Cleaning apparatus

Abstract

A cleaning apparatus, comprising: a body; a cleaning assembly arranged at the bottom of the body; a driving wheel assembly, which is arranged on the body and comprises a driving wheel located at the bottom of the body; a driven wheel assembly which is arranged on the body and comprises a driven wheel located at the bottom of the body; and a first lifting device, which is arranged between the body and the driving wheel assembly and is configured to adjust the relative position between the driving wheel and the body, so as to adjust the distribution of forces applied to the carrying surface by the driven wheel, the driving wheel and the cleaning assembly, wherein the height of the body relative to the carrying surface is adjustable, and is in the range of 0.5-5 cm.

Description

Cleaning equipment Cross-references to related applications

[0001] This disclosure claims priority to Chinese Patent Application No. 202411596105.8, filed on November 8, 2024, and Chinese Patent Application No. 202422735029.6, filed on November 8, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning technology, and more particularly to a cleaning device. Background Technology

[0003] In related technologies, a robotic vacuum cleaner includes a cleaning component and a body. The cleaning component has a cleaning position relative to the body. In the cleaning position, the cleaning component contacts the bearing surface and cleans the bearing surface. Summary of the Invention

[0004] In view of this, the present disclosure aims to provide a cleaning device.

[0005] To achieve the above objectives, the technical solution disclosed herein is implemented as follows.

[0006] This disclosure provides a cleaning device, including: a body; a cleaning component disposed at the bottom of the body; a drive wheel assembly disposed on the body, the drive wheel assembly including a drive wheel located at the bottom of the body; a driven wheel assembly disposed on the body, the driven wheel assembly including a driven wheel located at the bottom of the body; a first lifting device disposed between the body and the drive wheel assembly, the first lifting device being used to adjust the relative position of the drive wheel and the body to adjust the force distribution of the driven wheel, the drive wheel, and the cleaning component relative to a bearing surface; the height of the body relative to the bearing surface is adjustable, and the height range of the body relative to the bearing surface is 0.5cm-5cm.

[0007] In some implementations, the first lifting device is used to increase the height of the drive wheel protruding from the bottom of the body, thereby increasing the distance between the body and the bearing surface, so as to reduce the pressure between the cleaning component and the bearing surface; or, the first lifting device is used to decrease the height of the drive wheel protruding from the bottom of the body, thereby decreasing the distance between the body and the bearing surface, so as to increase the pressure between the cleaning component and the bearing surface.

[0008] In some implementations, a second lifting device is further included, disposed between the machine body and the driven wheel assembly; the second lifting device is used to adjust the relative position of the driven wheel assembly and the machine body, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning assembly relative to the bearing surface.

[0009] In some implementations, the first lifting device is used to adjust the relative position of the drive wheel and the body, and the second lifting device is used to adjust the relative position of the driven wheel assembly and the body, so that the height at which the driven wheel protrudes from the bottom of the body is the same as the height at which the drive wheel protrudes from the bottom of the body.

[0010] In some implementations, the drive wheel assembly is rotatably connected to the fuselage; or, the drive wheel assembly is translationally connected to the fuselage.

[0011] In some implementations, the drive wheel assembly is rotatably connected to the body, and the second lifting device is used to drive the driven wheel assembly to rotate the body relative to the drive wheel assembly, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning assembly relative to the bearing surface.

[0012] In some implementations, the cleaning component and the driven wheel assembly are located on opposite sides of the drive wheel assembly; in a first cleaning state, the second lifting device is used to increase the height of the driven wheel protruding from the bottom of the machine body, thereby reducing the distance between the corresponding part of the machine body and the cleaning component and the bearing surface, so as to increase the pressure between the cleaning component and the bearing surface; or, in a second cleaning state, the second lifting device is used to decrease the height of the driven wheel protruding from the bottom of the machine body, thereby increasing the distance between the corresponding part of the machine body and the cleaning component and the bearing surface, so as to reduce the pressure between the cleaning component and the bearing surface.

