Cleaning module, cleaning device, docking station, and cleaning system

Abstract

A cleaning module (20), a cleaning device (100), a docking station (200) and a cleaning system (1000). The cleaning module (20) is used in the cleaning device (100). The cleaning module (20) comprises a cleaning assembly (21) and an adjustment member (23), wherein the cleaning assembly (21) is configured to clean a surface to be cleaned, the adjustment member (23) is configured to connect the cleaning assembly (21) with the body (10) of the cleaning device (100), and the adjustment member (23) can provide a vertical upward acting force to the cleaning assembly (21).

Description

Cleaning modules, cleaning equipment, base stations and cleaning systems Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning equipment, and more specifically, to a cleaning module, cleaning equipment, a base station, and a cleaning system. Background Art

[0002] Cleaning equipment is used to automatically clean carpets or floors, and can be used for cleaning indoors or in large venues. In related technologies, a cleaning module is installed at the bottom of the cleaning device to clean the surface. However, crawler-type and roller-type cleaning modules often suffer from the problem of the mop not being able to completely maintain a flat surface on the floor, resulting in uneven cleaning results.

[0003] Summary of the Invention

[0004] A cleaning module provided in a first aspect of an embodiment of the present application is used in a cleaning device, the cleaning module comprising a cleaning assembly and an adjusting member. The cleaning assembly is configured to contact a surface to be cleaned to clean the surface. The adjusting member is configured to connect the cleaning assembly to the body of the cleaning device and to provide a vertical upward force to the cleaning assembly.

[0005] In the cleaning module provided in the first aspect of the embodiment of the present application, the adjusting member is used to connect the cleaning component to the body, and the adjusting member can provide a vertical upward force to the cleaning component, so that the cleaning component can better contact the surface to be cleaned, that is, it can avoid the undesirable phenomenon of local overpressure or local gap exposure, so that the cleaning effect of the cleaning component on the surface to be cleaned can be more balanced, ensuring the cleaning effect of the cleaning equipment. In addition, the provision of the adjusting member is also conducive to the pressure of the cleaning component on the surface to be cleaned when the cleaning component contacts the surface to be cleaned to clean the surface, preventing the pressure of the cleaning component on the surface to be cleaned from being too high and affecting the normal movement of the cleaning equipment, thereby improving the stability and reliability of the cleaning equipment and improving the cleaning effect of the cleaning equipment.

[0006] A cleaning device provided in a second aspect of an embodiment of the present application includes a body and a cleaning module, the cleaning module being disposed on the body and configured to clean a surface to be cleaned. The cleaning module includes a cleaning assembly and an adjusting member. The cleaning assembly is configured to contact the surface to be cleaned to clean the surface. The adjusting member is configured to connect the cleaning assembly to the body of the cleaning device and is configured to provide a vertical upward force to the cleaning assembly.

[0007] In the cleaning device provided in the second aspect of the embodiment of the present application, the adjusting part is used to connect the cleaning component and the body, and the adjusting part can provide a vertical upward force for the cleaning component. Thus, when the cleaning component contacts the surface to be cleaned to clean the surface to be cleaned, the adjusting part can reduce the pressure of the cleaning component on the surface to be cleaned, and prevent the cleaning component from exerting too much pressure on the surface to be cleaned and affecting the normal movement of the cleaning device, thereby improving the stability and reliability of the cleaning device and improving the cleaning effect of the cleaning device. The cleaning component can better contact the surface to be cleaned, avoiding the undesirable phenomenon of local overpressure or local gaps. In this way, the cleaning effect of the cleaning component on the surface to be cleaned can be more balanced, thereby improving the cleaning effect of the cleaning device.

[0008] The base station provided in the third aspect of the embodiment of the present application is used in conjunction with the cleaning device described above. The base station includes a parking space for accommodating the cleaning device.

[0009] The cleaning system provided in the fourth aspect of the embodiment of the present application includes the cleaning device described above and a base station used in conjunction with the cleaning device. The base station includes a parking space for accommodating the cleaning device.

[0010] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0012] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning device according to certain embodiments of the present application;

[0013] FIG2 is a perspective exploded schematic diagram of an embodiment of the cleaning device shown in FIG1 ;

[0014] FIG3 is a schematic structural diagram of a cleaning member of a cleaning device according to certain embodiments of the present application;

[0015] FIG4 is a schematic cross-sectional view of the cleaning module in the cleaning device shown in FIG2 ;

[0016] FIG5 is a schematic cross-sectional view of a portion of the cleaning module in the cleaning device shown in FIG2 ;

[0017] 6 is a schematic structural diagram of the relative movement of the first mounting member and the second mounting member of the mounting assembly in the cleaning module shown in FIG4 ;

[0018] FIG7 is a schematic cross-sectional view of another embodiment of the cleaning device shown in FIG1 ;

[0019] FIG8 is an exploded perspective view of another embodiment of the cleaning device shown in FIG1 ;

[0020] FIG9( a ) is a perspective exploded schematic diagram of another embodiment of the cleaning device shown in FIG1 ;

[0021] FIG9( b ) is a schematic cross-sectional view of another embodiment of the cleaning device shown in FIG1 ;

[0022] FIG10( a ) is a schematic plan view of the structure of the cleaning module in the cleaning device shown in FIG1 ;

[0023] FIG10( b ) is a schematic cross-sectional view of another embodiment of the cleaning device shown in FIG1 ;

[0024] FIG11 is a schematic cross-sectional view of another embodiment of the cleaning device shown in FIG1 ;

[0025] FIG12 is a schematic cross-sectional view of the cleaning device shown in FIG1 ;

[0026] FIG13( a ) is a schematic diagram of a cleaning module in a first state when the cleaning device is moving along an edge in some embodiments of the present application;

[0027] FIG13( b ) is a schematic diagram of the cleaning module in a second state when the cleaning device is moving along an edge in some embodiments of the present application;

[0028] FIG14( a ) is a schematic diagram of a cleaning module in a first state when the cleaning device is moving along an edge in some other embodiments of the present application;

[0029] FIG14( b ) is a schematic diagram of the cleaning module in a second state when the cleaning device is moving along an edge in some other embodiments of the present application;

[0030] FIG15 is a schematic plan view of the structure of the cleaning device shown in FIG1 ;

[0031] FIG16( a ) is a schematic structural diagram of an embodiment of the relative positions between the second mounting member and the mating member when the cleaning module in the cleaning device shown in FIG8 is in the first state, the second state, and the third state;

[0032] FIG16( b ) is a structural diagram of another embodiment of the relative position between the second mounting member and the mating member when the cleaning module in the cleaning device shown in FIG8 is in the first state, the second state, and the third state;

[0033] FIG17 is a schematic diagram of the three-dimensional structure of a cleaning system according to certain embodiments of the present application.

[0034] Key Component Symbols: Cleaning device 100; Width direction of cleaning device (X1 / X2); Height direction Z of cleaning device; Forward direction Y; First tangent line L1; Second tangent line L2; Body 10, second mounting hole 11; Cleaning module 20, Moving slot 201, Inclined sidewall 2011, Moving member 203, Accommodating chamber 205, Cleaning assembly 21, First side 2101, Second side 2103, main body 211, cleaning member 213, bracket 214, wiping member 215, first guide member 217, first limiting member 219, adjusting member 23, elastic member 231, mounting assembly 25, first mounting member 251, guide rail 2511, guide groove 2512, first side wall 2513, second side wall 2514, second guide member 2515, second limiting member 2516, mounting groove 2517, second mounting member 253, first mounting hole 2531, fitting member 255, first surface 2551, second surface 2553; power module 30, driving member 31, transmission component 33; mobile module 40; base station 200, docking position 2001; cleaning system 1000. DETAILED DESCRIPTION

[0035] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0038] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0039] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0041] The cleaning device is an intelligent device capable of cleaning a surface to be cleaned. It can wipe the surface to be cleaned using a mopping module disposed on the cleaning device. The mopping module can include a mopping member that can contact the surface to be cleaned and rotate relative to the surface to wipe the surface. The rotation direction of the mopping member can be opposite to the rotation direction of the driving wheel of the cleaning device, thereby improving the cleaning effect of the mopping member on the surface to be cleaned.

[0042] After creative work, the inventors discovered that in the related art, the wiping member and the surface to be cleaned are prone to the problem of not being able to fully fit together, that is, local overpressure and local leakage gaps are prone to occur between the wiping member and the surface to be cleaned, thereby affecting the cleaning effect of the wiping module on the surface to be cleaned.

[0043] For example, the mopping module may include a crawler-type cleaning member and a roller-type cleaning member. The crawler-type cleaning member and the roller-type cleaning member are usually heavy, and the connection between the crawler-type cleaning member and the roller-type cleaning member and the fuselage is a fixed connection. Therefore, it is easily affected by the cumulative error of the parts tolerance, resulting in the cleaning member and the surface to be cleaned not being able to fully fit, resulting in local overpressure and local leakage gaps, which in turn leads to poor cleaning effect.

[0044] In addition, for heavier cleaning parts, since the rotation direction of the cleaning parts is opposite to the rotation direction of the driving wheels of the cleaning equipment, the cleaning equipment is prone to slipping and difficulty in moving during the cleaning process, and even moves in the opposite direction due to the friction between the cleaning parts and the surface to be cleaned, which affects the stability and reliability of the cleaning equipment and is not conducive to improving the cleaning effect.

[0045] Therefore, in order to solve the above technical problems, the inventors conducted in-depth research and designed a cleaning module with a relatively simple structure. The cleaning module includes a cleaning component and an adjusting part. The adjusting part connects the cleaning component with the body and can provide a vertical upward force for the cleaning component.

[0046] Referring to FIG. 1 , a cleaning device 100 according to certain embodiments of the present application includes a body 10 and a cleaning module 20. The cleaning module 20 is disposed on the body 10 and is used to clean the surface to be cleaned. Since the cleaning device 100 according to this embodiment includes the cleaning module 20, it is understood that the cleaning device 100 also provides at least the same benefits as the cleaning module 20. For the benefits of the cleaning device 100, please refer to the benefits of the cleaning module 20 described below.

[0047] Among them, the cleaning device 100 is an intelligent device that can realize functions such as cleaning, vacuuming and mopping. The cleaning device 100 may include a cleaning robot or a handheld cleaning device. Cleaning robots include but are not limited to sweeping robots, intelligent robots and mobile robots; handheld cleaning devices include but are not limited to sweepers, floor washers and mops. In the embodiment of the present application, the cleaning module 20 is a device that can assist the cleaning device 100 in realizing the mopping function (such as wet mopping or dry mopping, etc.). When the cleaning device 100 is in a normal cleaning state, the cleaning module 20 can contact the surface to be cleaned to realize the mopping function. In some examples, the surface to be cleaned can be the ground inside a building.

