Cleaning device

Abstract

A cleaning device characterized in that it comprises: a device body having a mounting cavity; a dust box arranged in the mounting cavity of the device body, wherein the dust box is provided with a first deflection surface and a mounting space is defined between the first deflection surface and a side wall of the device body; wherein the cleaning device further comprises a second drive structure and a first drive structure, wherein the first drive structure serves to drive the cleaning arrangement to rotate in order to clean a surface to be cleaned; wherein the second drive structure serves to drive at least a part of the first drive structure to pivot in the mounting space in order to pivot the cleaning arrangement between a retracted position and a pivoted position.

Description

Technical FieldThe present application relates to the field of cleaning devices, in particular a cleaning device.Prior ArtWith the progress of living conditions and scientific and technological levels, because of their advantages such as convenience of use and good cleaning effect, cleaning devices are gradually widely used in life and work instead of manual cleaning. The cleaning devices collect dirt above all on a surface to be cleaned by cleaning parts such as e.g. a roller brush or a mop.However, the cleaning parts of a conventional cleaning device are designed to be fixed to the main device, which results in that when the floor is swept or when the floor is swept along an edge, the edge cannot be wiped and thus dirty lanes occur along the wall base of the house for a long time. This in turn results in poor user experience.For this reason, it is necessary to improve the cleaning device in the prior art and thus to overcome disadvantages in the prior art.Disclosure of the InventionAn object of the present application is to provide a cleaning apparatus for solving the problem of insufficient edge cleaning.The present application can be realized by the following technical solutions.In the present application, there is provided a cleaning device comprising: a device body; and a cleaning assembly, the cleaning assembly being movably connected to the device body, the cleaning assembly having a first position and a second position, wherein a part of the cleaning assembly is located outside the perimeter of the device body when the cleaning assembly is in the first position, and wherein the part of the cleaning assembly located outside the perimeter of the device body is larger than the part of the cleaning assembly located outside the perimeter of the device body when the cleaning assembly has reached the second position in the first position of the cleaning assembly.In the present application, there is further provided a cleaning device comprising: a device body; and a cleaning assembly, wherein the cleaning assembly is movably connected to the device body, and wherein the cleaning assembly has a home position and a retracted position; a restoring part, wherein one end of the restoring part is connected to the cleaning assembly and the other end of the restoring part is connected to the device body, and wherein the restoring part provides a restoring force by which the cleaning assembly is held in the home position; wherein a part of the cleaning assembly is located outside the periphery of the device body when the cleaning assembly is in the retracted position; wherein the portion of the cleaning assembly that is outside the perimeter of the device body is larger than the portion of the cleaning assembly that is outside the perimeter of the device body when the cleaning assembly is in the home position in the retracted position of the cleaning assembly, and wherein the cleaning assembly changes from the home position to the retracted position after the portion of the cleaning assembly that is outside the perimeter of the device body abuts the edge of an obstacle.In the present application, there is further provided a cleaning mechanism suitable for mounting on the floor of a machine body of a robot cleaner, and comprising: a cleaning part for cleaning a surface to be cleaned; a connection part comprising a first end for connection to the cleaning part and a second end for rotationally connecting to the machine body; a drive assembly connected to the connection part and rotating the connection part about a rotation point of the second end on the machine body to cause the cleaning part to be lifted relative to the machine body.In the present application, there is further provided a cleaning mechanism comprising: a base; a cleaning assembly comprising a cleaning part that can rotate relative to the base under the action of an external force so that the cleaning part has a retracted position or an extended position; a first driving assembly comprising a first driving part, a gear part connected to the first driving part, a pivot part cooperating with the gear part, and an operating part, the pivot part being rotatably disposed on the base, the cleaning part being disposed on the pivot part, the operating part being rotatably disposed on the rotation shaft, two ends of the operating part respectively acting on the pivot part and the gear part, the pivot part cooperating with the gear part and being rotated by driving the gear part, The method of switching the cleaning member between the retracted position and the extended position, wherein during the switching of the cleaning member from the retracted position to the extended position, the operating member stores energy by the driving force of the gear member to rotate the pivoting member, and wherein upon retracting the driving force of the gear member, the operating member outputs the stored energy to further pivot the pivoting member toward the extended position.In the present application, there is further provided a cleaning device disposed on a main body of a robot cleaner, and comprising: a housing; a drive mechanism disposed in the housing; a cleaning assembly disposed at the output end of the drive mechanism, the drive mechanism rotating and reciprocating the cleaning assembly; and an adjustment assembly disposed on the main body and deformable under an external force so that the housing pivots toward near the main body.In the present application, there is further provided a pulling mechanism used for a cleaning module of a robot cleaner, and includes: a base body; a pulling part disposed on the base body, one end of the pulling part protruding beyond the base body and being used for connection to the cleaning module; a tensioning structure connected between two ends of the pulling part and being used for tensioning the pulling part; and a pull-in and pull-out assembly disposed on the base body, being fixedly connected to the other end of the pulling part and being used to wind the pulling part and thereby pull the cleaning module or to unwind the pulling part and thereby release the cleaning module.In the present application, there is further provided a cleaning mechanism comprising: a cleaning module comprising a driving module and a cleaning assembly, wherein the driving module is connected to the cleaning assembly and used to rotate the cleaning assembly; a connection part connected to the driving module; and a gear part in a rotating connection with the driving module and connected to the connection part; wherein the gear part is rotatable about a rotation axis and the driving module is rotated about the rotation axis by the connection with the connection part, wherein the rotation axis is parallel to the rotation axis of the cleaning assembly.In the present application, there is further provided a robot cleaner comprising: a housing; a cleaning module including a cleaning assembly and a driving module for rotating the cleaning assembly, the driving module being rotatably disposed on the housing such that the cleaning assembly has a home position and an edge position, the edge position being a forward position in which at least a part of the cleaning assembly protrudes beyond the maximum width of the housing; an elastic part disposed between the housing and the driving module and, by the driving module, driving the cleaning assembly in motion toward the edge position; and a connecting rod driving mechanism disposed on the housing and connected to the driving module to rotate the driving module; wherein the cleaning assembly can be held in the initial position by the connecting rod drive mechanism when the connecting rod drive mechanism is self-locking.In the present application, there is further provided a method for controlling the sweep of a robot cleaner, the method comprising: obtaining information about obstacles in a forward direction of the robot cleaner, the robot cleaner comprising a machine body and a cleaning assembly movably disposed on the machine body and having a retracted position near the machine body and an extended position away from the machine body, wherein a part of the cleaning assembly located outside the circumference of the machine body is larger than a part of the cleaning assembly located outside the circumference of the machine body in the retracted position of the cleaning assembly when the cleaning assembly is in the extended position; determining whether the information about obstacles includes obstacle data that satisfies a predetermined obstacle condition, wherein the cleaning assembly is controlled to move to the retracted position when the information about obstacles includes obstacle data that satisfies a predetermined obstacle condition.The present application has the following advantageous effects:The cleaning device comprises a device body and a cleaning assembly, wherein the cleaning assembly is movably connected to the device body, wherein the cleaning assembly has a first position and a second position, wherein a part of the cleaning assembly is located outside the circumference of the device body when the cleaning assembly is in the first position, and wherein the part of the cleaning assembly located outside the circumference of the device body is larger than the part of the cleaning assembly located outside the circumference of the device body when the cleaning assembly has reached the second position in the first position of the cleaning assembly.From the above content, it can be seen that, when a surface to be cleaned is cleaned by a cleaning assembly, the cleaning assembly has a first position and a second position, the cleaning assembly moves away from the device body when changing from the first position to the second position, the part of the cleaning assembly that is located outside the device body when the cleaning assembly is located in the second position is larger than when the cleaning assembly is located in the first position to achieve the cleaning in an area near an obstacle. In the present application, it is provided that at least a part of the cleaning assembly is located outside the circumference of the device body when the cleaning assembly is in the first position and the second position, respectively. And when the cleaning assembly is located at the second position, a dead zone such as obstacles can be cleaned, thereby cleaning is more circumferential and cleaning efficiency is improved.Brief Description of the FiguresThe following accompanying drawings are only for the purpose of schematically describing and explaining the present application without limiting the scope of the present application. In the figures: FIG. 1 shows a structural schematic illustration of a cleaning assembly according to exemplary embodiments 1 to 7 of the present application in a first position; FIG. 2 shows a structural schematic illustration of the cleaning assembly according to exemplary embodiments 1 to 7 of the present application in a second position, wherein the cleaning assembly protrudes to such an extent that it terminates flush with the widest region of the device body; FIG. 3 shows a structural schematic illustration of the cleaning assembly according to exemplary embodiments 1 to 7 of the present application in a second position, wherein the cleaning assembly protrudes to such an extent that it protrudes beyond the widest region of the device body; FIG. 4 is a schematic diagram showing an internal structure of an embodiment of a cleaning apparatus according to Embodiments 1 to 7 of the present application; FIG. 5 is a schematic illustration of an internal structure of the cleaning apparatus of FIG. 4 with no cleaning assembly mounted; FIG. 6 shows a schematic illustration of gear structures of the cleaning assembly from FIG. 4 ; FIG. 7 is a schematic diagram showing an internal structure of another embodiment of a cleaning apparatus according to Embodiments 1 to 7 of the present application; FIG. 8 is a schematic illustration of an internal structure of the cleaning apparatus of FIG. 7 with no cleaning assembly mounted; FIG. 9 is a schematic illustration of an internal structure of the cleaning device of FIG. 7 with no cleaning assembly but a sealing structure member mounted; FIG. 10 shows a schematic illustration of gear structures of the cleaning assembly from FIG. 7 and mating structures of the cleaning assembly; FIG. 11 is a schematic diagram showing an overall structure of the cleaning assembly of FIG. 7 ; FIG. 12 shows a schematic illustration of internal gear structures of the cleaning assembly from FIG. 7 ; FIG. 13 is a structural schematic diagram of the seal structure part when the cleaning assembly according to Embodiments 1 to 7 of the present application is located at the first position; FIG. 14 is a structural schematic diagram of the seal structure part when the cleaning assembly according to Embodiments 1 to 7 of the present application is located at a second position; FIG. 15 is a schematic diagram showing an internal structure of another embodiment of the cleaning device according to Embodiments 1 to 7 of the present application, wherein the cleaning assembly is located at the first position; FIG. 16 shows a schematic illustration of a drive motor and the mating structures of the cleaning assembly from FIG. 15 ; FIG. 17 is a schematic diagram showing an internal structure of another embodiment of the cleaning device according to Embodiments 1 to 7 of the present application, wherein the cleaning assembly is located at the second position; FIG. 18 is a structural schematic diagram of gear structures of another embodiment of the cleaning device according to Embodiments 1 to 7 of the present application; FIG. 19 is a schematic illustration of an internal structure of the cleaning assembly of FIG. 18 ; FIG. 20 shows a structural schematic illustration of the cleaning assembly according to exemplary embodiments 1 to 7 of the present application in a starting position; FIG. 21 shows a structural schematic illustration of the cleaning assembly according to exemplary embodiments 1 to 7 of the present application in a retracted position; FIG. 22 shows a structural schematic illustration of the cleaning assembly according to exemplary embodiments 1 to 7 of the present application in the starting position, wherein the cleaning assembly protrudes so far that it ends flush with the widest region of the device body; FIG. 23 shows a structural schematic illustration of the cleaning assembly according to exemplary embodiments 1 to 7 of the present application in the starting position, wherein the cleaning assembly protrudes to such an extent that it protrudes beyond the widest region of the device body; FIG. 24 is a structural schematic diagram of the cleaning assembly according to Embodiment 9 of the present application; FIG. 25 is a schematic illustration of the cleaning assembly of FIG. 24 in an extended position; FIG. 26 is a schematic illustration of the cleaning assembly of FIG. 24 in the retracted position; FIG. 27 shows a sectional schematic illustration of the cleaning assembly from FIG. 24 ; FIG. 28 is an exploded schematic diagram of a portion of the structures of the cleaning assembly of FIG. 24 ; FIG. 29 is a structural schematic illustration of a second drive assembly of the cleaning assembly of FIG. 24 ; FIG. 30 is a schematic diagram showing another part of the structures of the cleaning assembly of FIG. 24 ; FIG. 31 is a schematic diagram showing still another part of the structures of the cleaning assembly of FIG. 24 ; FIG. 32 is a structural schematic illustration of the cleaning assembly of FIG. 24 in another direction; FIG. 33 is a structural schematic illustration of the cleaning assembly of FIG. 24 in yet another direction; FIG. 34 is a first structural schematic diagram of the cleaning device according to Embodiment 10 of the present application; FIG. 35 is a second structural schematic diagram of the cleaning device according to Embodiment 10 of the present application; FIG. 36 shows an enlarged detail of the location A from FIG. 35 ; FIG. 37 is a third structural schematic diagram of the cleaning device according to Embodiment 10 of the present application; FIG. 38 shows an enlarged detail of the location B from FIG. 37 ; FIG. 39 shows a first structural schematic section according to Embodiment 10 of the present application; FIG. 40 shows a second structural schematic section of the cleaning assembly according to Embodiment 10 of the present application; FIG. 41 is a structural schematic diagram showing an embodiment of a pulling mechanism according to Embodiment 11 of the present application; FIG. 42 is a structural schematic diagram of the pulling mechanism of FIG. 41 at a different angle of view; FIG. 43 is an exploded view of the pulling mechanism of FIG. 41 ; FIG. 44 is a plan view of the pulling mechanism of FIG. 41 ; FIG. 45 is a sectional view of the pulling mechanism taken along line I-I of FIG. 44 ; FIG. 46 is a partial structural schematic diagram showing an embodiment of the cleaning device according to Embodiment 11 of the present application; FIG. 47 shows an exploded view of the cleaning device from FIG. 46 ; FIG. 48 is a top view of the cleaning apparatus of FIG. 46 with its cleaning assembly in an edge position; FIG. 49 shows another plan view of the cleaning device of FIG. 46, with its cleaning assembly in the home position; FIG. 50 shows a sectional view of the cleaning device along the line II-II from FIG. 49 ; FIG. 51 shows a block diagram of modules of the cleaning device from FIG. 46 ; FIG. 52 shows an enlarged illustration in region A of the cleaning device from FIG. 50 ; FIG. 53 shows a structural schematic illustration of the cleaning assembly of the cleaning device from FIG. 46 ; FIG. 54 shows an exploded view of the cleaning assembly from FIG. 53 ; FIG. 55 is a structural schematic diagram of an embodiment of the cleaning assembly according to Embodiment 12 of the present application; FIG. 56 shows a structural schematic illustration of the cleaning assembly of FIG. 55 from a different angle of view; FIG. 57 is a top view of the cleaning assembly of FIG. 55 ; FIG. 58 is a sectional view of the cleaning assembly taken along line I-I of FIG. 57 ; FIG. 59 shows an exploded view of the cleaning assembly from FIG. 55 ; FIG. 60 is a partial structural plan view of an embodiment of the cleaning device according to Embodiment 12 of the present application, with the cleaning assembly located at the initial position; FIG. 61 shows a cut-away section of the cleaning device from FIG. 60 ; FIG. 62 shows another top view of the cleaning device of FIG. 60, with its cleaning assembly in the edge position; FIG. 63 shows a cut-away section of the cleaning device from FIG. 62 ; FIG. 64 is a block diagram of modules of the cleaning apparatus of FIG. 60 ; FIG. 65 is a partial structural schematic diagram showing an embodiment of the cleaning device according to Embodiment 13 of the present application; FIG. 66 shows an exploded view of the cleaning device from FIG. 65 ; FIG. 67 is a plan view of the cleaning device of FIG. 65 with its cleaning assembly in an edge position; FIG. 68 shows another plan view of the cleaning device of FIG. 65, with its cleaning assembly in the home position; FIG. 69 is a block diagram of modules of the cleaning apparatus of FIG. 65; FIG. 70 shows an enlarged illustration in region A of the cleaning device from FIG. 68 ; FIG. 71 is a structural schematic illustration of the cleaning assembly of the cleaning apparatus of FIG. 65 ; FIG. 72 is a top view of the cleaning assembly of FIG. 71 ; FIG. 73 is a sectional view of the cleaning assembly taken along line I-I of FIG. 72 ; FIG. 74 is an exploded view of the cleaning assembly of FIG. 71 ; FIG. 75 is a structural schematic assembly diagram in which the cleaning device according to Embodiment 17 of the present application is formed with a corrugated plate; FIG. 76 is a structural schematic assembly diagram in which a side wall of a device body according to Embodiment 18 of the present application is formed with a movable portion; FIG. 77 is a structural schematic assembly diagram of a first sealing part according to Embodiment 2 of the present application; FIG. 78 is a structural schematic assembly diagram of a sliding seal plate according to Embodiment 17 of the present application; FIG. 79 is a perspective structural schematic diagram of a sliding seal plate according to Embodiment 17 of the present application; FIG. 80 is a structural schematic assembly diagram of a resin coating according to Embodiment 17 of the present application; FIG. 81 is a structural schematic diagram of an overlap area created by a hollowed portion according to Embodiment 14 of the present application; FIG. 82 is a schematic diagram showing the overlap area formed by the hollowed portion according to Embodiment 14 of the present application; FIG. 83 is a schematic diagram of a continuous overlapping area formed by the hollowed-out area according to Embodiment 14 of the present application; FIG. 84 shows a schematic illustration in principle of a retracted overlap region which is produced by the hollowed-out region of a cleaning disk according to exemplary embodiment 14 of the present application, wherein the cleaning disk is in a retracted position; FIG. 85 shows a schematic illustration in principle of a pivoted-out overlap region which is produced by the hollowed-out region of the cleaning disk according to exemplary embodiment 14 of the present application, wherein the cleaning disk is situated in a pivoted-out position; FIG. 86 shows a schematic illustration in principle of a common overlap region which is produced by the hollowed-out region of the cleaning disk according to exemplary embodiment 14 of the present application, wherein the cleaning disk is in the retracted position or the pivoted-out position; FIG. 87 is a structural schematic bottom view of the cleaning disk of the cleaning assembly according to Embodiment 16 of the present application; FIG. 88 is a structural schematic bottom view of the cleaning disk and a mounting portion according to Embodiment 16 of the present application; FIG. 89 is a structural schematic bottom view of a movement space on the device body according to Embodiment 17 of the present application; FIG. 90 is a structural schematic bottom view of a cover plate on the device body according to Embodiment 17 of the present application; FIG. 91 is a structural schematic bottom view of a sliding seal plate in a state where the cleaning assembly according to Embodiment 17 of the present application is located at the retracted position; FIG. 92 is a structural schematic bottom view of the sliding seal plate in a state where the cleaning assembly according to Embodiment 17 of the present application is located between the retracted position and the extended position; FIG. 93 is a structural schematic bottom view of the sliding seal plate in a state where the cleaning assembly according to Embodiment 17 of the present application is located at the deployed position; FIG. 94 is a structural schematic diagram of the sliding seal plate according to Embodiment 17 of the present application; FIG. 95 is a structural schematic position diagram of two cleaning disks in a state in which the cleaning assembly according to Embodiment 17 of the present application is in the retracted position; FIG. 96 is a structural schematic position diagram of two wiper mops in a state in which the cleaning assembly according to Embodiment 17 of the present application is in the retracted position; FIG. 97 is a structural schematic assembly diagram of a water outlet according to Embodiment 14 of the present application; FIG. 98 is a structural schematic assembly diagram of a restriction block according to Embodiment 17 of the present application; FIG. 99 is a structural schematic diagram of a cleaning apparatus schematically shown according to an exemplary embodiment; FIG. 100 is a side cross-sectional view of a first drive structure shown schematically according to an exemplary embodiment; FIG. 101 shows a structural schematic illustration of a recess in a side wall of the device body, which is schematically shown according to an exemplary embodiment; FIG. 102 is a structural schematic diagram of an internal structure of the cleaning apparatus schematically shown according to an exemplary embodiment; FIG. 103 shows a schematic top view of a second drive structure, which is schematically shown according to an exemplary embodiment; FIG. 104 is a structural schematic assembly diagram of a dust box and filter assembly schematically shown according to an exemplary embodiment; FIG. 105 is a perspective structural schematic diagram of a dust box schematically shown according to an exemplary embodiment; FIG. 106 shows a schematic illustration in principle of generating a frictional force by a cleaning part which is shown schematically according to an exemplary embodiment (in the plan view direction of the cleaning assembly); FIG. 107 shows another schematic diagram in principle of the generation of a frictional force by the cleaning part, which is shown schematically according to an exemplary embodiment (in the top view direction of the cleaning assembly); FIG. 108 is a schematic illustration of the maximum width of the device body shown schematically according to an exemplary embodiment; FIG. 109 is a structural schematic assembly diagram of an overcurrent opening shown schematically in accordance with an exemplary embodiment; FIG. 110 shows a cut-away structural schematic section of a cleaning disk, which is schematically shown according to an exemplary embodiment; FIG. 111 shows a structural schematic illustration of a cleaning assembly, which is schematically shown according to an exemplary embodiment, in another direction; FIG. 112 is a schematic cross-sectional view of FIG. 111 schematically shown according to an exemplary embodiment; FIG. 113 is a structural schematic diagram schematically shown according to an exemplary embodiment with a second portion in the retracted position; FIG. 114 is a perspective structural schematic diagram schematically shown according to an exemplary embodiment with a second portion in the deployed position; and FIG. 115 is a structural schematic diagram of a device body schematically shown and provided with a bulge according to an exemplary embodiment.DETAILED EMBODIMENTSA cleaning device may be a vacuum robot, a floor wiping robot, a vacuum and wiping robot, a window cleaning robot, and the like. The cleaning device may include a device body 10, a chassis 300M, a cleaning module, a control system, a sensing system, and the like.Here, in the device body 10, a mounting chamber for mounting some structures is formed. The shape of the device body 10 is not limited and may be circular, D-shaped, triangular, or other shapes, but is not limited thereto.The running gear 300M is disposed on the apparatus body 10 to achieve a self-movable travel function of the apparatus body 10 in a surface to be cleaned. The chassis 300M generally comprises a drive and a drive component, wherein the drive sets the drive component in motion. There are usually two traveling components arranged symmetrically on the apparatus body 10. The driving components may be, but are not limited to, drive wheels, track wheels, or adjustable steering wheels. As an example, it may be mentioned: the steering wheel is a mecanum wheel. Moreover, the traveling gear 300M is swingably disposed on the device body 10 so that the cleaning device has an obstacle overcoming function in a traveling operation. The surface to be cleaned can be a floor surface, a table surface, a surface or scene of objects such as glass or wall. For the sake of simplicity of description, the surface to be cleaned will be described using the example of a floor surface. The width direction of the device body is perpendicular to the traveling direction of the device body 10.The cleaning module includes a dry cleaning module 100M or a wet cleaning module 200M, or both the dry cleaning module 100M and the wet cleaning module 200M. Here, the dry cleaning module 100M includes a main brush 101M, a dust box 102M, and a blower 103M. At the bottom of the apparatus body 10, a main brush chamber is formed, and the main brush 101M is rotatably disposed in the main brush chamber. A dust suction nozzle on the main brush chamber is in communication with a dust inlet 1021M of the dust box 102M. An air outlet 1022M of the dust box 102M is in communication with the blower 103M. The main brush 101M moves the garbage around and before it to the dust suction nozzle during the rotation operation. The garbage at the dust suction nozzle is sucked into the dust box 102M under the action of a negative pressure generated by the blower 103M to realize a function of sweeping the surface to be cleaned.The wet cleaning module 200M includes a first driving structure 40M and a cleaning assembly 20, and the cleaning assembly 20 includes a cleaning disk 90H and a cleaning part 91H disposed at the bottom of the cleaning disk 90H. The first driving structure 40M drives the cleaning disk 90H to oscillate or rotate the cleaning member 91H. The cleaning part 91H generates friction with the floor surface during the movement to clean the floor surface. Since the cleaning for the floor surface has a better cleaning effect in a wet state of the cleaning part 91H, a water replenishing mechanism is usually provided in the device body 10 of the cleaning device. The water replenishing mechanism includes a water tank. The solution in the water tank is supplied to the cleaning part 91H under the action of a pump to wet the cleaning part 91H. There are usually two wet cleaning modules 200M, the two wet cleaning modules 200M being symmetrically arranged on the apparatus body 10. Of course, the wet cleaning module 200M may be provided in a number of one or more than two, such as three, four, five, or more. The specific number of the wet cleaning modules 200M is selected as needed and is not specifically defined here.The cleaning module further includes side brushes 400M disposed on one or two sides of the front side of the device body 10. In the forward direction of the cleaning device, the side brush 400M is located in front of the dry cleaning module 100M. At least a part of the side brush 400M protrudes from the edge of the device body 10. The side brush 400M is rotated by a drive mechanism. The side brush 400M, in rotation, moves the garbage in front of it and its outer periphery to the inside of the apparatus body 10 to blow the garbage by the main brush 101M of the rear dry cleaner module 100M and thus to be sucked into the dust box 102M by the blower 103M.For the arrangement of a dry cleaning module 100M and a wet cleaning module 200M on the device body 10, the wet cleaning module 200M is located behind the dry cleaning module 100M in the forward direction of the cleaning device when the cleaning device can first sweep the floor and then wipe it when performing a cleaning task. The wet cleaning module 200M is located in front of the dry cleaning module 100M in the forward direction of the cleaning device when the cleaning device can first wipe the floor and then sweep it when performing a cleaning task.For the arrangement of the wet cleaning module 200M and the chassis 300M on the apparatus body 10, the wet cleaning module 200M is preferably arranged behind the chassis 300M to prevent the travel components from traveling in the cleaned floor surface and thus dirty the cleaned floor surface after the floor surface is cleaned by the wet cleaning module 200M. When the floor surface cleaned by the wet cleaning module 200M can be dried in time, the wet cleaning module 200M may be disposed in front of the traveling components. In addition, the wet cleaning module 200M may also be disposed between two running components.The sensing system includes sensors such as an LDS via a machine body, a buffer, and a visual sensor in the advantage of the device body 10, an edge sensor on a front side wall of the device body 10, an ultrasonic sensor on the bottom of the device body 10, and the like. Among them, the LDS, the buffer, and the edge sensor may measure a distance to detect the distance between the edge of the device body 10 and an obstacle. The control system controls the cleaning device to perform corresponding actions based on this distance. For example, the cleaning device is controlled so as to avoid an obstacle or to travel along the edge. The ultrasonic sensor is used to detect a signal over a carpet. The control system controls the cleaning part 91H of the wet cleaning module 200M of the cleaning device to perform a lifting action, or controls the cleaning device to return to the base station, thereby disassembling the cleaning part 91H of the wet cleaning module 200M. The visual sensor is used to recognize an image about the surroundings of the cleaning device and thus to obtain information about obstacles. Based on this information, the control system controls the cleaning device to perform actions such as obstacle avoidance, obstacle overcoming, edge cleaning and the like.Two wet cleaning modules 200M of the prior art cleaning apparatus as illustrated in the embodiment shown in FIG. 102 are fixed in a width direction W 0 of the apparatus body 10 (perpendicular to the traveling direction of the cleaning apparatus) relative to the apparatus body 10. The cleaning disk 90H and the cleaning part 91H of the wet cleaning module 200M may rotate or swing relative to the device body 10. When the cleaning device performs edge cleaning for an obstacle, it is difficult for the wet cleaning module 200M located on a side near the obstacle to approach the edge of the obstacle and perform edge cleaning for the obstacle, resulting in a large uncleaned area at the edge of the obstacle and thus a non-ideal cleaning effect.In order to improve the cleaning effect of the edge cleaning for the obstacle by the cleaning device, at least one wet cleaning module 200M of the two wet cleaning modules 200M according to this exemplary embodiment is pivotable relative to the device body 10. The cleaning assembly 20 of the wet cleaning module 200M may pivot out toward a distance from the device body 10 or retract toward a direction near the device body 10. The cleaning assembly 20 has a second position (i.e. pivoted-out position) during the pivoting-out and accordingly the cleaning assembly 20 is in a pivoted-out state. The cleaning assembly 20 has a first position (i.e. retracted position) when pivoted in and accordingly the cleaning assembly 20 is in a retracted state. In the swung-out position or the retracted position, it can be either a fixed position or a position within a certain interval. When the cleaning assembly 20 is in the first position, a portion of the cleaning assembly 20 is outside the perimeter of the device body 10. a portion of the cleaning assembly 20 that is outside the perimeter of the device body 10 is larger than a portion of the cleaning assembly 20 that is outside the perimeter of the device body 10 when the cleaning assembly 20 has reached the second position in the first position of the cleaning assembly 20.When the cleaning device performs a cleaning task, the sensor of the sensing system detects a first distance between the device body 10 and the edge of the obstacle in real time. When the first distance is less than or equal to the predetermined threshold, it is necessary to perform edge cleaning for the obstacle. At this time, it is necessary for the cleaning assembly 20 of the wet cleaning module 200M to swing, and the cleaning assembly 20 moves from the retracted position to the swung-out position to perform edge cleaning for the edge of the obstacle. Since the cleaning assembly 20 may protrude further beyond the device body 10 in the deployed position than in the retracted position, the cleaning assembly 20 may be located closer to or closer to the edge of the obstacle in the deployed position to perform edge cleaning for the edge of the obstacle and thus reduce or avoid an uncleaned area in edge cleaning for the obstacle. In edge cleaning by the cleaning device, it is necessary for the cleaning assembly 20 of the wet cleaning module 200M to be pivoted from the pivoted-out position into the retracted position if the first distance detected by the sensor is greater than the predefined threshold value.Further, when the cleaning assembly 20 is held in the swung-out position, the cleaning assembly 20 is easily interfered or disturbed by obstacles in the environment, thereby risking the cleaning assembly 20 from falling off the apparatus body 10. Thus, the cleaning assembly 20 of the wet cleaning module 200M usually only swings to the device body 10 during the edge cleaning and is in a pivoted-out state. When the cleaning device is in