[0013] In some implementations, a third lifting device is also included, disposed between the machine body and the cleaning component; the third lifting device is used to adjust the relative position of the cleaning component and the machine body to adjust the force distribution of the driven wheel, the drive wheel and the cleaning component relative to the bearing surface.

[0014] In some implementations, in a slipping state, the third lifting device is used to drive the cleaning component to protrude less from the bottom of the machine body, so as to reduce the force between the cleaning component and the bearing surface; or, in a non-slipping state, the third lifting device is used to drive the cleaning component to protrude more from the bottom of the machine body, so as to increase the force between the cleaning component and the bearing surface.

[0015] In some implementations, the drive wheel assembly includes: a first support member having a first connecting portion and a second connecting portion located in different areas; the first connecting portion being rotatably connected to the body; a drive wheel rotatably disposed on the first support member and used to contact a bearing surface; the cleaning device further includes: a traction member movably disposed on the body; the traction member being connected to the second connecting portion; wherein the traction member is a non-elastic structure; a first lifting device disposed on the body and connected to the traction member; the first lifting device being used to drive the traction member to move relative to the body to adjust the force distribution of the driven wheel, the drive wheel, and the cleaning assembly relative to the bearing surface.

[0016] In some implementations, the traction member is a flexible structure; and / or, the traction member is a rigid structure.

[0017] In some implementations, the traction member is a flexible structure; the drive wheel device further includes: a guide member disposed on the body and located on one side of the first support member; the guide member defines a guide groove; a portion of the traction member is located within the guide groove, and the direction of the guide groove is perpendicular to the axis of rotation of the first support member.

[0018] In some implementations, the first lifting device includes: a first power member disposed on the machine body; a winding member connected to the output shaft of the first power member; a first part of the traction member connected to the first support member; and a second part of the traction member for winding around the winding member.

[0019] In some implementations, the first elastic element is connected to a third connection portion of the first support member; the first elastic element is connected to the fuselage to provide a damping force for rotation to the first support member.

[0020] In some implementations, the driven wheel assembly is rotatably connected to the fuselage; or, the driven wheel assembly is translationally connected to the fuselage.

[0021] In some implementations, the system further includes: a connecting component connected to the body; an adjusting structure; the connecting component being movably connected to the cleaning component in the circumferential direction via the adjusting structure; and, in the event of partial lifting of the body, the adjusting structure being used to bring the cleaning surface of the cleaning component into contact with the bearing surface. Attached Figure Description

[0022] Figure 1 is a schematic diagram of a cleaning device in an embodiment of this disclosure; wherein the cleaning components do not contact the bearing surface;

[0023] Figure 2 is another structural schematic diagram of the cleaning equipment in Figure 1, in which the cleaning component is in contact with the bearing surface;

[0024] Figure 3 is another structural schematic diagram of the cleaning device in an embodiment of this disclosure; wherein the cleaning component is in contact with the bearing surface;

[0025] Figure 4 is another structural schematic diagram of the cleaning device in an embodiment of this disclosure; wherein the cleaning component is in contact with the bearing surface;

[0026] Figure 5 is a cross-sectional view of Figure 2;

[0027] Figure 6 is another scenario diagram of Figure 5, in which the distance between the fuselage and the bearing surface in Figure 6 is smaller than the distance between the fuselage and the bearing surface in Figure 5;

[0028] Figure 7 is another structural schematic diagram of the cleaning device in an embodiment of this disclosure; wherein the cleaning component is in contact with the cleaning bearing surface;

[0029] Figure 8 is another scene diagram of Figure 7, in which the height of the driven wheel protruding from the fuselage in Figure 8 is greater than the height of the driven wheel protruding from the fuselage in Figure 7;

