Cleaning device

Abstract

The present application discloses a cleaning device. The cleaning device (10) comprises a main body (1), a swing arm (2), and an elastic member (4). The swing arm (2) comprises a first end (202) and a second end (203). The first end (202) of the swing arm (2) is connected to the main body (1), and the second end (203) of the swing arm (2) is located at a first position, at a second position, or between the first position and the second position. The elastic member (4) is arranged between the swing arm (2) and the main body (1), and the elastic member (4) controls the movement of the second end (203) of the swing arm (2) from the second position to the first position by means of elastic deformation. The cleaning device (10) claimed in the present application has a better cleaning effect and better use performance.

Description

Cleaning device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application with application number 202410177479.X filed with the China Patent Office on February 8, 2024, and with invention name “Side brush assembly and cleaning device”, the Chinese patent application with application number 202420290508.9 filed with the China Patent Office on February 8, 2024, and with utility model name “Side brush assembly and cleaning device”, the Chinese patent application with application number 202410383586.8 filed with the China Patent Office on March 29, 2024, and with invention name “Cleaning module, cleaning method of cleaning module and cleaning device”, and the Chinese patent application with application number 202420647554.X filed with the China Patent Office on March 29, 2024, and with utility model name “Cleaning module and cleaning device”, all of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning device. Background Art

[0004] With the development of science and technology and the improvement of living standards, household cleaning equipment has become increasingly popular, effectively reducing the burden of housework for humans. For example, robot vacuums, robot scrubbers, and sweeping and mopping robots have become increasingly popular.

[0005] Taking a robot vacuum as an example, it consists of a main body and a cleaning element positioned on the side of the body closest to the ground. In related art, the cleaning element can be mounted on the main body via a swing arm to expand the cleaning area and enhance its cleaning effectiveness. However, if the cleaning element and the swing arm encounter obstacles in the cleaning environment, it becomes difficult to effectively clean along the edges of the obstacle, which in turn affects the robot's cleaning performance.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure and does not constitute information of the prior art known to ordinary technicians in this field. Technical issues

[0007] One of the purposes of the embodiments of the present application is to provide a cleaning device to improve the cleaning effect of a cleaning member. Technical Solutions

[0008] To solve the above technical problems, the technical solutions adopted in the embodiments of the present application are:

[0009] The cleaning device provided herein includes a main body, a swing arm, and an elastic member. The swing arm includes a first end and a second end. The first end of the swing arm is connected to the main body, and the second end of the swing arm is positioned in a first position, a second position, or between the first and second positions. The elastic member is disposed between the swing arm and the main body, and controls the movement of the second end of the swing arm from the second position to the first position through elastic deformation. Beneficial effects

[0010] The cleaning device provided by the embodiments of the present application has the beneficial effect of controlling the movement of the second end of the swing arm from the second position to the first position through the elastic deformation of the elastic member, thereby improving the reliability of the swing arm during movement without damaging the second end of the swing arm, allowing the cleaning member mounted on the second end to better move along the outer edge of the obstacle and effectively clean the area surrounding the obstacle. In addition, compared to actively driving the swing arm from the second position to the first position, the force provided by the elastic member is softer, which can minimize the chance of damage to the swing arm during this movement. In addition, the elastic member can also provide a certain degree of cushioning and protection for the second end of the swing arm as it moves between the first position and the second position.

[0011] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or exemplary technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] FIG1 is a schematic structural diagram of a cleaning device provided in one embodiment of the present application;

[0014] FIG2 is a front view of a cleaning device provided in one embodiment of the present application;

[0015] FIG3 is a schematic structural diagram of a swing arm in a cleaning device provided by an embodiment of the present application in a first position;

[0016] FIG4 is a schematic structural diagram of a swing arm in a cleaning device provided by an embodiment of the present application in a second position;

[0017] FIG5A is a schematic structural diagram of a cleaning device provided in another embodiment of the present application;

[0018] FIG5B is a partial structural cross-sectional view of the cleaning device shown in FIG5A ;

[0019] FIG5C is an enlarged view of a portion of the structure in FIG5B ;

[0020] FIG6 is a top view of the cleaning device shown in FIG5A in a first position;

[0021] FIG7 is a partial cross-sectional structural schematic diagram of FIG6;

[0022] FIG8 is a top view of the cleaning device shown in FIG5A in a second position;

[0023] FIG9 is a schematic diagram of a partial cross-sectional structure of FIG8 ;

[0024] FIG10 is a top view of the cleaning device shown in FIG5A in a third position;

[0025] FIG11 is a schematic cross-sectional view of the structure of FIG10 ;

[0026] FIG12 is a schematic structural diagram of a cleaning device provided in another embodiment of the present application;

[0027] FIG13 is a schematic structural diagram of a cleaning device provided in yet another embodiment of the present application;

[0028] FIG14 is a top view of a cleaning device provided in yet another embodiment of the present application;

[0029] FIG15 is a schematic structural diagram of a cleaning device provided in another embodiment of the present application;

[0030] FIG16 is a schematic diagram showing the connection between the first detection member and the cleaning device in the cleaning device provided in FIG15 ;

[0031] FIG17 is a schematic structural diagram of a cleaning device provided in yet another embodiment of the present application;

[0032] FIG18 is a schematic structural diagram of the main body of the cleaning device provided in FIG17 ;

[0033] FIG19 is a schematic diagram of the assembly of the main body, the elastic member and the first detection member provided in FIG17 ;

[0034] FIG20 is a schematic structural diagram of the cleaning device provided in FIG17 in a first position;

[0035] FIG21 is a schematic diagram of a partial structure of FIG20;

[0036] FIG22 is a schematic structural diagram of the cleaning device shown in FIG17 in a second position;

[0037] FIG23 is a schematic diagram of a partial structure of FIG22;

[0038] FIG24 is a schematic structural diagram of the cleaning device shown in FIG17 in another state of the first position;

[0039] FIG25 is a schematic cross-sectional view of the structure of FIG24;

[0040] FIG26 is a schematic diagram of a partial structure of FIG24;

[0041] FIG27 is a schematic structural diagram of the lifting adjustment gear in FIG26;

[0042] FIG28 is a schematic structural diagram of the lifting output gear in FIG26;

[0043] FIG29 is a schematic diagram of the assembly of a cleaning member and a transmission member in a cleaning device provided in one embodiment of the present application;

[0044] FIG30 is a schematic structural diagram of a cleaning member in a cleaning device provided in one embodiment of the present application;

[0045] FIG31 is an exploded view of FIG30;

[0046] FIG32 is a schematic diagram of the partial assembly of the cleaning member and the transmission member in FIG29;

[0047] FIG33 is a schematic diagram of the AA cross-sectional structure of FIG32;

[0048] FIG34 is a schematic diagram of the cross-sectional structure taken along line BB of FIG32 ;

[0049] FIG35 is a schematic diagram illustrating the connection between the second detection component and the second driving member in a cleaning device provided in one embodiment of the present application;

[0050] FIG36 is a schematic diagram of the structure of a transmission member in a cleaning device provided in one embodiment of the present application;

[0051] FIG37 is a schematic structural diagram of the first output connector in FIG36;

[0052] FIG38 is a schematic structural diagram of a certain angle adjustment member in FIG36;

[0053] FIG39 is a schematic structural diagram of another angle of the adjustment engagement member in FIG36;

[0054] FIG40 is a schematic structural diagram of the second output connector in FIG36;

[0055] FIG41 is a schematic diagram of the operation of the second output connector and the adjustment engaging member in FIG36 when the brush head connecting portion is extended;

[0056] FIG42 is a schematic diagram of the operation of the second output connector and the adjusting engagement member in FIG36 when the cleaning brush is in the self-rotating state;

[0057] FIG43 is a schematic diagram of the operation of the second output connector and the adjustment engaging member in FIG36 when the brush head connecting portion is in a retracted state;

[0058] FIG44 is a schematic structural diagram of the third output connector in FIG36;

[0059] FIG45 is a schematic diagram of the cooperation between the second output connector, the third output connector and the transmission engagement member in FIG36;

[0060] FIG46 is a schematic diagram of a cleaning device provided by an embodiment of the present application;

[0061] FIG47 is a front view of a cleaning device provided by an embodiment of the present application;

[0062] FIG48 is a schematic diagram of a cleaning swing arm in a retracted position according to an embodiment of the present application;

[0063] FIG49 is a schematic diagram of a cleaning swing arm in an extended position provided by an embodiment of the present application;

[0064] FIG50 is a schematic diagram of a cleaning swing arm provided by an embodiment of the present application;

[0065] FIG51 is a schematic diagram of a cleaning swing arm in a cleaning module provided by an embodiment of the present application in a retracted position;

[0066] FIG52 is a partially opened enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present application when the cleaning swing arm is in a retracted position;

[0067] FIG53 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm of the cleaning module is in the retracted position according to an embodiment of the present application;

[0068] FIG54 is a schematic diagram of a cleaning swing arm in a cleaning module provided by an embodiment of the present application, which is located at an end position;

[0069] FIG55 is a partially opened and enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present application when the cleaning swing arm is in the end position;

[0070] FIG56 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm of the cleaning module provided by one embodiment of the present application is at the end position;

[0071] FIG57 is a schematic diagram of a cleaning swing arm in an extended position in a cleaning module provided by an embodiment of the present application;

[0072] FIG58 is a partially opened and enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present application when the cleaning swing arm is in an extended position;

[0073] FIG59 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm of the cleaning module provided by one embodiment of the present application is in the extended position;

[0074] FIG60 is a schematic diagram of an elastic limiting member provided in one embodiment of the present application;

[0075] FIG61 is a partially opened exploded view of an elastic swing arm provided by an embodiment of the present application;

[0076] FIG62 is a schematic diagram showing the structure of the side brush assembly in a first cleaning position in one or more embodiments of the present application;

[0077] FIG63 is a schematic structural diagram of FIG62 from another perspective;

[0078] FIG64 shows a schematic structural diagram of the side brush assembly in FIG62 in an obstacle avoidance position;

[0079] FIG65 is a schematic structural diagram of FIG64 from another perspective;

[0080] FIG66 shows a schematic structural diagram of the side brush body;

[0081] FIG67 shows a schematic diagram of the internal structure of the side brush body;

[0082] FIG68 is a schematic structural diagram of FIG66 from another perspective;

[0083] FIG69 shows a schematic structural diagram of a driving member;

[0084] FIG70 is a schematic diagram showing the state of the side brush body and the driving member when the side brush assembly is in the obstacle avoidance position;

[0085] FIG71 shows a schematic structural diagram of the base;

[0086] FIG72 shows a schematic diagram of the assembly of the driving member and the power member;

[0087] Figure 73 shows a schematic structural diagram of the side brush assembly in the second cleaning position.

[0088] FIG74 shows a schematic structural diagram of a reset member;

[0089] Figure 75 is a schematic diagram showing the status of the side brush body and the driving member when the side brush assembly is in the first cleaning position and the second cleaning position.

[0090] Implementation Methods of the Application

[0091] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0092] It should be noted that when a component is referred to as being “fixed to” or “disposed on” another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being “connected to” another component, it can be directly or indirectly connected to the other component.

[0093] 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.

[0094] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0095] 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, electrical connection, or communication; 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.

[0096] 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 obliquely 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 obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0097] In this application, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0098] In order to illustrate the technical solution provided by this application, a detailed description is given below with reference to specific drawings and embodiments.

[0099] The present application provides a cleaning device 10, wherein the cleaning device 10 can be a device that automatically cleans an area to be cleaned, such as a cleaning host, or can also refer to a component of the cleaning host. Taking the cleaning device 10 as an example of a cleaning host, the cleaning host can be a sweeping robot with a sweeping function, a sweeping and mopping robot, a mopping robot with a mopping function, etc., or can also be a floor scrubber, a window cleaner, etc.

[0100] The cleaning host can be used to clean the surface to be cleaned, which can be the floor, wall, table, sofa, window, etc.

[0101] In addition, the cleaning device 10 may also include a cleaning base station for maintenance. For example, the cleaning base station can clean the cleaning element 7 on the cleaning device 10, charge the cleaning device 10, recharge water, and collect dust. When the cleaning device 10 begins operation, it can depart from the cleaning base station and perform the corresponding cleaning task. When the cleaning device 10 completes the cleaning task or otherwise needs to terminate the cleaning task, it can return to the cleaning base station to perform at least one or more of the following tasks: charging, recharging water, cleaning, and collecting dust.

[0102] When the cleaning device 10 is started and cleans the surface to be cleaned, the cleaning device 10 can move along the surface to be cleaned and drive the cleaning member 7 installed on the swing arm 2 to clean the surface to be cleaned.

[0103] In the related art, the cleaning member 7 on the cleaning device 10 can be installed through the swing arm 2. Therefore, when the cleaning device 10 encounters an obstacle and collides with the obstacle during the cleaning process, the swing arm 2 will avoid the obstacle and make it difficult to effectively clean the area around the obstacle, thereby affecting the cleaning effect of the cleaning device. In addition, if the swing arm 2 fails to avoid the obstacle in a timely and effective manner, it may cause the swing arm 2 to directly contact and rub against the obstacle, causing damage to the surface of the swing arm 2; in addition, when the swing arm 2 swings toward the side close to the device under the external force exerted by the obstacle, if the swing force is too large or the swing speed is too fast, it may cause damage to the swing arm 2 and at least one of the positions of the cleaning device 10 corresponding to the movement path of the swing arm 2, thereby affecting the user experience of the sweeping robot.

[0104] Figure 1 is a structural schematic diagram of a cleaning device 10 provided in an embodiment of the present application, Figure 2 is a main view of a cleaning device 10 provided in an embodiment of the present application, Figure 3 is a structural schematic diagram of a swing arm 2 in a cleaning device 10 provided in an embodiment of the present application in a first position, and Figure 4 is a structural schematic diagram of a cleaning device 10 provided in an embodiment of the present application in a second position.

[0105] To address the aforementioned issues, an embodiment of the present application provides a novel cleaning device 10, as shown in Figures 1-4. This cleaning device 10 is a device capable of cleaning a surface to be cleaned, comprising a main body 1, a cleaning member 7, and a swing arm 2. The main body 1 is movable along the surface to be cleaned, the first end 202 of the swing arm 2 is connected to the main body 1, and the second end 203 of the swing arm 2 is positioned between a first position, a second position, or between the first and second positions. The cleaning member 7 is mounted on the side of the second end 203 of the swing arm 2 facing the surface to be cleaned. When the swing arm 2 moves between the first and second positions relative to the main body 1, the cleaning range of the cleaning member 7 is effectively increased, thereby improving the cleaning effect of the cleaning member 7.

[0106] Specifically, the first position is outside the main body 1, and the second position is inside the main body 1. When the swing arm 2 is in the first position, refer to FIG3 , and the second end 203 of the swing arm 2 is swung out relative to the main body 1. When the swing arm 2 is in the second position, refer to FIG4 , and the second end 203 of the swing arm 2 is swung in toward the side close to the main body 1, and the distance between the swing arm 2 and the main body 1 is smaller.

[0107] It should be noted that the first position and the second position may be located in the same horizontal plane, or may simply be located in the same plane. When the plane containing the first position and the second position is horizontal, the second end 203 of the swing arm 2 can move within the horizontal plane relative to the main body 1. When the plane containing the first position and the second position is at an angle to the horizontal plane, the second end 203 of the swing arm 2 can move up and down relative to the main body 1 within a certain range when moving between the first position and the second position.

[0108] In some embodiments, the cleaning device 10 includes a first rotational axis 3, and the second end 203 of the swing arm 2 rotates about the first rotational axis 3 to move between a first position, a second position, and the first and second positions relative to the main body 1. When the first rotational axis 3 is installed perpendicular to a horizontal plane, the second end 203 of the swing arm 2 can rotate about the first rotational axis 3 and move between the first position and the second position within the horizontal plane. When the first rotational axis 3 is at a certain angle relative to the horizontal plane, the second end 203 of the swing arm 2 can rotate about the first rotational axis 3 and, during rotation, can move up and down within a certain range relative to the surface to be cleaned.

[0109] Specifically, when the axis of the first rotating shaft 3 is tilted relative to the horizontal plane, the vertical distance between the swing arm 2 in the first position and the top of the main body 1 is greater than the vertical distance between the swing arm 2 in the second position and the top of the main body 1. At this time, at least a portion of the main body 1 is located above the swing arm 2.

[0110] Figure 5A is a structural schematic diagram of a cleaning device 10 provided in another embodiment of the present application, Figure 5B is a partial structural cross-sectional diagram of the cleaning device 10 shown in Figure 5A, and Figure 5C is an enlarged view of the partial structure in Figure 5B; Figure 6 is a top view of the cleaning device 10 shown in Figure 5A in a first position, Figure 7 is a partial cross-sectional structural schematic diagram of Figure 6, Figure 8 is a top view of the cleaning device 10 shown in Figure 5A in a second position, and Figure 9 is a partial cross-sectional structural schematic diagram of Figure 8.

[0111] In some embodiments, the cleaning device 10 further includes an elastic member 4 disposed between the swing arm 2 and the main body 1. The elastic member 4 can control the movement of the second end 203 of the swing arm 2 from the second position to the first position through elastic deformation. Under the control of the elastic member 4, the second end 203 of the swing arm 2 can maintain an appropriate force between the second end 203 and the obstacle when in contact with the obstacle. This allows the cleaning member 7 to effectively move along the outer edge of the obstacle and effectively clean the area surrounding the obstacle without damaging the second end 203 of the swing arm 2 or the cleaning member 7 mounted thereon. In addition, compared to actively driving the swing arm 2 from the second position to the first position, the force provided by the elastic member 4 is gentler, minimizing the chance of damage to the swing arm 2 during this movement.

[0112] It can be understood that when the second end 203 of the swing arm 2 moves from the first position to the second position under the action of an obstacle, the elastic member 4 can provide a certain buffering and insurance effect on the swing arm 2, thereby preventing the main body 1 and the cleaning device 10 from being damaged on the side close to the second position on the movement path of the second end 203 of the swing arm 2 as the second end 203 of the swing arm 2 moves.

[0113] Specifically, the elastic member 4 can control the second end 203 of the swing arm 2 to move from the second position to the first position by elastic deformation.

[0114] For example, the elastic member 4 can deform under the action of an external force and store elastic energy, and then release the stored elastic energy by recovering the deformation (i.e., resetting). When the elastic member 4 resets, the elastic energy released by the elastic member 4 can act on the swing arm 2 to control the second end 203 of the swing arm 2 to move from the second position to the first position. Accordingly, during the process of the second end 203 of the swing arm 2 moving from the first position to the second position, the elastic member 4 deforms in response to the movement of the swing arm 2 and stores elastic energy.

[0115] In some embodiments, the elastic member 4 may be a spring, including a torsion spring. Taking the spring as an example, when the second end 203 of the swing arm 2 is moved from the first position to the second position by an external force, the spring compresses and deforms in response to the external force generated by the movement of the swing arm 2. When the external force is removed or the external force is less than the force applied by the spring to the swing arm 2, the spring releases its elastic energy and elastically extends during this process, thereby pushing the second end 203 of the swing arm 2 to move from the second position to the first position.

[0116] In other embodiments, the elastic member 4 may also be a spring, and its function is the same as that described above, which will not be described again here.

[0117] In some embodiments, the cleaning device 10 further includes a first driving member 6, which is mounted on the main body 1. When the swing arm 2 is acted upon by an external force, the first driving member 6 can drive the second end 203 of the swing arm 2 to move from the first position to the second position. Of course, when the second end 203 of the swing arm 2 moves from the first position to the second position in response to the drive of the first driving member 6, the elastic member 4 deforms and responds to the movement of the second end 203 of the swing arm 2 from the first position to the second position through phase change. At this time, the elastic member 4 can store energy by deformation, so that when the driving force of the first driving member 6 is removed, it can control the second end 203 of the swing arm 2 to move from the second position to the first position.

[0118] The external force acting on the swing arm 2 is greater than or equal to 0.02 Nm. For example, when the swing arm 2 contacts an obstacle in the environment, the obstacle can exert an external force on the swing arm 2. Under the action of this external force, the second end 203 of the swing arm 2 needs to move from the first position to the second position to avoid damage to the swing arm 2.

[0119] Specifically, the external force is generally no greater than 0.2 Nm. In actual use, it has been found that, due to the speed of the cleaning device 10, the external force exerted by the obstacle on the swing arm 2 generally ranges from 0.02 Nm to 0.20 Nm. For example, the external force can be further limited to a range of approximately 0.05 Nm to 0.15 Nm.

