Cleaning device

Abstract

Cleaning device, comprising: 1.1 a device body; and 1.2 a wet cleaning module comprising 1.2.1 a first drive structure and 1.2.2 a cleaning assembly, 1.2.3 wherein the first drive structure is configured to set the cleaning assembly in motion such that the cleaning assembly oscillates or rotates; 1.2.4 wherein the cleaning assembly is movably connected to the device body, 1.2.5 wherein the cleaning assembly has a first position and a second position, 1.2.5.1 wherein the cleaning assembly is in a retracted state in the first position, 1.2.5.2 wherein the cleaning assembly is in a swung-out position in the second position, 1.2.5.3 wherein the part of the cleaning assembly which is outside the perimeter of the device body is larger in the second position than the part of the cleaning assembly which is outside the perimeter of the device body in the first position of the cleaning assembly, 1.3 wherein the cleaning device comprises a movement channel at the bottom of the device body, and 1.4 wherein the wet cleaning module comprises a mounting section connected to the first drive structure, which is pivotable in the movement channel, and 1.5 wherein the cleaning assembly is mounted on the mounting section during operation.

Description

Related applications

[0001] This application claims priority from the following: Chinese invention patent specification with patent application number 202210668422.0, filing date 14.06.2022 and titled “Cleaning device”, Chinese utility model patent specification with patent application number 202222712008.3, filing date 14.10.2022 and titled “Cleaning device and cleaning robot”, Chinese invention patent specification with patent application number 202211538812.2, filing date 02.12.2022 and titled “Traction mechanism and cleaning robot”, Chinese utility model patent specification with patent application number 202223240378.8, filing date 02.12.2022 and titled “Cleaning mechanism and cleaning robot”, Chinese Invention patent specification with patent application number 202211537971.0, filing date 02.12.2022 and entitled “Cleaning Robot” and the Chinese invention patent specification with patent application number 202211734665.6, filing date of December 29, 2022 and titled “Method and system for controlling sweeping of a cleaning robot and cleaning robot”. Technical area

[0002] The present application relates to the field of cleaning devices, in particular a cleaning device. State of the art

[0003] With the constant advancement of living conditions and the level of science and technology, cleaning devices are gradually becoming widely used in everyday life and at work, replacing manual cleaning due to their advantages such as convenient use and effective cleaning. Cleaning devices primarily collect dirt on the surface to be cleaned using cleaning parts such as roller brushes or mops.

[0004] However, the cleaning parts of a conventional cleaning device are designed to be attached to the main device, resulting in the inability to clean the edge when sweeping the floor or mopping the floor along an edge, leaving dirty marks along the base of the house's walls for a long time. This, in turn, leads to a poor user experience.

[0005] For this reason, it is necessary to improve the cleaning device in the prior art and thus overcome disadvantages in the prior art. Disclosure of the invention

[0006] An object of the present application is to provide a cleaning device to solve the problem of insufficient edge cleaning.

[0007] The present application can be implemented by the following technical solutions.

[0008] In the present application, a cleaning device is provided, comprising: a device body; and a cleaning assembly, wherein the cleaning assembly is movably connected to the device body, the cleaning assembly having a first position and a second position, wherein a portion of the cleaning assembly is outside the periphery of the device body when the cleaning assembly is in the first position, and wherein the portion of the cleaning assembly that is outside the periphery of the device body is larger than the portion of the cleaning assembly that is outside the periphery of the device body in the first position of the cleaning assembly when the cleaning assembly has reached the second position.

[0009] The present application further provides 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 return part, wherein one end of the return part is connected to the cleaning assembly and the other end of the return part is connected to the device body, and wherein the return part provides a return 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 part of the cleaning assembly that is outside the perimeter of the device body is larger than the part of the cleaning assembly that is outside the perimeter of the device body in the retracted position of the cleaning assembly when the cleaning assembly is in the home position, and wherein the cleaning assembly changes from the home position to the retracted position after the part of the cleaning assembly that is outside the perimeter of the device body abuts the edge of an obstacle;

[0010] The present application further provides a cleaning mechanism suitable for mounting on the bottom of a machine body of a cleaning robot, comprising: a cleaning part for cleaning a surface to be cleaned; a connecting 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 connecting part and driving the connecting part into rotation about a rotation point of the second end on the machine body to cause the cleaning part to reciprocate relative to the machine body.

[0011] The present application further provides 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 drive assembly comprising a first drive part, a gear part connected to the first drive part, a pivoting part cooperating with the gear part, and an actuating part, wherein the pivoting part is rotatably arranged on the base, wherein the cleaning part is arranged on the pivoting part, wherein the actuating part is rotatably arranged on the rotary shaft, wherein two ends of the actuating part respectively act on the pivoting part and the gear part, wherein the pivoting part cooperating with the gear part and is set in rotation by driving the gear part,to change the cleaning part between the retracted position and the extended position, wherein during the change of the cleaning part from the retracted position to the extended position, the actuating part stores energy through the drive force of the gear part and thus sets the pivoting part in rotation, and wherein upon retraction of the drive force of the gear part, the actuating part releases the stored energy to continue to set the pivoting part in rotation towards the extended position.

[0012] The present application further provides a cleaning device which is arranged on a main body of a cleaning robot and comprises: a housing; a drive mechanism arranged in the housing; a cleaning assembly arranged at the output end of the drive mechanism, the drive mechanism causing the cleaning assembly to rotate and reciprocate; and an adjustment assembly arranged on the main body and deformable under the action of an external force so that the housing pivots in a direction close to the main body.

[0013] The present application further provides a pulling mechanism used for a cleaning module of a cleaning robot, comprising: a base body; a pulling member disposed on the base body, one end of the pulling member projecting beyond the base body and used for connection to the cleaning module; a tension structure connected between two ends of the pulling member and used for tensioning the pulling member; and a retracting and extending assembly disposed on the base body, fixedly connected to the other end of the pulling member, and used to wind up the pulling member to pull the cleaning module or unwind the pulling member to release the cleaning module.

[0014] The present application further provides a cleaning mechanism comprising: a cleaning module comprising a drive module and a cleaning assembly, wherein the drive module is connected to the cleaning assembly and is used to rotate the cleaning assembly; a connecting part connected to the drive module; and a gear part that is in a rotating connection with the drive module and is connected to the connecting part; wherein the gear part is rotatable about an axis of rotation and the drive module is rotated about the axis of rotation by the connection to the connecting part, wherein the axis of rotation is parallel to the axis of rotation of the cleaning assembly.

[0015] The present application further provides a cleaning robot comprising: a housing; a cleaning module comprising a cleaning assembly and a drive module for rotating the cleaning assembly, the drive module being rotatably mounted on the housing such that the cleaning assembly has a home position and an edge position, the edge position being a position in the forward direction in which at least a part of the cleaning assembly protrudes beyond the maximum width of the housing; an elastic member disposed between the housing and the drive module and, with the aid of the drive module, causing the cleaning assembly to move toward the edge position; and a connecting rod drive mechanism disposed on the housing and connected to the drive module for rotating the drive module.wherein the cleaning assembly can be held in the home position by the connecting rod drive mechanism if the connecting rod drive mechanism is self-locking;

[0016] The present application further provides a method for controlling sweeping of a cleaning robot, the method comprising: obtaining information about obstacles in the forward direction of the cleaning robot, the cleaning robot comprising a machine body and a cleaning assembly movably arranged 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 periphery of the machine body is larger than a part of the cleaning assembly located outside the periphery of the machine body in the retracted position of the cleaning assembly when the cleaning assembly is in the extended position;Determining whether the obstacle information includes obstacle data that satisfies a predetermined obstacle condition, wherein the cleaning assembly is controlled to move to the retracted position when the obstacle information includes obstacle data that satisfies a predetermined obstacle condition;

[0017] 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 periphery of the device body when the cleaning assembly is in the first position, and wherein the part of the cleaning assembly that is outside the periphery of the device body is larger than the part of the cleaning assembly that is outside the periphery of the device body in the first position of the cleaning assembly when the cleaning assembly has reached the second position.

[0018] From the above content, it can be seen that when cleaning a surface to be cleaned by a cleaning assembly, the cleaning assembly has a first position and a second position, wherein the cleaning assembly moves away from the device body when changing from the first position to the second position, wherein the part of the cleaning assembly that is outside the device body when the cleaning assembly is in the second position is larger than when the cleaning assembly is in the first position in order to achieve cleaning in an area close to an obstacle. In the present application, it is provided that at least a part of the cleaning assembly is located outside the periphery of the device body when the cleaning assembly is in the first position or the second position, respectively.And when the cleaning assembly is in the second position, a dead area such as obstacles can be cleaned, making the cleaning more comprehensive and improving the cleaning efficiency. Short description of the characters

[0019] The following attached drawings serve only to schematically describe and explain the present application, without limiting the scope of the present application. In the figures: Fig. 1 shows a structural schematic representation of a cleaning assembly according to embodiments 1 to 7 of the present application in a first position; Fig. 2 shows a structural schematic representation of the cleaning assembly according to embodiments 1 to 7 of the present application in a second position, wherein the cleaning assembly protrudes so far that it is flush with the widest region of the device body; Fig. 3 shows a structural schematic representation of the cleaning assembly according to embodiments 1 to 7 of the present application in a second position, wherein the cleaning assembly protrudes so far that it protrudes beyond the widest region of the device body; Fig. 4 shows a schematic representation of an internal structure of an embodiment of a cleaning device according to embodiments 1 to 7 of the present application; Fig. 5 shows a schematic representation of an internal structure of the cleaning device of Fig. 4, with no cleaning assembly mounted; Fig. 6 shows a schematic representation of gear structures of the cleaning assembly from Fig. 4; Fig. 7 shows a schematic representation of an internal structure of another embodiment of a cleaning device according to embodiments 1 to 7 of the present application; Fig. Figure 8 shows a schematic representation of an internal structure of the cleaning device of Fig. 7, with no cleaning assembly mounted; Fig. 9 shows a schematic representation of an internal structure of the cleaning device of Fig. 7, wherein no cleaning assembly is mounted, but a sealing structural part is mounted; Fig. 10 shows a schematic representation of gear structures of the cleaning assembly from Fig. 7 and counter structures of the cleaning assembly; Fig. 11 shows a schematic representation of an overall structure of the cleaning assembly from Fig. 7; Fig. 12 shows a schematic representation of internal gear structures of the cleaning assembly of Fig. 7; Fig. 13 shows a structural schematic diagram of the sealing structure part when the cleaning assembly according to embodiments 1 to 7 of the present application is in the first position; Fig. 14 shows a structural schematic diagram of the sealing structure part when the cleaning assembly according to embodiments 1 to 7 of the present application is in a second position; Fig. 15 shows a schematic representation of 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 in the first position; Fig. 16 shows a schematic representation of a drive motor and the counter structures of the cleaning assembly from Fig. 15; Fig. 17 shows a schematic representation of 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 in the second position; Fig. 18 shows 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 shows a schematic representation of an internal structure of the cleaning assembly of Fig. 18; Fig. 20 shows a structural schematic representation of the cleaning assembly according to embodiments 1 to 7 of the present application in a starting position; Fig. 21 shows a structural schematic representation of the cleaning assembly according to embodiments 1 to 7 of the present application in a retracted position; Fig. 22 shows a structural schematic representation of the cleaning assembly according to embodiments 1 to 7 of the present application in the starting position, wherein the cleaning assembly protrudes so far that it is flush with the widest region of the device body; Fig. 23 shows a structural schematic representation of the cleaning assembly according to embodiments 1 to 7 of the present application in the initial position, wherein the cleaning assembly protrudes so far that it protrudes beyond the widest region of the device body; Fig. 24 shows a structural schematic diagram of the cleaning assembly according to Embodiment 9 of the present application; Fig. 25 shows a schematic representation of the cleaning assembly from Fig. 24 in an extended position; Fig. 26 shows a schematic representation of the cleaning assembly from Fig. 24 in the retracted position; Fig. 27 shows a sectional schematic representation of the cleaning assembly of Fig. 24; Fig. Figure 28 shows an exploded schematic view of part of the structures of the cleaning assembly Fig. 24; Fig. 29 shows a structural schematic representation of a second drive assembly of the cleaning assembly of Fig. 24; Fig. Figure 30 shows a schematic representation of another part of the structures of the cleaning assembly Fig. 24; Fig. 31 shows a schematic representation of yet another part of the structures of the cleaning assembly of Fig. 24; Fig. 32 shows a structural schematic representation of the cleaning assembly of Fig. 24 in a different direction; Fig. 33 shows a structural schematic representation of the cleaning assembly of Fig. 24 in yet another direction; Fig. 34 shows a first structural schematic diagram of the cleaning device according to Embodiment 10 of the present application; Fig. 35 shows a second structural schematic diagram of the cleaning device according to Embodiment 10 of the present application; Fig. 36 shows an enlarged section of point A from Fig. 35; Fig. 37 shows a third structural schematic diagram of the cleaning device according to Embodiment 10 of the present application; Fig. 38 shows an enlarged section of point 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 of an embodiment of a pulling mechanism according to Embodiment 11 of the present application; Fig. 42 shows a structural schematic diagram of the pulling mechanism of Fig. 41 from a different perspective; Fig. 43 shows an exploded view of the pulling mechanism from Fig. 41; Fig. 44 shows a plan view of the pulling mechanism of Fig. 41; Fig. 45 shows a sectional view of the pulling mechanism along the line II of Fig. 44; Fig. 46 shows a partial structural schematic diagram of 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 shows a plan view of the cleaning device from Fig. 46, wherein the cleaning assembly thereof is in an edge position; Fig. 49 shows another plan view of the cleaning device of Fig. 46, with its cleaning assembly in the starting position; Fig. 50 shows a sectional view of the cleaning device along the line II-II of Fig. 49; Fig. 51 shows a block diagram of modules of the cleaning device of Fig. 46; Fig. 52 shows an enlarged view in area A of the cleaning device from Fig. 50; Fig. 53 shows a structural schematic diagram of the cleaning assembly of the cleaning device of Fig. 46; Fig. 54 shows an exploded view of the cleaning assembly from Fig. 53; Fig. 55 shows 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 representation of the cleaning assembly of Fig. 55 from a different perspective; Fig. 57 shows a top view of the cleaning assembly from Fig. 55; Fig. 58 shows a sectional view of the cleaning assembly along line II of Fig. 57; Fig. 59 shows an exploded view of the cleaning assembly from Fig. 55; Fig. 60 shows a partial structural plan view of an embodiment of the cleaning device according to Embodiment 12 of the present application, wherein the cleaning assembly is in the home position; Fig. 61 shows a section of the cleaning device from Fig. 60; Fig. 62 shows another plan view of the cleaning device of Fig. 60, wherein the cleaning assembly is in the edge position; Fig. 63 shows a section of the cleaning device from Fig. 62; Fig. 64 shows a block diagram of modules of the cleaning device of Fig. 60; Fig. 65 shows a partial structural schematic diagram of 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 shows a plan view of the cleaning device of Fig. 65, wherein the cleaning assembly thereof is in an edge position; Fig. 68 shows another plan view of the cleaning device of Fig. 65, with its cleaning assembly in the starting position; Fig. 69 shows a block diagram of modules of the cleaning device of Fig. 65; Fig. 70 shows an enlarged view in area A of the cleaning device from Fig. 68; Fig. 71 shows a structural schematic diagram of the cleaning assembly of the cleaning device of Fig. 65; Fig. 72 shows a top view of the cleaning assembly from Fig. 71; Fig. 73 shows a sectional view of the cleaning assembly along line II of Fig. 72; Fig. 74 shows an exploded view of the cleaning assembly from 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 shows 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 shows a structural schematic assembly diagram of a plastic coating according to Embodiment 17 of the present application; Fig. 81 is a structural schematic diagram of an overlap region formed by a hollowed-out region according to Embodiment 14 of the present application; Fig. 82 shows a basic schematic representation of the overlap region generated by the hollowed-out region according to Embodiment 14 of the present application; Fig. 83 shows a basic schematic representation of a permanent overlap region created by the hollowed-out region according to Embodiment 14 of the present application; Fig. 84 shows a principle schematic representation of a retracted overlap region created by the hollowed region of a cleaning disk according to Embodiment 14 of the present application, wherein the cleaning disk is in a retracted position; Fig. 85 shows a basic schematic representation of a swung-out overlap region created by the hollowed-out region of the cleaning disc according to embodiment 14 of the present application, wherein the cleaning disc is in a swung-out position; Fig. 86 shows a basic schematic representation of a common overlap region created by the hollowed-out region of the cleaning disc according to embodiment 14 of the present application, wherein the cleaning disc is in the retracted position or the swung-out position; Fig. 87 shows 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 in 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 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 in the swung-out 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 positional diagram of two cleaning disks in a state where the cleaning assembly according to Embodiment 17 of the present application is in the retracted position; Fig. 96 is a structural schematic positional diagram of two mops in a state where the cleaning assembly according to Embodiment 17 of the present application is in the retracted position; Fig. 97 shows 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 limiting block according to Embodiment 17 of the present application; Fig. 99 is a structural schematic diagram of a cleaning device schematically shown according to an exemplary embodiment; Fig. 100 shows a sectional side view of a first drive structure shown schematically according to an exemplary embodiment; Fig. 101 shows a structural schematic representation of a recess in a side wall of the device body, shown schematically according to an exemplary embodiment; Fig. 102 is a structural schematic diagram of an internal structure of the cleaning device schematically shown according to an exemplary embodiment; Fig. 103 shows a schematic plan view of a second drive structure shown schematically according to an exemplary embodiment; Fig. 104 is a structural schematic assembly diagram of a dust box and filter assembly shown schematically 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 basic schematic representation of a generation of a friction 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 basic schematic representation of the generation of a friction force by the cleaning part, which is shown schematically according to an exemplary embodiment (in the plan 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 overflow port shown schematically according to an exemplary embodiment; Fig. 110 shows a cross-sectional structural schematic section of a cleaning disk shown schematically according to an exemplary embodiment; Fig. 111 shows a structural schematic representation of a cleaning assembly shown schematically according to an exemplary embodiment, in another direction; Fig. 112 shows a schematic sectional view of Fig. 111, which is shown schematically 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 shows a perspective structural schematic diagram schematically shown according to an exemplary embodiment, with a second part in the swung-out position; and Fig. 115 shows a structural schematic diagram of a device body schematically shown according to an exemplary embodiment and provided with a bulge. Detailed description of embodiments

[0020] A cleaning device may be a vacuum robot, a floor-mopping robot, a vacuum and mop 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 perception system, and the like.

[0021] A mounting chamber for mounting some structures is formed in the device body 10. The shape of the device body 10 is not limited and may be circular, D-shaped, triangular, or other shapes, but is not limited to these.

[0022] The chassis 300M is arranged on the device body 10 to achieve a self-propelled driving function of the device body 10 on a surface to be cleaned. The chassis 300M typically comprises a drive and a driving component, with the drive setting the driving component in motion. There are typically two driving components arranged symmetrically on the device body 10. The driving components can be, but are not limited to, drive wheels, crawler wheels, or steering wheels with adjustable steering. For example, the steering wheel can be a Mecanum wheel. Furthermore, the chassis 300M is pivotally arranged on the device body 10, so that the cleaning device has an obstacle-overcoming function during a driving process. The surface to be cleaned can be a floor surface, a table surface, a surface or scene of objects such as glass or a wall.To simplify the description, the surface to be cleaned is described using a floor as an example. The width direction of the device body runs perpendicular to the direction of travel of the device body 10. As shown in the diagram in . Fig. 108, the device body 10 has the maximum width Wmax in the direction of travel of the device body.

[0023] The cleaning module comprises a dry cleaning module 100M or a wet cleaning module 200M, or both the dry cleaning module 100M and the wet cleaning module 200M. The dry cleaning module 100M comprises a main brush 101M, a dust box 102M, and a blower 103M. A main brush chamber is formed at the bottom of the device body 10, with the main brush 101M rotatably arranged in the main brush chamber. A dust nozzle on the main brush chamber communicates with a dust inlet 1021M of the dust box 102M. An air outlet 1022M of the dust box 102M communicates with the blower 103M. The main brush 101M moves the debris around it and in front of it to the dust nozzle during rotation. The garbage at the vacuum 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.

[0024] The wet cleaning module 200M includes a first drive structure 40M and a cleaning assembly 20. The cleaning assembly 20 includes a cleaning disc 90H and a cleaning part 91H arranged at the bottom of the cleaning disc 90H. The first drive structure 40M sets the cleaning disc 90H in motion, causing the cleaning part 91H to oscillate or rotate. During the movement, the cleaning part 91H generates friction with the floor surface to clean the floor surface. Since cleaning the floor surface has a better cleaning effect when the cleaning part 91H is wet, a water refill mechanism is typically provided in the device body 10 of the cleaning device. The water refill mechanism includes a water tank. The solution in the water tank is pumped to the cleaning part 91H to moisten the cleaning part 91H.Typically, there are two wet cleaning modules 200M, with the two wet cleaning modules 200M being arranged symmetrically on the device body 10. Of course, the wet cleaning module 200M can be provided in one or more than two, such as three, four, five, or more. The specific number of wet cleaning modules 200M is selected as needed and is not specifically defined here.

[0025] The cleaning module further includes side brushes 400M arranged on one or two sides of the front 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 portion of the side brush 400M protrudes from the edge of the device body 10. The side brush 400M is driven into rotation by a drive mechanism. As it rotates, the side brush 400M moves the debris in front of it and on its outer periphery to the inside of the device body 10, so that the debris is swept by the main brush 101M of the rear dry cleaning module 100M and sucked into the dust box 102M by the fan 103M.

[0026] 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 if the cleaning device can first sweep the floor and then mop 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 if the cleaning device can first mop the floor and then sweep when performing a cleaning task.

[0027] For the arrangement of the wet cleaning module 200M and the carriage 300M on the device body 10, the wet cleaning module 200M is preferably arranged behind the carriage 300M to prevent the carriage components from traveling in the cleaned floor area and thus contaminating the cleaned floor area after the floor area has been cleaned by the wet cleaning module 200M. If the floor area cleaned by the wet cleaning module 200M can be dried in a timely manner, the wet cleaning module 200M can also be arranged in front of the carriage components. Furthermore, the wet cleaning module 200M can also be arranged between two carriage components.

[0028] The sensing system includes sensors such as an LDS over a machine body, a buffer and a visual sensor in the edge 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. Of these, the LDS, the buffer, and the edge sensor can measure a distance to determine the distance between the edge of the device body 10 and an obstacle. The control system thus controls the cleaning device to perform appropriate actions based on this distance. For example, the cleaning device is controlled to avoid an obstacle or drive 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 dismounting the cleaning part 91H of the wet cleaning module 200M. The visual sensor is used to detect an image of the cleaning device's surroundings and thus obtain information about obstacles. Based on this information, the control system controls the cleaning device to perform actions such as obstacle avoidance, obstacle negotiation, edge cleaning, and the like.

[0029] Two wet cleaning modules 200M of the cleaning device in the prior art, as in the Fig. 102, are fixed in a width direction W0 of the device body 10 (perpendicular to the traveling direction of the cleaning device) relative to the device body 10. The cleaning disk 90H and the cleaning part 91H of the wet cleaning module 200M can 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, which is located on one 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 less than ideal cleaning effect.

[0030] 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 embodiment can be pivoted relative to the device body 10. The cleaning assembly 20 of the wet cleaning module 200M can pivot out in the direction away from the device body 10 or retract in the direction close to the device body 10. When pivoting out, the cleaning assembly 20 has a second position (i.e. pivoted out position) and accordingly the cleaning assembly 20 is in a pivoted out state. When pivoting in, the cleaning assembly 20 has a first position (i.e. retracted position) and accordingly the cleaning assembly 20 is in a retracted state. In the pivoted out position orthe retracted position by both a fixed position and a position at a specific interval. When the cleaning assembly 20 is in the first position, a portion of the cleaning assembly 20 is located 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 in the first position of the cleaning assembly 20 when the cleaning assembly 20 has reached the second position.

[0031] When the cleaning device performs a cleaning task, the sensor of the perception system detects a first distance between the device body 10 and the edge of the obstacle in real time. If the first distance is less than or equal to the predetermined threshold, it is necessary to perform edge cleaning for the obstacle. This requires the cleaning assembly 20 of the wet cleaning module 200M to pivot outward, with the cleaning assembly 20 moving from the retracted position to the extended position to perform edge cleaning for the edge of the obstacle.Since the cleaning assembly 20 can extend further beyond the device body 10 in the extended position than in the retracted position, the cleaning assembly 20 can be located closer or closer to the edge of the obstacle in the extended position to perform edge cleaning for the edge of the obstacle and thus reduce or eliminate an uncleaned area during edge cleaning for the obstacle. During edge cleaning by the cleaning device, the cleaning assembly 20 of the wet cleaning module 200M is required to be pivoted from the extended position to the retracted position when the first distance detected by the sensor is greater than the predetermined threshold.

[0032] If the cleaning assembly 20 continues to be held in the extended position, the cleaning assembly 20 is easily interfered with or disturbed by surrounding obstacles, resulting in a risk of the cleaning assembly 20 falling from the device body 10. Thus, typically, the cleaning assembly 20 of the wet cleaning module 200M only swings toward the device body 10 during edge cleaning and is in an extended state. When the cleaning device is in non-edge cleaning or other scenes, the cleaning assembly 20 tends to be held in a retracted state.The other scenes may include, but are not limited to: returning the cleaning device to the base station, charging the cleaning device by the base station, collecting dust from the dust box 102M into a dust magazine of the base station, washing the cleaning part 91H, disassembling and / or assembling the cleaning part 91H, filling water into the water tank of the water refill mechanism in the cleaning device, etc. This also includes the following scenes in which the cleaning part 91H of the cleaning device must be lifted or the cleaning device must overcome or avoid an obstacle, etc.

[0033] 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 by the obstacles and the cleaning assembly 20 can be properly held firmly to the device body 10, whereby the cleaning assembly 20 can be held in the swung-out state in the above other scenes as well.

