly 252, and the mounting end 201 is rotatably connected to the crawling attachment 100. The rotatable connection method includes, but is not limited to, a rotatable connection via a rotating shaft. Optionally, in this embodiment, a rotating shaft 113 is fixedly mounted on the support mechanism 110, and the mounting end 201 is correspondingly provided with a mounting shaft hole. The rotating shaft 113 rotatably passes through the mounting shaft hole, thereby realizing the rotatable connection of the mounting end 201 relative to the crawling attachment 100. The first driving assembly 252 is used to drive the mounting end 201 to rotate around a first axis, so as to realize the movement of the movable end 202 between the falling position and the lifting position. The extension direction of the first axis is perpendicular to the traveling direction of the crawling attachment 100.

[0089] There are several ways in which the first drive assembly 252 can drive the mounting end 201 to rotate around the first axis. For example, the first drive assembly 252 can be a combination of a motor and a pull rope, with one end of the pull rope connected to the output shaft of the motor and the other end connected to the mounting end 201. By operating the motor, the pull rope is wound or released, thereby realizing the rotation of the mounting end 201 relative to the crawling attachment 100. The first drive assembly 252 can also be a cylinder structure, with one of the cylinder body and the movable end 202 rotatably connected to the crawling attachment 100, and the other hinged to the mounting end 201. The rotation of the mounting end 201 relative to the crawling attachment 100 is realized by the extension and retraction of the piston end.

[0090] In this embodiment, the movement of the movable end 202 between the falling position and the lifting position is achieved by the first drive component 252 driving the mounting end 201 to rotate around the first axis. Compared with a mechanism that directly lifts and lowers along the height direction of the crawling attachment 100, this rotary lifting structure occupies less installation space in the height direction of the crawling attachment 100, which is beneficial for controlling the overall height of the crawling attachment 100. This facilitates the storage of the crawling attachment 100 and allows it to easily enter and exit the base station of the cleaning equipment 300. In addition, since the first axis is set perpendicular to the travel direction of the crawling attachment 100, the lifting motion and the forward direction of the crawling attachment 100 are spatially perpendicular. This not only reduces the mutual interference between the lifting motion and the travel motion of the crawling attachment 100, but also helps to maintain the stability of the overall center of gravity of the cleaning system 1000 during the lifting process, reducing the interference of the position change of the movable mechanism 200 on the smoothness of the crawling attachment 100's movement.

[0091] In one embodiment of this utility model, please refer to Figure 2 The crawling attachment 100 has a first clearance space 111 on the side near the mounting end 201. The first clearance space 111 is configured to avoid the mounting end 201 during rotation around the first axis. Specifically, the first clearance space 111 is provided on the support mechanism 110.

[0092] The first clearance space 111 is a groove structure formed on the support mechanism 110, and at least a portion of the mounting end 201 extends into this groove. Specifically, the rotating shaft 113 is disposed within the first clearance space 111, and the mounting end 201 is rotatably connected to the rotating shaft 113. When the mounting end 201 rotates around the first axis and drives the movable end 202 to move between the falling position and the lifting position, the mounting end 201 can move freely within the groove without contacting the groove wall, thereby achieving effective clearance with the crawling attachment 100 and ensuring the smoothness of the lifting action.

[0093] The specific structure of the groove can be varied. For example, the groove can be a through-groove structure, meaning it completely extends through the height of the crawling attachment 100. This provides the maximum rotational space for the mounting end 201, offering the strongest adaptability. Alternatively, the groove can be open only on one side of the upper or lower surface of the crawling attachment 100, with the other side closed. This groove structure helps prevent dust or debris from entering from the non-open side, while the closed structure also limits the rotation of the mounting end 201. The cross-sectional shape of the groove can also vary, such as U-shaped, rectangular, or arc-shaped, and its specific shape can be determined according to the rotation trajectory of the mounting end 201.

[0094] Optionally, please refer to Figure 2In this embodiment, the groove is designed as a rectangular groove structure. A stop is provided on the lower surface of the groove (i.e., the side facing the surface to be cleaned). The main function of this stop is to mechanically limit the downward swing of the mounting end 201, thereby limiting the extreme position of its fall. By limiting the extreme position of the fall, it is possible to effectively prevent the cleaning component 210 (such as a mop or squeegee) from being excessively squeezed and deformed due to its own weight or accidental fall when not in operation. This ensures that the cleaning component 210 can recover and maintain its optimal working shape, thus maintaining a stable cleaning effect and service life.

[0095] In this embodiment, by providing a first clearance space 111 on the crawling attachment 100, interference between the mounting end 201 and the crawling attachment 100 during rotation is effectively avoided, thereby ensuring smooth and reliable lifting action. Simultaneously, this structure reduces restrictions on the rotation angle of the mounting end 201, making it possible to increase the lifting angle range and further expand the activity range of the cleaning component 210. Furthermore, the mounting end 201 can extend partially or completely into the support mechanism 110, significantly reducing the external space occupied by the moving mechanism 200 in the direction of travel of the crawling attachment 100, which is beneficial for achieving a compact overall structure of the cleaning system 1000.

[0096] Please see Figure 7 and Figure 8 In one embodiment of this utility model, the first driving assembly 252 includes a first driving member 2521 and a pull rope 2522. The first driving member 2521 is disposed on the crawling attachment 100, specifically, it is mounted on the support mechanism 110. One end of the pull rope 2522 is fixedly connected to the mounting end 201, and its fixing method can be selected in various ways. For example, a through hole can be provided in the mounting end 201, allowing the pull rope 2522 to pass through the through hole and be tightened and fixed. Alternatively, a protrusion can be provided in the mounting end 201, and the pull rope 2522 can be fastened to the protrusion. The other end of the pull rope 2522 is fixedly connected to the output end of the first driving member 2521.

[0097] The first driving component 2521 can be a motor, a combination of a motor and a reducer, or a hydraulic motor, etc., and its output end is a rotatable output structure. When the first driving component 2521 is running, it can rewind or release the pull rope 2522. When the pull rope 2522 is rewinding, the mounting end 201 rotates around its own rotation center in a first rotation direction under the action of the pulling force, thereby driving the movable end 202 to rise; conversely, when the pull rope 2522 is released, the mounting end 201 rotates around its own rotation center in a second rotation direction opposite to the first rotation direction, thereby driving the movable end 202 to fall.

[0098] When the first drive unit 2521 activates and retracts the pull rope 2522, the pull rope 2522 is gradually shortened. Since the distal end of the pull rope 2522 (the end furthest from the output end of the first drive unit 2521) is fixed to the mounting end 201, it applies a pulling force to the mounting end 201 in the direction of the first drive unit 2521. This pulling force acts on the mounting end 201, creating a torque that causes the mounting end 201 to rotate about its rotation center in a first rotational direction, thereby lifting the movable end 202 upwards. Conversely, when the first drive unit 2521 releases the pull rope 2522, the pulling force acting on the mounting end 201 decreases or disappears. At this time, under the weight of the movable end 202, the cleaning component 210, and other components, or under the action of other reset mechanisms (such as springs), the mounting end 201 will rotate about its rotation center in a second rotational direction opposite to the first rotational direction, thereby causing the movable end 202 to fall.

[0099] It should be noted that, in order for the pull rope 2522 to effectively drive the installation end 201 to rotate relative to the crawling attachment 100, the position of the pull point 2012 of the pull rope 2522 acting on the installation end 201 must meet specific torque conditions. Specifically, along the height direction of the crawling attachment 100, the position of this pull point 2012 should be set above the pivot 113 between the installation end 201 and the crawling attachment 100. When the pull rope 2522 is taut, the pulling force acting on this pull point 2012 will generate a torque that drives the installation end 201 to rotate with the pivot 113 as the fulcrum.