[0048] The fuselage 10 is a device for loading and protecting the cleaning module 20. The material of the fuselage 10 includes but is not limited to metal materials and / or non-metallic materials. Metal materials include but are not limited to aluminum, iron, steel or aluminum alloys, and non-metallic materials include but are not limited to plastics. In one example, the fuselage 10 can be made of a combination of metal and non-metallic materials, thereby increasing the structural strength of the fuselage 10, preventing collision damage to the fuselage 10 during operation of the cleaning device 100, and improving the stability and reliability of the operation of the cleaning device 100. In another example, the fuselage 10 can be made of non-metallic materials, thereby reducing the weight of the fuselage 10, thereby facilitating the lightweighting of the cleaning device 100.

[0049] Please refer to Figures 1 and 2. The cleaning module 20 of certain embodiments of the present application is used for the cleaning device 100, and the cleaning module 20 includes a cleaning component 21 and an adjusting member 23. The cleaning component 21 is used to contact the surface to be cleaned to clean the surface to be cleaned. The adjusting member 23 is used to connect the cleaning component 21 to the body 10 of the cleaning device 100, and the adjusting member 23 can provide a vertical upward force to the cleaning component 21. It should be noted that, in some embodiments, the vertical upward direction may be: a direction opposite to the direction of gravity; or, when the cleaning device 100 is carried on the surface to be cleaned, the direction from the surface to be cleaned to the cleaning component 21.

[0050] In particular, referring to FIG3 , the cleaning module 20 is a device that can realize the mopping function (such as wet mopping or dry mopping, etc.) of the cleaning device 100. Exemplarily, the cleaning component 21 includes a crawler-type cleaning member or a roller-type cleaning member. Specifically, in some embodiments, the cleaning component 21 may include a body 211 and a cleaning member 213. The cleaning member 213 may include a bracket 214 and a wiping member 215. The wiping member 215 is sleeved on the bracket 214. The body 211 can be connected to the body 10 through the adjustment member 23. The cleaning member 213 is detachably provided on the side of the body 211 facing the surface to be cleaned. When the cleaning device 100 is in a normal cleaning state, the bracket 214 can drive the wiping member 215 to rotate relative to the surface to be cleaned to achieve cleaning of the surface to be cleaned. If the cleaning assembly 21 includes a crawler-type cleaning member and the wiping member 215 is mounted on the bracket 214, the cross-sectional shape of the wiping member 215 may be a racetrack; if the cleaning assembly 21 includes a roller-type cleaning member and the wiping member 215 is mounted on the bracket 214, the cross-sectional shape of the wiping member 215 may be a circular ring. It should be noted that in some embodiments, the wiping member 215 includes, but is not limited to, a disposable electrostatic mop, a disposable wet mop, or a reusable fabric mop.

[0051] It is understandable that in certain embodiments, when the cleaning device 100 cleans the surface to be cleaned, the cleaning component 21 needs to apply a certain amount of pressure to the surface to be cleaned in order to effectively wipe away the stains on the surface to be cleaned. Since the cleaning device 100 mainly relies on the gravity of the structure (including but not limited to the cleaning component 21, etc.) to cause the wiping member 215 to apply pressure to the surface to be cleaned so that the wiping member 215 can effectively clean the surface to be cleaned, therefore, to ensure the cleaning effect of the cleaning device 100, the vertical upward force provided by the adjusting member 23 to the cleaning component 21 is less than the gravity of the cleaning component 21 itself, so that the wiping member 215 can contact the surface to be cleaned and perform the cleaning function, thereby ensuring the cleaning effect of the cleaning device 100.

[0052] In the cleaning module 20 of the embodiment of the present application, the adjusting member 23 is used to connect the cleaning assembly 21 with the body 10, and the adjusting member 23 can provide a vertical upward force to the cleaning assembly 21, so that the cleaning assembly 21 can better contact the surface to be cleaned, that is, it can avoid the undesirable phenomenon of local overpressure or local gap exposure. In this way, the cleaning effect of the cleaning assembly 21 on the surface to be cleaned can be more balanced, ensuring the cleaning effect of the cleaning device 100. In addition, the provision of the adjusting member 23 is also conducive to reducing the pressure of the cleaning assembly 21 on the surface to be cleaned when the cleaning assembly 21 contacts the surface to be cleaned to clean the surface, preventing the cleaning assembly 21 from exerting too much pressure on the surface to be cleaned, affecting the degree of contact between the cleaning assembly 21 and the surface to be cleaned, and affecting the normal movement of the cleaning device 100, thereby ensuring the stability and reliability of the operation of the cleaning device 100 and improving the cleaning effect of the cleaning device 100.

[0053] The cleaning module 20 will be further described below with reference to the accompanying drawings.

[0054] Please refer to Figures 2, 7, 9 (including Figures 9(a) and 9(b)) or Figure 10 (including Figures 10(a) and 10(b)). In some embodiments, the adjustment member 23 includes an elastic member 231. The elastic member 231 has an elastic force. The elastic force can act on the cleaning assembly 21 to provide a vertical upward force to the cleaning assembly 21. Therefore, the provision of the elastic member 231 can reduce the pressure applied by the cleaning assembly 21 on the surface to be cleaned, preventing the cleaning assembly 21 from exerting excessive pressure on the surface to be cleaned, causing the cleaning device 100 to be unable to move normally, thereby ensuring the stability and reliability of the cleaning device 100 and improving the cleaning effect of the cleaning device 100. In addition, the opposite ends of the elastic member 231 can be connected to the cleaning assembly 21 and the body 10, thereby ensuring that the elastic force can be stably transmitted to the cleaning assembly 21, thereby ensuring the normal operation of the cleaning device 100. In addition, the setting of the adjustment part 23 can also enable the cleaning component 21 to better contact with the surface to be cleaned, that is, it can avoid the undesirable phenomenon of local overpressure or local gap exposure, so that the cleaning effect of the cleaning component 21 on the surface to be cleaned can be more balanced, ensuring the cleaning effect of the cleaning equipment 100.

[0055] It should be noted that, in some embodiments, the adjusting member 23 may include, in addition to the elastic member 231 , a magnetic member or other structure capable of providing a vertical upward force to the cleaning assembly 21 , which will not be explained in detail here.

[0056] In some embodiments, when the cleaning component 21 moves relative to the body 10, that is, for example, when the cleaning component 21 moves relative to the body 10 along the height direction Z of the cleaning device 100, the elastic member 231 can always be in an elastic deformation state (including but not limited to a tensile state, a compressed state, a bent state, and a torsional state, etc.), that is, the elastic member 231 can always apply a vertical upward force to the cleaning component 21, thereby ensuring the stability and reliability of the cleaning device 100.

[0057] In addition, in some embodiments, the elastic member 231 includes one. One end of the elastic member 231 is connected to the body 10, and the other end is connected to the cleaning assembly 21. The elastic member 231 can be in an elastically deformed state to provide a vertical upward force on the cleaning assembly 21. In other embodiments, the elastic member 231 includes multiple. The multiple elastic members 231 are arranged at intervals, and the opposite ends of the multiple elastic members 231 are respectively connected to the body 10 and the cleaning assembly 21. This makes the elastic force on the cleaning assembly 21 more uniform, thereby ensuring the stability and reliability of the cleaning assembly 21 and improving the cleaning effect of the cleaning assembly 21.

[0058] Please refer to Figures 4 and 5, 7, 9 or 10. In some embodiments, along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is relatively fixed to the cleaning component 21, and the lower end of the elastic member 231 is relatively fixed to the body 10. When the cleaning component 21 is not in contact with the surface to be cleaned, the elastic member 231 is in a compressed state.

[0059] It should be noted that, along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is relatively fixed to the cleaning component 21. When the cleaning component 21 is not in contact with the surface to be cleaned and the cleaning module 20 is not subjected to external force (such as the force applied by the power module 30, or the force applied by people or objects in the external environment, etc.), the position or state of the upper end of the elastic member 231 relative to the cleaning component 21 remains unchanged; accordingly, along the height direction Z of the cleaning device 100, the lower end of the elastic member 231 is relatively fixed to the fuselage 10. When the cleaning component 21 is not in contact with the surface to be cleaned and the fuselage 10 is not subjected to external force (such as the force applied by people or objects in the external environment, etc.), the position or state of the lower end of the elastic member 231 relative to the fuselage 10 remains unchanged. As can be seen from the above, the cleaning assembly 21 can move relative to the body 10. Therefore, when the body 10 is stationary, the lower end of the elastic member 231 can serve as a fixed end, so that the elastic member 231 can exert a vertical upward force on the cleaning assembly 21 when in a compressed state, thereby reducing the pressure exerted by the cleaning assembly 21 on the surface to be cleaned when in contact with the surface to be cleaned, so that the pressure of the cleaning assembly 21 on the surface to be cleaned is not too great, thereby improving the degree of contact between the wiping member 215 and the surface to be cleaned to a certain extent, thereby improving the cleaning effect. This is conducive to ensuring the stable movement of the cleaning device 100 and improving the stability and reliability of the cleaning device 100.

[0060] In some embodiments, the elastic member 231 includes at least one of the following: a compression spring, a rubber member, a hollow wheel, and a spring steel sheet. It is understandable that in addition to being a compression spring, a rubber member, a hollow wheel, and a spring steel sheet, the elastic member 231 may also be other structural members made of elastic materials such as silicone, spring steel, memory spring, and elastomeric plastic. Exemplarily, in the case where the elastic member 231 includes a compression spring, along the height direction Z of the cleaning device 100, the upper end of the compression spring is relatively fixed to the cleaning component 21, and the lower end of the compression spring is relatively fixed to the body 10. When the cleaning component 21 is not in contact with the surface to be cleaned, the compression spring is in a compressed state, whereby the compression spring can generate an elastic force acting on the cleaning component 21, so that the cleaning component 21 is subjected to a vertically upward force.

[0061] It should be noted that, in this embodiment, when the cleaning component 21 is not in contact with the surface to be cleaned and the elastic member 231 is in a compressed state, the upper end of the elastic member 231 can be directly or indirectly fixedly connected to the cleaning component 21, or abutted, so as to achieve relative fixation between the upper end of the elastic member 231 and the cleaning component 21; the lower end of the elastic member 231 can be directly or indirectly fixedly connected to the body 10, or abutted, so as to achieve relative fixation between the lower end of the elastic member 231 and the body 10.

[0062] Referring to Figure 11 , in other embodiments, along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is fixed relative to the body 10, and the lower end of the elastic member 231 is fixed relative to the cleaning assembly 21. When the cleaning assembly 21 is not in contact with the surface to be cleaned, the elastic member 231 is in a stretched state. Thus, the elastic member 231 has an elastic force, and this elastic force can act on the cleaning assembly 21, causing the cleaning assembly 21 to be subjected to a vertical upward force, thereby reducing the pressure exerted by the cleaning assembly 21 on the surface to be cleaned when in contact with the surface to be cleaned. This prevents excessive pressure from the cleaning assembly 21 on the surface to be cleaned, thereby improving the contact between the wiping member 215 and the surface to be cleaned, and thereby enhancing the cleaning effect. This helps ensure the stable movement of the cleaning device 100, thereby improving the stability and reliability of the operation of the cleaning device 100.