[0034] A second drive structure 50M is further provided on the device body 10. The second drive structure 50M can directly pivot the cleaning assembly 20 and can also indirectly pivot the cleaning assembly 20 by driving the entire wet cleaning module 200M. For simplicity of explanation, the pivoting of the cleaning assembly 20 by the second drive structure 50M will be used as an example to illustrate the driving force exerted by the second drive structure 50M on the pivoting 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 can move the cleaning assembly 20 in a straight or arcuate motion, allowing the cleaning assembly 20 to be switched between the extended position and the retracted position.

[0035] There are also many possible embodiments for the drive force by which the second drive structure 50M pivots the cleaning assembly 20. Only a few embodiments are presented below, in particular: First Embodiment: The cleaning assembly 20 is pivoted outward and retracted by a motor. Since the rotation angle of the motor is controllable, the pivoted position and the retracted position of the cleaning assembly 20 can be controlled by controlling the rotation angle of the motor to adjust the cleaning assembly 20 between the pivoted position and the retracted position, so 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 pivots outward and lies in an edge position.

[0036] Second Embodiment: The cleaning assembly 20 is pivoted outward by a motor and an elastic member, while the cleaning assembly 20 is retracted by the motor. When the cleaning device needs to perform edge cleaning, the motor rotates in a first direction, pivoting the cleaning assembly 20 by an angle θ1, and then stops rotating. After that, the elastic member releases the stored energy to further pivot the cleaning assembly 20 by an angle θ2 toward the outside of the device body 10.When an opposing contact force is exerted on the cleaning assembly 20 by an obstacle along the edge, the cleaning assembly 20 can automatically pivot toward the inside of the device body 10 due to the buffering effect of the elastic part to dynamically adjust the pivoted angle θ2 of the cleaning assembly 20, thus enabling dynamic adjustment of the edge distance, as well as providing a protective effect for the cleaning assembly 20. When the cleaning assembly 20 needs to retract, the motor rotates in a second direction to pivot the cleaning assembly 20 toward the inside of the device body 10 by an angle θ3, where θ3 can be equal to the sum of the angle θ1 and the angle θ2 or other than the sum of the angle θ1 and the angle θ2.The retracted position of the cleaning assembly 20 is adjusted by controlling the rotation angle of the motor in the second direction. Furthermore, it should be noted that the magnitude of the angle θ2 depends on the energy dissipated by the elastic part. When the energy dissipated by the elastic part is small, the driving force for swinging out the cleaning assembly 20 depends primarily on the motor, while the elastic part primarily serves as a buffer for the cleaning assembly 20. In contrast, when the energy dissipated by the elastic part is large, the elastic part not only has a buffer effect for the cleaning assembly 20, but also causes the cleaning assembly 20 to swing out.

[0037] When the motor first causes the cleaning assembly 20 to pivot, the motor's driving force simultaneously exerts a driving force on the elastic member, so that the elastic member stores energy. This allows the cleaning assembly 20 to continue pivoting by releasing energy from the elastic member after the motor's driving force has been withdrawn.

[0038] For example, the second drive structure 50M includes a second motor 204M and a second gear mechanism 202M. The elastic member is arranged between the second gear mechanism 202M and the cleaning assembly 20. When the second motor 204M causes the cleaning assembly 20 to pivot, the second motor 204M rotates in the first direction and causes the second gear mechanism 202M to rotate in the first direction. The second gear mechanism 202M exerts an operative force on the elastic member, causing the elastic member to store energy. The elastic member may first store energy and then cause the cleaning assembly 20 to pivot. Or, the elastic member may store energy and simultaneously cause the cleaning assembly 20 to pivot. When the motor stops rotating, the elastic member releases the energy to further pivot the cleaning assembly 20.The elastic part is intended to be a deformable elastic part such as a tension spring, a compression spring, a torsion spring or the like.

[0039] When the cleaning assembly 20 needs to retract, the motor rotates in the second direction because the second gear mechanism 202M and the cleaning assembly 20 are in a hard abutting relationship. For example, in the direction of rotation of the gear mechanism, a first abutting portion is provided on the second gear mechanism 202M, and a second abutting portion is provided on the cleaning assembly 20. The first abutting portion abuts the second abutting portion, so that the second motor 204M sets the second gear mechanism 202M in rotation, so that the cleaning assembly 20 is rotated into the retracted position and thus brought into a pivoted state.

[0040] Third Embodiment: The cleaning assembly 20 is pivoted out by a motor, while the cleaning assembly 20 is retracted by an elastic member. When the cleaning device needs to perform edge cleaning, the motor rotates and pivots the cleaning assembly 20, causing the cleaning assembly 20 to be in an extended state. The cleaning assembly 20 can be limited in the extended position by providing a limiting structure or a locking structure when the motor stops rotating. When the cleaning assembly 20 needs to retract, the force of the limiting structure or the locking structure on the cleaning assembly 20 is withdrawn. Under the action of a restoring force of the elastic member, the cleaning assembly 20 automatically pivots into the retracted position.

[0041] Fourth Embodiment: The cleaning assembly 20 is pivoted outward by a motor, while the cleaning assembly 20 is retracted by the cooperation of a motor and an elastic member. When the cleaning device needs to perform edge cleaning, the motor rotates and pivots the cleaning assembly 20 outward, causing the cleaning assembly 20 to be in an extended state. When the cleaning assembly 20 needs to retract, similar to the second embodiment, the motor first retracts the cleaning assembly 20 by an angle, with the elastic member storing energy in between. When the motor stops rotating, the elastic member releases energy to allow the cleaning assembly 20 to pivot further into the retracted position.

[0042] Furthermore, it is provided that the cleaning assembly 20 can be pivoted outward by an elastic member, while the cleaning assembly 20 is retracted by a motor. This means that the cleaning assembly 20 tends to be held in the pivoted-out position under the action of the elastic member when the motor is not operating.

[0043] The elastic part is preferably a tension spring or a compression spring when the second drive structure 50M causes the cleaning assembly 20 or the wet cleaning module 200M to pivot in a straight line. The elastic part is preferably a torsion spring when the second drive structure 50M causes the cleaning assembly 20 or the wet cleaning module 200M to pivot in an arcuate manner.

[0044] Furthermore, for the second drive structure 50M, it is provided that, by using a gear transmission for the gear mechanism, the motor theoretically rotates for a theoretically predetermined time period T1 during the swinging out and / or retracting of the cleaning assembly 20, i.e., the cleaning assembly 20 can be driven in the swung out position or the retracted position. However, to compensate for the transmission tolerance of gears, the actual time period T2 is greater than the theoretically predetermined time period T1 for motor rotation. This means that the motor must rotate for a predetermined time period T3 longer than the theoretically predetermined time period, where T3 = (T2 - T1), to compensate for the transmission tolerance of the gears. This can ensure that the cleaning assembly 20 can swing out or retract into position.This means that the motor rotates under the control of the control system for a period of time T2, where the specified period T3 can be any second. For example, the specified period T3 can be selected from 0 to 10 seconds. For example, the specified period T3 can be 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 9 seconds, or 10 seconds.

[0045] During the pivoting of the cleaning assembly 20, the control system must control whether the motor of the second drive structure 50M stops rotating depending on the pivoting positions of the cleaning assembly 20. To detect the extended position or the retracted position of the cleaning assembly 20, or any position in between, the cleaning device further comprises an in-position detection structure. The in-position detection structure may be a microswitch, a Hall sensor, an optocoupler switch, or the like. The in-position detection structure may obtain the position of the cleaning assembly 20 by detecting the position of the motor of the second drive structure 50M. Or, the position of the cleaning assembly 20 may be obtained by direct detection.Or, when the second drive 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.

[0046] For example, the second drive structure 50M includes a motor and a gear mechanism. The in-position sensing structure includes a sensing part and an induction part, one of which is disposed on the gear mechanism and the other is fixed relative to the device body 10. The sensing part and the induction part are located in the rotation path of the gear mechanism. During rotation of the gear mechanism, if the sensing part detects a signal from the induction part, it indicates that the cleaning assembly 20 is in the retracted position or the extended position, or any position in between. The control system thus controls the motor based on this signal so that it stops rotating.

[0047] For example, 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 buffering effect on the swinging out of the cleaning assembly 20, the in-position detection structure detects the position of the second gear mechanism 202M, and the control system thus controls the second motor 204M so that it stops rotating when the second gear mechanism 202M moves 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 contact force of the edge of the obstacle. When the edge of the obstacle is a straight edge, the swung-out position of the cleaning assembly 20 is a fixed position.If the edge of the obstacle is not a straight edge, the extended position of the cleaning assembly 20 has a dynamically variable value, whereby the specific position of the cleaning assembly 20 is not directly detected. If no buffering effect is provided by an elastic member during the extension or retraction of the cleaning assembly 20, the in-position detection structure can detect the position of the motor of the second drive structure 50M or the position of the gear mechanism, thereby obtaining the position of the cleaning assembly 20.

[0048] The cleaning device is also provided with a limiting structure. The limiting structure is arranged on the second drive structure 50M or the first drive structure, or in the pivoting path of the cleaning assembly 20. When the wet cleaning module 200M pivots into the extended position or the retracted position, the limiting structure prevents the wet cleaning module 200M from pivoting further out or in.

[0049] The cleaning device is also provided with a locking structure for locking the cleaning assembly 20 in the retracted position or the extended position, thereby allowing the cleaning assembly 20 to always be held in the extended position or the retracted position, or any position during pivoting. When the cleaning assembly 20 needs to be changed between its positions, the locking action of the locking structure for the cleaning assembly 20 is retracted, and the cleaning assembly 20 is pivoted by the second drive structure 50M. The locking structure can be arranged on the second drive structure 50M, on the first drive structure of the wet cleaning module 200M, or on the cleaning assembly 20.

[0050] Furthermore, it is also possible that no locking 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 detection structure detects that the cleaning assembly 20 is in the retracted position, the control system sends a braking signal to the brush motor, causing the brush motor to be self-locking and thus locking the cleaning assembly 20 in the retracted position. Or, the self-locking function of the brush motor locks the cleaning assembly 20 in the extended position.

[0051] 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. If the cleaning assembly 20 needs to swing out, the locking function for the cleaning assembly 20 is retracted.

[0052] In some scenarios, such as carpet cleaning, the cleaning device can prevent the carpet from becoming wet due to the moistened cleaning part 91H; or from soiling the floor surface when the cleaning part 91H is dirty; or from having to lift the cleaning assembly 20 when the cleaning device needs to overcome an obstacle. Thus, the cleaning device is also provided with a lifting structure used to drive the cleaning assembly 20 to raise and lower.

[0053] The above first drive structure 40M, which is used to rotate the cleaning assembly 20, is also used to synchronously rotate the lifting structure. Of course, the entire wet cleaning module 200M can also be driven to raise and lower by the lifting structure. The second drive structure 50M causes the wet cleaning module 200M to pivot by pivoting the lifting structure.

[0054] The lifting structure can be configured in various ways. For example, the lifting structure can be a gear rack, a screw lifting mechanism, a cylinder, a spindle, a worm gear 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 causing the cleaning assembly 20 to rotate, and accordingly, the cleaning assembly 20 does not rotate during the extension 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 lift and lower, and accordingly, the cleaning assembly 20 can either rotate or not rotate during the extension and retraction of the cleaning assembly 20.

[0055] In the first situation of the lifting structure, it is provided that the lifting structure and the first drive structure 40M can jointly use a motor. Preferably, the first drive structure 40M comprises a rotary motor 2011M, as shown in Fig. 100. The lifting structure includes a first fastening body 2012M and a second fastening body 2013M, wherein the first fastening body 2012M and the second fastening body 2013M are threadedly fitted. A thread groove is provided in one of the first fastening body 2012M and the second fastening body 2013M, while a rib or a thread tooth is provided in the other of them, which fits with the thread groove. A mounting portion 2001H is provided at the bottom of the second fastening body 2013M. The top surface of the cleaning disk 90H is connected to the mounting portion 2001H. This is, for example, a plug-in attachment or a magnetic attachment. 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 disc 90H is fixed to the mounting portion 2001H.

[0056] The cleaning assembly 20 in Fig. 100 is in a floor-wiping position. When the cleaning assembly 20 needs to be lifted, the rotary 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 into a lifting position. As the rotary motor 2011M continues to rotate in the first direction, the second mounting body 2013M rotates further upward relative to the first mounting body 2012M, and the cleaning assembly 20 is lifted into a separation position, separating the cleaning assembly 20 from the mounting portion 2001H and rotating the cleaning disc 90H therebetween.

[0057] Conversely, when the cleaning part 91H needs to be lowered, the rotary motor 2011M rotates in a second direction opposite to the first direction. The second mounting body 2013M rotates downward relative to the first mounting 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 between these two positions. In the floor-wiping position, the second mounting body 2013M no longer rotates relative to the first mounting 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, allowing the cleaning assembly 20 to rotate as a whole, thus wiping the floor. The direction of rotation when raising the cleaning assembly 20 differs from the direction of rotation when lowering the cleaning assembly.

[0058] The above-provided separation position is designed to allow the cleaning device to easily return to the base station and thus automatically disassemble and assemble the cleaning part 91H. Or, the cleaning assembly is automatically disassembled from the device body. If the automatic disassembly and assembly function of the cleaning part 91H is not required, the above cleaning assembly 20 may be provided without a separation position, and it is sufficient to provide only a floor-wiping position and a lifting position.

[0059] Since the rotation direction of the cleaning disc 90H affects the position and disassembly of the cleaning disc 90H, a common motor is used to drive the rotation 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 while the cleaning device is pivoted out, the control system first controls the cleaning assembly 20 to retract to the retracted position and then controls the lifting structure to lift, with the cleaning assembly 20 not rotating during retraction.When the cleaning assembly 20 is in a lifted state and the cleaning assembly 20 needs to swing out, the cleaning assembly 20 is first controlled to lower to the floor-wiping position, and then the cleaning assembly 20 is controlled to swing out, with the cleaning disk 90H not rotating during the swing out. Of course, the cleaning assembly 20 can swing out or retract in the lifted position, with the cleaning assembly 20 not rotating during the swing. After swinging out or retracting into position, the rotation motor 2011M then drives the cleaning assembly 20 to lower it to the floor-wiping position.

[0060] In the first situation of the lifting structure, it is provided that the lifting structure and the first drive structure 40M can each use a motor. When the lifting structure drives the cleaning assembly 20 for raising and lowering, the cleaning assembly 20 can rotate, while the cleaning assembly 20 does not rotate when the cleaning assembly 20 is pivoted out and retracted.

[0061] In the second situation of the lifting structure, the case is: When the lifting structure drives the cleaning assembly 20 to raise and lower, the cleaning assembly 20 does not rotate, while when the cleaning assembly 20 swings out or retracts, the cleaning assembly 20 can rotate, not rotate, or rotate at a reduced speed.

[0062] The cleaning assembly 20 is arranged at the bottom of the device body 10 of the cleaning device. To enable the cleaning assembly 20 to pivot out and retract on the device body 10, an escape space for pivoting out and retracting 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, which means that different escape spaces are also provided on the device body 10. This is described in more detail below using two preferred embodiments.

[0063] In detail: In the first embodiment, as shown in Fig. 90, it is provided that a movement channel 300H is formed at the bottom of the device body 10. The cleaning assembly 20 is located at the bottom of the device body 10. The wet cleaning module further comprises a mounting section 2001H connected to the first drive structure 40M, wherein the mounting section 2001H pivots in the movement channel 300H. The cleaning assembly 20 is mounted on the mounting section 2001H and is located below the movement channel 300H. The first drive structure 40M is located in the mounting chamber of the device body 10. As shown in Fig. 8, the movement channel 300H can be a slotted hole and the mounting section 2001H pivots straight in the slotted hole 110. Or as in Fig. 92, the movement channel 300H may be an arcuate hole 110R, and the mounting portion 2001H pivots in an arcuate manner within the arcuate hole 110R. The length or degree of arc of the movement channel 300H determines the maximum distance of extension and retraction of the cleaning assembly 20.

[0064] 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. A recess 104M is provided in the side wall of the device body 10. The recess 104M communicates with the bottom of the device body 10. The cleaning assembly 20 is exposed outside the bottom of the device body 10. When the wet cleaning module 200M needs to pivot out, the wet cleaning module 200M pivots as a whole over the recess 104M. When the wet cleaning module 200M needs to pivot in, the wet cleaning module 200M pivots as a whole over the recess 104M.

[0065] 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 terms of appearance 11. The second drive structure 50M is arranged on the device body 10. The second drive structure 50M pivots the movable shell 110H so 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 side wall of the movable shell 110H of the wet cleaning module 200M can protrude beyond the outer side wall of the device body 10 or retract within the inner side wall of the device body 10.

[0066] 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 a pivotable cleaning assembly 20. Or, one recess 104M may correspond to two or more than two pivotable cleaning assemblies 20. As an optional embodiment, the wet cleaning module 200M pivots from the side wall of the device body 10. When in the retracted position, the cleaning assembly 20 may be located within the device body 10 or outside the device body 10. Or, when in the retracted position, the side walls 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 side wall of the device body 10.The wet cleaning module 200M swings as a whole from the side wall of the device body 10, and no movement channel 300H is provided at the bottom of the device body 10, whereby the angle and distance of swinging out of the wet cleaning module 200M are larger.

[0067] Or, an upwardly recessed recessed portion may be formed at the bottom of the device body 10 to expose the wet cleaning module 200M at the bottom of the device body 10. That is, there is a height difference between a position at the bottom of the device body 10 where a non-pivoting wet cleaning module 200M is located and a position at the bottom of the device body 10 where a pivoting wet cleaning module 200M is located. The recess 104M communicates with the recessed portion. When the wet cleaning module 200M is mounted to the device body 10, the first drive structure 40M and / or the second drive structure 50M of the wet cleaning module 200M are located in the recessed portion, while the cleaning assembly 20 is located below the recessed portion.

[0068] When the movement channel 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 movement channel 300H by pivoting the mounting portion 2001H of the first drive structure 40M in the movement channel 300H. The goal is to prevent dust and liquids from penetrating the mounting chamber of the device body 10 through the movement channel 300H and thus affecting the structures in the mounting chamber, such as an electronic component or an electrical element. For this purpose, a sealing structure for water and dustproofing is also provided on the device body 10 to seal or cover the movement channel 300H. The sealing structure includes a sealing structure part.The sealing structural part may be a flexible component with one end fixed to the device body 10 and the other end deformable with the pivoting of the cleaning assembly 20. The sealing structural part may also be a sealing plate or cover plate that moves with the pivoting of the cleaning assembly 20 to dynamically cover the movement channel 300H.

[0069] The cleaning part 91H of the wet cleaning module 200M must be kept moistened when performing a cleaning task. The cleaning part 91H is refilled by the water refill mechanism on the device body 10 to moisten the cleaning part 91H. Because the cleaning assembly 20 of the wet cleaning module 200M can pivot and retract relative to the device body 10, the cleaning assembly 20 can be in the pivoted-out position, the retracted position, and a dynamic position when switching between the pivoted-out position and the retracted position, whereby the water outlet 900H of the water refill mechanism also changes accordingly. At least two situations apply to the positions of the water outlet 900H. Specifically: First situation: The water outlet 900H is provided on the cleaning disc 90H of the cleaning assembly 20. The water tank of the water refilling mechanism is located in the mounting chamber of the device body 10. A water supply line connecting the water tank to the water outlet 900H can pivot with the pivoting of the cleaning assembly 20 in the mounting chamber of the device body.

[0070] Second situation: The water outlet 900H is provided on the device body 10. The water outlet 900H cannot move with the pivoting of the cleaning assembly 20 relative to the device body 10. As shown in Fig. As shown in Figures 81 to 86, the cleaning disk 90H of the cleaning assembly 20 is formed with an annular hollowed portion. When the cleaning assembly 20 is in the retracted position, the extended position, and any position between the retracted position and the extended position during pivoting, the position of the water outlet 900H on the device body 10 is determined by the vertical projection area (ie,, a position in which the hollowed-out portion is projected onto the bottom of the device body 10 in a direction perpendicular to the bottom of the device body 10) of the hollowed-out portion on the device body 10 is determined so that the cleaning part 91H can be refilled via the water outlet 900H through the hollowed-out portion when the cleaning part 91H is in the retracted position, the swung-out position, and any position between the retracted position and the swung-out position. Or when the cleaning part 91H is in both the retracted position and the swung-out position, the cleaning part 91H is refilled via the water outlet 900H. Or when the cleaning part 91H is only in the retracted position or only in the swung-out position, the cleaning part 91H is refilled via the water outlet 900H.

[0071] As in Fig. 99, the cleaning device is typically provided with two wet cleaning modules 200M. When the cleaning device performs edge cleaning, one-sided edge cleaning may be used. For example, when the cleaning device performs right edge cleaning, the wet cleaning module 200M on the right side of the cleaning device is pivotable relative to the device body 10, while the wet cleaning module 200M on the left side of the cleaning device is not pivotable relative to the device body 10. In the mounting chamber of the device body 10, a space must be reserved for the pivoting of the right wet cleaning module 200M, whereby the arrangement of the wet cleaning module 200M is slightly different from the arrangement of the adjacent structure on the entire device.

[0072] In one embodiment, as in Fig. As shown in Figures 102 to 105, the dust box 102M is arranged in the mounting chamber of the device 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 enlarge the mounting space between the wall surface of the dust box 102M and the side wall of the device body 10, or to reserve a mounting space used for mounting the above second drive structure 50M or the first drive structure 40M or the first drive structure 40M or the second drive structure 50M, respectively. Preferably, the first escape surface 1024M may be a flat surface, an arcuate surface, an uneven surface, or a square surface.The shape of the first escape surface 1024M is not limited as long as the escape of a larger space for the assembly of the second drive structure 50M and / or the first drive structure 40M can be realized.

[0073] The first deflection surface 1024M can 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 junction between the top and a side wall of the dust box 102M. Or it can be provided at a junction between a side wall and the bottom wall of the dust box 102M. Further preferably, in this embodiment, the edge of the cleaning assembly 20 is located in the region of the edge of the device body 10, or at least a portion of the cleaning assembly 20 is located outside the periphery of the device body 10 when the cleaning assembly 20 is in the retracted position.When the cleaning assembly 20 is in the pivoted-out 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 projects beyond the edge of a travel area of ​​the device body 10.

[0074] As in Fig. 99, in one embodiment, the blower 103M of the dry cleaning module 100M is located between the non-pivoting wet cleaning module 2001M and the pivoting wet cleaning module 2002M, and 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 facing away from the blower 103M. A filter assembly 1023M is provided on the air outlet 1022M. For example, the filter assembly 1023M is a HEPA or other filter screen. Preferably, one end of the filter assembly 1023M can be attached to the first escape surface 1024M.

[0075] In a preferred embodiment, the second drive structure 50M is distributed 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 assembly chamber is more compact.

[0076] As for example in the Fig. As can be seen from the embodiment shown in Figure 103, the first drive structure 40M, which is used to rotate the cleaning assembly 20, comprises a first motor 203M and a first gear mechanism 201M arranged on an output shaft of the first motor 203M. The second drive structure 50M comprises a second motor 204M and a second gear mechanism 202M arranged on an output shaft of the second motor 204M. The first gear mechanism 201M connects to the second gear mechanism 202M via a pivot arm. When the second gear mechanism 202M pivots, the first gear mechanism 201M as a whole is pivoted by the pivot arm. The first motor 203M, the first transmission mechanism 201M, the fan 103M and the first escape surface 1024M define an area for the distribution of the second motor 204M and the second transmission mechanism 202M.

[0077] When the debris in the dust box 102M of the cleaning device needs to be dusted, the cleaning device typically returns to the base station. The debris in the dust box 102M is collected into a dust magazine or dust bag by blowing and suctioning a dust collection fan on 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 fan on the base station communicates with the air inlet 1028M, while the suction end of the dust collection fan communicates with the dust outlet 1027M. Normally closed valves are provided at the air inlet 1028M and the dust outlet 1027M, respectively. The normally closed valves on the air inlet 1028M and the dust outlet 1027M are only opened when the dust collection cleaning device returns to the base station and the dust collection fan is operating.The normally closed valves can be actively opened by the drive structure. Alternatively, the normally closed valves can be opened by an airflow generated when the dust collection fan is switched on.

[0078] In one embodiment, as in Fig. 103 and Fig. As shown in Figure 104, a dust outlet duct 1026M is provided at the dust outlet 1027M, which is configured to connect to the suction end of the dust collection fan at the base station. An air inlet duct is provided at the air inlet 1028M, or it is possible to not provide an air inlet duct, which is configured to connect to the blowing end of the dust collection fan at the base station. The dust outlet duct 1026M must allow the debris in the dust box 102M to flow through it, whereby the dimension of the dust outlet duct 1026M is larger than the dimension of the air inlet duct. Because the pivotable wet cleaning module 2002M is provided near the first deflection surface 1024M, the air inlet 1028M is provided on the first deflection surface 1024M and the dust outlet 1027M is provided on a wall surface of the dust box 102M facing away from the first deflection surface 1024M.The air inlet 1028M and the dust outlet 1027M are arranged 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-swivelling wet cleaning module 2001M is preferably located between the dust outlet duct 1026M and the blower 103M of the dry cleaning module 100M.

[0079] Further preferred, as in the Fig. 105, a second escape surface 1025M is formed on the dust box 102M to reserve an installation space. In a preferred embodiment, the area of ​​the first escape surface 1024M is larger than the area of ​​the second escape surface 1025M. Or, in a further embodiment, the area of ​​the first escape surface 1024M is smaller than or equal to the area of ​​the second escape surface 1025M. The second escape surface 1025M can be provided on a side wall of the dust box 102M, on the bottom wall, on the top wall, at a junction between a side wall and the top wall, or at a junction between a side wall and the bottom wall. Preferably, the second escape surface 1025M can be a flat 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 the installation of other structures can be realized. The other structures may also include structures other than the dust outlet duct. For example, when another wet cleaning module swings out or in, the second drive structure and / or the second drive structure for driving the other wet cleaning module can be arranged in a space on the second escape surface to provide space for the swing of the other wet cleaning module.

[0080] Preferably, the first alternative surface 1024M and the second alternative surface 1025M can be arranged adjacent, opposite or in other distribution ways.