[0100] Specifically, with Figure 8 For example, along the height direction of the crawling attachment 100, the traction point 2012 is located above the rotating shaft 113 and close to the upper surface of the mounting end 201. The output end of the first drive member 2521 is lower than the traction point 2012, and the traction rope 2522 extends from the traction point 2012 to the output end of the first drive member 2521 in a downward oblique direction. It should be noted that in the embodiment where the guide wheel 260 is set as described below, the output end of the first drive member 2521 may not be lower than the traction point 2012, but the starting section of the traction rope 2522 still needs to be downward obliquely. The starting section of the traction rope 2522 refers to the rope segment from the traction point 2012 to the guide wheel 260.

[0101] Think Figure 8For example, along the travel direction of the crawling attachment 100, the traction point 2012 can also be located to the left of the rotating shaft 113, the output end of the first drive member 2521 is located above the traction point 2012, and the traction rope 2522 extends obliquely upward from the traction point 2012 to the output end of the first drive member 2521. It should be noted that in the embodiment where the guide wheel 260 is set as described below, the output end of the first drive member 2521 may not be located above the traction point 2012, but the starting section of the traction rope 2522 still needs to be obliquely upward. Here, the starting section of the traction rope 2522 refers to the rope segment from the traction point 2012 to the guide wheel 260.

[0102] In this embodiment, the first drive assembly 252 comprises only two core components: the first drive element 2521 and the pull rope 2522. The overall structure is relatively simple, with fewer components. This means that the probability of failure during operation of the first drive assembly 252 is lower, contributing to improved overall reliability of the cleaning system 1000. It also reduces the installation space occupied by the first drive assembly 252, facilitating a compact design. Furthermore, the pull rope 2522, being a rope, allows for flexible adjustment of the force transmission direction using pulleys and other structures. This frees the installation location of the first drive element 2521 from the vicinity of the installation end 201, enabling it to be placed in other areas with ample space, good heat dissipation, and easy maintenance. This feature provides greater flexibility for a compact and rational layout of the overall structure. Additionally, because the pull rope 2522 operates stably under tension and is less prone to instability, and possesses a degree of flexibility, it better adapts to load fluctuations and buffers impact loads, thus helping to protect the first drive element 2521 and extend its service life.

[0103] Please see Figure 8 In one embodiment of this utility model, the installation direction of the first driving member 2521 on the crawling attachment 100 is consistent with the height direction of the crawling attachment 100, and the output end of the first driving member 2521 faces the bottom wall side of the crawling attachment 100. As a supporting component of the cleaning device 300, the crawling attachment 100 typically needs sufficient height to meet load-bearing requirements and ensure the smooth operation of the cleaning device 300 when crossing obstacles. However, the width of the crawling attachment 100 needs to cover the width of the cleaning device 300 itself, and crawling mechanisms 120 need to be installed on both sides, resulting in a relatively tight space in the width direction for the crawling attachment 100. In this embodiment, by arranging the first driving member 2521 along the height direction, its occupation of the width space of the crawling attachment 100 can be effectively reduced, and the space margin in the height direction of the crawling attachment 100 can be fully utilized. Therefore, this installation method helps to optimize the spatial layout of the crawling attachment 100 and improve the overall structural compactness.

[0104] In one embodiment of this utility model, the first driving component 252 includes a first driving member 2521 and a pull rope 2522. The first driving member 2521 is disposed on the crawling attachment 100, and the mounting end 201 is provided with a through hole. One end of the pull rope 2522 is fixedly connected to the output end of the first driving member 2521, and the other end passes through the through hole and is fixedly connected to the crawling attachment 100. The first driving member 2521 can retract or release the pull rope 2522. When the pull rope 2522 is retracted, the mounting end 201 rotates around the rotation center of the mounting end 201 in a first rotation direction under the pulling force of the pull rope 2522, thereby driving the movable end 202 to rise. When the pull rope 2522 is released, the mounting end 201 rotates around the rotation center of the mounting end 201 in a second rotation direction opposite to the first rotation direction, thereby driving the movable end 202 to fall.

[0105] This embodiment Figure 8 The difference in the illustrated embodiment lies in the connection method between the pull rope 2522 and the mounting end 201. In this embodiment, the mounting end 201 is provided with a through hole, one end of the pull rope 2522 is fixedly connected to the output end of the first drive member 2521, and the other end passes through the through hole and is fixedly connected to the crawling attachment 100.

[0106] When the first drive unit 2521 is activated and the pull rope 2522 is wound up, the pull rope 2522 is gradually shortened. Since the distal end of the pull rope 2522 is fixed to the crawling attachment 100, the portion passing through the through hole applies a pulling force in the direction of the first drive unit 2521 to the hole wall of the mounting end 201. This pulling force acts at the through hole, creating a torque that causes the mounting end 201 to rotate about its rotation center in a first rotation direction, thereby effectively lifting the movable end 202 upward. Conversely, when the first drive unit 2521 releases the pull rope 2522, the pulling force acting on the through hole of the mounting end 201 decreases or disappears. At this time, under the weight of the movable end 202, the cleaning component 210, and other components, or under the action of other reset mechanisms (such as springs), the mounting end 201 will rotate about its rotation center in a second rotation direction opposite to the first rotation direction, thereby causing the movable end 202 to fall. During this process, the first drive unit 2521 releases the rope synchronously to adapt to changes in the position of the installation end 201.

[0107] Similarly, thinking Figure 8For example, along the height direction of the crawling attachment 100, a through hole is located above the rotating shaft 113 and close to the upper surface of the mounting end 201. After the pull rope 2522 passes through the through hole, a pull point 2012 is formed at the position of the through hole. The output end of the first drive member 2521 is lower than the pull point 2012, that is, lower than the position of the through hole. The pull rope 2522 extends from the pull point 2012 to the output end of the first drive member 2521 in a downward direction. It should be noted that in the embodiment where the guide wheel 260 is set below, the output end of the first drive member 2521 may not be lower than the pull point 2012, but the starting section of the pull rope 2522 still needs to be downward. The starting section of the pull rope 2522 refers to the rope segment from the pull point 2012 to the guide wheel 260.

[0108] Think Figure 8 For example, along the height direction of the crawling attachment 100, the through hole can also be located on the left side of the rotating shaft 113, that is, the pulling point 2012 is located on the left side of the rotating shaft 113. The output end of the first driving member 2521 is located above the pulling point 2012, that is, above the position where the through hole is set. The pulling rope extends obliquely upward from the pulling point 2012 to the output end of the first driving member 2521. It should be noted that in the embodiment where the guide wheel 260 is set as described below, the output end of the first driving member 2521 may not be located above the pulling point 2012, but the starting section of the pulling rope still needs to be obliquely upward. Here, the starting section of the pulling rope 2522 refers to the rope segment from the pulling point 2012 to the guide wheel 260.

[0109] This embodiment, by providing a through hole on the mounting end 201 fixed to the crawling attachment 100 as a mounting point and force-bearing point, can also convert the linear retraction and extension motion of the first driving member 2521 into the rotational motion of the mounting end 201. The structure is simple and reliable, and thus can also achieve… Figure 8 The beneficial effects of the illustrated embodiments.

[0110] In one embodiment of this utility model, the first driving assembly 252 includes a first driving member 2521 and a pull rope 2522. The first driving member 2521 is disposed on the mounting end 201. One end of the pull rope 2522 is fixedly connected to the output end of the first driving member 2521, and the other end is fixedly connected to the crawling attachment 100. The first driving member 2521 can wind up or release the pull rope 2522. When the pull rope 2522 is winded up, the mounting end 201 rotates around the rotation center of the mounting end 201 in a first rotation direction under the pulling force of the pull rope 2522, thereby driving the movable end 202 to rise. When the pull rope 2522 is released, the mounting end 201 rotates around the rotation center of the mounting end 201 in a second rotation direction opposite to the first rotation direction, thereby driving the movable end 202 to fall.