[0063] It should be noted that, along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is relatively fixed to the fuselage 10, and when the cleaning component 21 is not in contact with the surface to be cleaned, and when the cleaning module 20 is not subjected to external force (such as the force exerted by the power module 30, or the force exerted by people or objects in the external environment, etc.), the position or state of the upper end of the elastic member 231 relative to the fuselage 10 remains unchanged; accordingly, along the height direction Z of the cleaning device 100, the lower end of the elastic member 231 is relatively fixed to the cleaning component 21, and when the cleaning component 21 is not in contact with the surface to be cleaned, and when the fuselage 10 is not subjected to external force (such as the force exerted by people or objects in the external environment, etc.), the position or state of the lower end of the elastic member 231 relative to the cleaning component 21 remains unchanged. As can be seen from the above, the cleaning assembly 21 can move relative to the body 10. Therefore, when the body 10 is stationary, the upper end of the elastic member 231 can serve as a fixed end, so that the elastic member 231 can exert a vertical upward force on the cleaning assembly 21 when in a stretched state, thereby reducing the pressure exerted by the cleaning assembly 21 on the surface to be cleaned when in contact with the surface to be cleaned, so that the pressure of the cleaning assembly 21 on the surface to be cleaned is not too great, thereby improving the degree of contact between the wiping member 215 and the surface to be cleaned to a certain extent, thereby improving the cleaning effect. This is conducive to ensuring the stable movement of the cleaning device 100, thereby improving the stability and reliability of the operation of the cleaning device 100.

[0064] In some embodiments, the elastic member 231 includes a tension spring. It is understood that in addition to being a tension spring, the elastic member 231 may also be other structural members made of elastic materials such as silicone, spring steel, memory spring, and elastomeric plastic. Specifically, when the elastic member 231 includes a tension spring, along the height direction Z of the cleaning device 100, the upper end of the tension spring is relatively fixed to the body 10, and the lower end of the compression spring is relatively fixed to the cleaning assembly 21. When the cleaning assembly 21 is not in contact with the surface to be cleaned, the tension spring is in a stretched state. As a result, the tension spring can generate an elastic force acting on the cleaning assembly 21, so that the cleaning assembly 21 is subjected to a vertical upward force.

[0065] It should be noted that, in this embodiment, when the cleaning component 21 is not in contact with the surface to be cleaned and the elastic member 231 is in a stretched state, the upper end of the elastic member 231 can be directly or indirectly fixedly connected to the body 10 to achieve relative fixation of the upper end of the elastic member 231 and the body 10; the lower end of the elastic member 231 can be directly or indirectly fixedly connected to the cleaning component 21 to achieve relative fixation of the lower end of the elastic member 231 and the cleaning component 21.

[0066] It is worth noting that the "upper end" and "lower end" of the elastic member 231 are relative to each other on the elastic member 231. The upper end is only limited to above the lower end, and the upper end and the lower end are not strictly limited to being located at the uppermost and lowermost ends of the elastic member 231 structure respectively.

[0067] Referring to Figures 2, 6, 7, 9(a), 10(a), or 11, in some embodiments, the cleaning module 20 further includes a mounting assembly 25, which is connected to both the body 10 and the cleaning assembly 21. At least two of the body 10, the mounting assembly 25, and the cleaning assembly 21 are movably connected along the height direction Z of the cleaning device 100, so that the cleaning assembly 21 can move relative to the body 10 along the height direction Z of the cleaning device 100.

[0068] Specifically, in some embodiments, when the power module 30 applies a force to the cleaning module 20, at least two of the body 10, the mounting assembly 25 and the cleaning assembly 21 can generate relative movement along the height direction Z of the cleaning device 100, thereby enabling the cleaning assembly 21 to move relative to the body 10 along the height direction Z of the cleaning device 100. As a result, the cleaning assembly 21 can be lifted when there is a protrusion on the surface to be cleaned, or when the cleaning device 100 encounters an area on the surface to be cleaned that the user does not want to mop (such as a carpet area, etc.), the cleaning assembly 21 (mopping component) can be lifted, thereby ensuring the stability of the cleaning device 100, which is beneficial for the cleaning device 100 to adapt to different cleaning environments and cleaning needs, and improve the cleaning effect of the cleaning device 100.

[0069] In some embodiments, as shown in FIG7 , the mounting assembly 25 is movably connected to the body 10 along the height direction Z of the cleaning device 100, and an elastic member 231 is provided between the body 10 and the mounting assembly 25. Exemplarily, the opposite ends of the elastic member 231 are respectively connected to the body 10 and the mounting assembly 25 to achieve a floating connection between the body 10 and the mounting assembly 25 along the height direction Z of the cleaning device 100. That is, the body 10 and the mounting assembly 25 can move relative to each other along the height direction Z of the cleaning device 100. Since the mounting assembly 25 is used to connect the body 10 and the cleaning assembly 21, the mounting assembly 25 can drive the cleaning assembly 21 to move relative to the body 10 along the height direction Z of the cleaning device 100. The elastic member 231 can provide a vertical upward force on the cleaning assembly 21 through the mounting assembly 25.

[0070] In other embodiments, as shown in Figures 4, 5, 9, and 10, the mounting assembly 25 and the cleaning assembly 21 are movably connected along the height direction Z of the cleaning device 100, and an elastic member 231 may be provided between the mounting assembly 25 and the cleaning assembly 21. Exemplarily, the opposite ends of the elastic member 231 are respectively connected to the mounting assembly 25 and the cleaning assembly 21 to achieve a floating connection between the mounting assembly 25 and the cleaning assembly 21 along the height direction Z of the cleaning device 100, that is, the mounting assembly 25 and the body 10 can move relative to each other along the height direction Z of the cleaning device 100. Since the mounting assembly 25 is used to connect the body 10 and the cleaning assembly 21, the cleaning assembly 21 can move relative to the body 10 along the height direction Z of the cleaning device 100. The elastic member 231 can provide a vertical upward force on the cleaning assembly 21.

[0071] In still other embodiments, as shown in FIG11 , the body 10 and the cleaning assembly 21 are movably connected along the height direction Z of the cleaning device 100, and an elastic member 231 is provided between the body 10 and the cleaning assembly 21. Exemplarily, the opposite ends of the elastic member 231 are respectively connected to the body 10 and the cleaning assembly 21 to achieve a movable connection between the body 10 and the cleaning assembly 21 along the height direction Z of the cleaning device 100. That is, the body 10 and the cleaning assembly 21 can move relative to each other along the height direction Z of the cleaning device 100, thereby allowing the cleaning assembly 21 to move relative to the body 10 along the height direction Z of the cleaning device 100. The elastic member 231 can provide a vertical upward force on the cleaning assembly 21. For example, the elastic member 231 is a tension spring, and the cleaning component 21 is suspended under the fuselage 10 by the tension spring. Furthermore, one of the cleaning component 21 and the fuselage 10 can be provided with a guide rod (not shown) extending along the height direction Z of the cleaning device 100, and the other of the cleaning component 21 and the fuselage 10 can be provided with a sleeve (not shown) cooperating with the guide rod. The cooperation between the guide rod and the sleeve can realize the guidance of the movement of the cleaning component 21 relative to the fuselage 10 along the height direction Z, thereby avoiding the deflection of the cleaning component 21 relative to the fuselage 10.

[0072] Please refer to Figures 4, 5, 6, 7, 9(a), 9(b), 10(a), 10(b), and 11 again. In some embodiments, the mounting assembly 25 includes a first mounting member 251 and a second mounting member 253. The first mounting member 251 is connected to the fuselage 10, and the second mounting member 253 is connected to the cleaning assembly 21. The first mounting member 251 and the second mounting member 253 are movably connected along the height direction Z of the cleaning device 100 so that the cleaning assembly 21 can move relative to the fuselage 10 along the height direction Z of the cleaning device 100.

[0073] In some embodiments, the cleaning device 100 includes a power module 30, which is disposed on the body 10 and is used to drive the cleaning module 20 to move relative to the body 10. In some embodiments, when the power module 30 applies a force to the cleaning module 20, relative movement can be generated between the first mounting member 251 and the second mounting member 253 along the height direction Z of the cleaning device 100, thereby enabling the cleaning assembly 21 to move relative to the body 10 along the height direction Z of the cleaning device 100. As a result, the cleaning assembly 21 can be lifted when there are protrusions on the surface to be cleaned, or when the cleaning device 100 encounters an area on the surface to be cleaned that the user does not want to mop (such as a carpet area, etc.), the cleaning assembly 21 (mopping member) can be lifted, thereby ensuring the stability of the cleaning device 100, thereby facilitating the cleaning device 100 to adapt to different cleaning environments and cleaning needs, and improving the cleaning effect of the cleaning device 100.

[0074] In certain embodiments, as shown in Figures 9(a) and 9(b), or Figures 10(a) and 10(b), an elastic member 231 is disposed between the first mounting member 251 and the second mounting member 253. Specifically, in this embodiment, the opposite ends of the elastic member 231 are connected to the first mounting member 251 and the second mounting member 253, respectively, to achieve a movable connection between the first mounting member 251 and the second mounting member 253 along the height direction Z of the cleaning device 100, thereby enabling the cleaning assembly 21 to move relative to the body 10 along the height direction Z of the cleaning device 100. The elastic member 231 can provide a vertical upward force on the cleaning assembly 21 through the second mounting member 253.

[0075] In certain embodiments, the first mounting member 251 and the second mounting member 253 are movably connected along the width direction (X1 / X2) of the cleaning device 100 and the height direction Z of the cleaning device 100, so that the cleaning assembly 21 can move relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100 and the height direction Z of the cleaning device 100. The width direction (X1 / X2) of the cleaning device 100 is perpendicular to the forward direction Y of the cleaning device 100. In other words, the first mounting member 251 and the second mounting member 253 can move relative to each other in the height direction Z of the cleaning device 100, and can also move relative to each other in the width direction (X1 / X2) of the cleaning device 100, thereby allowing the cleaning assembly 21 to move relative to the body 10 along the width direction (X1 / X2) and the height direction Z of the cleaning device 100.

[0076] Specifically, in this embodiment, when the power module 30 applies a force to the cleaning module 20, the first mounting member 251 and the second mounting member 253 can move along the width direction (X1 / X2) of the cleaning device 100 and the height direction Z of the cleaning device 100, so that the cleaning component 21 can move along the width direction (X1 / X2) of the cleaning device 100 and the height direction Z of the cleaning device 100. As a result, on the one hand, the cleaning component 21 can clean the corners of the surface to be cleaned (for example, when the surface to be cleaned is the ground, the position on the ground close to the wall), thereby reducing the size of the body 10. The cleaning effect of the cleaning device 100 is improved by eliminating the limitation of the size of the cleaning device 100; on the other hand, the cleaning component 21 can be lifted up on the surface to be cleaned so that the cleaning robot can overcome obstacles and improve the passing performance of the cleaning robot; or, when the cleaning device 100 encounters an area that the user does not want to mop on the surface to be cleaned (such as a carpet area, etc.), the cleaning component 21 is lifted up to avoid the cleaning device 100 from dragging on the carpet area and contaminating the carpet area in reverse. This can ensure the stability of the cleaning device 100 while helping the cleaning device 100 to adapt to different cleaning environments and cleaning needs, thereby improving the cleaning effect of the cleaning device 100.