[0120] In other similar embodiments, the first driving member 6 can also be used to drive the second end 203 of the swing arm 2 to move from the second position to the first position. By controlling the forward drive or reverse drive of the first driving member 6, the movement direction of the second end 203 of the swing arm 2 can be adjusted.

[0121] Taking the example of first drive member 6 driving in the forward direction to control the movement of second end 203 of swing arm 2 from the second position to the first position, when swing arm 2 is subjected to an external force of not less than 0.02 Nm, first drive member 6 drives in the reverse direction to control the movement of second end 203 of swing arm 2 from the first position to the second position, thereby preventing swing arm 2 from being damaged by the external force. Of course, when the external force is removed, the first drive member can also switch the driving direction to push second end 203 of swing arm 2 from the second position to the first position again. Of course, the above process can also be achieved solely by elastic member 4.

[0122] Taking the first driving member 6 including the first driving motor 61 as an example, the first driving motor 61 is a non-locking structure to facilitate the swing arm 2 to move from the first position to the second position when squeezed by an external force.

[0123] In some embodiments, the cleaning device 10 includes a main body 1, a swing arm 2, an elastic member 4, and a first detection assembly 5. The cleaning member 7 is disposed on the swing arm 2. Referring to FIG5A , in this embodiment and similar embodiments, the main body 1 is a component of an apparatus capable of cleaning a surface to be cleaned. The first end 202 of the swing arm 2 can be connected to a first driving member 6 mounted on the main body 1. The second end 203 of the swing arm 2 can be positioned relative to the main body 1 in a first position, a second position, or between the first and second positions, and can move from the second position to the first position under the control of elastic deformation of the elastic member to move away from the main body 1. The first detection assembly 5 is connected to at least one of the main body 1 and the swing arm 2 and is used to confirm that the second end 203 of the swing arm 2 has reached the first position or the second position.

[0124] 5B and 5C , the elastic member 4 is positioned between the swing arm 2 and the main body 1 and is capable of deforming in response to the movement of the swing arm 2 or controlling the movement of the second end 203 of the swing arm 2 through elastic deformation. As the second end 203 of the swing arm 2 moves from the first position to the second position, the elastic member 4 deforms under the action of the swing arm 2. When the elastic member 4 returns to its original position through elastic deformation, the elastic member 4 controls the movement of the second end 203 of the swing arm 2 from the second position to the first position.

[0125] Specifically, the above-mentioned first detection component 5 includes at least one detection member, such as a position detection member for detecting the position of the second end 203 of the swing arm 2, a current detection member for detecting the current change of the first driving member 6, and an angle detection member for detecting the rotation direction and / or rotation angle of the first driving member 6.

[0126] Referring to Figures 5A-5C , the first detection assembly 5 is a position detection assembly, such as a micro switch, capable of detecting the position of the second end 203 of the swing arm 2. When the second end 203 of the swing arm 2 reaches the first position in response to the elastic deformation of the elastic member 4, the first detection assembly 5 outputs a first position indication signal; and / or when the second end 203 of the swing arm 2 reaches the second position in response to the driving of the first driving member 6, the first detection assembly 5 outputs a second position indication signal. The first position indication signal indicates that the second end 203 of the swing arm 2 has reached the first position, and the second position indication signal indicates that the second end 203 of the swing arm 2 has reached the second position.

[0127] Please refer to FIG. 5A and FIG. 5C . In the embodiment of the present application, the first detection component 5 is disposed opposite to the elastic member 4 , and the first detection component 5 is arranged adjacent to the second end 203 of the swing arm 2 .

[0128] When the second end 203 of the swing arm 2 moves to the second position, the first detection component 5 outputs a second position indication signal to indicate the position of the second end 203 of the swing arm 2 .

[0129] Specifically, when the cleaning member 7 is used to clean the corner areas of the surface to be cleaned, the second end 203 of the main body 1 of the swing arm 2 can be adjusted to the first position. At this time, the second end 203 of the swing arm 2 is swung away from the main body 1, and the distance between the second end 203 of the main body 1 of the swing arm 2 and the main body 1 becomes larger, please refer to Figures 6 and 7; when the cleaning member 7 is used to perform normal cleaning operations on the surface to be cleaned (at this time, there is no need to clean the corner areas), the swing arm 2 is in the second position. At this time, the second end 203 of the swing arm 2 that swings freely relative to the main body 1 is retracted relative to the main body 1 and the second end 203 of the swing arm 2 is swung toward the direction close to the main body 1. At this time, the distance between the second end 203 of the swing arm 2 and the main body 1 is smaller, please refer to Figures 8 and 9.

[0130] Referring to Figure 5C , elastic member 4 is rotatably mounted on main body 1 and positioned between swing arm 2 and main body 1. Elastic member 4 can deform and restore with the movement of swing arm 2. When second end 203 of swing arm 2 is in the first position (see Figure 7 ), elastic member 4 is in its restored state. When second end 203 of swing arm 2 is in the second position (see Figure 9 ), elastic member 4 is in its deformed state.

[0131] It can be understood that the above-mentioned first driving member 6 that can drive the second end of the swing arm 2 to move relative to the main body 1 can be installed on the main body 1 and connected to the swing arm 2 through the main body 1, or the first driving member 6 can also be installed outside the main body 1 and connected to the swing arm 2 through a swinging transmission structure (such as a gear meshing structure, a transmission shaft structure, etc.) that is connected to the swing arm 2 to drive the swing arm 2 to rotate around the first rotation axis 3.

[0132] Specifically, the first driving member 6 includes a first driving motor 61 .

[0133] The driving shaft of the first driving motor 61 can be arranged coaxially with the first rotating shaft 3 to directly or indirectly drive the first rotating shaft 3 to rotate; of course, the driving shaft of the first driving motor 61 can also be kept parallel to the first rotating shaft 3, etc. This embodiment does not limit the actual arrangement position of the above-mentioned first driving motor 61.

[0134] In some feasible implementations, the first drive motor 61 can drive the second end 203 of the swing arm 2 to move from the first position to the second position.

[0135] Under the control of the elastic member 4, the cleaning member located on the second end 203 of the swing arm 2 can be swung out in the direction away from the main body 1 of the cleaning device 10, so as to clean the corner areas that are difficult for the cleaning device 10 to approach; under the drive of the first drive motor 61, the cleaning member 7 located on the second end 203 of the swing arm 2 can be swung toward the direction close to the main body 1, so as to clean the area below and around the cleaning device 10.

[0136] Specifically, the cleaning member 7 may include a rag plate. In other similar embodiments, the cleaning member 7 may include a cleaning brush, such as a side brush.

[0137] It should be noted that when the cleaning member 7 is not performing a cleaning action on the surface to be cleaned, the second end 203 of the swing arm 2 can also be adjusted to be located at the first position or the second position as needed.

[0138] In order to conveniently obtain the position status of the swing arm 2, please refer to Figure 5A. In this embodiment of the application, the first detection component 5 is installed on the main body 1 and outputs a second position indication signal when the second end 203 of the swing arm 2 moves to the second position.

[0139] Please refer to FIG. 5C . A second rotating shaft 102 is disposed on the main body 1 , and the elastic member 4 is sleeved on the second rotating shaft 102 .

[0140] 5B and 5C , along the length direction of the swing arm 2 , the second rotation axis 102 is located between the first rotation axis 3 and the second end 203 of the swing arm 2 .

[0141] The elastic member 4 includes a first pressure-bearing portion 401. The first abutting portion 201 is provided on the swing arm 2, and the first pressure-bearing portion 401 abuts the first abutting portion 201. (See Figures 8 and 9.) Figures 8 and 9 illustrate the state of the swing arm 2 in its second position. As the second end 203 of the swing arm 2 moves from the first position toward the second position, the swing arm 2 applies pressure to the first pressure-bearing portion 401 via the first abutting portion 201, causing the elastic member 4 to deform. During this process, the elastic member 4 provides a certain degree of cushioning against the swinging motion of the swing arm 2.

[0142] Specifically, the first pressure-bearing portion 401 is formed on the side of the elastic member 4 facing the swing arm 2. The swing arm 2 can contact the first pressure-bearing portion 401 on the elastic member 4 via the first abutting portion 201, thereby acting on the elastic member 4. As the first abutting portion 201 continuously applies pressure to the first pressure-bearing portion 401, the second end 203 of the swing arm 2 moves from the first position to the second position. In response to the movement of the second end 203 of the swing arm 2 from the first position to the second position, the elastic member 4 deforms.

[0143] In some embodiments, the elastic member 4 is located between the first end 202 of the swing arm 2 and the main body 1, and includes a first connecting portion 41, an elastic portion 42 and a second connecting portion 43, wherein the first connecting portion 41 is used to connect to the main body 1, and the elastic portion 42 can generate elastic deformation to control the movement of the second end 203 of the swing arm 2 from the second position to the first position. The second connecting portion 43 is connected to the elastic portion 42 and is used to resist the swing arm 2 to drive the elastic portion 42 to deform under the drive of the swing arm 2.

[0144] Specifically, the elastic member 4 can be arranged inside the main body 1 and on a side facing the second position, or arranged on a side of the swing arm 2 facing away from the first position.

[0145] 5B and 5C , the elastic member 4 is a torsion spring. In this case, the elastic portion 42 is a spiral portion, and the first connecting portion 41 and the second connecting portion 42 are two lead-out ends of the spiral portion.

[0146] When twisted by an external force, the torsion spring generates a torque in the opposite direction of the twisting, storing elastic energy through elastic deformation. Once the external force is removed, the torsion spring quickly returns to its original shape and size, releasing the stored elastic potential energy to propel the second end of the swing arm from the second position to the first position.

[0147] In the embodiment of the present application, the number of the torsion spring is one. In other similar embodiments, the number of the torsion springs can be two or even more.

[0148] Of course, the elastic member 4 can also be other similar structures that generate torque in the torsional direction and store energy. For example, the elastic member 4 can be an integrated structure such as a spring, wherein one end of the elastic member can be coupled to the main body 1, and the other end can serve as the first pressure-bearing portion 401 that cooperates with the swing arm 2 and deforms in response to the pressure applied by the swing arm 2, thereby controlling the movement of the second end 203 of the swing arm 2 from the second position to the first position.

[0149] It should be noted that, as long as the elastic member 4 can achieve the above-mentioned effects, the embodiment of the present application does not limit the specific structure of the elastic member 4.

[0150] In other similar embodiments, the elastic member 4 is further provided with a second pressure-bearing portion 402, and the main body 1 is provided with a second abutting portion 101 (see Figures 5B and 5C). When the elastic member 4 is in its restored state, the second pressure-bearing portion 402 abuts the second abutting portion 101, and the second end 203 of the swing arm 2 can be located exactly in the second position or between the first and second positions. As the second end 203 of the swing arm 2 continues to move toward the first position, the second pressure-bearing portion 402 remains in abutment with the second abutting portion 101, and the swing arm 2 separates from the elastic member 4. As the second end 203 of the swing arm 2 continues to swing toward the second position, the elastic member 4 responds to the deformation of the swing arm 2, and the second pressure-bearing portion 402 separates from the second abutting portion 101.

[0151] In order to better achieve the interaction between the elastic member 4 and the swing arm 2, in some embodiments, the elastic member 4 also includes an abutting arm 431 that is engaged with the second connecting portion 43. One end of the abutting arm 431 is rotatably mounted on the second rotating shaft 102, and the other end is formed with an abutting groove 4311 that can accommodate the second connecting portion 43. The abutting arm 431 is fixedly connected to the second connecting portion 43 through the abutting groove 4311. When the second connecting portion 43 moves relative to the elastic portion 42, the abutting arm 431 can move synchronously. The first pressure-bearing portion 401 and the second pressure-bearing portion 402 are both formed on the abutting arm 431.

[0152] The first connecting portion 41 abuts against the main body 1 (only a portion of the first connecting portion 41 is shown in FIG5B ), and the second connecting portion 43 abuts against the abutting arm 431. When the abutting arm 431 rotates about the second rotation axis 102 due to the abutting force of the swing arm 2, the abutting arm 431 drives the second connecting portion 43 to rotate about the second rotation axis 102, and in this process, drives the elastic portion 42 to achieve torsional deformation. When the elastic portion 42 returns to its original position through elastic deformation, the second connecting portion 43 and the abutting arm 431 can control the movement of the second end 203 of the swing arm 2 from the second position to the first position.

[0153] Specifically, the main body 1 is provided with a concave cavity for mounting the elastic member 4. When the elastic member 4 is in its restored state, the portion of the surface of the concave cavity that contacts the surface of the abutting arm 431 in the elastic member 4 facing away from the elastic portion 42 is recessed inward, forming a groove-shaped second abutting portion 101. Correspondingly, the abutting arm 431 protrudes on one side of the surface facing the second abutting portion 101, forming a bump-shaped second pressure-bearing portion 402. The second abutting portion 101 can cooperate with the second pressure-bearing portion 402 formed on the abutting arm 431. Under the deformation action of the elastic portion 42, the abutting arm 431 can cooperate with the second abutting portion 101 of the main body 1 through the second pressure-bearing portion 402 to achieve position limiting.

[0154] In some feasible embodiments, the first detection component 5 is a trigger-type detection component that cooperates with the abutment arm 431 and outputs a corresponding signal when the abutment arm 431 moves to a corresponding position. For example, the first detection component 5 can be a micro switch, a Hall switch element, a photoelectric switch, etc.

[0155] A microswitch is a switch with a very small stroke that uses a mechanical structure to control the on / off state of a circuit. A Hall effect switch is an electronic component that controls the on / off state of a circuit based on the presence and intensity of a magnetic field. A photoelectric switch is a switch structure that controls the on / off state of a circuit by detecting optical signals.

[0156] Exemplarily, taking the first detection component 5 as a micro switch as an example, the structure and function of the first detection component 5 are introduced.

[0157] The first detection component 5 can be disposed on a side of the main body 1 facing the abutment arm 431 and the swing arm 2 (see FIG5A ). When the second end 203 of the swing arm 2 is in the second position (see FIG8 and FIG9 ), the abutment arm 431 presses the first detection component 5, causing the first detection component 5 to output a second position indication signal.

[0158] Correspondingly, when the second end 203 of the swing arm 2 is located at the first position, there is a gap between the abutting arm 431 and the first detection component 5, and the first detection component 5 outputs a first position indication signal.

[0159] In some embodiments, the first position indication signal may be that the switch state of the first detection component 5 displays "0", and the second position indication signal may be that the switch state of the first detection component 5 displays "1"; or, the first position indication signal may be set so that the switch state of the first detection component 5 displays "1", and the switch state of the second position indication signal displays "0".

[0160] In some embodiments, when the second end 203 of the swing arm 2 is located between the first position and the second position, the first detection component 5 can continuously output the first position indication signal, which indicates that the second end of the swing arm 2 has not yet moved to the second position.

[0161] In other similar embodiments, the first detection component 5 may also be disposed on the side of the abutting arm 431 facing away from the swing arm 2. When the second end 203 of the swing arm 2 is in the second position, the main body 1 contacts and presses the first detection component 5 mounted on the abutting arm 431, causing the first detection component 5 to output a second position indication signal. When the second end 203 of the swing arm 2 is in the first position, a gap exists between the main body 1 and the first detection component 5, causing the first detection component 5 to output a first position indication signal.

[0162] Both of the above-mentioned arrangements can realize detection by the first detection component 5 when the second end 203 of the swing arm 2 moves to the second position.

[0163] Similarly, when the first detection component 5 is a Hall switch element, the Hall switch element can be located in one of the main body 1 and the abutting arm 431, and the magnetic member (such as a magnet) magnetically connected to the Hall switch element can be installed in the other, depending on the design requirements. Alternatively, if the device size or magnetic field strength allows, the Hall switch element can be installed in one of the main body 1 and the swing arm 2, and the magnetic member (such as a magnet) magnetically connected to the Hall switch element can be installed in the other.

[0164] In other similar embodiments, the first detection component 5 may also be configured as a linear Hall element.

[0165] Based on the Hall effect, a linear Hall element can detect displacement within a certain magnetic field range. When a linear Hall element is used as the first detection component 5, the first detection component 5 can not only output a first position signal when the second end 203 of the swing arm 2 is in the first position and a second position signal when the second end 203 of the swing arm 2 is in the second position, but can also output different signals when the second end 203 of the swing arm 2 is between the first and second positions, thereby accurately determining the position of the second end 203 of the swing arm 2 relative to the main body 1.

[0166] FIG10 is a top view of the cleaning device 10 shown in FIG5A in the third position, and FIG11 is a partial cross-sectional structural schematic diagram of FIG10.

[0167] During the movement of the second end 203 of the swing arm 2 from the first position to the second position, the swing arm 2 can push the elastic member 4 to deform and move from the first position to the second position only when the driving force provided by the first driving member 6 is greater than the elastic force provided by the elastic member 4.

[0168] It should be noted that when the cleaning device 10 moves along the surface to be cleaned, the swing arm 2 mounted thereon may come into contact with external obstacles and be squeezed or pulled by external forces. The elastic member 4 can provide a certain degree of cushioning for the swing arm 2 when the swing arm 2 is subjected to external squeezing or pulling forces, thereby preventing the swing arm 2 from being damaged.

[0169] When the second end 203 of the swing arm 2 is in the second position, it can continue to move toward the side away from the first position under the action of the squeezing force provided by the external environmental obstacle, so that the second end 203 of the swing arm 2 moves to the third position. The third position is located inside the main body 1. When the second end 203 of the swing arm 2 swings from the second position to the third position in response to the action of the external force, the elastic member 4 can respond to the movement of the second end 203 of the swing arm 2 from the second position to the third position by deforming.

[0170] When the second end 203 of the swing arm 2 is located at the third position, the swing angle of the second end 203 of the swing arm 2 relative to the main body 1 is the largest, please refer to FIG. 10 and FIG. 11 .

[0171] Specifically, the cleaning device 10 can be configured to further include a first limiting portion and a second limiting portion, wherein the first limiting portion is provided on at least one of the main body 1 and the swing arm 2, and the first limiting portion is used to limit the second end 203 of the swing arm 2 to the first position, when the second end 203 of the swing arm 2 is in the first position, and the swing-out angle of the second end 203 of the swing arm 2 relative to the main body 1 is the maximum; the second limiting portion is provided on at least one of the main body 1 and the swing arm 2, and the second limiting portion limits the second end 203 of the swing arm 2 to the second position, when the second end of the swing arm 2 is in the second position, and the swing-in angle of the second end of the swing arm 2 relative to the main body 1 is the maximum.

[0172] The first limiting portion and the second limiting portion are not shown in the figure.

[0173] Illustratively, the elastic member 4 includes an abutting arm 431. When the second end 203 of the swing arm 2 is in the third position, the swing arm 2 continues to compress the abutting arm 431 until the abutting arm 431 rotates to its maximum angle about the second rotation axis 102. At this point, the abutting arm 431 compresses the first detection assembly 5. For example, in the case of a detection structure comprising a spring element, when the second end 203 of the swing arm 2 is in the third position, the abutting arm 431 continues to move until it contacts and compresses the spring element.

[0174] In response to detecting the presence of an obstacle in the external environment, the first driving member 6 reversely drives the second end 203 of the swing arm 2 to move continuously from the first position to the third position. In response to the drive of the swing arm 2, the abutting arm 431 rotates around the second rotating axis 102 until it contacts and squeezes the spring.

[0175] In some embodiments, the first detection component 5 can also output a third position indication signal in response to the second end 203 of the swing arm 2 reaching the third position, and the third position indication signal indicates that the second end 203 of the swing arm 2 has reached the third position.

[0176] The first detection component 5 is set to a linear Hall element. In this case, the first position indication signal, the second position indication signal, and the third position indication signal are different. For example, the third position indication signal can be set to be the output signal of the first detection component 5 and display "A", indicating that the second end 203 of the swing arm 2 has the largest swing-in angle relative to the main body 1; the second position indication signal can be set to be the output signal of the first detection component 5 and display "C", indicating that the second end 203 of the swing arm 2 has a medium swing-in angle relative to the main body 1; and the first position indication signal can be set to be the output signal of the first detection component 5 and display "B", indicating that the second end 203 of the swing arm 2 has the largest swing-out angle relative to the main body 1. In this case, the relative position relationship between the second end 203 of the swing arm 2 and the main body 1 can be determined through the three different position signals.

[0177] FIG12 is a schematic structural diagram of a cleaning device 10 provided in another embodiment of the present application, FIG13 is a schematic structural diagram of a cleaning device 10 provided in another embodiment of the present application, and FIG14 is a top view of a cleaning device 10 provided in another embodiment of the present application.