[0081] Further preferably, the dust outlet 1027M is formed on the second deflection surface 1025M. Or the dust outlet 1027M is not formed on the second deflection surface 1025M. For example, two wet cleaning modules 200M are provided on the cleaning device. The second drive structure 50M and / or the first drive structure 40M of one of the wet cleaning modules 200M is arranged in a reserved space that the first deflection surface 1024M deflects, while the other wet cleaning module 200M is arranged in a reserved space that the second deflection surface 1025M deflects. Or, if the two wet cleaning modules 200M can swing out and retract, a space can also be enclosed between the second escape surface 1025M and the device body 10 in order to mount the second drive structure 50M and / or the first drive structure 40M of the other pivotable wet cleaning module 2002M.Or, a space is enclosed between the second escape surface 1025M and the device body 10 to mount the structures other than the wet cleaning module 200M.

[0082] 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 that in the above embodiments and will not be repeated here. 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 can be the same as the arrangement of the above pivotable dry cleaning module.The blower 103M of the dry cleaning module 100M can be arranged 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 in order to reserve a larger space for the installation of the wet cleaning modules 200M.

[0083] The arrangement of the wet cleaning module 200M, the dust box 102M, the blower 103M and the dust outlet duct 1026M can also be different from that shown above, as long as sufficient space is reserved for the pivoting or movement of the pivoting wet cleaning module 2002M.

[0084] As in Fig. 96 and Fig. 99, it is provided for the two wet cleaning modules 200M of the cleaning device that when the cleaning device cleans edges, the pivotable wet cleaning module 2002M pivots so that the cleaning assembly 20 is in the pivoted-out position, while a play is created between the cleaning part 91H of the pivotable wet cleaning module 2002M and the cleaning part 91H of the non-pivoting wet cleaning module 2001M, which can lead to an uncleaned area when the cleaning device cleans edges.To prevent the uncleaned area, the two wet cleaning modules on the cleaning device are configured to pivot relative to the device body 10 and toward the same side of the device body 10. This eliminates the play between the two cleaning parts 91H of the two wet cleaning modules 200M during edge cleaning or non-edge cleaning of the cleaning device, thus preventing the uncleaned area. For example, when the cleaning part is a mop, the mop has a certain degree of deformation, and two adjacent ends of two adjacent mops are pressed against each other to eliminate a gap between the two mops.

[0085] For example, if the cleaning device needs to perform edge cleaning, for example, right-edge cleaning, the two wet cleaning modules 200M pivot toward the right side of the device body 10, thus eliminating any play between the two cleaning parts. When the cleaning device finishes edge cleaning or is in another scene, and 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, thus eliminating any play between the two cleaning parts 91H.

[0086] The two wet cleaning modules 200M pivot toward the same side and can pivot synchronously or simultaneously, as well as asynchronously or staggered in time, as long as there is no play between the two cleaning parts 91H. The pivoting of the two wet cleaning modules 200M can be driven by a common second drive structure 50M, or this can also be done separately by providing a second drive structure 50M, as long as a space is reserved on the device body 10 so that the second drive structure 50M and the two wet cleaning modules 200M can pivot toward the same side.

[0087] A recessed chamber is formed at the bottom of the device body 10 for accommodating the traveling component. The traveling component 300M has an obstacle-overcoming function. The traveling component 300M is pivotally mounted on the device body 10, and the traveling component is located in the recessed chamber. When the device body 10 is lifted, the traveling component can float and protrude from the recessed chamber. When the device body 10 is placed on the ground or a surface of an object, the traveling component rests against the ground or the surface of the object. The traveling component is pressed toward the recessed chamber and partially protrudes into the recessed chamber.

[0088] Because the wet cleaning module 200M is pivotally mounted on the device body 10, there is no interference between the arcuate pivoting track of the traveling component and the pivoting track of the cleaning disc 90H of the pivotable cleaning assembly 20 when the traveling component rests against the floor surface or the surface of the object. That is, interference between the pivoting of the cleaning assembly 20 and the movement of the traveling component of the carriage 300M is avoided. In one embodiment, when the cleaning part is a mop, the mop has a certain degree of deformation. When the device body 10 is raised, the traveling component is in a suspended state, and the cleaning device exists in a non-operational state. There can be no interference between the arcuate pivoting track of the traveling component and the cleaning disc 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.

[0089] Furthermore, if the cleaning device is not provided with a lifting structure, or even if it is provided with a lifting structure and the cleaning assembly 20 does not rotate during the lifting operation, the control system can control the cleaning assembly 20 to rotate when the wet cleaning module 200M swings out or retracts. When the cleaning assembly 20 is in the floor mopping position, the floor surface can be cleaned. The control system can also control the cleaning assembly 20 not to rotate. After the cleaning assembly 20 swings out into position, the cleaning assembly 20 then starts rotating to clean the floor surface. During the swinging out and retracting of the cleaning assembly 20, the device body 10 of the cleaning device is in a traveling state, so the cleaning device swings while traveling, thus improving cleaning efficiency.The cleaning device body 10 may also be in a non-travel state and then travels after the cleaning assembly 20 swings out or retracts into position. For example, if the cleaning device is about to perform edge cleaning, the cleaning assembly 20 first swings out into position and then the cleaning device body 10 begins to move along the edge, so that the swung-out cleaning part 91H can perform cleaning from a starting position along the edge.

[0090] When the cleaning device swings out, the control system can control the cleaning disc 90H to rotate at a reduced speed to prevent the cleaning disc 90H from having an excessively high linear speed during rotation, the cleaning disc 90H from swinging out excessively and hitting an obstacle, and the device body 10 from deviating from the actual travel path due to the abutment force of the obstacle. That is, the linear speed of the cleaning disc 90H is too high. And when the device body 10 is subjected to the abutment force of the obstacle, it tends to displace in an opposite direction due to the abutment force. Therefore, it is preferable to reduce the rotation speed of the cleaning disc 90H when the cleaning assembly 20 swings out.

[0091] Because the cleaning device is provided with two wet cleaning modules 200M, the cleaning parts 91H of the two wet cleaning modules 200M have different directions of rotation and have different effects on the swinging out and retracting of the cleaning parts 91H. As shown in Fig. 106, two adjacent cleaning parts each have an adjacent first side and a second side distant from each other. When the two cleaning parts 91H rotate outward, that is, when they rotate from the adjacent first side to the second side, the cleaning parts 91H are brought into contact with the floor surface and are subjected to a frictional force F of the floor surface. This is described using a cleaning disk 90H as an example. The fact that the cleaning disk 90H is subjected to the frictional force can be simply understood as being subjected to a force at the first end and second end in the width direction of the device body, wherein the forces at the two ends are referred to as F1 and F2, respectively. A force arm from the pivot center A to the first end of the cleaning disk 90H is referred to as L1, and a force arm from the pivot center A to the second end is referred to as L2. Here, the moment at the first end and second end, respectively, isat the second end is F1 × L1 or F2 × L2, respectively. Since F1 = F2 and L1 > L2, the moment is F1 × L1 > F2 × L2. This moment causes the cleaning disc to pivot outward by 90H, thus reducing the driving force when pivoting the cleaning disc outward by 90H.

[0092] Also see Fig. 107. When the two cleaning parts 91H rotate inward, that is, when they rotate 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. This is described using a cleaning disc 90H as an example. The fact that the cleaning disc 90H is subjected to the frictional force can be simply understood as being subjected to a force at the first end and second end radially in the width direction of the device body, wherein the forces at the two ends are referred to as F3 and F4, respectively. A force arm from the pivot center A to the first end of the cleaning disc 90H is referred to as L3, and a force arm from the pivot center A to the second end is referred to as L4. The moment at the first end and the second end is F3 × L3 and F4 × L4, respectively. Since F3 = F4 and L3 > L4, for the moment F3 × L3 > F4 × L4 holds.The moment allows the cleaning disc 90H to be pivoted in and thus the driving force when pivoting the cleaning disc 90H can be reduced.

[0093] Based on the above analysis, the driving force during the swinging out and in of the cleaning discs 90H can be reduced by controlling the rotation directions of the two cleaning discs 90H. For example, when the cleaning assemblies 20 need to swing out, the cleaning discs 90H of the two cleaning assemblies 20 can be controlled to rotate outward to reduce the driving force during the swinging out. When the cleaning assemblies 20 need to swing in, the cleaning discs 90H of the two cleaning assemblies 20 are controlled to rotate inward to reduce the driving force during the swinging in. That is, the wet cleaning module 200M is caused to swing out or retract jointly by the second drive structure 50M and by controlling the rotation directions during the swinging of the cleaning discs 90H.

[0094] Alternatively, the wet cleaning module 200M can be pivoted not by providing the second drive structure 50M, but by controlling the rotational directions of the two cleaning disks 90H to generate a driving force for pivoting outward or inward. When the cleaning assemblies 20 need to pivot outward, the first drive structure 40M is controlled to rotate the two cleaning assemblies 20 outward, causing the cleaning assemblies 20 to pivot outward. When the cleaning assemblies 20 need to pivot inward, the first drive structure 40M is controlled to rotate the two cleaning assemblies 20 inward, causing the cleaning assemblies 20 to retract.

[0095] Furthermore, it is provided that by controlling the angle of rotation of the rotary motor 2011M of the first drive structure 40M, the pivoted-out or retracted position of the cleaning assembly 20 can be adjusted, whereby the pivoted-out position or the retracted position of the cleaning assembly 20 can be adjusted.

[0096] The cleaning device must frequently return to the base station to recharge, 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, and refill the water tank in the device body 10. Therefore, 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 can be first detected before the cleaning device returns to the base station. If the cleaning assembly 20 is not in the retracted position, the control system controls the second drive structure 50M to activate, which retracts the cleaning assembly 20 until the retracted position is reached.Or, before the cleaning device returns to the base station, it is not detected whether the cleaning assembly 20 is in the retracted position. The control system controls the second drive structure 50M to forcibly retract the cleaning assembly 20, and then detects whether the cleaning assembly 20 is in the retracted position. If the cleaning assembly 20 is in the retracted position, the motor of the second drive structure 50M stops rotating. Otherwise, the motor of the second drive structure 50M continues rotating until the cleaning assembly 20 is in the retracted position.

[0097] 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 disassembling the cleaning part 91H (disassembling the cleaning part 91H without returning to the base station), and the like, the cleaning assembly 20 must be in the retracted position. 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 the motor, the control system can also control the second drive structure 50M to activate at an interval of the first predetermined time period t1 to forcibly retract the cleaning assembly 20 and thus maintain it in the retracted position.Likewise, when the cleaning assembly 20 needs to be held in the extended position, for example, in edge cleaning mode, the control system can also activate the second drive structure 50M at an interval of the second predetermined time t2 to forcibly swing the cleaning assembly 20 out and thus hold it in the extended position. The first predetermined time t1 and the second predetermined time t2 can be the same or different. The first predetermined time and the second predetermined time can be any number of minutes. The first predetermined time and the second predetermined time can be 3 minutes, 5 minutes, 10 minutes, etc.

[0098] In one embodiment, the cleaning assembly 20 can also be arranged on the device body 10 by a pivoting rod mechanism. The pivoting rod mechanism comprises a first pivoting rod and a second pivoting rod. The first pivoting rod is rotatably arranged on the device body 10. The second pivoting rod is pivotally or rotatably connected to the first pivoting rod. The second pivoting rod is connected to the cleaning assembly 20 or to the first drive structure 40M for rotating the cleaning assembly 20. By controlling the pivoting angle of the pivoting rod, the distance of the cleaning assembly 20 can be adjusted. For example, the second drive structure 50M is used to rotate the first pivoting rod. Through the second pivoting rod, the first pivoting rod rotates or retracts the cleaning assembly as a whole.If the cleaning assembly protrudes outward and encounters an obstacle, it can be elastically retracted. A pivoting rod mechanism can drive one cleaning assembly, 20 or more cleaning assemblies.

[0099] In one embodiment, the device body 10 comprises a first part 110M and a second part 120M. In the forward direction of the device body, the first part 110M can be located in front of or behind the second part 120M. The arrangements in both situations are the same. To simplify the description, it is shown by way of example that the first part 110M is located in front of the second part 120M. As in embodiments in Fig. As shown in Figures 113 and 114, the above cleaning assembly 20 is arranged on the second part 120M. When the cleaning assembly 20 needs to swing out, the module consisting of the second part 120M and the cleaning assembly 20 is driven by the second drive structure 50M and swings as a whole toward the outside of the device body 10 to reach the swung out position. In contrast, the module consisting of the second part 120M and the cleaning assembly 20 is driven by the second drive structure 50M and swings as a whole toward the inside of the device body 10 to reach the retracted position. Preferably, an escape area is formed behind the first part 110M. When the cleaning assembly 20 is in the retracted position, the cleaning assembly 20 and the second part 120M can be retracted into the escape area.When the cleaning assembly 20 is in the retracted position, the above first part 110M and the second part 120M optimally form a complete circle, a D-shape, or another polygon, etc., so that the cleaning device can be configured as a circular machine, a D-shape machine, or a polygon machine. Of course, when the cleaning assembly 20 is in the retracted position, the second part 120M can also be located inside the edge with the maximum width (the width in a direction perpendicular to the forward direction of the cleaning device) of the first part 110M or outside the edge with the maximum width of the first part 110M. Or, no escape area is formed behind the first part 110M. The second part 120M is located behind the entire first part 110M.In addition, when the second drive 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 can be elastically protruded or elastically retracted.

[0100] In one embodiment, there are at least two wet cleaning modules 200M, wherein one of the cleaning assemblies 20 of the two wet cleaning modules 200M can swing out and retract, and the other cannot swing out. Or, the two cleaning assemblies 20 (main cleaning assemblies) cannot swing out, or both can swing. On this basis, at least one swing-out and retractable auxiliary cleaning assembly is provided on the device body 10. When edge cleaning is performed, the auxiliary cleaning assembly swings out and is in the swung-out position. When the auxiliary cleaning assembly needs to retract, the auxiliary cleaning assembly retracts and is in the retracted position. The pivoting of the auxiliary cleaning assembly can be driven by the above second drive structure 50M. It is also possible to set the auxiliary cleaning assembly in pivoting or self-rotation by a belt drive.Preferably, the auxiliary cleaning assembly is provided with an elastic member and allows retraction or extension under the action of the elastic member. Or it can be automatically retracted in a pivoting motion when it encounters an obstacle.

[0101] 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 can be folded or overlapped so that the cleaning assemblies 20 are located in the region of the device body 10. For example, before retraction, the two cleaning assemblies 20 are vertically adjusted 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 rest on one another in the thickness direction of the device body 10, whereby the two cleaning assemblies 20 are located in the region of the device body 10.During swinging out, however, the cleaning assemblies 20 first swing out and then lower, so that the cleaning assemblies 20 are each in the swung-out positions. Optionally, the traveling component is located between the main brush 101M of the dry cleaning module 100M and the cleaning assemblies 20. With the two cleaning assemblies 20 in this embodiment, one of them is provided to swing out and retract, while the other cannot. Or, the two cleaning assemblies 20 can swing out and retract. Furthermore, the side brush 400M can be provided in one or two numbers. When two side brushes 400M are provided, the two side brushes 400M are distributed on both sides of the device body 10.

[0102] In one embodiment, the device body 10 of the cleaning device is a profiled machine. As shown in Fig. 115, the device body 10 has a base body and a protruding bulge 130M formed on the base 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 pivoting of the cleaning assembly 20, the distance for pivoting 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 can be arranged on the bulge 130M. Depending on requirements, the cleaning assembly 20 can pivot out on the base body or not. Preferably, the device body 10 has the shape of a water drop.Or, the device body 10 can also have other irregular shapes, such as a polygon and ellipse. The polygon can be a triangle, a quadrilateral, etc., with each corner of the polygon serving as a protrusion 130M. If the device body 10 is provided with multiple protrusions 130M, it is possible for the cleaning assemblies 20 of the wet cleaning module 200M to be arranged on some protrusions 130M, the side brushes 400M to be arranged on some protrusions 130M, and the main brushes 101M of the dry cleaning module 100M to be arranged on some protrusions 130M. Of course, it is also possible for the cleaning assemblies 20, the side brushes 400M, or the main brushes 101M to be arranged on the remaining protrusions 130M. This is done as needed.

[0103] Furthermore, the wet cleaning module 200M may further comprise at least one mutually folded wet cleaning mechanism comprising an assembly cylinder and a cleaning body, wherein the cleaning body comprises a first cleaning section and a second cleaning section. The two cleaning sections have a held-together state and an extended cleaning state. In the held-together state, the two cleaning sections are folded against each other and can be held together in an assembly cylinder by driving a telescopic mechanism. In the extended state, the two cleaning sections protrude from the assembly cylinder and are extended, with the first cleaning section thereof located below the bottom of the device body 10 and the second cleaning section protruding from the device body.During the travel of the device body 10, the second cleaning section protruding from the device body 10 can perform edge cleaning. Furthermore, the two cleaning sections can be pressed against each other in the held-together state, thereby forcing the liquid therefrom out. That is, the cleaning device is simultaneously provided with the above cleaning assembly 20 and the wet cleaning mechanism folded against each other. The cooperation of the two further improves the cleaning effect. After edge cleaning is completed, the two cleaning sections return to the held-together state. The assembly cylinder in this embodiment may also be omitted. In another embodiment, the wet cleaning module 200M may also be provided with only the wet cleaning mechanism folded against each other or only with the above cleaning assembly 20.

[0104] In one embodiment, the wet cleaning module 200M comprises two cleaning assemblies 20, one of which comprises a cleaning disk 90H and a cleaning part 91H. The cleaning disk 90H vibrates the cleaning part 91H to clean the floor surface. The other cleaning assembly 20 comprises a cleaning disk 90H and a cleaning part 91H. The cleaning disk 90H rotates the cleaning part 91H to clean the floor surface. The rotating cleaning assembly 20 can swing out or retract or not. The oscillating cleaning assembly 20 can swing out or retract or not. Regarding the distribution of the oscillating cleaning assembly 20 and the rotating cleaning assembly 20 on the device body 10, it is provided 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 at the front and the other at the rear. Or, the two cleaning assemblies 20 are distributed to the left and right in the width direction of the device body 10. Or, one of the oscillating cleaning assembly 20 and the rotating cleaning assembly 20 is provided with an escape area for the installation or distribution of the other cleaning assembly 20. Furthermore, at least one of the oscillating cleaning assembly 20 and the rotating cleaning assembly 20 can swing out or retract to switch between the swung out position and the retracted position.

[0105] In one embodiment, the cleaning assembly 20 can be configured similarly to a collision plate on the front part of the cleaning device. When the cleaning assembly 20 encounters an obstacle, the cleaning assembly 20 retracts under the influence of the obstacle. Under the influence of the elastic part, the cleaning assembly 20 is held in the extended position. When the cleaning disc 90H is in the retracted position, at least a portion of it is located outside the periphery of the device body 10.

[0106] In addition, at least two wet cleaning modules 200M are provided, wherein two wet cleaning modules 200M of which jointly use one above-mentioned second drive structure 50M. This means that a second drive structure 50M sets two cleaning assemblies 20 in pivoting motion, or two wet cleaning modules 200M are each provided with a second drive 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 to clean a surface to be cleaned. During edge cleaning, the cleaning assembly 20 pivots out. If the cleaning assembly 20 must 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 also always be held in the pivoted-out position without the cleaning assembly 20 having to switch between pivoting out and retracting.

[0107] For the cleaning assembly 20, it is provided that the cleaning assembly 20 can be the above oscillating cleaning assembly 20, the rotating cleaning assembly 20 or a floor mop roller brush.

[0108] The above is implemented by the 200M wet cleaning module, which enables functions such as extending and retracting. The 200M wet cleaning module can also be replaced with a 400M side brush to enable the 400M side brush to extend and retract, thus enhancing the side brush's edge cleaning function. Alternatively, the 200M wet cleaning module can be replaced with a main brush to enable the main brush to extend and retract, thus expanding the main brush's cleaning area. The details are shown above and will not be repeated here.

[0109] In one embodiment, the side brush 400M can pivot outward and retract relative to the device body 10 through the above drive structure. The side brush 400M has an extended position and a retracted position. When the side brush 400M pivots outward, the side brush 400M protrudes beyond the device body 10 to reach the extended position. When the side brush 400M pivots inward and reaches the retracted position, the side brush 400M can be located both within the device body 10 and partially outside the perimeter of the device body 10. When the side brush 400M is in the extended position, the side brush 400M has a better edge effect when encountering an obstacle.

[0110] In one embodiment, multiple side brushes 400M may be provided. For example, the multiple side brushes 400M are spaced apart from the edge of the device body 10. The side brushes 400M are spaced apart from the wet cleaning module 200M on the device body 10. The side brushes 400M may or may not be pivotable.

[0111] For a better understanding of the technical features, objects and effects of the present application, specific embodiments of the present application will be discussed in more detail with reference to the accompanying drawings. Example 1

[0112] Overall, 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 is interchangeable between a first position and a second position in order to achieve a better cleaning effect. In this embodiment, the first drive structure 40M comprises at least one rotating drive part 230 and a gear assembly 240 in this embodiment. The second drive structure 50M comprises at least one guide assembly 50 and a counter-drive structure 711 in this embodiment. In this embodiment, a cleaning device is provided as in Fig. 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 portion of the cleaning assembly 20 being outside the periphery of the device body 10 when the cleaning assembly 20 is in the first position.

[0113] By locating the part of the cleaning assembly 20 outside the periphery of the device body 10 and by controlling the path of movement of the device body 10, cleaning of an area near an obstacle is enabled such that when the device body 10 moves, it can be brought into contact with the edge of the obstacle with the cleaning assembly 20 protruding from the device body 10.

[0114] Embodiment 2: In this embodiment, a cleaning device is provided as shown in Fig. 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, wherein a portion of the cleaning assembly 20 is located outside the perimeter 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 in the first position of the cleaning assembly 20 when the cleaning assembly 20 has reached the second position.

[0115] When the cleaning assembly 20 is in 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.

[0116] 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 that 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 cleaning in an area close to an obstacle. In the present application, it is provided that at least a part of the cleaning assembly is located outside the periphery 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 in the second position, a dead area such as obstacles can be cleaned, making the cleaning more comprehensive and improving the cleaning efficiency.

[0117] It is further contemplated that the obstacle may be structures such as a wall, furniture, and the like. The wall is used as an example. When the cleaning device moves to the corner of the wall, the cleaning device detects the presence of an obstacle, and the cleaning assembly 20 is driven from the first position to the second position, 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.

[0118] It should be noted that the cleaning device can detect the presence of an obstacle in different ways. For example, an infrared sensor detects the presence of light reflection. Of course, other options are also available, provided the position of the obstacle can be detected.

[0119] In one embodiment, when the cleaning assembly 20 is in the second position, the distance between the part 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 value, wherein the threshold value is greater than or equal to 0.

[0120] 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 can be brought into contact with the edge of the obstacle or be kept at a reserved distance from the edge of the obstacle. For example, if a mop is selected as the cleaning member 91H, the mop has a certain degree of deformation. During edge cleaning, the mop can be brought into contact with the edge of the obstacle or not brought into contact with the edge of the obstacle. Thus, the above threshold is set to a value greater than or equal to 0.If the threshold is 0, the cleaning part 91H is in contact with the edge of the obstacle. If the threshold is greater than 0, the cleaning part is not in contact with the edge of the obstacle. For example, the threshold can be 1 millimeter, 2 millimeters, 3 millimeters, 4 millimeters, 5 millimeters, 1 centimeter, 1.5 centimeters, etc.

[0121] If the cleaning part 91H is a mop, there are at least two situations in which the mop is in contact with the edge of the obstacle. In the first situation, the mop is not deformed and is in contact with the edge of the obstacle. In the second situation, the mop is deformed and is in contact with the edge of the obstacle.

[0122] In this embodiment, depending on the specific position of the part of the cleaning assembly 20 located outside the device body 10 and located in the second position, two embodiments are provided as follows.

[0123] As in the Fig. In the specific embodiment shown in Figure 2, the travel line at the widest point of the device body 10 determines the maximum cleaning area 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 area.

[0124] In particular, the device body 10 has a wide section and a narrow section. The cleaning assembly 20 is mounted in an area outside the widest point of the device body 10, whereby a portion 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 wide section.

[0125] Furthermore, it is provided that the cleaning assembly 20 is mounted at the front end or at 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. After the movement of the cleaning assembly 20 towards the second position away from the device body 10, the part located outside the device body 10 is flush with the edge line of a region of the central region of the device body 10 in the direction of travel.

[0126] As in the Fig. In the specific embodiment shown in Figure 3, the travel line at the widest point of the device body 10 determines the maximum cleaning area 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 extends beyond the outside of the maximum cleaning area.

[0127] In particular, the device body 10 has a wide section and a narrow section. The cleaning assembly 20 is mounted in an area outside the widest point of the device body 10, whereby a portion of the cleaning assembly 20 protrudes into the outer region of the device body 10 and the edge of the cleaning assembly 20 can protrude beyond a portion of the wide section in the direction of travel.

[0128] Furthermore, it is provided that the cleaning assembly 20 is mounted at the front end or at 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. After the movement of the cleaning assembly 20 in the direction of the second position away from the device body 10, the part located outside the device body 10 projects beyond a partial region of the wide region.

[0129] 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.

[0130] The drive assembly comprises a guide assembly 50 and a counter drive structure 711, wherein the guide assembly 50 is movably connected to the counter drive structure 711 and one of the guide assembly 50 and the counter drive structure 711 is connected to the cleaning assembly 20 in order to move the cleaning assembly 20 between the first position and the second position when the guide assembly 50 and the counter drive structure 711 are moved relative to each other.

[0131] Furthermore, 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 pivoting movement in order to set the cleaning assembly 20 in motion or to drive it along with the pivoting movement.

[0132] As in Fig. As shown in Figures 1 to 6, the guide assembly 50 extends in a first direction, and the first direction is linear. When the counter-drive structure 711 and the guide assembly 50 move relative to each other, the counter-drive structure 711 can move in the first direction.