[0077] As shown in Figures 8, 9(a) and 10, in some embodiments, the first mounting member 251 and the second mounting member 253 are relatively movable along the width direction (X1 / X2) of the cleaning device 100. Specifically, in some embodiments, when the cleaning module 20 is subjected to an external force (e.g., the force applied to the cleaning module 20 by the power module 30), the first mounting member 251 and the second mounting member 253 are relatively movable along the width direction (X1 / X2) of the cleaning device 100, thereby enabling the cleaning assembly 21 to move along the width direction (X1 / X2) of the cleaning device 100, thereby enabling the cleaning assembly 21 to clean the corners of the surface to be cleaned (e.g., when the surface to be cleaned is the ground, the position on the ground near the wall), thereby reducing the limitation of the external dimensions of the fuselage 10 and improving the cleaning effect of the cleaning device 100. Further, referring to Figures 7, 8, and 9(a), in some embodiments, the first mounting member 251 includes a guide rail 2511 provided on the body 10, wherein the length direction of the guide rail 2511 is parallel to the width direction (X1 / X2) of the cleaning device 100. The second mounting member 253 is slidably disposed within the first mounting member 251. Specifically, in some embodiments, when the cleaning module 20 is subjected to an external force (e.g., a force applied to the cleaning module 20 by the power module 30), the second mounting member 253 can move relative to the body 10 in a direction parallel to the width direction (X1 / X2) of the cleaning device 100 within the first mounting member 251. In other words, the first mounting member 251 can guide the second mounting member 253 to move relative to the body 10 in a direction parallel to the width direction (X1 / X2) of the cleaning device 100.

[0078] Referring to Figure 7 , in some embodiments, the guide rail 2511 may be movably connected to the body 10. Specifically, the guide rail 2511 may be floatingly connected to the body 10 via the elastic member 231, that is, the guide rail 2511 can move relative to the body 10 along the height direction Z of the cleaning device 100. Referring to Figures 9(a), 9(b), 10(a), and 10(b), in other embodiments, the guide rail 2511 may be fixedly connected to the body 10, that is, the guide rail 2511 cannot move relative to the body 10. The fixed connection between the guide rail 2511 and the body 10 includes, but is not limited to, a detachable connection or a non-detachable connection. The detachable connection includes, but is not limited to, a threaded connection or a snap-fit ​​connection, and the non-detachable connection includes, but is not limited to, bonding or welding.

[0079] In some embodiments, referring to Figures 8, 9, or 10, the cleaning assembly 21 includes a first side 2101 and a second side 2103 opposite to each other in the forward direction Y of the cleaning device 100. The first mounting members 251 include two, and the two first mounting members 251 are respectively opposite to the first side 2101 and the second side 2103 of the cleaning assembly 21.

[0080] Specifically, in some embodiments, when the first mounting member 251 includes a guide rail 2511, the first mounting member 251 includes two, that is, the guide rail 2511 includes two. In this case, the second mounting member 253 may also include at least two, and the at least two second mounting members 253 are respectively arranged on the first side 2101 of the cleaning component 21 and the second side 2103 of the cleaning component 21, and respectively cooperate with the guide grooves 2512 of the two guide rails 2511, thereby making the movement of the cleaning component 21 relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100 more stable, thereby improving the stability and reliability of the cleaning device 100.

[0081] 12 , in some other embodiments, the cleaning assembly 21 includes a first side 2101 and a second side 2103 opposite to each other in the forward direction Y of the cleaning device 100. The first mounting member 251 includes one, and the first mounting member 251 is provided with a mounting groove 2517. At least a portion of the cleaning assembly 21 is disposed in the mounting groove 2517. The mounting groove 2517 includes a first sidewall opposite to the first side 2101 of the cleaning assembly 21, and a second sidewall opposite to the second side 2103 of the cleaning assembly 21.

[0082] Specifically, in some embodiments, at least a portion of the cleaning assembly 21 is disposed in the mounting groove 2517. The first mounting member 251 may further include a guide groove 2512 disposed on a first sidewall of the mounting groove 2517 and a second sidewall of the mounting groove 2517, the guide groove 2512 being in communication with the mounting groove 2517. Among them, the second mounting member 253 may include at least two, and at least two second mounting members 253 are respectively arranged on the first side 2101 of the cleaning component 21 and the second side 2103 of the cleaning component 21, and respectively cooperate with the guide groove 2512 of the first side wall of the mounting groove 2517 and the second side wall of the mounting groove 2517. On the one hand, this can make the movement of the cleaning component 21 relative to the fuselage 10 along the width direction (X1 / X2) of the cleaning device 100 more stable, thereby improving the stability and reliability of the cleaning device 100; on the other hand, compared with the first mounting member 251 including two, the first mounting member 251 only includes one, which can facilitate the parallelism of the two guide grooves 2512 during installation to prevent the two guide grooves 2512 from being non-parallel, causing the cleaning component 21 to be difficult to move relative to the fuselage 10 in the guide groove 2512.

[0083] Referring to Figures 1 and 2, in certain embodiments, when the power module 30 drives the cleaning module 20 to move relative to the body 10, the cleaning module 20 can switch between a first state, a second state, and a third state. When the cleaning module 20 is in the first state and the second state, the cleaning module 20 is in contact with the surface to be cleaned; in the second state, the target end of the cleaning module 20 is further away from the center line of the width direction of the cleaning device 100 than in the first state; when the cleaning module 20 is in the third state, the cleaning module 20 is spaced apart from the surface to be cleaned; wherein, the target end of the cleaning module 20 is the side of the cleaning module 20 closer to the obstacle when the cleaning robot moves along the obstacle; the "obstacle" can be a wall, cabinet, or other grounded object.

[0084] For example, please refer to Figures 13(a) to 13(b), and Figures 14(a) to 14(b). It can be seen from Figures 13(a) and 14(a) that when the cleaning device is in the first state, there is a cleaning blind spot between the right side of the cleaning device and the wall. In order to clean this cleaning blind spot, the cleaning module can be driven to move to the right by the power module, so that the cleaning module is switched to the second state, as shown in Figures 13(b) and 14(b). When the cleaning module is in the second state, the right edge of the cleaning module can be better fitted with the wall, or the distance between the right edge and the wall can be very small, so as to eliminate or reduce the cleaning blind spot, so that the cleaning module can better clean the area along the wall.

[0085] Therefore, in addition to working in the normal cleaning state (first state), the cleaning module 20 of the cleaning device 100 can also work in the side-moving cleaning state (second state), so that the cleaning module 20 can clean the corners of the surface to be cleaned (for example, when the surface to be cleaned is the ground, the position close to the wall on the ground, or the position at the corner), thereby reducing the limitation of the external size of the body 10 and improving the cleaning effect of the cleaning device 100.

[0086] In addition, when the cleaning module 20 is in the third state, the cleaning module 20 is spaced apart from the surface to be cleaned, so that the cleaning module 20 can be lifted when there is a protrusion on the surface to be cleaned, so as to facilitate the cleaning device to pass over the obstacle and improve the passing performance of the cleaning device. Alternatively, when there is an area on the surface to be cleaned that the user does not want to mop (such as a carpet area, etc.), the cleaning module 20 is lifted to ensure the cleaning effect and prevent the cleaning device 100 from mopping the carpet area and contaminating the carpet area. This helps the cleaning device 100 adapt to different cleaning environments and cleaning needs, and improves the cleaning effect of the cleaning device 100.

[0087] In some embodiments, when the cleaning module 20 is in a first state, the cleaning module 20 contacts the surface to be cleaned, and the cleaning module 20 is located in the widest area of ​​the body 10; when the cleaning module 20 is in a second state, the cleaning module 20 contacts the surface to be cleaned, and at least part of the cleaning module 20 is located outside the widest area of ​​the body 10, or one end (target end) of the cleaning module 20 is flush with the edge of the widest area of ​​the body 10; wherein the widest area is the area formed by the two tangents of the projection of the body 10 on the surface to be cleaned along the forward direction Y of the cleaning equipment 100.

[0088] Specifically, referring to FIG. 15 , in certain embodiments, the first state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and the projection of the cleaning module 20 on the surface to be cleaned is located within the widest area of ​​the body 10. The second state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and the target end of the projection of the cleaning module 20 on the surface to be cleaned is located outside the widest area of ​​the body 10, or the target end of the projection of the cleaning module 20 on the surface to be cleaned is flush with the edge of the widest area of ​​the body 10. For example, if the cleaning module 20 includes a crawler-type cleaning member, the second state may be such that the right end of the crawler-type cleaning member is flush with the edge of the widest area of ​​the body 10. Alternatively, the right end of the crawler-type cleaning member extends beyond the edge of the widest area of ​​the body 10. The third state may be such that the cleaning module 20 is spaced apart from the surface to be cleaned. The widest area is the area formed by two tangent lines to the projection of the body 10 on the surface to be cleaned along the forward direction Y of the cleaning device 100. Specifically, the widest area is the area formed by a first tangent line L1 passing through the leftmost end of the projection of the body 10 on the surface to be cleaned and a second tangent line L2 passing through the rightmost end of the projection of the body 10 on the surface to be cleaned. Both the first tangent line L1 and the second tangent line L2 extend in the same direction as the forward direction Y of the cleaning device 100.

[0089] Further, referring to Figure 1, in some embodiments, the cleaning device 100 may also include a movable module 40, which is movably disposed on the body 10 and is connected to both the cleaning module 20 and the power module 30. The power module 30 is used to drive the movable module 40 to move relative to the body 10, thereby driving the cleaning module 20 to move relative to the body 10.

[0090] Specifically, in some embodiments, the mobile module 40 is movably disposed on the body 10 and can be connected to the power module 30. When the power module 30 is operating stably, the driving force generated by the power module 30 can drive the mobile module 40 to move relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100, thereby driving the cleaning module 20 to move relative to the body 10. This allows the cleaning device 100 to adjust the state of the cleaning module 20 according to the specific working conditions of the surface to be cleaned, thereby improving the applicability of the cleaning device 100 and ensuring the cleaning effect of the cleaning device 100.

[0091] 2 , 8 , or 9 , in some embodiments, the power module 30 includes a driver 31 and a transmission component 33. One end of the transmission component 33 is connected to the driver 31, and the other end is connected to the cleaning module 20. The transmission component 33 is used to transmit the driving force of the driver 31 to the cleaning module 20, so that the cleaning module 20 moves relative to the body 10.

[0092] Specifically, in some embodiments, the transmission component 33 can be connected to the cleaning module 20 via the moving module 40, or the transmission component 33 can be directly connected to the cleaning module 20. When the driving member 31 moves stably, the driving force generated by the driving member 31 can be transmitted to the cleaning module 20 via the transmission component 33. As a result, the driving member 31 can drive the cleaning module 20 to move relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100 and / or along the height direction Z of the cleaning device 100 via the transmission component 33.