[0111] This embodiment and Figure 8 The difference in the illustrated embodiment is that the first driving member 2521 is disposed at the mounting end 201, one end of the pulling rope 2522 is fixedly connected to the output end of the first driving member 2521, and the other end is fixedly connected to the crawling attachment 100.

[0112] In this embodiment, when it is necessary to raise the movable end 202, the first drive member 2521 activates and winds up the pull rope 2522. The distal end of the pull rope 2522 is fixed to the crawling attachment 100, forming a pull point 2012 on the crawling attachment 100. The winding action of the pull rope 2522 applies a pulling force towards the output end to the first drive member 2521 itself. Since the first drive member 2521 is fixed to the mounting end 201, this pulling force is equivalent to acting on the mounting end 201, thereby forming a torque that drives the mounting end 201 to rotate around its rotation center in a first rotation direction, ultimately achieving the raising of the movable end 202. When it is necessary to lower the movable end 202, the first drive member 2521 reverses to release the pull rope 2522. At this time, the pulling force acting on the mounting end 201 decreases or disappears. Under the weight of components such as the movable end 202, cleaning component 210, and first driving component 2521, or under the action of other reset mechanisms (such as springs), the mounting end 201 will rotate around the rotation center in a second rotation direction opposite to the first rotation direction, thereby achieving the descent of the movable end 202. The technical solution in this embodiment can also achieve... Figure 8 The beneficial effects of the illustrated embodiments will not be described again here.

[0113] Specifically, in one embodiment, along the height direction of the crawling attachment 100, the traction point 2012 on the crawling attachment 100 is located below the rotating shaft 113. The output end of the first drive member 2521 is higher than the traction point 2012 and closer to the upper surface of the mounting end 201. The traction rope 2522 extends obliquely upward from the traction point 2012 to the output end of the first drive member 2521. It should be noted that in the embodiment where the guide wheel 260 is provided below, the output end of the first drive member 2521 may not be higher than the traction point 2012, but the starting section of the traction rope 2522 still needs to be obliquely upward. The starting section of the traction rope 2522 refers to the rope segment from the traction point 2012 to the guide wheel 260.

[0114] In another embodiment, along the traveling direction of the crawling attachment 100, the output end of the first drive member 2521 is located to the left of the rotating shaft 113, and the traction point on the crawling attachment 100 is higher than the output end of the first drive member 2521. The traction rope 2522 extends from the traction point 2012 to the output end of the first drive member 2521 in a downward direction. It should be noted that in the embodiment where the guide wheel 260 is set as described below, the output end of the first drive member 2521 may not be located below the traction point 2012, but the starting section of the traction rope 2522 still needs to be downward. The starting section of the traction rope 2522 refers to the rope segment from the traction point 2012 to the guide wheel 260.

[0115] In one embodiment of this utility model, the first driving component 252 includes a first driving member 2521 and a pulling rope 2522. The first driving member 2521 is disposed on the mounting end 201. The crawling attachment 100 is provided with a through hole. One end of the pulling rope 2522 is fixedly connected to the output end of the first driving member 2521, and the other end passes through the through hole and is fixedly connected to the mounting end 201. The first driving member 2521 can wind up or release the pulling rope 2522. When the pulling rope 2522 is winded up, the mounting end 201 rotates around the rotation center of the mounting end 201 in a first rotation direction under the pulling force of the pulling rope 2522, so as to drive the movable end 202 to rise. When the pulling rope 2522 is released, the mounting end 201 rotates around the rotation center of the mounting end 201 in a second rotation direction opposite to the first rotation direction, so as to drive the movable end 202 to fall.

[0116] The difference between this embodiment and the previous embodiment lies in the connection method between the pull rope 2522 and the crawling attachment 100. In this embodiment, the crawling attachment 100 is provided with a through hole, one end of the pull rope 2522 is fixedly connected to the output end of the first drive member 2521, and the other end passes through the through hole and is fixedly connected to the mounting end 201.

[0117] When the first drive unit 2521 activates and retracts the pull rope 2522, the pull rope 2522 is gradually shortened. Since the distal end of the pull rope 2522 is fixed to the mounting end 201, the portion passing through the through hole on the crawling attachment 100 applies a pulling force to the hole wall in the direction of the first drive unit 2521. This pulling force acts at the through hole, creating a torque that causes the mounting end 201 to rotate about its rotation center in a first rotation direction, thereby effectively lifting the movable end 202 upward. Conversely, when the first drive unit 2521 releases the pull rope 2522, the pulling force acting on the through hole of the crawling attachment 100 decreases or disappears. At this time, under the weight of the movable end 202, the cleaning component 210, the first drive unit 2521, and other components, or under the action of other reset mechanisms (such as springs), the mounting end 201 will rotate about its rotation center in a second rotation direction opposite to the first rotation direction, thereby causing the movable end 202 to fall. During this process, the first drive unit 2521 releases the rope synchronously to adapt to changes in the position of the installation end 201.

[0118] Specifically, in one embodiment, the crawling attachment 100 has a through hole, through which the pull rope 2522 is installed, forming a pull point 2012 at the position of the through hole. Along the height direction of the crawling attachment 100, the pull point 2012 is located below the rotating shaft 113. The output end of the first drive member 2521 is higher than the position of the through hole and close to the upper surface of the mounting end 201. The pull rope 2522 extends obliquely upward from the pull point 2012 to the output end of the first drive member 2521. It should be noted that in the embodiment where the guide wheel 260 is provided, the output end of the first drive member 2521 may not be higher than the pull point 2012, but the starting section of the pull rope 2522 still needs to be obliquely upward. The starting section of the pull rope 2522 refers to the rope segment from the pull point 2012 to the guide wheel 260.

[0119] In another embodiment, the crawling attachment 100 has a through hole through which the pull rope 2522 is installed, forming a pull point 2012 at the location of the through hole. Along the traveling direction of the crawling attachment 100, the output end of the first drive member 2521 is located to the left of the rotating shaft 113, and the through hole on the crawling attachment 100 is positioned higher than the output end of the first drive member 2521, meaning the pull point 2012 is higher than the output end of the first drive member 2521. The pull rope 2522 extends obliquely downwards from the pull point 2012 to the output end of the first drive member 2521. It should be noted that in the embodiment where the guide wheel 260 is provided, the output end of the first drive member 2521 may not be located below the pull point 2012, but the initial segment of the pull rope 2522 still needs to be obliquely downwards. The initial segment of the pull rope 2522 refers to the rope segment from the pull point 2012 to the guide wheel 260.

[0120] This embodiment, by providing through holes on the crawling attachment 100 as connection points and force-bearing points, can convert the linear retraction and extension motion of the first driving member 2521 into the rotational motion of the mounting end 201. The structure is simple and reliable, and thus can also achieve… Figure 8 The beneficial effects of the illustrated embodiments.

[0121] Please see Figure 11 and Figure 12 In one embodiment of this utility model, an elastic reset member 251 is further provided between the mounting end 201 and the crawling attachment 100. When the pull rope 2522 is wound up, the mounting end 201 rotates around the rotation center of the mounting end 201 in a first rotation direction under the action of the pulling force, and the elastic reset member 251 stores elastic potential energy. When the pull rope 2522 is released, the elastic reset member 251 releases the elastic potential energy, driving the mounting end 201 to rotate around the rotation center of the mounting end 201 in a second rotation direction, so that the cleaning member 210 is reset to the falling position.

[0122] The specific structure of the elastic reset member 251 is not limited. In one embodiment, the elastic reset member 251 can be a torsion spring, which is sleeved on the rotating shaft 113. The two abutting parts of the torsion spring abut against the mounting end 201 and the support mechanism 110, respectively. The torsional deformation of the torsion spring stores and releases elastic potential energy. In another embodiment, the elastic reset member 251 can also be a tension spring or a compression spring, whose two ends can be hinged to the mounting end 201 and the support mechanism 110, respectively, and the reset function is achieved by the tension or compression of the spring.