non-edge cleaning or other scenes, the cleaning assembly 20 tends to be maintained in a retracted state. Here, the other scenes may include, but are not limited to: return of the cleaning device to the base station, charging of the cleaning device by the base station, collecting dust from dust box 102M in a dust magazine of the base station, washing the cleaning part 91H, demotage and / or mounting of the cleaning part 91H, filling water into the water tank of the water replenishing mechanism in the cleaning device, etc. These also include the following scenes in which the cleaning part 91H of the cleaning device needs to be lifted or the cleaning device needs to overcome an obstacle, etc.When there are few obstacles in the vicinity of the cleaning assembly 20 and the cleaning assembly 20 is held in the swung-out state, the cleaning assembly 20 is little or not interfered with by the obstacles and the cleaning assembly 20 can be properly held firmly on the apparatus body 10, whereby the cleaning assembly 20 can be held also in the swung-out state in the above other scenes.On the device body 10, a second driving structure 50M is further provided. The second drive structure 50M may directly pivot the cleaning assembly 20 and may also indirectly pivot the cleaning assembly 20 by driving the entire wet cleaning module 200M. For convenience of explanation, the turning of the cleaning assembly 20 by the second driving structure 50M is preliminarily used as an example to illustrate the driving force applied by the second driving structure 50M to the turning of the cleaning assembly 20. Of course, this driving force is also suitable for pivoting the wet cleaning module 200M as a whole. The second drive structure 50M may place the cleaning assembly 20 in a rectilinear or arcuate movement such that the cleaning assembly 20 is replaceable between the deployed position and the retracted position.The driving force by which the second driving structure 50M pivots the cleaning assembly 20 may also be many embodiments. Only a few embodiments are presented below, in particular:First embodiment: The cleaning assembly 20 is swung out or retracted by a motor. Because the angle of rotation of the motor is controllable, the extended position and the retracted position of the cleaning assembly 20 can be controlled by controlling the angle of rotation of the motor to enable the cleaning assembly 20 to be adjusted between the extended position and the retracted position such that the edge distance is dynamically adjusted depending on the first distance between the device body 10 and the edge of the obstacle detected in real time by the sensor when the cleaning assembly 20 is extended and in an edge position.Second embodiment: The cleaning assembly 20 is swung out in cooperation with an engine having an elastic member while the cleaning assembly 20 is swung in by the engine. When the cleaning device needs to perform edge cleaning, the motor rotates in a first direction, turns the cleaning assembly 20 by an angle θ 1 and then stops rotating, after which the elastic member outputs the stored energy to further turn the cleaning assembly 20 by an angle θ 2 toward the outside of the device body 10. When an opposing abutting force is applied from an obstacle along the edge to the cleaning assembly 20, the cleaning assembly 20 may automatically swing toward the inside of the device body 10 by the cushioning action of the elastic member to dynamically adjust the swung-out angle θ 2 of the cleaning assembly 20, that is, to enable dynamic adjustment of the edge interval, as well as provide a protection effect for the cleaning assembly 20. When the cleaning assembly 20 is required to retract, the motor rotates in a second direction to pivotally translate the cleaning assembly 20 toward the inside of the device body 10 by an angle θ 3 where θ 3 may be equal to the sum of the angle θ 1 and the angle θ 2 or different than the sum of the angle θ 1 and the angle θ 2. The retracted position of the cleaning assembly 20 is adjusted by controlling the rotational angle of the motor in the second direction. Moreover, it should be noted that the magnitude of the angle θ 2 depends on the energy emitted by the elastic member. When the energy output from the elastic member is small, the driving force for swinging out the cleaning assembly 20 depends mainly on the motor, while the elastic member has mainly a cushioning effect for the cleaning assembly 20. In contrast, the elastic member not only has a cushioning effect for the cleaning assembly 20, but also drives the cleaning assembly 20 to swing when the energy emitted by the elastic member is large.At this time, when the motor first swings the cleaning assembly 20, the driving force of the motor simultaneously applies a driving force to the elastic member, so that the elastic member stores energy. Thereby, the cleaning assembly 20 can be further swung out by energizing the elastic member after the driving force of the motor is retracted.For example, the second drive structure 50M includes a second motor 204M and a second gear mechanism 202M. The resilient member is disposed between the second gear mechanism 202M and the cleaning assembly 20. When the second motor 204M pivots the cleaning assembly 20, the second motor 204M rotates in the first direction and rotates the second gear mechanism 202M in the first direction. The second transmission mechanism 202M applies an acting force to the elastic member so that the elastic member stores energy. In this case, the elastic part can first store energy and then set the cleaning assembly 20 in a pivoting out. Or, the resilient member stores energy and simultaneously pivots the cleaning assembly 20. When the motor ceases to rotate, the resilient member releases the energy to further pivot the cleaning assembly 20. For the elastic part, it is provided that the elastic part can be deformable elastic parts such as a tension spring, a compression spring, a torsion spring or the like.When the cleaning assembly 20 is required to retract, the motor rotates in the second direction by the second gear mechanism 202M and the cleaning assembly 20 being in a hard-to-abut relationship. For example, a first abutting portion is provided on the second gear mechanism 202M in the rotational direction of the gear mechanism, and a second abutting portion is provided on the cleaning assembly 20, the first abutting portion abuts on the second abutting portion, so that the second motor 204M rotates the second gear mechanism 202M to cause the cleaning assembly 20 to rotate to the retracted position and to be brought to a retracted state.Third embodiment: The cleaning assembly 20 is swung by a motor, while the cleaning assembly 20 is swung by an elastic member. When the cleaning device needs to perform edge cleaning, the motor rotates and swings the cleaning assembly 20, whereby the cleaning assembly 20 is in a swung-out state. In this case, the cleaning assembly 20 can be limited by providing a limiting structure or a blocking structure in the pivoted-out position when the motor no longer rotates. When the cleaning assembly 20 needs to retract, the force of action of the limiting structure or the blocking structure on the cleaning assembly 20 is retracted. Under the action of a restoring force of the elastic member, the cleaning assembly 20 automatically pivots into the retracted position.Fourth embodiment: The cleaning assembly 20 is swung by a motor, while the cleaning assembly 20 is swung by cooperation of a motor and an elastic member. When the cleaning device needs to perform edge cleaning, the motor rotates and swings the cleaning assembly 20, whereby the cleaning assembly 20 is in a swung-out state. When the cleaning assembly 20 needs to retract, it is provided, similar to the second embodiment, that the motor first angularly displaces the cleaning assembly 20 to retract, the elastic member stores energy therebetween. When the motor ceases to rotate, the resilient member outputs energy to further pivot the cleaning assembly 20 to the retracted position.It is also contemplated that the cleaning assembly 20 may be swung outward by an elastic member while the cleaning assembly 20 is driven inward by a motor. That is, the cleaning assembly 20 tends to be held in the swung-out position under the action of the elastic member when the engine is out of operation.For the elastic part, it is provided that the elastic part is preferably a tension spring or a compression spring when the second drive structure 50M sets the cleaning assembly 20 or the wet cleaning module 200M in a straight-line pivoting. Preferably, the resilient member is a torsion spring when the second drive structure 50M drives the cleaning assembly 20 or the wet cleaning module 200M into an arcuate pivot.Moreover, for the second driving structure 50M, it is provided that, using gear transmission for the gear mechanism, the motor theoretically rotates for a theoretically predetermined period of time T 1 during the swing and / or the retraction of the cleaning assembly 20, that is, the cleaning assembly 20 may be driven to be in the swung-out position or the retracted position. However, in order to compensate for the transmission tolerance of gears, the actual time period T 2 is larger than the theoretical predetermined time period T 1 for the engine rotation. That is, it is required that the motor must rotate for a predetermined period T3 longer than the theoretical predetermined period, where T3 = (T2 - T1), in order to balance the transmission tolerance of the gears. This makes it possible to ensure that the cleaning assembly 20 can pivot out or retract into position. That is, the motor rotates for the period T2 under control of the control system, and the predetermined period T3 may be any second. For example, the predetermined time period T 3 may be selected from 0 to 10 seconds. The predetermined time period T 3 may be, for example, 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 9 seconds, 10 seconds.During the swing of the cleaning assembly 20, the control system needs to control whether the motor of the second drive structure 50M is no longer rotating depending on the positions of the swing of the cleaning assembly 20. In order to recognize the extended position or the retracted position of the cleaning assembly 20 or any position therebetween, the cleaning device further includes an in-position sensing structure. The in-position detecting structure may be a microswitch, a Hall sensor, an optocoupler switch or the like. The in-position detecting structure can obtain the position of the cleaning assembly 20 by detecting the position of the motor of the second driving structure 50M. Or, the position of the cleaning assembly 20 may be obtained by direct detection. Or, when the second driving structure 50M includes a motor and a gear mechanism, the in-position detecting structure may also obtain the position of the cleaning assembly 20 by detecting the position of the gear mechanism.For example, the second drive structure 50M includes a motor and a transmission mechanism. The in-position detecting structure includes a detecting part and an inducing part, one of the detecting part and the inducing part being disposed on the gear mechanism, and the other being fixed relative to the device body 10. The sensing member and the induction member are in the rotational path of the gear mechanism, During rotation of the gear mechanism, it indicates that the cleaning assembly 20 is in the retracted position, or the extended position, or any position therebetween, when the sensing member has sensed a signal from the induction member. The control system thus controls the motor to stop rotating based on this signal.For example, it is also contemplated that in the above second embodiment of the second drive structure 50M, the second drive structure 50M includes a second motor 204M and a second gear mechanism 202M. Since the elastic member exerts a buffer action on the swing of the cleaning assembly 20, the in-position detecting structure detects the position of the second gear mechanism 202M, and the control system controls the second motor 204M to stop rotating when the second gear mechanism 202M comes into position. When the elastic member acts on the cleaning assembly 20, the swung-out position of the cleaning assembly 20 is changed by the abutting force of the edge of the obstacle. If the edge of the obstacle is a straight line edge, the swung-out position of the cleaning assembly 20 is a fixed position. If the edge of the obstacle is not a straight line edge, the swung-out position of the cleaning assembly 20 has a dynamically variable value, whereby the specific position of the cleaning assembly 20 is not directly detected. When no cushioning effect is provided by an elastic member during the swing-out or retraction of the cleaning assembly 20, the in-position detecting structure may detect the position of the motor of the second driving structure 50M or the position of the gear mechanism, whereby the position of the cleaning assembly 20 can be obtained.The cleaning device is also provided with a delimiting structure. The limiting structure is arranged on the second drive structure 50M or the first drive structure or in the pivot path of the cleaning assembly 20. When the wet cleaning module 200M pivots to the extended position or the retracted position, the limiting structure inhibits the wet cleaning module 200M from further pivoting or retracting.The cleaning device is also provided with a locking structure to lock the cleaning assembly 20 in the retracted position or the extended position, whereby the cleaning assembly 20 can always be held in the extended position or the retracted position or any position during the pivoting. When the cleaning assembly 20 needs to be changed between positions thereof, the locking action of the locking structure for the cleaning assembly 20 is retracted, and the cleaning assembly 20 is swung by the second driving structure 50M.The blocking structure may be disposed on the second drive structure 50M, on the first drive structure of the wet cleaning module 200M, or on the cleaning assembly 20.In addition, it is also possible that no blocking structure is provided. The motor of the second drive structure 50M is a brush motor. The brush motor has a braking function. When the in-position sensing structure has detected that the cleaning assembly 20 is in the retracted position, the control system sends a brake signal to the brush motor, thereby self-locking the brush motor and thus locking the cleaning assembly 20 in the retracted position. Or, by the self-locking function of the brush motor, the cleaning assembly 20 is locked in the pivoted-out position.In the other scenes above, the cleaning assembly 20 must be in the retracted position. If a locking structure or brush motor is provided, the cleaning assembly 20 is locked in the retracted position by the locking structure or brush motor before the cleaning assembly performs other actions in the above scenes. When the cleaning assembly 20 has to pivot out, the blocking function for the cleaning assembly 20 is retracted.The cleaning device may prevent the carpet from being wetted by the wetted cleaning part 91H; or the floor surface from being soiled when the cleaning part 91H is in a dirty state; or the cleaning assembly 20 from having to be lifted when the cleaning device has to overcome an obstacle in some scenes such as cleaning carpets. Thus, the cleaning device is also provided with a lifting structure used to drive the cleaning assembly 20 for lifting and lowering.The above first drive structure 40M used to rotate the cleaning assembly 20 is also used to synchronously rotate the lifting structure. Of course, the entire wet cleaning module 200M may also be driven by the lifting structure for lifting and lowering. The second drive structure 50M pivots the wet cleaning module 200M by pivoting the lifting structure.The lifting structure can be formed in various ways. For example, the lifting structure may be a gear rack, a thread lifting mechanism, a cylinder, a spindle, a worm wheel worm shaft, and the like. At least two situations apply to the lifting structure. The first situation is that the lifting structure enables lifting and lowering by rotating the cleaning assembly 20, and accordingly the cleaning assembly 20 does not rotate during the swing and retraction of the cleaning assembly 20. The second situation is that the cleaning assembly 20 does not rotate while the lifting structure drives the cleaning assembly 20 to raise and lower, and accordingly the cleaning assembly 20 can either rotate or not rotate during the extension and retraction of the cleaning assembly 20.In the first situation of the lifting structure, it is contemplated that the lifting structure and the first driving structure 40M may share a motor. Preferably, the first driving structure 40M includes a rotary motor 2011M as shown in FIG. 100. The lifting structure includes a first mounting body 2012M and a second mounting body 2013M, wherein the first mounting body 2012M and the second mounting body 2013M are in threaded fit. In one of the first mounting body 2012M and the second mounting body 2013M, a thread groove is provided, while in the other thereof, a rib or a thread tooth that fits the thread groove is provided. At the bottom of the second fixing body 2013M, a mounting portion 2001H is provided. The upper surface of the cleaning disk 90H is connected to the mounting portion 2001H. This is, for example, a plug-in fastening or a magnetic fastening. A first magnet 2014M is provided on the mounting portion 2001H, and a second magnet 2015M is provided on the cleaning disk 90H. By the magnetic action of the first magnet 2014M and the second magnet 2015M, the cleaning disk 90H is fixed to the mounting portion 2001H.The cleaning assembly 20 in FIG. 100 is in a ground wiping position. When the cleaning assembly 20 needs to be lifted, the rotating motor 2011M rotates in a first direction, the second mounting body 2013M rotates upward relative to the first mounting body 2012M, and the cleaning assembly 20 is lifted to a lifting position. When the rotary motor 2011M further rotates in the first direction, the second fixing body 2013M further rotates upward relative to the first fixing body 2012M, and the cleaning assembly 20 is raised to a separating position, separating the cleaning assembly 20 from the mounting portion 2001H, and rotating the cleaning disk 90H therebetween.On the other hand, when the cleaning part 91H needs to be lowered, the rotation motor 2011M rotates in a second direction opposite to the first direction. The second fixing body 2013M rotates downward relative to the first fixing body 2012M. The cleaning assembly 20 first descends from the separation position to the lifting position and then to the floor wiping position. The cleaning disk 90H rotates therebetween. In the ground wiping position, the second attachment body 2013M no longer rotates relative to the first attachment body 2012M. When the rotary motor 2011M continues to rotate in the second direction, there is no relative rotation between the first mounting body 2012M and the second mounting body 2013M, whereby the cleaning assembly 20 as a whole can be rotated and thus wipes the floor. The direction of rotation during the lifting of the cleaning assembly 20 differs from the direction of rotation during the lowering of the cleaning assembly.The above provided separation position is configured so that the cleaning device can easily return to the base station, thereby automatically disassembling and mounting the cleaning member 91H. Or the cleaning assembly is automatically disassembled on the device body. When the automatic dismounting and mounting function of the cleaning member 91H is not required, the above cleaning assembly 20 may be provided with no separation position and it is enough to provide only a floor wiping position and a lifting position.Because the direction of rotation of the cleaning disk 90H affects the position and disassembly of the cleaning disk 90H, a common motor is used to drive the rotating and lifting structure of the cleaning assembly 20. When the cleaning assembly 20 of the cleaning device is pivoted out or retracted, the cleaning assembly 20 does not rotate. For example, if the cleaning assembly 20 needs to be lifted in the extended state of the cleaning device, the control system first controls the cleaning assembly 20 to retract to the retracted position and then controls the lifting structure to lift, wherein the cleaning assembly 20 does not rotate upon retraction. When the cleaning assembly 20 is in a lifting state and the cleaning assembly 20 is to swing, the cleaning assembly 20 is first controlled to be lowered to the floor wiping position, and then the cleaning assembly 20 is controlled to swing, wherein the cleaning disk 90H does not rotate in the swing. Of course, the cleaning assembly 20 can pivot out or retract in the lifting position, wherein the cleaning assembly 20 does not rotate during the pivoting. After pivoting out or retracting into position, the rotary motor 2011M then drives the cleaning assembly 20 so that it is lowered to the floor wiping position.In the first situation of the lifting structure, it is contemplated that the lifting structure and the first driving structure 40M may each use a motor. When the lifting structure drives the cleaning assembly 20 to be lifted and lowered, the cleaning assembly 20 may rotate while the cleaning assembly 20 does not rotate upon the extension and retraction of the cleaning assembly 20.In the second situation of the lifting structure, when the lifting structure drives the cleaning assembly 20 to be lifted and lowered, the cleaning assembly 20 does not rotate, while the cleaning assembly 20 can rotate, do not rotate, or rotate at a reduced speed upon the outward or inward pivoting of the cleaning assembly 20.The cleaning assembly 20 is arranged at the bottom of the device body 10 of the cleaning device. In order to realize the outward pivoting and retraction of the cleaning assembly 20 on the device body 10, an escape space for the outward pivoting and retraction of the cleaning assembly 20 must be provided on the device body 10. The pivot positions of the cleaning assembly 20 on the device body 10 differ from one another, whereby correspondingly different escape spaces are also provided on the device body 10. This is described in more detail below with two preferred embodiments.More specifically, in the first embodiment, as shown in FIG. 90, it is provided that a moving passage 300H is formed at the bottom of the device body 10. The cleaning assembly 20 is located at the bottom of the apparatus body 10. the wet cleaning module further includes a mounting portion 2001H connected to the first driving structure 40M, the mounting portion 2001H pivoting in the moving channel 300H. The cleaning assembly 20 is mounted on the mounting portion 2001H and is located below the moving duct 300H. The first driving structure 40M is located in the mounting chamber of the device body 10. Or, as shown in FIG. 92, the moving passage 300H may be an arcuate hole 110R and the mounting portion 2001H pivots arcuately in the arcuate hole 110R. The length or degree of curvature of the travel channel 300H determines the maximum distance of extension and retraction of the cleaning assembly 20.In the second embodiment, as shown in FIG. 76, the cleaning assembly 20 is located at the bottom of the device body 10. the wet cleaning module 200M pivots as a whole from the side wall of the device body 10. The recess 104M is in communication with the bottom of the apparatus body 10. When the wet cleaning module 200M needs to pivot, the wet cleaning module 200M pivots integrally over the recess 104M. When the wet cleaning module 200M needs to pivot, the wet cleaning module 200M pivots integrally over the recess 104M.When the wet cleaning module 200M is in the retracted position, as shown in FIG. 101, the outer side wall of a movable shell 110H of the wet cleaning module 200M is preferably smooth and flush with the outer side wall of the device body 10, so that the device body 10 maintains completeness in appearance. The second driving structure 50M is disposed on the device body 10. The second drive structure 50M pivots the movable shell 110H such that the cleaning assembly 20 and the first drive structure 40M are pivoted. When the wet cleaning module 200M is in the retracted position, the outer sidewall of the movable shell 110H of the wet cleaning module 200M may protrude beyond the outer sidewall of the device body 10 or retract within the inner sidewall of the device body 10.In this embodiment, a plurality of recesses 104M may be provided in the side wall of the device body 10. Each of the recesses 104M corresponds to one pivotable cleaning assembly 20. As an optional embodiment, the wet cleaning module 200M pivots from the side wall of the device body 10. Or, when in the retracted position, the sidewalls of the movable shell 110H and the device body 10 are not smooth and flush with each other, but the movable shell 110H may protrude beyond the sidewall of the device body 10. The wet cleaning module 200M pivots as a whole from the side wall of the apparatus body 10, and no moving channel 300H is provided at the bottom of the apparatus body 10, whereby the angle and distance of the pivoting of the wet cleaning module 200M is larger.Or, an upwardly recessed recess portion may be formed at the bottom of the apparatus body 10 to expose the wet cleaning module 200M at the bottom of the apparatus body 10. That is, there is a difference in height between a position located on the bottom of the apparatus body 10 in a non-swingable wet cleaning module 2001M and a position located on the bottom of the apparatus body 10 in a swingable wet cleaning module 2002M. The recess 104M is in communication with the recess portion. When the wet cleaning module 200M is mounted to the apparatus body 10, the first drive structure 40M and / or the second drive structure 50M of the wet cleaning module 200M are located in the recess region, while the cleaning assembly 20 is located below the recess region.When the moving passage 300H is provided at the bottom of the device body 10, the external environment is brought into communication with the mounting chamber of the device body 10 through the moving passage 300H by the mounting portion 2001H of the first driving structure 40M pivoting in the moving passage 300H. It is intended to prevent dust and liquids from entering from the outside through the moving passage 300H into the mounting chamber of the apparatus body 10, thus interfering with structures in the mounting chamber, such as an electronic component or an electrical element. For this, a seal structure for water and dust tightness is also provided on the device body 10 to seal or cover the moving passage 300H. The sealing structure includes a sealing structure part. The seal structure part may be a flexible component, one end of which is fixed to the device body 10 and the other end of which is deformable with pivoting of the cleaning assembly 20. The seal structure member may also be a seal plate or cover plate that moves with pivoting of the cleaning assembly 20 to dynamically cover the movement channel 300H.The cleaning part 91H of the wet cleaning module 200M needs to be maintained in a humidified state when performing a cleaning task. The cleaning part 91H is replenished by the water replenishing mechanism on the apparatus body 10 to wet the cleaning part 91H. By allowing the cleaning assembly 20 of the wet cleaning module 200M to pivot and retract relative to the device body 10, the cleaning assembly 20 may be in the pivoted-out position, the retracted position, and a dynamic position upon switching between the pivoted-out position and the retracted position, thereby also correspondingly changing the water outlet 900H of the water replenishing mechanism. At least two situations apply to the positions of the water outlet 900H. In detail:First situation: The water outlet 900H is provided on the cleaning disk 90H of the cleaning assembly 20. The water tank of the water replenishing mechanism is located in the mounting chamber of the apparatus body 10.Second situation: The water outlet 900H is provided on the device body 10. The water outlet 900H cannot move with pivoting of the cleaning assembly 20 relative to the device body 10. As shown in FIGS. 81 to 86, the cleaning disk 90H of the cleaning assembly 20 is formed with an annular recessed portion. When the cleaning assembly 20 is in the retracted position, the deployed position, and any position between the retracted position and the deployed position at the time of the pivoting, the position of the water outlet 900H on the device body 10 is determined by the vertical projection area (i.e., a position in which the hollowed area projects onto the bottom of the device body 10 in a direction perpendicular to the bottom of the device body 10) of the hollowed area on the device body 10, so that the cleaning part 91H can be replenished via the water outlet 900H through the hollowed area when the cleaning part 91H is in the retracted position, the deployed position and any position between the retracted position and the deployed position. Or, when the cleaning part 91H is in both the retracted position and the extended position, the cleaning part 91H is replenished via the water outlet 900H. Or, when the cleaning part 91H is only in the retracted position or only in the extended position, the cleaning part 91H is replenished via the water outlet 900H.As shown in FIG. 99, the cleaning apparatus is generally provided with two wet cleaning modules 200M. When the cleaning device performs edge cleaning, one-side edge cleaning may be used. For example, when the cleaning device performs right edge cleaning, the wet cleaning module 200M is pivotable on the right side of the cleaning device relative to the device body 10, while the wet cleaning module 200M is not pivotable on the left side of the cleaning device relative to the device body 10. In the mounting chamber of the apparatus body 10, a space for the pivot of the right wet cleaning module 200M needs to be reserved, whereby the arrangement of the wet cleaning module 200M is slightly different from the arrangement of the structure adjacent thereto on the entire apparatus.In an embodiment, as shown in Figs. 102 to 105, the dust box 102M is disposed in the mounting chamber of the apparatus body 10. In order to reserve a mounting space for the right wet cleaning module 200M, a first escape surface 1024M is provided on a wall surface of the dust box 102M to increase the mounting space between the wall surface of the dust box 102M and the side wall of the apparatus body 10 or to reserve a mounting space used for mounting the above second driving structure 50M or the first driving structure 40M or the first driving structure 40M or the second driving structure 50M. Preferably, the first avoidance surface 1024M may be a planar surface, an arcuate surface, an uneven surface, or an angular surface. The shape of the first escape surface 1024M is not limited as long as escape of a larger space for mounting the second driving structure 50M and / or the first driving structure 40M can be realized.The first escape surface 1024M may be provided on a side wall of the dust box 102M, on the bottom wall of the dust box 102M, on the top wall of the dust box 102M, or at a connection location between the top and a side wall of the dust box 102M. Or, it may be provided at a joint between a side wall and the bottom wall of the dust box 102M. It is further preferably provided in this embodiment that the edge of the cleaning assembly 20 is located in the region of the edge of the device body 10 or at least a part of the cleaning assembly 20 is located outside the circumference of the device body 10 when the cleaning assembly 20 is in the retracted position. When the cleaning assembly 20 is in the extended position, a portion of the cleaning assembly 20 is located outside the perimeter of the device body 10, or at least a portion of the edge of the cleaning assembly 20 protrudes beyond the edge of a travel range of the device body 10.As shown in FIG. 99, in one embodiment, it is provided that the blower 103M of the dry cleaning module 100M is located between the non-swingable wet cleaning module 2001M and the swingable wet cleaning module 2002M, and that the air outlet 1022M of the dust box 102M is provided on the wall surface on a side facing the blower 103M. The dust inlet 1021M of the dust box 102M is provided on the wall surface of the dust box 102M on a side opposite to the blower 103M. At the air outlet 1022M, a filter assembly 1023M is provided. For example, the filter assembly 1023M is a HEPA or other filter screen. Preferably, one end of the filter assembly 1023M may be attached to the first escape surface 1024M.In a preferred embodiment, the second drive structure 50M distributes in an area enclosed by the wet cleaning module 200M, the first escape surface 1024M, and the blower 103M, so that the distribution of the wet cleaning module 200M and the second drive structure 50M in the mounting chamber is more compact.For example, as seen in the embodiment shown in FIG. 103, the first driving structure 40M used to rotate the cleaning assembly 20 includes a first motor 203M and a first gear mechanism 201M disposed on an output shaft of the first motor 203M. The second drive structure 50M includes a second motor 204M and a second gear mechanism 202M disposed on an output shaft of the second motor 204M. The first transmission mechanism 201M connects to the second transmission mechanism 202M via a swing arm. As the second transmission mechanism 202M pivots, the first transmission mechanism 201M is caused to pivot as a whole by the pivot arm. A region for distributing the second motor 204M and the second gear mechanism 202M is enclosed by the first motor 203M, the first gear mechanism 201M, the blower 103M, and the first escape surface 1024M.When the garbage in the cleaner dust box 102M needs to be dedusted, the cleaner typically returns to the base station. The garbage in the dust box 102M is collected into a dust magazine or bag by blowing and sucking by a dust collecting blower at the base station. Accordingly, an air inlet 1028M and a dust outlet 1027M are provided on the dust box 102M. The blowing end of the dust collection blower at the base station is in communication with the air inlet 1028M, while the suction end of the dust collection blower is in communication with the dust outlet 1027M. At the air inlet 1028M and the dust outlet 1027M, respectively, normally closed valves are provided. The normally closed valves at the air inlet 1028M and the dust outlet 1027M are opened only when the dust collection cleaner returns to the base station and the dust collection blower is in operation. The normally closed valves can be opened actively by the drive structure. Or, the normally closed valves may be opened by an air flow generated when the dust collection blower is turned on.In an embodiment, as shown in FIGS. 103 and 104, at the dust outlet 1027M, a dust outlet duct 1026M is provided, which is formed to communicate with the suction end of the dust collection blower at the base station. An air intake duct is provided at the air inlet 1028M, and it is also possible to provide no air intake duct adapted to communicate with the blower end of the dust collection blower at the base station. The dust outlet duct 1026M must allow the debris in the dust box 102M to pass therethrough, whereby the dimension of the dust outlet duct 1026M is greater than the dimension of the air inlet duct. By providing the pivotable wet cleaning module 2002M in the vicinity of the first escape surface 1024M, the air inlet 1028M is provided on the first escape surface 1024M, and the dust outlet 1027M is provided on a wall surface of the dust box 102M facing away from the first escape surface 1024M. The air inlet 1028M and the dust outlet 1027M are disposed on two sides of the air outlet 1022M to provide a mounting space for the dust outlet duct 1026M. As shown in FIG. 103, the non-swingable wet cleaning module 2001M is preferably located between the dust outlet duct 1026M and the blower 103M of the dry cleaning module 100M.More preferably, as shown in the embodiment shown in FIG. 105, a second escape surface 1025M is formed on the dust box 102M to reserve a mounting space. In a preferred embodiment, the area of the first avoidance area 1024M is larger than the area of the second avoidance area 1025M. Or, in another embodiment, the area of the first avoidance area 1024M is less than or equal to the area of the second avoidance area 1025M. The second escape surface 1025M may be provided on a side wall of the dust box 102M, on the bottom wall, on the top wall, on a connection point between a side wall and the top wall, or on a connection point between a side wall and the bottom wall. Preferably, the second avoidance surface 1025M may be a planar surface, an arcuate surface, an uneven surface, or an angular surface. The shape of the second escape surface 1025M is not limited as long as the escape of a larger space for mounting other structures can be realized. The other structures may include structures other than the dust discharge passage. For example, when another wet cleaning module swings out or enters, the first drive structure and / or the second drive structure for driving the other wet cleaning module may be arranged in a space on the second avoidance