[0133] In particular, the counter-drive structure 711 and the guide assembly 50 are drivingly connected by the interaction of a threaded rod and a threaded bushing 220. The threaded rod and the threaded bushing 220 are threadedly connected to one another so that, upon rotation of one of the threaded rod and the threaded bushing 220, the threaded connection of the threaded rod and the threaded bushing 220 causes the other of them to move in a first direction. Using the thread and the threaded bushing 220 simultaneously provides a limiting function for the driving connection, so that the direction of movement of the cleaning assembly 20 is limited; that is, using the threaded rod and the threaded bushing 220, the translation of the cleaning assembly 20 is achieved.

[0134] 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 threadably connected to 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.

[0135] It should be noted that a drive motor 710 is provided on the device body 10. The drive motor 710 rotates the threaded rod and, through the inherent rotation of the threaded rod, drives the threaded bushing 220 on the threaded rod, so that it is moved in the extension direction, i.e., the first direction, of the threaded rod. As the threaded bushing 220 moves, 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 enables the cleaning assembly 20 to switch between the first position and the second position.

[0136] Of course, it is not limited to the design 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.

[0137] 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 mounted on the guide rod 530.

[0138] The guide rod 530 has a guiding function. By providing a linear bearing at the through hole of the cleaning assembly 20, the linear bearing allows the cleaning assembly 20 to slide in the direction of extension of the guide rod 530, with the guide rod 530 extending in the first direction. The guide rod 530 is provided in one or more numbers. If there are multiple guide rods 530, the multiple guide rods 530 extend in the first direction, and the multiple guide rods 530 are arranged symmetrically with respect to the threaded rod to smoothly mount and move the cleaning assembly 20.

[0139] As in Fig. As shown in Figures 1 to 6, the cleaning device further comprises a first stop plate 410 and a second stop plate 420, wherein the first stop plate 410 and the second stop plate 420 are spaced apart in a direction of a connecting line between the first position and the second position. A mounting area 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 area 430.

[0140] In particular, the cleaning assembly 20 is at least partially located within the mounting area 430 and moves within the mounting area 430. The two stop plates have a limiting function to prevent the cleaning assembly 20 from being separated from the device body 10.

[0141] Further, both ends of the threaded rod are rotatably mounted to the first stop plate 410 and the second stop plate 420 by a bearing, and both ends of the guide rod 530 are also mounted to the first stop plate 410 and the second stop plate 420.

[0142] The movement channel 300H includes a slotted hole 110 or a curved hole 110R. In this embodiment, the slotted hole 110 is provided within the mounting area 430 on the device body 10. The slotted hole 110 extends in the direction of the connecting line between the first position and the second position. A portion of the cleaning assembly 20 protrudes beyond the device body 10 through the slotted hole 110. When the cleaning assembly 20 moves between the first position and the second position, a portion of the cleaning assembly 20 moves within the slotted hole 110.

[0143] 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 elongated hole 110 to enable a limiting function for the cleaning assembly 20 and to ensure that the cleaning assembly 20 moves stably and no offset phenomenon occurs.

[0144] In this embodiment, the cleaning device further comprises a sealing structural part. The sealing structural part covers the elongated hole 110. The peripheral edge of the sealing structural part is connected to the device body 10. The sealing structural part includes a mounting opening, and the mounting opening is located in the region of the elongated hole 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 changes between the first position and the second position, the position of the mounting opening is changed relative to the elongated hole 110.

[0145] In particular, the peripheral edge of the sealing structural 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 elongated hole 110. While the cleaning assembly 20 switches between the first position and the second position, the sealing structural part is moved while driving the cleaning assembly 20, so that the mounting hole is moved with the cleaning assembly 20 to always maintain a sealed state and thus prevent dust or the like from penetrating through the elongated hole 110 inside the device body 10. As shown in Fig. 80, the sealing structural part is a plastic coating or rubber. Here, a plastic coating 820H is taken as an example. One end of the plastic coating 820H is fixed to the device body 10, and the other end is fixed to the outer periphery of the mounting hole or the mounting portion. The plastic coating 820H has a certain elasticity. When the cleaning assembly 20 pivots, the end of the plastic coating 820H fixed to the mounting hole or the mounting portion pivots, and the plastic coating 820H deforms to seal the elongated hole 110 or the arcuate hole 110R. Further, the sealing structural part is provided to be made of elastic rubber.

[0146] As in Fig. 4 and Fig. 6, the cleaning assembly 20 includes a housing 210, a gear assembly 240, a rotating drive member 230, and a movable cleaning member 250. The housing 210 has a housing chamber. Part of the gear assembly 240 is housed within the housing chamber. The rotating drive member 230 is housed on the housing 210. The rotating drive member 230 is connected to the gear assembly 240. The movable cleaning member 250 is arranged outside the housing chamber. The other part of the gear assembly 240 extends beyond the housing chamber and is drivingly connected to the movable cleaning member 250. The rotating drive member 230 rotates the movable cleaning member 250 through the gear assembly 240.

[0147] In particular, the rotating drive part 230 provides a driving force for the self-rotation of the cleaning assembly 20. Under the driving action of the rotating drive part 230, the cleaning assembly 20 rotates and can perform cleaning of a surface to be cleaned. A gear assembly 240 is arranged between the rotating drive part 230 and the movable cleaning part 250. The gear assembly 240 adjusts the rotation speed of the movable cleaning part 250 through the gear assembly 240, thereby improving cleaning efficiency.

[0148] It is further provided that the gear assembly 240 comprises: an input gear part, wherein the input gear part is housed within the accommodation chamber and the rotating drive part 230 is drivingly connected to the input gear part; an output gear part, wherein the output gear part is housed within the accommodation chamber and the input gear part is drivingly connected to the output gear part; and a gear shaft, wherein the output gear part is drivingly connected to a first end of the gear shaft and a second end of the gear shaft projects beyond the accommodation chamber and is drivingly connected to the movable cleaning part 250.

[0149] The input gear part and the output gear part can be structural parts with a gear function. By providing a gear shaft, a rotational force from the output gear part is transmitted to the movable cleaning part 250, causing the movable cleaning part 250 to rotate.

[0150] As in Fig. 6, the input gear part comprises a first gear 241 and a second gear 242, which are arranged coaxially and rotate synchronously. The rotating drive part 230 is drivingly connected to the first gear 241. The diameter and number of teeth of the first gear 241 are larger than the diameter and number of teeth of the second gear 242. The output gear part comprises a third gear 243. The third gear 243 meshes with the second gear 242. The third gear 243 is drivingly connected to the gear shaft. The diameter and number of teeth of the third gear 243 are larger than the diameter and number of teeth of the second gear 242, so that a gear ratio exists between the second gear 242 and the third gear 243.

[0151] In particular, the first gear 241 and the second gear 242 rotate synchronously and coaxially. The diameter and number of teeth of the first gear, which is drivingly connected to the rotating drive part 230, are larger than the diameter and number of teeth of the second gear 242, thereby achieving a good reduction effect when the second gear engages with the third gear, thus preventing excessively fast rotation of the movable cleaning part 250 from resulting in unstable assembly.

[0152] It should be noted that the first gear 241, the second gear 242, or the third gear 243 can be adaptively replaced as needed to ensure the predetermined gear ratio and rotation speed of the movable cleaning part 250.

[0153] In this embodiment, it is also possible that two pulleys of different sizes are provided between the input gear part and the output gear part, wherein power is transmitted between the two pulleys via a belt.

[0154] It should be noted that the output gear part is not limited to including the third gear 243. The output gear part may also include a plurality of other gears. That is, the gears can be adaptively added or reduced as needed.

[0155] As in Fig. As shown in Figure 5, the cleaning assembly 20 also includes a microswitch 60 and a control device. The microswitch 60 is arranged on the device body 10. The microswitch 60 is used to detect the position of the movable cleaning part 250. The control device is arranged on the device body 10. The control device is electrically connected to the microswitch 60, the rotating drive part 230, and the counter-drive structure 711 of the cleaning device.

[0156] The microswitch 60 is arranged on the device body 10. When the cleaning assembly 20 is in the first position or the second position, it is in contact with the microswitch 60 to trigger the microswitch 60.

[0157] In particular, the microswitch 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 part 230 and the counter-drive structure 711 to perform actions. That is, by controlling the forward and reverse rotation of the drive motor 710, the position of the cleaning assembly 20 can be controlled. Furthermore, by controlling the starting and stopping of the rotating drive part 230, the state of the movable cleaning part 250 can be controlled.

[0158] As in Fig. 1, Fig. 2 and Fig. As shown in Figure 3, the cleaning device further comprises a static drive part 320 and a static cleaning part 310. The static drive part 320 is mounted on the device body 10. The static drive part 320 is drivingly connected to the static cleaning part 310. The static cleaning part 310 is rotationally connected to the device body 10.

[0159] In particular, the static cleaning part 310 is configured to rotate under the driving action of the static drive part 320 to clean a surface to be cleaned. Furthermore, the static cleaning part 310 and the cleaning assembly 20 cooperate, and the static cleaning part 310 and the device body 10 are relatively stationary. The combination of a movable design and a static design promotes improved cleaning efficiency, preventing a dead zone during cleaning and thus a phenomenon of insufficient cleaning.

[0160] Furthermore, it is provided that both the movable cleaning part 250 and the static cleaning part 310 perform cleaning through the interaction of a circular rotating disk and a mop. Of course, the rotating disk connected to the drive part can also have shapes other than a circle. Cleaning can also be achieved by providing the rotating disk with bristles. The present application is based on a technical effect that wiping and cleaning can be achieved during the rotation of the movable cleaning part 250 and the static cleaning part 310.

[0161] Embodiment 3: The difference between this embodiment and Embodiment 2 is that in this embodiment, a different sealing structure part is used to maintain the seal at the elongated hole 110 when the cleaning assembly 20 is switched between the first position and the second position, and thus to prevent dust and the like from entering the interior of the device body 10 via the elongated hole 110.

[0162] As in Fig. 8, Fig. 9, Fig. 13, Fig. 14 and Fig. 77, a rail groove 120 extending in a second direction is provided on the device body 10. The cleaning device further comprises a first sealing part 810. The first sealing part 810 includes a first stop portion 8101, a second stop portion 8102, and a guide projection. The first stop portion 8101 and the second stop portion 8102 are arranged at an angle. The guide projection protrudes at least partially into the interior of the rail groove 120. When the cleaning assembly 20 changes between the first position and the second position and when the cleaning assembly 20 presses the first stop portion 8101 or the second stop portion 8102, the guide projection rotates and moves in the extending direction of the rail groove 120. When the cleaning assembly 20 is in the first position, the second stop portion 8102 abuts against a part of the elongated hole 110.When the cleaning assembly 20 is in the second position, the first stop portion 8101 strikes the other part of the elongated hole 110.

[0163] Specifically, the first stop portion 8101 and the second stop portion 8102 are arranged in conjunction such that when the cleaning assembly 20 transitions between the first position and the second position and when the cleaning assembly 20 pushes the first stop portion 8101 or the second stop portion 8102, the first stop portion 8101 and the second stop portion 8102 rotate simultaneously. When the cleaning assembly 20 is in the first position, the cleaning assembly 20 pushes the first stop portion 8101 so that the second stop portion 8102 abuts a part of the elongated hole 110. When the cleaning assembly 20 transitions from the first position to the second position, the cleaning assembly 20 pushes the second stop portion 8102 so that the first stop portion 8101 and the second stop portion 8102 rotate.When the cleaning assembly 20 is in the second position, the first stop portion 8101 abuts the other part of the elongated hole 110.

[0164] Furthermore, during the rotation of the first stop portion 8101 and the second stop portion 8102 by translation of the cleaning assembly 20, a position at which the cleaning assembly 20 presses the first stop portion 8101 changes with the movement of the cleaning assembly 20. As a result, the guide projection not only has to rotate with the first stop portion 8101 and the second stop portion 8102, but the guide projection must also simultaneously move within the rail groove 120 in a second direction.

[0165] It should be noted that the angle between the first stop portion 8101 and the second stop portion 8102 as well as the shape of the first stop portion 8101 and the second stop portion 8102 can be adaptively adjusted as needed.

[0166] In this embodiment, the first direction and the second direction are set at an angle of 90° to facilitate the movement of the guide projection within the rail groove 120 when the cleaning assembly 20 changes between the first position and the second position.

[0167] In this embodiment, the first sealing member 810 is a rigid sealing member to facilitate rotation under the action of pressure from the cleaning assembly 20. The first sealing member 810 may be made of a material such as stainless steel or mild steel.

[0168] Furthermore, it is provided that the cleaning device further comprises a second sealing part 820. The second sealing part 820 is arranged between the device body 10 and the first sealing part 810, wherein the second sealing part 820 is a flexible sealing part, and wherein the second sealing part 820 can 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 if sufficient installation space is available, i.e., the elongated hole 110 is sealed only by the first sealing part 810.

[0169] 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.

[0170] As in Fig. As shown in Figures 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 linear rack. The drive gear meshes with the linear rack. The counter drive structure 711 imparts linear motion to the cleaning assembly 20.

[0171] 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 member 510 is mounted on the device body 10. During the change of the cleaning assembly 20 from the first position to the second position, the drive motor 710 causes the gear to rotate. The drive gear is rotationally connected to the linear gear and moves in the extension direction of the drive rack. The drive gear causes the cleaning assembly 20 to move the position of the cleaning assembly 20.

[0172] Furthermore, it is provided that the cleaning assembly 20 is set in motion by the engagement of the drive gear and the linear rack. By ensuring a stable connection, the technical effect of limiting the movement is also achieved, so that the cleaning assembly 20 moves in a straight line.

[0173] To further ensure the stability of the movement of the cleaning assembly 20, this embodiment provides that the cleaning assembly 20 includes 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 part 520. The second guide part 520 and the first guide part 510 are arranged side by side and spaced apart. At least a portion of the second guide part 520 is housed within the channel. The second guide part 520 is in sliding connection with the guide groove 260. By adding the second guide part 520, a guiding and limiting function is achieved, thus preventing a phenomenon in which the cleaning assembly 20 moves obliquely or unstably. 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 linear rack ensure that the cleaning assembly 20 changes linearly between the first position and the second position.

[0174] It should be noted that it is possible for the drive gear and the drive motor 710 to be arranged on the cleaning assembly 20, while the linear rack is arranged on the device body 10. Of course, it is also possible for the drive motor 710 and the drive gear to be arranged on the device body 10, while the linear rack is arranged on the cleaning assembly 20.

[0175] 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.

[0176] As in Fig. 18 and Fig. 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 locking portion of the locking assembly 270 is locked to or disengaged from the drive gear. When the drive gear is disengaged from the locking portion, the worm shaft rotates, and the drive gear rotates with it, 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 extension direction of the worm shaft, and the cleaning assembly 20 is set in motion in the first direction.

[0177] In particular, the worm shaft interacts with the drive gear. When the drive gear is separated from the locking portion, the drive motor 710 causes the worm shaft to rotate. With simultaneous rotation of the worm shaft, the teeth on the worm shaft can be brought into engagement with the drive gear. A circumferential force of the worm shaft causes the drive gear to rotate to rotate the cleaning assembly 20. When the drive gear is locked by the locking portion, the movable cleaning part 250 of the cleaning assembly 20 cannot rotate under the action of the locking portion. The drive motor 710 causes the worm shaft to rotate, with the worm shaft exerting an axial force on the drive gear, so that the drive gear is moved in the axial direction of the worm shaft, and thus the drive gear moves the cleaning assembly 20.

[0178] Furthermore, the drive motor 710 is mounted on the device body 10. Through a driving connection to the worm shaft, the drive motor 710 imparts the cleaning assembly 20 with its own rotation or movement. By controlling the forward or reverse rotation of the drive motor 710, the direction of movement of the cleaning assembly 20 and the direction of the own rotation of the movable cleaning part 250 of the cleaning assembly 20 can be controlled.

[0179] It should be noted that in order to realize the technical effect of reducing the speed of the movable cleaning part 250, a gear that is in engagement with the drive gear and the movable cleaning part 250 can be provided between the drive gear and the movable cleaning part 250 in order to adjust the gear ratio and thus the speed of the movable cleaning part 250 by engagement between the gears.

[0180] In this embodiment, the locking assembly 270 is a spindle motor. By controlling the spindle toward the drive gear, the spindle motor protrudes, thereby locking the drive gear so that the drive gear cannot rotate. Or, by controlling the spindle away from the drive gear, the spindle motor is retracted to disengage from the drive gear.

[0181] Embodiment 6: Unlike Embodiment 2, in this embodiment it is provided that the cleaning assembly 20 is moved in an arc direction when changing between the first position and the second position.

[0182] As in Fig. As shown in Figures 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 cause the guide assembly 50 to move in the first direction, whereby the guide assembly 50 causes the cleaning assembly 20 to move in the first direction.

[0183] 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 arcuate surface, and the first direction is the extension direction of the arcuate surface.

[0184] 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 direction of extension of the arc surface. During the transition of the cleaning assembly 20 between the first position and the second position, the cleaning assembly 20 moves along the arc surface.

[0185] Furthermore, it is provided that the guide surface has an arcuate rack, and that the counter-drive structure 711 comprises a drive gear, wherein the drive gear engages with the arcuate rack. A drive motor 710 is further provided on the device body 10, wherein the drive motor 710 sets the drive gear in rotation, and wherein the drive gear engages with the arcuate rack to set the arcuate rack in motion.

[0186] It should be noted that this is not limited to the adaptation of a gear to a rack. In this embodiment, it is also possible to use a different transmission, for example, a chain transmission, in particular to enable the cleaning assembly 20 to move in an arcuate direction and thus to switch between the first position and the second position.

[0187] Furthermore, a microswitch 60 and a control device are provided on the device body 10. The microswitch 60 is used to detect the position of the movable cleaning part 250. The control device is electrically connected to the microswitch 60, the rotating drive part 230, and the drive motor 710.

[0188] The microswitch 60 is arranged on the device body 10. When the cleaning assembly 20 is in the first or second position, it is in contact with the microswitch 60 to trigger the microswitch 60.

[0189] In particular, the microswitch 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 part 230 and the counter-drive structure 711 to perform actions. That is, by controlling the forward and reverse rotation of the drive motor 710, the position of the cleaning assembly 20 can be controlled. Furthermore, by controlling the starting and stopping of the rotating drive part 230, the state of the movable cleaning part 250 can be controlled.

[0190] In this embodiment, it is not limited to the provision of the microswitch 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, after moving into the first position or the second position under the influence of the stop structure, no longer moves, whereby the drive motor 710 can no longer perform any further actions and the current changes. The current change is detected by the current measuring device, and an electrical signal is fed to the control device, whereby the control device controls the drive motor 710 to adjust the rotation direction of the output shaft.

[0191] Embodiment 7: In this embodiment, a cleaning device is provided as shown in Fig. 20 to 23, which comprises a device body 10, a cleaning assembly 20, and a return part, wherein the cleaning assembly 20 is movably connected to the device body 10. The cleaning assembly 20 has a home position and a retracted position. The return part is connected at one end to the cleaning assembly 20 and at the other end to the device body 10. The return part provides a return force for holding the cleaning assembly 20 in the home position. A portion of the cleaning assembly 20 is located outside the periphery of the device 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 in the retracted position of the cleaning assembly 20 when the cleaning assembly 20 is in the home position. The cleaning assembly 20 changes from the home 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.

[0192] In particular, the return part provides a return force for holding the cleaning assembly 20 in the home 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 to move from the home position to the retracted position. Under the action of the return part, the cleaning assembly 20 can be held in the home position, the retracted position, or positions in between. At this time, the part of the cleaning assembly 20 located outside the device body 10 enables cleaning of the corner area of ​​the obstacle, thereby effectively improving cleaning efficiency. Furthermore, the elastic part is provided as a spring.

[0193] In this embodiment, depending on the specific position of the part of the cleaning assembly 20 located outside the device body 10 in the home position, two embodiments are provided as follows.

[0194] As in the Fig. In the specific embodiment shown in Figure 22, the travel line at the widest point of the device body 10 determines the maximum cleaning area 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 area.

[0195] In particular, the device body 10 has a wide section and a narrow section. The cleaning assembly 20 is mounted in an area outside the widest point of the device body 10, whereby a portion 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 wide section.

[0196] Furthermore, it is provided that the cleaning assembly 20 is mounted at the front end or at 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. After the movement of the cleaning assembly 20 towards the starting position away from the device body 10, the part located outside the device body 10 is flush with the edge line of a region of the central region of the device body 10 in the direction of travel.

[0197] As in the Fig. In the specific embodiment shown in Figure 23, the travel line at the widest point of the device body 10 determines the maximum cleaning area 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 extends beyond the outside of the maximum cleaning area.

[0198] In particular, the device body 10 has a wide section and a narrow section. The cleaning assembly 20 is mounted in an area outside the widest point of the device body 10, whereby a portion of the cleaning assembly 20 protrudes into the outer region of the device body 10 and the edge of the cleaning assembly 20 can protrude beyond a portion of the wide section in the direction of travel.

[0199] Furthermore, it is provided that the cleaning assembly 20 is mounted at the front end or at 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. After the movement of the cleaning assembly 20 towards the starting position away from the device body 10, the part located outside the device body 10 protrudes beyond a partial region of the wide region.

[0200] From the above description, it can be seen that the above-explained embodiments of the present application achieve the following advantageous technical effects. 1. When the cleaning assembly 20 is located in the first position or the second position, 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 in the second position, an area near an obstacle such as a dead zone can be cleaned. Thus, cleaning is more comprehensive and cleaning efficiency is improved. 2. The forward and reverse rotation of the drive motor 710 allows the cleaning assembly 20 to switch between the first position and the second position, thereby increasing the stability of the transmissions. 3. The movably arranged cleaning assembly 20 and the static cleaning part 310 cooperate with each other.By combining a movable design and a static design, the cleaning efficiency of the cleaning device is improved.

[0201] Of course, Embodiments 2 to 7 are not limited to the combination with the aforementioned Embodiment 1. Based on feasibility, the structure of Embodiments 2 to 7 may be combined in whole or in part with any possible embodiment to meet various uses, and is not further limited herein.

[0202] Embodiment 8: In this embodiment, a cleaning device is provided which comprises a device body 10 and a cleaning assembly 20, wherein the cleaning assembly 20 is connected to the device body 10, wherein the cleaning assembly 20 has a first position, wherein a part of the cleaning assembly 20 is located outside the periphery of the device body 10 when the cleaning assembly 20 is in the first position.

[0203] By locating the part of the cleaning assembly 20 outside the periphery of the device body 10 and by controlling the path of movement of the device body 10, cleaning of an area near an obstacle is enabled such that when the device body 10 moves, it can be brought into contact with the edge of the obstacle with the cleaning assembly 20 protruding from the device body 10.

[0204] In continuation of the previous explanations, a gimbal travel mechanism (not shown) is provided on the device body, by means of which the device body can be set in motion in any direction.

[0205] By locating the portion of the cleaning assembly 20 outside the periphery of the device body 10 and by controlling the path of movement of the device body 10 by the gimbal mechanism, cleaning of an area near an obstacle is enabled such that, during movement of the device body 10, it can be brought into contact with the edge of the obstacle by means of the cleaning assembly 20 protruding from the device body 10.

[0206] In a specific embodiment, the gimbal driving mechanism comprises a group of Mecanum wheels arranged on the device body 10.

[0207] In a specific embodiment, the gimbal driving mechanism comprises a group of crawler wheels arranged on the device body 10.

[0208] Of course, 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 meet various uses, and is not further limited herein.

[0209] Embodiment 9: This embodiment primarily presents a detailed embodiment of a second drive structure 50M for driving for pivoting. In this embodiment, a first drive structure 40M comprises at least one second drive assembly 5B, and the second drive structure 50M comprises at least one first drive assembly 4B.

[0210] In this embodiment, a cleaning device is provided that includes a device body 10 and a cleaning mechanism mounted on the device body 10. The cleaning mechanism is configured to follow the movement of the device body 10 to clean the surface to be cleaned. In this embodiment, the cleaning mechanism includes a base 1B connected to the device body 10, a cleaning assembly 20 connected to the base 1B, and a second drive assembly 5B connected to the cleaning assembly 20.When the cleaning device cleans the surface to be cleaned, the second drive assembly 5B drives the cleaning assembly 20 to rotate on its own to clean the surface to be cleaned while the cleaning device is moving, so that the device body 10 and the cleaning assembly 20 are set in motion, resulting in movable cleaning of the surface to be cleaned.

[0211] In the prior 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 limited 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 effect.

[0212] In order to solve the above problems, in this embodiment, the cleaning assembly 20 includes a cleaning part 100B, see Fig. 24. The cleaning mechanism further comprises the first drive assembly 4B, wherein the first drive assembly 4B is 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.

[0213] In particular, the first drive assembly 4B comprises a first drive part 43B, a gear part 41B connected to the first drive part 43B, a pivoting part 42B cooperating with the gear part 41B, and an actuating part 421B rotatably mounted on a rotating shaft 2B. The first drive part 43B is configured to generate a drive force, and the first drive part 43B can rotate in a first direction or a second direction based on a control signal. The pivoting part 42B is rotatably mounted on the base 1B, and the cleaning part 100B is connected to the pivoting part 42B and can be brought into a rotating connection with the base 1B via the rotating shaft 2B, while the pivoting part 42B is connected to the cleaning part 100B. Two ends of the actuating part 421B each act on the pivoting part 42B and the gear part 41B.When the pivoting part 42B cooperates with the gear part 41B, it is set in rotation by driving the gear part 41B in order to move the cleaning part 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., it does not need to clean edges or corners), the cleaning part 100B can clean the surface to be cleaned even if 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 must be moved from the retracted position to the extended position so that the cleaning device can treat the edges or corners of the surface to be cleaned. It should be noted that the cleaning part 100B in this embodiment is a mop pad, and the edge of the mop pad protrudes from the edge of the pivoting part 42B to achieve a better cleaning effect on the surface to be cleaned.