[0093] It should be noted that in some embodiments, the driving member 31 may be a drive structure such as a motor or an electric push rod, wherein motors include but are not limited to DC servo motors, AC servo motors, and stepper motors. The transmission component 33 may include but is not limited to one or more transmission structures such as a rack and pinion assembly, a wire rope assembly, a screw assembly, a gear assembly, a worm gear assembly, a chain drive assembly, and a pulley drive assembly, and the like, which are not described in detail here.

[0094] When the cleaning device 100 is performing the cleaning task on the surface to be cleaned, in order to ensure the cleaning effect of the cleaning module 20 on the surface to be cleaned, the rotation direction of the cleaning module 20 is opposite to the rotation direction of the driving wheel. The pressure of the cleaning module 20 on the surface to be cleaned is too large, which causes a large friction force between the surface to be cleaned and the cleaning module 20. Therefore, if an extreme slipping scenario is encountered, such as when the wheels crush wet garbage, or when the cleaning device 100 moves to a ground with a large friction coefficient, or when there are oil stains on the ground, the cleaning module 20 is likely to drag the cleaning device 100 in the opposite direction of the forward direction Y of the cleaning device 100, thereby hindering the cleaning device 100 from moving in the above-mentioned slipping scenario.

[0095] In the present application, the cleaning device 100 includes a power module 30, which is connected to the cleaning module 20 and can drive the cleaning module 20 to move along the height direction Z. In the process of the cleaning device 100 performing the cleaning task on the surface to be cleaned, if the above-mentioned slipping scenario is encountered, the power module 30 can be driven to apply a force to the cleaning module 20, so that the cleaning module 20 moves in the height direction Z away from the surface to be cleaned, thereby lifting the cleaning module 20, thereby reducing the pressure of the cleaning module 20 on the surface to be cleaned, thereby reducing the friction of the surface to be cleaned on the cleaning module 20, and avoiding the phenomenon that the cleaning robot is affected by the cleaning module 20 and cannot move or is driven backward by the cleaning module 20, thereby enabling the driving wheel of the cleaning device 100 to smoothly drive the cleaning device 100 to move normally in the above-mentioned slipping scenario. Since the cleaning component 21 is connected to the fuselage 10 through the elastic member 231, the cleaning component 21 can be floatingly connected to the fuselage 10. Therefore, when the power module 30 drives the cleaning module 20 to lift, the cleaning module 20 can be lowered under the action of gravity until it is still in contact with the surface to be cleaned, thereby ensuring that the cleaning equipment 100 can still perform normal cleaning when it moves to the above-mentioned slipping scenario, taking into account both walking and cleaning functions with a relatively appropriate pressure on the ground.

[0096] The structure and installation of the mounting assembly 25 and the elastic member 231 will be described below with reference to specific drawings.

[0097] Specific embodiment 1 of this application

[0098] Referring to Figures 2 and 4 , the second mounting member 253 in the first embodiment is disposed on the side of the cleaning assembly 21 near the main body 10. For example, it can be disposed on the side of the main body 211 of the cleaning assembly 21 near the bottom of the main body 10. The second mounting member 253 defines a first mounting hole 2531 extending along the height direction Z of the cleaning device 100. The cleaning assembly 21 includes a first guide member 217, which extends through the first mounting hole 2531. A first stopper 219 is disposed at the end of the first guide member 217 distal from the cleaning assembly 21. The first stopper 219 is connected to the cleaning assembly 21 and serves to limit the maximum movement of the cleaning assembly 21 relative to the second mounting member 253. Along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is connected to the first stopper 219, while the lower end of the elastic member 231 is connected to the second mounting member 253. When the cleaning module 20 is not in contact with the surface to be cleaned, the elastic member 231 is in a compressed state.

[0099] Specifically, in this embodiment, when the first mounting member 251 is not subjected to external force (such as the force applied to the first mounting member 251 by the power module 30, etc.), no relative movement will occur between the first mounting member 251 and the second mounting member 253. In addition, since the upper end of the elastic member 231 is connected to the first limiting member 219 and the lower end of the elastic member 231 is connected to the second mounting member 253, the lower end of the elastic member 231 can serve as a fixed end. Therefore, when the elastic member 231 is in a compressed state, the elastic member 231 can apply a vertical upward force to the cleaning component 21 through the first limiting member 219, thereby preventing the cleaning component 21 from applying excessive pressure on the surface to be cleaned when the cleaning component 21 contacts the surface to be cleaned.

[0100] In this embodiment, at least a portion of the first mounting member 251 can be disposed within the second mounting member 253 and movably connected to the second mounting member 253 along the width direction (X1 / X2) of the cleaning device 100 and / or the height direction Z of the cleaning device 100. The first guide member 217 can be provided with a first mounting hole 2531 and extend into the second mounting member 253. The provision of the first mounting hole 2531 prevents the first mounting member 251 from interfering with the first guide member 217 during assembly, thereby ensuring proper assembly of the cleaning device 100. Furthermore, a first stopper 219 is disposed at the end of the first guide member 217 facing away from the cleaning assembly 21. The first stopper 219 limits the maximum movement of the cleaning assembly 21 relative to the body 10 in the height direction Z of the cleaning device 100, preventing unrestricted movement of the cleaning assembly 21, which could result in collision damage between the cleaning assembly 21 and the body 10 or external structures. This improves the stability and reliability of the cleaning device 100 and extends the service life of the cleaning assembly 21.

[0101] In some embodiments, the first guide member 217 and the first stop member 219 can be integrally formed, that is, the first guide member 217 and the first stop member 219 are an integral structure, thereby improving the bonding strength between the first guide member 217 and the first stop member 219, preventing the first stop member 219 from falling off the first guide member 217 when the cleaning component 21 and the second mounting member 253 move relative to each other, thereby improving the stability and reliability of the cleaning device 100. For example, the cleaning component 21 may include a bolt, the rod of the bolt being the first guide member 217, and the head of the bolt being the first stop member 219. In other examples, the first guide member 217 and the first stop member 219 can be connected together using a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding, and the detachable connection method includes but is not limited to a snap connection or a threaded connection.

[0102] In this embodiment, the elastic member 231 may be a compression spring, wherein the upper end of the compression spring is connected to the first limiting member 219 and the lower end of the compression spring is connected to the second mounting member 253 along the height direction Z of the cleaning device 100. When the cleaning module 20 is not in contact with the surface to be cleaned, the compression spring is in a compressed state to provide a vertical upward force on the cleaning component 21. The compression spring may be sleeved on the first guide member 217, thereby limiting the deformation of the compression spring along the height direction Z of the cleaning device 100. In other words, the first guide member 217 can limit the deformation direction (compression direction) of the compression spring along the height direction Z of the cleaning device 100, thereby preventing the compression spring from deforming in other directions (such as the width direction (X1 / X2) of the cleaning device 100) so that the compression spring cannot provide a vertical upward force on the cleaning component 21, thereby improving the stability and reliability of the cleaning device 100.

[0103] 2 and 4 , in this embodiment, one of the first mounting member 251 and the second mounting member 253 is provided with a movable groove 201, and the other of the first mounting member 251 and the second mounting member 253 is provided with a moving member 203 that cooperates with the movable groove 201. The moving member 203 is movably disposed in the movable groove 201. It should be noted that the moving member 203 may include, but is not limited to, a protrusion or a roller.

[0104] Specifically, in some embodiments, the first mounting member 251 is provided with a movable groove 201, and the second mounting member 253 is provided with a moving member 203 that cooperates with the movable groove 201. In other embodiments, the first mounting member 251 is provided with a moving member 203, and the second mounting member 253 is provided with a movable groove 201 that cooperates with the moving member 203. In this embodiment, only the example of the first mounting member 251 being provided with the moving member 203 and the second mounting member 253 being provided with the movable groove 201 that cooperates with the moving member 203 is used for description.

[0105] 6 , in this embodiment, the second mounting member 253 is box-shaped, and the second mounting member 253 forms a receiving cavity 205, and the first mounting member 251 is received in the receiving cavity 205. Specifically, in some embodiments, the second mounting member 253 includes a first side (the lower side of the second mounting member 253 in FIG6 ) and a second side (the upper side of the second mounting member 253 in FIG6 ) opposite to each other in the height direction Z of the cleaning device 100. The first side of the second mounting member 253 is opposite to the body 211, and the receiving cavity 205 is recessed from the second side of the second mounting member 253 toward the first side of the second mounting member 253. At least a portion of the first mounting member 251 is received in the receiving cavity 205. Thus, the provision of the receiving cavity 205 can, on the one hand, reduce the space occupied by the mounting assembly 25, thereby facilitating the miniaturization of the cleaning device 100; on the other hand, it can facilitate the installation and positioning of the second mounting member 253 on the first mounting member 251, thereby improving assembly efficiency. It is understandable that in some embodiments, the first mounting hole 2531 may be recessed from the bottom wall of the accommodating cavity 205 in a direction away from the center of the accommodating cavity 205 , and the first guide member 217 passes through the second mounting member 253 and extends into the accommodating cavity 205 .

[0106] In one example, the moving groove 201 can be a through groove, that is, the moving groove 201 passes through the side wall of the accommodating chamber 205, thereby, when the movement of the moving part 203 in the moving groove 201 is blocked, the cause of the fault can be quickly checked. For example, when the moving part 203 cannot move, it is easy to observe whether the moving part 203 is stuck in the moving groove 201, thereby ensuring the stability and reliability of the cleaning device 100. In another example, the moving groove 201 can be a blind groove, that is, the moving groove 201 is recessed from the side wall of the accommodating chamber 205 in a direction away from the center of the accommodating chamber 205, but the moving groove 201 does not pass through the side wall of the accommodating chamber 205, thereby reducing the possibility of the moving part 203 falling off from the moving groove 201, thereby ensuring the normal operation of the cleaning device 100.

[0107] In this embodiment, the movable groove 201 includes an inclined side wall 2011, which is used to abut against the moving part 203, and the inclined side wall 2011 is inclined relative to the bottom surface of the cleaning component 21. The bottom surface of the cleaning component 21 may be: when the cleaning device 100 is carried on the surface to be cleaned, the side of the cleaning component 21 opposite to the surface to be cleaned. Specifically, in some embodiments, the movable groove 201 may be recessed from the side wall of the accommodating cavity 205 in a direction away from the center of the accommodating cavity 205. Both side walls of the movable groove 201 along the width direction (X1 / X2) of the cleaning device 100 may be inclined side walls 2011. The provision of the inclined side walls 2011 can facilitate the moving part 203 to apply a force to the second mounting member 253, thereby ensuring the stability of the relative movement between the first mounting member 251 and the second mounting member 253.

[0108] In this embodiment, the angle between the inclined side wall 2011 and the width direction (X1 / X2) of the cleaning device 100 is an acute angle. Specifically, in some embodiments, the angle between the inclined side wall 2011 and the width direction (X1 / X2) of the cleaning device 100 may range from (0° to 90°), that is, the angle between the inclined side wall 2011 and the width direction (X1 / X2) of the cleaning device 100 may be any one of 5°, 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, and 85°, or any value between any two of these values.