[0123] By incorporating the elastic reset component 251, the descent and reset process of the cleaning component 210 can be driven by its actively released elastic potential energy, providing a deterministic power source. In contrast, the passive reset structure, relying solely on the weight of the cleaning component 210 and the mounting end 201, depends entirely on gravity for its reset action. This makes it susceptible to interference from factors such as frictional resistance at the pivot 113, oil adhesion, or hair entanglement, leading to reset failure or incomplete reset. Furthermore, the elastic reset component 251 provides a large initial torque upon release, driving the mounting end 201 to rotate rapidly, enabling the cleaning component 210 to fall quickly. This helps shorten the time interval for the movable end 202 to return from the raised state to the lowered state, thus improving the efficiency of adjusting the operating posture of the cleaning component 210.

[0124] In one embodiment of this utility model, the elastic reset member 251 possesses elastic potential energy in both the falling and rising positions of the movable end 202. This configuration ensures that the elastic reset member 251 maintains a certain amount of elastic potential energy throughout the up-and-down swinging process between the falling and rising positions, thereby balancing and restraining the elastic potential energy with the tension of the pull rope 2522. This improves the stability of the mounting end 201 during the up-and-down swinging process, and consequently, improves the stability of the movable end 202 during the up-and-down swinging process. (See also...) Figure 8 and Figure 10 In one embodiment of this utility model, the crawling attachment 100 is further provided with a guide wheel 260 for guiding the running path of the pull rope 2522. Along the height direction of the crawling attachment 100, the installation position of the guide wheel 260 is lower than the connection point of the pull rope 2522 on the mounting end 201. The section of the pull rope 2522 located between the output end of the first driving member 2521 and the mounting end 201 passes around the lower side of the guide wheel 260 and abuts against the outer peripheral surface of the guide wheel 260.

[0125] One guide wheel 260 can be provided. The function of this guide wheel 260 is to convert the pulling force output by the first driving member 2521 into an effective pulling force with a clear downward component, thereby driving the mounting end 201 to rotate and lift against the elastic force of the elastic reset member 251 or its own weight. Multiple guide wheels 260 can also be provided, forming a guiding path system. The combined application of multiple guide wheels 260 allows for more complex path planning, avoids interference or wear between the traction rope 2522 and the internal structure of the crawling attachment 100, and optimizes the force transmission angle to ensure traction efficiency.

[0126] In this embodiment, by setting the installation height of the guide wheel 260 below the connection point of the pull rope 2522 on the mounting end 201, the guide wheel 260 functions similarly to a fixed pulley. This allows the tension in a fixed direction generated by the first drive member 2521 on the pull rope 2522 to be converted into an effective tension force acting on the mounting end 201 with a clear downward component. This force direction conversion mechanism provides greater freedom in the layout of the first drive member 2521. The first drive member 2521 can be flexibly installed in an empty position on the side or rear of the support mechanism 110 according to the internal space planning of the crawling attachment 100, and finally guide the tension to the target path through the guide wheel 260.

[0127] Please see Figure 3 and Figure 4In one embodiment of this utility model, the movable mechanism 200 further includes a third drive assembly 240, which is disposed at the movable end 202 and is used to drive the cleaning component 210 to rotate for rotating cleaning of the surface to be cleaned. The third drive assembly 240 may be a motor, a combination of a motor and a gear transmission structure, a combination of a motor and a worm gear, etc. Optionally, in this embodiment, the third drive assembly 240 includes a third drive component 241 and a third gear assembly 242. The third drive component 241 is disposed at the movable end 202, the input end of the third gear assembly 242 is connected to the output shaft of the third drive component 241, and the output end of the third gear assembly 242 is connected to the cleaning component 210. When the third drive component 241 operates, it drives the third gear assembly 242 to operate, thereby driving the cleaning component 210 to rotate. Exemplarily, in this embodiment, the cleaning component 210 is a cleaning brush, which has a strip-shaped structure. One end of the cleaning brush in the length direction is connected to the output end of the third gear assembly 242, and the other end is provided with bristles.

[0128] Since the third drive assembly 240 can drive the cleaning component 210 to rotate, the cleaning trajectory of the cleaning component 210 can be transformed from a straight line or simple planar movement into a rotational path, thereby expanding the cleaning range of the cleaning component 210. Simultaneously, when cleaning irregularly shaped or large surfaces, the rotational cleaning method can quickly move the cleaning component 210, reducing blind spots, improving the thoroughness of cleaning, and ensuring cleaning effectiveness. Furthermore, since the friction between the cleaning component 210 and the surface to be cleaned increases with speed during rotation, it is more effective at removing dirt and dust. For example, for stubborn stains, the rotational cleaning method can enhance friction, making them easier to remove and improving the cleaning effect.

[0129] Please see Figure 3 and Figure 4In one embodiment of this utility model, the movable mechanism 200 further includes a movable arm 220 and a second drive assembly 230. One end of the movable arm 220 is rotatably connected to the mounting end 201, and the rotatable connection method includes, but is not limited to, a shaft connection. The movable arm 220 forms the movable end 202 of the movable mechanism 200. The cleaning component 210 is mounted on the other end of the movable arm 220. The second drive assembly 230 is disposed on the mounting end 201 or the movable arm 220, and is used to drive the movable arm 220 to swing relative to the crawling attachment 100. The structure of the second drive assembly 230 can be various, such as a motor, a motor and gear assembly, a motor and worm gear, etc. Optionally, in this embodiment, the second drive assembly 230 includes a second drive member 231 and a second gear assembly 232. The mounting end 201 is provided with a mounting cavity 2011. The second driving member 231 is disposed within the mounting cavity 2011. The input end of the second gear assembly 232 is connected to the second driving member 231, and the output end of the second gear assembly 232 is connected to the movable arm 220. Specifically, one end of the movable arm 220 is fixed with a shaft, and one end of the movable arm 220 is rotatably connected to the mounting end 201 via the shaft. The output end of the second gear assembly 232 is coaxially fixed to the shaft. The movement of the second driving member 231 drives the second gear assembly 232 to run, thereby causing the movable arm 220 to rotate relative to the mounting end 201. The second driving member 231 can be a motor, a hydraulic motor, or a combination of a motor and a reducer, etc.

[0130] It should be noted that in this embodiment, the swing direction of the movable arm 220 relative to the mounting end 201 is perpendicular to the swing direction of the movable end 202 relative to the crawling attachment 100.

[0131] In this embodiment, by setting up a movable arm 220 and a second drive component 230, the second drive component 230 is used to drive the movable arm 220 to swing relative to the crawling attachment 100, which in turn can drive the cleaning component 210 connected to the movable arm 220 to swing synchronously, thereby expanding the cleaning area of ​​the cleaning component 210. This design enables the cleaning component 210 to perform cleaning operations in a larger area, improving cleaning efficiency and coverage.

[0132] In one embodiment, in a configuration with a movable arm 220 and a second drive assembly 230, the cleaning component 210 may be fixedly connected to the movable arm 220, meaning the cleaning component 210 cannot rotate relative to the movable arm 220. In this case, the cleaning area of ​​the cleaning component 210 is determined solely by the swing range of the movable arm 220.

[0133] In another embodiment, in a configuration with a movable arm 220 and a second drive assembly 230, the cleaning component 210 may be rotatably connected to the movable arm 220, meaning the cleaning component 210 can rotate relative to the movable arm 220 around itself. In this case, the cleaning area of ​​the cleaning component 210 can be determined jointly by the swing of the movable arm 220 and the rotation of the cleaning component 210 itself.