[0178] In some feasible embodiments, the above-mentioned first detection component 5 can also be arranged to cooperate with the end of the swing arm 2 where the cleaning component 7 is not installed, that is, the first detection component 5 is arranged adjacent to the first end 202 of the swing arm 2, and outputs a corresponding position indication signal by detecting the movement of the first end 202 of the swing arm 2.

[0179] Specifically, at least a portion of the surface of the first end 202 of the swing arm 2 facing the main body 1 is raised to form a protrusion 2021 that can move closer to or further away from the main body 1. The direction of the protrusion 2021 is deflected toward the side closer to the main body 1 relative to the direction of the first end 202, so as to better cooperate with the first detection component 5 installed on the main body 1.

[0180] During the movement of the swing arm 2 relative to the main body 1, the second end 203 of the swing arm 2 and the protrusion 2021 disposed on the outside of the first end 202 both move closer to or farther from the main body 1. Taking the protrusion 2021 located on the outer edge of the first end 202 as an example, when the second end 203 of the swing arm 2 is in the second and third positions, the distance between the protrusion 2021 and the main body 1 is large; when the second end 203 of the swing arm 2 is in a position between the second and third positions (i.e., a specific position in the first position interval), the distance between the protrusion 2021 and the main body 1 is small.

[0181] Specifically, as the second end 203 of the swing arm 2 moves from the first position to the third position, the minimum spacing between the outer surface of the protrusion 2021 formed on the outside of the first end 202 of the swing arm 2 and the surface of the main body 1 facing the protrusion 2021 first decreases and then increases. When the second end 203 of the swing arm 2 swings to the second position, the minimum spacing between the outer surface of the protrusion 2021 and the surface of the main body 1 facing the protrusion 2021 decreases to a minimum. At this point, the position of the second end 203 of the swing arm 2 can be detected by detecting the position of the protrusion 2021.

[0182] Exemplarily, a first detection component 5 is provided adjacent to the protrusion 2021 of the swing arm 2 (see FIG12 ). The first detection component 5 can be provided on the side of the main body 1 facing the swing arm 2 having the protrusion 2021. When the swing arm 2 is in the second position, the first detection component 5 abuts against the protrusion 2021 and outputs a second position indication signal. When the swing arm 2 is in the first position, a certain gap exists between the first detection component 5 and the protrusion 2021, and the first position indication signal is output. When the swing arm 2 is in the third position, a certain gap exists between the first detection component 5 and the protrusion 2021, and the third position indication signal is output.

[0183] Specifically, the first detection component 5 is a micro switch.

[0184] In other similar embodiments, the first detection component 5 may be arranged on the swing arm 2 and pointing toward the main body 1. When the second end 203 of the swing arm 2 is in the second position, the first detection component 5 mounted on the swing arm 2 abuts against the main body 1 and is pressed and triggered, and the first detection component 5 outputs a second position indication signal; when the swing arm 2 is in the third position, there is a gap between the first detection component 5 mounted on the swing arm 2 and the main body 1, and the first detection component 5 outputs a third position indication signal; when the swing arm 2 is in the first position, there is a gap between the first detection component 5 mounted on the swing arm 2 and the main body 1, and the first detection component 5 outputs a first position indication signal.

[0185] It should be noted that the formation position of the protrusion 2021 can be adjusted so that when the swing arm 2 is located at the first position and the third position respectively, the distance between the protrusion 2021 and the main body 1 is different, so as to realize different output first position indication signals and third position indication signals, thereby realizing detection of the second end 203 of the swing arm 2 at different positions such as the first position, the second position and the third position.

[0186] Both of the above-mentioned arrangements can enable the first detection component 5 to detect the position of the swing arm 2.

[0187] In some embodiments, when the swing arm 2 is between the first position and the second position, the first detection component 5 continuously outputs a first position indication signal, indicating that the cleaning member 7 is mostly or completely extended relative to the main body 1 and is suitable for cleaning corner positions; similarly, when the swing arm 2 is between the second position and the third position, the first detection component 5 continuously outputs a second position indication signal, indicating that the cleaning member 7 is completely or mostly hidden under the main body 1 and is not suitable for cleaning corner positions.

[0188] In other embodiments, the first detection component 5 arranged adjacent to the first end 202 may be a Hall switch element or a linear Hall element, etc., see FIG13 . The installation and arrangement thereof may be referred to above and will not be repeated here.

[0189] Since the relative positional relationship between the first detection assembly 5 disposed adjacent to the first end 202 and the second end 203 of the swing arm 2 and the swing arm 2 is exactly opposite, in order to better distinguish between the first position and the third position of the swing arm 2, in some embodiments, at least two first detection assemblies 5 may be installed on the cleaning device 10, and disposed adjacent to the first end 202 and the second end 203 of the swing arm 2, respectively, as shown in FIG14 .

[0190] Exemplarily, the second position indication signal output by the first detection component 5 arranged near the first end 202 of the swing arm 2 may be that the switch state of the first detection component 5 displays "1", and the first position indication signal and the third position indication signal may be that the switch state of the first detection component 5 displays "0"; correspondingly, the first position indication signal and the third position indication signal output by the first detection component 5 arranged near the second end 203 of the swing arm 2 may be that the switch state of the first detection component 5 displays "0", and the second position indication signal may be that the switch state of the first detection component 5 displays "1".

[0191] When the switch states of different first detection components 5 respectively arranged near the first end 202 and the second end 203 of the swing arm 2 are both "0", the swing arm 2 is in the first position, which means that most or all of the cleaning member 7 is extended relative to the main body 1 and is suitable for cleaning corner positions; when the switch state of the first detection component 5 arranged near the first end 202 is "1" and the switch state of the first detection component 5 arranged near the second end 203 is "1", the swing arm 2 is in the second position, which means that the cleaning member 7 is completely or mostly hidden under the main body 1 and is not suitable for cleaning corner positions; when the switch state of the first detection component 5 arranged near the first end 202 is "1" and the switch state of the first detection component 5 arranged near the second end 203 is "0", the swing arm 2 is in the third position.

[0192] Of course, the signal output of the first detection component 5 at different positions mentioned above may also have other forms, as long as the above effects can be achieved. The specific arrangement position and signal output method are not specifically limited here.

[0193] FIG15 is a schematic structural diagram of a cleaning device 10 provided in yet another embodiment of the present application, and FIG16 is a schematic diagram of the connection between the first detection component 5 and the cleaning device 10 in the cleaning device 10 provided in FIG15 .

[0194] Referring to Figure 15 , at this point, the first detection assembly 5 for confirming that the second end 203 of the swing arm 2 has reached the first position or the second position can be connected to the first driving member 6 that drives the swing arm 2. When the second end 203 of the swing arm 2 reaches at least one of the first position and the second position in response to the driving of the first driving member 6, the first detection assembly 5 outputs a corresponding position indication signal.

[0195] Exemplarily, the first detection component 5 is connected to the first driving member 6 and detects at least one of the parameters of the first driving member 6 such as current, speed or number of rotations to generate and output at least one of a first position indication signal and a second position indication signal.

[0196] Specifically, referring to FIG16 , the first detection assembly 5 is signal-connected to the first driving member 6 in the cleaning device 10. The second end 203 of the swing arm 2 can move from the first position and a position between the first and second positions to the second position in response to the driving of the first driving member 6. The first detection assembly 5 can output a second position indication signal when the second end 203 of the swing arm 2 reaches the second position. The second end 203 of the swing arm 2 can move from the second position and a position between the first and second positions to the first position in response to the driving of the first driving member 6. The first detection assembly 5 can output a first position indication signal when the second end 203 of the swing arm 2 reaches the first position.

[0197] Taking the first detection component 5 detecting the current of the first drive member 6 as an example, at this time, the second end of the swing arm 2 can move between a first position and a second position relative to the main body 1. A limiting portion is provided on the main body 1 for limiting the range of movement of the second end 203 of the swing arm 2 relative to the main body 1. When the swing arm 2 rotates relative to the main body 1 until it contacts the limiting portion, if the first drive member 6 continues to drive the swing arm 2 to rotate, the limiting portion will resist the swing arm 2 and prevent the swing arm 2 from continuing to move, thereby causing the current of the first drive motor 61 in the first drive member 6 to increase. By detecting the increased current, it can be known that the swing arm 2 has moved into place. The first detection component 5 can be used to detect the current change in the first drive member 6 to control the swing arm 2 to switch between three different working states, such as moving, stopping and reverse movement.

[0198] Specifically, the main body 1 further includes a control member electrically connected to the first detection component 5, the control member being electrically connected to the first driving member 6 and capable of controlling the working state of the first driving member 6. The control member can control the position of the swing arm 2 in response to a signal output from the first detection component 5.

[0199] For example, the control member can control the swing arm 2 to start swinging, stop swinging, and drive the swing arm 2 to swing toward the first position or the second position. The above swinging process can be repeated and alternated, or it can be swung only a certain distance.

[0200] Figure 17 is a structural schematic diagram of a cleaning device 10 provided in another embodiment of the present application, Figure 18 is a structural schematic diagram of the main body 1 in the cleaning device 10 shown in Figure 17, Figure 19 is an assembly schematic diagram of the main body 1, elastic member 4 and first detection component 5 described in Figure 17, Figure 20 is a structural schematic diagram of the cleaning device 10 shown in Figure 17 in the first position, Figure 21 is a partial structural schematic diagram of Figure 20, Figure 22 is a structural schematic diagram of the cleaning device 10 shown in Figure 17 in the second position, Figure 23 is a partial structural schematic diagram of Figure 22, Figure 24 is a structural schematic diagram of the cleaning device 10 shown in Figure 17 in another state of the first position, Figure 25 is a cross-sectional structural schematic diagram of Figure 24, and Figure 26 is a partial structural schematic diagram of Figure 24.

[0201] The main body 4 is provided with a through-slot 107. The surface of the swing arm 2 facing the through-slot 107 is partially raised to form a snap-fitting protrusion. This snap-fitting protrusion is the first abutting portion 201 mentioned above. The elastic member 4 is an integrated structure, including a first connecting portion 41, an elastic portion 42, and a second connecting portion 43. The elastic portion 42 is a spiral structure. The first connecting portion 41 and the second connecting portion 43 are located at both axial ends of the elastic portion 42 and extend radially outward relative to the elastic portion 42. The elastic portion 42 is installed in the main body 1. The first connecting portion 41 is fixedly connected to the main body 1 through the through-slot 107, and the second connecting portion 42 is fixedly connected to the swing arm 2 through the snap-fitting protrusion. In this case, the second connecting portion 42 can also constitute the first pressure-bearing portion 401 mentioned above.

[0202] Please refer to Figure 19. The elastic portion 42 in the elastic member 4 is located between the main body 1 and the first end 201 of the swing arm 2. The cleaning device 1 also includes a first rotating shaft 3. The elastic member 4 is sleeved on the first rotating shaft 3 (not shown in the figure). The first rotating shaft 3 is located inside the main body 1. The first connecting portion 41 is installed on the main body 1 through the through groove 107. The second connecting portion 43 is installed on the swing arm 2 through the snap-fit ​​protrusion and is fixed relative to the swing arm 2, and can move synchronously with the movement of the swing arm 2.

[0203] Specifically, the first end 202 of the swing arm 2 is sleeved on the first rotation axis 4 and moves around the first rotation axis 4 relative to the main body 1 between a first position and a second position.

[0204] Of course, in other similar embodiments, the first rotating shaft 4 may also be disposed on the swing arm 2 , and the swing arm 2 is rotatably connected to the main body 1 via the first rotating shaft 4 .

[0205] The elastic member 4 can be sleeved on the first rotating shaft 4 through the elastic portion 42 , or can be located on the side of the swing arm 2 facing away from the first rotating shaft 4 .

[0206] Referring to Figure 17 , the first detection assembly 5 is positioned within the swing arm's axial rotation range, or its detection range overlaps with the swing arm's axial rotation range. In this case, the first detection assembly 5 can detect the swing arm's axial rotation trajectory to output at least one of a second position indication signal and a first position indication signal. The first detection assembly 5 is shown mounted on the main body 1; the specific mounting location is merely illustrative.

[0207] Specifically, please refer to Figures 17 and 19. Along the axial direction of the elastic member 4, the first detection component 5 is located between the first connecting portion 41 and the second connecting portion 43. The first detection component 5 can detect the position of the swing arm 2 by detecting the position change of the second connecting portion 43.

[0208] Please refer to Figures 20, 22 and 24. When the swing arm 2 is respectively located at the first position and the second position, the second connecting part 43 fixedly connected to the swing arm 2 is also located at different positions. The first detection component 5 is set toward the second connecting part 43. By detecting the position of the second connecting part 43, the position information of the swing arm 2 can be obtained and the corresponding position indication signal can be output.

[0209] Specifically, the first detection component 5 can be set as a detection sensor commonly used in related technologies such as a photoelectric switch, a Hall switch element, a linear Hall switch, and a micro switch to detect the position of the swing arm.

[0210] During the process of the second end 203 of the swing arm 2 rotating from the first position to the second position, the swing arm 2 can use the first abutting portion 201 to abut the second connecting portion 43 to move so that the elastic member 4 is deformed (the shape of the snap-fit ​​protrusion drawn in the figure is only a schematic representation, and its specific structure can be adjusted during actual processing); during the process of the second end 203 of the swing arm 2 rotating from the second position to the first position, the abutting force applied to the elastic member 4 by the swing arm 2 is removed, and the elastic member 4 is restored.

[0211] When the second end 203 of the swing arm 2 is in the second position, the second connecting portion 43 is kept in contact with or in abutment with the surface of the snap-fit ​​protrusion. In order to ensure the stability of the assembly of the elastic member 4 and the swing arm 2, in an embodiment of the present application, the second connecting portion 43 is set to always keep in abutment with the snap-fit ​​protrusion. Please refer to Figures 20 and 21.

[0212] As the second end 203 of the swing arm 2 swings from the first position toward the second position, the first connecting portion 41 abuts against the main body 1 through the through-slot 107 and is fixed relative to the main body 1. The swing arm 2 abuts against the second connecting portion 43 through the surface of the engaging protrusion, driving the second connecting portion 43 to move synchronously, thereby deforming the elastic member 4. Referring to Figures 22 and 23 , the second end 203 of the swing arm 2 now swings to the second position.

[0213] In order to better achieve the limitation of the second end 203 of the swing arm 2 to the first position and the second position relative to the main body 1, in a feasible embodiment, a first limiting portion 103 and a second limiting portion 104 are provided on the main body 1; and / or, a first limiting portion 103 and a second limiting portion 104 are provided on the swing arm 2.

[0214] Among them, the first limiting portion 103 is used to limit the second end 203 of the swing arm 2 to the first position, and the angle of the swing relative to the main body 1 is the maximum; the second limiting portion 104 limits the second end 203 of the swing arm 2 to the second position, and the angle of the swing relative to the main body 1 is the maximum.

[0215] Specifically, the main body 1 is set to a shell-like structure with an opening at one end. The first end 202 of the swing arm 2 is located in the main body 1 and is sleeved on the first rotating shaft 4 located in the main body 1. The second end 203 passes through the opening and points to the outside of the main body 1. Please refer to Figures 17 and 18.

[0216] Along a direction parallel to the plane where the axial rotation range of the swing arm 2 is located, a first limiting portion 103 and a second limiting portion 104 are respectively formed on two opposite sides of the opening.

[0217] Specifically, the first limiting portion 103 is a first limiting rib provided at a first position close to the second end 203 of the swing arm 2 , and the second limiting portion 104 is a second limiting rib provided at a second position close to the second end 203 of the swing arm 2 .

[0218] In some feasible embodiments, the elastic member 4 can be used to adjust the vertical distance between the swing arm 2 located at the first position and the top of the main body 1.

[0219] Specifically, the first end 202 of the swing arm 2 has a first abutment portion 204, and the elastic member 4 can abut against the swing arm 2 through the first abutment portion 204. At this time, the end of the elastic member 4 facing away from the swing arm 2 in the axial direction maintains abutment with the main body 1. When the first end 202 of the swing arm 2 presses against the elastic member 4, the elastic member 4 can deform in a direction perpendicular to the main body 1 in response to the pressure of the swing arm 2, thereby achieving the lifting and lowering movement of the swing arm 2 in the first position, thereby controlling the cleaning member 7 mounted on the second end 203 of the swing arm 2 to contact or separate from the surface to be cleaned.

[0220] Illustratively, driven by the first driving member 6, the swing arm 2 descends relative to the main body 1 until the cleaning member 7 contacts the surface to be cleaned, at which time the cleaning member 7 can be used to clean the surface to be cleaned; driven by the first driving member 6, the swing arm 2 rises relative to the main body 1 until the cleaning member is separated from the surface to be cleaned, at which time the cleaning member 7 does not contact the surface to be cleaned.

[0221] In actual use, for example, when the surface to be cleaned is a floor, and a carpet, especially a long-haired carpet, is laid on the surface to be cleaned, by controlling the swing arm 2 to rise relative to the main body 1, the cleaning member can be prevented from contacting the carpet and causing damage or snagging. In the case where the cleaning member 7 is a mop, the cleaning member 7 can also be prevented from contacting the carpet and causing the carpet to become wet, thereby better protecting the carpet.

[0222] Specifically, the elastic member 4 can abut against the first end 202 of the swing arm 2 through the elastic portion 42. When the swing arm 2 presses against the elastic portion 42, the elastic portion 42 can deform in a direction perpendicular to the main body 1. At this time, the swing arm 2 can move in the vertical direction relative to the main body 1.

[0223] Referring to Figures 20 and 24 , when the swing arm is in the first position, the swing arm 2 can press against the elastic portion 42 and deform it in a direction perpendicular to the main body 1 (as indicated by the arrow), thereby driving the swing arm 2 to move up and down relative to the main body 1. At this time, the distance between the second connecting portion 43 provided on the swing arm 2 and the first detection assembly 5 provided on the main body 1 changes with the state of the swing arm 2 in the first position. When the swing arm 2 rises relative to the main body 1 in the first position, the distance between the two decreases, and vice versa.

[0224] At this point, the elastic portion 42 of the elastic member 4 can provide a certain degree of axial pressure to the swing arm 2, thereby cooperating with the first drive member 6 and controlling the stability of the swing arm 2's lifting movement relative to the main body 1. In other words, in addition to deforming during the torsion of the first and second connecting portions 41 and 43, the elastic member 4 can also compress and deform during the upward movement of the swing arm 2 relative to the main body 1. In this way, the elastic member 4 can provide both elastic force and a certain degree of cushioning force to the swing arm 2 in various operating conditions, such as swinging and lifting.

[0225] In some feasible implementations, the first driving member 6 is used to drive the swing arm 2 to move up and down at the first position.

[0226] 20 and 26 , the main body 1 is further provided with a third limiting portion 105, which is located between the first limiting portion 103 and the second limiting portion 104. A receiving space 106 is formed between the third limiting portion 105 and the second limiting portion 104 to accommodate the swing arm 2. When the swing arm 2 is located in the receiving space 106, the swing arm 2 is separated from the surface to be cleaned.

[0227] Along the height of the main body 1, the height of the second stopper 104, which is located away from the surface to be cleaned, is lower than the top of the first stopper 103, which is located away from the surface to be cleaned, and is substantially the same height as the end of the third stopper 105, which is located toward the surface to be cleaned. The third stopper 105 and the second stopper 104 form a stepped structure. Accordingly, the height of the first stopper 103, which is located away from the surface to be cleaned, is consistent with the height of the third stopper 105, which is located away from the surface to be cleaned. The opening formed in the main body 1 now has an L-shaped structure.

[0228] In some feasible embodiments, the first driving component 6 for driving the swing arm 2 to lift and lower the movement includes, in addition to the first driving motor 61, a transmission mechanism and a guide structure 63. The first driving motor 61 can be connected to the guide structure 63 through the transmission mechanism, and drive the swing arm 2 to lift and lower the movement through the guide structure 63.

[0229] Exemplarily, the transmission mechanism is set as an engaging transmission structure 62, and the guide structure 63 is respectively provided on the swing arm 2 and the engaging transmission structure 62 to guide the movement of the swing arm 2 when the engaging transmission structure 62 is working.