[0109] Specifically, in some embodiments, when the first mounting member 251 moves relative to the second mounting member 253, since the angle between the inclined side wall 2011 and the width direction (X1 / X2) of the cleaning device 100 is an acute angle, the inclined side wall 2011 cooperates with the moving member 203, and the moving member 203 can move along the inclined side wall 2011 relative to the second mounting member 253 along the width direction (X1 / X2) of the cleaning device 100 and the height direction Z of the cleaning device 100, so as to drive the second mounting member 253 and the main body 211 to move relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100 and the height direction Z of the cleaning device 100, thereby, the cleaning component 21 can move relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100 and the height direction Z of the cleaning device 100.

[0110] In summary, in this embodiment, along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is connected to the first limit member 219, and the lower end of the elastic member 231 is connected to the second mounting member 253. When the cleaning component 21 does not contact the surface to be cleaned, the elastic member 231 is in a compressed state. Therefore, when the cleaning component 21 contacts the surface to be cleaned to clean the surface to be cleaned, the elastic member 231 can exert a vertical upward force on the cleaning component 21, thereby preventing the cleaning component 21 from exerting too much pressure on the surface to be cleaned and affecting the normal movement of the cleaning device 100, thereby ensuring the stability and reliability of the cleaning device 100 and improving the cleaning effect of the cleaning device 100.

[0111] Specific embodiment 2 of this application

[0112] Referring to Figures 7 and 8 , in the second embodiment, the body 10 and the mounting assembly 25 are connected via an elastic member 231. Specifically, the elastic member 231 is disposed between the body 10 and the first mounting member 251. The body 10 is provided with a second mounting hole 11. The first mounting member 251 includes a second guide member 2515, which is inserted through the second mounting hole 11. A second limiter 2516 is disposed at the end of the second guide member 2515 that is distal from the surface to be cleaned. The second limiter 2516 is connected to the first mounting member 251 and is used to limit the maximum movement of the first mounting member 251 relative to the body 10. Along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is connected to the second limiter 2516, while the lower end of the elastic member 231 is connected to the body 10. When the cleaning module 20 is not in contact with the surface to be cleaned, the elastic member 231 is in a compressed state. In this embodiment, the first mounting member 251 is movably connected to the body 10 , that is, the first mounting member 251 can move relative to the body 10 to achieve the movable connection of the cleaning assembly 21 relative to the body 10 .

[0113] Specifically, in this embodiment, when the cleaning module 20 is not subjected to external force (such as the force applied to the cleaning module 20 by the power module 30, etc.), no relative movement will occur between the first mounting member 251 and the second mounting member 253. In addition, since the upper end of the elastic member 231 is connected to the second limiting member 2516 and the lower end of the elastic member 231 is connected to the fuselage 10, the lower end of the elastic member 231 can serve as a fixed end. Therefore, when the elastic member 231 is in a compressed state, the elastic member 231 can apply a vertical upward force to the cleaning component 21 through the second limiting member 2516, thereby preventing the cleaning component 21 from applying excessive pressure on the surface to be cleaned when the cleaning component 21 contacts the surface to be cleaned.

[0114] In this embodiment, the second guide member 2515 is at least partially disposed in the second mounting hole 11. Thus, the provision of the second mounting hole 11 can reduce the possibility of interference between the second guide member 2515 and other structural members during assembly of the cleaning device 100, thereby ensuring normal assembly of the cleaning device 100. Furthermore, a second stopper 2516 is disposed at the end of the second guide member 2515 away from the surface to be cleaned. Thus, the second stopper 2516 can limit the maximum movement position of the first mounting member 251 relative to the body 10 in the height direction Z of the cleaning device 100. That is, the second stopper 2516 can limit the maximum movement position of the cleaning assembly 21 relative to the body 10 in the height direction Z of the cleaning device 100, preventing the unrestricted movement of the cleaning assembly 21 from causing damage to the cleaning assembly 21 by collision with the body 10 or external structures. This can improve the stability and reliability of the cleaning device 100 and extend the service life of the cleaning assembly 21.

[0115] In some examples, the second guide member 2515 and the second stopper 2516 can be integrally formed, that is, the second guide member 2515 and the second stopper 2516 are an integral structure, thereby improving the bonding strength between the second guide member 2515 and the second stopper 2516, and improving the stability and reliability of the cleaning device 100. For example, the first mounting member 251 may include a bolt, the rod of the bolt is the second guide member 2515, and the head of the bolt is the second stopper 2516. In other examples, the second guide member 2515 and the second stopper 2516 can be connected together using a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding, and the detachable connection method includes but is not limited to a snap connection or a threaded connection.

[0116] In this embodiment, the elastic member 231 may be a compression spring. Along the height direction Z of the cleaning device 100, the upper end of the compression spring is connected to the second stopper 2516, and the lower end of the compression spring is connected to the body 10. When the cleaning module 20 is not in contact with the surface to be cleaned, the compression spring is in a compressed state to provide a vertical upward force on the cleaning assembly 21. The compression spring may be mounted on the second guide member 2515. Thus, the second guide member 2515 can limit the deformation of the compression spring along the height direction Z of the cleaning device 100. In other words, the second guide member 2515 can limit the deformation direction (compression direction) of the compression spring along the height direction Z of the cleaning device 100, preventing the compression spring from deforming in other directions (e.g., the width direction (X1 / X2) of the cleaning device 100), thereby preventing the compression spring from providing a vertical upward force on the cleaning assembly 21. This can improve the stability and reliability of the cleaning device 100. Of course, in the embodiments shown in Figures 7 and 8, the elastic member 231 may also be other elastic members such as rubber or springs.

[0117] Please continue to refer to Figures 7 and 8. In this embodiment, a mating piece 255 is provided in the first mounting piece 251, and the mating piece 255 protrudes upward along the height direction Z of the cleaning device 100. The cleaning component 21 is arranged on the fuselage 10 through the cooperation of the second mounting piece 253 and the first mounting piece 251. The second mounting piece 253 can move along the mating piece 255 to be supported on the mating piece 255, so that the cleaning component 21 can move relative to the fuselage 10 along the height direction Z of the cleaning device 100.

[0118] Specifically, in some embodiments, when the first mounting member 251 includes a guide rail 2511, the matching member 255 is disposed in the guide rail 2511. The guide rail 2511 includes a guide groove 2512. Along the height direction Z of the cleaning device 100, the guide groove 2512 includes a first side wall 2513 and a second side wall 2514 that are opposite to each other. The first side wall 2513 is closer to the surface to be cleaned than the second side wall 2514. The matching member 255 is disposed on the first side wall 2513 and can protrude upward from the first side wall 2513 along the height direction Z of the cleaning device 100. When the second mounting member 253 moves relative to the first mounting member 251 along the width direction (X1 / X2) of the cleaning device 100 until the second mounting member 253 abuts against the mating member 255, the second mounting member 253 can move along the mating member 255 to be supported on the mating member 255, that is, the second mounting member 253 can move along the mating member 255 to the top of the mating member 255 (the side of the mating member 255 opposite to the second side wall 2514), thereby, the second mounting member 253 can drive the cleaning component 21 to move relative to the body 10 along the height direction Z of the cleaning device 100, thereby switching the cleaning module 20 between the first state and the third state, or switching between the second state and the third state.

[0119] For example, please refer to Figure 16(a). "A" in Figure 16(a) represents the relative position between the second mounting member 253 and the mating member 255 when the cleaning module 20 is in the first state; "B" in Figure 16(a) represents the relative position between the second mounting member 253 and the mating member 255 when the cleaning module 20 is in the second state; "C" in Figure 16(a) represents the relative position between the second mounting member 253 and the mating member 255 when the cleaning module 20 is in the third state. In some embodiments, when the cleaning module 20 is in the first state, the power module 30 can drive the second mounting member 253 to move in the opposite direction X2 relative to the fuselage 10 along the width direction (X1 / X2) of the cleaning device 100, so that the second mounting member 253 moves from A to B, thereby enabling the cleaning module 20 to switch from the first state to the second state; or the power module 30 can drive the second mounting member 253 to move in the forward direction X1 relative to the fuselage 10 along the width direction (X1 / X2) of the cleaning device 100, so that the second mounting member 253 moves from A to C, thereby enabling the cleaning module 20 to switch from the first state to the third state.

[0120] Please refer to Figure 16(b). In other embodiments, "A" in Figure 16(b) represents the relative position between the second mounting member 253 and the mating member 255 when the cleaning module 20 is in the first state; "B" in Figure 16(b) represents the relative position between the second mounting member 253 and the mating member 255 when the cleaning module 20 is in the second state; "C" in Figure 16(b) represents the relative position between the second mounting member 253 and the mating member 255 when the cleaning module 20 is in the third state. When the cleaning module 20 is in the first state, the power module 30 can drive the cleaning module 20 to move relative to the fuselage 10 along the opposite direction X2 of the width direction (X1 / X2) of the cleaning device 100 until the second mounting member 253 cooperates with the matching member 255, so that the cleaning module 20 directly switches from the first state to the third state, and the second mounting member 253 of the cleaning module 20 moves from position A to position C; or the power module 30 can drive the cleaning module 20 to move relative to the fuselage 10 along the opposite direction X2 of the width direction (X1 / X2) of the cleaning device 100 until the second mounting member 253 cooperates with the matching member 255, so that the cleaning module 20 switches from the first state to the third state, and then continues to drive the cleaning module 20 to move along the opposite direction X2 of the width direction (X1 / X2) of the cleaning device 100, so that the cleaning module 20 switches from the third state to the second state, and the second mounting member 253 of the cleaning module 20 moves from position C to movement B. When the cleaning module 20 is in the second state, the power module 30 can drive the cleaning module 20 to move relative to the fuselage along the positive direction X1 of the width direction (X1 / X2) of the cleaning device 100 to the second mounting member 253 and the matching member 255, so that the cleaning module 20 is directly switched from the second state to the third state, and the second mounting member 253 of the cleaning module 20 moves from position B to position C; or the power module 30 can drive the cleaning module 20 to move relative to the fuselage 10 along the positive direction X1 of the width direction (X1 / X2) of the cleaning device 100 to the second mounting member 253 and the matching member 255, so that the cleaning module 20 is switched from the second state to the third state, and then continue to drive the cleaning module 20 to move along the positive direction X1 of the width direction (X1 / X2) of the cleaning device 100, so that the cleaning module 20 is switched from the third state to the first state, and the second mounting member 253 of the cleaning module 20 moves from position C to position A.

[0121] In some embodiments, the mating member 255 can be integrally formed with the guide rail 2511. That is, the mating member 255 and the guide rail 2511 form a single unitary structure. This can enhance the bonding strength between the mating member 255 and the guide rail 2511, preventing the mating member 255 from falling off the guide rail 2511 when the second mounting member 253 is engaged with the mating member 255, thereby enhancing the operational stability and reliability of the cleaning device 100. In other embodiments, the mating member 255 and the guide rail 2511 can be joined together using a non-detachable or detachable connection, wherein non-detachable connection methods include, but are not limited to, bonding or welding; detachable connection methods include, but are not limited to, snap connections or threaded connections.