surface in order to provide a space for swinging the other wet cleaning module.Preferably, the first avoidance surface 1024M and the second avoidance surface 1025M may be disposed adjacent, opposite, or in other distribution manners.More preferably, the dust outlet 1027M is formed on the second escape surface 1025M. Or, the dust outlet 1027M is not formed on the second escape surface 1025M. For example, two wet cleaning modules 200M are provided on the cleaning device. The second driving structure 50M and / or the first driving structure 40M of one of the wet cleaning modules 200M is disposed in a reserved space that is avoided by the first avoidance surface 1024M, while the other wet cleaning module 200M is disposed in a reserved space that is avoided by the second avoidance surface 1025M. Or, when the two wet cleaning modules 200M can swing and retract, a space may also be enclosed between the second escape surface 1025M and the apparatus body 10 to mount the second driving structure 50M and / or the first driving structure 40M of the other wet cleaning pivotable module 2002M. Or, between the second escape surface 1025M and the device body 10, a space is enclosed to mount the structures other than the wet cleaning module 200M.Accordingly, when the cleaning device performs left edge cleaning, the wet cleaning module 200M located on the left side of the device body 10 is pivotable relative to the device body 10, while the wet cleaning module 200M located on the right side of the device body 10 is not pivotable relative to the device body 10. The arrangement of the respective two wet cleaning modules 200M, the dust box 102M, the blower 103M, and the dust outlet duct 1026M is the same as the arrangement in the above embodiments and is not repeated here any more. Accordingly, when the cleaning device can perform both left and right edge cleaning, the two wet cleaning modules 200M are pivotable relative to the device body 10. The arrangement of each wet cleaning module 200M may be the same as the arrangement of the above pivotable dry cleaning module. The blower 103M of the dry cleaning module 100M may be disposed between the two wet cleaning modules 200M such that the dust outlet duct 1026M is closer to the dust inlet 1021M compared to the air outlet 1022M to reserve a larger space for the mounting of the wet cleaning modules 200M.The arrangement of the wet cleaning module 200M, the dust box 102M, the blower 103M, and the dust outlet duct 1026M may be different from that illustrated above as long as sufficient space is reserved for the pivoting or movement of the pivoting wet cleaning module 2002M.As shown in FIGS. 96 and 99, it is provided for the two wet cleaning modules 200M of the cleaning device that, during edge cleaning of the cleaning device, the pivotable wet cleaning module 2002M pivots, so that the cleaning assembly 20 is in the pivoted-out position, while a clearance is created between the cleaning part 91H of the pivotable wet cleaning module 2002M and the cleaning part 91H of the non-pivotable wet cleaning module 2001M, which clearance can lead to an uncleaned region during edge cleaning of the cleaning device. In order to avoid the non-cleaned area, the two wet cleaning modules are formed on the cleaning device so as to be pivotable relative to the device body 10 and toward the same side of the device body 10, whereby no clearance exists between the two cleaning parts 91H of the two wet cleaning modules 200M during edge cleaning or non-edge cleaning of the cleaning device, thereby avoiding the non-cleaned area. For example, when the cleaning member is a wiping mop, the wiping mop has a certain degree of deformation, and two adjacent ends of two adjacent wiping mops are pressed against each other to eliminate a gap between the two wiping mops.For example, when the cleaning device needs to perform edge cleaning, for example, right edge cleaning, the two wet cleaning modules 200M swing toward the right side of the device body 10, and thus there is no clearance between the two cleaning assemblies. When the cleaning device finishes edge cleaning or is in another scene, and when the cleaning assembly 20 needs to be in the retracted position, the two wet cleaning modules 200M retract toward the inside of the device body 10, and thus there is no clearance between the two cleaning parts 91H.The two wet cleaning modules 200M swing toward the same side and may swing synchronously or simultaneously as well as asynchronously or in a time-shifted manner as long as there is no clearance between the two cleaning parts 91H. The pivoting of the two wet cleaning modules 200M may be driven by a common second drive structure 50M, or may be performed separately by providing a second drive structure 50M, respectively, as long as a space is reserved on the apparatus body 10 so that the second drive structure 50M and the two wet cleaning modules 200M may pivot toward the same side.At the bottom of the apparatus body 10, a recess chamber for accommodating the running component is formed. The chassis 300M has a function for obstacle override. The running gear 300M is swingably disposed on the apparatus body 10, and the running component is located in the recess chamber. When the device body 10 is raised, the travel component may float and protrude from the recess chamber. When the device body 10 is put on the floor surface or a surface of an object, the driving component abuts on the floor surface or the surface of the object. The travel component is pressed in the direction of the recess chamber and partially protrudes into the recess chamber.By the wet cleaning module 200M being pivotally disposed on the apparatus body 10, there is no interference between the arcuate pivot track of the travel component and the pivot track of the cleaning disk 90H of the pivotable cleaning assembly 20 when the travel component abuts the floor surface or the surface of the object. That is, interference between the swing of the cleaning assembly 20 and the movement of the travel component of the traveling gear 300M is avoided. In one embodiment, if the cleaning part is a wiping mop, the wiping mop has a certain degree of deformation. When the apparatus body 10 is lifted, the traveling component is in a floating state and the cleaning apparatus is in a non-operating state. There may be no interference between the arcuate pivot track of the travel component and the cleaning disk 90H of the pivotable cleaning assembly 20. However, the mop may have a certain degree of interference, which may be, for example, 0.1 mm, 1 mm, 2 mm, 3 mm, 4 mm, etc.In addition, when the cleaning device is provided with no lifting structure, or even when it is provided with a lifting structure, and the cleaning assembly 20 does not rotate in the lifting operation, the control system may control the cleaning assembly 20 to rotate when the wet cleaning module 200M is swung out or retracted. When the cleaning assembly 20 is in the floor wiping position, this allows the floor surface to be cleaned. The control system may also not control the cleaning assembly 20 to rotate. After the cleaning assembly 20 pivots out into position, the cleaning assembly 20 then begins to rotate to clean the floor surface. When the cleaning assembly 20 is swung out and retracted, the cleaning device body 10 is in a running state, so that the cleaning device swings while simultaneously running, thereby improving the cleaning efficiency. The cleaning device body 10 may also be in a non-driving state and then travels after the cleaning assembly 20 pivots out or retracts into position. For example, when the cleaning device will soon perform edge cleaning, the cleaning assembly 20 first swings out into position and then the device body 10 of the cleaning device starts to move along the edge, so that the swung out cleaning part 91H can perform cleaning from a home position along the edge.When the cleaning device is swung out, the control system may control the cleaning disk 90H to rotate at a reduced speed to prevent the cleaning disk 90H from having too high a linear speed during rotation, the cleaning disk 90H from excessively swinging out and abutting against an obstacle, and the device body 10 from deviating from the actual lane by the abutting force of the obstacle. That is, the linear velocity of the cleaning disk 90H is too high. And, when the apparatus body 10 is subjected to the abutting force of the obstacle, it tends to displace in an opposite direction by the abutting force. As a result, it is preferable to reduce the rotational speed of the cleaning disk 90H when the cleaning assembly 20 is swung out.As a result of the fact that two wet cleaning modules 200M are provided on the cleaning device. The cleaning parts 91H of the two wet cleaning modules 200M have different directions of rotation and have different effects on the outward pivoting and inward pivoting of the cleaning parts 91H. As shown in FIG. 106, two adjacent cleaning parts each have an adjacent first side and a second side remote from each other. When the two cleaning parts 91H rotate outward, that is, when it rotates from the adjacent first side to the second side, the cleaning parts 91H are brought into contact with the floor surface and subjected to a frictional force F of the floor surface, as described by a cleaning disk 90H as an example. That the cleaning disk 90H is subjected to the frictional force can be easily understood to be subjected to a force at each of the first end and the second end in the width direction of the apparatus body, the forces at the both ends being referred to as F1 and F2, respectively. A power arm from the swing center A to the first end of the cleaning disk 90H is referred to as L 1, and a power arm from the swing center A to the second end is referred to as L 2. In this case, the moment at the first end or at the second end is respectively F1×L1or F2×L2. Since F1=F2and L1>L2, it holds for the moment that F1>L1>F2×L2. By the moment, the cleaning disk 90H can be swung out, and thus the driving force can be reduced when the cleaning disk 90H is swung out.Also see Fig. 107. When the two cleaning parts 91H rotate inward, that is, when it rotates from the second side to the first side, the cleaning parts 91H are brought into contact with the floor surface and subjected to a frictional force F of the floor surface, as described by a cleaning disk 90H as an example. That the cleaning disk 90H is subjected to the frictional force can be easily understood to be subjected to a force at each of the first end and the second end radially in the width direction of the apparatus body, the forces at the both ends being referred to as F3 and F4, respectively. A power arm from the swing center A to the first end of the cleaning disk 90H is referred to as L 3, and a power arm from the swing center A to the second end is referred to as L 4. In this case, the moment at the first end or at the second end is respectively F3×L3or F4×L4. Since F3 = F4 and L3 > L4, the moment is that F3 × L3 > F4 × L4. By the moment, the cleaning disk 90H can be caused to pivot, and thus the driving force can be reduced when the cleaning disk 90H is pivoted.Based on the above analysis, the driving force in the swing and swing of the cleaning disks 90H can be reduced by controlling the rotation directions of the two cleaning disks 90H. For example, when the cleaning assemblies 20 are required to pivot, the cleaning disks 90H of the two cleaning assemblies 20 may be controlled for rotation outward to reduce the driving force upon pivoting. When the cleaning assembly 20 is required to pivot, the cleaning disks 90H of the two cleaning assemblies 20 are controlled to rotate inwardly to reduce the driving force upon pivoting. That is, together with the second driving structure 50M and by controlling the rotational directions in the swing of the cleaning disks 90H, the wet cleaning module 200M is caused to swing.Or otherwise, for the swing of the wet cleaning module 200M, a driving force for the swing may be generated not by providing the second driving structure 50M but by controlling the rotational directions of the two cleaning disks 90H. When the cleaning assemblies 20 are required to pivot, the first driving structure 40M is controlled to rotate the two cleaning assemblies 20 outward, so that the cleaning assemblies 20 are caused to pivot. When the cleaning assemblies 20 pivot, the first driving structure 40M is controlled to rotate the two cleaning assemblies 20 inward, so that the cleaning assemblies 20 are retracted.Furthermore, it is provided that by controlling the rotation angle of the rotary motor 2011M of the first drive structure 40M, the swung-out or retracted position of the cleaning assembly 20 can be adjusted, whereby the swung-out position or the retracted position of the cleaning assembly 20 can be adjusted.The cleaning device must frequently return to the base station to be charged, collect the garbage in the dust box 102M in the base station, wash the cleaning part 91H, disassemble the cleaning assembly 20 or the cleaning part 91H, refill the water tank in the device body 10, whereby before the cleaning device returns to the base station, the wet cleaning module 200M of the cleaning device must be in the retracted position. To ensure that the cleaning assembly 20 is in the retracted position, the position of the cleaning assembly 20 may be first detected prior to the cleaning device returning to the base station. When the cleaning assembly 20 is not in the retracted position, the control system controls the second activating drive structure 50M to retract the cleaning assembly 20 until the retracted position is reached. Or prior to the cleaning device returning to the base station, it is not detected whether the cleaning assembly 20 is in the retracted position. The control system controls the second driving structure 50M to forcibly retract the cleaning assembly 20, and thereafter, it is detected whether the cleaning assembly 20 is in the retracted position. When the cleaning assembly 20 is in the retracted position, the motor of the second drive structure 50M no longer rotates. Otherwise, the motor of the second drive structure 50M continues to rotate until the cleaning assembly 20 is in the retracted position.When the cleaning device is in scenes other than returning to the base station, such as in the non-edge cleaning mode, in the case of lifting the mop, in the case of dismounting the cleaning part 91H (dismounting the cleaning part 91H without returning to the base station), and the like, the cleaning assembly 20 needs to be in the retracted position. In order to ensure that the cleaning assembly 20 can be in the retracted position, in addition to the above manner by the locking structure or by self-locking of the motor, the control system can also control the second drive structure 50M for activation at an interval from the first predetermined time period t 1 in order to forcibly retract the cleaning assembly 20 and thus maintain it in the retracted position. Also, when the cleaning assembly 20 needs to be held in the swing-out position, for example, in the edge cleaning mode, the control system may control the second driving structure 50M to be activated at an interval from the second predetermined time t 2 to forcibly swing out the cleaning assembly 20 and thus hold it in the swing-out position. In this case, the first predefined time duration t 1 and the second predefined time duration t 2 can be the same or different. The first predetermined time period and the second predetermined time period may be a time period of arbitrary minutes. The first predetermined time period and the second predetermined time period may be 3 minutes, 5 minutes, 10 minutes, etc.In one embodiment, the cleaning assembly 20 may also be disposed on the device body 10 by a pivot rod mechanism. The pivot rod mechanism includes a first pivot rod and a second pivot rod. The first pivot rod is rotatably disposed on the apparatus body 10. The second pivot rod is articulated or rotatably connected to the first pivot rod. The second pivot rod is connected to the cleaning assembly 20 or to the first drive structure 40M for rotating the cleaning assembly 20. By controlling the pivot angle of the pivot rod, the distance of the outward pivoting of the cleaning assembly 20 is adjusted. For example, the second driving structure 50M is used to pivotally drive the first pivot rod. By means of the second pivot rod, the first pivot rod sets the cleaning assembly as a whole into pivoting out or retracting. When the cleaning assembly projects outwards and encounters an obstacle, it can be elastically retracted. A pivot rod mechanism may / may drive one cleaning assembly 20 or multiple cleaning assemblies.In an embodiment, the device body 10 includes a first part 110M and a second part 120M. In the forward direction of the device body, the first part 110M may be located in front of or behind the second part 120M. The arrangements in the two situations are the same. To simplify the description, it is exemplarily illustrated that the first part 110M is located in front of the second part 120M. As shown in embodiments in Figs. 113 and 114, respectively, the above cleaning assembly 20 is disposed on the second part 120M. When the cleaning assembly 20 needs to pivot, the module of the second part 120M and the cleaning assembly 20 is driven by the second driving structure 50M and pivots as a whole toward the outside of the device body 10 to reach the pivoted-out position. On the other hand, the module of the second part 120M and the cleaning assembly 20 is driven by the second driving structure 50M and pivots as a whole toward the inside of the device body 10 to reach the retracted position. Preferably, a avoidance region is formed behind the first part 110M. When the cleaning assembly 20 is in the retracted position, the cleaning assembly 20 and the second portion 120M may be retracted into the escape region. When the cleaning assembly 20 is in the retracted position, the above first portion 110M and second portion 120M optimally form a complete circle or a D-shape or other polygon, etc., such that the cleaning device can be formed as a circular machine, a D-shape machine, or a polygonal machine. Of course, when the cleaning assembly 20 is in the retracted position, the second portion 120M may also be located inside the maximum width edge (the width in a direction perpendicular to the cleaning device's forward direction) of the first portion 110M or outside the maximum width edge of the first portion 110M. Or behind the first part 110M, no avoidance region is formed. The second part 120M is located behind the entire first part 110M. In addition, when the second driving structure 50M is provided with an elastic part and an obstacle acts on the cleaning assembly 20 or the second part 120M, it or it may be elastically protruded or elastically retracted.In one embodiment, there are at least two wet cleaning modules 200M, one of the cleaning assemblies 20 of the two wet cleaning modules 200M being able to pivot and retract and the other being unable to pivot. Or, the two cleaning assemblies 20 (main cleaning assemblies) cannot swing out or both are pivotable. On this basis, at least one auxiliary cleaning assembly which can be pivoted out and retracted is also provided on the device body 10. When edge cleaning is performed, the auxiliary cleaning assembly pivots out and is in the pivoted out position. When the auxiliary cleaning assembly needs to retract, the auxiliary cleaning assembly retracts and is in the retracted position. The swing of the auxiliary cleaning assembly may be driven by the above second driving structure 50M. It is also possible to set the auxiliary cleaning assembly in a pivoting or self-rotation by means of a belt transmission. Preferably, the auxiliary cleaning assembly is provided with an elastic member and it enables retraction or extension under the action of the elastic member. Or it may be automatically pivotally retracted when it encounters an obstacle.In one embodiment, the cleaning device is provided with at least two wet cleaning modules 200M, wherein the two wet cleaning modules 200M can pivot out or retract. In the retracted position, the cleaning assemblies 20 of the two wet cleaning modules 200M may be folded or overlapped such that the cleaning assemblies 20 are located in the area of the device body 10. For example, the two cleaning assemblies 20 are offset in height prior to retraction by the lifting and lowering action of the lifting structure. Subsequently, the cleaning assemblies 20 retract so that the inner sides of the cleaning assemblies 20 partially overlap or abut each other in the thickness direction of the device body 10, whereby the two cleaning assemblies 20 are located in the area of the device body 10. On the other hand, during the outward pivoting, the cleaning assemblies 20 first pivot out and then lower, so that the cleaning assemblies 20 are each in the outward pivoted positions. Optionally, the travel component is located between the main brush 101M of the dry cleaning module 100M and the cleaning assemblies 20. Or the two cleaning assemblies 20 can pivot out and retract. In addition, the side brush 400M may be provided in a number of one or two. When two side brushes 400M are provided, the two side brushes 400M are distributed on both sides of the device body 10.In one embodiment, the cleaning device body 10 is a profiled machine. As shown in FIG. 115, the device body 10 includes a main body and a protrusion 130M formed in a protruding manner on the main body. At least one wet cleaning module 200M is arranged on the bulge 130M. The cleaning assembly 20 of this wet cleaning module 200M can pivot out and retract. By providing the bulge 130M and by interacting with the outward pivoting of the cleaning assembly 20, the distance for the outward pivoting of the cleaning assembly 20 relative to the base body is increased. Preferably, the cleaning device is provided with two wet cleaning modules 200M, one of which is arranged on the bulge 130M and the other on the base body. Or both may be disposed on the bulge 130M. Depending on the need, the cleaning assembly 20 can pivot out on the base body or not. Preferably, the device body 10 is in the form of a water drop. Or, the device body 10 may have other irregular shapes, such as polygon and ellipse. The polygon may be a triangle, a quadrangle, etc., with each corner of the polygon serving as a bulge 130M. When the device body 10 is provided with a plurality of protrusions 130M, it is possible that the cleaning assemblies 20 of the wet cleaning module 200M are disposed at some protrusions 130M, the side brushes 400M are disposed at some protrusions 130M, and the main brushes 101M of the dry cleaning module 100M are disposed at some protrusions 130M. It is of course also possible for the cleaning assemblies 20, the side brushes 400M or the main brushes 101M to be arranged on the remaining bulges 130M. This is done as needed.Moreover, the wet cleaning module 200M may further include at least one wet cleaning mechanism folded against each other, including a mounting cylinder and a cleaning body, the cleaning body including a first cleaning portion and a second cleaning portion. The two cleaning portions have a held-together state and a spread-out cleaning state.In the held-together state, the two cleaning sections are folded against one another and they can be held together by driving a telescopic mechanism in a mounting cylinder. In the expanded state, the two cleaning portions protrude from the mounting cylinder and are expanded, with the first cleaning portion thereof being located below the bottom of the apparatus body 10 and the second cleaning portion protruding from the apparatus body. When the apparatus body 10 travels, the second cleaning portion protruding from the apparatus body 10 can perform edge cleaning. In addition, the two cleaning sections can be pressed against one another in the held-together state and the liquid is thus pressed out therefrom. That is, the cleaning device is provided simultaneously with the above cleaning assembly 20 and the wet cleaning mechanism folded against each other. The interaction of the two further improves the cleaning effect. After completion of the edge cleaning, the two cleaning sections change into the held-together state. The mounting cylinder in this embodiment may not be provided. In another embodiment, the wet cleaning module 200M may also be provided with only the wet cleaning mechanism folded against each other or only the above cleaning assembly 20.In one embodiment, the wet cleaning module 200M includes two cleaning assemblies 20, one cleaning assembly 20 of which includes a cleaning disk 90H and a cleaning member 91H. The cleaning disk 90H vibrates the cleaning member 91H to clean the floor surface. The other cleaning assembly 20 includes a cleaning disk 90H and a cleaning part 91H. The cleaning disk 90H rotates the cleaning member 91H to clean the floor surface by rotation. In this case, the rotating cleaning assembly 20 can swivel out or retract or not. The oscillating cleaning assembly 20 may or may not pivot. For distributing the oscillating cleaning assembly 20 and the rotating cleaning assembly 20 to the apparatus body 10, it is intended that the arrangement is not limited as long as the movements of the two do not interfere with each other. For example, in the forward direction of the cleaning device, one of the oscillating cleaning assembly 20 and the rotating cleaning assembly 20 is located forward and the other is located rearward. Or, the two cleaning assemblies 20 are distributed left and right in the width direction of the apparatus body 10. Or, one of the oscillating cleaning assembly 20 and the rotating cleaning assembly 20 is provided with a bypass portion for mounting or distributing the other cleaning assembly 20. In addition, at least one of the oscillating cleaning assembly 20 and the rotating cleaning assembly 20 may extend or retract to switch between the extended position and the retracted position.In one embodiment, the cleaning assembly 20 may be formed similar to a collision plate at the front of the cleaning device. When the cleaning assembly 20 encounters an obstacle, the cleaning assembly 20 retracts under the action of the obstacle. Under the action of the elastic member, the cleaning assembly 20 is held in the swung-out position. When the cleaning disk 90H is in the retracted position, at least a portion thereof is located outside the periphery of the device body 10.In addition, at least two wet cleaning modules 200M are provided, and two wet cleaning modules 200M thereof share a second driving structure 50M above. That is, a second driving structure 50M pivots two cleaning assemblies 20, or two wet cleaning modules 200M are each provided with a second driving structure 50M. Or, the wet cleaning module 200M is provided in a number of one. The cleaning device is provided with a cleaning assembly 20 for cleaning a surface to be cleaned. During edge cleaning, the cleaning assembly 20 pivots out. When the cleaning assembly 20 needs to be in the retracted position, the cleaning assembly 20 retracts. If the cleaning device is provided with only one cleaning assembly 20, the cleaning assembly 20 can always be held in the pivoted-out position without the cleaning assembly 20 having to change between pivoting-out and retracting.For the cleaning assembly 20, it is contemplated that the cleaning assembly 20 may be the above oscillating cleaning assembly 20, the rotating cleaning assembly 20, or a floor wiping brush roller.The above is realized by the wet cleaning module 200M to realize the functions such as swing-out and retract. Also, the wet cleaning module 200M may be replaced with a side brush 400M to achieve the extension and retraction of the side brush 400M to improve the edge cleaning function of the side brush. Or the wet cleaning module can also be replaced by a main brush in order to achieve the outward pivoting and retraction of the main brush and thus to enlarge the cleaning range of the main brush. The details are to be seen in the above and will not be repeated here any more.In an embodiment, the side brush 400M can be swung and retracted relative to the apparatus body 10 by the above driving structure. The side brush 400M has a deployed position and a retracted position. When the side brush 400M swings out, the side brush 400M protrudes beyond the apparatus body 10 to reach the swung-out position. When the side brush 400M retractably pivots and reaches the retracted position, the side brush 400M may be located both in the area of the device body 10 and partially outside the perimeter of the device body 10. When the side brush 400M is in the swung-out position, the side brush 400M has a better edge effect on an obstacle.In one embodiment, a plurality of side brushes 400M may be provided. For example, the plurality of side brushes 400M are spaced apart outside the edge of the device body 10. The side brushes 400M are distributed on the device body 10 in a manner avoiding the wet cleaning module 200M. The side brushes 400M may or may not pivot.In order to provide a better understanding of the technical features, the objects and the effects of the present application, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings.Embodiment 1Overall, in these embodiments 1 to 8, a cleaning device is mainly presented. The cleaning device has a cleaning assembly 20, wherein the cleaning assembly 20 can be changed between a first position and a second position in order to achieve a better cleaning effect. In this embodiment, the first drive structure 40M includes at least one rotating drive part 230 and a gear assembly 240 in this embodiment. The second driving structure 50M includes at least a guide assembly 50 and a counter driving structure 711 in this embodiment. In this embodiment, a cleaning device is provided, as shown in Figs. 1 to 6, comprising a device body 10 and a cleaning assembly 20, the cleaning assembly 20 being connected to the device body 10, the cleaning assembly 20 having a first position, a part of the cleaning assembly 20 being located outside the perimeter of the device body 10 when the cleaning assembly 20 is in the first position.By having the part of the cleaning assembly 20 outside the periphery of the device body 10 and controlling the movement path of the device body 10, cleaning is enabled for an area near an obstacle such that, upon movement of the device body 10, it can be brought into contact with the cleaning assembly 20 protruding from the device body 10 with the edge of the obstacle.Embodiment 2: In this embodiment, there is provided a cleaning device as shown in Figs. 1 to 6, comprising a device body 10 and a cleaning assembly 20, the cleaning assembly 20 being movably connected to the device body 10, the cleaning assembly 20 having a first position and a second position, a part of the cleaning assembly 20 being located outside the periphery of the device body 10 when the cleaning assembly 20 is in the first position. The portion of the cleaning assembly 20 that is outside the perimeter of the device body 10 is larger than the portion of the cleaning assembly 20 that is outside the perimeter of the device body 10 when the cleaning assembly 20 has reached the second position in the first position of the cleaning assembly 20.When the cleaning assembly 20 is located at the second position, the part of the cleaning assembly 20 outside the periphery of the device body 10 is brought into contact with the edge of the obstacle.In particular, it is provided that, when cleaning a surface to be cleaned by a cleaning assembly 20, the cleaning assembly 20 has a first position and a second position, wherein the cleaning assembly 20 moves away from the device body 10 when changing from the first position to the second position, wherein the part of the cleaning assembly 20 which is located outside the device body 10 when the cleaning assembly 20 is in the second position is brought into contact with the edge of the obstacle in order to achieve the cleaning in an area close to an obstacle. In the present application, it is contemplated that at least a portion of the cleaning assembly is located outside the perimeter of the device body 10 when the cleaning assembly 20 is in the first position and the second position. And when the cleaning assembly 20 is located at the second position, a dead zone such as obstacles can be cleaned, thereby cleaning is more circumferential and cleaning efficiency is improved.Furthermore, it is provided that the obstacle can be structures such as a wall, a piece of furniture and the like. The wall is mentioned by way of example. When the cleaning device moves to the corner of the wall, the cleaning device senses the presence of an obstacle, and the cleaning assembly 20 changes from the first position to the second position by driving, so that the cleaning assembly 20 moves toward the obstacle and is brought into contact with the edge of the obstacle to clean an area at the corner.It should be noted that the presence of an obstacle can be detected by the cleaning device in different ways. For example, detection by an infrared sensor is performed by light reflection.There are of course other possibilities as well, provided that the position of the obstacle can be detected.In one embodiment, it is contemplated that when the cleaning assembly 20 is in the second position, the distance between the portion of the cleaning assembly 20 outside the perimeter of the device body 10 and the edge of the obstacle is less than or equal to a threshold, the threshold being greater than or equal to 0. The cleaning assembly 20 includes a cleaning disk 90H and a cleaning member 91H disposed on the cleaning disk 90H. When the cleaning device performs edge cleaning, a gap is always reserved between the cleaning disk 90H and the edge of the obstacle to prevent the cleaning disk 90H from hitting the edge of the obstacle. However, the cleaning member 91H may be brought into contact with the edge of the obstacle or may be at a reserved distance from the edge of the obstacle. For example, when a wiping mop is selected as the cleaning member 91H, the wiping mop has a certain degree of deformation. During edge cleaning, the mop can be brought into contact with the edge of the obstacle. Or it is not brought into contact with the edge of the obstacle. Thus, the above threshold value is set to a value greater than or equal to 0. When the threshold value is 0, the cleaning part 91H is in contact with the edge of the obstacle. When the threshold value is larger than 0, the cleaning member is not in contact with the edge of the obstacle. For example, the threshold may be 1 millimeter, 2 millimeters, 3 millimeters, 4 millimeters, 5 millimeters, 1 centimeter, 1.5 centimeters, etc.When the cleaning part 91H is a wiping mop, there are at least two situations in which the wiping mop is in contact with the edge of the obstacle. In the first situation, it is provided that the mop does not deform and is in contact with the edge of the obstacle. In the second situation, it is provided that the mop deforms and is in contact with the edge of the obstacle.In this embodiment, depending on the specific position of the part of the cleaning assembly 20 located outside the apparatus body 10, two embodiments are provided as follows.As in the specific embodiment shown in FIG. 2, the travel line at the widest point of the device body 10 determines the maximum cleaning range of the cleaning device. When the cleaning assembly 20 has reached the second position, at least a portion of the edge of the cleaning assembly 20 reaches the edge of the maximum cleaning range.Specifically, the device body 10 has a wide portion and a narrow portion. The cleaning assembly 20 is mounted in an area outside the widest point of the device body 10, whereby a part of the cleaning assembly 20 protrudes into the outer area of the device body 10, but in the direction of travel the edge of the cleaning assembly 20 is still flush with the edge line of the widest area.Further, it is provided that the cleaning assembly 20 is mounted on the front end or the rear end of the device body 10 in the direction of travel of the cleaning device, the width of the front end or the rear end being smaller than the width of the central portion of the device body 10.As in the specific embodiment shown in FIG. 3, the traveling line at the widest point of the device body 10 determines the maximum cleaning range of the cleaning device. When the cleaning assembly 20 has reached the second position, at least a portion of the edge of the cleaning assembly 20 protrudes beyond the outside of the maximum cleaning area.Specifically, the device body 10 has a wide portion and a narrow portion. The cleaning assembly 20 is mounted in an area outside the widest point of the device body 10, whereby a part of the cleaning assembly 20 protrudes into the outer area of the device body 10 and the edge of the cleaning assembly 20 in the travel direction can protrude beyond a partial area of the wide area.It is further provided that the cleaning assembly 20 is mounted on the front end or the rear end of the device body 10 in the direction of travel of the cleaning device, wherein the width of the front end or the rear end is smaller than the width of the central region of the device body 10.In this embodiment, the cleaning device further comprises a drive assembly drivingly connected to the cleaning assembly 20 for switching the cleaning assembly 20 between the first position and the second position.Here, the