[0230] Referring to Figures 25 and 26 , the first drive motor 61 and the swing arm 2 are both located above and on either side of the meshing transmission structure 62. The meshing transmission structure 62's end closest to the first drive motor 61 is connected to the output shaft of the first drive electrode, while the end closest to the swing arm 2 is connected to the swing arm 2 via a guide structure 63. When the first drive motor 61 is activated, the output driving force is transmitted via the meshing transmission structure 62 to the guide structure 63, guiding the swing arm 2 to move up and down relative to the main body 1 in the first position.

[0231] Specifically, the meshing transmission structure 62 includes a lifting output gear 621 and a lifting adjustment gear 622. The lifting output gear 621 is connected to the output shaft of the first drive motor 61. The lifting adjustment gear 622, located within the main body 1, meshes with the lifting output gear 621 and is installed below the swing arm 2. Driven by the guide structure 63, the swing arm 2 can be raised and lowered relative to the main body 1.

[0232] FIG27 is a schematic structural diagram of the lifting adjustment gear 622 in FIG26 , and FIG28 is a schematic structural diagram of the guide structure 63 in FIG26 .

[0233] Specifically, a lifting guide hole is provided on or inside the main body 1 near the surface to be cleaned, and correspondingly, a guide post is provided on the swing arm 2 to cooperate with the lifting guide hole. The swing arm 2 can be raised and lowered relative to the main body 1 along the axial direction of the lifting guide hole through the cooperation of the lifting guide hole and the guide post.

[0234] The guide structure 63 includes a guide boss 631 and a guide slot 632 for guiding cooperation, which are respectively formed on the swing arm 2 and the lifting adjustment gear 622.

[0235] For example, referring to Figures 26, 27 and 28, the guide boss 631 is formed on the side of the lifting adjustment gear 622 facing the swing arm 2, and the guide slot 632 is formed on the side of the swing arm 2 facing the lifting adjustment gear 622.

[0236] A guide boss 631 is formed on the lifting and adjusting gear 622, and a guide slot 632 is formed on the axial sidewall surface of the swing arm 2. When the cleaning device 10 is fully assembled, as shown in FIG26 , the guide boss 631 can extend into the guide slot 632 to achieve a guided fit between the swing arm 2 and the lifting and adjusting gear 622.

[0237] Specifically, the guide groove 632 includes an upper horizontal section 6321, a ramp section 6322 and a lower horizontal section 6323 connected in sequence. Among them, the upper horizontal section 6321 is located on the side of the swing arm 2 axially away from the surface to be cleaned relative to the lower horizontal section 6323. Driven by the lifting output gear 621 engaged with it, the lifting adjustment gear 622 can rotate relative to the swing arm 2 along the guide groove 632 through the guide protrusion 8211, and in the process promote the lifting and lowering movement of the swing arm 2. It should be noted that the sleeve body 43 in the elastic member 4 can provide axial pressure to the swing arm 2 to a certain extent, so as to eliminate the motion gap formed between the guide groove 632 and the guide boss 631, thereby achieving the effect of improving the lifting and lowering accuracy and stability of the first driving member 6.

[0238] The outer peripheral side of the lifting adjustment gear 622 has multiple teeth, and all the teeth can form a complete ring structure; or only part of the area can be formed with teeth, and all the teeth form an incomplete gear structure similar to a fan gear, please refer to Figure 27.

[0239] When the swing arm 2 swings from the second position to the first position, the lifting adjustment gear 622 is driven by the lifting output gear 621 to rotate clockwise. At this time, the guide boss 631 is connected to the end of the upper horizontal section 6321 in the guide slot 632. Restricted by the upper horizontal section 6321, the swing arm 2 swings clockwise from the second position to the first position until the guide boss 631 moves relative to the guide slot 632 to the intersection of the upper horizontal section 6321 and the sloped section 6322. At this time, the swing arm 2 swings to the limit of the first position.

[0240] As the swing arm 2 swings from the first position to the second position, the lift adjustment gear 622 rotates counterclockwise, driven by the lift output gear 621. The guide boss 631 is now connected to the intersection of the upper horizontal section 6321 and the ramp section 6322 in the guide slot 632. Under the axial force of the elastic member 4, the swing arm 2 swings counterclockwise from the first position to the second position until the guide boss 631 swings relative to the swing arm 2 to the end of the upper horizontal section 6321. Since the swing arm 2 is now at its lowest axial position, it can easily swing along the opening from the first position to the second position without being restricted by the third limiter 105.

[0241] When the swing arm 2 moves toward the side away from the cleaning surface in the vertical direction relative to the main body 1, the lifting adjustment gear 622 is driven by the lifting output gear 621 to rotate clockwise. At this time, the guide boss 631 is connected to the slope section 6322 in the guide groove 632 and is subjected to the oblique upward force provided by the slope section 6322. Restricted by the first limiting portion 103, the swing arm 2 cannot continue to rotate around the first rotation axis 3 relative to the main body 1, so the swing arm 2 can and can only move axially upward. As the lifting adjustment gear 622 continues to rotate, the swing arm 2 gradually moves upward. During this process, the guide boss 631 moves to the lower horizontal section 6323 through the sliding section and is restricted by the lower horizontal section 6323, preventing the swing arm 2 from moving downward.

[0242] Conversely, as the swing arm 2 moves perpendicularly relative to the main body 1 toward the cleaning surface, the lift adjustment gear 622, driven by the lift output gear 621, rotates counterclockwise. The guide boss 631 then connects with the lower horizontal section 6323 of the guide slot 632 and enters the sloped section 6322 along the lower horizontal section 6323. Blocked by the third stopper 105, the swing arm 2 cannot rotate relative to the main body 1 along the first rotation axis 3. Therefore, the swing arm 2 can only move axially downward. As the lift adjustment gear 622 continues to rotate, the swing arm 2 gradually moves downward.

[0243] Please refer to FIG. 28 . The circumferential length of the lower horizontal segment 6323 is smaller than the circumferential length of the upper horizontal segment 6321 .

[0244] It should be noted that in the embodiment of the present application, the first driving member 6 has the function of driving the swing arm 2 to rotate and lift relative to the main body 1. In other similar embodiments, the driving member for driving the swing arm 2 to rotate relative to the main body 1 and the driving member for driving the swing arm 2 to lift relative to the main body 1 can be independently provided according to structural design requirements, so as to realize separate drive control of the swing arm 2 and the main body 1.

[0245] Of course, in other similar embodiments, the transmission mechanism and the guide structure 63 in the first driving member 6 can be adjusted so that the swing arm 2 can be raised and lowered relative to the main body 1 when it is in the second position. Accordingly, the opening on the main body 1 is a structure similar to a bend or corner.

[0246] Specifically, the main body 1 is provided with a fourth limiting portion, which is provided near the second limiting portion 104 and forms another accommodating space 106 for accommodating the swing arm 2 between the fourth limiting portion and the second limiting portion 104. Along the height direction of the main body 1, the height of the end of the second limiting portion 104 away from the surface to be cleaned is higher than the height of the end of the first limiting portion 103 away from the surface to be cleaned, and is consistent with the height of the end of the fourth limiting portion away from the surface to be cleaned. The fourth limiting portion and the first limiting portion 103 form a step structure. Accordingly, the height of the end of the first limiting portion 103 away from the surface to be cleaned is basically consistent with the height of the end of the fourth limiting portion pointing to the surface to be cleaned. At this time, the structure and adjustment method of the first driving member 6 formed on the main body 1 for driving the swing arm 2 can be found in the previous text and will not be repeated here.

[0247] Please refer to FIG. 29 , which is a schematic diagram of the assembly of the cleaning member 7 and the transmission member 8 in the cleaning device 10 provided in one embodiment of the present application.

[0248] A transmission member 8 is mounted within the swing arm 2, and the cleaning member 7 is in transmission connection with the transmission member 8 mounted within the swing arm 2. Referring to Figure 29 , the cleaning member 7 is mounted on the side of the second end 203 of the swing arm 2 that faces the surface to be cleaned. The transmission member 8 is in transmission connection with the cleaning member 7, and can drive the cleaning member 7 to rotate relative to the swing arm 2.

[0249] For example, the structure and usage of the cleaning member 7 are specifically described below by taking the cleaning member 7 as a cleaning brush. The cleaning brush can be a side brush structure arranged on the outer peripheral side of the cleaning device.

[0250] FIG30 is a schematic structural diagram of the cleaning member 7 in the cleaning device 10 provided in one embodiment of the present application, and FIG31 is an exploded view of FIG30 .

[0251] Referring to Figures 30 and 31 , the cleaning brush includes a brush head connection portion 71 and a brush rod 72. The brush head connection portion 71 can be extended or retracted relative to the second end 203 of the swing arm 2 under the drive of the transmission member 8, and the brush rod 72 can be extended or retracted relative to the brush head connection portion 71 under the drive of the transmission member 8. When the second end 203 of the swing arm 2 is in the second position, the brush head connection portion 71 retracts toward the second end 203 of the swing arm 2. When the second end 203 of the swing arm 2 is in the first position, the brush head connection portion 71 drives the brush rod 72 to extend.

[0252] The cleaning brush also includes bristles 73. One end of the brush rod 72 extends into the brush head connection part 71, and the other end is equipped with bristles 73. In other words, the transmission member 8 has the function of driving the cleaning brush to rotate and controlling the brush rod 72 to extend or retract relative to the brush head connection part 71.

[0253] In this embodiment, it can be arranged that when the second end 203 of the swing arm 2 is located at the first position, the brush rod 72 of the cleaning brush can be extended or retracted relative to the brush head connecting portion 71.

[0254] Specifically, when the second end 203 of the swing arm 2 is in the second position, at least part of the brush head connection part 71 is located inside the second end 203 of the swing arm 2; when the second end 203 of the swing arm 2 is in the first position, the brush head connection part 71 drives the brush rod 72 to extend; or, when the second end 203 of the swing arm 2 is in the second position, at least part of the brush head connection part 71 and at least part of the brush rod 72 are located inside the second end 203 of the swing arm 2; when the second end 203 of the swing arm 2 is in the first position, the brush head connection part 71 drives the brush rod 72 to extend.

[0255] Of course, in other similar embodiments, it can also be arranged that when the second end 203 of the swing arm 2 is located at least one of the second position and the first position, the brush rod 72 of the cleaning brush can be extended or retracted relative to the brush head connecting portion 71.

[0256] Taking the cleaning device as an example of being placed on the surface to be cleaned, when the brush rod 72 is normally extended relative to the brush head connecting part 71, the bristles 73 located at one end of the brush rod 72 are in contact with the surface to be cleaned; when the brush rod 72 is retracted relative to the brush head connecting part 71, the bristles 73 can be driven by the brush rod 72 to approach the middle area of ​​the brush head connecting part 71, so that the bristles 73 are separated from the surface to be cleaned.

[0257] In actual use, for example, if the surface to be cleaned is a floor, and a carpet, particularly a long-haired carpet, is laid on the surface to be cleaned, the brush rod 72 can be controlled to extend or retract relative to the brush head connection portion 71 to control contact and separation between the cleaning brush and the carpet, thereby preventing the cleaning brush from contacting the carpet and causing damage or snagging. Furthermore, the bristles 73 can be protected to a certain extent, preventing the bristles 73 from directly contacting the carpet and being entangled by the carpet hair, causing the bristles 73 to diverge or curl, or causing the brush head connection portion 71 to detach, thereby damaging the cleaning brush.

[0258] The brush rod 72 is made of a flexible material with good deformation recovery ability and bending resistance, such as rubber, memory alloy (nickel-titanium alloy), elastic plastic material, carbon fiber composite material, spring steel, etc.

[0259] Taking memory alloy as an example, the brush rod 72 made of memory alloy has good elasticity and fatigue resistance, can withstand repeated bending without deformation, and can still maintain good mechanical properties after multiple bending.

[0260] Taking rubber as an example, the bristles 73 can also be inserted into one end of a brush rod 72 made of rubber or run through the entire brush rod 72. The brush rod 72 made of rubber can be retracted and retracted from the brush head connection portion 71 repeatedly and is low in cost. In addition, the brush rod 72 can maintain good performance after multiple bends.

[0261] Referring to Figure 31 , the brush head connection portion 71 includes a rotating seat 711 and a mounting shell 712. The rotating seat 711 is mounted within the mounting shell 712 and can rotate relative to the mounting shell 712 along the axial direction of the mounting shell 712. Along the circumference of the mounting shell 712, an annular cavity 7122 is formed between the outer side of the rotating seat 711 and the inner sidewall of the mounting shell 712. The mounting shell 712 is provided with a through-hole 7121 that communicates with the annular cavity 7122. The brush rod 72 can pass through the through-hole 7121 and be fixedly connected to the rotating seat 711 located within the mounting shell 712. The end of the brush rod 72 located outside the through-hole 7121 is fixedly connected to the bristles 73.

[0262] In actual configuration, the number of brush rods 72 can be adaptively adjusted as needed, for example, at least two brush rods 72 can be provided. However, with two brush rods 72, the centrifugal force generated by the cleaning brush during rotation may be difficult to balance, which can easily cause the cleaning brush to slightly wobble or shift during operation, especially when the cleaning brush rotates at high speeds or encounters significant resistance (such as thick dust accumulation). Therefore, it is generally not recommended to use two brush rods 72. While four brush rods 72 can further improve the cleaning effect, the improvement is relatively limited. Therefore, based on comprehensive considerations, the number of brush rods 72 is set to three in this embodiment.

[0263] Specifically, there are three brush rods 72 and they are distributed in a circle around the edge of the brush head connection portion 71, with the interval between any two brush rods 72 being approximately 120 degrees. This layout can effectively cover most of the area around the edge of the first end 202 of the swing arm 2, further reducing blind spots in cleaning.

[0264] In addition, in order to better guide the direction of the brush rod 72 after it is extended, the outer part of the mounting shell 712 is raised, and the through hole 7121 is set through the raised position so that the axis of the through hole 7121 points to the end outside the mounting shell 712 and is inclined relative to the mounting shell 712 and points to the side away from the transmission member 8.

[0265] The inner diameter of the through hole 7121 is larger than the outer diameter of the brush rod 72 , thereby helping to reduce the friction when the brush rod 72 is extended and retracted relative to the through hole 7121 , making the extension and retraction movement of the brush rod 72 relative to the mounting shell 712 smoother.

[0266] Figure 32 is a schematic diagram of the local structure of the cleaning member 7 in Figure 29, Figure 33 is a schematic diagram of the AA-direction cross-sectional structure of Figure 32, Figure 34 is a schematic diagram of the BB-direction cross-sectional structure of Figure 32, and Figure 35 is a schematic diagram of the connection between the second detection component 92 and the second driving member 9 in the cleaning device 10 provided in an embodiment of the present application.

[0267] The cleaning device 10 also includes a second driving member 9 connected to the transmission member 8. The output shaft of the second driving member 9 is connected to the transmission member 8 for driving the transmission member 8 to rotate and controlling the working state of the cleaning brush through the transmission member 8. Please refer to Figure 32.

[0268] The transmission member 8 includes a first output connector 81 and a second output connector 82 that are coaxially arranged and have the same output direction. The first output connector 81 is inserted into the second output connector 82. The rotating seat 711 is in transmission connection with the first output connector 81, and the mounting shell 712 is in transmission connection with the second output connector 82. When the output speeds of the first and second output connectors 81 and 82 are the same, the mounting shell 712 drives the brush rod 72 to rotate synchronously. When there is a speed difference between the output speeds of the first and second output connectors 81 and 82, the brush rod 72 extends or retracts relative to the brush head connection portion 71.

[0269] The second driving member 9 may include a second driving motor 91 , and the transmission member 8 further includes a transmission structure connected to the second driving member 9 .

[0270] Please refer to Figures 33 and 34. The first output connector 81 is fixedly connected to the rotating seat 711 for driving the rotating seat 711 to rotate. The second output connector 82 is fixedly connected to the brush head connecting portion mounting shell 712 for driving the brush head connecting portion mounting shell 712 to rotate.

[0271] In order to adjust the rotational speeds of the first output connector 81 and the second output connector 82 , the transmission member 8 further includes a third output connector 83 , and the third output connector 83 is always in transmission connection with the second output connector 82 .

[0272] 33 and 34 , the first output connector 81 can drive at least one of the second output connector 82 and the third output connector 83 to rotate.

[0273] Under the action of the transmission member 8, the cleaning brush has four states: in the first state, the brush rod 72 extends outward relative to the brush head connection part 71; in the second state, the brush head connection part 71 drives the brush rod 72 to rotate synchronously; in the third state, the brush rod 72 retracts inward relative to the brush head connection part 71; in the fourth state, the brush rod 72 is fully retracted and the cleaning brush stops rotating.

[0274] When the first output connector 81 drives the second output connector 82 to rotate via the third output connector 83, the brush rod 72 extends or retracts relative to the brush head connecting portion 71. At this time, the cleaning brush can be controlled to be in the first state or the third state by controlling the rotation direction of the first output connector 81; when the first output connector 81 drives the third output connector 83 to rotate via the second output connector 82, the cleaning brush rotates relative to the swing arm 2, and the cleaning brush is in the second state; when the first output connector 81 simultaneously drives the second output connector 82 and the third output connector 83 to rotate, the cleaning brush is in the fourth state.

[0275] In this embodiment, the first output connector 81 is an axial structure, one end of which is used to be fixedly connected to the rotating seat 711, and the other end passes through the second output connector 82 and changes its relative action state with the second output connector 82 under the adjustment of related structures.

[0276] The transmission member 8 also includes an adjusting engagement member 85 in driving connection with the first output connector 81. The adjusting engagement member 85 is located between the second output connector 82 and the third output connector 83. By changing the axial position of the adjusting engagement member 85 on the first output connector 81, the first output connector 81 can be switched between different states: a driving connection with the second output connector 82, a driving connection with the third output connector 83, or a driving connection with both the second output connector 82 and the third output connector 83.

[0277] Specifically, the adjusting engagement member 85 is sleeved on the end of the first output connector 81 facing away from the rotating seat 711 and is engaged with the first output connector 81. When the adjusting engagement member 85 is engaged and fixed with the second output connector 82, the rotational speed of the first output connector 81 remains consistent with the rotational speed of the second output connector 82. At this time, the third output connector 83 is driven by the second output connector 82 and is in an idling state, and the cleaning brush is in the second state. When the adjusting engagement member 85 is engaged and fixed with the third output connector 83 and maintains axial rotational cooperation with the second output connector 82, the third output connector 83 drives the second output connector 82 to rotate. Under the influence of the transmission ratio, there is a speed difference between the second output connector 82 and the first output connector 81, and the cleaning brush is in the first state or the third state. The above process continues until the second output connector 82 rotates axially relative to the adjusting engagement member 85 to the engagement limit. At this time, the second output connector 82 is driven by both the first output connector 81 and the third output connector 83, and the cleaning brush is in the fourth state.

[0278] The cleaning device 10 further includes a second detection assembly 92 connected to the second driving member 9. The second detection assembly 92 is configured to determine that at least a portion of the brush head connecting portion 71 and / or at least a portion of the brush rod 72 has retracted into position and output a position-in-position signal, as shown in FIG35 . Specifically, when the cleaning brush is in the fourth position, the second detection assembly 92 outputs a position-in-position signal.

[0279] Since the second output connector 82 is transmission-connected with the third output connector 83, when different areas of the first output connector 81 in the transmission member 8 respectively cooperate with the second output connector 82 and the third output connector 83, the second output connector 82 is driven by both the first output connector 81 and the third output connector 83.

[0280] In some embodiments, the rotational speed output by the first output connector 81 is inconsistent with the rotational speed output by the third output connector 83. When the second output connector 82 is driven by the driving force output by the first output connector 81 and the third output connector 83 simultaneously, the transmission member 8 may become stuck, thereby causing the current in the second driving member 9 used to drive the transmission member 8 to increase. By detecting the increased current, it can be determined that the brush rod 72 has been retracted into its full position. The second detection component 92 can be used to detect the change in current in the second driving member 9 and output a full position signal.

[0281] The control member is electrically connected to the second output connector 82 and controls the second driving member 9 to stop in response to the in-position signal outputted from the second detection assembly 92 .

[0282] Of course, the control member can also be used to control the start-up of the second driving member 9 and control the direction of the driving force output by the second driving member 9 as needed (ie, control the second driving member 9 to rotate forward or reverse).

[0283] Exemplarily, the transmission member 8 is a meshing structure, and therefore, the transmission structure for connecting with the second driving member 9 is another meshing structure 87 .