[0134] Please see Figure 1 and Figure 2 In one embodiment of this utility model, under the drive of the second drive assembly 230, the movable arm 220 can be in the retracted position (e.g., Figure 2 (as shown in position III) and the outer swing position (as shown in position III) Figure 2 The arm moves between positions IV and V. In the retracted position, the angle between the extension direction of the movable arm 220 and the travel direction of the crawling attachment 100 is less than or equal to a preset angle. In the swing-out position, the angle between the extension direction of the movable arm 220 and the travel direction of the crawling attachment 100 is greater than the preset angle. The cleaning component 210 is capable of cleaning the surface to be cleaned between the retracted and swing-out positions.

[0135] Specifically, the preset angle is an angle parameter manually set in the product design according to specific needs. In this embodiment, the preset angle is preferably set to 90°, that is, the extension direction of the movable arm 220 is perpendicular to the travel direction of the crawling attachment 100, such as... Figure 2 As shown in position III. In the retracted position, the movable arm 220 and the cleaning component 210 are positioned close to the wall of the support mechanism 110, and the whole assembly is in a retracted state relative to the support mechanism 110. In the outward position, compared to the retracted position, the movable arm 220 and the cleaning component 210 are moved away from the wall of the support mechanism 110, and at this time, they are in an extended state relative to the support mechanism 110.

[0136] In this embodiment, by setting a retracted position and an outward swing position, the operating mode of the movable arm 220 can be easily controlled. For example, when the cleaning component 210 does not need to perform cleaning operations, the movable arm 220 can be controlled to switch to the retracted position. In this position, since the movable arm 220 and the cleaning component 210 are close to the wall of the support mechanism 110, they form a retracted posture. Therefore, the probability of collision and interference between the cleaning component 210 and the movable arm 220 during the movement of the crawling attachment 100 can be reduced. At the same time, it is also convenient to store the crawling attachment 100 or to allow the crawling attachment 100 to enter and exit the base station of the cleaning equipment 300. When the cleaning component 210 needs to clean a surface at a more distant location, the movable arm 220 can be controlled to be in the outward swing position. In this position, since the movable arm 220 extends outward in the width direction of the crawling attachment 100, the cleaning component 210 also moves away from the wall of the support mechanism 110, forming an extended posture. Therefore, the cleaning component 210 can contact a wider surface to be cleaned, expanding the cleaning range.

[0137] In another embodiment of the present invention, the moving mechanism 200 further includes a moving arm 220 and a second drive assembly 230. One end of the moving arm 220 is rotatably connected to the mounting end 201, and the cleaning component 210 is mounted on the other end of the moving arm 220. The second drive assembly 230 drives the moving arm 220 to operate between a falling position and a rising position, and the moving arm 220 rotates about a fourth axis relative to the mounting end 201. The mounting end 201 is rotatably connected to the support mechanism 110 of the crawling attachment 100, and the first drive assembly 252 drives the mounting end 201 to rotate about a fifth axis. The fifth axis is perpendicular to the fourth axis and perpendicular to the travel direction of the crawling attachment 100.

[0138] It should be noted that the second drive component 230 and the first drive component 252 in this embodiment have similar structures to those in the above embodiments, except that the installation positions are different. However, those skilled in the art can select appropriate installation positions based on the principles of the above embodiments, so they will not be described in detail here.

[0139] With the above structure, when the height of the cleaning component 210 needs to be adjusted, the second drive assembly 230 is activated, driving the movable arm 220 to rotate around the fourth axis between the lowering and raising positions, thereby achieving contact or separation between the cleaning component 210 and the surface to be cleaned, providing the necessary pressure or clearance space for the cleaning operation. When the cleaning component 210 remains in contact with the surface to be cleaned, the first drive assembly 252 is activated, driving the mounting end 201 to swing around the fifth axis, which in turn causes the movable arm 220 and the cleaning component 210 to swing laterally, thus completing the cleaning operation on the surface to be cleaned.

[0140] Please see Figure 2In one embodiment of the present invention, in the outward swing position, the cleaning component 210 can at least partially swing outward to the outside of the width direction of the crawling attachment 100, and the width direction of the crawling attachment 100 is perpendicular to the travel direction of the crawling attachment 100.

[0141] It should be noted that the ability of the cleaning component 210 to swing outwards to the outside of the width direction of the crawling attachment 100 does not mean that this can be achieved under all passage conditions, but rather that specific spatial conditions must be met. For example, when the crawling attachment 100 travels on the staircase 400, the movable mechanism 200 is in a descending position under the action of the lifting component 250, forming a gap in the height direction between it and the crawling mechanisms 120 on both sides; at the same time, the crawling mechanisms 120 on both sides form multi-point support with the steps, and there is also a gap in the height direction between adjacent steps. In this working condition with vertical space, the movable arm 220 can drive the cleaning component 210 to swing laterally out from the gap between adjacent steps, thereby cleaning the area outside the width direction of the crawling attachment 100.

[0142] In this embodiment, since the cleaning component 210 can at least partially swing outward to the outside of the width direction of the crawling attachment 100 at the outward swing position, this setting allows the cleaning range of the cleaning component 210 to break through the limitation of the physical width of the crawling attachment 100 itself, increasing the coverage width of the cleaning operation performed by the cleaning component 210 during a single passage of the crawling attachment 100, thereby improving the cleaning efficiency of the surface to be cleaned when the crawling attachment 100 passes under specific obstacles.

[0143] Of course, it is understandable that, without considering the beneficial effects in the above embodiments, when the movable arm 220 is in the outward swing position, the cleaning component 210 may not swing outward to the outside of the width direction of the crawling attachment 100. That is, the movable arm 220 drives the cleaning component 210 to swing within the width direction of the crawling attachment 100 and perform cleaning operations.

[0144] Please see Figure 2 and Figure 5 In one embodiment of this utility model, a second clearance space 112 is further provided on the side of the crawling attachment 100 near the movable arm 220. The second clearance space 112 is configured to avoid the movable arm 220 when it is in the outward swing position. The second clearance space 112 can be implemented in various structural forms, including but not limited to: a groove structure, a rounded corner structure, or a notch structure provided on the support mechanism 110 near the outward swing direction of the movable arm 220. All spatial structure designs that can effectively prevent the movable arm 220 from contacting the support mechanism 110 during the outward swing process fall within the scope of the second clearance space 112 defined in this embodiment.

[0145] By providing a second clearance space 112, sufficient physical clearance is provided for the outward swing of the movable arm 220, thereby ensuring that the movable arm 220 can swing smoothly to the maximum outward swing angle allowed by the design. This structure effectively reduces the problem of limited outward swing angle caused by structural interference from the crawling attachment 100 itself, providing a structural basis for the design of the movable arm 220 with a larger outward swing angle, which in turn helps to increase the width of the cleaning coverage area.

[0146] Please see Figure 3 and Figure 4 In one embodiment of this utility model, the second drive assembly 230 drives the movable arm 220 to swing around the second axis 221. The movable mechanism 200 also includes a third drive assembly 240, which is disposed on the side of the movable arm 220 away from the mounting end 201. The third drive assembly 240 is used to drive the cleaning component 210 to rotate around the third axis 211 to perform a rotational cleaning operation on the surface to be cleaned. The second axis 221 and the third axis 211 are arranged parallel to each other.

[0147] In this embodiment, the movable arm 220 swings around the second axis 221, causing the cleaning component 210 to swing laterally, effectively expanding the cleaning range. Simultaneously, the cleaning component 210 rotates around the third axis 211, enhancing the cleaning intensity of the surface to be cleaned. Through the combined effect of these two movements, the coverage area is expanded while the cleaning ability is improved, resulting in a better cleaning effect. Furthermore, the second axis 221 and the third axis 211 are arranged in parallel, making the swinging and rotating movements structurally independent. This design not only simplifies the transmission mechanism and reduces mechanical complexity but also avoids the risk of interference between the two motion systems, thereby improving the stability of power transmission and the reliability of system operation.