driving assembly includes a guide assembly 50 and a counter driving structure 711, wherein the guide assembly 50 is movably connected to the counter driving structure 711 and one of the guide assembly 50 and the counter driving structure 711 is connected to the cleaning assembly 20 to move the cleaning assembly 20 between the first position and the second position when the guide assembly 50 and the counter driving structure 711 are moved relative to each other.It is further provided that the drive assembly comprises a guide assembly 50 for guiding the cleaning assembly 20 and a counter drive structure 711 for changing the cleaning assembly 20 between the first position and the second position. At least one of the counter drive structure 711 and the guide assembly 50 performs a pivotal movement to move or carry the cleaning assembly 20 with the pivotal movement.As shown in FIGS. 1-6, the guide assembly 50 extends in a first direction and the first direction is straight. When the counter drive structure 711 and the guide assembly 50 move relative to each other, the counter drive structure 711 may move in the first direction.In particular, the counter drive structure 711 and the guide assembly 50 are drivingly connected by the cooperation of a threaded rod and a threaded bushing 220. The threaded rod and the threaded bushing 220 are in threaded connection with each other so that, as a result of the threaded connection of the threaded rod and the threaded bushing 220, during the rotation of one of the threaded rod and the threaded bushing 220, the other of them is set in motion in a first direction. At the same time, by using the threaded rod and the threaded bush 220, the function of limitation in the driving connection is obtained, so that the direction of movement of the cleaning assembly 20 is limited, i.e. by using the threaded rod and the threaded bush 220, the translation of the cleaning assembly 20 is achieved.It is further provided that the guide assembly 50 comprises a threaded rod, wherein the counter-drive structure 711 is drivingly connected to the threaded rod, and that the counter-drive structure 711 comprises a threaded bushing 220, wherein the threaded rod and the threaded bushing 220 are in threaded connection with one another and the counter-drive structure 711 is connected to the cleaning assembly 20 in order to set the cleaning assembly 20 in motion by the counter-drive structure 711.It should be noted that a drive motor 710 is provided on the apparatus body 10. The drive motor 710 sets the threaded rod in rotation and drives the threaded bushing 220 on the threaded rod by the self-rotation of the threaded rod, so that it is moved in the extension direction, i.e. the first direction, of the threaded rod. During the movement of the threaded bushing 220, the cleaning assembly 20 is also moved, so that the translation of the cleaning assembly 20 in the first direction is achieved. The forward and reverse rotation of the drive motor 710 allows the cleaning assembly 20 to transition between the first position and the second position.Of course, it is not limited to the construction in which the counter drive structure 711 is connected to the cleaning assembly 20. Instead, the counter drive structure 711 can also be formed on the cleaning assembly 20, wherein the counter drive structure 711 has a thread matching the threaded rod.In this embodiment, the cleaning assembly 20 has a through hole in which a linear bearing is mounted. The cleaning device further comprises a guide rod 530, wherein the guide rod 530 is arranged on the device body 10 and the linear bearing is placed on the guide rod 530.The guide rod 530 has a guide function. By providing a linear bearing on the through hole of the cleaning assembly 20, it is achieved that the cleaning assembly 20 can slide through the linear bearing in the extension direction of the guide rod 530, wherein the guide rod 530 extends in the first direction. The guide rod 530 is provided in a number of one or more. When there are a plurality of guide rods 530, the plurality of guide rods 530 extend in the first direction, and the plurality of guide rods 530 are symmetrically disposed with respect to the threaded rod to smoothly mount and move the cleaning assembly 20.As shown in FIGS. 1 to 6, the cleaning device further includes a first stopper plate 410 and a second stopper plate 420, wherein the first stopper plate 410 and the second stopper plate 420 are spaced apart in a direction of a connecting line between the first position and the second position. A mounting region 430 is formed between the first stop plate 410 and the second stop plate 420, and the cleaning assembly 20 is partially housed within the mounting region 430.In particular, the cleaning assembly 20 is at least partially within the mounting area 430 and moves within the mounting area 430. The two stopper plates have a limiting function to prevent the cleaning assembly 20 from being separated from the apparatus body 10.Further, it is arranged that both ends of the screw rod are rotatably mounted to the first stopper plate 410 and the second stopper plate 420 through a bearing, and that both ends of the guide rod 530 are also mounted to the first stopper plate 410 and the second stopper plate 420.Here, the moving channel 300H includes an elongated hole 110 or an arc hole 110R. In this exemplary embodiment, the elongated hole 110 is provided on the device body 10 within the mounting region 430.The elongated hole 110 extends in the direction of the connecting line between the first position and the second position. A part of the cleaning assembly 20 protrudes beyond the device body 10 through the elongated hole 110. When the cleaning assembly 20 switches between the first position and the second position, a portion of the cleaning assembly 20 moves in the elongated hole 110.Specifically, when the cleaning assembly 20 switches between the first position and the second position, a part of the cleaning assembly 20 moves in the long hole 110 to enable a limiting function for the cleaning assembly 20 and ensure that the cleaning assembly 20 stably moves and no offset phenomenon occurs.In this embodiment, the cleaning device further includes a seal structure part. The seal structure part covers the elongated hole 110. The peripheral edge of the seal structure part is joined to the device body 10. The sealing structural part comprises a mounting opening and the mounting opening is located in the region of the slot 110. A portion of the cleaning assembly 20 extends through the mounting opening. The peripheral edge of the mounting opening is connected to a portion of the cleaning assembly 20. When the cleaning assembly 20 switches between the first position and the second position, the position of the mounting hole relative to the elongated hole 110 is changed.Specifically, the peripheral edge of the seal structure part is connected to the device body 10, and the peripheral edge of the mounting hole is connected to the cleaning assembly 20 so as not to interfere with the movement of the cleaning assembly 20 while covering the long hole 110. While the cleaning assembly 20 is changed between the first position and the second position, the seal structure member is driven to move while the cleaning assembly 20 is carried along, so that the mounting hole is moved with the cleaning assembly 20 to always maintain a sealed state, thereby preventing dust or the like from entering through the long hole 110 inside the device body 10. As shown in FIG. 80, the seal structure member is a resin coating or rubber. Here, a resin coating 820H is exemplified. One end of the resin coating 820H is fixed to the device body 10 and the other end is fixed to the outer periphery of the mounting hole or portion. The plastic coating 820H has a certain elasticity. When the cleaning assembly 20 is pivoted, the end of the resin coating 820H attached to the mounting hole or portion pivots, and the resin coating 820H deforms to seal the elongated hole 110 or the arc hole 110R. It is also provided that the sealing structure part consists of elastic rubber.As shown in FIGS. 4 and 6, the cleaning assembly 20 includes a housing 210, a gear assembly 240, a rotating drive part 230, and a movable cleaning part 250. The housing 210 has an accommodation chamber. A portion of the gear assembly 240 is accommodated within the accommodation chamber. The rotating drive part 230 is accommodated on the housing 210. The rotating drive member 230 is connected to the transmission assembly 240. The movable cleaning member 250 is disposed outside the accommodation chamber. The other part of the gear assembly 240 protrudes beyond the accommodation chamber and is drivingly connected to the movable cleaning part 250. The rotating drive member 230 rotates the movable cleaning member 250 through the gear assembly 240.Specifically, the rotating drive part 230 provides a driving force for self-rotation of the cleaning assembly 20. A gear assembly 240 is disposed between the rotating driving part 230 and the movable cleaning part 250 to adjust the rotational speed of the movable cleaning part 250 by the gear assembly 240 to improve cleaning efficiency.It is further contemplated that the gear assembly 240 includes: an input gear member, the input gear member being housed within the housing chamber and the rotating drive member 230 being drivingly connected to the input gear member; an output gear member, the output gear member being housed within the housing chamber and the input gear member being drivingly connected to the output gear member; and a gear shaft, the output gear member being drivingly connected to a first end of the gear shaft and a second end of the gear shaft protruding beyond the housing chamber and being drivingly connected to the movable cleaning member 250.The input transmission part and the output transmission part can be structural parts with a transmission function. By providing a gear shaft, a rotational force of the output gear is transmitted to the movable cleaning member 250, so that the movable cleaning member 250 is rotated.As shown in FIG. 6, the input gear includes a first gear 241 and a second gear 242 which are coaxially arranged and synchronously rotated. The rotating drive member 230 is drivingly connected to the first transmission gear 241. The diameter and the number of teeth of the first gear 241 are larger than the diameter and the number of teeth of the second gear 242. The output gear part includes a third gear 243. The third transmission gear 243 is meshed with the second transmission gear 242. The third transmission gear 243 is drivingly connected to the transmission shaft. The diameter and the number of teeth of the third gear 243 are larger than the diameter and the number of teeth of the second gear 242, so that a gear ratio exists between the second gear 242 and the third gear 243.Specifically, the first gear 241 and the second gear 242 rotate synchronously and coaxially. The diameter and number of teeth of the first gear drivingly connected to the rotating drive part 230 are larger than the diameter and number of teeth of the second gear 242, whereby when the second gear is meshed with the third gear, a good reduction effect can be obtained to prevent too fast rotation of the movable cleaning part 250 from resulting in unstable mounting.It should be noted that the first gear 241, the second gear 242, or the third gear 243 may be adaptively replaced as needed to ensure the predetermined gear ratio and the rotational speed of the movable cleaning part 250.In this exemplary embodiment, it is also possible for two pulleys of different size to be provided between the input transmission part and the output transmission part, wherein a force transmission between the two pulleys takes place via a belt.It should be noted that it is not limited to the output gear member including the third transmission gear 243. The output gear part may also comprise a plurality of other gears. That is, the gears may be adaptively added or reduced as needed.As shown in FIG. 5, the cleaning assembly 20 also includes a micro switch 60 and a control device. The micro switch 60 is disposed on the apparatus body 10. The micro switch 60 is used for detecting the position of the movable cleaning member 250. The control device is disposed on the device body 10. The control apparatus is electrically connected to the micro switch 60, the rotating driving part 230 and the counter driving structure 711 of the cleaning device.At this time, the micro switch 60 is disposed on the apparatus body 10. When in the first position and the second position, respectively, the cleaning assembly 20 is in contact with the microswitch 60 to actuate the microswitch 60.Specifically, the micro switch 60 is provided to detect the position of the movable cleaning part 250. The triggered microswitch 60 sends a signal to the control device so that the control device controls the rotating drive member 230 and the counter drive structure 711 to perform actions, i.e. by controlling the forward and reverse rotation of the drive motor 710, the position of the cleaning assembly 20 can be controlled. Moreover, by controlling the start and stop of the rotating drive part 230, the state of the cleaning movable part 250 can be controlled.As shown in FIGS. 1, 2, and 3, the cleaning device further includes a static driving part 320 and a static cleaning part 310. The static driving part 320 is mounted on the device body 10. The static driving part 320 is drivingly connected to the static cleaning part 310. The static cleaning member 310 is rotatably connected to the apparatus body 10.Specifically, the static cleaning part 310 is provided to rotate the static cleaning part 310 under the driving action of the static driving part 320 to clean a surface to be cleaned. Moreover, it is contemplated that the static cleaning member 310 and the cleaning assembly 20 cooperate, and that the static cleaning member 310 and the device body 10 are relatively stationary. The combination of a movable configuration and a static configuration promotes the improvement in cleaning efficiency to avoid a dead zone in cleaning and thus a phenomenon of insufficient cleaning.It is further provided that both the movable cleaning part 250 and the static cleaning part 310 perform cleaning by the cooperation of a circular rotary disk and a wiping mop. Of course, the rotary disk connected to the drive part can also have other shapes than a circle. The cleaning can also be effected by providing the rotary disk with bristles. The present application is based on a technical effect that wiping and brushing can be achieved upon rotation of the movable cleaning part 250 and the static cleaning part 310.Embodiment 3: The difference between this embodiment and Embodiment 2 is that in this embodiment, a different seal structure member is used to maintain the seal at the long hole 110 when the cleaning assembly 20 is changed between the first position and the second position, thereby preventing dust and the like from entering the inside of the device body 10 via the long hole 110.As shown in FIGS. 8, 9, 13, 14, and 77, a rail groove 120 extending in a second direction is provided on the device body 10. The cleaning device further includes a first sealing part 810. The first sealing member 810 includes a first stopper portion 8101, a second stopper portion 8102, and a guide protrusion. The first stopper portion 8101 and the second stopper portion 8102 are disposed at an angle. The guide protrusion protrudes at least partially into the interior of the rail groove 120. When the cleaning assembly 20 switches between the first position and the second position, and when the cleaning assembly 20 presses the first stopper portion 8101 or the second stopper portion 8102, the guide protrusion rotates and moves in the extending direction of the rail groove 120. When the cleaning assembly 20 is in the first position, the second abutting portion 8102 abuts a part of the elongated hole 110. When the cleaning assembly 20 is in the second position, the first abutting portion 8101 abuts the other part of the elongated hole 110.Specifically, the first stopper portion 8101 and the second stopper portion 8102 are disposed in communication such that the first stopper portion 8101 and the second stopper portion 8102 rotate simultaneously when the cleaning assembly 20 switches between the first position and the second position and when the cleaning assembly 20 presses the first stopper portion 8101 or the second stopper portion 8102. When the cleaning assembly 20 is in the first position, the cleaning assembly 20 presses the first stopper portion 8101 so that the second stopper portion 8102 abuts a part of the long hole 110. When the cleaning assembly 20 switches from the first position to the second position, the cleaning assembly 20 presses the second stopper portion 8102 so that the first stopper portion 8101 and the second stopper portion 8102 rotate. When the cleaning assembly 20 is in the second position, the first abutting portion 8101 abuts the other part of the elongated hole 110.Furthermore, it is provided that during the rotation of the first stop portion 8101 and the second stop portion 8102, a location at which the cleaning assembly 20 presses the first stop portion 8101 is changed with the movement of the cleaning assembly 20 by translation of the cleaning assembly 20. Thereby, not only does the guide protrusion need to rotate with the first stopper portion 8101 and the second stopper portion 8102, but the guide protrusion needs to move in a second direction within the rail groove 120 at the same time.It should be noted that the angle between the first stopper portion 8101 and the second stopper portion 8102 and the shape of the first stopper portion 8101 and the second stopper portion 8102 can be adaptively adjusted as needed.In this embodiment, the first direction and the second direction are set at an angle of 90° to facilitate movement of the guide protrusion within the rail groove 120 when the cleaning assembly 20 switches between the first position and the second position.In this embodiment, the first seal part 810 is a rigid seal part to facilitate rotation under the action of pressing the cleaning assembly 20. The first sealing part 810 may be made of a material such as stainless steel or mild steel.It is further provided that the cleaning device further comprises a second sealing part 820. The second sealing part 820 is disposed between the device body 10 and the first sealing part 810, the second sealing part 820 is a flexible sealing part, and the second sealing part 820 may be made of a material such as rubber or silica gel or the like. Of course, it is also possible to dispense with the second sealing part 820 with a sufficient mounting space, i.e. the elongated hole 110 is sealed only by the first sealing part 810.Embodiment 4: The difference between this embodiment and Embodiment 2 is that in this embodiment, the counter drive structure 711 and the guide assembly 50 are drivingly connected by the cooperation of a gear and a rack.As shown in FIGS. 7 to 12, the counter drive structure 711 includes a drive gear. The guide assembly 50 includes a first guide part 510, wherein the first guide part 510 is a straight rack. The drive gear is in engagement with the straight rack. The counter drive structure 711 drives the cleaning assembly 20 in a rectilinear movement.In particular, the cleaning assembly 20 is provided with a drive motor 710. The drive motor 710 is drivingly connected to the drive gear. The first guide part 510 is mounted on the device body 10. During the switching of the cleaning assembly 20 from the first position to the second position, the drive motor 710 rotates the gear. The drive gear is rotationally connected to the linear gear and moves in the extending direction of the drive rack. The drive gear drives the cleaning assembly 20 into motion to move the position of the cleaning assembly 20.It is also provided that the engagement of the drive gear and the rectilinear rack causes the cleaning assembly 20 to be set in motion. Based on ensuring a stable connection, the technical effect of the limitation is also achieved, so that the cleaning assembly 20 moves in a straight line.In order to further ensure the stability of the movement of the cleaning assembly 20, it is provided in this exemplary embodiment that the cleaning assembly 20 comprises a guide groove 260. The guide groove 260 has a channel extending in the first direction. The guide assembly 50 further includes a second guide member 520. The second guide part 520 and the first guide part 510 are arranged side by side and spaced apart. At least a part of the second guide part 520 is accommodated inside the channel. The second guide member 520 is slidably engaged with the guide groove 260. By adding the second guide part 520, a guiding and limiting function is achieved, and thus a phenomenon that the cleaning assembly 20 moves obliquely or instable is avoided. Here, the length of the second guide part 520 is greater than the length of the first guide part 510. In this embodiment, the drive gear and the straight rack realize that the cleaning assembly 20 changes linearly between the first position and the second position.It should be noted that it is possible that the driving gear and the driving motor 710 are arranged on the cleaning assembly 20 while the rectilinear rack is arranged on the apparatus body 10. It is also possible, of course, that the driving motor 710 and the driving gear are arranged on the apparatus body 10 while the rectilinear rack is arranged on the cleaning assembly 20.Embodiment 5: The difference between this embodiment and Embodiment 2 is that in this embodiment, the counter drive structure 711 and the guide assembly 50 are drivingly connected by the cooperation of a worm shaft and a gear.As shown in FIGS. 18 and 19, the cleaning device further includes a locking assembly 270. The guide assembly 50 includes a worm shaft. The counter drive structure 711 is drivingly connected to the worm shaft. The counter drive structure 711 includes a drive gear. The worm shaft is drivingly connected to the drive gear. A detent portion of the locking assembly 270 is locked to or disengaged from the drive gear. When the drive gear is separated from the catch portion, the worm shaft rotates, and with the entrainment thereof, the drive gear rotates, so that the cleaning assembly 20 rotates. When the drive gear is locked by the locking portion, the worm shaft rotates, the drive gear is locked by the locking portion and does not rotate, so that the drive gear moves in the extending direction of the worm shaft, and the cleaning assembly 20 is caused to move in the first direction.In particular, the worm shaft interacts with the drive gearwheel. When the drive gear is separated from the locking portion, the drive motor 710 rotates the worm shaft. When the worm shaft rotates simultaneously, the teeth on the worm shaft can be brought into engagement with the drive gearwheel. By a circumferential force of the worm shaft, the drive gear is rotated to rotate the cleaning assembly 20. At this time, when the drive gear is locked by the locking portion, the movable cleaning member 250 of the cleaning assembly 20 cannot be rotated under the action of the locking portion. The drive motor 710 rotates the worm shaft, the worm shaft applying an axial force to the drive gear, such that the drive gear is moved in the axial direction of the worm shaft, thereby causing the drive gear to move the cleaning assembly 20.It is also provided that the drive motor 710 is mounted on the device body 10. By being drivingly connected to the worm shaft, the drive motor 710 drives the cleaning assembly 20 in self-rotation or motion. And, by controlling the forward or reverse rotation of the driving motor 710, the moving direction of the cleaning assembly 20 and the direction of the self-rotation of the movable cleaning part 250 of the cleaning assembly 20 can be controlled.It should be noted that, in order to realize the technical effect of the reduction of the movable cleaning part 250, a gear engaged with the driving gear and the movable cleaning part 250 may be provided between the driving gear and the movable cleaning part 250 to adjust the transmission ratio and thus the speed of the movable cleaning part 250 by engagement between the gears.In this embodiment, the locking assembly 270 is a spindle motor. The spindle motor protrudes toward the drive gear by controlling the spindle, thereby locking the drive gear so that the drive gear cannot rotate. Or, by controlling the spindle to remove from the drive gear, the spindle motor is retracted to separate from the drive gear.Exemplary embodiment 6: Unlike exemplary embodiment 2, it is provided in this exemplary embodiment that the cleaning assembly 20 is moved in an arcuate direction when changing between the first position and the second position.As shown in Figs. 15 to 17, the guide assembly 50 is connected to the cleaning assembly 20. The counter drive structure 711 is disposed on the device body 10. The counter drive structure 711 performs an action to set the guide assembly 50 in motion in the first direction, whereby the guide assembly 50 sets the cleaning assembly 20 in motion in the first direction.In particular, the guide assembly 50 has a guide surface, wherein the guide surface faces the counter drive structure 711. The guide surface is an arc surface, and the first direction is the extending direction of the arc surface.Under the guiding action of the guide surface of the guide assembly 50, the counter drive structure 711 drives the guide assembly 50, and under its entrainment, the cleaning assembly 20 is set in motion in the extending direction of the arc surface. During the switching of the cleaning assembly 20 between the first position and the second position, the cleaning assembly 20 moves along the arcuate surface.It is further provided that the guide surface has an arcuate toothed rack and that the counter-drive structure 711 comprises a drive gearwheel, wherein the drive gearwheel is in engagement with the arcuate toothed rack. A drive motor 710 is further provided on the apparatus body 10, the drive motor 710 rotates the drive gear, and the drive gear is engaged with the arcuate rack to move the arcuate rack.It should be noted that it is not limited to matching a gear to a rack. In this exemplary embodiment, it is also possible to use another transmission, for example a chain transmission, in order in particular to be able to set the cleaning assembly 20 in motion in an arcuate direction and thus to change between the first position and the second position.It is also provided that a microswitch 60 and a control device are provided on the device body 10. The micro switch 60 is used for detecting the position of the movable cleaning member 250. The control device is electrically connected to the micro switch 60, the rotating drive part 230 and the drive motor 710.At this time, the micro switch 60 is disposed on the apparatus body 10. When in the first and second positions, respectively, the cleaning assembly 20 is in contact with the microswitch 60 to actuate the microswitch 60.Specifically, the micro switch 60 is provided to detect the position of the movable cleaning part 250. The triggered microswitch 60 sends a signal to the control device so that the control device controls the rotating drive member 230 and the counter drive structure 711 to perform actions, i.e. by controlling the forward and reverse rotation of the drive motor 710, the position of the cleaning assembly 20 can be controlled. Moreover, by controlling the start and stop of the rotating drive part 230, the state of the cleaning movable part 250 can be controlled.In this embodiment, it is not limited to the provision of the micro switch 60 and the control device. It is also possible to provide a stop structure, a current measuring device and a control device, so that the cleaning assembly 20 is no longer moved further after its movement into the first position or into the second position under the action of the stop structure, wherein the drive motor 710 can no longer perform further actions and the current changes. The current change is detected by the current measuring device and an electric signal is supplied to the control device, whereby the control device controls the drive motor 710 to adjust the rotational direction of the output shaft.Embodiment 7: In this embodiment, a cleaning device is provided, as shown in Figs. 20 to 23, which comprises a device body 10, a cleaning assembly 20 and a restoring member, the cleaning assembly 20 being movably connected to the device body 10. The cleaning assembly 20 has a home position and a retracted position. The reset member has one end connected to the cleaning assembly 20 and the other end connected to the device body 10. The return member provides a return force for holding the cleaning assembly 20 in the home position. At this time, a part of the cleaning assembly 20 is located outside the periphery of the apparatus body 10 when the cleaning assembly 20 is in the retracted position. The portion of the cleaning assembly 20 that is outside the perimeter of the device body 10 is larger than the portion of the cleaning assembly 20 that is outside the perimeter of the device body 10 when the cleaning assembly 20 is in the home position when the cleaning assembly 20 is in the retracted position. The cleaning assembly 20 changes from the initial position to the retracted position after the portion of the cleaning assembly 20 that is outside the perimeter of the device body 10 abuts the edge of an obstacle.In particular, the restoring member provides a restoring force for holding the cleaning assembly 20 in the initial position. When an obstacle such as the corner of the wall needs to be cleaned by the cleaning assembly 20, the cleaning assembly 20 comes into contact with the obstacle, and the obstacle provides a driving force to the cleaning assembly 20 for movement from the initial position to the retracted position. Under the action of the reset member, the cleaning assembly 20 may be maintained in the home position, the retracted position, or positions therebetween. At this time, by the part of the cleaning assembly 20 located outside the device body 10, cleaning for the corner portion of the obstacle is enabled, thereby effectively improving the cleaning efficiency. It is also provided that the elastic part is a spring.In this embodiment, depending on the specific position of the part of the cleaning assembly 20 located outside the apparatus body 10, two embodiments are provided as follows.As in the specific embodiment shown in FIG. 22, the traveling line at the widest point of the device body 10 determines the maximum cleaning range of the cleaning device. When the cleaning assembly 20 is in the home position, at least a portion of the edge of the cleaning assembly 20 reaches the edge of the maximum cleaning range.Specifically, the device body 10 has a wide portion and a narrow portion. The cleaning assembly 20 is mounted in an area outside the widest point of the device body 10, whereby a part of the cleaning assembly 20 protrudes into the outer area of the device body 10, but in the direction of travel the edge of the cleaning assembly 20 is still flush with the edge line of the widest area.Further, it is provided that the cleaning assembly 20 is mounted on the front end or the rear end of the device body 10 in the direction of travel of the cleaning device, the width of the front end or the rear end being smaller than the width of the central portion of the device body 10.As in the specific embodiment shown in FIG. 23, the traveling line at the widest point of the device body 10 determines the maximum cleaning range of the cleaning device. When the cleaning assembly 20 is in the home position, at least a portion of the edge of the cleaning assembly 20 protrudes beyond the outside of the maximum cleaning area.Specifically, the device body 10 has a wide portion and a narrow portion. The cleaning assembly 20 is mounted in an area outside the widest point of the device body 10, whereby a part of the cleaning assembly 20 protrudes into the outer area of the device body 10 and the edge of the cleaning assembly 20 in the travel direction can protrude beyond a partial area of the wide area.It is further provided that the cleaning assembly 20 is mounted on the front end or the rear end of the device body 10 in the direction of travel of the cleaning device, wherein the width of the front end or the rear end is smaller than the width of the central region of the device body 10.From the above description, it is apparent that the above-explained embodiments of the present application achieve the following advantageous technical effects. 1. when the cleaning assembly 20 is located at the first position and the second position, respectively, at least a part of the cleaning assembly 20 is located outside the periphery of the device body 10; and when the cleaning assembly is located at the second position, an area on an obstacle such as a dead zone can be cleaned. Thus, the cleaning is more extensive and the cleaning efficiency is improved. 2. the forward and reverse rotation of the drive motor 710 allows the cleaning assembly 20 to transition between the first position and the second position, thereby increasing the stability of the transmissions. 