[0284] Figure 36 is a schematic structural diagram of the transmission member 8 in the cleaning device 10 provided in an embodiment of the present application, Figure 37 is a schematic structural diagram of the first output connector 81 in Figure 36, Figure 38 is a schematic structural diagram of the adjusting engagement member 85 in Figure 36 at a certain angle, Figure 39 is a schematic structural diagram of the adjusting engagement member 85 in Figure 36 at another angle, Figure 40 is a schematic structural diagram of the second output connector 82 in Figure 36, Figure 41 is a schematic operational diagram of the second output connector 82 and the adjusting engagement member 85 in Figure 36 when the brush rod 72 is extended, Figure 42 is a schematic operational diagram of the second output connector 82 and the adjusting engagement member 85 in Figure 36 when the cleaning brush is rotating, Figure 43 is a schematic operational diagram of the second output connector 82 and the adjusting engagement member 85 in Figure 36 when the brush rod 72 is retracted, Figure 44 is a schematic structural diagram of the third output connector 83 in Figure 36, and Figure 45 is a schematic operational diagram of the second output connector 82, the third output connector 83, and the transmission engagement member 86 in Figure 36.

[0285] Referring to FIG. 36 , in addition to the first output connector 81, the second output connector 82, the third output connector 83, and the adjusting engagement member 85 described above, the transmission member 8 also includes a driving engagement member 84, a transmission engagement member 86, and another engagement structure 87. The other engagement structure 87 is connected to the output end of the second driving member 9 and transmits the driving force output by the second driving member 9 to the other engagement structure 87 at the driving engagement member 84. The driving engagement member 84 is connected to the adjusting engagement member 85 and transmits the relevant driving force to the first output connector 81 and the second output connector 82, respectively, through the adjusting engagement member 85. Furthermore, the driving engagement member 84 can also cooperate with the second output connector 82 to change the assembly relationship between the adjusting engagement member 85 and the third output connector 83.

[0286] In some embodiments, when the third output connector 83 drives the second output connector 82 to rotate, the brush rod 72 extends or retracts relative to the brush head connecting portion 71 .

[0287] In other similar embodiments, when the first output connector 81 drives the third output connector 83 to rotate via the second output connector 82 , the cleaning brush 7 rotates relative to the swing arm 2 .

[0288] In other similar embodiments, when the first output connector 81 drives the second output connector 82 and the third output connector 83 to rotate, the second detection component 92 outputs a position arrival signal.

[0289] The specific structure of the transmission member 8 is described in detail below:

[0290] The first output connector 81 is fixedly connected to the adjustment engagement member 85. Referring to Figures 37 and 38 , at least one first guide protrusion 811 is circumferentially spaced apart at one end of the first output connector 81 that faces the adjustment engagement member 85. Accordingly, the middle portion of the end of the adjustment engagement member 85 that faces the first output connector 81 is recessed inward to form a first guide groove 853 that mates with the first guide protrusion 811.

[0291] Referring to Figure 37 , the first guide protrusions 811 are curved protrusions extending obliquely along the axial and circumferential directions of the first output connector 81. There are three first guide protrusions 811, spaced apart along the circumference of the first guide protrusions 811. The number of first guide grooves 853 provided on the adjustment engagement member 85 is the same as the number of first guide protrusions 811, and they are arranged in a one-to-one correspondence. (See Figure 38 )

[0292] To switch between synchronous and asynchronous rotation of the first and second output connectors 81, 82, see Figures 37 and 40. A portion of the surface of the first output connector 81, axially opposite the second output connector 82, is raised to form a second guide protrusion 812. The second guide protrusion 812 is located on the end of the first guide protrusion 811 that is distal to the adjustment engagement member 85 (see Figure 37).

[0293] The second output connector 82 is a hollow structure. The first output connector 81 is inserted into the second output connector 82 and can rotate relative to the second output connector 82. The second output connector 82 is provided with a clearance groove 822 that mates with the second guide protrusion 812. The clearance groove 822 has a fan-shaped or ring-shaped structure (see Figure 40). The clearance groove 822 has two opposing circumferential surfaces that can respectively abut against the second guide protrusion 812. When the second guide protrusion 812 is located within the clearance groove 822 and slides relative to the clearance groove 822 along the circumferential length of the clearance groove 822, a speed difference exists between the second output connector 82 and the first output connector 81. When the second guide protrusion 812 moves along the circumferential length of the clearance groove 822 until it abuts against one end thereof, the first output connector 81 is engaged with the second output connector 82 via the abutting second guide protrusion 812 and the clearance groove 822. Without any other external force, the first output connector 81 continues to rotate in the original direction and drives the second output connector 82 to rotate synchronously. Of course, the first output connector 81 can also be controlled to rotate in the opposite direction to release the limiting effect between the first output connector 81 and the second output connector 82.

[0294] In addition to the clearance groove 822, the second output connector 82 also includes a guide member 821 and a third transmission tooth 823 arranged in sequence along its axial direction, as shown in Figure 40. The guide member 821 is configured to engage with the adjustment engagement member 85, and the third transmission tooth 823 is configured to connect with the transmission engagement member 86 to achieve a transmission connection between the second output connector 82 and the third output connector 83.

[0295] Please refer to Figures 38 to 43 for an explanation of the matching relationship between the second output connector 82 and the adjustment engagement member 85.

[0296] The guide member 821 is a protruding structure extending along the axial direction of the second output connector 82 toward the side close to the adjusting engagement member 85. The adjusting engagement member 85 is provided with a guide groove 854 in the circumferential direction. The guide groove 854 includes a horizontal groove 8541. The second output connector 82 is connected to the guide groove 854 through the guide member 821 so as to be connected to the adjusting engagement member 85.

[0297] When the guide member 821 moves along the horizontal groove 8541 of the guide groove 854, the second output connector 82 can rotate relative to the adjusting engagement member 85, and there is no direct transmission relationship between the two; when the guide member 821 rotates to the end of the guide groove 854, the second output connector 82 is engaged with the adjusting engagement member 85, and the adjusting engagement member 85 can directly drive the second output connector 82 to rotate.

[0298] The structure of the guide groove 854 is shown in Figures 38 and 39 . The guide groove 854 is generally L-shaped and includes a vertical groove 8542 in addition to a horizontal groove 8541. The vertical groove 8542 is formed at one end of the horizontal groove 8541. A first limiting wall 8543 is formed on the end of the horizontal groove 8541 away from the vertical groove 8542. A second limiting wall 8544 is formed on the side of the vertical groove 8542 opposite the horizontal groove 8541. The guide member 821, which moves along the extension direction of the guide groove 854, can move relative to the guide groove 854 until it abuts against the first limiting wall 8543 or the second limiting wall 8544, thereby achieving engagement between the second output connector 82 and the adjustment engagement member 85.

[0299] Generally speaking, the distance between the first limiting wall 8543 and the second limiting wall 8544 in the guide groove 854 is substantially consistent with the length of the portion of the brush rod 72 that extends outward or retracts relative to the brush head connecting portion 71 .

[0300] 40 , to ensure a tighter fit between the guide member 821 and the guide groove 854, the end of the guide member 821 protrudes toward the axis of the second output connector 82 to form a guide protrusion 8211. When the second output connector 82 is connected to the adjustment engagement member 85, the guide protrusion 8211 can extend into the guide groove 854.

[0301] In some embodiments, the number of the above-mentioned guide members 821 can be set to at least two and arranged at intervals on the circumferential side of the second output connector 82. At this time, the number of guide grooves 854 on the adjusting engagement member 85 is the same as that of the guide members 821 and is arranged one-to-one.

[0302] The two guide members 821 arranged opposite to each other can improve the stability and firmness of the connection between the adjusting engagement member 85 and the second output connector 82, thereby preventing the two from axially offsetting and separating from each other, thereby affecting the normal driving of the cleaning brush.

[0303] Of course, referring to Figures 39 and 40, in some embodiments, the axial extension dimensions of the two guide members 821 are not completely consistent, so they can be matched with different axial positions of the adjusting engagement member 85 to further improve the stability of the connection between the adjusting engagement member 85 and the second output connector 82.

[0304] Exemplarily, when the cleaning brush is in a normal cleaning state, the first output connector 81 and the second output connector 82 both rotate counterclockwise.

[0305] When the brush rod 72 of the cleaning brush extends relative to the brush head connection portion 71, as shown in Figure 41, the guide protrusion 8211 provided on the second output connector 82 can move along the horizontal groove 8541 of the guide groove 854 from the first limiting wall 8543 toward the second limiting wall 8544. At this time, there is no direct transmission relationship between the second output connector 82 and the adjustment engagement member 85. The second output connector 82 can rotate counterclockwise under the drive of the third output connector 83 (the transmission relationship between the second output connector 82 and the third output connector 83 is described below). Driven by the adjustment engagement member 85, the first output connector 81 maintains synchronous counterclockwise rotation and has a speed difference with the second output connector 82. During this process, the first output connector 81 rotates relative to the second output connector 82 through the interlocking second guide protrusion 812 and the clearance groove 822.

[0306] As the brush rod 72 and the brush head connection portion 71 of the cleaning brush rotate synchronously (see Figure 42), the guide protrusion 8211 of the second output connector 82 moves along the guide groove 854 until it abuts against the second limiting wall 8544. At this point, the adjustment engaging member 85 simultaneously engages with the first and second output connectors 81, 82, thereby maintaining synchronous rotation. During this process, the second guide protrusion 812 of the first output connector 81 may fit neatly against one circumferential sidewall of the clearance groove 822, or may be spaced a certain distance apart therefrom.

[0307] When the brush rod 72 of the cleaning brush is retracted relative to the brush head connection portion 71, as shown in Figure 43, the guide protrusion 8211 provided on the second output connector 82 can move along the horizontal groove 8541 of the guide groove 854 from the second limiting wall 8544 toward the first limiting wall 8543. At this time, there is no direct transmission relationship between the second output connector 82 and the adjustment engagement member 85, and the second output connector 82 can rotate clockwise under the drive of the third output connector 83. Driven by the adjustment engagement member 85, the first output connector 81 maintains synchronous clockwise rotation and has a speed difference with the second output connector 82. During this process, the first output connector 81 rotates relative to the second output connector 82 through the interlocking second guide protrusion 812 and the clearance groove 822.

[0308] Of course, in other similar embodiments, when the cleaning brush is in a normal cleaning state, the first output connector 81 and the second output connector 82 can also rotate clockwise. In this case, only the relative positions of the above structures need to be adaptively adjusted, which will not be repeated here.

[0309] It should be noted that the guide protrusion 8211 moves along the horizontal groove 8541 of the guide groove 854 to the second limiting wall 8544 .

[0310] Please refer to Figures 33, 34 and 36. When the guide protrusion 8211 is located in the vertical groove 8542 of the guide groove 854, the driving engagement member 84 can drive the adjusting engagement member 85 to move up and down along the axial direction. At this time, the guide protrusion 8211 moves downward or upward along the vertical groove 8542.

[0311] Specifically, referring to FIG. 36 , the driving engagement member 84 includes a first transmission tooth 841 and an adjustment tooth 842 , wherein the first transmission tooth 841 is used to connect to other engagement structures 87 , and the adjustment tooth 842 is used to connect to the adjustment engagement member 85 .

[0312] It should be noted that the adjustment teeth 842 are helical teeth evenly arranged around the circumference of the drive meshing member 84. The adjustment meshing member 85 can be connected to the drive meshing member 84 via the adjustment teeth 842. When the drive meshing member 84 rotates, the helical teeth not only increase the maximum load that can be tolerated between the adjustment teeth 842 and the adjustment meshing member 85, thereby improving the load-bearing capacity of the adjustment meshing member 85, but also provide axial force for the adjustment meshing member 85. A second transmission tooth 851 is formed at a corresponding position on the adjustment meshing member 85 and is transmission-connected to the adjustment teeth 842 having a helical tooth structure.

[0313] Specifically, the second transmission teeth 851 also have a helical tooth structure.

[0314] When not limited by other external forces, the adjusting engagement member 85 can be engaged with the driving engagement member 84 through the mutually engaged second transmission teeth 851 and the adjusting teeth 842, and can be moved up and down axially within a certain range under the drive of the driving engagement member 84, and in this process, it can be engaged and separated with the third output connector 83.

[0315] Specifically, when the adjusting engagement member 85 moves upward relative to the driving engagement member 84 , it can engage with the third output connector 83 , and when the adjusting engagement member 85 moves downward relative to the driving engagement member 84 , it can separate from the third output connector 83 .

[0316] In some embodiments, the driving engagement member 84 is a double-layer gear set structure, and the two gear structures in the axial direction can be an integrated structure or a separate structure. The outer diameter of the gear used to connect with the other engagement structure 87 is larger than the outer diameter of the gear meshing with the adjustment engagement member 85. This structure can meet different speed requirements and achieve a variable speed function.

[0317] After the second drive member 9 is activated, the adjustment member 85 rotates under the drive member 84, driving the first output connector 81 connected thereto to rotate synchronously. At this time, the guide protrusion 8211 formed on the second output connector 82 moves along the horizontal groove 8541 from the first limiting wall 8543 toward the second limiting wall 8544 (see Figure 41). When the guide protrusion 8211 is connected to the horizontal groove 8541, the adjustment member 85 is restricted by the top wall of the horizontal groove 8541, preventing it from moving downward relative to the second output connector 82. Therefore, under the drive member 84, the adjustment member 85 can rotate only relative to the drive member 84. At this time, the adjustment member 85 is in a high position and remains engaged with the third output connector 83 (detailed structure described below). The adjustment member 85 drives the third output connector 83 to transmit, which in turn connects to the second output connector 82 via the transmission member 86, thereby driving the second output connector 82 to rotate. At this point, there is a rotational speed difference between the second output connector 82 and the first output connector 81 and the adjustment engaging member 85. Therefore, the guide protrusion 8211 formed on the second output connector 82 can continue to move along the horizontal groove 8541, and at the same time, the brush rod 72 of the cleaning brush can extend relative to the brush head connecting portion 71. This action continues until the guide protrusion 8211 enters the vertical groove 8542.

[0318] After the guide protrusion 8211 enters the vertical groove 8542, the restraint imposed by the top wall of the horizontal groove 8541 is removed. Driven by the drive member 84, the adjustment member 85 can now move axially downward until the guide protrusion 8211 moves along the vertical groove 8542 and abuts against the top wall of the vertical groove 8542. At this point, the adjustment member 85 is in a low position and remains separated from the third output connector 83. Simultaneously, the guide protrusion 8211 abuts against the second restraining wall 8544 adjacent to the vertical groove 8542. The adjustment member 85 can now drive the second output connector 82 to rotate via the interlocking guide protrusion 8211 and second restraining wall 8544 (see Figure 42). Because the second output connector 82 and the first output connector 81 are both directly connected to the adjustment member 85, the brush rod 72 and the brush head connecting portion 71 rotate synchronously, allowing the cleaning brush to continue its cleaning operation normally until the cleaning is complete.

[0319] When the brush rod 72 needs to be retracted relative to the brush head connection portion 71, the second drive motor 91 needs to be controlled to rotate in the opposite direction. At this time, the adjustment engagement member 85 rotates under the drive engagement member 84, driving the first output connector 81 connected thereto to rotate in the opposite direction. The guide protrusion 8211 formed on the second output connector 82 is located within the vertical groove 8542 and abuts against the top wall of the vertical groove 8542. Therefore, the adjustment engagement member 85 can move axially upward from a low position to a high position while rotating, thereby achieving transmission connection with the third output connector 83. At this time, the guide protrusion 8211 moves to the lower position of the vertical groove 8542 and is located on the side of the horizontal groove 8541 near the second limiting wall 8544. The third output connector 83 can be connected to the second output connector 82 via the transmission engagement member 86 to drive the second output connector 82 to rotate. At this point, there is a rotational speed difference between the second output connector 82, the first output connector 81, and the adjustment engaging member 85. Therefore, the guide protrusion 8211 formed on the second output connector 82 can continue to move along the horizontal groove 8541 toward the first limiting wall 8543. At this point, the brush rod 72 of the cleaning brush can retract relative to the brush head connecting portion 71. This action continues until the guide protrusion 8211 abuts against the first limiting wall 8543.

[0320] At this point, the second drive motor 91 continues to rotate in the reverse direction. The second output connector 82 can now engage with the adjustment member 85 and rotate under the drive of the adjustment member 85. This means that the speed of the second output connector 82 should be consistent with the speeds of the adjustment member 85 and the first output connector 81, which is denoted as V1. Simultaneously, the third output connector 83 continues to drive the second output connector 82 via the transmission member 86, with its output speed denoted as V2. Since V1 and V2 are significantly inconsistent, the transmission member 8 becomes stuck, and the cleaning brush is now in the fourth state.

[0321] FIG44 is a schematic structural diagram of the third output connector 83 in FIG36 , and FIG45 is a schematic diagram of the coordination among the second output connector 82 , the third output connector 83 and the transmission engagement member 86 in FIG36 .

[0322] Please refer to Figures 44 and 45. The third output connector 83 is located above the first output connector 81 and the second output connector 82 and can be connected to the second output connector 82 through a transmission engagement member 86 to change the output speed of the first output connector 81 and the second output connector 82.

[0323] When the adjusting engagement member 85 is engaged with the third output connector 83, the third output connector 83 can drive the second output connector 82 to rotate via the transmission engagement member 86; when the adjusting engagement member 85 is separated from the third output connector 83, the second output connector 82 can be directly driven by the adjusting engagement member 85 and drive the third output connector 83 to idle rotation via the transmission engagement member 86.

[0324] To enhance the secure installation and durability of the third output connector 83 and prevent displacement under vibration or other conditions, in some embodiments, the third output connector 83 is further provided with a limiting rod. The limiting rod is disposed axially along the third output connector 83 and extends through the adjustment engagement member 85 to connect to the first output connector 81. It should be noted that the limiting rod serves only to axially position the third output connector 83 and is not used for transmission. Therefore, there is no direct transmission relationship between the first output connector 81 and the third output connector 83, which are connected by the limiting rod.

[0325] Please refer to Figures 39 and 44. At least two second clutch teeth 852 are protruding from one end of the adjusting engagement member 85 pointing to the third output connector 83 in the axial direction. Correspondingly, a first clutch tooth 831 is protruding from one end of the third output connector 83 pointing to the adjusting engagement member 85 and can be engaged with the above-mentioned second clutch teeth 852. When the adjusting engagement member 85 moves axially toward the third output connector 83 until the first clutch tooth 831 engages with the second clutch tooth 852, the adjusting engagement member 85 can drive the third output connector 83 to rotate synchronously, and through the third output connector 83 and the transmission engagement member 86, a speed difference exists between the second output connector 82 and the first output connector 81; when the adjusting engagement member 85 moves axially away from the third output connector 83 until the first clutch tooth 831 separates from the second clutch tooth 852, the adjusting engagement member 85 can drive the first output connector 81 and the second output connector 82 to rotate synchronously. At this time, the third output connector 83 can drive the limit rod to idle under the drive of the second output connector 82 and the transmission engagement member 86.

[0326] A sixth transmission tooth 832 is further provided at the end of the third output connector 83 axially away from the first output connector 81. Correspondingly, the second output connector 82 is circumferentially provided with a third transmission tooth 823. The transmission engagement member 86 is axially provided with a fourth transmission tooth 861 and a fifth transmission tooth 862, wherein the fourth transmission tooth 861 and the fifth transmission tooth 862 have different numbers of teeth. The fourth transmission tooth 861 is configured to mate with the third transmission tooth 823, and the fifth transmission tooth 862 is configured to mate with the sixth transmission tooth 832.

[0327] The transmission engagement member 86 may be an integral structure, or may be formed by two independent gear structures fixedly connected.

[0328] Referring to Figure 45 , the transmission engagement member 86 synchronizes the fourth transmission teeth 861 and the fifth transmission teeth 862 with the second output connector 82 and the third output connector 83, respectively. Because the number of teeth on the fourth transmission teeth 861 differs from the number of teeth on the fifth transmission teeth 862, when the third output connector 83 transmits the driving force to the second output connector 82 via the transmission engagement member 86, a speed difference exists between the second output connector 82 and the first output connector 81.

[0329] Specifically, the number of teeth on the fourth transmission teeth 861 is slightly smaller than the number of teeth on the fifth transmission teeth 862, and the number of teeth on the third transmission teeth 823 is the same as the number of teeth on the seventh transmission teeth. When the second output connector 82 is driven to rotate by the third output connector 83, the speed of the second output connector 82 is slightly greater than the speed of the first output connector 81.