[0148] In one embodiment of this utility model, along the traveling direction of the crawling attachment 100, the front end 101 of the crawling attachment 100 is provided with a channel 1011 for the cleaning device 300 to enter, and the rear end 102 of the crawling attachment 100 forms a hollow area 1021. The movable end 202 can drive the cleaning component 210 to move within, above, and below the hollow area 1021. Specifically, the cleaning component 210 moves in multiple positions within, above, and below the hollow area 1021, which needs to be coordinated with the up-and-down swinging motion of the movable end 202. For example, when the movable end 202 moves to the falling position, the cleaning component 210 moves below the hollow area 1021 to perform cleaning work; at this time, the cleaning component 210 is in a cleaning state. When the active end 202 moves to the raised position, the cleaning component 210 moves within or above the hollow area 1021.

[0149] Specifically, please refer to Figure 5 In one embodiment of this utility model, the lifting position includes a first lifting position (e.g., Figure 5 The position of the moving mechanism 200 at position I is shown) and the second lifting position (as shown) Figure 5 (As shown in position II, the position of the movable mechanism 200) is such that the first lifting position is located between the falling position and the second lifting position. In the first lifting position, the projected outlines of the cleaning component 210 and the movable mechanism 200 in the width direction of the crawling attachment 100 are both within the projected outline range of the crawling attachment 100 in the height direction. In the second lifting position, the cleaning component 210 is positioned above the crawling attachment 100 to perform lateral cleaning of stair railings, wall surfaces, etc., located above the crawling attachment 100.

[0150] Please see Figure 1 and Figure 2 In this embodiment, since the movable end 202 can drive the cleaning component 210 to move within, above, and below the hollow area 1021, the following beneficial effects can be achieved: On the one hand, most of the dust and impurities generated by the cleaning component 210 during cleaning operations can be directly discharged outward through the hollow area 1021 of the rear end 102, preventing them from being blown towards or accumulating on the cleaning equipment 300 installed at the front end 101 of the crawling attachment 100. This arrangement effectively reduces the risk of dust and impurities contaminating or damaging key components (such as sensors and circuits) of the front end 101. On the other hand, arranging the installation and working areas of the movable mechanism 200 and the cleaning component 210 in the rear end 102 of the crawling attachment 100, away from the channel 1011 at the front end 101 for the cleaning equipment 300 to enter and exit, this spatial isolation avoids motion interference between the movable mechanism 200 and the cleaning equipment 300 during entry and exit, thereby helping to simplify the structural design of the front end 101 area. In addition, thanks to the fact that the cleaning component 210 does not interfere with the support and movement of the crawling attachment 100 when it moves within or above the hollow area 1021, the crawling attachment 100 can achieve a continuous step surface cleaning process when moving on the stairs: after cleaning one step surface, the moving end 202 will drive the cleaning component 210 to swing to the hollow area 1021 or above the hollow area 1021, at which time the cleaning component 210 is in a retracted state; then, the crawling attachment 100 can move down to start cleaning the next step surface.

[0151] Please see Figure 1 and Figure 2 In one embodiment of this utility model, two sets of movable mechanisms 200 are provided, and the two sets of movable mechanisms 200 are respectively arranged on both sides of the crawling attachment 100 in the width direction. The outward swing position has a first outward swing position (e.g., Figure 2 The position shown in middle V) and the second outer swing position (as shown in middle V) Figure 2 (as shown in position IV). When the cleaning components 210 of the two sets of movable mechanisms 200 are running between the retracted position and the first outward swing position, the cleaning paths formed by the two sets of cleaning components 210 at least partially overlap. When running between the first outward swing position and the second outward swing position, the cleaning paths formed by the two sets of cleaning components 210 no longer interfere with each other or overlap. The two sets of movable mechanisms 200 are symmetrically arranged on both sides of the crawling attachment 100 in the width direction. Specifically, the two sets of movable mechanisms 200 are symmetrically arranged on both sides of the support mechanism 110 in the width direction, and both are located inside the support mechanism 110 in the width direction. Of course, in other embodiments, the two sets of movable mechanisms 200 may also be asymmetrically arranged on both sides of the support mechanism 110 in the width direction.

[0152] Because the cleaning paths formed by the two sets of cleaning components 210 of the two moving mechanisms 200 overlap at least partially when running between the retracted position and the first outward swing position, and no longer interfere with each other when running between the first outward swing position and the second outward swing position, this design can effectively reduce cleaning omissions in the central area of ​​the hollow area 1021, ensure the continuity of cleaning coverage in this area, and avoid the formation of cleaning blind spots. At the same time, the cleaning area of ​​the cleaning components 210 can be expanded on both sides along the width direction of the crawling attachment 100 to increase the working area of ​​the crawling attachment 100 in a single movement, thereby improving the overall working efficiency.

[0153] Please see Figure 5 In one embodiment of this utility model, the lifting position includes a first lifting position (e.g., Figure 5 The position of the moving mechanism 200 at position I is shown) and the second lifting position (as shown) Figure 5 (As shown in position II, the position of the movable mechanism 200) is such that the first lifting position is located between the falling position and the second lifting position. In the first lifting position, the projected outlines of the cleaning component 210 and the movable mechanism 200 in the width direction of the crawling attachment 100 are both within the projected outline range of the crawling attachment 100 in the height direction. In the second lifting position, the cleaning component 210 is positioned above the crawling attachment 100 to perform lateral cleaning of stair railings, wall surfaces, etc., located above the crawling attachment 100.

[0154] It should be noted that, in order to achieve lateral cleaning of the stair railings, walls, etc. above the crawling attachment 100, the cleaning component 210 may include a cleaning part (such as a brush, cloth, etc.). If the cleaning part is a vacuum cleaner head, a rotatable vacuum cleaner head can be used. When the movable end 202 is in the raised position, the cleaning part provided on the cleaning component 210 can be used to achieve lateral cleaning of the stair railings, walls, etc. above the crawling attachment 100.

[0155] In this embodiment, when the movable mechanism 200 is in the first raised position, viewed along the width direction of the crawling attachment 100, the projection outlines of both the cleaning component 210 and the movable mechanism 200 are within the projection outline of the crawling attachment 100 in the height direction. This ensures the compactness of the overall structure of the crawling attachment 100 when moving or overcoming obstacles, avoiding the risk of interference with the external environment caused by the installation height of the movable end 202 and the cleaning component 210 exceeding the height of the crawling attachment 100. When the movable mechanism 200 is raised to the second raised position, the cleaning component 210 can rise above the crawling attachment 100, thereby cleaning stair railings, walls, etc., located above the crawling attachment 100, thus expanding the cleaning range of the cleaning component 210. Therefore, in this embodiment, by setting the first and second raised positions, it is possible to ensure that the crawling attachment 100 maintains good passability and safety during movement, while also expanding the cleaning range of the cleaning component 210, achieving effective cleaning of high-level surfaces to be cleaned.

[0156] Of course, in other embodiments, the movable end 202 has a falling position and a rising position. In the falling position, the cleaning component 210 contacts the surface to be cleaned to perform the cleaning operation. In the rising position, the cleaning component 210 moves away from the surface to be cleaned, but the cleaning component 210 is not in a state of stopping the cleaning operation, but is in a state of cleaning operation. At this time, the operation of the cleaning component 210 can also be used to clean stair railings, walls, etc. located above the crawling attachment 100.

[0157] Please see Figure 5 In one embodiment of this utility model, the specific obstacle is a staircase 400, and the surface to be cleaned is the step surface 410 of the staircase 400. The cleaning component 210 is configured to drive the cleaning device 300 down the staircase 400 via the crawling attachment 100 (e.g., Figure 5 When the direction of the middle arrow is indicated, clean the step surface 410 of the staircase 400.

[0158] Since the downward direction of the cleaning device 300 driven by the crawling attachment 100 is consistent with the direction of gravity when the crawling attachment 100 drives the cleaning device 300 downward along the stairs 400, the cleaning device 210 cleans the step surface 410 of the stairs 400. This allows the dust and debris swept away by the cleaning device 210 to fall down naturally under the action of gravity, making them easy to remove or collect. This avoids problems such as dirt accumulation and crushing that may occur when cleaning upward along the stairs 400.