3. the movable disposed cleaning assembly 20 and the static cleaning member 310 cooperate. By the combination of a movable configuration and a static configuration, the cleaning efficiency of the cleaning device is improved.Of course, Embodiments 2 to 7 are not limited to the combination with the aforementioned Embodiment 1, and based on feasibility, the structure of Embodiments 2 to 7 may be combined in whole or in part with any possible Embodiment to satisfy various uses, and is not limited herein in any more detail.Embodiment 8: In this embodiment, a cleaning device is provided comprising a device body 10 and a cleaning assembly 20, the cleaning assembly 20 being connected to the device body 10, the cleaning assembly 20 having a first position, a part of the cleaning assembly 20 being outside the perimeter of the device body 10 when the cleaning assembly 20 is in the first position.By having the part of the cleaning assembly 20 outside the periphery of the device body 10 and controlling the movement path of the device body 10, cleaning is enabled for an area near an obstacle such that, upon movement of the device body 10, it can be brought into contact with the cleaning assembly 20 protruding from the device body 10 with the edge of the obstacle.Continuing with the discussion thus far, a gimbal mechanism (not shown) is provided on the apparatus body to enable the apparatus body to be moved in any direction.By having the part of the cleaning assembly 20 outside the circumference of the apparatus body 10 and controlling the movement path of the apparatus body 10 by the gimbal mechanism, cleaning is enabled for an area near an obstacle such that, upon movement of the apparatus body 10, it can be brought into contact with the cleaning assembly 20 protruding from the apparatus body 10 with the edge of the obstacle.In a specific embodiment, the gimbal mechanism includes a group of mecanum wheels disposed on the device body 10.In a specific embodiment, the gimbal mechanism includes a group of track wheels disposed on the device body 10.Of course, the embodiment 8 is not limited to the combination with the aforementioned embodiment 1. Based on feasibility, the structure of embodiment 8 may be combined in whole or in part with any possible embodiment to achieve various uses, and is not further limited herein.Embodiment 9: In this embodiment, a detailed embodiment of a second driving structure 50M for driving for pivoting is mainly presented. In this embodiment, a first drive structure 40M includes at least one second drive assembly 5B, and the second drive structure 50M includes at least one first drive assembly 4B.In this embodiment, a cleaning device is provided, which includes a device body 10 and a cleaning mechanism mounted on the device body 10. Here, the cleaning mechanism is configured to follow the movement of the apparatus body 10 to clean the surface to be cleaned. In this embodiment, the cleaning mechanism includes a base 1B connected to the apparatus body 10, a cleaning assembly 20 connected to the base 1B, and a second driving assembly 5B connected to the cleaning assembly 20. In cleaning the surface to be cleaned by the cleaning device, the second driving assembly 5B drives the cleaning assembly 20 to rotate by itself to clean the surface to be cleaned while the cleaning device moves, so that the device body 10 and the cleaning assembly 20 are caused to move, resulting in movable cleaning of the surface to be cleaned.In the related art, the cleaning part 100B is generally fixed to the cleaning device relative to the device body 10, and due to the restriction by the machine body of the cleaning device, the cleaning part 100B is regionally restricted to some extent in performing the cleaning work, e.g., the cleaning part 100B is unable to clean edges or corners of the surface to be cleaned, resulting in poor cleaning performance.In order to solve the above problems, in this embodiment, it is provided that the cleaning assembly 20 includes a cleaning part 100B, see FIG. 24, the cleaning mechanism further includes the first driving assembly 4B, the first driving assembly 4B being configured to drive the cleaning part 100B to rotate relative to the base 1B so that the cleaning part 100B has a retracted position or an extended position, resulting in a better cleaning effect of the cleaning part 100B.In particular, the first drive assembly 4B comprises a first drive part 43B, a transmission part 41B connected to the first drive part 43B, a pivot part 42B cooperating with the transmission part 41B, and an actuation part 421B rotatably arranged on a rotation shaft 2B. Here, the first driving part 43B is configured to generate a driving force, and the first driving part 43B may rotate in a first direction or a second direction based on a control signal. The pivot part 42B is rotatably disposed on the base 1B, and the cleaning part 100B is connected to the pivot part 42B and can be brought into rotational connection with the base 1B by the rotation via the rotation shaft 2B while the pivot part 42B is connected to the cleaning part 100B. At this time, two ends of the operation part 421B respectively act on the swing part 42B and the gear part 41B. When the pivot member 42B cooperates with the gear member 41B, it is rotated by driving the gear member 41B to switch the cleaning member 100B between the retracted position (see FIG. 26 ) and the extended position (see FIG. 25 ). When the cleaning part 100B performs a normal cleaning action (i.e., does not need to clean edges or corners), the cleaning part 100B can clean the surface to be cleaned even when it is in the retracted position. When the cleaning device needs to clean the edges or corners of the surface to be cleaned, the cleaning part 100B needs to be moved from the retracted position to the extended position in order for the cleaning device to treat the edges or corners of the surface to be cleaned. It should be noted that the cleaning part 100B in this exemplary embodiment is a wiper mop disc, wherein the edge of the wiper mop disc protrudes from the edge of the pivot part 42B in order to achieve a better cleaning effect on the surface to be cleaned.In a situation, the gear part 41B transmits the driving force in the first direction applied from the first driving part 43B to the operating part 421B, so that the operating part 421B rotates to rotate the swing part 42B. Thus, the cleaning part 100B rotates in the second direction following the pivot part 42B and again moves from the retracted position to the extended position. It should be noted that, in this embodiment, during the switching of the cleaning part from the retracted position to the extended position, the operation part 421B stores energy by the driving force of the gear part 41B, thereby rotating the swing part 42B. Upon retraction of the driving force applied to the gear member 41B, the operating member 421B outputs the stored energy to further pivot the pivot member 42B in a direction of the extended position.Specifically, the operation part 421B includes a fitting portion 4211B fitted on the rotation shaft 2B, a first abutting end 4212B, and a second abutting end 4213B fitted on the periphery of the fitting portion 4211B. At this time, the first abutting end 4212B abuts the gear member 41B and the second abutting end 4213B abuts the swing member 42B, so that the first abutting end 4212B can rotate about the cap portion 4211B in the second direction by the driving force of the gear member 41B, whereby the second abutting end 4213B can rotate abutting the swing member 42B, which in turn can result in movement of the cleaning member 100B from the retracted position to the extended position.More specifically, a locking groove 411B is provided on the gear part 41B. The swing part 42B further includes a first pressing portion 4221B. The above first abutting end 4212B is configured to be locked in the locking groove 41 while the second abutting end 4213B and the first pressing portion 4221B are cooperatively abutted to each other. When the first driving part 43B rotates in the first direction, the first driving part 43B rotates the gear part 41B in the second direction, so that the locking groove 411B abuts the first abutting end 4212B, thereby rotating the second abutting end 4213B in the second direction. With this, the second abutting end 4213B abuts the first pressing portion 4221B so that the entire swing member 42B is rotated in the second direction to move the cleaning member 100B from the retracted position to the extended position.As illustrated above with reference to FIGS. 111 and 112, the swing member 42B further includes a second pressing portion 4222B and a support portion 4223B respectively disposed on two sides of the first pressing portion 4221B, the cleaning member 100B being located below the support portion 4223B and connected to the support portion 4223B. The transmission member 41B further includes an abutting portion 44B that cooperatively abuts the second pressing portion 4222B. The gear 41B rotates in the first direction in the second direction by the driving force of the first driving part 43B, so that the abutting portion 44B is rotated about the rotating shaft 2B in the first direction to abut on the second pressing portion 4222B to rotate the swing part 42B, resulting in movement of the cleaning part 100B from the extended position to the retracted position. Note that in this embodiment, the second pressing portion 4222B always abuts against the abutting portion 44B regardless of whether the cleaning part 100B moves from the extended position to the retracted position or the cleaning part 100B moves from the retracted position to the extended position.It should be noted that the actuating part 421B in this exemplary embodiment is an elastic part, preferably a torsion spring. This torsion spring can maintain stability between the gear part 41B and the pivot part 42B during the switching of the cleaning part 100B from the extended to the retracted position. In this embodiment, a torsion spring is provided. It is also conceivable that in other exemplary embodiments a different number of torsion springs, such as two, may be provided. In this embodiment, the torsion spring has an open end and a closed end. The open end is locked as the above first abutting end 4212 in the locking groove 411B, and the closed end as the above second abutting end 4213 cooperates with the first abutting portion 4221B of the swing part, so that the driving force of the first driving part 43B is transmitted to the first abutting end 4212 through the gear part 41B. When the first driving part 43B overcomes the elastic force of the torsion spring, it drives the closed end to rotate about the rotating shaft 2B and to be pressed against the first pressing portion 4221B of the swing part 42B, so that the cleaning part 100B is rotated by the swing part 42B. In other embodiments, the operation part 421B may be provided as other structures, for example, a structure in which two connection plates are connected to each other and rotate about the rotation shaft 2B as long as the above-described effect can be obtained, and its specific structure is not limited here in any more detail.The operating part 421B is provided as an elastic part in this embodiment for the following purposes: On the one hand, the cleaning mechanism is subjected to external forces when running following the device body 10. For example, when the cleaning mechanism is pushed by an obstacle in the extended position or in a position between the extended position and the retracted position, some cushioning effect can be provided on the cleaning assembly 20 by the elastic member, so that the cleaning assembly 20 is prevented from being damaged by collision with the base 1B when exposed to an external force. At the same time, by providing the elastic member, the elastic force will always act on the first pressing portion 4221B, so that the entire cleaning member 100B can be held to always abut against the edges or corners and achieve the cleaning of the edges or corners without occurrence of the situation in which the cleaning member 100B is changed to a retracted position after the cleaning member 100B is pressed by an external force. On the other hand, during the transmission operation, the cleaning member 100B is subjected to a frictional force opposite to the rotational direction of the swing member 42B regardless of whether the cleaning member 100B rotates from the extended position to the retracted position or from the retracted position to the extended position, and the elastic force of the elastic member may oppose a part of the frictional force generated by the cleaning member 100B during its rotation to improve the stability of the cleaning mechanism.Referring to FIGS. 28 and 30, the transmission member 41B in this embodiment further includes a gear portion 412B and a connecting portion 413B connected to the gear portion 412B. The gear portion 412B is configured to be connected to the first driving part 43B. The abutting portion 44B is disposed at the above connecting portion 413B. At this time, the gear portion 412B is rotated by the first driving part 43B, so that the connecting portion 413B rotates to rotate the first abutting end 4212B. Thereby, the cleaning member 100B is changed from the retracted position to the extended position, or the connecting portion 413B is rotated to thereby rotate the abutting portion 44B.When the gear portion 412B is rotated by the first driving part 43B, the connecting portion 413B may be rotated to rotate the first abutting end 4212B and thereby press the second abutting end 4213B against the first pressing portion 4221B, which in turn results in movement of the cleaning part 100B from the extended position to the retracted position. Or, when the gear portion 412B is rotated by the first driving part 43B, the connecting portion 413B may be rotated to rotate the abutting portion 44B such that the abutting portion 44B abuts the second pressing portion 4222B, thereby rotating the entire pivot part 42B, which in turn results in movement of the cleaning part 100B from the retracted position to the extended position.It is further contemplated that the transmission member 41B further includes a first gear 414B connected to the first drive member 43B and a second gear 415B engaged with the first gear 414B. Here, the second gear 415B includes the gear portion 412B, the connecting portion 413B, and the abutting portion 44B as described above. The second gear 415B is an incomplete gear in this exemplary embodiment, the circumference of which is dimensioned such that the cleaning part 100B can be changed between the retracted and the extended position. Forming the second gear 415B as an incomplete gear serves to reduce the space requirement of the second gear 415B. In other exemplary embodiments, the second gearwheel 415B can be formed as a complete gearwheel, which is not restricted thereto in any more detail here.In order to make reasonable use of the space and reduce the volume of the entire cleaning mechanism, as illustrated above with reference to FIGS. 27, 31, and 32, the cap portion 4211B in this embodiment includes an upper half 4214B, a lower half 4215B connected to the upper half 4214B, and a space formed between the upper half 4214B and the lower half 4215B. The pivot member 42B includes an upper end 4224B and a lower end 4225B connected to the upper end 4224B. At this time, the upper half 4214B and the lower half 4215B of the operating part 421B, respectively, and the upper end 4224B and the lower end 4225B of the swing part 42B, respectively, are offset, so that the operating part 421B and the swing part 42B can be firmly connected to each other via the rotation shaft 2B, and that the structure of the operating part 421B, the swing part 42B, and the base 1B can be made more compact as a whole.Referring to FIG. 27, in the present application, it is provided that the cleaning mechanism includes a bearing 54B disposed between a rotating portion 311 and the rotating shaft 2B, and a bushing 55B fitted on an outer side of the bearing 54B. The bush 55B substantially serves to reduce the wear of the connecting portion 413B of the second gear 415B generated by the rotation of the connecting portion about the rotation shaft 2B, and the bearing 54B enables the frictional force of the swing member 42B to be reduced by the rotation thereof about the rotation shaft 2B to achieve a power saving effect of the first driving member 43B.Referring to FIG. 27, the cleaning mechanism further includes a fixing assembly 6B, the fixing assembly 6B being configured to fix the rotary shaft 2B to the base 1B. In this embodiment, the fixing assembly 6B includes a first fixing part 61B and a second fixing part 62B respectively disposed at two ends of the rotating shaft 2B. Above and below the base 1B, a first groove 11B and a second groove 12B are provided, respectively, which fit the first fixing part 61B and the second fixing part 62B. The both ends of the rotating shaft 2B extend into the first groove 11B and the second groove 12B, respectively, and the both ends of the rotating shaft 2B extend through through holes in the first fixing part 61B and the second fixing part 62B, respectively, so that the first fixing part 61B and the second fixing part 62B are embedded into the first groove 11B and the second groove 12B, respectively, to achieve the fixing of the rotating shaft 2B to the base 1B. In this embodiment, the first fastening part 61B is a nut embedded in the first groove 11B.In order to improve stability between the rotating shaft 2B and the base 1B, a first step 21B flush with the bottom of the first groove 11B is provided above the rotating shaft 2B in this embodiment. After the first fixing part 61B is embedded in the first groove 11B, the bottom of the first fixing part 61B presses against the first step 21B. Also, on the rotating shaft 2B, a second step 22B is provided, which is flush with the bottom of the second groove 12B. The second fixing part 62B includes a cover 622B disposed in the second groove 12B and a bolt 621B connected to the rotating shaft 2B through the cover 622B, at least a part of the cover 622B being embedded in the second groove 12B such that a first protruding portion 6221B of the cover 622B abuts the second step 22B. After a second protruding portion 6222B of the cover 622B abuts the end of the threaded rod, the second fixing part 62B extends through the cover 622B and abuts the lower end of the second protruding portion 6222B, and then penetrates the rotation shaft 2B to firmly lock the rotation shaft 2B to the base 1B.In this embodiment, the cleaning mechanism further includes a second driving assembly 5B, the second driving assembly 5B and the cleaning member 100B are respectively disposed above and below the support portion 312, and the second driving assembly 5B is connected to the cleaning member 100B to provide a driving force to the cleaning member 100B, thereby achieving self-rotation of the cleaning member 100B.More specifically, referring to FIGS. 29 and 30, it is provided that the second drive assembly 5B includes a second drive part 51B, a third gear 52B for connection to the second drive part 51B, and a fourth gear 53B engaged with the third gear 52B, the fourth gear 53B being connected to the cleaning part 100B, so that the driving force generated by the second drive part 51B can be transmitted first to the third gear 52B and then to the fourth gear 53B, thereby rotating the cleaning part 100B. Note that the entire second driving part 51B can rotate following the swing part 42B, whereby in this embodiment, the second driving part 51B moves following the swing part 42B in an accommodation space of the base 1B when the cleaning part 100B moves either in the retracted position or in the extended position or in any position between the retracted position and the extended position. In this way, the second driving assembly 5B and the cleaning member 100B are arranged on each other on two sides of the swing member 42B, and the second driving assembly 5B does not interfere with the position of the base 1B during the movement, thereby achieving a compact structure and a reasonable space utilization.Referring to FIG. 32, the cleaning mechanism further includes a first sensing assembly 7B in signal communication with an electrical control part, wherein the first sensing assembly 7B senses a state in which the cleaning part 100B is in the extended position by sensing a position of the connecting portion 413B, i.e., the first sensing assembly 7B is configured to sense whether the cleaning part 100B is extended in position when the cleaning part 100B moves from the retracted position to the extended position. During the movement of the cleaning part 100B from the retracted position to the extended position, the first detection assembly 7B is configured to emit a first in-position signal. The electric control part receives the first in-position signal indicating that the cleaning part 100B has reached the extended position, and based on this first in-position signal, the electric control part controls the first driving part 43B to stop its operation, i.e., the first driving part 43B no longer rotates in the first direction.Note that in this embodiment, the second gear 415B rotates the swing member by the external force, so that the cleaning member 100B connected to the swing member 42B moves between the extended position and the retracted position. Therefore, in this embodiment, by detecting a position of the connecting portion 413B, the first detection assembly 7B detects a state of the cleaning part in which this cleaning part is in the extended position or the retracted position. In this embodiment, the first detection unit 7B is configured as follows: The first detection unit 7B includes a first transmitting part 71B and a first receiving part 72B for cooperation with the first transmitting part 71B. The first transmitting part 71B is disposed on one of the side wall of the connecting portion 413B of the second gear 415B and the inner side wall of the base 1B, and the first receiving part 72B is disposed on the other of the side wall of the connecting portion 413B of the second gear 415B and the inner side wall of the base 1B. When the first driving part 43B rotates the first gear 414B in the first direction, the gear portion 412B of the second gear 415B rotates the connecting portion 413B in the second direction to drive the cleaning part 100B to be moved from the retracted position to the extended position. At the same time, when the first transmitting part 71B or the first receiving part 72B on the side wall of the connecting portion 413B is rotated to the extended position, the first transmitting part 71B transmits the first in-position signal to the first receiving part 72B, and the first receiving part 72B then transmits the first in-position signal to the electric control part, so that the electric control part controls the first driving part 43B to end its operation. On the other hand, when the first receiving part 72B does not receive the first in-position signal transmitted from the first transmitting part 71B, it means that the cleaning part 100B is not in the extended position, and the first driving part 43B continues to be operated in the first direction. It should be noted that in this embodiment, a photoelectric switch is preferably used for performing the in-position detection because it is more reliable than other continuation switches.Reference is also made to Fig. 33. The cleaning mechanism further comprises a second detection assembly 8B signal-connected to an electrical control part, wherein the second detection assembly 8B is configured to detect a state in which the cleaning part 100B is in the retracted position by detecting a position of the connecting portion 413B, i.e. the second detection assembly 8B is configured to detect whether the cleaning part 100B is retracted into position while the cleaning part 100B moves from the extended position to the retracted position. During the movement of the cleaning part 100B from the extended position to the retracted position, the second detection assembly 8B is configured to transmit a second in-position signal to the electrical control part, and the electrical control part controls the first drive part 43B to end its operation, i.e. the first drive part 43B no longer rotates in the second direction, based on this second in-position signal.In this embodiment, the second detection assembly 8B also detects, by detecting a position of the connection portion 413B, a state of the cleaning part 100B in which this cleaning part is in the extended position or the retracted position. In this embodiment, the second detection unit 8B is configured as follows: The second detection unit 8B includes a second transmitting part 81B and a second receiving part 82B for cooperation with the second transmitting part 81B. The second transmitting part 81B is disposed at the bottom of the connecting portion 413B or at the inner bottom wall of the base 1B, and the second receiving part 82B is disposed at the inner bottom wall of the base 1B or at the bottom of the connecting portion 413B. When the first driving part 43B rotates the first gear 414B in the second direction, the driving force applied to the operating part 421B is retracted by the gear portion 412B of the second gear 415B, so that the operating part 421B is changed from the extended position to the retracted position under the action of its elastic force and an external force generated by an obstacle. At the same time, when the second transmitting part 81B or the second receiving part 82B is rotated to the retracted position at the bottom of the connecting portion 413B, the second transmitting part 81B transmits the second in-position signal to the second receiving part 82B, and the second receiving part 82B then transmits the second in-position signal to the electric control part, so that the electric control part controls the first driving part 43B to stop its operation. On the other hand, when the second receiving part 82B cannot receive the second in-position signal transmitted from the second transmitting part 81B, it means that the cleaning part 100B is not in the retracted position, and the first driving part 43B continues to rotate in the second direction. Also, in this embodiment, a photoelectric switch is preferably used for performing the in-position detection because it is more reliable than other continuation switches. Note that in this embodiment, the control logic for the cleaning part between the extended position and the retracted position is as follows: When the cleaning part moves to the extended position, the first driving part 43B rotates to rotate the gear part 41B and the swing part 42B. Here, the first detection assembly 7B is configured to detect the position of the gear part 41B without detecting the position of the cleaning part. When it is detected that the gear part 41B has reached the predetermined position (i.e., the cleaner part has reached the extended position), the first driving part 43B stops operating and stops rotating. Since a torsion spring is provided between the swing part 42B and the gear part 41B, the torsion spring also swings out the cleaning part. Here, the angle through which the cleaning member swings is variable depending on whether the cleaning member hits an external obstacle or a wall and depending on the magnitude of the force applied to the torsion spring. During the movement of the cleaning member to the retracted position, the time period required for the first driving member 43B to cause the cleaning member to pivot by A° is theoretically t1. In practice, however, there is a tolerance in the transmission of the first and second gears, so that in the actual control of retraction, the actual time required for the motor to drive is t1+t2, and the cleaning member continues to retract within the time of t2, which can counteract the tolerance during the transmission of the first and second gears. During retraction, the second detection assembly detects the position of the gear portion 41B. Since the gear member and the swing member 42B are in a hard abutting relationship, the first driving member 43B continues to be operated for a period of time t 2 when the second detection assembly detects that the cleaning member is in a retracted state, and at the end of the period of time t 2, the first driving member 43B no longer rotates. (That is, the retracted position is detected first, after which the motor continues to rotate for the period t2). In this embodiment, t2may be any second. For example, t2may be selected from 0 to 10 seconds. The predetermined time period T 3 may be, for example, 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 9 seconds, 10 seconds, and so on.Referring to FIGS. 24 and 29, in the present application, it is intended that the cleaning mechanism further includes a first damper assembly 9B. The first cushion assembly 9B is configured to prevent the cleaning assembly 20 from colliding with the base 1B when rotating from the extended position to the retracted position. Specifically, the first damper assembly 9B includes a first damper part 91B disposed on the second drive assembly 5B, and the base 1B includes a first abutting portion 13B. When the cleaning member 100B is in the retracted position, the first cushioning member 91B is in contact with the first abutting portion 13B with a gap between the cleaning assembly 20 and the base 1B in the horizontal direction. It is also understood that when the cleaning member 100B is in the retracted position, only the first damper member 91B is in contact with the base 1B and all other members are not in contact with the base 1B to prevent the cleaning mechanism from colliding with the base 1B.The cleaning mechanism further includes a second damper assembly 10B. The second damper assembly 10B is configured to prevent the cleaning assembly 20 from colliding with the base 1B when rotating from the retracted position to the extended position. Specifically, the second damper assembly 10B includes a second damper part 101B disposed on the second drive assembly 5B, and the base 1B includes a second abutting portion 14B disposed on an inner wall. When the cleaning member 100B is in the extended position, the second cushioning member 101B is in contact with the second abutting portion 14B with a gap between the cleaning assembly 20 and the inner wall of the base 1B in the horizontal direction. It is also understood that when the cleaning member 100B is in the extended position, only the second damper member 101B is in contact with the inner wall of the base 1B and all other members are not in contact with the base 1B to prevent the cleaning mechanism from colliding with the inner wall of the base 1B. It should be noted that, in this embodiment, the first damping part 91B and the second damping part 101B are made of silica gel.Of course, based on feasibility, the structure of embodiment 9 may be combined in whole or in part with any possible embodiment to satisfy various uses, and is not limited in detail herein.It is contemplated in one embodiment that a lifting structure for driving the cleaning assembly 20 for lifting and lowering includes a connecting member and a driving assembly. The connecting part includes a first end for connection to the cleaning assembly 20 and a second end for rotationally connecting to the device body 10. The cleaning assembly 20 has a cleaning state in which it is in contact with the surface to be cleaned and a lifting state in which it is detached from the surface to be cleaned.Optionally, when the cleaning part 91H is a wiping mop, the wiping mop has a floating displacement in the height direction. The cleaning state has a first cleaning state and a second cleaning state, in which the mop can be in contact with the surface to be cleaned. During the rotation of the connecting part, the cleaning assembly 20 initially changes from the first cleaning state to the second cleaning state before it changes to the lifting state. When the cleaning assembly 20 transitions from the first cleaning state to the second cleaning state, the cleaning assembly 20 tends to move toward the edge of the device body 10 because the moving distance of the first end of the connection part is a circular arc. In other words, when the cleaning assembly 20 is changed from the first cleaning state to the second cleaning state, this cleaning assembly 20 also generates a lateral displacement during raising and lowering to realize the extension of the cleaning assembly 20, so that edge cleaning can be performed by the cleaning assembly 20, thereby effectively releasing the weak point that hygienic dead areas along an edge cannot be cleaned.Embodiment 10: In this embodiment, a detailed embodiment of a side brush 400M is mainly presented. The side brush 400M comprises at least one suction device 1000C. Continuing the explanations so far, this embodiment differs from the other embodiments in that a suction device 1000C is also used in this embodiment.As shown in FIG. 34, the cleaning apparatus includes an apparatus body 10 and a suction device 1000C disposed on the apparatus body 10, the suction device 1000C being capable of brushing and sweeping garbage on a floor surface.As shown in FIGS. 35 and 36, the suction device 1000C according to this embodiment includes a housing 100C, a suction assembly 300C, and a drive mechanism 200C disposed in the housing 100C. At this time, the suction assembly 300C is disposed at the output end of the driving mechanism 200C, and the suction assembly 300C can be rotated by the driving mechanism 200C to sweep the garbage on the floor surface.In the related art, the suction assembly is always in contact with the floor surface during the travel of the robot cleaner, which may easily result in secondary contamination. To solve this problem, the drive mechanism 200C in this embodiment may also lift the suction assembly 300C to allow the suction assembly 300C to be lifted when not floating, so that the suction assembly 300C is removed from the floor surface, thereby avoiding secondary contamination and ensuring the cleaning effect of the suction device 1000C.At the same time, the suction device 1000C further includes an adjustment assembly 400C disposed on the device body 10, the adjustment assembly 400C being deformable under an external force so that the housing 100C pivots in a direction close to the device body 10, thereby attenuating the collision force between the suction device 1000C and an obstacle and prolonging the life of the suction device 1000C.The detailed structure of the suction assembly 300C will now be described in conjunction with Figs. 37 to 40.The suction assembly 300C includes a deformable hood 330C, at least two groups of bristles 320C, and an insert 340C. The suction assembly may be a roller brush, a side brush or other cleaning member.Here, the deformable hood 330C is connected to the driving mechanism 200C, and a receiving chamber 310C is provided on the deformable hood 330C, and the driving mechanism 200C is partially located in the receiving chamber 310C. The at least two groups of bristles 320C are spaced apart along the periphery of the deformable hood 330C, and the insert 340C is disposed between the bristles 320C and the deformable hood 330C to support the bristles 320C such that they may be in a spread condition for brushing and sweeping the ground surface. The deformable hood 330C is deformed by the drive mechanism 200C to raise the bristles 320C to a position away from the ground surface, thereby removing the bristles 320C from the ground surface for cleaning, thereby avoiding secondary contamination of the ground surface.Optionally, the deformable hood 330C includes at least two deformable portions 331C connected to each other at one end of these at least two deformable portions 331C, the other ends of the deformable portions 331C extending away from each other. A gap for deformation 332C is locally provided between the two adjacent deformable parts 331C, and the accommodation chamber 310C is enclosed by the at least two deformable parts 331C, and the inner diameter of the accommodation chamber 310C gradually increases along the direction near the bristles 320C. Sufficient deformation space for the deformable hood 330C is ensured by adjusting the width of the deformation gap 332C between the at least two deformable parts 331C.Further, it is provided that the deformable part 331C is made of soft rubber to ensure that the deformable part 331C can be deformed more easily. In addition, the insert 340C is made of hard rubber. Using the insert 340C for fixing the bristles 320C, it is preferable to ensure the position and cleaning effect of the bristles 320C.The detailed structure of the reclining assembly 400C will now be described in conjunction with FIG. 36.As shown in FIG. 36, the adjustment assembly 400C includes a fixed shaft 410C and an adjustment member 420C. Here, the fixed shaft 410C is disposed on the apparatus body 10, and the adjusting part 420C is rotatably fitted on the fixed shaft 410C, and the adjusting part 420C includes a first end 421C and a second end 422C which are disposed at an angle. The first end 421C and the second end 422C abut on a part of the housing 100C and a part of the device body 10, respectively, the housing 100C being capable of decreasing the angle between the first end 421C and the second end 422C under the action of an external force. This displacement assembly 400C reduces the angle between the first end 421C and the second end 422C by an external force, so that the housing 100C pivots in a direction close to the apparatus body 10 to retract the housing 100C and attenuate the collision force between the suction device 1000C and an obstacle, thereby extending the life of the suction device 1000C. By way of example, the adjustment member 420C is a torsion spring, wherein the torsion spring is a conventional adjustment member 420C and has the advantage of low cost and ease of purchase.It should be understood that the displacement assembly 400C is free in the normal state and the first end 421C and the second end 422C are maintained at a first angle. At this time, the housing 100C protrudes beyond the outer circumferential contour of the device body 10, so that the bristles 320C may be exposed outside the device body 10, and the bristles 320C of the suction assembly 300C may then cover the edges and corners of the walls to achieve a better cleaning effect. When the suction device 1000C encounters an obstacle such as a wall and the like during the operation of the robot cleaner, the housing 100C can be retracted by the action force of the displacement part 420C.Further, referring to FIG. 36, a slide groove 110C is provided on the housing 100C, and the fixed shaft 410C is located in the slide groove 110C, so that the fixed shaft 410C can slide in the slide groove 110C under an external force upon the approach of the housing 100C to the device body 10, whereby the housing 100C also translates upon pivoting, which contributes to an increase in a range of movement of the housing 100C and hence to an increase in its buffer effect on the collision force.The detailed structure of the drive mechanism 200C will now be described in conjunction with Figs. 37 to 40.As shown in FIGS. 37 to 39, the drive mechanism 200C includes a drive part 210C and a gear assembly 220C. Here, the driving part 210C is disposed on the housing 100C and the gear assembly 220C is disposed at the output end of the driving part 210C, and the deformable hood 330C of the suction assembly 300C is disposed at an end of the gear assembly 220C opposite to the driving part 210C to rotate the suction assembly 300C to rotate the bristles 320C and thus clean the floor surface.It is further contemplated that the transmission assembly 220C includes a first gear 221C and a gear set 222C, as shown in FIG. 39. At this time, the first gear 221C is connected to the output end of the driving part 210C, the gear set 222C is engaged with the first gear 221C, and the suction assembly 300C is fitted on the output end of the gear set 222C. The gear set 222C is constructed such that the deformable hood 330C and the output end of the driving part 210C are arranged offset from each other, which contributes to increase flexibility for arrangement of the driving part 210C and the deformable hood 330C.As shown in FIG. 39, the gear set 222C includes a first gear shaft 2221C, a second gear 2222C, and a third gear 2223C. It is provided that the first gear shaft 2221C is arranged on the housing 100C, the second gear 2222C is fitted on the first gear shaft 2221C, the second gear 2222C is engaged with the first gear 221C, and the third gear 2223C is fitted on the first gear shaft 2221C. With this construction, a first displacement of the initial position of the driving part 210C is achieved. The gear set 222C further includes a second gear shaft 2224C and a fourth gear 2225C. It is provided that the second gear shaft 2224C is arranged parallel to and spaced apart from the first gear shaft 2221C on the housing 100C, the fourth gear 2225C is fitted on the second gear shaft 2224C, and the fourth gear 2225C is engaged with the third gear 2223C to achieve a second offset of the initial position of the drive part 210C.The second gear shaft 2224C is movably disposed on the housing 100C along its axial direction, and the diameter of the second gear 2222C is larger than the diameter of the third gear 2223C, and the third gear 2223C is disposed below the second gear 2222C, so that a distance between the second gear shaft 2224C and an output shaft of the driving part 210C is increased to avoid interference.Optionally, the