[0214] In one situation, the gear part 41B transmits the drive force exerted by the first drive part 43B in the first direction to the actuating part 421B, so that the gear part 421 rotates to cause the pivoting part 42B to rotate. The cleaning part 100B thus rotates in the second direction following the pivoting part 42B and in turn moves from the retracted position to the extended position. It should be noted that in this embodiment, during the change of the cleaning part from the retracted position to the extended position, the actuating part 421B stores energy from the drive force of the gear part 41B and thus causes the pivoting part 42B to rotate. Upon retraction of the drive force exerted on the gear part 41B, the actuating part 421B releases the stored energy to cause the pivoting part 42B to continue pivoting in a direction of the extended position.

[0215] In particular, the actuating part 421B comprises an attachment section 4211B mounted on the rotary shaft 2B, a first abutting end 4212B, and a second abutting end 4213B mounted on the periphery of the attachment section 4211B. The first abutting end 4212B abuts the gear part 41B, and the second abutting end 4213B abuts the pivoting part 42B, so that the first abutting end 4212B can rotate around the attachment section 4211B in the second direction by the driving force of the gear part 41B, whereby the second abutting end 4213B can rotate in abutment with the pivoting part 42B, which in turn can lead to a movement of the cleaning part 100B from the retracted position to the extended position.

[0216] More specifically, a locking groove 411B is provided on the gear part 41B. The pivot part 42B further includes a first pressing portion 4221B. The above first abutting end 4212B is configured to be locked in the locking groove 41B, while the second abutting end 4213B and the first pressing portion 4221B cooperatively abut each other. When the first drive part 43B rotates in the first direction, the first drive part 43B causes the gear part 41B to rotate in the second direction, so that the locking groove 411B abuts the first abutting end 4212B, thereby causing the second abutting end 4213B to rotate in the second direction. Thus, the second abutting end 4213B abuts against the first pressing portion 4221B, so that the entire pivoting part 42B is set in rotation in the second direction to move the cleaning part 100B from the retracted position to the extended position.

[0217] As mentioned above with reference to Fig. 111 and Fig. 112, the pivoting part 42B further comprises a second pressing portion 4222B and a supporting portion 4223B, each disposed on two sides of the first pressing portion 4221B, wherein the cleaning part 100B is located below the supporting portion 4223B and is connected to the supporting portion 4223B. The gear part 41B further comprises an abutment portion 44B that cooperatively abuts the second pressing portion 4222B. The gear member 41B rotates in the first direction by the driving force of the first driving member 43B in the second direction, so that the abutment portion 44B is rotated around the rotary shaft 2B in the first direction to abut against the second pressing portion 4222B to rotate the pivot member 42B, resulting in movement of the cleaning member 100B from the extended position to the retracted position.It should be noted that in this embodiment, the second pressing portion 4222B always abuts against the abutment 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.

[0218] It should be noted that the actuating part 421B in this embodiment is an elastic part, preferably a torsion spring. This torsion spring maintains stability between the gear part 41B and the pivoting part 42B during the transition of the cleaning part 100B from the extended to the retracted position. In this embodiment, one torsion spring is provided. It is also conceivable that a different number of torsion springs, such as two, may be provided in other embodiments. In this embodiment, the torsion spring has one open end and one closed end.The open end is engaged in the locking groove 411B as the above first engagement end 4212, and the closed end cooperates with the first pressing portion 4221B of the pivoting part as the above second engagement end 4213, so that the driving force of the first driving part 43B is transmitted to the first engagement 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 around the rotary shaft 2B and is pressed against the first pressing portion 4221B of the pivoting part 42B, so that the cleaning part 100B is rotated by the pivoting part 42B. In other embodiments, the actuating part 421B can also be provided with other structures, e.g.a structure in which two connecting plates are connected to each other and rotate around the rotary shaft 2B, as long as the above-described effect can be achieved, and its specific structure is not specifically limited here.

[0219] 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 it runs following the device body 10. For example, if the cleaning mechanism is pushed by an obstacle in the extended position or in a position between the extended position and the retracted position, a certain buffer effect can be provided to the cleaning assembly 20 by the elastic part, so that the cleaning assembly 20 is protected from damage due to a collision with the base 1B when subjected to an external force.At the same time, by providing the elastic part, the elastic force will always act on the first pressing portion 4221B, so that the entire cleaning part 100B can be held to always abut against the edges or corners and achieve the cleaning of the edges or corners without the situation in which the cleaning part 100B is changed to a retracted position after the cleaning part 100B is pressed by an external force.On the other hand, during the transmission operation, the cleaning part 100B is subjected to a frictional force opposite to the rotational direction of the pivoting part 42B, regardless of whether the cleaning part 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 part can counteract part of the frictional force generated by the cleaning part 100B during its rotation to improve the stability of the cleaning mechanism.

[0220] See Fig. 28 and Fig. 30, the gear part 41B in this embodiment further comprises a gear section 412B and a connecting section 413B connected to the gear section 412B. The gear section 412B is configured for connection to the first drive part 43B. The contact section 44B is arranged on the above connecting section 413B. The gear section 412B is rotated by the first drive part 43B, so that the connecting section 413B rotates to rotate the first abutment end 4212B. As a result, the cleaning part 100B is changed from the retracted position to the extended position, or the connecting section 413B is rotated to rotate the contact section 44B.

[0221] When the gear portion 412B is rotated by the first drive member 43B, the connecting portion 413B can 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 member 100B from the extended position to the retracted position. Or, when the gear portion 412B is rotated by the first drive member 43B, the connecting portion 413B can be rotated to rotate the abutting portion 44B so that the abutting portion 44B abuts the second pressing portion 4222B, thereby rotating the entire pivot member 42B, which in turn results in movement of the cleaning member 100B from the retracted position to the extended position.

[0222] Furthermore, it is provided that the gear part 41B further comprises a first gear 414B, which is connected to the first drive part 43B, and a second gear 415B, which engages with the first gear 414B. The second gear 415B comprises the gear section 412B, the connecting section 413B, and the contact section 44B, as described above. In this exemplary embodiment, the second gear 415B is an incomplete gear, the circumference of which is dimensioned such that the cleaning part 100B can be switched between the retracted and extended positions. The design of the second gear 415B as an incomplete gear serves to reduce the space required by the second gear 415B. In other exemplary embodiments, the second gear 415B can be designed as a complete gear, which is not limited thereto.

[0223] In order to make good use of space and reduce the volume of the entire cleaning mechanism, as described above with reference to Fig. 27, Fig. 31 and Fig. 32, the attachment 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 part 42B includes an upper end 4224B and a lower end 4225B connected to the upper end 4224B. The upper half 4214B and the lower half 4215B of the operating part 421B and the upper end 4224B and the lower end 4225B of the pivoting part 42B are arranged offset, so that the operating part 421B and the pivoting part 42B can be firmly connected to each other via the rotary shaft 2B, and that the structure of the operating part 421B, the pivoting part 42B and the base 1B can be made more compact overall.

[0224] See Fig. 27. In the present application, the cleaning mechanism includes a bearing 54B disposed between a rotating portion 311 and the rotating shaft 2B, and a bushing 55B mounted on an outer side of the bearing 54B. The bushing 55B essentially serves to reduce the wear of the connecting portion 413B of the second gear 415B caused by the rotation of the connecting portion around the rotating shaft 2B, and the bearing 54B enables the frictional force of the pivoting part 42B to be reduced by its rotation around the rotating shaft 2B, thereby achieving a power-saving effect of the first drive part 43B.

[0225] See Fig. 27. The cleaning mechanism further comprises a fastening assembly 6B, wherein the fastening assembly 6B is configured to fasten the rotary shaft 2B to the base 1B. In this embodiment, the fastening assembly 6B comprises a first fastening part 61B and a second fastening part 62B, which are respectively arranged at two ends of the rotary shaft 2B. Above and below the base 1B, a first groove 11B and a second groove 12B are provided, which fit the first fastening part 61B and the second fastening part 62B. The two ends of the rotary shaft 2B extend into the first groove 11B and the second groove 12B, respectively.the second groove 12B, and the two ends of the rotary shaft 2B extend through through holes in the first fastening part 61B and the second fastening part 62B, respectively, so that the first fastening part 61B and the second fastening part 62B are embedded in the first groove 11B and the second groove 12B, respectively, to achieve the attachment of the rotary shaft 2B to the base 1B. In this embodiment, the first fastening part 61B is a nut embedded in the first groove 11B.

[0226] In order to improve the stability between the rotating shaft 2B and the base 1B, in this embodiment, a first step 21B is provided above the rotating shaft 2B, which is flush with the bottom of the first groove 11B. After the first fastening part 61B is embedded in the first groove 11B, the bottom of the first fastening part 61B presses against the first step 21B. A second step 22B is also provided on the rotating shaft 2B, which is flush with the bottom of the second groove 12B. The second fastening part 62B includes a cover 622B arranged in the second groove 12B and a screw 621B connected to the rotating shaft 2B through the cover 622B, wherein at least a part of the cover 622B is embedded in the second groove 12B such that a first protruding portion 6221B of the cover 622B abuts against the second step 22B.After a second protruding portion 6222B of the cover 622B abuts the end of the threaded rod, the second fastening part 62B extends through the cover 622B and abuts the lower end of the second protruding portion 6222B, and then penetrates the rotary shaft 2B to firmly lock the rotary shaft 2B to the base 1B.

[0227] In this embodiment, the cleaning mechanism further comprises a second drive assembly 5B, wherein the second drive assembly 5B and the cleaning part 100B are arranged above and below the support portion 312, respectively, and the second drive assembly 5B is connected to the cleaning part 100B to provide a driving force for the cleaning part 100B, thereby achieving self-rotation of the cleaning part 100B.

[0228] More specifically, with reference to Fig. 29 and Fig. 30, it is provided that the second drive assembly 5B comprises a second drive part 51B, a third gear 52B for connection to the second drive part 51B, and a fourth gear 53B which engages with the third gear 52B, wherein the fourth gear 53B is connected to the cleaning part 100B, so that the drive force generated by the second drive part 51B can be transmitted first to the third gear 52B and then to the fourth gear 53B, whereby the cleaning part 100B is set in rotation.It should be noted that the entire second drive part 51B can rotate following the pivoting part 42B. In this embodiment, the second drive part 51B moves following the pivoting part 42B within a storage space of the base 1B when the cleaning part 100B moves in either the retracted position or the extended position, or in any position between the retracted position and the extended position. In this way, the second drive assembly 5B and the cleaning part 100B are arranged one on top of the other on two sides of the pivoting part 42B, and the second drive assembly 5B does not affect the position of the base 1B during movement, thereby achieving a compact structure and efficient space utilization.

[0229] With reference to Fig. 32, the cleaning mechanism further comprises a first detection assembly 7B that is in signal communication with an electrical control part, wherein the first detection assembly 7B detects a state in which the cleaning part 100B is in the extended position by detecting a position of the connecting portion 413B, i.e., the first detection assembly 7B is configured to detect whether the cleaning part 100B is extended into 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 electrical 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 electrical control part controls the first drive part 43B to stop its operation, ie, the first drive part 43B no longer rotates in the first direction.

[0230] It should be noted that in this embodiment, the second gear 415B rotates the pivoting part 42B by the external force, so that the cleaning part 100B connected to the pivoting part 42B moves between the extended position and the retracted position. Therefore, in this embodiment, the first detection assembly 7B detects a state of the cleaning part in which this cleaning part is in the extended position or in the retracted position by detecting a position of the connecting portion 413B. In this embodiment, the first detection assembly 7B is configured as follows: The first detection assembly 7B includes a first transmitting part 71B and a first receiving part 72B for cooperating with the first transmitting part 71B.The first transmitting part 71B is arranged 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 arranged 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 causes the first gear 414B to rotate in the first direction, the gear portion 412B of the second gear 415B causes the connecting portion 413B to rotate in the second direction to drive the cleaning part 100B to move 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 electrical control part, so that the electrical control part controls the first driving part 43B to stop its operation. On the other hand, if the first receiving part 72B does not receive the first in-position signal transmitted from the first transmitting part 71B, this means that the cleaning part 100B is not in the extended position, and the first driving part 43B continues to operate in the first direction.It should be noted that in this embodiment, a photoelectric switch is preferably used to perform the in-position detection because it is more reliable than other continuation switches.

[0231] Reference is also made to Fig. 33. The cleaning mechanism further comprises a second detection assembly 8B that is in signal communication with 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, ie, 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 send a second in-position signal to the electrical control part, and the electrical control part controls the first drive part 43B based on this second in-position signal to stop its operation, ie, the first drive part 43B no longer rotates in the second direction.

[0232] In this embodiment, the second detection assembly 8B also detects a state of the cleaning part 100B in which this cleaning part is in the extended position or in the retracted position by detecting a position of the connecting portion 413B. In this embodiment, the second detection assembly 8B is configured as follows: The second detection assembly 8B includes a second transmitting part 81B and a second receiving part 82B for cooperating with the second transmitting part 81B. The second transmitting part 81B is arranged 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 arranged at the inner bottom wall of the base 1B or at the bottom of the connecting portion 413B.When the first drive part 43B causes the first gear 414B to rotate in the second direction, the drive 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 switched 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 at the bottom of the connecting portion 413B is rotated to the retracted position, the second transmitting part 81B sends 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 drive part 43B to stop its operation.On the other hand, if the second receiving part 82B cannot receive the second in-position signal transmitted from the second transmitting part 81B, this 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 to perform 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 pivoting part 42B.The first detection assembly 7B is configured to detect the position of the gear member 41B without detecting the position of the cleaning member. When it is detected that the gear member 41B has reached the predetermined position (i.e., the cleaning member has reached the extended position), the first drive member 43B stops its operation and no longer rotates. Since a torsion spring is provided between the pivoting member 42B and the gear member 41B, the torsion spring also causes the cleaning member to pivot outwards. The angle by which the cleaning member pivots varies depending on whether the cleaning member encounters an external obstacle or a wall, and on the magnitude of the force exerted on the torsion spring. During the movement of the cleaning member to the retracted position, the theoretical time required by the first drive member 43B to pivot the cleaning member inwards by A° is t1.In practice, however, there is a tolerance in the transmission of the first and second gears, so in the actual control of retraction, the actual time required for the motor to drive is t1+t2, and the cleaning part continues to retract within the time period 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 part 41B. Since the gear part and the pivoting part 42B are in a hard abutment relationship, the first drive part 43B continues to operate for a time period t2 when the second detection assembly detects that the cleaning part is in a retracted state, and at the end of the time period t2, the first drive part 43B stops rotating. (That is, the retracted position is detected first, after which the motor continues to rotate for the time period t2.)In this embodiment, t2 can be any second. For example, t2 can be selected from 0 to 10 seconds. The predetermined time period T3 can be, for example, 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 9 seconds, 10 seconds, etc.

[0233] See Fig. 24 and Fig. 29. In the present application, it is provided that the cleaning mechanism further comprises a first damping assembly 9B. The first damping 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. In particular, the first damping assembly 9B comprises a first damping part 91B arranged on the second drive assembly 5B, and the base 1B comprises a first abutment portion 13B. When the cleaning part 100B is in the retracted position, the first damping part 91B is in contact with the first abutment portion 13B, wherein a gap exists in the horizontal direction between the cleaning assembly 20 and the base 1B.It is also understood that when the cleaning part 100B is in the retracted position, only the first damping part 91B is in contact with the base 1B and all other parts are not in contact with the base 1B to prevent the cleaning mechanism from colliding with the base 1B.

[0234] The cleaning mechanism further includes a second damping assembly 10B. The second damping 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 damping assembly 10B includes a second damping member 101B disposed on the second drive assembly 5B, and the base 1B includes a second abutment portion 14B disposed on an inner wall. When the cleaning member 10B is in the extended position, the second damping member 101B is in contact with the second abutment portion 14B, leaving a gap in the horizontal direction between the cleaning assembly 20 and the inner wall of the base 1B.It should also be understood that when the cleaning part 100B is in the extended position, only the second damping part 101B is in contact with the inner wall of the base 1B, and all other parts 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.

[0235] Of course, based on feasibility, the structure of Embodiment 9 may be combined in whole or in part with any possible embodiment to meet various uses, and is not particularly limited herein.

[0236] In one embodiment, a lifting structure for driving the cleaning assembly 20 for raising and lowering comprises a connecting part and a drive assembly. The connecting part has a first end for connection to the cleaning assembly 20 and a second end for rotational connection to the device body 10. The drive assembly is connected to the connecting part and causes the connecting part to rotate about a rotation point of a second end on the device body 10 so that the cleaning assembly 20 is set in a lifting movement relative 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.

[0237] Optionally, if the cleaning part 91H is a mop, the mop has a floating displacement in the height direction. The cleaning state includes a first cleaning state and a second cleaning state in which the mop can be in contact with the surface to be cleaned. Upon rotation of the connecting part, the cleaning assembly 20 first transitions from the first cleaning state to the second cleaning state before transitioning 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 path of the first end of the connecting part is a circular arc.In other words, when the cleaning assembly 20 transitions from the first cleaning state to the second cleaning state, this cleaning assembly 20 also generates a lateral displacement during lifting 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 solving the shortcoming that hygienic dead areas along an edge cannot be cleaned.

[0238] Embodiment 10: This embodiment primarily presents a detailed embodiment of a side brush 400M. The side brush 400M includes at least one suction device 1000C. Continuing with the previous explanations, this embodiment differs from the other embodiments in that a suction device 1000C is also used in this embodiment.

[0239] As in Fig. 34, the cleaning device comprises a device body 10 and a suction device 1000C arranged on the device body 10, wherein the suction device 1000C is capable of brushing and sweeping garbage on a floor surface.

[0240] As in Fig. 35 and Fig. As shown in Fig. 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. The suction assembly 300C is disposed at the output end of the drive mechanism 200C, and the drive mechanism 200C can rotate the suction assembly 300C to sweep the garbage on the floor surface.

[0241] In the prior art, the suction assembly is always in contact with the floor surface during the cleaning robot's travel, which can easily lead to secondary contamination. To solve this problem, the drive mechanism 200C in this embodiment can also cause the suction assembly 300C to move upwards, allowing the suction assembly 300C to be lifted when not sweeping, keeping the suction assembly 300C away from the floor surface, thereby preventing secondary contamination and ensuring the cleaning effect of the suction device 1000C.

[0242] At the same time, the suction device 1000C further comprises an adjustment assembly 400C arranged on the device body 10, wherein the adjustment assembly 400C is deformable under the action of an external force so that the housing 100C pivots in a direction close to the device body 10, thereby damping the collision force between the suction device 1000C and an obstacle and extending the service life of the suction device 1000C.

[0243] The detailed structure of the 300C suction assembly is now shown in conjunction with the Fig. 37 to 40 described.

[0244] 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 another cleaning part.

[0245] The deformable hood 330C is connected to the drive mechanism 200C, and a receiving chamber 310C is provided on the deformable hood 330C, with the drive mechanism 200C partially located in the receiving chamber 310C. The at least two groups of bristles 320C are spaced apart from one another along the circumference of the deformable hood 330C, and the insert 340C is arranged between the bristles 320C and the deformable hood 330C to support the bristles 320C so that they can be in a spread state for brushing and sweeping the floor surface. The deformable hood 330C is deformed by the drive mechanism 200C so that the bristles 320C are lifted to a position away from the floor surface, thereby removing the bristles 320C from the floor surface for cleaning and thus preventing secondary contamination of the floor surface.

[0246] Optionally, the deformable hood 330C comprises at least two deformable parts 331C connected to each other at one end of these at least two deformable parts 331C, the other ends of the deformable parts 331C extending away from each other. A gap for deformation 332C is provided locally between the two adjacent deformable parts 331C, and the receiving chamber 310C is enclosed by the at least two deformable parts 331C, the inner diameter of the receiving chamber 310C gradually increasing along the direction near the bristles 320C. Sufficient space for deformation for the deformable hood 330C is ensured by adjusting the width of the gap for deformation 332C between the at least two deformable parts 331C.

[0247] Furthermore, the deformable part 331C is made of soft rubber to ensure that the deformable part 331C can be deformed more easily. Furthermore, the insert 340C is made of hard rubber. Using the insert 340C to secure the bristles 320C helps to ensure the position and cleaning effect of the bristles 320C.

[0248] The detailed structure of the adjustment assembly 400C is now shown in conjunction with the Fig. 36 described.

[0249] As in Fig. 36, the adjustment assembly 400C includes a fixed shaft 410C and an adjustment part 420C. The fixed shaft 410C is arranged on the device body 10, and the adjustment part 420C is rotatably mounted on the fixed shaft 410C. The adjustment part 420C includes a first end 421C and a second end 422C arranged at an angle. The first end 421C and the second end 422C respectively abut a part of the housing 100C and a part of the device body 10, and the housing 100C is capable of reducing the angle between the first end 421C and the second end 422C under the action of an external force.This adjustment 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 device body 10, so that the housing 100C is retracted and the collision force between the suction device 1000C and an obstacle is dampened, thereby extending the service life of the suction device 1000C. For example, the adjustment part 420C is a torsion spring, wherein the torsion spring is a conventional adjustment part 420C and has the advantage of low cost and easy procurement.

[0250] It should be understood that the adjustment assembly 400C is free in the normal state, and the first end 421C and the second end 422C are held at a first angle. The housing 100C protrudes beyond the outer peripheral contour of the device body 10, allowing the bristles 320C to be exposed outside the device body 10, and the bristles 320C of the suction assembly 300C can then cover the edges and corners of the walls to achieve a better cleaning effect. If the suction device 1000C encounters an obstacle such as a wall or the like during operation of the cleaning robot, the housing 100C can be retracted by the force of the adjustment part 420C.

[0251] It is further provided that, further with reference to Fig. 36, a sliding groove 110C is provided on the housing 100C, wherein the fixed shaft 410C is located in the sliding groove 110C, so that the fixed shaft 410C can slide in the sliding groove 110C when the housing 100C approaches the device body 10 under the action of an external force, whereby the housing 100C also moves translationally when pivoting, which contributes to an increase in a range of motion of the housing 100C and thus to an increase in its buffer effect on the collision force.

[0252] The detailed structure of the drive mechanism 200C is now described in conjunction with the Fig. 37 to 40 described.

[0253] As in Fig. 37 to 39, the drive mechanism 200C includes a drive member 210C and a gear assembly 220C. The drive member 210C is disposed on the housing 100C, the gear assembly 220C is disposed at the output end of the drive member 210C, and the deformable hood 330C of the suction assembly 300C is disposed at an end of the gear assembly 220C remote from the drive member 210C to rotate the suction assembly 300C to rotate the bristles 320C to thereby clean the floor surface.

[0254] It is further provided that the gear assembly 220C comprises a first gear 221C and a gear set 222C, as in Fig. 39. The first gear 221C is connected to the output end of the drive part 210C, the gear set 222 meshes with the first gear 221C, and the suction assembly 300C is mounted on the output end of the gear set 222C. The gear set 222C is designed such that the deformable hood 330C and the output end of the drive part 210C are offset from each other, which contributes to increasing the flexibility for the arrangement of the drive part 210C and the deformable hood 330C.

[0255] As in Fig. 39, the gear set 222C comprises a first gear shaft 2221C, a second gear 2222C, and a third gear 2223C. The first gear shaft 2221C is arranged on the housing 100C, the second gear 2222C is mounted on the first gear shaft 2221C, the second gear 2222C is engaged with the first gear 221C, and the third gear 2223C is mounted on the first gear shaft 2221C. This construction achieves a first displacement of the initial position of the drive part 210C. The gear set 222C further comprises 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 from the first gear shaft 2221C on the housing 100C, the fourth gear 2225C is mounted on the second gear shaft 2224C, and the fourth gear 2225C engages with the third gear 2223C to achieve a second displacement of the starting position of the drive part 210C.

[0256] The second gear shaft 2224C is movably disposed along its axial direction on the housing 100C, 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 drive part 210C is increased to avoid interference.

[0257] Optionally, the third gear 2223C or the fourth gear 2225C is a helical gear, and the width of the third gear 2223C is larger than the width of the fourth gear 2225C. When the third gear 2223C rotates, the fourth gear 2225C can perform a lifting or lowering movement according to the rotation mode of the third gear 2223C, which in turn drives the bristles 320C to perform a lifting or lowering movement to realize that the bristles 320C can be removed from the floor surface when they are out of service.

[0258] Furthermore, it is provided that the first gear 221C and the second gear 2222C are helical gears to increase the height difference during the reciprocating movement of the bristles 320C. The relative movement of the two groups of helical gears promotes the improvement of the efficiency of the reciprocating movement of the bristles 320C.

[0259] 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 limiting assembly 230C disposed on the gear assembly 220C and the suction assembly 300C, the limiting assembly 230C capable of limiting a range of movement of a part of the gear assembly 220C in the stroke direction.

[0260] As in Fig. 40, the second gear shaft 2224C can reciprocate along its axial direction to reciprocate the fourth gear 2225C in the stroke direction. To ensure the stability of the reciprocation of the second gear shaft 2224C, the housing 100C is provided with a first bearing 120C and a second bearing 130C. An upper end of the second gear shaft 2224C is guided by the first bearing 120C, and the second gear shaft 2224C is guided by the second bearing 130C. 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 improving the durability of the housing 100C and the second gear shaft 2224C.

[0261] In particular, the focus will continue to be on Fig. 40, the limiting assembly 230C comprises a connecting part 231C and a first limiting part 232C. The connecting part 231C is mounted 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 limiting part 232C is arranged in the receiving chamber 310C, wherein the first limiting part 232C is fastened to an end of the second gear shaft 2224C facing away from the drive part 210C, and wherein the second gear shaft 2224C is capable of causing the first limiting part 232C to raise or lower in order to remove the bristles 320C from the floor surface or to apply them to the floor surface. In this construction, the first limiting part 232C is used to separate the plurality of deformable parts 331C of the deformable hood 330C from each other, thereby lifting the bristles 320C.It is understood that the inner diameter of the receiving chamber 310C is circular, and that the first restricting member 232C has a round disc-shaped structure.

[0262] In the lifting direction, the connecting part 231C is located between the housing 100C and the first limiting part 232C, and the connecting part 231C can abut against the housing 100C and the first limiting part 232C, respectively, when it is raised or lowered to a limit position. The housing 100C and the first limiting part 232C are used to limit both ends of the connecting part 231C, thereby limiting the maximum extension of the raised or lowered connecting part 231C and thereby preventing the fourth gear 2225C from disengaging from the third gear 2223C.