[0330] It can be understood that the cleaning brush provided in the embodiment of the present application can not only realize the self-rotation of the cleaning brush through the second drive motor 91, but also realize the telescopic action of the brush rod 72 of the cleaning brush relative to the brush head connecting part 71, so as to better protect the cleaning brush and the carpet; in addition, the cleaning brush can also realize the retraction detection of the cleaning brush into place without the need for additional sensors, and automatically perform the cleaning operation after the cleaning brush is extended, which not only reduces the processing cost and maintenance cost of the cleaning brush, but also helps to improve the user experience.

[0331] The embodiment of the present application also provides another cleaning device 10, as shown in Figures 46 to 61.

[0332] As shown in Figures 46 to 49, the cleaning device 10 includes an equipment body 100 and a cleaning module. One end of the cleaning swing arm 200 of the cleaning module is rotatably mounted on the equipment body 100, and the swing arm can be positioned in a recovery position, an extended position and a terminal position by swinging relative to the equipment body 100; a cleaning head 220 is provided on the free end of the cleaning swing arm 200, and the cleaning operation is performed by the cleaning head 220; the cleaning device 10 can be, for example, a mopping / brushing robot, a vacuum suction robot, a window climbing robot, etc.

[0333] An embodiment of the present disclosure provides a cleaning module, as shown in Figures 50 to 59, the cleaning module includes: a module body 600, a cleaning swing arm 200 and an elastic bracket 300, one end of the cleaning swing arm 200 is rotatably connected to the module body 600, and the cleaning swing arm 200 can be positioned in an extended position (first position), a recovery position (second position) and a terminal position (third position) relative to the module body 600 by swinging, and the recovery position is located between the extended position and the terminal position; the elastic bracket 300 is provided on the module body 600, when the cleaning swing arm 200 is located in the recovery position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located in the first position under force; when the cleaning swing arm 200 is located in the terminal position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located in the second position under force; when the cleaning swing arm 200 is located in the extended position, the elastic bracket 300 is located in the third position, and the third position is located on the side of the first position away from the second position.

[0334] The cleaning module provided by the present disclosure has a cleaning arm 200 that can be located in the extended position for cleaning operations, which increases the cleaning area and can clean sanitary blind corners such as wall corners and table and chair legs, thereby improving the cleaning effect; the cleaning arm 200 can also be located in the retracted position for cleaning operations. When the cleaning arm 200 encounters an obstacle and collides with it, the cleaning arm 200 is subjected to external force and can swing to the retracted position. During the swinging process to the retracted position, the elastic bracket 300 is squeezed by the cleaning arm 200 and is in a stressed state. The elastic bracket 300 thus achieves a buffering effect when the elastic bracket 300 is swung by the external force; further, when the cleaning arm 200 is performing cleaning operations in the retracted position, if it is squeezed by the external force, the cleaning arm 200 continues to push the elastic bracket 300 to swing toward the end position. When the cleaning arm 200 swings toward the end position, the elastic bracket 300 further provides a buffering effect, effectively buffering the external squeezing force on the cleaning arm 200 when it is in the retracted position, thereby improving the reliability of the cleaning arm 200 during the swinging process when it is subjected to external force.

[0335] In one embodiment, as shown in Figures 52, 55 and 58, the elastic bracket 300 includes a bracket 310 and a first elastic member 320. The bracket 310 is connected to the first elastic member 320. The first elastic member 320 can be in a stressed state or a free state under the drive of the bracket 310.

[0336] The first elastic member 320 may be a spring, one end of which is connected to the module body 600 and the other end is connected to the bracket 310. When the bracket 310 moves from the third position toward the first position, and when the bracket 310 moves from the first position toward the second position, the bracket 310 continuously exerts a tensile force on the elastic member, causing the spring to be in a tensile state.

[0337] As shown in Figures 53, 56, and 59, the bracket 310 includes a support portion 311 and a guide portion 313. The support portion 311 is used to abut the cleaning swing arm 200. The module body 600 is provided with a guide groove 610, and the guide portion 313 is located in the guide groove 610. When the bracket 310 switches between the first position, the second position, and the third position, the guide groove 610 limits the movement of the guide portion 313. The provision of the guide portion 313 and the guide groove 610 improves the stability and reliability of the bracket 310's rotation on the module body 600. When the bracket 310 provides a buffering force to the cleaning swing arm 200, it can more stably provide a supporting force to the cleaning swing arm 200, thereby improving the stability of the cleaning swing arm 200 when it is returned to its original position by an external force.

[0338] As shown in Figures 53, 56 and 59, one end of the support part 311 is rotatably connected to the module body 600, and the other end is connected to the guide part 313, that is, the rotating ends of the guide part 313 and the support part 311 are located at opposite ends of the support part 311, which can avoid the support part 311 from being misaligned after being squeezed by the cleaning swing arm 200, thereby further improving the stability of the support part 311.

[0339] As shown in Figure 57, when the cleaning swing arm 200 is in the extended position, the cleaning swing arm 200 and the elastic bracket 300 are spaced apart, that is, when the cleaning swing arm 200 is in the extended position, there is no force acting on the cleaning swing arm 200 and the elastic bracket 300, and the cleaning swing arm 200 performs a normal cleaning function. When the cleaning swing arm 200 swings toward the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 to be in a stressed state, thereby providing a buffering effect through the elastic bracket 300. Of course, when the cleaning swing arm 200 is in the extended position, the cleaning swing arm 200 can also be arranged in contact with the elastic bracket 300, that is, the elastic bracket 300 can continuously provide an elastic force to the cleaning swing arm 200, which can improve the stability of the cleaning swing arm 200 when performing cleaning operations in the extended position.

[0340] Among them, when the elastic bracket 300 is in the third position, the elastic bracket 300 may be in a stressed state, that is, the first elastic member 320 is in a stressed state driven by the bracket 310; by making the elastic bracket 300 in a stressed state, the stability of the elastic bracket 300 in the third position can be improved by the elastic force; of course, when the elastic bracket 300 is in the third position, the elastic bracket 300 may be in a free state, that is, the first elastic member 320 is in a free state; when the bracket 310 is in the third position, the first elastic member 320 is in a free state, which facilitates the assembly and setting of the elastic bracket 300; when the bracket 310 is in the third position, the first elastic member 320 is in a stressed state, which can enhance the buffering force provided by the elastic bracket 300.

[0341] The module body 600 is provided with a limiting portion. When the elastic bracket 300 is in the third position, the limiting portion is configured to limit the swinging of the elastic bracket 300 from the third position toward the side away from the first position. As shown in Figures 52 to 59, the module body 600 is provided with a limiting portion 630, and the bracket 310 is provided with an abutting portion 314. When the bracket 310 is in the third position, the abutting portion 314 abuts the limiting portion 630, i.e., the limiting portion 630 limits the swinging of the bracket 310 from the third position toward the side away from the first position.

[0342] Among them, the abutment portion 314 is located at one end of the guide portion 313 away from the support portion 311, and the abutment portion 314 moves under the drive of the guide portion 313, forming a limit on the movement of the abutment portion 314 toward the third position, thereby limiting the bracket 310 at the third position, forming a limit on the rotation range of the bracket 310.

[0343] As shown in Figures 50 and 61, the cleaning module further includes a drive assembly 230 configured to drive the cleaning swing arm 200 to swing between a first position and a third position. When the cleaning head 220 needs to be extended for cleaning, the drive assembly 230 drives the swing arm body 210 to rotate via the gear set 250 to extend relative to the module body 600; when the cleaning head 220 needs to be in the retracted position for cleaning, the drive assembly 230 drives the swing arm body 210 to rotate to the retracted position via the gear set 250.

[0344] Among them, the module body 600 also includes another drive assembly, and the first end of the swing arm is connected to the drive assembly; the swing arm can be provided with another gear set to achieve the purpose of the drive assembly output shaft driving the cleaning head 220 to rotate at high speed. The rotation speed of the cleaning head 220 can be 500 rpm to 3000 rpm to improve cleaning efficiency and cleaning effect. The rotation speed is, for example, 500 rpm, 800 rpm, 1000 rpm, 2000 rpm, 3000 rpm, etc., which are not listed one by one in this disclosure. Of course, the rotation speed of the cleaning head 220 can also be less than 500 rpm or greater than 3000 rpm, and this disclosure does not limit this.

[0345] The swing arm body 210 may have a receiving space formed therein to allow the gear set to be installed therein. The swing arm body 210 may be in the shape of a rectangular parallelepiped, and the swing arm body 210 may extend in its length direction. The swing arm body 210 may swing in its width direction. The receiving space formed in the thickness direction of the swing arm body 210 may only need to be able to accommodate the gear set, so as to avoid the swing arm body 210 being too large.

[0346] Among them, the swing arm body 210 swings back and forth within a preset angle range, and the preset angle can be 20°~120°, such as 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, etc., which are not listed one by one in this disclosure.

[0347] Among them, the driving component that drives the swing arm body 210 to swing and the driving component that drives the cleaning head 220 can be two independent driving components, or a clutch structure can be used to adopt one driving component to achieve the purpose of swinging the swing arm body 210 and driving the cleaning head 220 to rotate. This disclosure does not impose any restrictions on this.

[0348] As shown in Figure 59, a slide rod 240 is provided on the swing arm body 210, and a slide groove 620 is provided on the module body 600. The end of the slide rod 240 is located in the slide groove 620, forming a guide for the swing arm body 210 to swing relative to the module body 600, thereby improving the stability of the swing arm body 210 during swinging.

[0349] In one embodiment, as shown in Figures 51 to 59, the cleaning module further includes an elastic limiter 400, which is provided on the module body 600. The elastic limiter 400 is configured so that the elastic support 300 is subjected to a greater force when it moves from the first position toward the second position. By providing the elastic limiter 400, when the support 310 moves from the first position toward the second position, the first elastic member 320 and the elastic limiter 400 are simultaneously subjected to a greater force, that is, a buffering force is provided at the same time, thereby improving the buffering effect on the cleaning swing arm 200. At the same time, by providing the limiter 410, a travel limit is formed on the rotation of the support 310 relative to the module body 600, so that the cleaning swing arm 200 can swing to the maximum end position relative to the module body 600, thereby avoiding damage caused by excessive swing angle of the swing arm.

[0350] As shown in FIG60 , the elastic limiter 400 includes a limiter 410 and a second elastic member 420. The limiter 410 is connected to the second elastic member 420. The second elastic member 420 is configured to be in a stressed state or a free state under the drive of the limiter 410. As shown in FIG60 , the second elastic member 420 can be a torsion spring, and the limiter 410 can drive the torsion spring to generate a torsional force. By providing a torsion spring in conjunction with the limiter 410, on the one hand, the space occupied by the elastic limiter 400 can be reduced, and on the other hand, the elastic force that the second elastic member 420 can provide can be increased. Of course, the second elastic member 420 can also be an elastic member such as a spring or a buffer rubber, and this disclosure does not impose any restrictions on this.

[0351] In which, the elastic limit member 400 is configured to move between a first limit position and a second limit position. When the elastic bracket 300 is in the first position, the elastic limit member 400 is in the first limit position; when the elastic bracket 300 is in the second position, the elastic limit member 400 is in the second limit position, so that the elastic limit member 400 only provides a buffering force when the bracket 310 moves from the second position toward the third position, that is, it provides a buffering force when the cleaning swing arm 200 is subjected to external force in the recovery position and swings toward the terminal position.

[0352] Among them, the module body 600 may be provided with a first limiting structure and a second limiting structure, wherein the first limiting structure is configured to limit the movement of the limiting member 410 from the first limiting position toward the side away from the second limiting position, and the second limiting structure is configured to limit the movement of the limiting member 410 from the second limiting position toward the side away from the first limiting position. Through the first limiting structure and the second limiting structure, the second elastic member 420 provides an elastic buffering force when the bracket 310 rotates toward the second position, thereby limiting the bracket 310 to the third position. The first limiting structure and the second limiting structure may be protruding structures on the module body 600 or other detachable structures; of course, the first limiting structure and the second limiting structure may also be omitted, and the second elastic member 420 may limit the rotation range of the limiting member 410 by its own free state and maximum force state, thereby limiting the rotation position of the bracket 310.

[0353] When the elastic limiting member 400 is in the first limiting position, it is in a free state or a stressed state. The free state of the elastic limiting member 400 in the first limiting position facilitates assembly and setting of the elastic limiting member 400; the stressed state of the elastic limiting member 400 in the first limiting position enhances the buffering force provided by the second elastic member 420.

[0354] In one embodiment, as shown in Figures 51 to 59, the cleaning module further includes: a detection component 500. The detection component 500 is provided on the module body 600, and the detection component 500 is configured to output a first position signal when the cleaning swing arm 200 is in the recovery position, output a second position signal when the cleaning swing arm 200 is in the end position, and output a third position signal when the cleaning swing arm 200 is in the extended position. The cleaning swing arm 200 is in the recovery position and can continue to move to the end position when impacted by an external force. As a safety function, it prevents the cleaning swing arm 200 from being directly damaged by an external force when working in the recovery position; by providing the detection component 500, it is possible to determine whether the cleaning swing arm 200 is in the extended position, the recovery position or the end position, thereby judging the working state of the cleaning swing arm 200.

[0355] In one embodiment, the detection component 500 is arranged relative to the bracket 310. When the bracket 310 is in the first position, a first position signal is output; when the bracket 310 is in the second position, a second position signal is output; when the elastic bracket 300 is in the third position, a third position signal is output. The position of the swing arm body 210 can be output by judging the position of the bracket 310.

[0356] As shown in Figures 53, 56 and 59, a positioning portion 312 is provided on the bracket 310, a grating hole 3121 is provided on the positioning portion 312, and the detection component 500 includes an optical signal transmitter 510 and an optical signal receiver 520; when the optical signal emitted by the optical signal transmitter 510 is received by the optical signal receiver 520 through the grating hole 3121, the detection component 500 outputs a first position signal.

[0357] As shown in Figures 53, 56 and 59, in the rotation direction of the bracket 310, a first blocking portion 3122 and a second blocking portion 3123 are provided on both sides of the grating hole 3121 on the positioning portion 312. When the optical signal emitted by the optical signal transmitter 510 is blocked by the first blocking portion 3122, the detection component 500 outputs a second position signal; when the optical signal emitted by the optical signal transmitter 510 is blocked by the second blocking portion 3123, the detection component 500 outputs a third position signal; wherein, the second position signal and the third position signal may be the same.

[0358] In one embodiment, the bracket 310 can reciprocate between a first position and a second position. When the bracket 310 is in the first position, a first position signal is output, and when the bracket 310 is in the second position, a second position signal is output. When the bracket 310 moves from the first position toward the second position, the detection assembly 500 can directly output the second position signal. That is, the detection assembly 500 outputs the second position signal both when the bracket 310 moves from the first position toward the second position and when the bracket 310 is in the second position.

[0359] When the bracket 310 moves from the second position toward the first position, the detection assembly 500 may continue to output the second position signal until the bracket 310 is located at the first position, at which time the detection assembly 500 outputs the first position signal.

[0360] In one embodiment, when the bracket 310 is located at the first position, a first position signal is output; when the bracket 310 is located at the second position, a second position signal is output; when the bracket 310 moves from the first position toward the second position, the detection component 500 may continue to output the first position signal until the bracket 310 is located at the second position, at which time the detection component 500 outputs the second position signal.

[0361] When the bracket 310 moves from the second position toward the first position, the detection component 500 can directly output the first position signal, that is, when the bracket 310 moves from the second position toward the first position and is located at the first position, the detection component 500 outputs the first position signal.

[0362] In one embodiment, the first position signal is output when the bracket 310 is in the first position, the second position signal is output when the bracket 310 is in the second position, and the detection component 500 outputs a fourth position signal when the bracket 310 is between the first position and the second position, that is, the detection component 500 outputs the fourth position signal when the bracket 310 moves from the first position toward the second position and when the bracket 310 moves from the second position toward the first position.

[0363] When the bracket 310 moves from the first position to the second position, the detection component 500 may output a fourth position signal; when the bracket 310 moves from the second position to the first position, the detection component 500 may output a fifth position signal.

[0364] In one embodiment, the bracket 310 can reciprocate between the first position and the third position. When the bracket 310 is in the first position, a first position signal is output, and when the bracket 310 is in the third position, a third position signal is output. When the bracket 310 moves from the first position toward the third position, the detection assembly 500 can directly output the third position signal. That is, the detection assembly 500 outputs the third position signal both when the bracket 310 moves from the first position toward the third position and when the bracket 310 is in the third position.

[0365] When the bracket 310 moves from the third position toward the first position, the detection assembly 500 may continue to output the third position signal until the bracket 310 is located at the first position, at which time the detection assembly 500 outputs the first position signal.

[0366] In one embodiment, when the bracket 310 is located at the first position, a first position signal is output; when the bracket 310 is located at the third position, a third position signal is output; when the bracket 310 moves from the first position toward the third position, the detection component 500 may continue to output the first position signal until the bracket 310 is located at the third position, at which time the detection component 500 outputs the third position signal.

[0367] When the bracket 310 moves from the third position toward the first position, the detection component 500 can directly output the first position signal, that is, when the bracket 310 moves from the third position toward the first position and is located at the first position, the detection component 500 outputs the first position signal.

[0368] In one embodiment, the first position signal is output when the bracket 310 is in the first position, the third position signal is output when the bracket 310 is in the third position, and the detection component 500 outputs a fifth position signal when the bracket 310 is between the first position and the third position, that is, the detection component 500 outputs a sixth position signal when the bracket 310 moves from the first position toward the third position and when the bracket 310 moves from the third position toward the first position.

[0369] When the bracket 310 moves from the first position to the third position, the detection component 500 may output a sixth position signal; when the bracket 310 moves from the third position to the first position, the detection component 500 may output a seventh position signal.

[0370] In one embodiment, the second position signal and the third position signal are the same signal. For example, the first position signal may indicate a switch state of "1" in the detection assembly 500, while the second position signal and the third position signal may indicate a switch state of "0" in the detection assembly 500. The detection assembly 500 can be used to determine whether the bracket 310 has been retracted to the first position.

[0371] Of course, the second position signal and the third position signal may be different signals, that is, the specific position of the cleaning swing arm 200 may be determined by the first position signal, the second position signal and the third position signal.

[0372] In another embodiment, the detection component 500 is connected to the bracket 310, and the detection component 500 determines the position of the bracket 310 based on the obtained stroke of the bracket 310, that is, the cleaning swing arm 200 pushes the bracket 310 to move, thereby obtaining the rotation stroke of the bracket 310 through the detection component 500 to determine the position of the bracket 310.

[0373] The detection assembly 500 may include a trigger switch, which can be triggered by the rotation of the bracket 310, so that the switch state of the trigger switch indicates 1 or 0. For example, when the second position signal and the third position signal are the same, when the cleaning swing arm 200 is retracted to the retracted position, the switch is triggered and the switch state indicates 1; when the cleaning swing arm 200 is impacted by an external force and continues to retract to the end position, the switch state changes to 0; when the cleaning swing arm 200 is not retracted to the end position or is pulled out by an external force, the switch state is 0.

[0374] Among them, the detection component 500 can also be set with multiple detection points. After the bracket 310 is connected to the detection component 500, when the bracket 310 is located at different positions, different detection points can be triggered, thereby determining the position information of the cleaning swing arm 200 when it is located at different positions.

[0375] The embodiments of the present disclosure further provide a cleaning method for a cleaning module, wherein the cleaning module includes a module body 600, a cleaning swing arm 200, and an elastic bracket 300. The cleaning swing arm 200 is rotatably connected to the module body 600, and the elastic bracket 300 is provided on the module body 600. The cleaning swing arm 200 can swing relative to the module body 600 between an extended position, a retracted position, and an end position, wherein the retracted position is located between the extended position and the end position. The cleaning method includes:

[0376] When the cleaning swing arm 200 swings from the extended position toward the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located in the first position under force; when the cleaning swing arm 200 swings from the retracted position toward the end position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located in the second position under force; when the cleaning swing arm 200 swings from the retracted position toward the extended position, the elastic bracket 300 is located in the third position, and the third position is located on the side of the first position away from the second position.