[0030] Figure 9 is another scenario diagram of Figure 7, in which the height of the driven wheel protruding from the fuselage in Figure 9 is greater than the height of the driven wheel protruding from the fuselage in Figure 8;

[0031] Figure 10 is a view from another perspective of Figure 2;

[0032] Figure 11 is a structural schematic diagram of a drive wheel device in an embodiment of this disclosure;

[0033] Figure 12 is another structural schematic diagram of the drive wheel device in an embodiment of this disclosure;

[0034] Figure 13 is a partial structural schematic diagram of Figure 7;

[0035] Figure 14 is a cross-sectional view of Figure 13;

[0036] Figure 15 is another partial structural diagram of Figure 7;

[0037] Figure 16 is a cross-sectional view of Figure 15;

[0038] Figure 17 is a partial structural schematic diagram of Figure 8;

[0039] Figure 18 is a cross-sectional view of Figure 17;

[0040] Figure 19 is a partial structural schematic diagram of Figure 9;

[0041] Figure 20 is a cross-sectional view of Figure 19;

[0042] Figure 21 is a schematic diagram of a cleaning device in an embodiment of this disclosure;

[0043] Figure 22 is another structural schematic diagram of the cleaning device in an embodiment of this disclosure;

[0044] Figure 23 is another schematic diagram of the scene in Figure 22;

[0045] Figure 24 is a schematic diagram of another scenario in Figure 22.

[0046] Reference numerals: 100, fuselage; 110, base; 111, first slide rail; 112, first opening; 113, second limiting part; 200, drive wheel assembly; 210, first support member; 211, first connecting part; 212, second connecting part; 213, third connecting part; 220, drive wheel; 230, third power member; 300, driven wheel assembly; 310, support assembly; 311, first mounting member; 3111, second slide rail; 312, second mounting part Components; 3121, sealing part; 3122, mating part; 313, first mating surface; 3131, planar area; 3132, inclined surface area; 314, first convex wall; 315, second convex wall; 316, receiving groove; 317, first limiting part; 320, wheel assembly; 321, wheel axle; 322, wheel housing; 323, driven wheel; 400, cleaning assembly; 410, cleaning bracket; 411, first mounting through hole; 420, cleaning component; 430, anti- 500. Impact component; 510. Second lifting device; 520. Second power component; 521. Rotating component; 522. First part of rotating component; 523. Second part of rotating component; 530. Mating component; 600. Connecting shaft; 610. First lifting device; 620. First power component; 710. Winding component; 720. Traction component; 720. Guide component; 730. First elastic component; 740. Second elastic component; 750. Bearing surface; 760. Coupling; 770. Bearing 780, Cover; 800, Connecting assembly; 810, First connecting member; 811, First cylindrical part; 812, First fixing part; 820, Second connecting member; 821, Second cylindrical part; 822, Second fixing part; 830, Third elastic member; 840, Limiting groove; 900, Adjustment structure; 910, Ball head structure; 911, Ball socket; 912, Ball head; 920, First elastic structure; 930, Second elastic structure; 931, Second mounting through hole. Detailed Implementation

[0047] The technical solution of this disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] In the embodiments described in this disclosure, it should be noted that, unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can refer to an electrical connection or a connection between two internal components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

[0049] It should be noted that the terms "first," "second," and "third" used in the embodiments of this disclosure are merely used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first," "second," and "third" can be interchanged in a specific order or sequence where permitted. It should be understood that the objects distinguished by "first," "second," and "third" can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein.

[0050] The drive wheel device, cleaning device, and cleaning equipment described in the embodiments of this disclosure will be described in detail below with reference to Figures 1 to 24.