[0263] Furthermore, it is provided that the second gear shaft 2224C is provided with a first limiting step 2224aC. Along the direction away from the first limiting part 232C, the diameter of the second gear shaft 2224 increases to form the first limiting step 2224aC, and the first limiting step 2224aC can abut the connecting part 231C, so that the first limiting step 2224aC is able to press the connecting part 231C downward when the second gear shaft 2224C moves downward to ensure that the bristles 320C can be brought into contact with the ground surface and to prevent slippage between the second gear shaft 2224C and the connecting part 231C.

[0264] 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 placed 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. Furthermore, the second gear shaft 2224C is provided with a limiting groove 2224cC, and the limiting assembly 230C further comprises a second limiting part 233C arranged on an end surface of the fourth gear 2225C facing away from the connecting part 231C, wherein the second limiting part 233C is arranged in the limiting groove 2224cC.By the cooperation of the second limiting part 233C with the second limiting step 2224bC, the displacement of the fourth gear 2225C in the stroke direction can be restricted in order to avoid slipping between the fourth gear 2225C and the second gear shaft 2224C.

[0265] The working process of the suction device 1000C is now combined with the Fig. 34 to 40 described.

[0266] As in Fig. 34 to 40, when the bristles 320C are to be used to clean the floor surface, the drive member 210C rotates forward, causing the second gear 2222C to move downward relative to the first gear 221C, while simultaneously causing the second gear shaft 2224C to lower, the fourth gear 2225C to move downward relative to the third gear 2223C, and the first limiting member 232C to lower, until the upper end surface of the connecting member 231C abuts the lower end surface of the housing 100C. At this point, the second gear shaft 2224C rotates to cause the deformable hood 330C and thus the bristles 320C to rotate.

[0267] When the bristles 320C are not to be used to clean the floor surface, the drive part 210C rotates backward, causing the second gear 2222C to move 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 limiting part 232C performs a lifting movement until the lower end surface of the connecting part 231C abuts the upper end surface of the first limiting part 232C. During the lifting movement of the first limiting part 232C, the outer peripheral contour of the first limiting part 232C causes the deformable parts 331C to gradually move away from each other and the deformation gap 332C to increase, which in turn leads to the lifting of the bristles 320C.

[0268] The suction device in this embodiment comprises a housing, a drive mechanism, a suction assembly, and an adjustment assembly. The drive mechanism and the adjustment assembly are arranged in the housing, and the suction assembly is arranged at the output end of the drive mechanism. The drive mechanism can drive the suction assembly for rotational and reciprocating movements, and the adjustment assembly is deformable under the action of an external force, so that the housing pivots in a direction close to the device body. The suction device can be raised and lowered so that the suction device can be removed from the floor surface when not in use, preventing secondary contamination and ensuring the cleaning effect of the suction device.At the same time, the suction device can also swing in a direction close to the device body under the action of an external force, thereby dampening the collision force between the suction device and an obstacle and extending the service life of the suction device.

[0269] Of course, based on feasibility, the structure of Embodiment 10 may be combined in whole or in part with any possible embodiment to achieve various uses, and is not specifically limited thereto herein.

[0270] 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 when cleaned by the cleaning device. This means that the cleaning is carried out in front by the side brush 400M in the pivoted-out position, and that the cleaning is carried out by the cleaning assembly 20 in the pivoted-out position behind the side brush 400M. Through the cooperation of the two, the cleaning effect of the edge cleaning by the cleaning device is further improved. In particular, in a cleaning scene in which an inner right angle exists between a first obstacle and a second obstacle (ieWhen a 90-degree angle is formed between two obstacles, the extended side brush 400M and the extended cleaning assembly 20 are more advantageous for cleaning the inner rectangular area. 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 the retracted position.

[0271] In another embodiment, the side brush 400M and the cleaning assembly 20 may be in the extended position or in the retracted position at the same time during cleaning by the cleaning device, or they may be in the extended position or in the retracted position at different times.

[0272] 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 in the extended position first and the other is in the extended position later. Or one of the cleaning assembly 20 and the side brush 400M is in the retracted position first and the other is in the retracted position later. Or one of the cleaning assembly 20 and the side brush 400M is in the retracted position first and the other is in the extended position later.In addition, it is intended that, depending on the actual need, it is selected whether the side brush 400M and the cleaning assembly 20 are in the extended or retracted position and in which order the extended or retracted position is assumed, which is not further limited here.

[0273] Embodiment 11: In Embodiment 11, a cleaning device comprising a second elastic member 400D and a pulling mechanism 100D is primarily presented. In this embodiment, the first drive structure 40M includes at least one drive assembly 310D, and the second drive structure 50M includes at least the second elastic member 400D and the pulling mechanism 100D.

[0274] Continuing from the foregoing explanations, this embodiment differs from the other embodiments in that the second elastic member 400D and the pulling mechanism 100D are further disclosed in this embodiment, and that a different cleaning assembly 20 and a different drive assembly 310D are used in this embodiment.

[0275] See Fig. 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 comprising a device body 10 and a cleaning module 300D rotatably mounted on the device body 10. The pulling mechanism 100D can pull the cleaning module 300D so that it rotates relative to the device body 10, which in turn causes the cleaning assembly 20 of the cleaning module 300D to pivot beyond the machine body to perform edge cleaning.

[0276] It will be Fig.46 to 50. In this embodiment, the cleaning device 200D comprises the pulling mechanism 100D, the device body 10, the cleaning module 300D, and the second elastic part 400D, wherein the pulling mechanism 100D, the cleaning module 300D, and the second elastic part 400D are arranged on the device body 10, and wherein the pulling mechanism 100D is connected to the cleaning module 300D. The cleaning module 300D includes the drive assembly 310D and the cleaning assembly 20, wherein the drive assembly 310D is connected to the cleaning assembly 20 to rotate the cleaning assembly 20.The drive assembly 310D is rotatably mounted on the device body 10 such that the cleaning assembly 20 has a home position and an edge position, wherein the edge position is a forward position in which at least a portion of the cleaning assembly 20 extends beyond the maximum width of the device body 10, as shown in FIG. Fig. 48. The second elastic member 400D is arranged between the device body 10 and the drive assembly 310D, and moves the cleaning assembly 20 toward the edge position with the aid of the drive assembly 310D. That is, the cleaning assembly 20 is always moved to the edge position by the return spring force of the second elastic member 400D. A pulling member 120D of the pulling mechanism 100D is connected at one end to the drive assembly 310D and thereby pulls the drive assembly 310D to rotate it, thereby moving the cleaning assembly 20 between the home position and the edge position while driving it.

[0277] The cleaning module 300D is formed by the cleaning assembly 20 and the drive assembly 310D. The first position includes at least the starting position, and the second position includes at least the edge position.

[0278] In this embodiment, the pulling mechanism 100D includes a base body 110D, a pulling member 120D, a tensioning structure 130D, and a retraction and extension assembly 140D. The pulling member 120D is disposed on the base body 110D, with one end of the pulling member 120D extending beyond the base body 110D to connect to the cleaning module 300D. The tensioning structure 130D is connected between two ends of the pulling member 120D and is used to tension the pulling member 120D. The retraction and extension assembly 140D is disposed on the base body 110D and is fixedly connected to the other end of the pulling member 120D. The retraction and extension assembly 140D is used to wind up 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 retracting and extending the traction part 120D by the retraction and extension assembly 140D, the cleaning module connected to the traction part 120D is rotated, causing the cleaning assembly to swing out to cover the area of ​​the machine body, thereby achieving edge cleaning, improving the cleaning effect of the cleaning device when wiping the floor surface along an edge, and solving the problem that the cleaning assembly cannot wipe the floor surface along an edge. Furthermore, the tension structure 130D is arranged between two ends of the traction part 120D and is always used to tension the traction part 120D.When the tension member 120D is unwound through the retraction and extension assembly 140D, an exposed portion of the tension member 120D in a tensioned state prevents the tension member 120D from hooking up to the other structures upon release, thereby ensuring proper function of the tension member 120D.

[0279] See Fig. 44 and Fig. 45. Fig. 44 shows a plan view of the pulling mechanism in this embodiment, and Fig. 45 shows a sectional view of the pulling mechanism along the line II of Fig. 44, wherein the base body 110D is provided with a guide section 111D. The tensioning structure 130D comprises a movable structure 131D and a tensioning part 132D. The movable structure 131D is movably arranged on the guide section 111D and thus moves along the guide section 111D, and is slidably connected between the two ends of the tensioning part 120D. The tensioning part 132D is connected to the movable structure 131D and is used to exert an effective force on the movable structure 131D so that the movable structure 131D tensions the tensioning part 120D. By slidingly connecting the movable structure 131D to the tensioning part 120D, a frictional force when retracting and extending the tensioned tensioning part 120D can be reduced.In addition, a movement of the movable structure 131D can be guided by the guide section 111D of the base body 110D in order to prevent any sliding movement of the movable structure 131D between the two ends of the tension part 120D when retracting and extending the tensioned tension part 120D.

[0280] In this embodiment, the tensioning part 132D is a first elastic part that is tensioned and connected between the base body 110D and the movable structure 131D. When the tensioning part 120D is wound up, the retraction and extension assembly 140D overcomes at least the tensile force (spring force) of the tensioning part 132D, causing the movable structure 131D to move along the guide section 111D in a direction opposite to the tensile force. When the tensioning part 120D is unwound, the movable structure 131D moves along the guide section 111D in the direction of the tensile force under the action of the tensile force by the tensioning part 132D, so that the released tensile part 120D is tensioned to prevent interference between the relaxed tensile part 120D and the other structures.

[0281] It should be noted that in other embodiments, the tensioning part 132D may be a counterweight so that it pulls the movable structure 131D in the direction of gravity, i.e., this guide section 111D is provided vertically, and the tensioning part 132D uses gravity to tension the tension part 120D in the vertical direction. When the tension part 120D is unwound, the retraction and extension assembly 140D overcomes at least the gravity of the counterweight, thereby pulling the movable structure 131D upward and moving along the guide section 111D. When the tension part 120D is unwound, the movable structure 131D moves downward along the guide section 111D under the action of gravity, thereby tensioning the tension part 120D. In other embodiments, the tensioning structure 130D may act as a counterweight to tension the tensile member 120D in the direction of gravity and may be located outside the base body 110D.

[0282] To achieve the sliding connection between the movable structure 131D and the tension member 120D, the movable structure 131D includes a movable member 133D and a first roller 134D. The movable member 133D is movably mounted on the guide portion 111D, and one end of the movable member 133D is connected to the tension member 132D. The first roller 134D is rotatably mounted on the other end of the movable member 133D and is slidably connected between the two ends of the tension member 120D. The first roller 134D can both tension the tension member 120D and reduce the frictional force when the tension member 120D is retracted and extended, thereby reducing the influence of the tensioning action of the tension member 132D on the retracted or extended tension member 120D. It should be understood that in other embodiments, the first roller 134D may be replaced by a rotary shaft that performs the same function.

[0283] Combined with Fig. 42, in this embodiment, the guide section 111D is a guide groove. This guide groove is provided with an escape section 112D on two opposite sides, one escape section 112D escapes a part of the tension part 120D arranged on one side of the movable structure 131D, and the other escape section 112D escapes a part of the tension part 120D arranged on the other side of the movable structure 131D. Provided that the movable structure 131D is guided by the guide groove, the escape section 112D prevents the frictional force between the side walls of the guide groove and the tension part 120D, which facilitates the retraction and extension of the tension part 120D. It is to be understood that in other embodiments, the guide portion 111D may be a rail, with the movable member 133D being placed on the rail and thus moving along the rail.

[0284] Furthermore, it is contemplated that the escape section 112D is an escape through-hole that passes through the side walls of the guide groove. A portion of the tensile member 120D can extend beyond the base body 110D through the escape through-hole without interference from the side walls of the guide groove. It should be understood that in other embodiments, the escape section 112D is an escape side groove that communicates with the guide groove, and a portion of the tensile member 120D can be arranged in the escape side groove without interference.

[0285] To further reduce the frictional force to which the pulling member 120D is subjected during retraction and extension, 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, located between the tensioning structure 130D and one end of the pulling member 120D, and slidably connected to the pulling member 120D. The third roller 160D is rotatably disposed on the base body 110D, located between the tensioning structure 130D and the other end of the pulling member 120D, and slidably connected to the pulling member 120D. Specifically, the second roller 150D is disposed on one side of the guide groove and, correspondingly, on the same side as the escape portion 112D. The third roller 160D is disposed on the other side of the guide groove and, correspondingly, on the same side as the escape portion 112D.In the winding direction of the tension member 120D, the tension member 120D first passes the second roller 150D, then the deflection section 112D on the same side and is slidably connected to the first roller 134D, then it passes the deflection section 112D on the other side and is finally slidably connected to the third roller 160D.

[0286] 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, wherein the first mounting portion 152D is formed with at least one group of locking grooves on one side of the guide groove, each group of locking grooves having two opposing locking grooves, and wherein both ends of the second roller 150D can be rotatably arranged in a group of locking grooves. The second mounting portion 162D is formed with at least one group of locking grooves on the other side of the guide groove, each group of locking grooves having two opposing locking grooves, and wherein both ends of the third roller 160D can be rotatably arranged in a group of locking grooves.The direction of extension of each locking groove corresponds to the direction of extension of the guide groove.

[0287] The retraction and extension assembly 140D includes a retraction and extension motor 142D and a retraction and extension round body 144D. The retraction and extension motor 142D is arranged on the base body 110D to rotate the retraction and extension round body 144D. The retraction and extension round body 144D is fixedly connected to a rotating shaft of the retraction and extension motor 142D and fixedly connected to the other end of the pulling part 120D to retract and extend the pulling part 120D.

[0288] In this embodiment, the retraction and extraction round body 144D is a rotary disk, and the retraction and extraction motor 142D is located outside the base body 110D. The rotary shaft of the motor 142D passes through the base body 110D and is thus firmly connected to the rotary disk. The retraction and extraction motor 142D is firmly connected to the base body 110D by means of screws. It should be understood that in other embodiments, the retraction and extraction round body 144D may be a retraction and extraction roller.

[0289] In this embodiment, the tension part 120D may be a tension cable, but is not limited to it, and may also be another flexible strip structure or flexible band structure. The tension part 132D may be a spring, but is not limited to it, and may also 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 opposing sliding portions and a connecting portion that connects the two sliding portions. One end of the tension part 132D is connected between the two sliding portions by a shaft body, and the first pulley 134D is rotatably arranged between the two sliding portions.

[0290] In the cleaning device 200D according to this embodiment, the pivoting of the cleaning assembly 20 is controlled by controlling the rotation of the drive assembly 310D via the pulling mechanism 100D and the second elastic member 400D. As shown in Fig. 48, the drive assembly 310D is released from the pulling part 120D when the pulling part 120D is unwound by the retraction and extension assembly 140D of the pulling mechanism 100D. Under the action of the second elastic part 400D, the cleaning assembly 20 moves to the edge position, wherein the cleaning assembly 20 can be swung out to cover the area of ​​the machine body and thereby achieve edge cleaning. In addition, the pulling part 120D is in the tensioned state under the action of the tensioning structure 130D. If the cleaning assembly 20 encounters an obstacle while wiping the floor surface along an edge, a buffer effect against a collision can be provided by the second elastic part 400D, so that the outwardly projecting cleaning assembly 20 can retract inward to protect the cleaning assembly 20.During this process, the tension member 120D relaxes, but due to the tensioning action of the tensioning structure 130D, the tension member 120D remains in a tensioned state, thereby avoiding abnormalities such as the relaxing tension member 120D becoming caught on other structures. When the cleaning assembly 20 clears the obstacle, the cleaning assembly 20 quickly moves to the edge position under the action of the return spring force of the second elastic member 400D to continue wiping the floor surface along an edge. As shown in FIG. Fig. 49, when the pulling member 120D is wound up by the retracting and extending assembly 140D of the pulling mechanism 100D, the pulling member 120D pulls the drive assembly 310D inward to rotate, and the cleaning assembly 20 moves to the home position.

[0291] It should be noted that when the pulling mechanism 100D releases the drive assembly 310D, the return spring force of the second elastic part 400D is greater than the sum of the action force of the tensioning part 132D (the first elastic part) and the frictional force exerted by the floor surface on the cleaning assembly 20, so that the cleaning assembly 20 can be moved to the edge position. When the pulling mechanism 100D pulls the drive assembly 310D, a pulling force exerted by the pulling part 120D on the drive assembly 310D is greater than the sum of the return spring force of the second elastic part 400D and the frictional force exerted by the floor surface on the cleaning assembly 20, so that the cleaning assembly 20 can rotate inward to the home position and is held in the home position.

[0292] It should be noted that the number of cleaning modules 300D of the cleaning device 200D can be adjusted according to the actual situation. For example, in the cleaning device 200D, one or two cleaning modules 300D may be provided, and accordingly, the pulling mechanism 100D and the second elastic member 400D are provided so that the cleaning assembly 20 of the at least one cleaning module 300D is pivotable. As another example, in the cleaning device 200D, more than three cleaning modules 300D may be provided, and the number of pivotable cleaning modules 300D of the cleaning assembly 20 can be provided according to actual needs.The pulling mechanism 100D is provided corresponding to the drive assembly 310D, and an escape hole 211D is formed at the bottom of the device body 10. The escape hole 211D is capable of avoiding movement of the cleaning assembly 20 between the edge position and the home position. In this embodiment, the escape hole 211D defines two limit positions of the cleaning assembly 20, namely the edge position and the home position. However, in other embodiments, the edge position and / or the home position may be located between the two limit positions.

[0293] See Fig. 51. Fig. 51 shows a block diagram of modules of the cleaning device in this embodiment, wherein the cleaning device 200D further includes a detector 220D and a controller 230D. The detector 220D is arranged on the device body 10 to detect the position of the drive assembly 310D. The controller 230D is arranged on the device body 10 and is electrically connected to the detector 220D and the pulling mechanism 100D, respectively. The controller 230D is used to control the pulling mechanism 100D depending on the position detected by the detector 220D. The detector 220D can detect the position of the drive assembly 310D.When the pulling mechanism 100D drives the cleaning assembly 20 to protrude outward into position (the edge position) or retract inward into position (the home position), the control device 230D controls the pulling mechanism 100D to stop to avoid jamming, which would affect the service life of the pulling mechanism 100D.

[0294] Furthermore, the cleaning device 200D further comprises a main board (not shown), and the control device 230D is arranged on the main board so that it is mounted on the device body 10 via this main board. Furthermore, further electronic elements are provided on the main board to implement the various functions of the cleaning device 200D.

[0295] In this embodiment, the detector 220D may be, but is not limited to, a microswitch (tact switch) provided with a deformable elastic element, wherein contact of the deformable elastic element with the drive assembly 310D turns the microswitch on to detect the position of the drive assembly 310D. For this purpose, two microswitches are provided, each arranged corresponding to the drive assembly 310D in the home position and the edge position, respectively. When the cleaning assembly 20 moves to the edge position, an elastic element of the outer microswitch is contracted under pressure and thereby turned on, thereby detecting that the drive 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 element of the inner microswitch is contracted under pressure and thereby switched on, thereby detecting that the drive 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, the detector 220D may be a Hall effect sensor or an infrared sensor, where the Hall effect sensor uses a microswitch to detect ferrous metal within the drive assembly 310D at various positions and thus sense that it has reached position. The infrared sensor may detect the position of the cleaning assembly 20 located below it using the cliff detection principle of a downward-facing sensor.

[0296] In this embodiment, the cleaning device 200D has various operating states, which may include, by way of example but not limitation, the following two operating states: See 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 so that the pulling part 120D is unwound. At this time, the drive assembly 310D rotates outward under the action of the return spring force of the second elastic part 400D, and the cleaning assembly 20 moves from the home position to the edge position, with at least a part of the cleaning assembly 20 projecting forward beyond the maximum width of the device body 10 (i.e., the machine body), i.e., the cleaning assembly 20 projects beyond a reference line L to cover the area of ​​the machine body, thereby achieving edge cleaning and improving the cleaning effect of the cleaning device 200D when wiping the floor surface along an edge. See Fig. 49. When the cleaning device 200D has completed edge cleaning and returns to a normal operating state (i.e., a non-edge cleaning mode), the control device 230D controls the pulling mechanism 100D to operate to wind up the pulling member 120D. At this time, the drive assembly 310D is pulled to rotate inward to move the cleaning assembly 20 from the edge position to the home position, wherein the cleaning assembly 20 does not protrude beyond the maximum width of the device body 10 (i.e., the machine body) in the forward direction, i.e., the cleaning assembly 20 is located within the reference line L.

[0297] See Fig. 42 to 45. To facilitate the assembly of the pulling mechanism 100D, the base body 110D of the pulling mechanism 100D comprises a main structure 113D and a mounting structure 114D, wherein the mounting structure 114D is connected between the two ends of the main structure 113D, and wherein the mounting structure 114D is arranged on the device body 10 so that the pulling mechanism 100D is arranged on the device body 10. It is provided that the main structure 113D is provided with a first inner chamber 115D and the pulling part 120D is located in the inner chamber 115D, and that one end of the pulling part 120D protrudes from one end of the main structure 113D, and the retraction and extension assembly 140D is connected to the other end of the main structure 113D. The mounting structure 114D is provided with a second inner chamber 116D, wherein the second inner chamber 116D is in communication with the first inner chamber 115D, and wherein the clamping structure 130D is located in the second inner chamber 116D.Furthermore, a guide groove is arranged in the second inner chamber 116D.

[0298] Furthermore, this main structure 113D is provided with a connecting body 117D and a cover 118D, wherein the connecting body 117D is connected to the mounting structure 114D, and the cover 118D is 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 wire, and the pulling part 120D is arranged in the groove 119D for the wire. The groove 119D for the wire can reduce the frictional force when pulling in and out the pulling part 120D and, at the same time, prevent a situation in which the pulling part 120D becomes entangled by other structures.

[0299] In this embodiment, the main structure 113D is recessed toward one side of the drive assembly 310D to accommodate the drive assembly 310D when the cleaning assembly 20 is in the home position, thereby reducing the spatial distance between the pulling mechanism 100D and the drive assembly 310D and thus utilizing the space of the device body 10 while shortening the length of the exposed pulling part 120D.

[0300] See Fig. 52 to 54. Fig. 52 shows an enlarged view in area A of the cleaning device according to this embodiment, Fig. 53 shows a structural schematic diagram of a cleaning module of the cleaning device according to this embodiment, and Fig. 54 shows an exploded view of the cleaning module from Fig. 53, wherein the second elastic member 400D is a torsion spring and is disposed at the rotational connection between the device body 10 and the drive assembly 310D. One torsion arm of the second elastic member 400D abuts the device body 10, and the other torsion arm abuts the drive assembly 310D. Since the second elastic member 400D is a torsion spring, it causes the drive assembly 310D to be in a contracted state relative to the device 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 part 400D is, but is not limited to, a tension spring, and is connected at one end to the inner peripheral surface of the device body 10 and at the other end to the outer side surface of the drive assembly 310D, with the outer side surface of the drive assembly 310D facing the inner peripheral surface of the device body 10. Since the tension spring is tensioned between the two, the cleaning assembly 20 can also be kept in a tendency to move toward the edge position. The second elastic part 400D can further be an elastic column structure, an elastic rod structure, or an elastic strip structure that combines both structural strength and elasticity.

[0301] Combined with 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, wherein the first mounting groove 213D is provided around the first pivot portion 212D and the first torsion arm groove 214D is 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), wherein 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 part 400D is arranged in the first mounting groove 213D, and the other end of the second elastic part 400D is arranged 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 in the tendency to move to the edge position.

[0302] Furthermore, it is provided that a pivot bearing 314D is fastened between the first pivot section 212D and the second pivot section 312D, by means of which a strength of the connection between the first pivot section 212D and the second pivot section 312D can be ensured and which ensures good rotational behavior between the first pivot section 212D and the second pivot section 312D.

[0303] In this embodiment, the first pivot portion 212D is a pivot axis and the second pivot portion 312D is a pivot bore, ie, 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.

[0304] In this embodiment, the drive assembly 310D includes a housing 330D, a drive motor 340D, and a gear mechanism 350D. The drive motor 340D and the gear mechanism 350D are disposed in the housing 330D. The rotating 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. The rotation center of the drive assembly 310D is located on the central axis of the drive motor 340D, which reduces vibration during rotation of the drive assembly 310D and noise, while allowing the cleaning assembly 20 to better perform a revolution during self-rotation. Furthermore, the housing 330D can protect the drive motor 340D and the gear mechanism 350D to ensure water and dust resistance.It should be noted that in other embodiments, the drive motor 340D may be located outside the housing 330D and connected to the input end of the gear mechanism 350D within the housing 330D.

[0305] Furthermore, it is contemplated that the drive assembly 310D further comprises a connecting structure 360D, wherein the connecting structure 360D is arranged in the housing 330D, and wherein one end of the connecting structure 360D is connected to the output end of the gear mechanism 350D and the other end of the connecting structure 360D is connected to the cleaning assembly 20. During operation, the rotary shaft of the drive motor 340D rotates and outputs a torque that is transmitted via the gear mechanism 350D to the connecting structure 360D, so that in turn the connecting structure 360D rotates and the cleaning assembly 20 is set in rotation. It should be understood that in other embodiments, the cleaning assembly 20 may be directly connected to the output end of the gear mechanism 350D without being connected via the connecting structure 360D.

[0306] Furthermore, the housing 330D includes a lower housing part 331D, a middle housing part 332D, and an upper housing part 333D. The middle housing part 332D is covered over the lower housing part 331D, and the drive motor 340D and the connecting structure 360D are arranged between the lower housing part 331D and the middle housing part 332D, with the rotary shaft of the drive motor 340D passing through the middle housing part 332D. The upper housing part 333D is covered over the middle housing part 332D, and the gear mechanism 350D is arranged between the middle housing part 332D and the upper housing part 333D, wherein the input end of the gear mechanism 350D is connected to the rotary shaft of the drive motor 340D and the output end of the gear mechanism 350D is connected to the connecting structure 360D via the middle housing part 332D.The cleaning assembly 20 is connected to the connecting structure 360D via the lower housing part 331D. The housing 330D is constructed in layers so that various structures can be accommodated, thus enabling rational space allocation, compact arrangement, and volume reduction.