[0377] The cleaning method of the cleaning module provided by the present disclosure can enable the cleaning swing arm 200 to be located in the extended position for cleaning operations, and can clean sanitary blind corners such as wall corners and table and chair legs, thereby improving the cleaning effect; the cleaning swing arm 200 can also be located in the retracted position for cleaning operations. When the cleaning swing arm 200 encounters an obstacle and collides, the cleaning swing arm 200 is subjected to external force and can swing to the retracted position. During the swinging process to the retracted position, the elastic bracket 300 is squeezed by the cleaning swing arm 200 and is in a stressed state. The elastic bracket 300 achieves a buffering effect when the elastic bracket 300 is swung by the external force; further, when the cleaning swing arm 200 is performing a cleaning operation in the retracted position, if it continues to be squeezed by the external environment, the cleaning swing arm 200 continues to squeeze the elastic bracket 300 and swings toward the end position. When the cleaning swing arm 200 swings toward the end position, the elastic bracket 300 further provides a buffering effect, which can effectively buffer the external squeezing force on the cleaning swing arm 200 when it is in the retracted position, thereby improving the reliability of the cleaning swing arm 200 during the swinging process when it is subjected to external force.

[0378] The cleaning module further includes a detection assembly 500, which is disposed on the module body 600. The cleaning method further includes:

[0379] When the cleaning swing arm 200 is in the retracted position, the detection assembly 500 outputs a first position signal; when the cleaning swing arm 200 is in the final position, the detection assembly 500 outputs a second position signal; and when the cleaning swing arm 200 is in the extended position, the detection assembly 500 outputs a third position signal. By providing the detection assembly 500, it is possible to determine whether the cleaning swing arm 200 is in the extended position, the retracted position, or the final position, thereby determining the operating state of the cleaning swing arm 200.

[0380] Among them, the detection component 500 is arranged opposite to the bracket 310. When the bracket 310 is in the first position, it outputs a first position signal; when the bracket 310 is in the second position, it outputs a second position signal; when the elastic bracket 300 is in the third position, it outputs a third position signal. The position of the swing arm body 210 can be output by judging the position of the bracket 310.

[0381] The cleaning module in this embodiment may be the cleaning module provided in the above-mentioned device embodiment. For more details about the cleaning module, please refer to the detailed discussion in the device embodiment of the present disclosure.

[0382] An embodiment of the present disclosure also provides a cleaning device 10, as shown in Figures 46 to 49, the cleaning device 10 includes: an equipment body 100 and a cleaning module provided in the above embodiment, the first end of the swing arm of the cleaning module is rotatably assembled on the equipment body 100, and the swing arm can be positioned in a recovery position, an extended position and a terminal position by swinging relative to the equipment body 100; a cleaning head 220 is provided on the second end of the swing arm.

[0383] The cleaning device 10 provided by the present disclosure has a cleaning head 220 that can swing within a preset angle range relative to the equipment body 100 under the drive of the swing arm to perform cleaning operations at the target position, which can improve the coverage of the cleaning area formed by the cleaning head 220, thereby improving the cleaning effect of the cleaning device 10; at the same time, the swing arm is located in the recovery position and can continue to move to the end position when hit by external force, which serves as a safety function to avoid direct damage to the swing arm by external force when working in the recovery position.

[0384] Among them, when the cleaning head 220 is in the recovery position, the cleaning head 220 can perform normal cleaning operations and clean the debris in the cleaning area of ​​the cleaning head 220 to the sewage suction port; when the cleaning head 220 is in the extended position, the cleaning area corresponding to the cleaning head 220 is also extended to the outside of the cleaning device 10, and more areas can be cleaned, avoiding the occurrence of cleaning dead corners and improving the cleaning effect of the cleaning device 10. For example, when the cleaning device 10 is circular as a whole, when it is necessary to clean corners such as wall corners, if the cleaning head 220 is in the recovery position, the cleaning area of ​​the cleaning head 220 cannot cover the wall corners, resulting in the inability to clean the wall corners, forming a sanitary dead corner; at this time, by making the cleaning head 220 in the extended position, the cleaning head 220 is located outside the cleaning device 10, and the cleaning area formed by the cleaning head 220 is also moved toward the outside of the cleaning device 10, thereby increasing the area of ​​the cleaning area corresponding to the cleaning head 220, thereby achieving the purpose of cleaning sanitary dead corners such as wall corners, and improving the cleaning effect of the cleaning device 10.

[0385] In one embodiment, the cleaning device 10 includes an outer shell, which serves as the shell of the entire machine. When the cleaning device 10 is in a circular, elliptical, quasi-circular or other shape as a whole, the outer shell includes a top cover portion and an annular side wall portion. The top cover portion and the annular side wall portion enclose a receiving space to form a receiving space. The receiving space is used to assemble various modules, such as a drive module, a liquid supply module, a battery module, a control module, a dirt suction module, a mopping module, a sensing module, etc.

[0386] In one embodiment, the drive module can manipulate the cleaning device 10 to travel across the ground in the forward direction based on a drive command with distance and angle information (e.g., x, y, and θ components). The drive module may include a first drive wheel module and a second drive wheel module. The first drive wheel module and the second drive wheel module are arranged along the transverse axis defined by the cleaning device 10, and the extension direction of the transverse axis is the forward direction of the cleaning device 10. In order to enable the cleaning device 10 to move more stably or have stronger mobility on the ground, the cleaning device 10 may include one or more driven wheels, including but not limited to universal wheels. The drive wheel module includes a running wheel and a drive motor and a control circuit for controlling the drive motor. The drive wheel module can also be connected to a circuit for measuring the drive current and an odometer. The drive wheel module can be detachably connected to the bottom shell for convenient disassembly and maintenance. The drive wheel can have a biased drop-down suspension system, fastened in a movably manner, for example, attached in a rotatable manner, connected to the bottom shell, and receiving a spring bias that is biased downward and away from the bottom shell. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning head 220 of the cleaning device 10 also contacts the ground with a certain pressure.

[0387] In one embodiment, the sensing module includes a position determination device located on the housing, a collision sensor located on the bumper of the forward portion of the housing, a proximity sensor located on the housing, a cliff sensor located at the bottom of the housing, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer located within the housing. These sensors are used to provide the control module with various position and motion status information of the cleaning device 10. The position determination device may be a camera or a laser rangefinder.

[0388] In one embodiment, the control module is provided on a circuit board inside the housing and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, and a communication processor, such as a central processing unit and an application processor. The application processor uses a positioning algorithm, such as real-time positioning and map construction, based on the obstacle information fed back by the laser ranging device to draw a real-time map of the environment in which the cleaning device 10 is located. In addition, the control module is combined with the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensor devices provided on the buffer to comprehensively judge the current working state and position of the cleaning device 10, as well as the current posture of the cleaning device 10, such as passing the threshold, being on the carpet, being on the cliff, being stuck above or below, the suction tank is full, being picked up, etc., and a specific next action strategy is given for different situations, so that the cleaning device 10 has better cleaning performance and user experience.

[0389] In one embodiment, a sewage suction module is provided on the cleaning device 10, and the sewage suction module includes a negative pressure fan, a sewage suction box and a sewage suction channel. The outlet of the sewage suction channel is connected to the sewage suction box, and the inlet of the sewage suction channel is exposed from the cover plate. The negative pressure fan is connected to the sewage suction box so that the sewage suction box maintains a negative pressure state when the cleaning device 10 performs a cleaning operation, thereby making the inlet of the sewage suction channel in a negative pressure state.

[0390] Among them, the cleaning head 220 is arranged adjacent to the sewage suction port. Through the high-speed rotation of the cleaning head 220, the debris can be cleaned to the vicinity of the sewage suction port. Then, due to the negative pressure, the debris is sucked into the sewage suction channel through the sewage suction port and then enters the sewage suction box, thereby realizing the debris cleaning operation on the surface to be cleaned.

[0391] As shown in Figure 5, the sewage suction port is located in the middle position of the bottom of the cleaning device 10, and the cleaning head 220 is located in the front side of the sewage suction port, so that the debris swept by the cleaning head 220 can basically be located in the middle position of the sewage suction port, so that the swept debris can better enter the sewage suction port.

[0392] Among them, the negative pressure provided by the negative pressure fan can be 3000Pa~7000Pa to enhance the negative pressure absorption effect of debris. The negative pressures are, for example, 3000Pa, 4000Pa, 5000Pa, 6000Pa, 7000Pa, etc., which are not listed one by one in this disclosure; of course, the negative pressure provided by the negative pressure fan can also be less than 3000Pa or greater than 7000Pa, which is not limited in this disclosure.

[0393] Among them, a roller brush rotating around an axis parallel to the ground can be set at the sewage suction port. The roller brush with a certain interference with the ground sweeps up the debris on the ground and rolls it into the sewage suction channel, and then it is sucked into the sewage suction box by the suction gas generated by the negative pressure fan and passing through the sewage suction box.

[0394] In one embodiment, the cleaning device 10 further includes a mopping module and a liquid supply module. The mopping module includes a wet cleaning head, and the liquid supply module includes a liquid supply assembly that delivers cleaning liquid to the wet cleaning head. The wet cleaning head can be positioned below the liquid supply assembly. The cleaning liquid within the liquid supply assembly is transferred to the wet cleaning head via a water supply mechanism, allowing the wet cleaning head to wet clean the surface to be cleaned. Of course, the cleaning liquid within the liquid supply assembly can also be sprayed directly onto the surface to be cleaned, with the wet cleaning head cleaning the surface by evenly applying the cleaning liquid.

[0395] Among them, the wet cleaning head can be arranged at the bottom of the cleaning device 10, and the wet cleaning head can be, for example, a cleaning pad arranged parallel to the surface to be cleaned. The wet cleaning head is used to clean the surface to be cleaned, and the driving assembly is used to drive the wet cleaning head to basically reciprocate along the target surface, and the target surface is a part of the surface to be cleaned. The wet cleaning head reciprocates along the surface to be cleaned, and the contact surface between the wet cleaning head and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned. The higher the friction frequency, the more friction times per unit time, and the high-frequency reciprocating motion has a much greater cleaning ability than ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to that of sound waves, and the cleaning effect will be much higher than that of rotational friction cleaning of dozens of revolutions per minute. On the other hand, the hair tufts on the surface of the wet cleaning head will extend in the same direction more uniformly under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of just applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not make the hair tufts extend in nearly the same direction. The effect is that the water marks on the surface to be cleaned after high-frequency vibration cleaning are more uniform, and no messy water stains are left.

[0396] In one embodiment, the battery module includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are further connected to a single-chip microcomputer control circuit. The cleaning device 10 can be charged by connecting charging electrodes located on the body, such as on the side, bottom, or top of the body, to a charging station.

[0397] The embodiment of the present application also provides another cleaning device 10, as shown in Figures 62 to 75.

[0398] The embodiment of the present application provides a side brush assembly suitable for various cleaning conditions.

[0399] The side brush assembly provided in the embodiment of the present application includes a base, a side brush body and a driving member. The side brush body rests against the side of the base, the side brush body is provided with a first guide portion, and the driving member is provided with a second guide portion. The second guide portion and the first guide portion cooperate with each other to drive the side brush body to rise and fall and / or swing.

[0400] Specifically, when the cleaning device is climbing over an obstacle or carpet, the second guide portion cooperates with the first guide portion to raise the side brush body to avoid the obstacle or carpet, allowing the device to operate normally and improving the user experience. When the cleaning device is cleaning corners or other cleaning conditions, the second guide portion cooperates with the first guide portion to swing the side brush body to improve the cleaning effect, which is very practical.

[0401] Based on the above design ideas, the embodiment of the present application further describes the side brush assembly.

[0402] Figure 62 shows a structural schematic diagram of the side brush assembly in the first cleaning position in one or more embodiments of the present application, Figure 63 shows a structural schematic diagram of Figure 62 from another perspective, Figure 64 shows a structural schematic diagram of the side brush assembly in Figure 62 in the obstacle avoidance position, and Figure 65 shows a structural schematic diagram of Figure 64 from another perspective.

[0403] 62-65 , the present application provides a side brush assembly comprising a base 1, a side brush body 2, and a drive member 3. The side brush body 2 rests against the side of the base 1, a first guide portion 21 is provided at the bottom of the side brush body 2, the drive member 3 is rotatably connected to the side brush body 2, and a second guide portion 31 is provided at the top of the drive member 3. The second guide portion 31 can be mateably disposed at the bottom of the first guide portion 21, and at least a portion of the second guide portion 31 and / or the first guide portion 21 is a helical surface a1.

[0404] In the side brush assembly provided herein, the driver 3 is rotatably connected to the guide shaft 22, and thus the driver 3 can rotate relative to the side brush body 2. Since at least a portion of the second guide portion 31 and / or the first guide portion 21 is a helical surface a1, by controlling the rotation of the driver 3, the second guide portion 31 of the driver 3 rotates along the mating surface with the first guide portion 21, thereby raising the side brush body 2 along the side of the base 1, placing the side brush body 2 in a raised position (as shown in Figures 64 and 65). This allows the side brush body 2 to avoid obstacles or carpets, allowing the device to operate normally.

[0405] With reference to Figures 62 and 63, when the side brush body 2 is against the base 1, the side brush body 2 is in a normal cleaning mode, and the position of the side brush body 2 can be defined as the first cleaning position (equivalent to the first position described above); with reference to Figures 64 and 65, when the side brush body 2 is raised along the side of the base 1 and is in a raised position, the position of the side brush body 2 can be defined as the obstacle avoidance position. By controlling the side brush body 2 to switch between the first cleaning position and the obstacle avoidance position, it can adapt to different usage conditions and has excellent practicality.

[0406] 62-65 , in some embodiments, the side brush assembly may further include a first motor 4 , which is configured to drive the driving member 3 to rotate.

[0407] Figure 66 shows a schematic diagram of the side brush body, and Figure 67 shows a schematic diagram of the internal structure of the side brush body. In some embodiments, two or more transmission gears 23 are provided within the side brush body 2. One transmission gear 23 is mounted on the output end of the first motor 4, and another transmission gear 23 is mounted on the rotating shaft of the side brush 26. The first motor 4 sequentially drives each transmission gear 23 to rotate, thereby driving the side brush 26 to perform cleaning operations. The side brush 26 is driven by two or more transmission gears 23, providing space for the arrangement of other components while meeting the dimensional requirements of the side brush 26. In other embodiments, the first motor 4 can also be directly connected to the rotating shaft of the side brush 26, which is not a limitation here.

[0408] 62-65 , in some embodiments, the first motor 4 is disposed on the top of the side brush body 2 , which can reduce the overall height of the side brush body 2 for better cleaning performance.

[0409] Figure 68 shows a schematic structural diagram from another perspective of Figure 66. In conjunction with Figure 68, in some embodiments, a columnar body can be provided at the bottom of the side brush body 2. This columnar body can be integrally formed with the outer shell of the side brush body 2 to serve as a guide shaft 22 for the drive body. This guide shaft 22 can be coaxial with the output end of the first motor 4, or it can be non-coaxial with the output end of the first motor 4, without limitation.

[0410] In conjunction with Figure 68, in some embodiments, a first guide protrusion 24 may be provided at the bottom of the side brush body 2. The first guide protrusion may be integrally formed with the outer shell of the side brush body 2, and the first guide portion 21 is provided on the side of the first guide protrusion 24 facing away from the side brush body 2, that is, the first guide protrusion 24 is provided at the bottom of the first guide protrusion 24.

[0411] In some embodiments, the driving member 3 is rotatably mounted on the guide shaft 22 , and the driving member 3 can be controlled to rotate around the guide shaft 22 .

[0412] Figure 69 shows a schematic diagram of the structure of the driver. In some embodiments, the top of the driver 3 can be provided with a second guide protrusion 32, which can be integrally formed with the driver 3. The second guide portion 31 is provided on the side of the second guide protrusion 32 facing away from the driver 3, that is, the second guide protrusion 32 is provided on the top of the driver 3.

[0413] Since at least a portion of the second guide portion 31 and / or the first guide portion 21 is a spiral surface a1, the driving member 3 is controlled to rotate about the guide shaft 22, so that the second guide portion 31 of the driving member 3 rotates relative to the first guide portion 21. When the side brush body 2 is in the first cleaning position, during the process of the driving member 3 rotating about the guide shaft 22, since the side brush body 2 abuts against the base 1, the side brush body 2 cannot rotate with the driving member 3, so that the second guide portion 31 of the driving member 3 rotates along the mating surface with the first guide portion 21, thereby driving the first guide portion 21 to rise, and then raising the side brush body 2 to a set height, so that the side brush body 2 switches from the first cleaning position to the obstacle avoidance position to avoid obstacles or carpets, thereby enabling the normal operation of the device and improving the user experience.

[0414] 68 and 69 , in some embodiments, at least portions of the second guide portion 31 and the first guide portion 21 are both helical surfaces a1a1. In other embodiments, the second guide portion 31 may be a helical surface a1 and the first guide portion 21 may be a flat surface, or the second guide portion 31 may be a helical surface a1 and the first guide portion 21 may be a flat surface, without limitation.

[0415] In conjunction with Figures 68 and 69, in some embodiments, the second guide portion 31 and the first guide portion 21 further have a flat surface portion a2 that can be in contact with each other. After the second guide portion 31 drives the first guide portion 21 to rise to a set height, the second guide portion 31 continues to rotate, so that the flat surface portion a2 on the first guide portion 21 is supported on the flat surface portion a2 of the second guide portion 31, as shown in Figure 70, to stably support the side brush body 2, so that the side brush body 2 is stably in a raised posture to maintain it in the obstacle avoidance position. In addition, if the power member 8 used to drive the driving member 3 to rotate stops working, the side brush body 2 can also be stably in a raised posture to maintain it in the obstacle avoidance position.

[0416] In conjunction with Figures 68 and 69, in some embodiments, the projection of the first guide protrusion 24 on the side brush body 2 and the projection of the second guide protrusion 32 on the driver 3 can both be arc-shaped, meaning that both the first guide protrusion 24 and the second guide protrusion 32 are non-enclosed structures. When the driver 3 rotates about the guide shaft 22 and the second guide protrusion 32 on the driver 3 rotates below the first guide protrusion 24, the second guide portion 31 and the first guide portion 21 cooperate to drive the first guide portion 21 upward, thereby raising the side brush body 2 to a set height. This allows the side brush body 2 to avoid obstacles or carpets, allowing the device to operate normally and improving user experience.

[0417] 68 , in some embodiments, the first guide protrusion 24 may be spaced apart from the guide shaft 22 so that a guide space is formed between the first guide protrusion 24 and the guide shaft 22 .

[0418] Figure 71 shows a schematic structural diagram of the base. In conjunction with Figures 62-65 and Figure 71, the base 1 can be provided with a guide bushing 5. The driving member 3 is rotatably mounted on the guide bushing 5. The guide shaft 22 is liftably inserted into the guide bushing 5. The first guide protrusion 24 is rotated onto the outer circumferential surface of the guide bushing 5. Specifically, when the side brush body 2 is in the first cleaning position, the guide bushing 5 is located within the first guide protrusion 24 (i.e., within the guide space), filling the guide space. This not only stably supports the side brush body 2 and prevents it from shaking, but also prevents impurities, particularly lint on the surface being cleaned, from entering the guide space and affecting the operation of the device. When the side brush body 2 switches from the first cleaning position to the obstacle avoidance position, the first guide portion 21 rotates relative to the guide bushing 5, and the guide shaft 22 is relatively lifted within the guide bushing 5, causing the guide bushing 5 to rotate out of the first guide protrusion 24 (i.e., the guide space).

[0419] In some embodiments, the guide bushing 5 can be integrally formed with the base 1, the guide shaft 22 can be inserted into the guide bushing 5 with a clearance fit, and the driving member 3 can also be assembled on the guide bushing 5 with a clearance fit, so that the guide shaft 22 and the driving member 3 can both rotate relative to the guide bushing 5, which will not be elaborated here.

[0420] It should be noted that a guide groove may also be provided at the bottom of the side brush body 2, and the first guide portion 21 is provided at the bottom of the guide groove. The specific implementation scheme is similar to the above and will not be described in detail here.

[0421] 62 and 71 , in some embodiments, the side brush assembly may further include a stopper 6 disposed on the rotation path of the driver 3 to limit the rotation angle of the driver 3. Specifically, when the driver 3 rotates and the flat surface a2 on the first guide portion 21 of the side brush body 2 is supported on the flat surface a2 of the second guide portion 31, the driver 3 is blocked by the stopper 6 and stops rotating, placing the side brush body 2 in an obstacle avoidance position and maintaining a raised posture, thereby enabling the side brush body 2 to avoid obstacles or carpets.

[0422] In combination with Figures 62-65 and 69, in some embodiments, a notch 33 can be provided on the circumferential surface of the driving member 3, the limiting member 6 is located in the notch 33, and there is a distance between the limiting member 6 and the two sides of the notch 33 so that the driving member 3 can rotate to a set angle to drive the side brush body 2 to lift. When the side brush body 2 is lifted into place, the driving member 3 is blocked by the limiting member 6, and the driving member 3 stops rotating, so that the side brush body 2 remains in a lifted state.