[0159] Please see Figure 5In one embodiment of the present invention, during the cleaning operation of the cleaning component 210 on the step surface 410, the cleaning debris on the upper step surface 410 of the staircase 400 can be swept onto the adjacent lower step surface 410 and fall down layer by layer until it is finally collected on the bottom floor surface of the staircase 400.

[0160] During the cleaning process of the cleaning unit 210 on the step surface 410, the cleaning debris on the upper step surface 410 of the staircase 400 can be swept onto the adjacent lower step surface 410 and fall down layer by layer until it is finally collected on the bottom floor surface of the staircase 400. This utilizes gravity and the staircase structure of the staircase 400 to automatically and directionally sweep the debris generated during cleaning from the upper steps to the lower steps, and finally collect it on the bottom floor surface of the staircase 400. This process achieves automatic collection of debris on the step surface 410 of the staircase 400, avoiding the need to install collection devices in the middle section of the staircase 400 or at each step surface 410, thus improving the automation level of cleaning the step surface 410 of the staircase 400. Furthermore, after cleaning, only a single concentrated cleaning is needed on the bottom floor surface of the staircase 400, thereby improving the efficiency and convenience of debris collection.

[0161] It should be noted that, since the maximum cleaning range of the cleaning component 210 varies along the width of the staircase, and the width of the staircase 400 varies in different buildings, the number of times the crawling attachment 100 drives the cleaning device 300 down the staircase 400 during actual cleaning is not fixed, but depends on the actual width of the staircase 400. Regardless of the number of descents, as long as complete coverage of the step surface 410 is achieved along the width of the staircase 400 without any areas being missed, it is acceptable. This embodiment uses the process of the crawling attachment 100 descending the staircase 400 in a single descent as an example to illustrate its cleaning control method.

[0162] During the process of the crawling attachment 100 driving the cleaning equipment 300 down the stairs 400, the control method for the cleaning component 210 to perform cleaning operations on the step surface 410 of the stairs 400 includes the following steps S1 to S6:

[0163] S1. Control the crawling attachment 100 to carry the cleaning equipment 300 down from the top step until the position of the cleaning component 210 corresponds to the position of the step surface 410 of the top step.

[0164] S2. Control the crawling attachment 100 to stop running and control the lifting component 250 to run, so as to drive the movable end 202 to swing from the raised position to the lowered position until the cleaning component 210 contacts the step surface 410 of the uppermost step.

[0165] In this step, the lifting position can be either a first lifting position or a second lifting position. Preferably, in this embodiment, the lifting position is the first lifting position. The first lifting position is closer to the falling position, therefore, the time spent by the movable end 202 switching between the two is less, which is beneficial to improving the efficiency of continuous cleaning of multiple step surfaces 410. In addition, in this step, the cleaning component 210 contacts the step surface 410 of the uppermost step, specifically, the cleaning component 210 can generate appropriate contact pressure with the step surface 410 to meet the cleaning operation requirements. It should be noted that in the first lifting position, the cleaning component 210 moves within the hollow area 1021; in the second lifting position, the cleaning component 210 moves above the hollow area 1021; and in the falling position, the cleaning component 210 moves below the hollow area 1021.

[0166] S3. Control the third drive component 240 to drive the cleaning component 210 to rotate, thereby cleaning the step surface 410 of the uppermost step.

[0167] In this step, the two cleaning components 210 can rotate in the same direction, for example, both can rotate clockwise or both can rotate counterclockwise.

[0168] The two cleaning components 210 can also rotate in different directions. For example, in one embodiment, during the cleaning operation, the two cleaning components 210 can rotate in opposite directions (e.g., Figure 6 (As shown in the direction of rotation). In another embodiment, during the cleaning operation, the two cleaning components 210 may rotate in opposite directions.

[0169] S4. After the cleaning component 210 finishes cleaning the step surface 410 of the uppermost step, control the lifting component 250 to operate so as to drive the movable end 202 to swing from the falling position to the lifting position.

[0170] In this step, since the movable end 202 can swing from the falling position to the lifting position, it can drive the cleaning component 210 to be lifted away from the cleaned step surface 210 and moved to the hollow area 1021 or above the hollow area 1021. This ensures that the cleaning component 210 and the movable end 202 will not interfere with the crawling attachment 100 descending along the stairs 400.

[0171] S5. Control the crawling attachment 100 to descend along the stairs 400 until the position of the cleaning component 210 corresponds to the position of the 410 step surface of the adjacent step below the top step.

[0172] S6. Repeat steps S2 to S4 above until all steps 410 on the staircase 400 are cleaned.

[0173] In one embodiment of the above control method, in step S3, the third drive component 2400 is operated to drive the cleaning component 210 to rotate, thereby cleaning the step surface 410 of the uppermost step, and the method further includes:

[0174] The second drive assembly 230 is controlled to operate, thereby driving the movable arm 220 to swing between the outward swing position and the inward retraction position.

[0175] Specifically, the swing direction of the movable arm 220 is possible in two ways: one is to swing from the inward position to the outward position, and the other is to swing from the outward position to the inward position. Furthermore, the swinging patterns of the two movable arms are also twofold: they can swing towards each other or swing in opposite directions. This embodiment does not limit the specific swing direction and pattern of the movable arm 220.

[0176] It should be noted that during the swinging process of the movable arm 220, the third drive component 240 can be in a working state of driving the cleaning component 210 to rotate, or in a non-working state of stopping the rotation of the cleaning component 210. Preferably, in this embodiment, during the swinging process of the movable arm 220, the third drive component 240 is in a non-working state of stopping the rotation of the cleaning component 210, that is, the cleaning component 210 is in a non-rotating state. This setting helps to reduce the additional swing resistance caused by the rotation of the cleaning component 210, thereby ensuring the smoothness of the movement and the positioning accuracy of the movable arm 220 during the swinging process.

[0177] In one embodiment of the control method, the movable arm 220 includes multiple swing positions, and the second drive assembly 230 is controlled to operate to drive the movable arm 220 to swing between an outward swing position and an inward retraction position. The method also includes:

[0178] Control the movable arm 220 to move from the outward swing position to the inward retraction position in sequence, and control the two cleaning parts 210 to rotate in opposite directions when they stop at each position.

[0179] Since the two cleaning components 210 rotate in opposite directions, they can concentrate and diffuse dust into the area between the two cleaning components 210. Combined with the movement of the movable arm 220 moving from the outward swing position to the inward retraction position step by step, the dust can be swept from the outside of the current step surface to the inside of the current step surface along the swing direction of the movable arm 220, and finally all the dust on the current step surface is swept to the next step surface.

[0180] In one embodiment of the control method, the movable arm 220 includes multiple swing positions, and the second drive assembly 230 is controlled to operate to drive the movable arm 220 to swing between an outward swing position and an inward retraction position. The method also includes:

[0181] Control the movable arm 220 to move from the inward position to the outward position in sequence, and when it stops at each position, control the two cleaning parts 210 to rotate in opposite directions.

[0182] Since the two cleaning components 210 rotate in opposite directions, they can spread dust to the opposite sides of the two cleaning components 220. Therefore, combined with the movement of the movable arm 220 moving from the inward position to the outward position in stages, this spread dust can be swept from the inside of the current step surface to the outside of the current step surface, and finally all the dust on the current step surface can be swept to the next step surface.

[0183] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A cleaning system, characterized in that, include: The cleaning equipment is capable of moving autonomously across the work surface; A crawling attachment that enables the cleaning equipment to traverse specific obstacles; The active mechanism has an installation end and a movable end, the installation end being connected to the crawling attachment, and the movable end being movable relative to the crawling attachment; Cleaning component, installed on the movable end; During the process of the crawling attachment driving the cleaning device through the specific obstacle, the movable end of the moving mechanism can drive the cleaning component to move, so as to use the cleaning component to clean the corresponding surface to be cleaned in the passage area.