[0122] In some embodiments, the mating member 255 includes a protrusion, which includes a first surface 2551 and a second surface 2553 opposite to each other in the width direction (X1 / X2) of the cleaning device 100. The first surface 2551 and / or the second surface 2553 are arranged at an angle, and the first surface 2551 and / or the second surface 2553 are used to guide the second mounting member 253 to move until it is supported on the protrusion. The inclined arrangement of the first surface 2551 and / or the second surface 2553 can, on the one hand, improve the stability of the second mounting member 253 in moving along the mating member 255, allowing the second mounting member 253 to gradually climb onto the mating member 255, thereby improving the stability of the cleaning assembly 21 in moving relative to the body 10; on the other hand, compared to when the first surface 2551 and / or the second surface 2553 are not arranged at an angle, the power module 30 in this embodiment requires less power to drive the second mounting member 253 to move along the mating member 255. In addition, the inclined arrangement of the first surface 2551 and / or the second surface 2553 can also prevent the second mounting member 253 from getting stuck when abutting against the mating member 255, which could cause the power module 30 to burn out or suffer other malfunctions, thereby improving the safety of the power module 30 and extending the service life of the power module 30. It should be noted that in some embodiments, the second mounting member 253 can be a pulley or a roller.

[0123] Specifically, in some embodiments, the direction from the first surface 2551 to the second surface 2553 is the same as the positive direction X1 of the width direction (X1 / X2) of the cleaning device 100. When the first surface 2551 is tilted (as shown in FIG16( a)), the distance between the first surface 2551 and the surface to be cleaned in the height direction Z of the cleaning device 100 gradually increases along the positive direction X1 of the width direction (X1 / X2) of the cleaning device 100; when the second surface 2553 is tilted (as shown in FIG16( b)), the distance between the second surface 2553 and the surface to be cleaned in the height direction Z of the cleaning device 100 gradually decreases along the positive direction X1 of the width direction (X1 / X2) of the cleaning device 100. In which, the protrusion can protrude and extend from the first side wall 2513 toward the second side wall 2514. When the second mounting member 253 moves relative to the body 10 along the width direction (X1 / X2) of the cleaning equipment 100 until it abuts against the first surface 2551 or the second surface 2553, the second mounting member 253 can move along the first surface 2551 or the second surface 2553 toward the top of the protrusion (the side of the protrusion opposite to the second side wall 2514) until the second mounting member 253 can be supported on the top of the protrusion, thereby enabling the cleaning component 21 to switch from the first state to the third state, or enabling the cleaning component 21 to switch from the second state to the third state.

[0124] In some embodiments, the longitudinal section of the mating member 255 cut by a plane is trapezoidal, and the plane is formed by a straight line extending along the width direction (X1 / X2) of the cleaning device 100 and a straight line extending along the height direction Z of the cleaning device 100. The upper side of the trapezoid corresponds to the surface of the mating member 255 for supporting the second mounting member 253, and the upper side of the trapezoid is smaller than the lower side of the trapezoid.

[0125] Specifically, in some embodiments, the lower side of the trapezoid is connected to the first side wall 2513. When the second mounting member 253 moves relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100 until it abuts the side of the trapezoid, the second mounting member 253 can move along the side of the trapezoid to be supported on the upper side of the trapezoid, thereby enabling the cleaning component 21 to move relative to the body 10.

[0126] In other embodiments, the mating member 255 includes a protrusion, which includes a first surface 2551 and a second surface 2553 opposite to each other in the width direction (X1 / X2) of the cleaning device 100, and the first surface 2551 and / or the second surface 2553 are arc-shaped. Specifically, in some embodiments, the protrusion can protrude and extend from the first side wall 2513 toward the second side wall 2514. When the second mounting member 253 moves relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100 until it abuts against the first surface 2551 or the second surface 2553, the second mounting member 253 can move along the first surface 2551 or the second surface 2553 toward the top of the protrusion (the side of the protrusion opposite the second side wall 2514) until the second mounting member 253 is supported on the top of the protrusion, thereby enabling the cleaning assembly 21 to move relative to the body 10.

[0127] For example, the mating member 255 can be spherical or hemispherical, and the second mounting member 253 can be spherical or hemispherical. When the second mounting member 253 moves on the mating member 255, the convex curved surface of the second mounting member 253 contacts the convex curved surface of the mating member 255. Guided by the convex curved surface of the mating member 255, the second mounting member 253 can climb to the top of the mating member 255, thereby switching the cleaning module 20 between the first state and the third state, or between the second state and the third state.

[0128] The structural description of the second mounting member 253 and the mating member 255 in the above embodiments of the present application is for example only and is not particularly limited in the present application. It is sufficient as long as the mating member 255 protrudes away from the direction of the surface to be cleaned and has a guiding surface for guiding the second mounting member 253 to climb.

[0129] In summary, in this embodiment, along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is connected to the second limit member 2516, and the lower end of the elastic member 231 is connected to the body 10. When the cleaning component 21 does not contact the surface to be cleaned, the elastic member 231 is in a compressed state. Therefore, when the cleaning component 21 contacts the surface to be cleaned to clean the surface to be cleaned, the elastic member 231 can apply a vertical upward force to the cleaning component 21, thereby preventing the cleaning component 21 from exerting too much pressure on the surface to be cleaned and affecting the normal movement of the cleaning device 100, thereby ensuring the stability and reliability of the cleaning device 100 and improving the cleaning effect of the cleaning device 100.

[0130] Specific embodiment three of this application

[0131] Referring to Figures 9 and 10 , an elastic member 231 is disposed between the first mounting member 251 and the second mounting member 253 in the third embodiment. The first mounting member 251 is fixedly connected to the body 10, and the second mounting member 253 is disposed on a side of the cleaning assembly 21 opposite the first mounting member 251. Along the height direction Z of the cleaning apparatus 100, the upper end of the elastic member 231 is connected to the second mounting member 253, while the lower end of the elastic member 231 is connected to the first mounting member 251. When the cleaning module 20 is not in contact with the surface to be cleaned, the elastic member 231 is in a compressed state.

[0132] Specifically, in this embodiment, when the cleaning module 20 is not subjected to external force (such as the force applied to the cleaning module 20 by the power module 30, etc.), no relative movement will occur between the first mounting member 251 and the second mounting member 253. In addition, since the upper end of the elastic member 231 is connected to the second mounting member 253, the lower end of the elastic member 231 is connected to the first mounting member 251, and the first mounting member 251 is fixedly connected to the fuselage 10, the lower end of the elastic member 231 can serve as a fixed end. Therefore, when the elastic member 231 is in a compressed state, the elastic member 231 can apply a vertical upward force to the cleaning component 21 through the second mounting member 253, thereby preventing the cleaning component 21 from applying excessive pressure on the surface to be cleaned when the cleaning component 21 contacts the surface to be cleaned.

[0133] Referring to Figures 10(a) and 10(b), in one embodiment, the elastic member 231 may be a hollow wheel. Along the height direction Z of the cleaning device 100, the upper end of the hollow wheel is connected to the second mounting member 253, and the lower end of the hollow wheel is connected to (abuts) the first mounting member 251. When the cleaning module 20 is not in contact with the surface to be cleaned, the hollow wheel is in a compressed state to provide a vertical upward force on the cleaning assembly 21. Specifically, in some embodiments, the first mounting member 251 includes a guide rail 2511 provided on the body 10, and the length direction of the guide rail 2511 is parallel to the width direction (X1 / X2) of the cleaning device 100. The second mounting member 253 may include a protrusion, and the hollow wheel is rotatably disposed on the protrusion and located in the first mounting member 251. In the case where the cleaning module 20 is subjected to an external force, the second mounting member 253 can move relative to the body 10 in the width direction (X1 / X2) of the cleaning device 100 within the first mounting member 251. In other words, the first mounting member 251 can guide the second mounting member 253 to move relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100, so that the cleaning component 21 moves relative to the body 10 along the width direction (X1 / X2) of the cleaning device 100. It should be noted that in this embodiment, the guide rail 2511 is fixedly connected to the body 10. The fixed connection method includes but is not limited to a detachable connection or a non-detachable connection. The detachable connection method includes but is not limited to a threaded connection or a snap connection, and the non-detachable connection method includes but is not limited to bonding or welding.

[0134] 9(a) and 9(b), in another embodiment, the elastic member 231 may be a spring steel sheet, and along the height direction Z of the cleaning device 100, the upper end of the spring steel sheet is connected to the second mounting member 253, and the lower end of the spring steel sheet is connected to (abuts) the first mounting member 251. When the cleaning module 20 is not in contact with the surface to be cleaned, the spring steel sheet is in a compressed and deformed state to provide a vertical upward force on the cleaning assembly 21. Specifically, in some embodiments, the first mounting member 251 includes a guide rail 2511 provided on the body 10, and the length direction of the guide rail 2511 is parallel to the width direction (X1 / X2) of the cleaning device 100. The second mounting member 253 may include a protrusion, one end of the spring steel sheet is connected to the protrusion, and the other end abuts the guide rail 2511.

[0135] In summary, in this embodiment, along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is connected to the second mounting member 253, and the lower end of the elastic member 231 is connected to the first mounting member 251. When the cleaning component 21 does not contact the surface to be cleaned, the elastic member 231 is in a compressed state. Therefore, when the cleaning component 21 contacts the surface to be cleaned to clean the surface to be cleaned, the elastic member 231 can exert a vertical upward force on the cleaning component 21, thereby preventing the cleaning component 21 from exerting too much pressure on the surface to be cleaned and affecting the normal movement of the cleaning device 100, thereby ensuring the stability and reliability of the cleaning device 100 and improving the cleaning effect of the cleaning device 100.

[0136] It should be noted that, in this embodiment, the structure of the first mounting member 251 and the mating member 255 can be the same as that of the second embodiment. When the elastic member 231 is a hollow wheel or a spring steel sheet, the elastic member 231 itself can have the function of supporting the cleaning component 21. Therefore, the elastic member 231 can be used as a slide in the guide rail-type first mounting member 251, and when the cleaning component 21 needs to be lifted along the height direction Z, the elastic member 231 can move to the mating member 255 supported by the first mounting member 251.

[0137] Specific embodiment 4 of this application

[0138] 1 and 11 , an elastic member 231 is disposed between the first mounting member 251 and the second mounting member 253 in the fourth embodiment. Along the height direction Z of the cleaning apparatus 100, the upper end of the elastic member 231 is connected to the first mounting member 251, and the lower end of the elastic member 231 is connected to the second mounting member 253. When the cleaning module 20 is not in contact with the surface to be cleaned, the elastic member 231 is in a stretched state.

[0139] Specifically, in this embodiment, when the cleaning module 20 (such as the force applied to the cleaning module 20 by the power module 30, etc.) is not subjected to external force, no relative movement will occur between the first mounting member 251 and the second mounting member 253. In addition, since the upper end of the elastic member 231 is connected to the first mounting member 251, the lower end of the elastic member 231 is connected to the second mounting member 253, and the first mounting member 251 is fixedly connected to the fuselage 10, the upper end of the elastic member 231 can serve as a fixed end. Therefore, when the elastic member 231 is in a stretched state, the elastic member 231 can apply a vertical upward force to the cleaning component 21 through the second mounting member 253, thereby preventing the cleaning component 21 from applying excessive pressure on the surface to be cleaned when the cleaning component 21 contacts the surface to be cleaned.