[0423] In other embodiments, the notch 33 may not be provided on the circumference of the driving member 3. For example, the driving member 3 may be annular, the limiting member 6 may be provided on the outer side of the circumference of the driving member 3, and a stopper may be provided on the circumference of the driving member 3. The stopper may be blocked by the limiting member to prevent the rotation of the driving member 3. This method will occupy a large space.

[0424] In conjunction with Figures 62-65 , in some embodiments, the side brush assembly may further include a position sensor 7, which determines the height of the side brush body 2. Specifically, when the side brush body 2 rises to the obstacle avoidance position, the position sensor 7 confirms that the side brush body 2 has reached its position and sends a signal to the controller indicating that the side brush body 2 has reached its position. In response to this signal, the controller instructs the driver 3 to stop rotating, controlling the driver 3 to stop rotating and maintaining the side brush body 2 in its raised position.

[0425] In some embodiments, the rotation of the driving member 3 can be controlled by setting a limiter 6 or by using a position sensor 7. In some embodiments, both the limiter 6 and the position sensor 7 can be included to achieve simultaneous hardware and software control, or only one of the above implementation methods can be included, which is not limited here.

[0426] Figure 72 shows a schematic diagram of the assembly of the driver and the power member. In conjunction with Figures 62-65, 69, and 72, in some embodiments, at least a portion of the circumference of the driver 3 may be provided with transmission teeth 34. The side brush assembly may further include a power member 8, the output end of which may be provided with a gear 81, which is in transmission connection with the meshing teeth on the driver 3. In a specific implementation, the power member 8 is activated, and the gear 81 on the power member 8 drives the driver 3 to rotate about the guide shaft 22, causing the second guide portion 31 of the driver 3 to rotate along the mating surface with the first guide portion 21, thereby driving the first guide portion 21 to lift, thereby lifting the side brush body 2. When the driver 3 is blocked by the limit member 6, the power member 8 stops outputting, the driver 3 stops rotating, and the side brush body 2 remains lifted.

[0427] 62-65 , in some embodiments, the power member 8 may be a second motor, which may be arranged in parallel with the first motor 4 , and the second motor may be arranged above the driving member 3 , thereby reducing the space occupied by the motor.

[0428] In other embodiments, the output end of the power member 8 may also be directly coaxially connected to the driving member 3. For example, the power member 8 is disposed below the driving member 3.

[0429] With reference to FIG71 , in some embodiments, a through-hole 11 may be provided on the circumferential surface of the base 1. One end of the side brush body 2 is connected to the base 1, and the other end of the side brush body 2 passes through the through-hole 11. The side brush body 2 can be raised and lowered along the sidewall of the through-hole 11. A receiving cavity 12 is provided in the base 1. The aforementioned driving member 3, power member 8, position limiting member 6, and first motor 4 can all be provided in the base 1. The guide bushing 5 can be fixed to the bottom of the base 1 in an integrally formed manner, and the guide shaft 22 is inserted into the guide bushing 5 with a clearance fit. The bottom of the driving member 3 can be fittedly provided on the bottom of the base 1 and loosely sleeved on the guide bushing 5. The position limiting member 6 can also be fixed to the bottom of the base 1 in an integrally formed manner. The position sensor 7 can be provided in the base 1 or outside the base 1, without limitation.

[0430] 62-65, 71, and 75, in some embodiments, the passage opening 11 may include a communicating swinging opening 111 and a limiting opening 112. The limiting opening 112 is disposed above the swinging opening 111, and the side brush body 2 can swing within the swinging opening 111 and rotate into the limiting opening 112. When the side brush body 2 abuts against one side of the swinging opening 111, the side brush body 2 is in a first cleaning position and in a normal cleaning mode. If an obstacle or carpet is encountered, the driving member 3 can be controlled to rotate, causing the side brush body 2 to rise along one side of the swinging opening 111, placing the side brush body 2 in a raised position and switching to an obstacle avoidance position to avoid the obstacle or carpet. Alternatively, the side brush body 2 can be controlled to swing from one side of the swinging opening 111 to the other side of the swinging opening 111 to adjust the angle of the side brush body 2 on the base 1, allowing the side brush body 2 to clean corners or other special conditions (as shown in FIG. 73). During the process of the side brush body 2 swinging to the other side of the swing opening 111, the guide shaft 22 on the side brush body 2 rotates in the guide bushing 5. Under the condition that the side brush body 2 swings to the other side of the swing opening 111, the position of the side brush body 2 can be defined as a second cleaning position (equivalent to the second position described above).

[0431] With reference to Figures 62-65, 71, 73, and 75, in some embodiments, the swing opening 111 has a first side wall b1 and a second side wall b2 that are opposite to each other, and the stop opening 112 has a third side wall b3 and a fourth side wall b4 that are opposite to each other. The third side wall b3 and the first side wall b1 are located on the same straight line, and the side brush body 2 can be raised and lowered along the straight line where the first side wall b1 and the third side wall b3 are located. The fourth side wall b4 is disposed between the first side wall b1 and the second side wall b2, that is, the top projection of the fourth side wall b4 falls within the swing opening 111. In a specific implementation, the central angle formed by the swing opening 111 with respect to the guide shaft 22 is greater than the central angle formed by the stop opening 112 with respect to the guide shaft 22. The size of the swing opening 111 is greater than the size of the outer shell of the side brush body 2, and the size of the stop opening 112 is substantially the same as the size of the outer shell of the side brush body 2. When the side brush body 2 is in the first cleaning position, the power part 8 is not started, the first motor 4 drives the side brush on the side brush body 2 to rotate, the second guide part 31 on the driving part 3 and the first guide part 21 on the side brush body 2 are in a mutually fitting posture, the side brush body 2 is against the first side wall of the swing opening 111, and the driving part 3 and the limiting part 6 are separated; when encountering an obstacle or passing through a carpet, the power part 8 is started to rotate. Since the side brush body 2 is against the first side wall of the swing opening 111, the side brush body 2 cannot rotate. The second guide part 31 of the driving part 3 drives the first guide part 21 to lift, so that the side brush body 2 is lifted along the straight line where the first side wall and the third side wall are located, and rises to the limiting opening 112, so that the side brush body 2 maintains a lifted posture to avoid obstacles or pass through carpets, so that the equipment can operate normally to improve user experience. When the device avoids an obstacle or passes through a carpet, the power member 8 can be controlled to rotate in the opposite direction, causing the second guide portion 31 of the driving member 3 to rotate in a direction away from the first guide portion 21 on the side brush body 2, so that the side brush body 2 drops from the limiting opening 112 into the swing opening 111 and rests against the first side wall of the swing opening 111, continuing to maintain the first cleaning position. In conjunction with Figures 62-65, in some embodiments, the side brush assembly may further include a reset member 9, which is disposed between the side brush body 2 and the base 1. When the side brush body 2 is in the first cleaning position, the reset member 9 is in a deformed state, and the side brush body 2 is lifted to press the reset member 9 to continue to deform, so that the side brush body 2 switches from the first cleaning position to the obstacle avoidance position; when the side brush body 2 switches from the obstacle avoidance position to the first cleaning position, the reset member 9 resumes its deformation and applies a force to the side brush body 2 to keep the first guide portion 21 of the side brush body 2 and the second guide portion 31 of the driving member 3 in contact, so that the side brush body 2 can smoothly return to the first cleaning position.

[0432] Under the condition that the reset member 9 is provided, when the device avoids an obstacle or passes through a carpet, there is no need to control the power member 8 to rotate in the opposite direction. The side brush body 2 can be moved downward by relying on the reset member 9 to restore the deformation and apply a force to the side brush body 2, thereby driving the driving member 3 to rotate in the opposite direction until the side brush body 2 falls from the limiting opening 112 to the through opening 11, and rests on the first side wall of the swing opening 111, and continues to maintain the first cleaning position.

[0433] 62-65 , in some embodiments, the reset member 9 may be disposed between the top of the side brush body 2 and the base 1 , and when the side brush assembly is in a cleaning mode or in a raised position, the reset member 9 is in a compressed state.

[0434] FIG13 is a schematic structural diagram of a reset member. In conjunction with FIG62 to FIG65 and FIG74, in some embodiments, the reset member 9 can be mounted on the first motor 4. The reset member 9 has two connecting ends, namely a first connecting end 91 and a second connecting end 91, which are connected to the base 1 and the side brush body 2 respectively.

[0435] In conjunction with Figures 62-65 and Figure 74, during specific implementation, a first limiting groove 13 can be provided on the circumferential surface of the base 1. The first limiting groove 13 is connected to the through-hole, that is, the opening of the first limiting groove 13 faces downward, and the first connecting end 91 of the reset member 9 is provided in the first limiting groove 13. A connecting block 25 is provided on the side brush body 2. A second limiting groove 27 with an opening facing the circumferential direction is formed between the connecting block 25 and the side brush body 2. The other connecting end of the reset member 9 is provided in the second limiting groove 27 to realize the assembly of the reset member 9 on the side brush assembly. In other embodiments, the two connecting ends of the reset member 9 can be welded to the side wall of the base 1 and the top of the side brush body 2, respectively, which is not limited here.

[0436] From the above, it can be seen that the above-mentioned reset member 9 is a composite structure composed of a compression spring and a torsion spring, which can provide axial thrust and circumferential tension at the same time, so that the side brush body 2 is subjected to axial thrust and axial tension at the same time, so that in the absence of the action of the power member 8, the first guide part 21 of the side brush body 2 and the second guide part 31 of the driving member 3 are always in a fitted state (as shown in Figure 75).

[0437] It should be noted that the reset member 9 can also be arranged between the bottom of the side brush body 2 and the base 1. When the side brush assembly is in the first cleaning position or switched to the obstacle avoidance position, the reset member 9 is in a stretched deformation state.

[0438] Since the size of the limiting opening 112 is smaller than that of the swing opening 111, the side brush body 2 can swing within the swing opening 111, so that the angle of the side brush body 2 on the device can be adjusted. In specific implementation, the power member 8 can be controlled to rotate in the opposite direction. Since the reset member 9 applies a force to the side brush body 2, the first guide portion 21 of the side brush body 2 and the second guide portion 31 of the driving member 3 are always in a fit state, so that the side brush body 2 and the driving member 3 rotate synchronously until the side brush body 2 abuts against the second side wall of the swing opening 111. At this time, the side brush body 2 is in the second cleaning position, and the angle of the side brush body 2 on the device can be adjusted to achieve cleaning of special working conditions such as corners. After cleaning special working conditions such as corners, the power part 8 can be controlled to rotate forward. Since the reset part 9 applies a force to the side brush body 2, the first guide part 21 of the side brush body 2 and the guide part of the second body are always in a fit state, so that the side brush body 2 and the driving part 3 rotate synchronously under the drive of the power part 8 until the side brush body 2 rests on the first side wall of the swing opening 111, so that the side brush body 2 is in the first cleaning position and continues to maintain the normal cleaning mode.

[0439] It should be noted that when the first guide portion 21 of the side brush body 2 and the second guide portion 31 of the driving member 3 are in contact with each other, if the side brush 26 encounters an obstacle or the force applied by the user to the side brush 26 is greater than the force of the reset member 9, the first guide portion 21 of the side brush body 2 can be separated from the second guide portion 31 of the driving member 3. At this time, the driving member 3 is not driven to rotate by the guide portion, which can protect the power member 8 and the transmission between the power member 8 and the driving member 3 from being damaged.

[0440] In addition, in some embodiments, at least a portion of the first guide portion 21 of the side brush body 2 and the second guide portion 31 of the driving member 3 are inclined surfaces, and the driving member 3 moves back and forth in a straight line. When the side brush body 2 is in the first cleaning position, the driving member 3 moves toward the side brush body. Since the side brush body 2 is against the base 1, the side brush body 2 cannot be pushed by the driving member 3, causing the second guide portion 31 of the driving member 3 to move along the mating surface with the first guide portion 21, thereby driving the first guide portion 21 to lift, and then lifting the side brush body 2 to a set height, so that the side brush body 2 switches from the first cleaning position to the obstacle avoidance position to avoid obstacles or carpets, thereby allowing the device to operate normally and improving the user experience. At the same time, by controlling the driving member 3 to move in the opposite direction, under the pressure of the reset member 9, the side brush body 2 can be driven to move to the second cleaning position to adapt to special cleaning conditions such as corners, thereby improving cleaning efficiency and having good practicality.

[0441] In summary, the side brush assembly provided in the present application can be switched between the first cleaning position, the second cleaning position and the obstacle avoidance position to adapt to different cleaning conditions, and has good practicality.

[0442] Based on the above-mentioned side brush assembly, the present application also provides a cleaning device, which includes a main body and the above-mentioned side brush assembly, and the above-mentioned side brush assembly is assembled on the main body.

[0443] The cleaning device with the above-mentioned side brush assembly has a side brush body 2 that can switch between a first cleaning position, a second cleaning position, and an obstacle avoidance position to adapt to different cleaning conditions, and has good practicality.

[0444] In some embodiments, a controller and various sensors can be installed on the main unit. These sensors can monitor the surrounding environment and transmit corresponding monitoring parameters to the controller, which then controls the corresponding movements of the side brush assembly based on the monitoring parameters. These sensors can include visual sensors and floor material sensors. Based on the monitoring data from the floor material sensor and the visual sensor, the controller can determine whether there are obstacles such as carpets in the direction of travel of the cleaning device. The sensors used are not limited to the visual sensors and floor material sensors mentioned above; infrared sensors and other sensors may also be used, and this is not a limitation here.

[0445] In some embodiments, the cleaning device may be a sweeping robot. Of course, there are also other cleaning devices with side brush assemblies, which are not limited here.

[0446] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced with each other and will not be repeated herein for the sake of brevity.

[0447] The above are merely optional embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A cleaning device, characterized in that: include: main body; a swing arm comprising a first end and a second end, wherein the first end of the swing arm is connected to the main body, and the second end of the swing arm is located at a first position, a second position, or between the first position and the second position; and An elastic member is provided between the swing arm and the main body, and the elastic member controls the movement of the second end of the swing arm from the second position to the first position through elastic deformation.

2. The cleaning device according to claim 1, characterized in that The first position is located outside the main body, and the second position is located inside the main body.

3. The cleaning device according to claim 2, characterized in that The cleaning device further includes a first driving member mounted on the main body. When the swing arm is acted upon by an external force, the first driving member drives the second end of the swing arm to move from the first position to the second position.

4. The cleaning device according to claim 3, characterized in that in, The external force acting on the swing arm is greater than or equal to 0.02 Nm.

5. The cleaning device according to claim 3, characterized in that When the second end of the swing arm moves from the first position to the second position in response to the driving of the first driving member, the elastic member responds to the movement of the second end of the swing arm from the first position to the second position by deformation.

6. The cleaning device according to claim 3, characterized in that The cleaning device further includes a first detection component connected to the main body and at least one of the swing arm, and the first detection component confirms that the second end of the swing arm reaches the first position or the second position.

7. The cleaning device according to claim 6, characterized in that When the second end of the swing arm reaches the first position in response to the elastic deformation of the elastic member, the first detection component outputs the first position indication signal.

8. The cleaning device according to claim 6, characterized in that When the second end of the swing arm reaches the second position in response to the driving of the first driving member, the first detection component outputs the second position indication signal.

9. The cleaning device according to claim 8, characterized in that The first detection component is connected to the first driving member, and detects the current, rotation speed or number of rotations of the first driving member to generate and output at least one of the first position indication signal and the second position indication signal.

10. The cleaning device according to claim 1, characterized in that The cleaning device also includes a first limiting portion, which is arranged on at least one of the main body and the swing arm. When the first limiting portion limits the second end of the swing arm to the first position, the swing angle of the second end of the swing arm relative to the main body is the largest.

11. The cleaning device according to claim 10, characterized in that The cleaning device also includes a second limiting portion, which is arranged on at least one of the main body and the swing arm. When the second limiting portion limits the second end of the swing arm to the second position, the swing angle of the second end of the swing arm relative to the main body is the largest.

12. The cleaning device according to claim 9, characterized in that The cleaning device also includes a second limiting portion, which is arranged on at least one of the main body and the swing arm. The second limiting portion limits the second end of the swing arm to a third position, at which the swing angle of the second end of the swing arm relative to the main body is maximum, wherein the third position is located within the main body.

13. The cleaning device according to claim 12, characterized in that When the second end of the swing arm swings from the second position to the third position in response to an external force, the elastic member responds to the movement of the second end of the swing arm from the second position to the third position by deforming.

14. The cleaning device according to claim 1, characterized in that The elastic member includes any one of a spring and a spring sheet.

15. The cleaning device according to claim 1, characterized in that The elastic member comprises: a first connecting portion connected to the main body; and An elastic part, the elastic part is connected to the first connecting part, the elastic member is arranged between the first end of the swing arm and the main body, and the cleaning device controls the movement of the second end of the swing arm from the second position to the first position through the elastic deformation of the elastic part.

16. The cleaning device according to claim 15, characterized in that The elastic member further includes a second connecting portion connected to the elastic portion. The second connecting portion abutting against the swing arm drives the elastic portion to deform.

17. The cleaning device according to claim 16, characterized in that The cleaning device further includes a first rotating shaft, which is disposed on the main body or the swing arm, wherein the elastic portion and the first end of the swing arm are sleeved on the first rotating shaft.

18. The cleaning device according to claim 17, characterized in that When the first end of the swing arm presses against the elastic portion, the elastic portion deforms in a vertical direction relative to the main body.

19. The cleaning device according to claim 15, characterized in that The elastic member is arranged on a side of the interior of the main body facing the second position or a side of the swing arm facing away from the first position.

20. The cleaning device according to claim 19, characterized in that The cleaning device further includes a second rotating shaft, which is disposed on the main body or the swing arm, wherein the elastic portion is sleeved on the second rotating shaft.

21. The cleaning device according to any one of claims 1 to 19, characterized in that The cleaning device also includes: a cleaning member mounted on the second end of the swing arm; and A transmission member is arranged inside the swing arm, the transmission member is connected to the cleaning member, and the transmission member can drive the cleaning member to rotate.

22. The cleaning device according to claim 21, characterized in that The cleaning member is a cleaning brush, which includes a brush head connecting part and a brush rod. The brush head connecting part can be extended or retracted relative to the second end of the swing arm under the drive of the transmission member, and the brush rod can be extended or retracted relative to the brush head connecting part under the drive of the transmission member.

23. The cleaning device according to claim 22, characterized in that When the second end of the swing arm is in the second position, at least part of the brush head connecting portion is located inside the second end of the swing arm. When the second end of the swing arm is in the first position, the brush head connecting portion drives the brush rod to extend.

24. The cleaning device according to claim 22, characterized in that When the second end of the swing arm is in the second position, at least part of the brush head connecting portion and at least part of the brush rod are located inside the second end of the swing arm. When the second end of the swing arm is in the first position, the brush head connecting portion drives the brush rod to extend.

25. The cleaning device according to claim 22, characterized in that The transmission member includes a first output connector and a second output connector that are coaxially arranged and have the same output direction, and the first output connector is inserted into the second output connector.

26. The cleaning device according to claim 25, characterized in that The brush head connecting portion includes a rotating seat and a mounting shell, the rotating seat is located in the mounting shell, the mounting shell is provided with a through hole, and the brush rod is connected to the rotating seat through the through hole; and The rotating seat is connected to the first output connector, and the mounting shell is connected to the second output connector.

27. The cleaning device according to claim 26, characterized in that When the output rotation speeds of the first output connector and the second output connector are the same, the mounting shell drives the brush rod to rotate.

28. The cleaning device according to claim 26, characterized in that When there is a speed difference between the output speeds of the first output connector and the second output connector, the brush rod extends or retracts relative to the brush head connecting portion.

29. The cleaning device according to claim 25, characterized in that The cleaning device also includes: a second driving member connected to the transmission member; and The second detection component is connected to the second driving member. The second detection component determines that at least part of the brush head connecting portion and / or at least part of the brush rod are retracted into position and outputs a position signal.

30. The cleaning device according to claim 29, characterized in that The transmission member further includes a third output connector that is transmission-connected to the brush head connection portion, wherein: When the third output connector drives the second output connector to rotate, the brush rod extends or retracts relative to the brush head connecting portion; and / or When the first output connector drives the third output connector to rotate via the second output connector, the cleaning brush rotates relative to the swing arm; and / or When the first output connector drives the second output connector and the third output connector to rotate, the second detection component outputs the in-position signal.

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