[0307] Furthermore, it is contemplated that the gear mechanism 350D is a gear transmission mechanism with a plurality of sequentially meshing gears. In other embodiments, the housing 330D may have a two-layer structure, with only the gear mechanism 350D being arranged within the housing 330D, and the gear mechanism 350D may also be a pulley transmission mechanism.

[0308] Furthermore, the cleaning assembly 20 is provided with a connecting shaft 322D, a cleaning disc 324D, and a cleaning part 326D. One end of the connecting shaft 322D projects into the lower housing 331D, so that it is fixedly connected to the connecting structure 360D. The other end of the connecting shaft 322D is fixedly connected to the cleaning disc 324D. The cleaning part 326D is arranged on a side of the cleaning disc 324D facing away from the connecting shaft 322D. The cleaning part 326D can be, but is not limited to, a mop.

[0309] In this embodiment, the second pivot portion 312D and the second mounting groove 313D are arranged in the lower housing 331D and are constructed as a single piece. The upper housing 333D is provided with a shaft connection recess 334D, and a shaft connection bearing 335D is arranged in the shaft connection recess 334D for shaft connection. A pivot groove of the upper housing 333D, the input end of the gear mechanism 350D, the rotating shaft of the drive motor 340D, the second pivot portion 312D of the lower housing 331D, and the first pivot portion 212D of the device body 10 are all coaxially arranged 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 coaxially arranged and have the same central axis (rotation center).

[0310] The technical solution according to this embodiment has the following advantages: When the pulling mechanism is used to pull the cleaning module of the cleaning device, the retraction and extension of the pulling part by the retraction and extension assembly causes the cleaning module connected to the pulling part to rotate, 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 robot when wiping the floor surface along an edge, and solving the problem that the cleaning assembly cannot wipe the floor surface along an edge. In addition, the tension structure is arranged between two ends of the pulling part and is always used to tension the pulling part.When the tension member is unwound through the retraction and extension assembly, the tension member is in a tensioned state due to the exposed part, which prevents the tension member from hooking onto the other structures when relaxing to ensure the proper function of the tension member.

[0311] Of course, 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 meet various uses, and it is not particularly limited herein.

[0312] Embodiment 12: This embodiment primarily presents a further detailed embodiment of a second drive structure 50M for driving for pivoting. In this embodiment, the first drive structure 40M comprises at least one drive module 210E, and the second drive structure 50M comprises at least one connecting part 300E and one gear part 400E.

[0313] Continuing from the previous explanations, this embodiment differs from the other embodiments in that in this embodiment the drive module 210E, the connecting part 300E and the gear part 400E are further disclosed, and in that a different drive assembly 620E is used in this embodiment.

[0314] As in Fig. As shown in Figures 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. The cleaning mechanism 100E and the drive assembly 620E are arranged on the device body 10, and the drive assembly 620E is connected to the cleaning mechanism 100E.

[0315] As in Fig. 55 and Fig. 56, the cleaning mechanism 100E in this embodiment includes a cleaning module 200E, a connecting part 300E, and a gear part 400E, wherein the connecting part 300E is connected to the cleaning module 200E and the gear part 400E, respectively. The cleaning module 200E includes a drive module 210E and the cleaning assembly 20, wherein the drive module 210E is connected to the cleaning assembly 20 to rotate the cleaning assembly 20, so that the cleaning assembly 20 has a rotation axis L1. The connecting part 300E is connected to the drive module 210E and the gear part 400E, respectively. The gear part 400E is rotatably connected to the drive module 210E and rotatable about a rotation axis L2, so that the drive module 210E is set in rotation about the rotation axis L2 by the connection to the connecting part 300E, wherein the rotation axis L2 runs parallel to the rotation axis L1.

[0316] In the cleaning mechanism 100E according to this embodiment, the connecting part 300E and the gear part 400E are added, wherein the gear part 400E is rotatably connected to the drive module 210E of the cleaning module 200E, and the connecting part 300E is connected between the drive module 210E and the gear part 400E. Since the gear part 400E is rotatable about the rotation axis L2, the connecting part 300E is set in motion during the rotation of the gear part 400E, so that the drive module 210E is set in rotation about the rotation axis L2, which can lead to eccentric rotation of the cleaning assembly 20 of the cleaning module 200E about the rotation axis L2. When used in the cleaning device, the pivoting of the cleaning assembly 20 is controlled by controlling the rotation of the gear part 400E, that is, 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 part is swung out to cover the area of ​​the machine body, thereby achieving edge cleaning, improving the cleaning effect of the cleaning device when wiping the floor surface along an edge, and solving the problem that the cleaning assembly 20 cannot wipe the floor surface along an edge. The first position includes at least the home position, and the second position includes at least the edge position.

[0317] In this embodiment, the gear part 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 one end of the rotating part 240E is rotatably arranged 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 rotating 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 transmission part 400E with the rotating part 240E, the strength of the connection and the rotation stability of the transmission part 400E can be improved.It should be understood that in other embodiments, the rotating part 240E in the drive module 210E may be omitted and the number of parts reduced, wherein the second end 420E of the gear part 400E is pivotally connected directly to a side of the drive body 230E (of 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.

[0318] To achieve a firm connection between the second end 420E of the gear part 400E and the rotary part 240E, the second end 420E is provided with a screw pin 422E, and the rotary 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. 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. At this time, the number of screw pins 422E at the second end 420Ec can be adjusted according to actual needs. In this embodiment, the number of screw pins 422E may be two, but is not limited thereto, and the number of mounting grooves is adjusted 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 can also be made by other screw connections or by snap connections.

[0319] See Fig. 57 to 59. Fig. 57 shows a plan view of a cleaning mechanism according to this embodiment, Fig. 58 shows a sectional view of the cleaning mechanism along the line II of Fig. 57, and Fig. 59 shows an exploded view of the cleaning mechanism according to this embodiment, wherein the drive body 230E is provided with a first shaft connecting portion 232E at one side and the rotating part 240E is provided with a second shaft connecting portion 242E at one end, and wherein the second shaft connecting portion 242E and the first shaft connecting portion 232E fit together by an axial plug-in connection.

[0320] The drive module 210E further includes a first bearing 212E, wherein the first bearing 212E is fixedly connected between the first shaft connecting portion 232E and the second shaft connecting 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 arranged relative to the first shaft connecting portion 232E to provide good rotational performance to the rotating part 240E. Furthermore, this first bearing 212E ensures a strong connection between the first shaft connecting portion 232E and the second shaft connecting portion 242E without impairing rotation. It should be noted that in other embodiments, the rotating part 240E may not be connected to the drive body 230E by the bearing.For example, the first shaft connecting portion 232E of the drive body 230E is a shaft body, wherein an annular locking groove may be provided on an outer peripheral surface of one end of the shaft body, and the second shaft connecting portion 242E of the rotary member 240E is a bushing, wherein an annular locking element may be provided on an inner peripheral surface of one end of the bushing, and wherein the annular locking element is inserted into the annular locking groove and the annular locking element is rotatable relative to the annular locking groove. The rotary member 240E is rotatably connected to the drive body 230E.

[0321] To improve the coaxiality of the axial connection between the first shaft connecting portion 232E and the second shaft connecting portion 242E, the rotational accuracy of the gear part 400E is increased. The drive body 230E is further provided on one side with a first attachment portion 234E, wherein the first attachment portion 234E is arranged coaxially around the first shaft connecting portion 232E. The rotary part 240E is further provided at one end with a second attachment portion 244E, wherein the second attachment portion 244E is arranged coaxially around the second shaft connecting portion 242E, wherein the second attachment portion 244E and the first attachment portion 234E fit together by an axial plug-in connection. It is obvious that the coaxiality is better maintained when the first attachment portion 234E fits the second attachment portion 244E.To reduce rotational friction, the mating surfaces of the first attachment section 234E and the second attachment section 244E are smooth and can be coated with a lubricating oil.

[0322] 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 cap portion 244E is an annular groove. It should be understood that in other embodiments, the first shaft connecting 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.

[0323] To establish a rotational connection between the drive module 210E and the external structure, it is rotatable about the rotation axis L2. The rotating part 240E is provided at its other end with a third shaft connection section 246E, wherein the third shaft connection section 246E is arranged coaxially with and spaced from the second shaft connection section 242E. The drive module 210E further comprises a second bearing 214E, wherein the second bearing 214E is fixedly connected to the third shaft connection section 246E.In other words, the third shaft connecting portion 246E may be axially fixedly connected to a shaft connecting portion of the external structure by the second bearing 214E, which improves a rotational behavior of the drive module 210E and at the same time ensures the strength of the connection between the third shaft connecting portion 246E and the shaft connecting portion of the external structure, which may be the device body of the cleaning device, a chassis, or other structures.

[0324] 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, with the outer surface of the second bearing 214E being fixedly connected to the wall of the shaft hole. It is obvious 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 being fitted onto the third shaft connecting portion 246E. Alternatively, the third shaft connecting portion 246E and the shaft connecting portion of the outer structure may mate with each other by a direct axial push-fit connection, without the need for the second bearing 214E.

[0325] To establish 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 pivot portion 412E, and the other side of the drive body 230E is provided with a second pivot portion 236E. The second pivot portion 236E and the first pivot portion 412E fit together by an axial plug-in connection. The cleaning mechanism 100E further includes a third bearing 500E, wherein the third bearing 500E is 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 able to provide the gear part 400E with good rotational behavior and to ensure the strength of the connection between the first pivot section 412E and the second pivot section 236E.

[0326] In this embodiment, the first shaft connecting portion 412E is a shaft hole and the second shaft connecting portion 236E is a shaft body, with the outer surface of the third bearing 500E being fixedly connected to the wall of the shaft hole. It should be understood that in other embodiments, the first shaft connecting portion 412E is a shaft body and the second shaft connecting portion 236E is a shaft hole, with the second bearing 214E being fitted onto the first shaft connecting portion 412E. Alternatively, the first shaft connecting portion 412E and the second shaft connecting portion 236E may mate with each other by a direct axial push-fit connection, without the need for the third bearing 500E.

[0327] To establish a rotational connection between the gear part 400E and the outer structure, it is rotatable about the rotation axis L2. The first end 410E of the gear part 400E is provided with a third pivot section 414E, wherein the third pivot section 414E is arranged coaxially with and spaced from the second pivot section 236E. The third pivot section 414E and a pivot section of the outer structure fit together by an axial plug-in connection, wherein the outer structure can be the device body of the cleaning device, a chassis, or other structures.

[0328] 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 is obvious 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. Alternatively, it is contemplated that the third pivot portion 414E and the pivot portion of the outer structure may be axially connected via a bearing to improve the strength of the axial connection and the rotational behavior.

[0329] In this embodiment, the drive body 230E includes a housing 250E, a first motor 260E, a gear mechanism 270E, and a link structure 280E. The first motor 260E, the gear mechanism 270E, and the link structure 280E are all disposed within the housing 250E. The rotating 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 link structure 280E, and the cleaning assembly 20 is connected to the other end of the link structure 280E. During operation, the rotating shaft of the first motor 260E rotates and outputs torque, which is transmitted to the link structure 280E via the gear mechanism 270E, in turn rotating the link structure 280E and causing the cleaning assembly 20 to rotate.It should be noted that in other embodiments, the first motor 260E may be disposed outside the housing 250E to connect to the input end of the gear mechanism 270E within the housing 250E, wherein the output end of the gear mechanism 270E may be directly connected to the cleaning assembly 20.

[0330] Furthermore, the housing 250E comprises a lower housing part 252E, a middle housing part 254E, and an upper housing part 256E. The middle housing part 254E is covered over the lower housing part 252E, and the first motor 260E and the connecting structure 280E are arranged between the lower housing part 252E and the middle housing part 254E, with the rotating shaft of the first motor 260E passing through the middle housing part 254E. The upper housing part 256E is covered over the middle housing part 254E, and the gear mechanism 270E is arranged between the middle housing part 254E and the upper housing part 256E. The gear mechanism 270E is a gear transmission mechanism with a plurality of intermeshing gears.In other embodiments, the housing 250E may be constructed in two layers, with only the gear mechanism 270E being arranged within the housing 250E, wherein the gear mechanism 270E may also be a pulley gear mechanism.

[0331] Furthermore, the cleaning assembly 20 is provided with a connecting shaft 222E, a cleaning disc 224E, and a cleaning part 226E. One end of the connecting shaft 222E projects into the lower housing 252E, so that it is firmly connected to the connecting structure 280E. The other end of the connecting shaft 222E is firmly connected to the cleaning disc 224E. The cleaning part 226E is arranged on a side of the cleaning disc 224E facing away from the connecting shaft 222E. In this embodiment, the first shaft connecting section 232E and the first attachment section 234E are arranged in the lower housing 252E and are constructed as a single piece. The second pivoting section 236E is arranged in the upper housing part 256E and is constructed as a single piece.The third pivot section 414E and the first pivot section 412E of the gear part 400E, the second pivot section 236E of the upper housing part 256E, the input end of the gear mechanism 270E, the rotating shaft of the first motor 260E, the first pivot section 232E of the lower housing part 252E, and the second pivot section 242E and the third pivot section 246E of the rotating part 240E are all arranged coaxially with the same central axis (rotation center), that is, the rotation axis L2. Since the central axis of the first motor 260E is located on the rotation axis L2, vibration during the rotation of the drive module 210E and noise can be reduced, while the cleaning assembly 20 can better perform a revolution during 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 coaxial with the same central axis (center of rotation), iethe rotation axis L1.

[0332] The connecting part 300E is an elastic part. When the cleaning assembly 20 encounters an obstacle while wiping the floor surface along an edge, the outwardly projecting cleaning assembly 20 can be retracted inward to its original position, with the connecting part 300E being compressed under pressure. When the cleaning assembly 20 clears the obstacle, the cleaning assembly 20 returns to the edge position under the tension of the connecting part 300E to continue wiping the floor surface along the edge. Thus, the connecting part 300E can cushion the cleaning assembly 20 from collisions with obstacles, serve to protect the cleaning assembly 20, and maintain the tendency of the cleaning assembly 20 to return to the edge position to complete edge cleaning.

[0333] In this embodiment, the connecting part 300E may be, but is not limited to, a spring, with one end of the spring being placed on a hook on one side of the housing 250E to connect to the drive module 210E. Furthermore, the other end of the spring is placed 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 part 300E may further be an elastic column structure or an elastic rod structure that combines both structural strength and elasticity. To put it mildly, the connecting part 300E may also be a connecting rod, which may also serve to connect the gear part 400E and the drive module 210E.The connecting part 300E can also be a torsion spring arranged on the pivoting structure of the transmission part 400E and the drive module 210E, and resting at one end on the transmission part 400E and at the other end on the drive module 210E, so that the transmission part 400E is in a contracted state relative to the drive module 210E. The connecting part 300E can also be a tension spring arranged on the pivoting structure of the transmission part 400E and the drive module 210E, and connected at one end to the transmission part 400E and at the other end to the drive module 210E, so that the transmission part 400E can set the drive module 210E in motion.

[0334] In this embodiment, the outer side surface of the gear part 400E is provided with a gear toothing 430E, wherein the gear toothing 430E serves to transmit force to cause the gear part 400E to rotate. The drive structure for transmitting force can be a gear drive structure, a worm gear-worm shaft drive structure, a pulley drive structure, or another drive structure. It should be noted that in other embodiments, the gear toothing 430E can be replaced by a connecting rod or a rocker, and that the drive structure for transmitting force can be a connecting rod drive structure.

[0335] The specific structure of the cleaning mechanism 100E can be gathered 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-mentioned embodiments, and a repeated description is omitted here. The drive assembly 620E is connected to the gear part 400E of the cleaning mechanism 100E. The drive assembly 620E serves to drive the gear part 400E to rotate the drive module 210E, so that the cleaning assembly 20 moves between the home position and the edge position, wherein the edge position is a position in the forward direction in which at least a portion of the cleaning assembly 20 protrudes beyond the maximum width of the device body 10.

[0336] Combined with Fig. 60 and Fig. 61, the cleaning assembly 20 is in the home position when the cleaning device 600E is in a normal operating state (i.e., a non-edge cleaning mode), wherein the cleaning assembly 20 does not protrude beyond the maximum width of the device body 10 in the forward direction, i.e., the cleaning assembly 20 is located within the reference line L3. See Fig. 62 and Fig. 63. When it is detected that the cleaning device is in an edge cleaning state (ie, an edge cleaning mode), the gear part 400E is rotated by the drive assembly 620E, whereby the cleaning assembly 20 is moved to the edge position, wherein 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 L3 to cover the area of ​​the machine body, thereby achieving edge cleaning and improving the cleaning effect of the cleaning device when wiping the floor surface along an edge.

[0337] It should be noted that the number of cleaning mechanisms 100E of the cleaning device 600E can be adjusted according to actual needs, that is, the cleaning device 600E can be equipped with one cleaning mechanism 100E, two cleaning mechanisms 100E or multiple cleaning mechanisms 100E.

[0338] In this embodiment, the device body 10 is provided with a mounting chamber 612E, wherein the cleaning mechanism 100E can be inserted into the mounting chamber 612E from the bottom of the housing 10. Furthermore, the mounting chamber 612E is provided with shaft bodies on the top and bottom, wherein the shaft body on the top is rotatably connected to the third pivot portion 414E of the gear part 400E, and the shaft body on the bottom is fixedly connected to the second bearing 214E of the drive module 210E. The drive assembly 620E is also arranged in the mounting chamber 612E.

[0339] In this embodiment, the drive assembly 620E includes a second motor 622E and a drive gear 624E disposed on a rotating shaft of the second motor 622E. The drive gear 624E and the gear teeth 430E of the gear member 400E cooperate with each other to rotate the gear member 400E. It should be understood that in other embodiments, the drive assembly 620E may be a worm gear and worm shaft drive structure, a pulley drive structure, and a sprocket drive structure.

[0340] See Fig. 64. Fig. 64 shows a block diagram of modules of the cleaning device in this embodiment, wherein the cleaning device 600E further includes a detector 630E and a controller 640E. The detector 630E is arranged on the device body 10 to detect the position of the gear part 400E. The controller 640E is arranged on the device body 10 and is electrically connected to the detector 630E and the drive assembly 620E, respectively. The controller 640E is used to control the drive assembly 620E depending on the position detected by the detector 630E. The detector 630E can detect the position of the gear part 400E. When the gear member 400E projects outward into position or retracts inward into position, the control device 640E commands the second motor 622E of the drive assembly 620E to stop to avoid jamming, which would affect the service life.The detector 630E may in particular be a Hall sensor or an infrared sensor.

[0341] Furthermore, it is provided that the gear part 400E is provided with a limiting section 440E, wherein the limiting section 440E can cooperate with the drive assembly 620E and can be used to limit the rotation of the gear part 400E. The limiting section 440E can further limit the rotation of the gear part 400E to ensure that the cleaning assembly 20 pivots to the maximum position, i.e., the edge position, when the gear part is interfered with by the drive assembly 620E.

[0342] The technical solution according to this embodiment has the following advantages: Here, the connecting part 300E and the gear part 400E are added, wherein the gear part 400E is rotationally connected to the drive module 210E of the cleaning module 200E, and the connecting part 300E is connected between the drive module 210E and the gear part 400E. Since the gear part 400E is rotatable about the rotation axis, the connecting part 300E is set in motion during the rotation of the gear part, so that the drive module 210E is set in rotation about the rotation axis, which can lead to an eccentric rotation of the cleaning assembly 20 of the cleaning module 200E about the rotation axis. When used in the cleaning device, the pivoting of the cleaning assembly 20 is controlled by controlling the rotation of the gear part 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 area 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.

[0343] Of course, 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 meet various uses, and it is not further limited herein.

[0344] Embodiment 13: In the embodiment, a cleaning device comprising an elastic member 300F and a connecting rod drive mechanism 400F is primarily presented. In this embodiment, the first drive structure 40M includes at least one drive module 210F, the second drive structure 50M includes at least the elastic member 300F and the connecting rod drive mechanism 400F, and the in-position detection structure includes at least one detector 120F.

[0345] Continuing from the foregoing explanations, this embodiment differs from the other embodiments in that the elastic member 300F and the connecting rod drive mechanism 400F are further disclosed in this embodiment, and that a different cleaning assembly 20 and a different drive module 210F are used in this embodiment.

[0346] As in Fig. 65 to 68, in this embodiment, a cleaning device is provided, wherein the cleaning device 100F comprises a device body 10, a cleaning module 200F, an elastic part 300F, and a connecting rod drive mechanism 400F. The cleaning module 200F comprises a drive module 210F and the cleaning assembly 20, wherein the drive module 210F is connected to the cleaning assembly 20 to rotate the cleaning assembly 20. The drive module 210F is rotatably arranged on the device body 10 such that the cleaning assembly 20 has a home position and an edge position, wherein the edge position is 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, as shown in Fig. 67. The elastic part 300F is arranged between the device body 10 and the drive module 210F and moves the cleaning assembly 20 toward the edge position with the help of the drive module 210F, that is, the cleaning assembly 20 is always moved to the edge position by the return spring force of the elastic part 300F. The connecting rod drive mechanism 400F is arranged on the device body 10 and connected to the drive module 210F to rotate the drive module 210F. If the connecting rod drive mechanism 400F is self-locking, the cleaning assembly 20 can be held in the home position by the connecting rod drive mechanism 400F to prevent the cleaning assembly 20 from moving to the edge position under the action of the elastic part 300F. Here, the first position includes at least the home position, and the second position includes at least the edge position.

[0347] In the cleaning device 100F according to this embodiment, the drive module 210F of the cleaning module 200F is rotatably mounted on the device body 10 so that the cleaning assembly 20 of the cleaning module 200F has a home position and an edge position, and rotation of the drive module 210F is controlled by providing the elastic member 300F and the connecting rod drive mechanism 400F to control the pivoting of the cleaning assembly 20, that is, the cleaning assembly 20 is allowed to move between the home position and the edge position. See 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 when 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 while wiping the floor surface along an edge, the elastic part 300F can provide a buffer effect against a collision, so that the outwardly projecting cleaning assembly 20 can retract inward to protect the cleaning assembly 20.When the cleaning assembly 20 clears the obstacle, the cleaning assembly 20 quickly moves to the edge position under the action of the return spring force of the elastic member 300F to continue wiping the floor surface along an edge. See . Fig. 68. When the cleaning assembly 20 is in the home position, the connecting rod drive mechanism 400F is self-locking, so that the return spring force of the elastic member 300F can be overcome to keep the cleaning assembly 20 in the home position, thereby preventing the cleaning assembly 20 from swinging out to the edge position in the non-edge cleaning mode. In this case, the cleaning assembly 20 will not swing out even if it is bumped or blocked.

[0348] To facilitate the assembly of the cleaning module 200F, the device body 10 is provided with a mounting chamber 111F, wherein the cleaning module 200F and the connecting rod drive mechanism 400F are arranged in the mounting chamber 111F. A recess is formed at the bottom of the device body 10, wherein the recess communicates 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 by the recess. In this embodiment, the recess limits two limit positions of the cleaning assembly 20, namely the edge position and the home position. However, in other embodiments, the edge position and / or the home position may be located between the two limit positions.

[0349] It should be noted that the number of cleaning modules 200F of the cleaning device 100F can be adjusted according to the actual situation. For example, in the cleaning device 100F, one or two cleaning modules 200F may be provided, and accordingly, the mounting chamber 111F of the device body 10, the elastic member 300F, and the connecting rod drive mechanism 400F are provided so that the cleaning assembly 20 of the at least one cleaning module 200F is pivotable. As another example, in the cleaning device 100F, more than three cleaning modules 200F may be provided, and the number of pivotable cleaning modules 200F of the cleaning assembly 20 can be provided according to actual needs.

[0350] See Fig. 69. Fig. 69 shows a block diagram of modules of the cleaning device in this embodiment, wherein the cleaning device 100F further includes a detector 120F and a controller 130F. The detector 120F is arranged on the device body 10 to detect the position of the drive module 210F. The controller 130F is arranged on the device body 10 and is electrically connected to the detector 120F and the connecting rod drive mechanism 400F, respectively, and the controller 130F is used to control the connecting rod drive mechanism 400F depending on the position detected by the detector 120F. The detector 120F can detect the position of the drive module 210F.When the connecting rod drive mechanism 400F drives the cleaning assembly 20 to protrude outward into position (the edge position) or retract inward into position (the home position), the controller 130F commands the connecting rod drive mechanism 400F to stop to prevent jamming, which would affect the service life of the connecting rod drive mechanism 400F. The first position includes at least the home position, and the second position includes at least the edge position.

[0351] Furthermore, the cleaning device 100F further comprises a main board (not shown), and the control device 130F is arranged on the main board so that it is mounted on the device body 10 via this main board. Furthermore, further electronic elements are provided on the main board to implement the various functions of the cleaning device 100F.

[0352] In this embodiment, the detector 120F may be, but is not limited to, a Hall sensor. Two detectors are provided, each positioned corresponding to the drive module 210F in the home position and the edge position, respectively. When the cleaning assembly 20 moves to the edge position, the outer Hall sensor can detect that the drive module 210F is in position by detecting a ferrous metal within the drive module to detect the edge position of the cleaning assembly 20, as shown in Fig. 67. When the cleaning assembly 20 moves to the home position, the inner Hall sensor can sense that the drive module 210F is in position by detecting a ferrous metal within the drive module to detect the home position of the cleaning assembly 20, as shown in Fig. 68. It should be noted that in other embodiments, the detector 120F may be an infrared sensor capable of detecting the position of the cleaning assembly 20 located below it using the cliff detection principle of a downward-facing sensor. The detector 120F may also be a microswitch (tact switch) with a deformable elastic element, wherein contact of the deformable elastic element with the drive module activates the microswitch to detect the position of the drive module.