[0140] In this embodiment, the elastic member 231 may be a tension spring. Along the height direction Z of the cleaning device 100, the upper end of the tension spring is connected to the first mounting member 251, and the lower end of the tension spring is connected to the second mounting member 253. When the cleaning module 20 is not in contact with the surface to be cleaned, the tension spring is in a stretched state to provide a vertical upward force on the cleaning assembly 21. Specifically, in some embodiments, the first mounting member 251 includes a guide rod, and the second mounting member 253 includes a protrusion, and opposite ends of the tension spring are connected to the guide rod and the protrusion, respectively.

[0141] In summary, in this embodiment, along the height direction Z of the cleaning device 100, the upper end of the elastic member 231 is connected to the first mounting member 251, and the lower end of the elastic member 231 is connected to the second mounting member 253. When the cleaning component 21 does not contact the surface to be cleaned, the elastic member 231 is in a stretched state. Therefore, when the cleaning component 21 contacts the surface to be cleaned to clean the surface to be cleaned, the elastic member 231 can exert a vertical upward force on the cleaning component 21, thereby preventing the cleaning component 21 from exerting too much pressure on the surface to be cleaned and affecting the normal movement of the cleaning device 100, thereby ensuring the stability and reliability of the cleaning device 100 and improving the cleaning effect of the cleaning device 100.

[0142] In conjunction with Figure 17 , an embodiment of the present application provides a base station 200 for use with the cleaning device 100 described in any of the above embodiments. Specifically, the base station 200 includes a docking position 2001 for accommodating the cleaning device 100. More specifically, in certain embodiments, when the cleaning device 100 is located in the docking position 2001 of the cleaning device 100, the base station 200 can perform at least one of the following functions for the cleaning device 100: charging, maintenance, water replenishment, drainage, dust collection, etc. For example, when the mopping and wiping member 215 in the cleaning device 100 is dirty, the cleaning device 100 can return to the base station 200 to clean the mopping and wiping member 215.

[0143] The present application also provides a cleaning system 1000, comprising the cleaning device 100 as described in any of the above embodiments and a base station 200 for use with the cleaning device 100, wherein the base station 200 includes a docking position 2001 for accommodating the cleaning device 100. Since the cleaning system 1000 in this embodiment includes the cleaning device 100, it can be understood that the cleaning system 1000 includes at least the same beneficial effects as the cleaning device 100. Therefore, the beneficial effects of the cleaning system 1000 can refer to the beneficial effects of the cleaning device 100 described above and are not further described here.

[0144] The technical features of the above-described embodiments may be combined in any manner. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there are no conflicts in the combination of these technical features, they should be considered to be within the scope of this specification. Furthermore, other implementations can be derived from the above-described embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0145] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A cleaning module for cleaning equipment, wherein: include: A cleaning component, the cleaning component is used to contact the surface to be cleaned to clean the surface to be cleaned; and An adjusting member is used to connect the cleaning assembly and the body of the cleaning device, and the adjusting member can provide a vertical upward force to the cleaning assembly.

2. The cleaning module according to claim 1, wherein: The cleaning assembly includes a crawler-type cleaning member or a roller-type cleaning member.

3. The cleaning module according to claim 1, wherein: The adjusting member comprises: An elastic member has elastic force, and the elastic force can act on the cleaning component to provide a vertical upward force to the cleaning component.

4. The cleaning module according to claim 3, wherein: Along the height direction of the cleaning device, the upper end of the elastic member is relatively fixed to the cleaning assembly, and the lower end of the elastic member is relatively fixed to the body. When the cleaning assembly is not in contact with the surface to be cleaned, the elastic member is in a compressed state.

5. The cleaning module according to claim 4, wherein: The elastic member includes at least one of the following: a compression spring, a rubber member, a hollow wheel and a spring steel sheet.

6. The cleaning module according to claim 3, wherein: Along the height direction of the cleaning device, the upper end of the elastic member is relatively fixed to the body, and the lower end of the elastic member is relatively fixed to the cleaning component. When the cleaning component is not in contact with the surface to be cleaned, the elastic member is in a stretched state.

7. The cleaning module according to claim 6, wherein: The elastic member includes a tension spring.

8. The cleaning module according to claim 3, wherein: The cleaning module also includes: an installation component connected to both the fuselage and the cleaning component; at least two of the fuselage, the installation component and the cleaning component are movably connected along the height direction of the cleaning device, so that the cleaning component can move relative to the fuselage along the height direction of the cleaning device.

9. The cleaning module according to claim 8, wherein: The mounting assembly is movably connected to the body along the height direction of the cleaning device, and the elastic member is provided between the mounting assembly and the body; And / or, the mounting assembly and the cleaning assembly are movably connected along the height direction of the cleaning device, and the elastic member is provided between the mounting assembly and the cleaning assembly; And / or, the body and the cleaning assembly are movably connected along the height direction of the cleaning device, and the elastic member is provided between the body and the cleaning assembly.

10. The cleaning module according to claim 3, wherein: The cleaning module also includes: A mounting assembly is connected to the fuselage and the cleaning assembly, and the mounting assembly includes a first mounting member and a second mounting member, the first mounting member is connected to the fuselage, and the second mounting member is connected to the cleaning assembly, and the first mounting member and the second mounting member are movably connected along the height direction of the cleaning device so that the cleaning assembly can move relative to the fuselage along the height direction of the cleaning device.

11. The cleaning module according to claim 10, wherein: The elastic member is provided between the first mounting member and the second mounting member.

12. The cleaning module according to claim 10, wherein: The first mounting member and the second mounting member are movably connected along the width direction and the height direction of the cleaning device, so that the cleaning assembly can move relative to the body along the width direction and the height direction of the cleaning device; wherein, the width direction of the cleaning device is perpendicular to the forward direction of the cleaning device.

13. The cleaning module according to claim 10, wherein: The second mounting member is provided on a side of the cleaning assembly close to the body, the second mounting member is provided with a first mounting hole extending in a height direction of the cleaning device, the cleaning assembly includes a first guide member, and the first guide member is passed through the first mounting hole; A first limiting member is provided at one end of the first guide member away from the cleaning assembly, the first limiting member being connected to the cleaning assembly and being used to limit the ultimate movement position of the cleaning assembly relative to the second mounting member; Along the height direction of the cleaning device, the upper end of the elastic member is connected to the first limiting member, and the lower end of the elastic member is connected to the second mounting member. When the cleaning module does not contact the surface to be cleaned, the elastic member is in a compressed state.

14. The cleaning module according to claim 10 or 12, wherein: One of the first mounting member and the second mounting member is provided with a movable groove, and the other of the first mounting member and the second mounting member is provided with a moving member that cooperates with the movable groove, and the moving member is movably arranged in the movable groove.

15. The cleaning module according to claim 14, wherein: The moving groove includes an inclined side wall, the inclined side wall is used to abut against the moving part, and the inclined side wall is inclined relative to the bottom surface of the cleaning component.

16. The cleaning module according to claim 15, wherein: The angle between the inclined side wall and the width direction of the cleaning device is an acute angle.

17. The cleaning module according to claim 10, wherein: The first mounting member and the second mounting member are relatively movable along a width direction of the cleaning device.

18. The cleaning module according to claim 17, wherein: The first mounting member includes a guide rail provided on the body, wherein the length direction of the guide rail is parallel to the width direction of the cleaning device; The second mounting member is slidably disposed in the first mounting member.

19. The cleaning module according to claim 10, wherein: The elastic member is provided between the fuselage and the first mounting member, the fuselage is provided with a second mounting hole, the first mounting member includes a second guide member, and the second guide member is provided through the second mounting hole; A second limiting member is provided at one end of the second guide member away from the surface to be cleaned, the second limiting member being connected to the first mounting member and being used to limit the extreme movement position of the first mounting member relative to the body; Along the height direction of the cleaning device, the upper end of the elastic member is connected to the second limiting member, and the lower end of the elastic member is connected to the body. When the cleaning module does not contact the surface to be cleaned, the elastic member is in a compressed state.

20. The cleaning module according to claim 19, wherein: A mating piece is provided in the first mounting piece, and the mating piece protrudes upward along the height direction of the cleaning equipment. The cleaning assembly is arranged on the fuselage through the cooperation of the second mounting piece and the first mounting piece. The second mounting piece can move along the mating piece to be supported on the mating piece, so that the cleaning assembly can move relative to the fuselage along the height direction of the cleaning equipment.

21. The cleaning module according to claim 20, wherein: The longitudinal section of the mating part cut by a plane is trapezoidal, and the plane is formed by a straight line extending along the width direction of the cleaning device and a straight line extending along the height direction of the cleaning device. The upper side of the trapezoid corresponds to the surface of the mating part for supporting the second mounting part, and the upper side of the trapezoid is smaller than the lower side of the trapezoid.

22. The cleaning module according to claim 10, wherein: The elastic member is provided between the first mounting member and the second mounting member, the first mounting member is fixedly connected to the body, and the second mounting member is provided on a side of the cleaning assembly opposite to the first mounting member; Along the height direction of the cleaning device, the upper end of the elastic member is connected to the second mounting member, and the lower end of the elastic member is connected to the first mounting member. When the cleaning module does not contact the surface to be cleaned, the elastic member is in a compressed state.

23. The cleaning module according to any one of claims 19 to 22, wherein: The cleaning assembly includes a first side and a second side opposite to each other in the forward direction of the cleaning device; The first mounting members include two, and the two first mounting members are respectively opposite to the first side of the cleaning component and the second side of the cleaning component; or The first mounting member includes one, the first mounting member is provided with a mounting groove, at least part of the cleaning component is arranged in the mounting groove, the mounting groove includes a first side wall opposite to the first side of the cleaning component, and a second side wall opposite to the second side of the cleaning component.

24. The cleaning module according to claim 10, wherein: The elastic member is provided between the first mounting member and the second mounting member; Along the height direction of the cleaning device, the upper end of the elastic member is connected to the first mounting member, and the lower end of the elastic member is connected to the second mounting member. When the cleaning module does not contact the surface to be cleaned, the elastic member is in a stretched state.

25. A cleaning device, wherein: include: body; and The cleaning module according to any one of claims 1 to 24 is arranged on the body and is used to clean the surface to be cleaned.

26. The cleaning device according to claim 25, wherein The cleaning device also includes: A power module is provided on the fuselage and connected to the cleaning module, and is used for driving the cleaning module to move relative to the fuselage.

27. The cleaning device according to claim 26, wherein The power module includes: driving member; and A transmission component, one end of which is connected to the driving component and the other end of which is connected to the cleaning module. The transmission component is used to transmit the driving force of the driving component to the cleaning module so that the cleaning module moves relative to the body.

28. A base station for use with the cleaning device according to any one of claims 25 to 27, the base station comprising a docking position for accommodating the cleaning device.

29. A cleaning system comprising: The cleaning device according to any one of claims 25 to 27; and A base station for use with the cleaning device according to any one of claims 25 to 27, the base station comprising a docking position for accommodating the cleaning device.

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