2. The cleaning system according to claim 1, characterized in that, The movable mechanism includes a lifting component, which is linked to the movable mechanism. Driven by the lifting component, the movable end has a falling position and a rising position. In the falling position, the cleaning component contacts the surface to be cleaned to perform the cleaning operation; in the lifting position, the cleaning component moves away from the surface to be cleaned to stop the cleaning operation.

3. The cleaning system according to claim 2, characterized in that, The lifting assembly includes a first drive assembly, and the mounting end is rotatably connected to the crawling attachment. The first drive assembly is used to drive the mounting end to rotate around a first axis to realize the movement of the movable end between the falling position and the lifting position, wherein the extension direction of the first axis is perpendicular to the travel direction of the crawling attachment.

4. The cleaning system according to claim 3, characterized in that, The crawling attachment has a first clearance space on the side near the mounting end, and the first clearance space is configured to avoid the mounting end during the rotation of the mounting end around the first axis.

5. The cleaning system according to claim 3, characterized in that, The first drive assembly includes a first drive member and a pull rope. The first drive member is disposed on the crawling attachment. One end of the pull rope is fixedly connected to the mounting end, and the other end is fixedly connected to the output end of the first drive member. The first driving member is capable of winding or releasing the pull rope; when the pull rope is wound, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the action of the pull rope, so as to drive the movable end to rise; when the pull rope is released, the mounting end rotates around the rotation center of the mounting end in a second rotation direction opposite to the first rotation direction, so as to drive the movable end to fall.

6. The cleaning system according to claim 5, characterized in that, The first drive unit is installed in the same direction as the height of the crawling attachment, and the output end of the first drive unit faces the bottom wall of the crawling attachment.

7. The cleaning system according to claim 3, characterized in that, The first drive assembly includes a first drive member and a pull rope. The first drive member is disposed on the crawling attachment. The mounting end is provided with a through hole. One end of the pull rope is fixedly connected to the output end of the first drive member, and the other end passes through the through hole and is fixedly connected to the crawling attachment. The first driving member is capable of winding or releasing the pull rope; when the pull rope is wound, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the action of the pull rope, so as to drive the movable end to rise; when the pull rope is released, the mounting end rotates around the rotation center of the mounting end in a second rotation direction opposite to the first rotation direction, so as to drive the movable end to fall.

8. The cleaning system according to claim 3, characterized in that, The first drive assembly includes a first drive member and a pull rope. The first drive member is disposed at the mounting end. One end of the pull rope is fixedly connected to the output end of the first drive member, and the other end is fixedly connected to the crawling attachment. The first driving member is capable of winding or releasing the pull rope; when the pull rope is wound, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the action of the pull rope, so as to drive the movable end to rise; when the pull rope is released, the mounting end rotates around the rotation center of the mounting end in a second rotation direction opposite to the first rotation direction, so as to drive the movable end to fall.

9. The cleaning system according to claim 3, characterized in that, The first drive assembly includes a first drive member and a pull rope. The first drive member is disposed at the mounting end. The crawling attachment is provided with a through hole. One end of the pull rope is fixedly connected to the output end of the first drive member, and the other end passes through the through hole and is fixedly connected to the mounting end. The first driving member is capable of winding or releasing the pull rope; when the pull rope is wound, the mounting end rotates around the rotation center of the mounting end in a first rotation direction under the action of the pull rope, so as to drive the movable end to rise; when the pull rope is released, the mounting end rotates around the rotation center of the mounting end in a second rotation direction opposite to the first rotation direction, so as to drive the movable end to fall.

10. The cleaning system according to any one of claims 5 to 9, characterized in that, An elastic reset member is also provided between the mounting end and the crawling attachment. When the pull rope is wound up, the mounting end rotates around the rotation center of the mounting end in the first rotation direction under the action of the pulling force, and the elastic reset member stores elastic potential energy. When the pull rope is released, the elastic reset member releases the elastic potential energy, driving the mounting end to rotate around the rotation center of the mounting end in the second rotation direction, so that the cleaning component is reset to the falling position.

11. The cleaning system according to claim 10, characterized in that, When the movable end is in the falling position and the rising position, the elastic reset member has elastic potential energy.

12. The cleaning system according to any one of claims 5 to 9, characterized in that, The crawling attachment is also provided with a guide wheel for guiding the running path of the traction rope. Along the height direction of the crawling attachment, the installation position of the guide wheel is lower than the connection point of the traction rope on the installation end. The section of the traction rope located between the output end of the first drive member and the installation end passes around the lower side of the guide wheel and abuts against the outer peripheral surface of the guide wheel.

13. The cleaning system according to claim 2, characterized in that, The movable mechanism further includes a third drive component, which is disposed at the movable end and is used to drive the cleaning component to rotate so as to perform a rotational cleaning operation on the surface to be cleaned.

14. The cleaning system according to claim 3, characterized in that, The active mechanism further includes an active arm and a second drive assembly. One end of the active arm is rotatably connected to the mounting end, and the cleaning component is mounted on the other end of the active arm. The second drive assembly is used to drive the active arm to swing relative to the crawling attachment.

15. The cleaning system according to claim 14, characterized in that, Driven by the second drive component, the movable arm can move between a retracted position and an outward swing position; in the retracted position, the angle between the extension direction of the movable arm and the travel direction of the crawling attachment is less than or equal to a preset angle. In the outward swing position, the angle between the extension direction of the movable arm and the travel direction of the crawling attachment is greater than the preset angle; wherein, the cleaning component is capable of cleaning the surface to be cleaned between the retracted position and the outward swing position.

16. The cleaning system according to claim 15, characterized in that, The active mechanism is provided in two sets, and the two sets of active mechanisms are respectively located on both sides of the width direction of the crawling attachment; the outward swing position has a first outward swing position and a second outward swing position; when the cleaning components of the two sets of active mechanisms are running between the retracted position and the first outward swing position, the cleaning paths formed by the two sets of cleaning components at least partially overlap, and when running between the first outward swing position and the second outward swing position, the cleaning paths formed by the two sets of cleaning components no longer interfere with each other or overlap.

17. The cleaning system according to claim 16, characterized in that, In the second outward swing position, the cleaning component is at least partially able to swing outward to the outside of the width direction of the crawling attachment, the width direction of the crawling attachment being perpendicular to the travel direction of the crawling attachment.

18. The cleaning system according to claim 15, characterized in that, The crawling attachment is further provided with a second clearance space on the side near the movable arm, the second clearance space being configured to avoid the movable arm when the movable arm is in the outward swing position.

19. The cleaning system according to claim 14, characterized in that, The second drive assembly drives the movable arm to swing around the second axis. The movable mechanism also includes a third drive assembly, which is disposed on the side of the movable arm away from the mounting end, and is used to drive the cleaning component to rotate around the third axis to perform a rotational cleaning operation on the surface to be cleaned. The second axis is parallel to the third axis.

20. The cleaning system according to claim 1, characterized in that, Along the traveling direction of the crawling attachment, the front end of the crawling attachment is provided with a channel for the cleaning device to enter, and the rear end of the crawling attachment forms a hollow area. The movable end can drive the cleaning component to move within the hollow area, above the hollow area, and below the hollow area.

21. The cleaning system according to claim 1, characterized in that, The specific obstacle is a staircase, and the surface to be cleaned is the step surface of the staircase; the cleaning component is configured to clean the step surface of the staircase when the crawling attachment drives the cleaning device down the staircase.

22. The cleaning system according to claim 21, characterized in that, During the cleaning process of the cleaning component on the stair surface, the cleaning debris on the upper stair surface can be swept to the adjacent lower stair surface and fall down layer by layer until it is finally collected on the bottom floor of the staircase.

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