third gear 2223C and the fourth gear 2225C are helical gears, respectively, and the width of the third gear 2223C is greater than the width of the fourth gear 2225C. When the third gear 2223C rotates, the fourth gear 2225C may perform a raising motion according to the rotation mode of the third gear 2223C, which in turn drives the bristles 320C to perform a raising motion to realize that the bristles 320C may be removed from the ground surface when they are out of operation.Furthermore, it is provided that the first gearwheel 221C or the second gearwheel 2222C is a helical gearwheel in order to increase a height difference in the lifting movement of the bristles 320C. The relative movement of the two groups of helical gears facilitates the improvement in the efficiency of the lifting movement of the bristles 320C.In order to prevent the fourth gear 2225C from disengaging when moving relative to the third gear 2223C, the drive mechanism 200C further includes a restriction assembly 230C disposed on the gear assembly 220C and the suction assembly 300C, the restriction assembly 230C being capable of restricting a range of movement of a part of the gear assembly 220C in the stroke direction.As shown in FIG. 40, the second gear shaft 2224C may reciprocate along its axial direction to reciprocate the fourth gear 2225C in the stroke direction. In order to ensure stability of reciprocation of the second gear shaft 2224C, the housing 100C is provided with a first bearing 120C and a second bearing 130C. At this time, an upper end of the second gear shaft 2224C is passed through the first bearing 120C and the second gear shaft 2224C is passed through the second bearing 130C, and the second bearing 130C is disposed on the lower end surface of the housing 100C, thereby preventing rigid friction between the second gear shaft 2224C and the housing 100C, which contributes to improvement in durability of the housing 100C and the second gear shaft 2224C.More specifically, referring still to FIG. 40, the restriction assembly 230C includes a connection portion 231C and a first restriction portion 232C. The connecting part 231C is fitted on the second gear shaft 2224C, and the deformable hood 330C of the suction assembly 300C is connected to the connecting part 231C, and the first restricting part 232C is disposed in the accommodating chamber 310C, wherein the first restricting part 232C is fixed to an end of the second gear shaft 2224C facing away from the driving part 210C, and wherein the second gear shaft 2224C is capable of raising or lowering the first restricting part 232C to remove the bristles 320C from the ground surface or to abut the ground surface. In this construction, the first restricting part 232C is used to separate the plurality of deformable parts 331C of the deformable hood 330C from each other, thereby raising the bristles 320C. It is to be understood that the inner diameter of the accommodation chamber 310C is circular, and the first restricting part 232C has a round disk-shaped structure.In the lifting direction, the connecting part 231C is located between the housing 100C and the first limiting part 232C, wherein the connecting part 231C can abut against the housing 100C and the first limiting part 232C, respectively, when it is lifted or lowered into a limiting position. The housing 100C and the first restricting part 232C are used to restrict both ends of the connecting part 231C, thereby restricting the maximum extension of the raised and lowered connecting parts 231C and thereby preventing the fourth gear 2225C from coming off the third gear 2223C.It is further provided that the second gear shaft 2224C is provided with a first limiting stage 2224aC. Along the direction away from the first restricting part 232C, the diameter of the second gear shaft 2224 increases to form the first restricting step 2224 aC, and the first restricting step 2224 aC may abut on the connecting part 231C, so that the first restricting step 2224 aC is capable of pushing down the connecting part 231C when the second gear shaft 2224C moves down to ensure that the bristles 320C can be brought into contact with the ground surface and to prevent slipping between the second gear shaft 2224C and the connecting part 231C.Optionally, the inner diameter of the fourth gear 2225C increases from top to bottom, and the second gear shaft 2224C is further provided with a second limiting step 2224bC, wherein the inner diameter of the fourth gear 2225C is fitted on the second limiting step 2224bC, and the second limiting step 2224bC is used to limit the position of the fourth gear 2225C relative to the second gear shaft 2224C. Moreover, the second gear shaft 2224C is provided with a limiting groove 2224 cC, and the limiting assembly 230C further includes a second limiting part 233C disposed on an end surface of the fourth gear 2225C facing away from the connecting part 231C, the second limiting part 233C being disposed in the limiting groove 2224 cC. By cooperation of the second limiting part 233C with the second limiting step 2224 bC, the displacement of the fourth gear 2225C in the stroke direction can be limited to prevent slipping between the fourth gear 2225C and the second gear shaft 2224C.The operation process of the suction device 1000C will now be described in conjunction with Figs. 34 to 40.As shown in FIGS. 34 to 40, when the bristles 320C are to be used for cleaning the bottom surface, the driving part 210C rotates forward, whereby the second gear 2222C moves downward relative to the first gear 221C while the second gear shaft 2224C performs a lowering movement, the fourth gear 2225C moves downward relative to the third gear 2223C, and the first restricting part 232C performs a lowering movement until the upper end surface of the connecting part 231C abuts against the lower end surface of the housing 100C. At this point, the second gear shaft 2224C rotates to rotate the deformable cap 330C and thus the bristles 320C.When the bristles 320C are not to be used for cleaning the floor surface, the driving part 210C rotates backward, whereby the second gear 2222C moves upward relative to the first gear 221C, while at the same time the second gear shaft 2224C performs a lifting movement, the fourth gear 2225C moves upward relative to the third gear 2223C, and the first restricting part 232C performs a lifting movement until the lower end surface of the connecting part 231C abuts against the upper end surface of the first restricting part 232C. Upon the lifting movement of the first restricting part 232C, the outer circumferential contour of the first restricting part 232C causes the deformable parts 331C to gradually separate from each other and the deforming gap 332C to be increased, which in turn results in the lifting of the bristles 320C.The suction device in this embodiment includes a housing, a drive mechanism, a suction assembly, and an adjustment assembly. Here, the driving mechanism and the displacement assembly are disposed in the housing, and the suction assembly is disposed at the output end of the driving mechanism, wherein the driving mechanism can drive the suction assembly to rotate and stroke, and wherein the displacement assembly is deformable under an external force, so that the housing pivots in a direction close to the device body. The suction device can be raised or lowered in such a way that the suction device can be removed from the floor surface when they are out of operation, in order to avoid secondary contamination and to ensure the cleaning effect of the suction device. At the same time, the suction device can also swing in a direction close to the apparatus body under the influence of an external force, thereby attenuating the collision force between the suction device and an obstacle and prolonging the life of the suction device.Of course, based on feasibility, the structure of embodiment 10 may be combined in whole or in part with any possible embodiment to satisfy various uses, and is not limited thereto in any more detail herein.In the above embodiments, both the cleaning assembly 20 and the side brush 400M are pivotable and retractable, so that the side brush 400M and the cleaning assembly 20 are each in a pivoted-out position during cleaning by the cleaning device. This means that the cleaning is effected at the front by the side brush 400M in the pivoted-out position, and that the cleaning is effected by the cleaning assembly 20 in the pivoted-out position behind the side brush 400M. The interaction of the two further improves the cleaning effect of the edge cleaning by the cleaning device. Particularly, in a cleaning scene in which an inner right angle is formed between a first obstacle and a second obstacle (i.e., an angle of 90 degrees between two obstacles), the swung-out side brush 400M and the swung-out cleaning assembly 20 are more advantageous for cleaning the inner right-angle region. When the cleaning assembly 20 and the side brush 400M need to be retracted, the side brush 400M and the cleaning assembly 20 retract to be in the retracted position.In another embodiment, the side brush 400M and the cleaning assembly 20 may be in the extended position or the retracted position simultaneously with cleaning by the cleaning device, or may be in the extended position or the retracted position offset in time.For example, one of the side brush 400M and the cleaning assembly 20 is in the extended position and the other is in the retracted position. Alternatively, both the side brush 400M and the cleaning assembly 20 are in the retracted position or both are in the extended position. Or, one of the side brush 400M and the cleaning assembly 20 is first in the extended position and the other is later in the extended position. Or, one of the cleaning assembly 20 and the side brush 400M is first in the retracted position and the other is later in the retracted position. Or, one of the cleaning assembly 20 and the side brush 400M is first in the retracted position and the other is later in the extended position. In addition, it is contemplated that it is selected whether the side brush 400M and the cleaning assembly 20 are in the extended or retracted position and in what order the extended or retracted position is taken depending on the actual need, which is not limited thereto.Embodiment 11: In Embodiment 11, a cleaning device including a second elastic member 400D and a pulling mechanism 100D is mainly provided. In this embodiment, the first driving structure 40M includes at least one driving assembly 310D, and the second driving structure 50M includes at least the second elastic member 400D and the pulling mechanism 100D.Continuing the explanations so far, this embodiment differs from the other embodiments in that in this embodiment, the second elastic member 400D and the pulling mechanism 100D are further disclosed, and in this embodiment, another cleaning assembly 20 and another driving assembly 310D are used.Referring to Figs. 41 to 43, a pulling mechanism is provided in this embodiment. In this embodiment, the pulling mechanism 100D is applicable to a cleaning device, the cleaning device including a device body 10 and a cleaning module 300D rotatably disposed on the device body 10. The pulling mechanism 100D may pull the cleaning module 300D to rotate relative to the device body 10, which in turn results in the cleaning assembly 20 of the cleaning module 300D pivoting out beyond the machine body to perform edge cleaning.Refer to Figs. 46 to 50. In this embodiment, the cleaning device 200D includes the pulling mechanism 100D, the device body 10, the cleaning module 300D, and the second elastic member 400D, wherein the pulling mechanism 100D, the cleaning module 300D, and the second elastic member 400D are disposed on the device body 10, and wherein the pulling mechanism 100D is connected to the cleaning module 300D. Here, the cleaning module 300D includes the driving assembly 310D and the cleaning assembly 20, and the driving assembly 310D is connected to the cleaning assembly 20 to rotate the cleaning assembly 20. The driving assembly 310D is rotatably disposed on the apparatus body 10 such that the cleaning assembly 20 has a home position and an edge position, the edge position being a forward position in which at least a part of the cleaning assembly 20 protrudes beyond the maximum width of the apparatus body 10, as shown in FIG. 48. The second elastic member 400D is disposed between the apparatus body 10 and the driving assembly 310D, and moves the cleaning assembly 20 toward the edge position by the driving assembly 310D, that is, the cleaning assembly 20 is always moved to the edge position by the restoring spring force of the second elastic member 400D. A pull member 120D of the pull mechanism 100D is connected at one end to the drive assembly 310D, thereby pulling the drive assembly 310D to rotate it, thereby moving the cleaning assembly 20 between the home position and the edge position with entrainment thereof.The cleaning module 300D is formed by the cleaning assembly 20 and the drive assembly 310D. The first position comprises at least the initial position and the second position comprises at least the edge position.In this embodiment, the pulling mechanism 100D includes a base body 110D, a pulling member 120D, a tensioning structure 130D, and a pull-in and pull-out assembly 140D. The pulling part 120D is disposed on the base body 110D, and an end of the pulling part 120D protrudes beyond the base body 110D to connect to the cleaning module 300D. The tension structure 130D is connected between two ends of the tension member 120D and is used for tensioning the tension member 120D. The pull-in and pull-out assembly 140D is arranged on the base body 110D and is fixedly connected to the other end of the pull part 120D. The pull-in and pull-out assembly 140D is used to wind the pull member 120D and thereby pull the cleaning module to rotate or to unwind the pull member 120D and thereby release the cleaning module. By pulling the pulling part 120D in and out by the pulling-in and out assembly 140D, the cleaning module connected to the pulling part 120D is rotated, so that the cleaning assembly swings out to cover the area of the machine body, thereby achieving edge cleaning, improving the cleaning effect of the cleaning device in wiping the floor surface along an edge, and solving the problem that the cleaning assembly cannot wipe the floor surface along an edge. Moreover, the tension structure 130D is disposed between two ends of the tension member 120D, and is always used for tensioning the tension member 120D. When the tension member 120D is unwound by the pull-in and pull-out assembly 140D, due to an exposed portion of the tension member 120D in a tensioned state, the tension member 120D is prevented from being caught on the other structures upon relaxing, thereby ensuring the proper function of the tension member 120D.See FIGS. 44 and 45, FIG. 44 is a plan view of the pulling mechanism in this embodiment, and FIG. 45 is a sectional view of the pulling mechanism taken along line I-I of FIG. 44, in which the base body 110D is provided with a guide portion 111D. The clamping structure 130D includes a movable structure 131D and a clamping part 132D. The movable structure 131D is movably disposed on the guide portion 111D and moves therewith along the guide portion 111D, and is slidably connected between the both ends of the drawing member 120D. The tension member 132D is connected to the movable structure 131D and is used to apply an acting force to the movable structure 131D to tension the movable structure 131D on the tension member 120D. By slidably connecting the movable structure 131D to the tension member 120D, a frictional force when the tension tension member 120D is pulled in and out can be reduced. In addition, a movement of the movable structure 131D may be guided by the guide portion 111D of the base body 110D to prevent any sliding movement of the movable structure 131D between the both ends of the tension member 120D when the tension member 120D is pulled in and out,In this embodiment, the biasing member 132D is a first elastic member biased and connected between the base body 110D and the movable structure 131D. When winding the tension member 120D, the pull-in and pull-out assembly 140D overcomes at least the pulling force (spring force) of the tension member 132D, whereby the movable structure 131D moves along the guide portion 111D in a direction opposite to the pulling force. When the pulling member 120D is unwound, the movable structure 131D moves along the guide portion 111D in the direction of the pulling force under the action of the pulling force by the pulling member 132D, so that the released pulling member 120D is pulled to prevent interference between the relaxed pulling member 120D and the other structures.It should be noted that in other embodiments, the tension member 132D may be a counterweight so as to pull the movable structure 131D in the direction of gravity, i.e., this guide portion 111D is provided vertically, and the tension member 132D uses the gravity to tension the tension member 120D in the vertical direction. As the pulling member 120D unwinds, the pull-in and pull-out assembly 140D overcomes at least the gravity of the counterweight, thereby pulling the movable structure 131D upward and moving along the guide portion 111D. When the pulling member 120D is unwound, the movable structure 131D moves downward along the guide portion 111D under the action of gravity, thereby tensioning the pulling member 120D. In other embodiments, the tensioning structure 130D as a whole may tension the tension member 120D in the direction of gravity as a counterweight and may be located outside the base body 110D.In order to achieve the sliding connection between the movable structure 131D and the drawing part 120D, the movable structure 131D includes a movable part 133D and a first roller 134D. The movable part 133D is movably disposed on the guide portion 111D, and one end of the movable part 133D is connected to the clamping part 132D. The first roller 134D is rotatably disposed at the other end of the movable part 133D and is slidably connected between the both ends of the drawing part 120D. The first roller 134D can tension the tension member 120D as well as reduce the frictional force when the tension member 120D is pulled in and out, thereby reducing the influence of the tension action of the tension member 132D on the pulled-in and pulled-out tension member 120D. It should be understood that in other embodiments, the first roller 134D may be replaced with a rotating shaft that performs the same function.In conjunction with FIG. 42, it is provided in this embodiment that the guide portion 111D is a guide groove. This guide groove is provided on two opposite sides with an escape portion 112D, respectively, one escape portion 112D avoiding a part of the drawing part 120D disposed on one side of the movable structure 131D, and the other escape portion 112D avoiding a part of the drawing part 120D disposed on the other side of the movable structure 131D. With the escape portion 112D, provided that the movable structure 131D is guided by the guide groove, the frictional force between the side walls of the guide groove and the drawing member 120D is prevented, which facilitates the drawing and drawing of the drawing member 120D. It is understood that in other embodiments, the guide portion 111D is a rail, and the movable part 133D is placed on the rail and thus moves along the rail.Further, the escape portion 112D is provided to be an escape through hole that passes through the side walls of the guide groove. A part of the drawing part 120D may extend beyond the base body 110D through the escape through hole without being interfered with by the side walls of the guide groove. It should be understood that in other embodiments, the escape portion 112D is an escape side groove in communication with the guide groove, and a part of the drawing part 120D can be disposed in the escape side groove without interference.In order to further reduce the frictional force to which the pulling member 120D is subjected during pulling in and out, the pulling mechanism 100D further includes a second roller 150D and a third roller 160D. The second roller 150D is rotatably disposed on the base body 110D, being located between the tension structure 130D and one end of the tension member 120D, and slidably connected to the tension member 120D. The third roller 160D is rotatably disposed on the base body 110D, being located between the tension structure 130D and the other end of the tension member 120D, and slidably connected to the tension member 120D. Specifically, the second roller 150D is disposed on one side of the guide groove and corresponding to the escape portion 112D on the same side. The third roller 160D is disposed on the other side of the guide groove and corresponding to the escape portion 112D on the same side. In the winding direction of the pulling member 120D, the pulling member 120D first passes the second pulley 150D, then passes the escape portion 112D on the same side, and is slidably connected to the first pulley 134D, then passes the escape portion 112D on the other side, and is finally slidably connected to the third pulley 160D.In order to facilitate the assembly of the second roller 150D and the third roller 160D, the base body 110D is further provided with a first mounting portion 152D and a second mounting portion 162D, the first mounting portion 152D is formed with at least one group of lock grooves on one side of the guide groove, each group of lock grooves has two lock grooves opposed to each other, and both ends of the second roller 150D can be rotatably disposed in one group of lock grooves. The second mounting portion 162D is formed with at least one group of lock grooves on the other side of the guide groove, each group of lock grooves has two lock grooves opposed to each other, and both ends of the third roller 160D can be rotatably disposed in one group of lock grooves. Here, the extending direction of each latching groove coincides with the extending direction of the guide groove.The pull-in and pull-out assembly 140D includes a pull-in and pull-out motor 142D and a pull-in and pull-out round body 144D. The pull-in and pull-out motor 142D is arranged on the base body 110D in order to set the pull-in and pull-out round body 144D in rotation. The drawing-in and drawing-out round body 144D is fixedly connected to a rotation shaft of the drawing-in and drawing-out motor 142D and fixedly connected to the other end of the drawing part 120D to draw in and draw out the drawing part 120D, respectively.In this embodiment, the pull-in and pull-out round body 144D is a rotary disk, and outside the base body 110D, the pull-in and pull-out motor 142D is located, whose rotary shaft passes through the base body 110D and is thus fixedly connected to the rotary disk, and the pull-in and pull-out motor 142D is fixedly connected to the base body 110D by means of screws. It should be understood that the pull-in and pull-out round 144D is a pull-in and pull-out roller in other embodiments.In this embodiment, the pulling member 120D may be a pulling wire, but is not limited thereto, and may be another flexible strip structure or flexible band structure. The tension member 132D may be, but is not limited to, a spring, and may be an elastic column structure, an elastic rod structure, or an elastic strip structure that combines both structural strength and elasticity. The movable part 133D is a slider having two slide portions opposed to each other and a connecting portion connecting the two slide portions to each other, one end of the chuck part 132D is connected by a shaft body between the two slide portions, and the first roller 134D is rotatably disposed between the two slide portions.In the cleaning device 200D according to this embodiment, the swing of the cleaning assembly 20 is controlled by controlling the rotation of the driving assembly 310D via the pulling mechanism 100D and the second elastic member 400D. As shown in FIG. 48, when the pulling member 120D is unwound by the pull-in and pull-out assembly 140D of the pulling mechanism 100D, the drive assembly 310D is released from the pulling member 120D. Under the action of the second elastic member 400D, the cleaning assembly 20 moves to the edge position, whereby the cleaning assembly 20 can be swung out to cover the area of the machine body and thereby achieve edge cleaning. In addition, the tension member 120D is in the tensioned state under the action of the tension structure 130D. When the cleaning assembly 20 encounters an obstacle in wiping the floor surface along an edge, a buffer action upon a collision may be provided by the second elastic member 400D, so that the outward-protruding cleaning assembly 20 may retract inward to protect the cleaning assembly 20. At this time, the tension member 120D relaxes, but due to the tension action of the tension structure 130D, the tension member 120D is in the tensioned state, thereby avoiding anomalies such as the entanglement of the relaxing tension member 120D to other structures. When the cleaning assembly 20 leaves the obstacle, the cleaning assembly 20 quickly moves to the edge position under the action of the restoring spring force of the second elastic member 400D to further wipe the floor surface along an edge. As shown in FIG. 49, when the pulling part 120D is wound by the drawing and pulling unit 140D of the pulling mechanism 100D, the pulling part 120D pulls the driving unit 310D inward to rotate, and the cleaning unit 20 moves to the initial position.It should be noted that when the pulling mechanism 100D releases the driving assembly 310D, the restoring spring force of the second elastic part 400D is larger than the sum of the acting force of the clamping part 132D (the first elastic part) and the frictional force applied from the bottom surface to the cleaning assembly 20 so that the cleaning assembly 20 can be moved to the edge position. When the pulling mechanism 100D pulls the driving assembly 310D, a pulling force applied from the pulling part 120D to the driving assembly 310D is larger than the sum of the return spring force of the second elastic part 400D and the frictional force applied from the bottom surface to the cleaning assembly 20, so that the cleaning assembly 20 can rotate inward to the initial position and is held at the initial position.It should be noted that the number of cleaning modules 300D of the cleaning device 200D may be set according to the current situation. In the cleaning device 200D, for example, one or two cleaning module(s) 300D may be provided, and accordingly, the pulling mechanism 100D and the second elastic member 400D are provided such that the cleaning assembly 20 of the at least one cleaning module 300D is pivotable. As another example, the cleaning device 200D may include more than three cleaning modules 300D, and the number of the pivotable cleaning modules 300D of the cleaning assembly 20 may be provided according to actual needs. At this time, the pulling mechanism 100D is provided corresponding to the driving assembly 310D, and an escape hole 211D is formed at the bottom of the apparatus body 10, the escape hole 211D being capable of avoiding movement of the cleaning assembly 20 between the edge position and the initial position. In this embodiment, the escape hole 211D defines two boundary positions of the cleaning assembly 20, namely the edge position and the initial position. However, in other embodiments, the edge position and / or the home position may be between the two boundary positions.See FIG. 51, FIG. 51 shows a block diagram of modules of the cleaning apparatus in this embodiment, the cleaning apparatus 200D further including a detector 220D and a controller 230D. The detector 220D is disposed on the apparatus body 10 to detect the position of the drive assembly 310D. The controller 230D is disposed on the apparatus body 10 and electrically connected to the detector 220D and the pulling mechanism 100D, respectively, and the controller 230D is used to control the pulling mechanism 100D depending on the position detected by the detector 220D. The detector 220D may detect the position of the drive assembly 310D. When the pulling mechanism 100D drives the cleaning assembly 20 to project outward to position (the edge position) or retract inward to position (the home position), the controller 230D controls the pulling mechanism 100D to stop to avoid blockage that would affect the life of the pulling mechanism 100D.It is also contemplated that the cleaning device 200D further includes a motherboard (not shown), and that the control device 230D is disposed on the motherboard so as to be mounted on the device body 10 via this motherboard. Moreover, other electronic elements are provided on the main board to realize the various functions of the cleaning device 200D.In this embodiment, the detector 220D may be, but is not limited to, a microswitch (clock switch) provided with a deformable elastic member, wherein contact of the deformable elastic member with the drive assembly 310D turns on the microswitch to detect the position of the drive assembly 310D. For this purpose, two microswitches are provided, which are respectively arranged in the starting position and in the edge position in accordance with the drive assembly 310D. When the cleaning assembly 20 moves to the edge position, an elastic member of the outer micro switch is contracted under pressure and thereby turned on, thereby detecting that the driving assembly 310D is in position to detect the edge position of the cleaning assembly 20, as shown in FIG. 48. When the cleaning assembly 20 moves to the home position, an elastic member of the inner micro switch is contracted under pressure and thereby turned on, thereby detecting that the driving assembly 310D is in position to detect the home position of the cleaning assembly 20, as shown in Fig. 49. It should be noted that in other embodiments, detector 220D may be a Hall sensor or an infrared sensor, where the Hall sensor uses a microswitch to sense ferrous metal within drive assembly 310D at various positions and thus recognize that it reaches in position. The infrared sensor can sense the position of the cleaner assembly 20 below it according to the principle of lip detection of a downward sensor.In this embodiment, the cleaning device 200D has different operating states, which may include, by way of example, but not limitation, the following two operating states:Referring to FIG. 48, when it is detected that the cleaning device 200D is in an edge cleaning state (i.e., an edge cleaning mode), the control device 230D controls the pulling mechanism 100D to operate to uncoil the pulling part 120D. At this time, the driving assembly 310D rotates outward under the action of the restoring spring force of the second elastic member 400D, and the cleaning assembly 20 moves from the initial position to the edge position, at least a part of the cleaning assembly 20 protrudes in the forward direction beyond the maximum width of the apparatus body 10 (i.e., the machine body), that is, the cleaning assembly 20 protrudes beyond a reference line L to cover the area of the machine body, thereby achieving edge cleaning, improving the cleaning effect of the cleaning apparatus 200D in wiping the floor surface along an edge. Referring to FIG. 49, when the cleaning device 200D has completed edge cleaning and is in a normal operating state (i.e., a non-edge cleaning mode) again, the control device 230D controls the pulling mechanism 100D to operate so as to wind the pulling member 120D. At this time, the driving assembly 310D is pulled to rotate inward to move the cleaning assembly 20 from the edge position to the initial position, and the cleaning assembly 20 does not project beyond the maximum width of the apparatus body 10 (i.e., the machine body) in the forward direction, i.e., the cleaning assembly 20 is located within the reference line L.Referring to FIGS. 42 to 45, in order to facilitate the assembly of the pulling mechanism 100D, the base body 110D of the pulling mechanism 100D includes a main structure 113D and a mounting structure 114D, the mounting structure 114D is connected between the both ends of the main structure 113D, and the mounting structure 114D is disposed on the device body 10 such that the pulling mechanism 100D is disposed on the device body 10. It is provided that the main structure 113D is provided with a first inner chamber 115D and the pull part 120D is located in the inner chamber 115D, and that one end of the pull part 120D protrudes from one end of the main structure 113D and the pull-in and pull-out assembly 140D is connected to the other end of the main structure 113D. The mounting structure 114D is provided with a second interior chamber 116D, the second interior chamber 116D is in communication with the first interior chamber 115D, and the clamping structure 130D is located in the second interior chamber 116D. Further, a guide groove is disposed in the second inner chamber 116D.Further, it is contemplated that this main structure 113D includes a connecting body 117D and a lid 118D, the connecting body 117D being connected to the mounting structure 114D, and the lid 118D being covered over the connecting body 117D to form the first inner chamber 115D. The first inner chamber 115D is provided with a groove 119D for the pipe, and the tension member 120D is disposed in the groove 119D for the pipe, whereby the frictional force in pulling the tension member 120D in and out can be reduced by the groove 119D for the pipe, and at the same time, a situation that the tension member 120D is entangled by other structures can be avoided.In this embodiment, the main structure 113D is recessed toward a side of the driving assembly 310D to accommodate the driving assembly 310D when the cleaning assembly 20 is at the initial position, thereby reducing the spatial distance between the pulling mechanism 100D and the driving assembly 310D, and thus utilizing the space of the device body 10 and simultaneously shortening the length of the exposed pulling part 120D.See FIGS. 52 to 54, FIG. 52 is an enlarged view in the area A of the cleaning device according to this embodiment, FIG. 53 is a structural schematic view of a cleaning module of the cleaning device according to this embodiment, and FIG. 54 is an exploded view of the cleaning module of FIG. 53, wherein the second elastic member 400D is a torsion spring and is disposed at the rotational joint between the device body 10 and the drive assembly 310D. One torsion arm of the second elastic part 400D abuts on the device body 10, and the other torsion arm abuts on the drive assembly 310D. Since the second elastic member 400D is a torsion spring, it causes the driving assembly 310D to be in a contracted state relative to the apparatus body 10, whereby the cleaning assembly 20 always tends to move toward the edge position. It should be understood that in other embodiments, the second elastic member 400D is a tension spring, but is not limited thereto, and is connected at one end to the inner circumferential surface of the device body 10 and at the other end to the outer side surface of the driving assembly 310D, the outer side surface of the driving assembly 310D being provided facing the inner circumferential surface of the device body 10. Because the tension spring is tensioned between the two, the cleaning assembly 20 can also be held in a tendency to move towards the edge position. The second elastic member 400D may be further an elastic pillar structure, an elastic rod structure, or an elastic strip structure that combines both structural strength and elasticity.Referring to FIG. 47, the device body 10 in this embodiment is provided with a first pivot portion 212D, a first mounting groove 213D, and a first torsion arm groove 214D, the first mounting groove 213D being provided around the first pivot portion 212D, and the first torsion arm groove 214D being in communication with the first mounting groove 213D. The drive assembly 310D is provided with a second pivot portion 312D, a second mounting groove 313D, and a second torsion arm groove (not shown), the second mounting groove 313D is provided around the second pivot portion 312D, and the second torsion arm groove is in communication with the second mounting groove 313D. The first pivot portion 212D is pivotally connected to the second pivot portion 312D. One end of the second elastic member 400D is disposed in the first mounting groove 213D, and the other end of the second elastic member 400D is disposed in the second mounting groove 313D. One torsion arm of the second elastic member 400D is disposed in the first torsion arm groove 214D and the other torsion arm of the second elastic member 400D is disposed in the second torsion arm groove, and the second elastic member 400D is mounted between the device body 10 and the drive assembly 310D while the drive assembly 310D is always kept tending to move to the edge position.Furthermore, it is provided that a pivot bearing 314D is fastened between the first pivot portion 212D and the second pivot portion 312D, by means of which pivot bearing a strength of the connection between the first pivot portion 212D and the second pivot portion 312D can be ensured and which ensures a good rotational behavior between the first pivot portion 212D and the second pivot portion 312D.In this embodiment, the first pivot portion 212D is a pivot axis and the second pivot portion 312D is a pivot bore, i.e., the first