[0353] 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: See 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 drive mechanism 400F to operate so that the connecting rod drive mechanism 400F is unlocked. At this time, the cleaning assembly 20 moves from the home position to the edge position under the action of the return spring force of the elastic part 300F, with at least a part of the cleaning assembly 20 projecting forward beyond the maximum width of the device body 10 (i.e., the machine body), i.e., the cleaning assembly 20 projects beyond a reference line L to cover the area of ​​the machine body, thereby achieving edge cleaning and improving the cleaning effect of the cleaning device 100F when wiping the floor surface along an edge. See Fig. 68. When the cleaning device 100F has completed the edge cleaning and is back in a normal operating state (ie, a non-edge cleaning mode), the control device 130F controls the connecting rod drive mechanism 400F to operate to rotate the drive module 210F to move the cleaning assembly 20 from the edge position to the home position, wherein the cleaning assembly 20 does not protrude beyond the maximum width of the device body 10 (ie, the machine body) in the forward direction, that is, the cleaning assembly 20 is located within the reference line L. In addition, the connecting rod drive mechanism 400F is self-locking, whereby the cleaning assembly 20 is positioned in the home position to prevent the cleaning assembly 20 from swinging to the edge position under the action of the elastic part 300F and other external forces.

[0354] Now Fig. 70 in connection with Fig. 66 and Fig. 68 related. Fig. 70 shows an enlarged section of the cleaning device according to this embodiment, wherein the cleaning assembly 20 of the cleaning device 100F is in the home position. The device body 10 is provided with a limiting portion 112F. The connecting rod drive mechanism 400F includes a connecting rod mechanism 410F and a drive part 420F, wherein the connecting rod mechanism 410F is connected to the drive module 210F and the drive part 420F, respectively, i.e., its input end is connected to the drive part 420F and its output end is connected to the drive module 210F. The drive part 420F is arranged on the device body 10 and is used to rotate the connecting rod mechanism 410F to rotate the drive module 210F.In the initial position, the limiting portion 112F restricts the rotation of the connecting rod mechanism 410F, and the return spring force of the elastic member 300F is less than the action force exerted by the connecting rod mechanism 410F on the drive module 210F.

[0355] Since the return spring force of the elastic member 300F is insufficient to overcome the force of the connecting rod mechanism 410F acting on the drive module 210F, the elastic member 300F is unable to move the cleaning assembly 20 to the edge position. That is, the connecting rod drive mechanism 400F can self-lock to hold and position the cleaning assembly 20 in the home position to prevent inappropriate swinging. Furthermore, the connecting rod drive mechanism 400F can also overcome other forces that return the cleaning assembly 20 to the edge position, such as a friction force exerted by the floor surface on the cleaning assembly 20, a collision force due to a collision with an obstacle, or a tensile force from entanglements, and the like.It should be noted that in other embodiments, the drive part 420F is a self-locking motor, meaning that the rotating shaft of the self-locking motor can rotate when it is operating, and the rotating shaft of the self-locking motor cannot rotate when it is not operating. When the connecting rod drive mechanism 400F moves to the self-locking position, the drive part 420F no longer operates, and the connecting rod mechanism 410F can no longer rotate due to the self-locking of the rotating shaft of the drive part 420F, and the force exerted by the connecting rod mechanism 410F on the drive module 210F is greater than the return spring force of the elastic part 300F. In this case, the entire connecting rod drive mechanism 400F can be self-locking without the need for cooperation with the limiting section 112F.Thus, the "self-locking" of the connecting rod drive mechanism 400F in this application means that when the connecting rod mechanism 410F is moved to a specific position by the drive of the drive part 420F, no relative movement can occur between the components of the connecting rod mechanism 410F, so that the drive module 210F is positioned. The connecting rod mechanism 410F can achieve the above state by means of an external structure (e.g., the limiting portion 112F) or by means of an internal structure (e.g., a self-locking motor) of the connecting rod drive mechanism 400F. It is obvious that the specific position in this embodiment is the initial position.

[0356] In this embodiment, the connecting rod mechanism 410F includes a first rod part 412F and a second rod part 414F that are rotationally connected to each other, with one end of the first rod part 412F remote from the second rod part 414F being connected to the drive part 420F. The drive part 420F is used to rotate the first rod part 412F. When the first rod part 412F rotates until contact with the limiting 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 part 300F, the limiting section 112F exerts an effective force on the first rod part 412F, wherein due to the obtuse angle α, the effective force is simultaneously exerted on the second rod part 414F, so that the second rod part 414F serves as a support to prevent the drive module 210F from pivoting back.It should be understood that in other embodiments, the drive part 420F is used as a self-locking motor as described above, wherein an angle α between the first rod part 412F and the second rod part 414F is an obtuse angle. When the connecting rod mechanism 410F moves to the self-locking position, the first rod part 412F can no longer rotate due to the self-locking of the rotating shaft of the drive part 420F without requiring the restriction of the restriction portion 112F, and the second rod part 414F also serves as a support to prevent the drive module 210F from pivoting backward.

[0357] Furthermore, a pivoting portion 211F and a counter-portion 212F are provided on a side of the drive module 210F facing away from the cleaning assembly 20. The connecting rod mechanism 410F comprises a third rod part 416F, wherein one end of the third rod part 416F is rotationally 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 pivoting portion 211F. The third rod part 416F can cooperate with the counter-portion 212F and, via the counter-portion 212F, set the drive module 210F in rotation in order to move the cleaning assembly 20 to the starting position.

[0358] When the connecting rod drive mechanism 400F is self-locking, the angle α between the first rod portion 412F and the second rod portion 414F is an obtuse angle. During forward movement of the cleaning device 100F, a force F1 acts on the drive module 210F, the third rod portion 416F exerts a force F2 on the second rod portion 414F, and the second rod portion 414F exerts a force F3 on the first rod portion 412F. Here, an angle β between F1 and F2 is an acute angle, and an angle θ between F2 and F3 is an acute angle. Through the cooperation of the limiting portion 112F, the counter portion 212F and the connecting rod mechanism 410F, the self-locking of the connecting rod driving mechanism 400F is achieved, thereby achieving a simple structure and good strength.It should be noted that in other embodiments, in addition to the above self-locking motor, the connecting rod drive mechanism 400F adds a third rod part 416F to its connecting rod mechanism 410F, wherein the angle β between F1 and F2 is an acute angle and the angle θ between F2 and F3 is an acute angle. This allows the same technical effects as described above to be achieved. In other embodiments, it is contemplated that the third rod part 416F can be replaced by a bulge structure on one side of the drive module 210F without the need to provide the counterpart portion 212F, and that the second rod part 414F is rotationally connected to the bulge structure, which can also result in a self-locking structure. The bulge structure can be provided in a one-piece form, but is not limited thereto.

[0359] Furthermore, it is provided that a first bearing 213 is fixedly connected between the other end of the third rod part 416F and the pivot section 211F, wherein the first bearing 213 can enable good rotational behavior between the third rod part 416F and the pivot section 211F and ensure a strong connection between the third rod part 416F and the pivot section 211F. In this embodiment, it is provided that the pivot section 211F is a shaft body, and that a matching shaft hole is arranged at the other end of the third rod part 416F. Obviously, in other embodiments, it is provided that the pivot section 211F is a shaft hole, and that a matching shaft body is arranged at the other end of the third rod part 416F.

[0360] In this embodiment, the limiting portion 112F is correspondingly arranged at the junction between the first rod part 412F and the second rod part 414F, which results in a better limiting function and can act on the first rod part 412F and the second rod part 414F simultaneously, contributing to improving the strength of the self-locking structure. It should be understood that the limiting portion 112F can also be correspondingly arranged at other locations on the first rod part 412F, for example, at an intermediate location of the first rod part 412F.

[0361] In this embodiment, the counter portion 212F is correspondingly arranged at any portion between the middle portion and the free end of the third rod part 416F. The free end is the end of the third rod part 416F connected to the second rod part 414F. The third rod part 416F presses the drive module 210F with good rotational efficiency through the counter portion 212F, and the pressing force can be reduced by using a lever effect. The counter portion 212F is designed in the shape of a convex column, but is not limited to this shape and may also consist of other bulge structures.

[0362] Combined with Fig. 66, the device body 10 is further provided with a mounting portion 113F, wherein the mounting portion 113F is connected to the restriction portion 112F, and by connecting the restriction portion 112F to the mounting portion 113F, the structural strength of the restriction portion 112F can be improved. The drive part 420F has a rotatable rotary shaft, the mounting portion 113F is provided with a mounting groove 114F, and the drive part 420F is arranged in the mounting groove 114F. The rotary shaft of the drive 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 restriction 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 cylindrical, and the restricting portion 112F is in the form of a convex strip and connected to the outer side surface of the mounting portion 113F.

[0363] It should be noted that the first rod part 412F of the connecting rod mechanism 410F may be formed as a crank or a swing arm depending on the space in the mounting chamber 111F, and that the third rod part 416F is formed cooperatively with the first rod part 412F.

[0364] In this embodiment, the drive part 420F may be, but is not limited to, a motor that outputs power through the rotation of its rotating shaft. The controller 130F is electrically connected to the drive part 420F, and the controller 130F, in turn, may control the operation of the connecting rod drive mechanism 400F by controlling the rotational speed and steering of the drive part 420F. In other embodiments, the drive part 420F may also be other drive devices, such as a telescopic device that rotates the first rod part 412F via a telescopic rod.

[0365] The limited range of movement of the cleaning assembly 20 results in a limited rotation range of the first rod part 412F, so that the limiting portion 112F can only limit the rotation of the connecting rod mechanism 410F in a single clockwise direction. In this embodiment, the limiting portion 112F only limits the rotation of the connecting rod mechanism 410F in a counterclockwise direction. It should be noted that in other embodiments, the limiting portion 112F, the elastic member 300F, and the connecting rod drive mechanism 400F may be arranged in a mirror image on the other side of the drive module 210F, wherein the limiting portion 112F should limit the rotation of the connecting rod mechanism 410F in a clockwise direction to achieve self-locking of the connecting rod drive mechanism 400F.

[0366] Combined with Fig. 66 to 68 and 70, during movement of the cleaning assembly 20 from the edge position to the home position, the drive member 420F drives the first rod member 412F to rotate counterclockwise, the second rod member 414F drives the third rod member 416F to rotate, and the third rod member 416F, through the counter portion 212F, urges the drive module 210F inward to rotate. When the first rod member 412F rotates to the limiting portion 112F, it cannot rotate further and is limited, the entire connecting rod mechanism 410F being 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 drive part 420F drives the first rod part 412F to rotate clockwise so that it gradually moves away 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 part 300F is greater than the force exerted on the drive module 210F by the connecting rod mechanism 410F, the elastic part 300F pulls the cleaning assembly 20 directly into the edge position through the drive module 210F. At this time, the drive part 420F no longer operates, and at the same time, the first rod part 412F, which is limited by the elastic part 300F or other structures, is unable to reach the limiting section 112F in the clockwise direction.

[0367] See Fig. 71 to 74 in conjunction with Fig. 66. Fig. 71 shows a structural schematic diagram of a cleaning module of a cleaning device according to this embodiment, Fig. 72 shows a top view of the cleaning module from Fig. 71, Fig. 73 shows a sectional view of the cleaning module along the line II of Fig. 72, and Fig. 74 shows an exploded view of the cleaning module from Fig. 71, wherein a first shaft connection section 214F is arranged on a side of the drive module 210F facing the cleaning assembly 20. The device body 10 is further provided with a second shaft connection section 115F, wherein the second shaft connection section 115F and the first shaft connection section 214F fit together by an axial plug-in connection. By fitting the first shaft connection section 214F of the drive module 210F to the second shaft connection section 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 perform a revolution around the central axis of the first shaft connection section 214F during its own rotation.

[0368] Furthermore, a second bearing 215F is fixedly connected between the second shaft connecting portion 115F and the first shaft connecting portion 214F. The axially fixed connection of the first shaft connecting portion 214F to the second shaft connecting portion 115F via the second bearing 215F provides the drive module 210F with good rotational behavior, thereby reducing rotational friction. Furthermore, this second bearing 215F ensures a strong connection between the first shaft connecting portion 214F and the second shaft connecting portion 115F without impairing rotation.

[0369] To improve the coaxiality of the axial connection between the first shaft connection section 214F and the second shaft connection section 115F, the rotational accuracy of the drive module 210F is increased. The drive module 210F is further provided with a first attachment section 216F on a side facing the cleaning assembly 20, wherein the first attachment section 216F is arranged coaxially around the first shaft connection section 214F. The device body 10 is further provided with a second attachment section 116F, wherein the second attachment section 116F is arranged coaxially around the second shaft connection section 115F, wherein the second attachment section 116F and the first attachment section 216F fit together by an axial plug-in connection. It is obvious that the coaxiality is better maintained when the first attachment section 216F fits the second attachment section 116F.To reduce rotational friction, the mating surfaces of the first attachment section 216F and the second attachment section 116F are smooth and can be coated with a lubricating oil.

[0370] 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 cap portion 116F is an annular groove. It should be understood that in other embodiments, the first shaft connecting 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.

[0371] In this embodiment, the drive module 210F includes a housing 230F, a drive motor 240F, and a gear mechanism 250F. The drive motor 240F and the gear mechanism 250F are disposed within the housing 230F. The rotating 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. The rotation center of the drive module 210F is located on the central axis of the drive motor 240F, which reduces vibration during rotation of the drive module 210F and noise, while allowing the cleaning assembly 20 to better perform a revolution during self-rotation. Furthermore, the housing 230F can protect the drive motor 240F and the gear mechanism 250F to ensure water and dust resistance.It should be noted that in other embodiments, the drive motor 240F may be located outside the housing 230F and connected to the input end of the gear mechanism 250F within the housing 230F.

[0372] Furthermore, it is contemplated that the drive module 210F further comprises a connecting structure 260F, wherein the connecting structure 260F is arranged in the housing 230F, and wherein one end of the connecting structure 260F is connected to the output end of the gear mechanism 250F and the other end of the connecting structure 260F is connected to the cleaning assembly 20. During operation, the rotary shaft of the drive motor 240F rotates and outputs a torque that is transmitted via the gear mechanism 250F to the connecting structure 260F, so that in turn the connecting structure 260F rotates and the cleaning assembly 20 is set in rotation. It should be understood that in other embodiments, the cleaning assembly 20 may be directly connected to the output end of the gear mechanism 250F without being connected via the connecting structure 260F.

[0373] Further, the housing 230F includes a lower housing portion 232F, a middle housing portion 234F, and an upper housing portion 236F. The middle housing portion 234F is covered over the lower housing portion 232F, and the drive motor 240F and the connecting structure 260F are disposed between the lower housing portion 232F and the middle housing portion 234F, with the rotary shaft of the drive motor 240F passing through the middle housing portion 234F. The upper housing part 236F is covered over the middle housing part 234F, and the gear mechanism 250F is arranged between the middle housing part 234F and the upper housing part 236F, wherein the input end of the gear mechanism 250F is connected to the rotating shaft of the drive motor 240F and the output end of the gear mechanism 250F is connected to the connecting structure 260F via the middle housing part 234F.The cleaning assembly 20 is connected to the connecting structure 260F via the lower housing part 232F. The housing 230F is constructed in layers so that various structures can be accommodated, thereby enabling rational space distribution, compact arrangement, and volume reduction.

[0374] Furthermore, it is contemplated that the gear mechanism 250F is a gear transmission mechanism with a plurality of successively meshing gears. In other embodiments, the housing 230F may have a two-layer structure, with only the gear mechanism 250F being arranged within the housing 230F, and the gear mechanism 250F may also be a pulley transmission mechanism.

[0375] Furthermore, the cleaning assembly 20 is provided with a connecting shaft 222F, a cleaning disc 224F, and a cleaning part 226F. One end of the connecting shaft 222F projects into the lower housing 232F so that it is fixedly connected to the connecting structure 260F. The other end of the connecting shaft 222F is fixedly connected to the cleaning disc 224F. The cleaning part 226F is arranged on a side of the cleaning disc 224F facing away from the connecting shaft 222F. The cleaning part 226F can be a mop, but is not limited to this.

[0376] In this embodiment, the first shaft connecting portion 214F and the first attachment portion 216F are arranged in the lower housing 252 and are integrally constructed. The pivoting portion 211F and the counter portion 212F are arranged in the upper housing part and are integrally constructed. The pivoting portion 211F of the upper housing part 236F, the input end of the gear mechanism 250F, the rotating shaft of the drive motor 240F, the first shaft connecting portion 214F of the lower housing part 232F, and the second shaft connecting portion 115F of the device body 10 are all coaxially arranged and have the same central axis (rotation center). The output end of the gear mechanism 250F, the connecting structure 260F, and the connecting shaft 222F of the cleaning assembly 20 are all coaxially arranged and have the same central axis (rotation center).

[0377] Combined with Fig. 65 and Fig. 68, the device body 10 has an inner peripheral surface, wherein a first connecting portion 117F is provided on the inner peripheral surface. The drive module 210F has an outer side surface facing the inner peripheral surface, wherein a second connecting portion 217F is provided on the outer side surface. One end of the elastic part 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 tensioned connection of the elastic part 300F to the first connecting portion 117F on the inner peripheral surface of the device body 10. When the connecting rod drive mechanism 400F releases the self-locking, the cleaning assembly 20 can be quickly moved to the edge position by the spring force of the elastic part 300F.

[0378] In this embodiment, the elastic part 300F may be a tension spring, but is not limited to this. It may also be an elastic column structure, an elastic rod structure, or an elastic strip structure that combines both structural strength and elasticity. Furthermore, the first connecting portion 117F and the second connecting portion 217F are hooks, with one end of the tension spring being fitted to the first connecting portion 117F and the other end of the tension spring being fitted to the second connecting portion 217F.It should be noted that in other embodiments, the elastic member 300F may be a torsion spring arranged 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, so 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. Furthermore, it is contemplated that the torsion spring may be mounted on the outer side surface of the second attachment portion 116F of the device body 10.

[0379] Of course, based on feasibility, the structure of Embodiment 13 may be combined in whole or in part with any possible embodiment to achieve various uses, and is not particularly limited herein.

[0380] Embodiment 14: This embodiment primarily presents a detailed embodiment of a water refilling mechanism. Continuing with the previous explanations, this embodiment differs from the other embodiments in that it further includes a water refilling mechanism, as shown in Fig. 81, Fig. 82 and Fig. 83. The water refilling mechanism includes a water tank (not shown) and at least one water outlet 900H provided on the device body 10, wherein the water tank and the water outlets 900H are controllably connected to each other.

[0381] For example, the water tank may be connected to the water outlet 900H via a water supply line 940H, as shown in...

Claims

[1] Cleaning device, comprising: 1.1 a device body; and 1.2 a wet cleaning module comprising 1.2.1 a first drive structure and 1.2.2 a cleaning assembly, 1.2.3 wherein the first drive structure is configured to set the cleaning assembly in motion such that the cleaning assembly oscillates or rotates; 1.2.4 wherein the cleaning assembly is movably connected to the device body, 1.2.5 wherein the cleaning assembly has a first position and a second position, 1.2.5.1 wherein the cleaning assembly is in a retracted state in the first position, 1.2.5.2 wherein the cleaning assembly is in a swung-out position in the second position, 1.2.5.3 wherein the part of the cleaning assembly which is outside the perimeter of the device body is larger in the second position than the part of the cleaning assembly which is outside the perimeter of the device body in the first position of the cleaning assembly, 1.3 wherein the cleaning device comprises a movement channel at the bottom of the device body, and 1.4 wherein the wet cleaning module comprises a mounting section connected to the first drive structure, which is pivotable in the movement channel, and 1.5 wherein the cleaning assembly is mounted on the mounting section during operation. [2] Cleaning device according to claim 1, wherein the cleaning assembly is located below the movement channel during operation. [3] A cleaning device according to claim 1 or 2, wherein the cleaning device comprises a lifting structure configured to drive the cleaning assembly to raise and lower. [4] The cleaning device according to claim 3, wherein the first drive structure and the lifting structure use a common motor. [5] A cleaning device according to any one of claims 1 to 4, wherein at least a portion of an edge of the cleaning assembly reaches a travel line for the maximum width of the device body; or wherein at least a portion of the edge of the cleaning assembly is located within the travel line for the maximum width of the device body. [6] A cleaning device according to claim 5, wherein at least a portion of the edge of the cleaning assembly exceeds the travel line for the maximum width of the device body when the cleaning assembly is in the second position. [7] A cleaning device according to any one of the preceding claims, wherein a part of the cleaning assembly is located outside the periphery of the device body when the cleaning assembly is in the first position. [8] A cleaning device according to any one of the preceding claims, wherein the cleaning device further comprises a second drive structure drivingly connected to the cleaning assembly such that the cleaning assembly is movable between the first position and the second position, and wherein the cleaning assembly can be moved in a straight line or an arc by driving the second drive structure. [9] A cleaning device according to claim 8, wherein a sealing structure is provided on the device body, the sealing structure being moved with the pivoting of the cleaning assembly so that the sealing structure can seal or cover the movement channel when the cleaning assembly is in the first position, the second position or any position between the first position and the second position. [10] The cleaning device according to claim 9, wherein the sealing structure comprises a first stop portion and a second stop portion, wherein the pivoting of the cleaning assembly sets the first stop portion and the second stop portion in motion, wherein the second stop portion seals or covers the movement channel when the cleaning assembly is in the first position; wherein the first stop portion seals or covers the movement channel when the cleaning assembly is in the second position; and / or wherein the first stop portion and the second stop portion cooperate to seal or cover the movement channel when the cleaning assembly is in the arbitrary position. [11] The cleaning device according to claim 10, wherein the sealing structure comprises a sliding sealing plate, wherein a sliding guide structure is provided between the sliding sealing plate and the device body so that the sliding sealing plate slides better along the device body. [12] The cleaning device according to claim 11, wherein the area of ​​the sliding seal plate is twice the area of ​​the moving channel, and / or wherein the area of ​​the first stop portion is larger than the area of ​​the moving channel and the area of ​​the second stop portion is larger than the area of ​​the moving channel. [13] The cleaning device according to claim 11, wherein the sliding seal plate comprises a mounting through-hole, wherein the first stopper portion and the second stopper portion are arranged on both sides of the mounting through-hole, wherein the sliding seal plate is fitted externally on the mounting portion through the mounting through-hole, and wherein the mounting portion and the cleaning assembly, when pivoted, cause the sliding seal plate to move on the device body. [14] The cleaning device according to claim 13, wherein the first stopper portion and the second stopper portion share a region in which the mounting through-hole is located. [15] The cleaning device according to claim 11, wherein the device body is provided with a space for pivoting to be provided for pivoting the cleaning assembly, the device body further comprising a cover plate covering the space for pivoting, and wherein the cover plate is provided with the movement channel; wherein the second stop portion covers the movement channel and the first stop portion moves to the inside of the cover plate when the cleaning assembly is in the first position; wherein, during pivoting of the cleaning assembly, the first stop portion partially covers the movement channel and the second stop portion covers the remaining movement channel; and wherein the first stop portion covers the movement channel and the second stop portion moves to the inside of the cover plate when the cleaning assembly is in the second position. [16] The cleaning device of claim 1, wherein the cleaning assembly further has any position between the first position and the second position; wherein the cleaning device further comprises a water refill mechanism that can be used to provide a solution to the cleaning assembly when the cleaning assembly is in the first position, the second position, or at least one of the arbitrary positions. [17] A cleaning device according to claim 16, wherein the cleaning assembly comprises a cleaning disc and a cleaning part provided on the cleaning assembly; wherein the water refilling mechanism comprises at least one water outlet provided on the device body and / or the cleaning disc and used to provide a solution to the cleaning part. [18] A cleaning device according to claim 17, wherein a hollowed-out portion is provided on the cleaning disc when the water outlet is provided on the device body; wherein a vertical projection of the hollowed-out portion onto the bottom of the device body is a vertical projection portion for a retracted position, a vertical projection portion for an extended position, and a vertical projection portion for a pivoting position, respectively, when the cleaning assembly is in the first position, the second position, and the arbitrary position, respectively; wherein at least a part of the water outlet is located in the vertical projection area for the retracted position, or in the vertical projection area for the extended position, or in the vertical projection area for the pivoting position; or wherein at least a part of the water outlet is located in a common overlap area of ​​the vertical projection area for the retracted position and the vertical projection area for the extended position; or wherein at least a portion of the water outlet is located in a permanent overlap area of ​​the vertical projection area for the retracted position, the vertical projection area for the extended position, and the vertical projection area for the pivoting position. [19] Cleaning device according to claim 18, characterized bythat two cleaning assemblies are provided, both used for wet cleaning, of which one cleaning assembly is pivotable relative to the device body to have the first position and the second position, and the other cleaning assembly is not pivotable relative to the device body; and that two water outlets are provided, of which one water outlet is used for refilling the pivotable cleaning assembly and the other water outlet is used for refilling the non-pivotable cleaning assembly. [20] A cleaning device according to claim 1, wherein the cleaning assembly can pivot along the bottom of the device body to change between the first position and the second position; or wherein a recess is provided in a side wall of the device body through which the cleaning assembly can pivot to change between the first position and the second position. [21] Cleaning device according to claim 1, wherein at least two cleaning assemblies are provided, wherein one of two adjacent cleaning assemblies is interchangeable between the first position and the second position and the other of them is held in the first position; or wherein the two adjacent cleaning assemblies are interchangeable between the first position and the second position; and / or wherein the cleaning parts of the two adjacent cleaning assemblies can be pressed against each other to eliminate a dead zone during cleaning when the two adjacent cleaning assemblies are in the first position. [22] The cleaning device according to claim 1, wherein the cleaning assembly is in the first position when the cleaning assembly is in a scene for obstacle clearance, lifting, or returning to the base station; and wherein the scene for returning to the base station includes at least the scene for charging, dust collection, cleaning of the cleaning part of the cleaning assembly, disassembly of the cleaning assembly, and water refilling by the water refilling mechanism. [23] Cleaning device according to claim 1, characterized by in that it further comprises a sensor, wherein during cleaning by the cleaning assembly in the second position the sensor is used to detect the distance between the device body and an edge of an obstacle in real time in order to dynamically adjust the pivoting distance of the cleaning assembly.

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