pivot portion 212D is inserted into the second pivot portion 312D. In other embodiments, the first pivot portion 212D is a pivot bore and the second pivot portion 312D is a pivot axis.In this embodiment, the drive assembly 310D includes a housing 330D, a drive motor 340D, and a transmission mechanism 350D, wherein the drive motor 340D and the transmission mechanism 350D are disposed within the housing 330D. Here, the rotation shaft of the drive motor 340D is connected to an input end of the gear mechanism 350D, and the cleaning assembly 20 is connected to an output end of the gear mechanism 350D. At this time, the center of rotation of the driving assembly 310D is located on the center axis of the driving motor 340D, whereby vibration in rotation of the driving assembly 310D and noise can be reduced, while the cleaning assembly 20 can more easily execute revolution in self rotation. Moreover, the housing 330D may serve to protect the drive motor 340D and the gear mechanism 350D to ensure water and dust tightness. It should be appreciated that in other embodiments, the drive motor 340D may be disposed outside the housing 330D and connected to the input end of the transmission mechanism 350D within the housing 330D.It is further contemplated that the drive assembly 310D further includes a connection structure 360D, wherein the connection structure 360D is disposed within the housing 330D, and wherein one end of the connection structure 360D is connected to the output end of the transmission mechanism 350D and the other end of the connection structure 360D is connected to the cleaning assembly 20. During operation, the rotary shaft of the drive motor 340D rotates and outputs torque that is transmitted to the linkage structure 360D via the gear mechanism 350D, which in turn rotates the linkage structure 360D and rotates the cleaning assembly 20. It should be appreciated that in other embodiments, the cleaning assembly 20 may be directly connected to the output end of the transmission mechanism 350D without being connected via the connection structure 360D.It is further provided that the housing 330D comprises a lower housing part 331D, a middle housing part 332D and an upper housing part 333D. The middle case 332D is covered over the lower case 331D, and the driving motor 340D and the connecting structure 360D are disposed between the lower case 331D and the middle case 332D, with the rotating shaft of the driving motor 340D passing through the middle case 332D. The upper case 333D is covered over the middle case 332D, and the gear mechanism 350D is disposed between the middle case 332D and the upper case 333D, the input end of the gear mechanism 350D is connected to the rotating shaft of the driving motor 340D, and the output end of the gear mechanism 350D is connected to the connecting structure 360D via the middle case 332D. The cleaning assembly 20 is connected to the connecting structure 360D via the lower housing part 331D. The housing 330D is structured in layers, so that different structures can be accommodated, thereby enabling a rational space division, a compact arrangement and a reduction in volume.It is further contemplated that the transmission mechanism 350D is a gear drive mechanism having a plurality of sequentially intermeshing gears. In other embodiments, the housing 330D may be dual layer in construction, with only the transmission mechanism 350D disposed within the housing 330D, wherein the transmission mechanism 350D may also be a pulley transmission mechanism.It is further contemplated that the cleaning assembly 20 includes a connecting shaft 322D, a cleaning disk 324D, and a cleaning member 326D. One end of the connecting shaft 322D protrudes into the lower housing 331D so as to be firmly connected to the connecting structure 360D. The other end of the connecting shaft 322D is fixedly connected to the cleaning disk 324D. The cleaning part 326D is arranged on a side of the cleaning disk 324D facing away from the connecting shaft 322D. The cleaning member 326D may be, but is not limited to, a wiping mop.In this embodiment, the second pivot portion 312D and the second mounting groove 313D are disposed in the lower case 331D and integrally formed, the upper case 333D is provided with a shaft connecting recess 334D, and a shaft connecting bearing 335D for shaft connecting is disposed in the shaft connecting recess 334D. Here, a pivot groove of the upper case 333D, the input end of the gear mechanism 350D, the rotation shaft of the drive motor 340D, the second pivot portion 312D of the lower case 331D, and the first pivot portion 212D of the device body 10 are all arranged coaxially and have the same central axis (rotation center). The output end of the gear mechanism 350D, the connecting structure 360D, and the connecting shaft 322D of the cleaning assembly 20 are all arranged coaxially and have the same center axis (rotation center).The technical solution according to this embodiment has advantages that when the pulling mechanism is used to pull the cleaning module of the cleaning device, by pulling the pulling member in and out by the pulling member in and out assembly, the cleaning module connected to the pulling member is rotated so that the cleaning assembly swings out to cover the area of the machine body, thereby achieving edge cleaning, the cleaning effect of the cleaning robot is improved in wiping the floor surface along an edge, and the problem that the cleaning assembly cannot wipe the floor surface along an edge is solved. Moreover, the tension structure is disposed between two ends of the tension member and is always used for tensioning the tension member. When the tension member is unwound by the pull-in and pull-out assembly, the tension member is in a tensioned state due to the exposed portion, thereby preventing the tension member from getting caught on the other structures upon relaxation to ensure the proper function of the tension member.Of course, the embodiment 11 is not limited to the combination with the aforementioned embodiment 2. Based on feasibility, the structure of embodiment 11 may be combined in whole or in part with any possible embodiment to achieve various uses, and is not limited in any more detail herein.Embodiment 12: In this embodiment, another detailed embodiment of a second driving structure 50M for driving for swing is mainly presented. In this embodiment, the first driving structure 40M includes at least one driving module 210E, and the second driving structure 50M includes at least one connecting part 300E and a gear part 400E.Continuing the explanations so far, this embodiment differs from the other embodiments in that in this embodiment, the drive module 210E, the connection part 300E, and the transmission part 400E are further disclosed, and in that in this embodiment, another drive assembly 620E is used.As shown in Figs. 60 to 63, a cleaning device is provided in this embodiment. In this embodiment, the cleaning device 600E includes a cleaning mechanism 100E, a device body 10, and a drive assembly 620E, wherein the cleaning mechanism 100E and the drive assembly 620E are disposed on the device body 10, and wherein the drive assembly 620E is connected to the cleaning mechanism 100E.As shown in FIGS. 55 and 56, the cleaning mechanism 100E in this embodiment includes a cleaning module 200E, a connection part 300E, and a gear part 400E, the connection part 300E being connected to the cleaning module 200E and the gear part 400E, respectively. Here, the cleaning module 200E comprises a drive module 210E and the cleaning assembly 20, wherein the drive module 210E is connected to the cleaning assembly 20 in order to set the cleaning assembly 20 in rotation, such that the cleaning assembly 20 has an axis of rotation L 1. The connection part 300E is connected to the drive module 210E and the transmission part 400E, respectively. The gear part 400E is rotatably connected to the drive module 210E and rotatable about a rotation axis L 2, such that the drive module 210E is rotated about the rotation axis L 2 by the connection to the connection part 300E, wherein the rotation axis L 2 is parallel to the rotation axis L 1.In the cleaning mechanism 100E according to this embodiment, the connection part 300E and the gear part 400E are added, the gear part 400E is rotatably connected to the drive module 210E of the cleaning module 200E, and the connection part 300E is connected between the drive module 210E and the gear part 400E. Because the gear 400E is rotatable about the axis of rotation L 2, the link 300E is actuated during rotation of the gear 400E such that the drive module 210E is actuated in rotation about the axis of rotation L 2, which can result in eccentric rotation of the cleaning assembly 20 of the cleaning module 200E about the axis of rotation L 2. In use in the cleaning device, the pivoting of the cleaning assembly 20 is controlled by controlling the rotation of the gear member 400E, i.e., the cleaning assembly 20 can move between the home position and the edge position. When the cleaning assembly 20 is in the edge position, the cleaning member is swung out to cover the portion of the machine body, thereby achieving edge cleaning, improving the cleaning effect of the cleaning device in wiping the floor surface along an edge, and solving the problem that the cleaning assembly 20 cannot wipe the floor surface along an edge. In this case, the first position comprises at least the starting position, and the second position comprises at least the edge position.In this embodiment, the transmission member 400E has a first end 410E and a second end 420E. The drive module 210E includes a drive body 230E and a rotating part 240E, wherein an end of the rotating part 240E is rotatably disposed on a side of the drive body 230E facing the cleaning assembly 20. The first end 410E is pivotally connected to the other side of the drive body 230E, and the second end 420E is fixedly connected to the rotating part 240E. In other words, one end of the gear part 400E is connected to one side of the drive body 230E via the rotary part 240E, and the other end is connected to the other side of the drive body 230E to rotatably connect the gear part 400E to the drive module 210E. Due to the firm connection of the second end 420E of the gear part 400E to the rotating part 240E, the strength of connection and the rotation stability of the gear part 400E can be improved. It should be appreciated that in other embodiments, the rotating part 240E in the drive module 210E may be omitted and the number of parts reduced, with the second end 420E of the gear part 400E directly pivotally connected to a side of the drive body 230E (the drive module 210E) facing the cleaning assembly 20, thereby also achieving a rotational connection between the gear part 400E and the drive module 210E.In order to achieve a firm connection between the second end 420E of the gear part 400E and the rotating part 240E, the second end 420E is provided with a screw pin 422E and the rotating part 240E is provided with a mounting groove (not marked) corresponding to the screw pin 422E, a mounting hole is provided at the bottom of the mounting groove and the screw pin 422E is inserted into the mounting groove, and a screw (not shown) is successively passed through the mounting hole and the screw hole of the screw pin 422E so that the screw pin 422E is locked in the mounting groove. Here, the number of the screw pins 422E at the second end 420E cmay be set as needed actually. In this embodiment, the number of the screw pins 422E may be two, but is not limited thereto, and the number of the mounting grooves is set accordingly. It should be noted that the fixed connection of the second end 420E of the gear part 400E to the rotating part 240E is not limited to the screw connection described above, but may be made by other screw connections or by snap connections.See FIGS. 57 to 59, FIG. 57 is a plan view of a cleaning mechanism according to this embodiment, FIG. 58 is a sectional view of the cleaning mechanism taken along line I-I of FIG. 57, and FIG. 59 is an exploded view of the cleaning mechanism according to this embodiment, wherein the driving body 230E is provided with a first shaft connecting portion 232E on one side and the rotating member 240E is provided with a second shaft connecting portion 242E on one end, and the second shaft connecting portion 242E and the first shaft connecting portion 232E fit together through an axial fitting.The drive module 210E further includes a first bearing 212E, wherein the first bearing 212E is fixedly connected between the first shaft connection portion 232E and the second shaft connection portion 242E. This second shaft connecting portion 242E is axially fixedly connected to the first shaft connecting portion 232E via the first bearing 212E and is rotatably disposed relative to the first shaft connecting portion 232E to give the rotating member 240E good rotating performance. In addition, this first bearing 212E provides strength of connection between the first shaft connection portion 232E and the second shaft connection portion 242E without interfering with rotation. It should be noted that in other embodiments, the rotating part 240E may not be connected to the driving body 230E through the bearing. For example, the first shaft connecting portion 232E of the drive body 230E is a shaft body, an annular locking groove may be provided on an outer circumferential surface of one end of the shaft body, and the second shaft connecting portion 242E of the rotating part 240E is a bush, an annular locking member may be provided on an inner circumferential surface of one end of the bush, and the annular locking member is inserted into the annular locking groove, and the annular locking member is rotatable relative to the annular locking groove. At this time, the rotating part 240E is rotatably connected to the driving body 230E.In order to improve the coaxiality of the axial connection between the first shaft connection portion 232E and the second shaft connection portion 242E, the rotation accuracy of the gear member 400E is increased. The drive body 230E is further provided with a first cap portion 234E on one side, the first cap portion 234E being disposed coaxially around the first shaft connection portion 232E. The rotating member 240E is further provided at one end with a second fitting portion 244E, the second fitting portion 244E being disposed coaxially around the second shaft connecting portion 242E, the second fitting portion 244E and the first fitting portion 234E fitting with each other through an axial fitting. It will be appreciated that coaxiality is better maintained when the first cap portion 234E matches the second cap portion 244E. In order to reduce the rotational friction, the opposed surfaces of the first land portion 234E and the second land portion 244E are formed smoothly and may be coated with a lubricating oil.In this embodiment, the first shaft connecting portion 232E is a shaft body and the first cap portion 234E is a sleeve. Accordingly, the second shaft connecting portion 242E is a shaft hole and the second fitting portion 244E is an annular groove. It should be appreciated that in other embodiments, the first shaft connection portion 232E may be a shaft hole and the first cap portion 234E may be an annular groove. Accordingly, the second shaft connecting portion 242E is a shaft body and the second cap portion 244E is a sleeve.In order to establish a rotational connection between the drive module 210E and the outer structure, it is rotatable about the rotational axis L 2. The rotating member 240E is provided at its other end with a third shaft connecting portion 246E, the third shaft connecting portion 246E being disposed coaxially with and spaced apart from the second shaft connecting portion 242E. The drive module 210E further includes a second bearing 214E, the second bearing 214E fixedly connected to the third shaft connection portion 246E. In other words, the third shaft connection portion 246E may be axially fixedly connected to a shaft connection portion of the outer structure through the second bearing 214E, which improves a rotation performance of the drive module 210E and, at the same time, ensures the strength of connection between the third shaft connection portion 246E and the shaft connection portion of the outer structure, which may be the device body of the cleaning device, a chassis, or other structures.In this embodiment, the third shaft connecting portion 246E is a shaft hole and the shaft connecting portion of the outer structure is a shaft body, and the outer surface of the second bearing 214E is fixedly connected to the wall of the shaft hole. It is apparent that in other embodiments, the third shaft connecting portion 246E may be a shaft body and the shaft connecting portion of the outer structure may be a shaft hole, with the second bearing 214E fitted on the third shaft connecting portion 246E. Alternatively, the third shaft connection portion 246E and the shaft connection portion of the outer structure may mate with each other through a direct axial mating connection without requiring the second bearing 214E.In order to make a pivotal connection between the first end 410E of the gear part 400E and the other side of the drive body 230E, the first end 410E thereof is provided with a first pivotal portion 412E, and the other side of the drive body 230E is provided with a second pivotal portion 236E, and the second pivotal portion 236E and the first pivotal portion 412E fit together through an axial fitting. The cleaning mechanism 100E further includes a third bearing 500E, the third bearing 500E fixedly connected between the first pivot portion 412E and the second pivot portion 236E to axially fixedly connect the first pivot portion 412E to the second pivot portion 236E. This third bearing 500E is capable of imparting good rotational behavior to the gear member 400E and ensuring the strength of the connection between the first pivot portion 412E and the second pivot portion 236E.In this embodiment, the first shaft connecting portion 412E is a shaft hole and the second shaft connecting portion 236E is a shaft body, and the outer surface of the third bearing 500E is firmly connected to the wall of the shaft hole. It should be understood that in other embodiments, the first shaft connection portion 412E is a shaft body and the second shaft connection portion 236E is a shaft hole, and the second bearing 214E is fitted on the first shaft connection portion 412E. Alternatively, the first shaft connection portion 412E and the second shaft connection portion 236E may mate with each other through a direct axial mating connection without requiring the third bearing 500E.In order to produce a rotational connection between the gear part 400E and the outer structure, it is rotatable about the rotational axis L 2. The first end 410E of the gear member 400E is provided with a third pivot portion 414E, the third pivot portion 414E being coaxial with and spaced from the second pivot portion 236E. The third pivot portion 414E and a pivot portion of the outer structure mate with each other through an axial mating connection, wherein the outer structure may be the cleaner body, chassis, or other structures.In this embodiment, the third pivot portion 414E is a shaft hole, and the pivot portion of the outer structure is a shaft body. It will be appreciated that in other embodiments, the third pivot portion 414E may be a shaft body and the pivot portion of the outer structure may be a shaft hole, respectively. Alternatively, it is contemplated that the third pivot portion 414E and the pivot portion of the outer structure may be axially coupled via a bearing to improve the strength of the axial coupling and rotational behavior.In this embodiment, the drive body 230E includes a housing 250E, a first motor 260E, a transmission mechanism 270E, and a connection structure 280E, wherein the first motor 260E, the transmission mechanism 270E, and the connection structure 280E are all disposed in the housing 250E. Here, the rotation shaft of the first motor 260E is connected to an input end of the gear mechanism 270E, and the output end of the gear mechanism 270E is connected to one end of the connection structure 280E, and the cleaning assembly 20 is connected to the other end of the connection structure 280E. During operation, the rotating shaft of the first motor 260E rotates and outputs torque that is transmitted to the connecting structure 280E via the gear mechanism 270E, which in turn rotates the connecting structure 280E and rotates the cleaning assembly 20. It should be appreciated that in other embodiments, the first motor 260E may be disposed outside the housing 250E to connect to the input end of the transmission mechanism 270E within the housing 250E, where the output end of the transmission mechanism 270E may be directly connected to the cleaning assembly 20.It is further contemplated that the housing 250E includes a lower housing portion 252E, a middle housing portion 254E, and an upper housing portion 256E. The middle case 254E is covered over the lower case 252E, and the first motor 260E and the connection structure 280E are disposed between the lower case 252E and the middle case 254E with the rotation shaft of the first motor 260E passing through the middle case 254E. The upper case 256E is covered over the middle case 254E, and the gear mechanism 270E is disposed between the middle case 254E and the upper case 256E. The transmission mechanism 270E is a gear drive mechanism having a plurality of intermeshing gears. In other embodiments, the housing 250E may be dual layer in construction, with only the transmission mechanism 270E disposed within the housing 250E, and the transmission mechanism 270E may also be a pulley transmission mechanism.It is further contemplated that the cleaning assembly 20 includes a connecting shaft 222E, a cleaning disk 224E, and a cleaning member 226E. One end of the connecting shaft 222E protrudes into the lower housing 252E so as to be firmly connected to the connecting structure 280E. The other end of the connecting shaft 222E is fixedly connected to the cleaning disk 224E. The cleaning part 226E is arranged on a side of the cleaning disk 224E facing away from the connecting shaft 222E. In this embodiment, the first shaft connection portion 232E and the first cap portion 234E are disposed in the lower housing 252E and are integrally constructed. The second pivot portion 236E is disposed in the upper housing portion 256E and is integrally constructed. Here, the third pivot portion 414E and the first pivot portion 412E of the gear 400E, the second pivot portion 236E of the upper case 256E, the input end of the gear mechanism 270E, the rotation shaft of the first motor 260E, the first pivot portion 232E of the lower case 252E, and the second pivot portion 242E and the third pivot portion 246E of the rotating member 240E are all arranged coaxially with the same center axis (rotation center), i.e., the rotation axis L 2. Since the central axis of the first motor 260E is located on the rotational axis L 2, vibration in rotation of the drive module 210E and noise can be reduced, while the cleaning assembly 20 can more easily execute revolution in self rotation. The output end of the gear mechanism 270E, the connecting structure 280E, and the connecting shaft 222E of the cleaning assembly 20 are all arranged coaxially with the same center axis (rotation center), i.e., the rotation axis L 1.The connecting part 300E is an elastic part. When the cleaning assembly 20 encounters an obstacle in wiping the floor surface along an edge, the outwardly protruding cleaning assembly 20 may be retracted inwardly to the initial position, contracting the connector 300E under pressure. When the cleaning assembly 20 leaves the obstacle, the cleaning assembly 20 returns to the edge position under the tension of the connecting part 300E to further wipe the floor surface along the edge. Thus, the connecting part 300E can protect the cleaning assembly 20 from collisions with obstacles in a damped manner, serve to protect the cleaning assembly 20, and maintain the tendency of the cleaning assembly 20 to return to the edge position to complete the edge cleaning.In this embodiment, the connection part 300E may be, but is not limited to, a spring, and an end of the spring is fitted on a hook on a side of the housing 250E to connect to the drive module 210E. In addition, the other end of the spring is fitted on another hook on one side of the gear part to connect to the gear part 400E. It should be understood that in other embodiments, the connecting member 300E may be a resilient pillar structure or a resilient rod structure that combines both structural strength and elasticity. In other words, the connecting part 300E may also be a connecting rod, which may also serve for connecting the gear part 400E and the drive module 210E. The connection part 300E may also be a torsion spring disposed on the pivot structure of the transmission part 400E and the drive module 210E and abutting at one end against the transmission part 400E and at the other end against the drive module 210E so that the transmission part 400E is in a contracted state relative to the drive module 210E. The connection part 300E may also be a tension spring disposed on the pivot structure of the gear part 400E and the drive module 210E and connected at one end to the gear part 400E and at the other end to the drive module 210E, so that the gear part 400E can drive the drive module 210E in motion.In this embodiment, the outer side surface of the gear 400E is provided with gear teeth 430E, and the gear teeth 430E are for applying force to rotate the gear 400E. The force input driving structure may be a gear driving structure, a worm gear worm shaft driving structure, a pulley driving structure, or another driving structure. It should be noted that in other embodiments, the gear teeth 430E may be replaced with a connecting rod or a swing arm, and the input driving structure may be a connecting rod driving structure.The specific structure of the cleaning mechanism 100E can be seen from the above explanations. Due to the use of all the technical solutions of all the above embodiments, the cleaning device 600E according to this embodiment also has all the advantageous effects achieved by the technical solutions of the above embodiments, and repeated description will be omitted here. Here, the driving assembly 620E is connected to the gear part 400E of the cleaning mechanism 100E, the driving assembly 620E is for driving the gear part 400E to rotate the driving module 210E so that the cleaning assembly 20 moves between the initial position and the edge position, the edge position being a position in the forward direction in which at least a part of the cleaning assembly 20 protrudes beyond the maximum width of the device body 10.In conjunction with FIGS. 60 and 61, when the cleaning device 600E is in a normal operating state (i.e., a non-edge cleaning mode), the cleaning assembly 20 is in the home position, and the cleaning assembly 20 does not project beyond the maximum width of the device body 10 in the forward direction, i.e., the cleaning assembly 20 is within the reference line L 3. Referring to FIGS. 62 and 63, when it is detected that the cleaning device is in an edge cleaning state (i.e., an edge cleaning mode), the gear 400E is rotated by the driving assembly 620E, whereby the cleaning assembly 20 is moved to the edge position, the cleaning assembly 20 protrudes in the forward direction beyond the maximum width of the device body 10, that is, the cleaning assembly 20 protrudes beyond a reference line L 3 to cover the area of the machine body, whereby edge cleaning is achieved, and the cleaning effect of the cleaning device when wiping the floor surface along an edge is improved.It should be noted that the number of cleaning mechanisms 100E of the cleaning device 600E may be set according to actual need, i.e., the cleaning device 600E may be equipped with one cleaning mechanism 100E, two cleaning mechanisms 100E, or multiple cleaning mechanisms 100E.In this embodiment, the apparatus body 10 is provided with a mounting chamber 612E, and the cleaning mechanism 100E can be inserted into the mounting chamber 612E from the bottom of the housing 10. Moreover, the mounting chamber 612E is provided with shaft bodies on the upper side and on the lower side, wherein the shaft body is rotatably connected to the third pivot portion 414E of the gear part 400E on the upper side and the shaft body is fixedly connected to the second bearing 214E of the drive module 210E on the lower side. The drive assembly 620E is also disposed in the mounting chamber 612E.In this embodiment, the drive assembly 620E includes a second motor 622E and a drive gear 624E disposed on a rotational shaft of the second motor 622E, wherein the drive gear 624E and the gear teeth 430E of the gear part 400E cooperate with each other to rotate the gear part 400E. It should be understood that in other embodiments, the drive assembly 620E may be a worm gear worm shaft drive structure, a pulley drive structure, and a sprocket drive structure.See FIG. 64, FIG. 64 shows a block diagram of modules of the cleaning apparatus in this embodiment, the cleaning apparatus 600E further including a detector 630E and a controller 640E. The detector 630E is disposed on the apparatus body 10 to detect the position of the gear part 400E. The controller 640E is disposed on the apparatus body 10 and electrically connected to the detector 630E and the driving assembly 620E, respectively, and the controller 640E is used to control the driving assembly 620E depending on the position detected by the detector 630E. The detector 630E may detect the position of the gear part 400E. When the transmission member 400E protrudes outward into position or retracts inward into position, the controller 640E drives the second motor 622E of the drive assembly 620E to stop to avoid blockage that would degrade durability. The detector 630E can be, in particular, a Hall sensor or an infrared sensor.It is further contemplated that the gear member 400E is provided with a limiting portion 440E, wherein the limiting portion 440E cooperates with the drive assembly 620E and can be used to limit rotation of the gear member 400E. The limiting portion 440E may further limit the rotation of the gear member 400E to ensure that the cleaning assembly 20 pivots to the maximum position, i.e., the edge position, when the gear member is interfered by the drive assembly 620E.The technical solution according to this embodiment has the following advantages: Herein, the connection part 300E and the transmission part 400E are added, the transmission part 400E is rotatably connected to the drive module 210E of the cleaning module 200E, and the connection part 300E is connected between the drive module 210E and the transmission part 400E. Because the gear 400E is rotatable about the axis of rotation, the link 300E is actuated during rotation of the gear so that the drive module 210E is actuated to rotate about the axis of rotation, which may result in eccentric rotation of the cleaning assembly 20 of the cleaning module 200E about the axis of rotation. In use in the cleaning device, the pivoting of the cleaning assembly 20 is controlled by controlling the rotation of the gear member 400E, i.e., the cleaning assembly can move between the home position and the edge position. When the cleaning assembly 20 is in the edge position, the cleaning assembly is swung out to cover the portion of the machine body, thereby achieving edge cleaning, improving the cleaning effect of the cleaning device in edge cleaning, and solving the problem that the cleaning assembly 20 cannot clean the floor surface along an edge.Of course, the embodiment 12 is not limited to the combination with the aforementioned embodiment 2. Based on feasibility, the structure of embodiment 12 may be combined in whole or in part with any possible embodiment to achieve various uses, and is not limited in any more detail herein.Embodiment 13: In the embodiment, a cleaning device including an elastic member 300F and a connecting rod driving mechanism 400F is mainly provided. In this embodiment, the first driving structure 40M includes at least one driving module 210F, the second driving structure 50M includes at least the elastic member 300F and the link driving mechanism 400F, and the in-position detecting structure includes at least one detector 120F.Continuing the explanations so far, this embodiment is different from the other embodiments in that the elastic member 300F and the connecting rod driving mechanism 400F are further disclosed in this embodiment, and in that another cleaning assembly 20 and a different driving module 210F are used in this embodiment.As shown in FIGS. 65 to 68, in this embodiment, a cleaning device is provided, the cleaning device 100F including a device body 10, a cleaning module 200F, an elastic member 300F, and a connecting rod driving mechanism 400F. Here, the cleaning module 200F includes a driving module 210F and the cleaning assembly 20, wherein the driving module 210F is connected to the cleaning assembly 20 to rotate the cleaning assembly 20. The driving module 210F is rotatably disposed on the apparatus body 10 such that the cleaning assembly 20 has a home position and an edge position, the edge position being a forward position in which at least a part of the cleaning assembly 20 protrudes beyond the maximum width of the apparatus body 10, as shown in FIG. 67. The elastic member 300F is disposed between the apparatus body 10 and the driving module 210F, and moves the cleaning assembly 20 toward the edge position by the driving module 210F, that is, the cleaning assembly 20 is always moved to the edge position by the restoring spring force of the elastic member 300F. The connecting rod driving mechanism 400F is disposed on the apparatus body 10 and connected to the driving module 210F to rotate the driving module 210F. When the connecting rod driving mechanism 400F is self-locking, the cleaning assembly 20 can be held in the initial position by the connecting rod driving mechanism 400F to prevent the cleaning assembly 20 from moving to the edge position under the action of the elastic member 300F. In this case, the first position comprises at least the starting position, and the second position comprises at least the edge position.In the cleaning device 100F according to this embodiment, the driving module 210F of the cleaning module 200F is rotatably disposed on the device body 10 such that the cleaning assembly 20 of the cleaning module 200F has a home position and an edge position, and rotation of the driving module 210F is controlled by providing the elastic member 300F and the link driving mechanism 400F so as to control the swing of the cleaning assembly 20, i.e., the cleaning assembly 20 is allowed to move between the home position and the edge position. Referring to FIG. 67, when the cleaning assembly 20 is in the edge position, the cleaning assembly 20 is swung out to cover the area of the machine body, thereby achieving edge cleaning, improving the cleaning effect of the cleaning device 100F in wiping the floor surface along an edge, and solving the problem that the cleaning assembly 20 cannot wipe the floor surface along an edge. When the cleaning assembly 20 encounters an obstacle in wiping the floor surface along an edge, a buffer action upon collision may be provided by the elastic member 300F, so that the outward-protruding cleaning assembly 20 may retract inward to protect the cleaning assembly 20. When the cleaning assembly 20 leaves the obstacle, the cleaning assembly 20 quickly moves to the edge position under the action of the restoring spring force of the elastic member 300F to further wipe the floor surface along an edge. Referring to FIG. 68, when the cleaning assembly 20 is in the initial position, the connecting rod driving mechanism 400F is self-locking, so that the restoring spring force of the elastic member 300F can be overcome to hold the cleaning assembly 20 in the initial position, thereby preventing the cleaning assembly 20 from swinging to the edge position in the non-edge cleaning mode. In this case, the cleaning assembly 20 does not swing out even if it is pushed or blocked.In order to facilitate the assembly of the cleaning module 200F, the apparatus body 10 is provided with a mounting chamber 111F, and the cleaning module 200F and the connecting rod driving mechanism 400F are disposed in the mounting chamber 111F. A recess is formed at the bottom of the apparatus body 10, the recess being in communication with the mounting chamber 111F to avoid movement of the cleaning assembly 20 between the edge position and the home position and to limit a range of movement of the cleaning assembly 20 through the recess. In this embodiment, the recess delimits two boundary positions of the cleaning assembly 20, namely the edge position and the starting position. However, in other embodiments, the edge position and / or the home position may be between the two boundary positions.It should be noted that the number of cleaning modules 200F of the cleaning apparatus 100F may be set according to the current situation. In the cleaning device 100F, for example, one or two cleaning module(s) 200F may be provided, and accordingly, the mounting chamber 111F of the device body 10, the elastic member 300F, and the connecting rod driving mechanism 400F are provided such that the cleaning assembly 20 of the at least one cleaning module 200F is pivotable. As another example, the cleaning device 100F may include more than three cleaning modules 200F, and the number of the swingable cleaning modules 200F of the cleaning assembly 20 may be provided according to actual needs.See FIG. 69, FIG. 69 shows a block diagram of modules of the cleaning apparatus in this embodiment, the cleaning apparatus 100F further including a detector 120F and a controller 130F. The detector 120F is disposed on the device body 10 to detect the position of the drive module 210F. The controller 130F is disposed on the apparatus body 10 and electrically connected to the detector 120F and the link driving mechanism 400F, respectively, and the controller 130F is used to control the link driving mechanism 400F depending on the position detected by the detector 120F. The detector 120F may detect the position of the drive module 210F. When the connecting rod driving mechanism 400F drives the cleaning assembly 20 to project outward to the position (the edge position) or retract inward to the position (the initial position), the controller 130F controls the connecting rod driving mechanism 400F to stop to avoid blockage that would affect the life of the connecting rod driving mechanism 400F. In this case, the first position comprises at least the starting position, and the second position comprises at least the edge position.It is also contemplated that the cleaning apparatus 100F further includes a motherboard (not shown), and that the control device 130F is disposed on the motherboard so as to be mounted on the apparatus body 10 via this motherboard. Moreover, further electronic elements are provided on the main board in order to realize the various functions of the cleaning device 100F.In this embodiment, detector 120F may be, but is not limited to, a Hall sensor. In this case, two detectors are provided, which are each arranged in the starting position or in the edge position in accordance with the drive module 210F. As the cleaning assembly 20 moves to the edge position, the exterior hall sensor may sense that the drive module 210F is in position by sensing a ferrous metal within the drive module to sense the edge position of the cleaning assembly 20, as shown in FIG. 67. As the cleaning assembly 20 moves to the home position, the internal hall sensor may sense that the drive module 210F is in position by sensing a ferrous metal within the drive module to sense the home position of the cleaning assembly 20, as shown in FIG. 68. It should be noted that in other embodiments, detector 120F may be an infrared sensor that may detect the position of cleaner assembly 20 below it based on the principle of lip detection of a downward sensor. The detector 120F may also be a micro switch (clock switch) having a deformable elastic member, wherein contact of the deformable elastic member with the driving module turns on the micro switch to detect the position of the driving module.In this embodiment, the cleaning device 100F has various operating states, which may include, by way of example, but not limitation, the following two operating states:Referring to FIG. 67, when it is detected that the cleaning device 100F is in an edge cleaning state (i.e., an edge cleaning mode), the control device 130F controls the connecting rod driving mechanism 400F to operate to unlock the connecting rod driving mechanism 400F. At this time, the cleaning assembly 20 moves from the initial position to the edge position under the action of the restoring spring force of the elastic member 300F, at least a part of the cleaning assembly 20 protrudes in the forward direction beyond the maximum width of the apparatus body 10 (i.e., the machine body), that is, the cleaning assembly 20 protrudes beyond a reference line L to cover the area of the machine body, thereby achieving edge cleaning, improving the cleaning effect of the cleaning apparatus 100F in wiping the floor surface along an edge. Referring to FIG. 68, when the cleaning device 100F has completed edge cleaning and is again in a normal operating state (i.e., a non-edge cleaning mode), the control device 130F controls the connecting rod driving mechanism 400F to operate to rotate the driving module 210F to move the cleaning assembly 20 from the edge position to the initial position, wherein the cleaning assembly 20 does not project forward beyond the maximum width of the device body 10 (i.e., the machine body), i.e., the cleaning assembly 20 is within the reference line L. Moreover, the connecting rod driving mechanism 400F is self-locking, whereby the cleaning assembly 20 is positioned at the initial position to prevent the cleaning assembly 20 from being locked, the cleaning assembly 20 pivots out to the edge position under the action of the resilient member 300F and other external forces.Reference is now made to FIG. 70 in conjunction with FIGS. 66 and 68. FIG. 70 shows an enlarged detail of the cleaning device according to this embodiment, wherein the cleaning assembly 20 of the cleaning device 100F is in the initial position. The device body 10 is provided with a restricting portion 112F. The link drive mechanism 400F includes a link mechanism 410F and a drive part 420F, wherein the link mechanism 410F is connected to the drive module 210F and the drive part 420F, respectively, that is, its input end is connected to the drive part 420F and its output end is connected to the drive module 210F. The driving part 420F is disposed on the device body 10 and is used to rotate the link mechanism 410F to rotate the driving module 210F. In the initial position, the restricting portion 112F restricts the rotation of the link mechanism 410F, and the return spring force of the elastic member 300F is less than the acting force applied to the drive module 210F by the link mechanism 410F.Because the return spring force of the resilient member 300F is insufficient to overcome the force of the connecting rod mechanism 410F acting on the drive module 210F, the resilient member 300F is unable to move the cleaning assembly 20 to the edge position, i.e., the connecting rod drive mechanism 400F can self-lock hold and position the cleaning assembly 20 in the home position to prevent improper deployment. Moreover, the connecting rod driving mechanism 400F can also overcome other acting forces that return the cleaning assembly 20 to the edge position, e.g., a frictional force applied from the floor surface to the cleaning assembly 20, a collision force due to a collision with an obstacle, or a pulling force of entanglements, and the like. It should be noted that in other embodiments, the driving part 420F is a self-locking motor, i.e., the rotation shaft of the self-locking motor may rotate when it is in operation, and the rotation shaft of the self-locking motor may not rotate when it is out of operation. When the connecting rod driving mechanism 400F moves to the self-locking position, the driving part 420F stops operating, the connecting rod mechanism 410F stops rotating due to self-locking of the rotating shaft of the driving part 420F, and the acting force applied from the connecting rod mechanism 410F to the driving module 210F is larger than the restoring spring force of the elastic part 300F. At this time, the entire connecting rod driving mechanism 400F can be self-locking without requiring the cooperation with the restricting portion 112F. The "self-locking" of the tie rod drive mechanism 400F in this application thus means that when the tie rod mechanism 410F is moved to a certain position by the drive of the drive portion 420F, no relative movement can occur between the components of the tie rod mechanism 410F, so that the drive module 210F is positioned. The connecting rod mechanism 410F can achieve the above state by an external structure (e.g., the restricting portion 112F) or by an internal structure (e.g., a self-locking motor) of the connecting rod driving mechanism 400F. It is obvious that the specific position is the initial position in this embodiment.In this embodiment, the link rod mechanism 410F includes a first rod part 412F and a second rod part 414F that are rotatably connected to each other, and an end of the first rod part 412F that is remote from the second rod part 414F is connected to the driving part 420F. The driving part 420F is used to rotate the first rod part 412F. When the first rod part 412F rotates to contact with the restricting portion 112F, an angle α between the first rod part 412F and the second rod part 414F is an obtuse angle. Under the action of the elastic member 300F, the restricting portion 112F applies an acting force to the first rod member 412F, and due to the obtuse angle α, the acting force is simultaneously applied to the second rod member 414F, so that the second rod member 414F serves as a support to prevent the drive module 210F from swinging back. It should be understood that in other embodiments, the drive portion 420F is used as a self-locking motor as described above, wherein an angle α between the first rod portion 412F and the second rod portion 414F is an obtuse angle. When the link rod mechanism 410F moves to the self-locking position, the first rod part 412F can no longer rotate due to self-locking of the rotation shaft of the driving part 420F without requiring the limitation of the limiting portion 112F, and the second rod part 414F also serves as a support to prevent the driving module 210F from swinging back.Furthermore, it is provided that a pivoting section 211F and a counter section 212F are provided on a side of the drive module 210F facing away from the cleaning assembly 20. The link rod mechanism 410F includes a third rod part 416F, one end of the third rod part 416F is rotatably connected to an end of the second rod part 414F remote from the first rod part 412F, and the other end of the third rod part 416F is pivotally connected to the pivot portion 211F. The third rod member 416F may cooperate with the mating portion 212F and rotate the drive module 210F via the mating portion 212F to move the cleaning assembly 20 to the home position.When the connecting rod driving mechanism 400F is self-locking, the angle α between the first rod part 412F and the second rod part 414F is an obtuse angle. Upon forward movement of the cleaning device 100F, a force F 1 acts on the drive module 210F, the third rod part 416F exerts a force F 2 on the second rod part 414F, and the second rod part 414F exerts a force F 3 on the first rod part 412F. Here, an angle β between F 1 and F 2 is an acute angle, and an angle θ between F 2 and F 3 is an acute angle. By cooperation of the restricting portion 112F, the opposing portion 212F, and the link mechanism 410F, self-locking of the link driving mechanism 400F is achieved, thereby achieving a simple structure and good strength. It should be noted that in other embodiments, in the connecting rod driving mechanism 400F, in addition to the above self-locking motor, a third rod part 416F is added to its connecting rod mechanism 410F, the angle β between F 1 and F 2 being an acute angle and the angle θ between F 2 and F 3 being an acute angle. Thus, the same technical effects as described above can be obtained. In other embodiments, it is contemplated that the third rod member 416F may be replaced with a bulge structure on one side of the drive module 210F without having to provide the mating portion 212F, and that the second rod member 414F is rotatably coupled to the bulge structure, which may also result in a self-locking structure. Here, the bulge structure may be provided in a one-piece shape, but is not limited thereto.Further, it is provided that a first bearing 213 is fixedly connected between the other end of the third rod part 416F and the pivot portion 211F, and the first bearing 213 can allow good rotation behavior between the third rod part 416F and the pivot portion 211F and can ensure strength of connection between the third rod part 416F and the pivot portion 211F. In this embodiment, it is provided that the pivot portion 211F is a shaft body, and that a matching shaft hole is disposed at the other end of the third rod part 416F. Obviously, in other embodiments, it is contemplated that the pivot portion 211F is a shaft hole and that a matching shaft body is disposed at the other end of the third rod portion 416F.In this embodiment, the restricting portion 112F is respectively disposed at the joint between the first rod part 412F and the second rod part 414F, resulting in a better restricting function and at the same time can act on the first rod part 412F and the second rod part 414F, contributing to the improvement in the strength of the self-locking structure. It is understood that the restricting portion 112F may be disposed at other locations of the first rod part 412F, for example, at an intermediate location of the first rod part 412F, respectively.In this embodiment, the opposing portion 212F is respectively disposed at an arbitrary portion between the central portion and the free end of the third rod part 416F, and the free end is the end of the third rod part 416F connected to the second rod part 414F, and the third rod part 416F presses the drive module 210F with good rotational action by the opposing portion 212F, and the pressing force can be reduced by using a leverage. The counter portion 212F is formed in a convex pillar shape, but is not limited to this shape, and may be formed of other bulging structures.In conjunction with FIG. 66, the device body 10 is further provided with a mounting portion 113F, the mounting portion 113F is connected to the restricting portion 112F, and the structural strength of the restricting portion 112F can be improved by connecting the restricting portion 112F to the mounting portion 113F. The driving part 420F has a rotatable rotation shaft, the mounting portion 113F is provided with a mounting groove 114F, and the driving part 420F is disposed in the mounting groove 114F.The rotation shaft of the driving part 420F protrudes from the mounting groove 114F and is fixedly connected to the first rod part 412F, thereby rotating the first rod part 412F. The restricting portion 112F is located higher than the mounting groove 114F to restrict the first rod part 412F. In this embodiment, the mounting portion 113F is formed in a cylindrical shape, and the restricting portion 112F is formed in a convex strip shape and connected to the outer side surface of the mounting portion 113F.It should be noted that the first rod part 412F of the link mechanism 410F may be formed as a crank or a swing depending on the space in the mounting chamber 111F, and the third rod part 416F is formed cooperatively with the first rod part 412F.In this embodiment, the driving part 420F may be a motor that outputs power by the rotation of its rotating shaft, but is not limited thereto. The controller 130F is electrically connected to the driving part 420F, and the controller 130F in turn can control the operation of the connecting rod driving mechanism 400F by controlling the rotational speed and the steering of the driving part 420F. In other embodiments, the drive portion 420F may also be other drive devices, such as a telescoping device that rotates the first rod portion 412F via a telescoping rod.The limited travel distance of the cleaning assembly 20 results in a limited range of rotation of the first rod portion 412F such that the limiting portion 112F can limit the rotation of the link rod mechanism 410F only in a single clockwise direction. In this embodiment, the restricting portion 112F restricts the rotation of the link mechanism 410F only in the counterclockwise direction. It should be noted that in other embodiments, the limiting portion 112F, the elastic member 300F, and the link drive mechanism 400F may be mirror-imaged on the other side of the drive module 210F, where the limiting portion 112F should limit clockwise rotation of the link mechanism 410F to realize self-locking of the link drive mechanism 400F.In conjunction with Figures 66-68 and 70, during movement of the cleaner assembly 20 from the edge position to the home position, the drive member 420F drives the first rod member 412F to rotate in a counterclockwise direction, the second rod member 414F drives the third rod member 416F to rotate, and the third rod member 416F through the mating portion 212F pushes the drive module 210F inward to rotate. As the first rod member 412F rotates to the limit portion 112F, it cannot rotate any further and is limited, with the entire connecting rod mechanism 410F self-locking to position the cleaning assembly 20 in the home position. During the movement of the cleaning assembly 20 from the home position to the edge position, the driving part 420F drives the first rod part 412F to rotate clockwise so as to gradually separate from the limiting portion 112F. The second rod part 414F rotates the third rod part 416F, and under the action of the elastic part 300F, the drive module 210F rotates outward. When the return spring force of the elastic member 300F is greater than the force applied to the drive module 210F by the connecting rod mechanism 410F, the elastic member 300F pulls the cleaning assembly 20 directly to the edge position by the drive module 210F. At this time, the driving part 420F stops operating, and at the same time, the first rod part 412F, which is restricted by the elastic part 300F or other structures, is unable to reach the restricting portion 112F in the clockwise direction.See FIGS. 71 to 74 in conjunction with FIG. 66, FIG. 71 is a structural schematic diagram of a cleaning module of a cleaning device according to this embodiment, FIG. 72 is a plan view of the cleaning module of FIG. 71, FIG. 73 is a sectional view of the cleaning module taken along line I-I of FIG. 72, and FIG. 74 is an exploded view of the cleaning module of FIG. 71, wherein a first shaft connection portion 214F is disposed on a side of the driving module 210F facing the cleaning assembly 20. The device body 10 is further provided with a second shaft connecting portion 115F, and the second shaft connecting portion 115F and the first shaft connecting portion 214F fit together through an axial fitting. By the fitting of the first shaft connection portion 214F of the drive module 210F to the second shaft connection portion 115F of the device body 10, the drive module 210F is rotatably mounted on the device body 10, i.e., the cleaning assembly 20 can execute revolution about the central axis of the first shaft connection portion 214F upon self-rotation.It is also provided that a second bearing 215F is firmly connected between the second shaft connecting portion 115F and the first shaft connecting portion 214F, wherein the axial firm connection of the first shaft connecting portion 214F to the second shaft connecting portion 115F via the second bearing 215F gives the drive module 210F a good rotational behavior, whereby the rotational friction is reduced. In addition, this second bearing 215F provides strength of connection between the first shaft connection portion 214F and the second shaft connection portion 115F without interfering with rotation.In order to improve the coaxiality of the axial connection between the first shaft connection portion 214F and the second shaft connection portion 115F, the rotation accuracy of the drive module 210F is increased. The drive module 210F is further provided with a first cap portion 216F on a side facing the cleaning assembly 20, the first cap portion 216F being coaxially disposed around the first shaft connection portion 214F. The device body 10 is further provided with a second fitting portion 116F, the second fitting portion 116F being coaxially disposed around the second shaft connection portion 115F, the second fitting portion 116F and the first fitting portion 216F fitting with each other through an axial fitting. It will be appreciated that coaxiality is better maintained when the first landing portion 216F matches the second landing portion 116F. In order to reduce the rotational friction, the opposed surfaces of the first land portion 216F and the second land portion 116F are formed smoothly and may be coated with a lubricating oil.In this embodiment, the first shaft connecting portion 214F is a shaft body and the first cap portion 216F is a sleeve. Accordingly, the second shaft connecting portion 115F is a shaft hole and the second fitting portion 116F is an annular groove. It should be appreciated that in other embodiments, the first shaft connection portion 214F may be a shaft hole and the first cap portion 216F may be an annular groove. Accordingly, the second shaft connecting portion 115F is a shaft body and the second cap portion 116F is a sleeve.In this embodiment, the drive module 210F includes a housing 230F, a drive motor 240F, and a gear mechanism 250F, wherein the drive motor 240F and the gear mechanism 250F are disposed in the housing 230F. Here, the rotation shaft of the drive motor 240F is connected to an input end of the gear mechanism 250F, and the cleaning assembly 20 is connected to an output end of the gear mechanism 250F. At this time, the center of rotation of the drive module 210F is located on the center axis of the drive motor 240F, whereby vibration in rotation of the drive module 210F and noise can be reduced, while the cleaning assembly 20 can execute revolution in self rotation more efficiently. Moreover, the housing 230F may serve to protect the drive motor 240F and the gear mechanism 250F to ensure water and dust tightness. It should be appreciated that in other embodiments, the drive motor 240F may be disposed outside the housing 230F and connected to the input end of the transmission mechanism 250F within the housing 230F.It is further contemplated that the drive module 210F further includes a connection structure 260F, wherein the connection structure 260F is disposed within the housing 230F, and wherein one end of the connection structure 260F is connected to the output end of the transmission mechanism 250F and the other end of the connection structure 260F is connected to the cleaning assembly 20. During operation, the rotary shaft of the drive motor 240F rotates and outputs torque that is transmitted to the link structure 260F via the gear mechanism 250F, which in turn rotates the link structure 260F and rotates the cleaning assembly 20. It should be appreciated that in other embodiments, the cleaning assembly 20 may be directly connected to the output end of the transmission mechanism 250F without being connected via the connecting structure 260F.It is further contemplated that the housing 230F includes a lower housing portion 232F, a middle housing portion 234F, and an upper housing portion 236F. The middle case 234F is covered over the lower case 232F, and the driving motor 240F and the connecting structure 260F are disposed between the lower case 232F and the middle case 234F, with the rotating shaft of the driving motor 240F passing through the middle case 234F. The upper case 236F is covered over the middle case 234F, and the gear mechanism 250F is disposed between the middle case 234F and the upper case 236F, the input end of the gear mechanism 250F is connected to the rotating shaft of the driving motor 240F, and the output end of the gear mechanism 250F is connected to the connecting structure 260F via the middle case 234F. The cleaning assembly 20 is connected to the connecting structure 260F via the lower housing portion 232F. The housing 230F is structured in layers, so that different structures can be accommodated, thereby enabling a rational space division, a compact arrangement and a reduction in volume.It is further contemplated that the transmission mechanism 250F is a gear drive mechanism having a plurality of sequentially intermeshing gears. In other embodiments, the housing 230F may be dual layer in construction, with only the transmission mechanism 250F disposed within the housing 230F, and the transmission mechanism 250F may also be a pulley transmission mechanism.It is further contemplated that the cleaning assembly 20 includes a connecting shaft 222F, a cleaning disk 224F, and a cleaning member 226F. One end of the connecting shaft 222F protrudes into the lower housing 232F to be firmly connected to the connecting structure 260F. The other end of the connecting shaft 222F is fixedly connected to the cleaning disk 224F. The cleaning part 226F is disposed on a side of the cleaning disk 224F facing away from the connecting shaft 222F. The cleaning member 226F may be, but is not limited to, a wiping mop.In this embodiment, the first shaft connecting portion 214F and the first cap portion 216F are disposed in the lower housing 252 and are integrally constructed. The pivot portion 211F and the counter portion 212F are disposed in the upper case and are integrally constructed. Here, the pivot portion 211F of the upper case 236F, the input end of the gear mechanism 250F, the rotation shaft of the drive motor 240F, the first shaft connection portion 214F of the lower case 232F, and the second shaft connection portion 115F of the device body 10 are all arranged coaxially and have the same center axis (rotation center point). The output end of the gear mechanism 250F, the connecting structure 260F, and the connecting shaft 222F of the cleaning assembly 20 are all arranged coaxially and have the same center axis (rotation center).In conjunction with FIGS. 65 and 68, the device body 10 has an inner circumferential surface, and a first connecting portion 117F is provided on the inner circumferential surface. The drive module 210F has an outer side surface facing the inner circumferential surface, and a second connecting portion 217F is provided on the outer side surface. One end of the elastic member 300F is connected to the first connecting portion 117F and the other end is connected to the second connecting portion 217F. The drive module 210F always has a tendency to rotate to the edge position due to the tension connection of the elastic member 300F to the first connection portion 117F on the inner circumferential surface of the device body 10. When the connecting rod driving mechanism 400F cancels the self-locking, the cleaning assembly 20 can be quickly moved to the edge position by the spring force of the elastic member 300F.In this embodiment, the elastic member 300F may be a tension spring, but is not limited thereto, and may be an elastic pillar structure, an elastic rod structure, or an elastic strip structure that combines both structural strength and elasticity. And, the first connecting portion 117F and the second connecting portion 217F are hooks, one end of the tension spring is fitted to the first connecting portion 117F, and the other end of the tension spring is fitted to the second connecting portion 217F. It should be noted that in other embodiments, the resilient member 300F is a torsion spring disposed at the rotational connection between the device body 10 and the drive module 210F, with one torsion arm of the torsion spring abutting the device body 10 and the other torsion arm of the torsion spring abutting the drive module 210F, such that the drive module 210F is in a contracted state relative to the device body 10, whereby the cleaning assembly 20 always tends to move toward the edge position. Further, it is contemplated that the torsion spring may be fitted to the outer side surface of the second fitting portion 116F of the device body 10.Of course, based on feasibility, the structure of embodiment 13 may be combined in whole or in part with any possible embodiment to satisfy various uses, and is not limited in detail herein.Embodiment 14: In this embodiment, a detailed embodiment of a water replenishing mechanism is mainly presented. Continuing the explanations so far, this embodiment differs from the other embodiments in that, in this embodiment, a water replenishing mechanism is further included as shown in FIGS. 81, 82, and 83. The water replenishing mechanism includes a water tank (not shown) and at least one water outlet 900H provided on the apparatus body 10, the water tank and the water outlets 900H being controllably connected to each other. For example, the water tank may be connected to the water outlet 900H via a water supply line 940H, as shown in FIG. 89.For example, when the cleaning assembly 20 includes a cleaning blade 90H and a cleaning member 91H disposed on the cleaning blade 90H, the water conveyed through the water outlet 900H may wet the cleaning member 91H to achieve a better wiping effect. A wiping mop made of flexible material or a wiping part made of hard material can be used as the cleaning part.When a plurality of water outlets 900H are provided, a feed pump may be provided on the water feed line 940H and a water distributor may be provided on the feed pump, whereby the water from the water tank may be uniformly distributed to each water outlet 900H through the water distributor. Designers can determine the specific structure and control mode of the feed pump according to the application requirement, and is not limited herein in any more detail.In a specific exemplary embodiment, it is provided that, if two cleaning assemblies 20 are provided, of which one cleaning assembly 20 can be pivoted out and the other cleaning assembly 20 cannot be pivoted out, two water outlets 900H are provided, of which one water outlet 900H can refill the pivotable cleaning assembly 20 and the other water outlet 900H can refill the non-pivotable cleaning assembly 20. Moreover, the water distributor enables uniform distribution of the water from the water tank to each of the above water outlets 900H, thereby ensuring uniform water replenishment.In some scenes, for example, when only one cleaning part 91H is used for cleaning and one cleaning part 91H is to be lifted, the lifted cleaning part 91H does not need to be replenished, for example: In cleaning along a carpet edge, the cleaning part 91H on the carpet is lifted and the cleaning part 91H on the floor surface performs cleaning.Of course, a plurality of water conveyance pipes 940H each of which water conveyance pipes 940H corresponds to each water outlet 900H may be provided, and the flow rate of each of the water outlets 900H may be individually controlled to achieve replenishment or non-replenishment of the cleaning part 91H, and is not particularly limited herein.Further, it is contemplated that, since the water outlets 900H are provided on the apparatus body 10, the cleaning disk 90H may be formed with a recessed portion 901H so that the cleaning disk 90H does not interfere with the replenishment of the water outlets 900H, as shown in FIG. 87.When the cleaning assembly 20 is switched between the first position and the second position, for example, when the cleaning assembly 20 is switched between the retracted position and the extended position, the positions of the water outlets 900H on the device body 10 are determined by the vertical projection area (i.e., a position in which the hollowed area is projected onto the bottom of the device body in a direction perpendicular to the bottom of the device body) of the hollowed area 901H of the cleaning assembly 20 onto the device body 10.In a specific embodiment, it is contemplated that when the cleaning assembly 20 is in the retracted position, the deployed position, or any position between the retracted position and the deployed position, a vertical projection area of the recessed area 901H in the cleaning disk 90H onto the floor of the device body 10 is a vertical projection area for the retracted position, a vertical projection area for the deployed position, and a vertical projection area for the pivoting position, respectively, where there is a permanent overlap area 902H for the three vertical projection areas, such that the water outlets 900H simultaneously close the cleaning part 91H of the cleaning assembly 20 in the retracted position, the cleaning part 91H of the cleaning assembly 20 in the swung-out position and the cleaning part 91H of the cleaning assembly 20 in any position between the retracted position and the swung-out position can refill by providing the water outlets 900H or at least a part of the water outlets 900H in this permanent overlap area 902H on the device body, which leads to a better refill.As shown in FIGS. 81, 82 and 83, it is provided in particular that, when the cleaning disk 90H is pivoted out from the retracted position into the pivoted-out position, the movement path of the center of rotation of the cleaning disk 90H is a second circular arc 903H, wherein the center of the circle in which the second circular arc 903H is located is the center of rotation of the cleaning assembly 20 during the pivoting out or retraction (not illustrated schematically in the figures).The hollowed portion 901H in the cleaning disk 90H includes an inner circle 9011H and an outer circle 9012H, and a middle circle 9013H between the inner circle 9011H and the outer circle 9012H. The outer circle 9012H of the hollowed portion 901H passes through a fixed point 9014H when pivoted, which is the intersection of the outer circle of the hollowed portion 901H in the pivoted-out position with that in the retracted position in the figure.As shown in FIG. 83, when the inner circle 9011H of the hollowed portion 901H is swung out, a point on the inner circle 9011H falls on the first circular arc 9015H in the figure. The first circular arc 9015H is an arc segment on the circumscribed circles of the two inner circles 9011H of the hollowed portion 901H in the deployed position and the retracted position. Here, the first circular arc 9015H and the second circular arc 903H are concentric circles, and the center of the two circles is the pivot center of the cleaning assembly 20 during the extension and retraction.Here, the permanent overlap region 902H is surrounded by vertical projections of the above fixed point 9014H, a first tangential point 9016H, and a second tangential point 9017H at two ends of the first circular arc 9015H, the outer circle 9012H of the hollowed region in the swung-out position, and the outer circle 9012H of the hollowed region in the retracted position onto the bottom of the device body, wherein the water outlets 900H or at least a part of the water outlets 900H are provided in this permanent overlap region 902H on the device body, whereby the cleaning part 91H of the cleaning disk 90H can be replenished through the recessed region 901H in the pivoted-out position or in the retrac...

Claims

A cleaning apparatus, characterized by comprising: an apparatus body having a mounting cavity; a dust box disposed in the mounting cavity of the apparatus body, the dust box being provided with a first escape surface, and a mounting space being defined between the first escape surface and a side wall of the apparatus body; the cleaning apparatus further comprising a second driving structure and a first driving structure, the first driving structure for driving the cleaning assembly to rotate to clean a surface to be cleaned; the second driving structure for driving at least a part of the first driving structure to swing in the mounting space to pivotally place the cleaning assembly between a retracted position and an extended position.The cleaning device according to claim 1, characterized in that a moving channel is formed in the bottom of the device body, wherein a mounting part is arranged on the first driving structure, via which mounting part the cleaning arrangement is connected to the first driving structure, wherein the mounting part is arranged in the moving channel; and wherein the second driving structure drives the mounting part to pivot in the moving channel to set the cleaning arrangement in pivoting between the retracted position and the extended position.The cleaning device according to claim 2, characterized in that the cleaning assembly comprises a cleaning disc and a cleaning assembly arranged at the bottom of the cleaning disc; wherein the cleaning disc is connected to the first driving structure via the mounting part and the cleaning disc and the cleaning assembly are arranged under the movement channel.Cleaning device according to claim 3, characterised in that at least a part of the first drive structure is arranged in the mounting space and / or at least a part of the second drive structure is arranged in the mounting space.The cleaning device according to any one of claims 1 to 4, characterized in that the dust box further comprises an air inlet formed on the first escape surface.Cleaning device according to claim 5, characterised in that the first escape surface is arranged on a side wall of the dust box.The cleaning device according to claim 6, characterized in that the first escape surface is an arc surface or an inclined surface or an angled surface or an uneven surface.A cleaning device according to any one of claims 5-7, characterized in that when the air inlet is provided on the first escape surface, the air inlet is not provided with an air inlet duct.The cleaning device according to claim 8, characterized in that when the cleaning arrangement is in the retracted position, a part of the cleaning arrangement is arranged outside the circumferential side of the device body, wherein the part of the cleaning arrangement located outside the circumferential side of the device body when the cleaning arrangement is in the pivoted-out position is larger than the part of the cleaning arrangement located outside the circumferential side of the device body when the cleaning arrangement is in the retracted position.Cleaning device according to claim 9, characterised in that the cleaning device is a suction and wiping robot.

Images