[0051] The structure of the cleaning device is not limited. In some implementations, the cleaning device can be a robotic vacuum cleaner. The cleaning device may include a cleaning component 400, which is used to clean the bearing surface 750. The cleaning component 400 is used to contact the bearing surface 750. When the cleaning device travels on the bearing surface 750, the cleaning component 400 cleans the bearing surface 750 through friction with the bearing surface 750. It is understood that the pressure between the cleaning component 400 and the bearing surface 750 affects the cleaning ability of the cleaning component 400; when the pressure between the cleaning component 400 and the bearing surface 750 is higher, the cleaning ability of the cleaning component 400 is higher, and when the pressure between the cleaning component 400 and the bearing surface 750 is lower, the cleaning ability of the cleaning component 400 is weaker.

[0052] In this embodiment, the method by which the cleaning component 400 cleans the bearing surface 750 is not limited. In some implementations, as shown in Figures 1 and 2, the cleaning component 400 is rotatably mounted on the body 100, and the cleaning component 400 contacts the bearing surface 750 by rotating relative to the body 100 to clean the bearing surface 750; wherein, Figure 1 is a schematic diagram of the cleaning component 400 in the state where the bearing surface 750 is not cleaned, and Figure 2 is a schematic diagram of the cleaning component 400 in the state where the bearing surface 750 is cleaned; the number of cleaning components 400 is not limited. In some implementations, the number of cleaning components 400 can be two. In some implementations, as shown in Figure 3, the cleaning component 400 can clean the bearing surface 750 by vibration, and the cleaning component 400 is a flat vibrating mop. In still other implementations, as shown in Figure 4, the cleaning component 400 is a tracked mop.

[0053] The bearing surface 750 is the surface on which the cleaning equipment rests. In some implementations, the bearing surface 750 can be a floor or a tabletop. Depending on the material of the bearing surface 750, the optimal pressure between the cleaning component 400 and the bearing surface 750 will differ when the cleaning component 400 cleans the bearing surface 750.

[0054] In related technologies, a robotic vacuum cleaner includes a cleaning component and a body. The cleaning component has a cleaned position and an uncleaned position relative to the body. In the uncleaned position, the cleaning component is spaced apart from the bearing surface; in the cleaned position, the cleaning component contacts the bearing surface and cleans it. Typically, the pressure between the cleaning component and the bearing surface remains constant, and the cleaning component has poor adaptability.

[0055] The cleaning equipment provided in this embodiment includes a body 100 and a cleaning component 400, the cleaning component 400 being disposed on the bottom side of the body 100; the pressure between the cleaning component 400 and the bearing surface 750 can be adjusted so that the cleaning equipment can adapt to different cleaning scenarios, thereby greatly improving the adaptability of the cleaning equipment.

[0056] In this embodiment, the cleaning device can have a general cleaning state achieved by the drive wheel assembly 200, where the movement of the drive wheel assembly 200 adjusts the pressure between the cleaning component 400 and the bearing surface 750. The cleaning device can also have a first cleaning state and a second cleaning state achieved by the driven wheel assembly 300, where the movement of the driven wheel assembly 300 adjusts the pressure between the cleaning component 400 and the bearing surface 750. The user can select the operating state of the cleaning device as needed.

[0057] In some implementations, when the cleaning component 400 is cleaning the bearing surface 750, the cleaning device can control the distance between the body 100 and the bearing surface 750 to adjust the pressure between the cleaning component 400 and the bearing surface 750. In some implementations, under normal cleaning conditions, as shown in Figures 5 and 6, the cleaning device can control the overall lifting or lowering of the body 100 relative to the bearing surface 750 via the drive wheel assembly 200 to adjust the pressure between the cleaning component 400 and the bearing surface 750. Here, the bottom surface of the body 100 is parallel or substantially parallel to the bearing surface 750. The bottom surface of the body 100 refers to the surface of the body 100 facing the bearing surface 750. In some implementations, in the first cleaning state, as shown in Figures 7, 8, and 9, the cleaning device can control the partial lifting or lowering of the body 100 relative to the bearing surface 750 via the driven wheel assembly 300 to adjust the pressure between the cleaning component 400 and the bearing surface 750. Here, the bottom surface of the body 100 is not parallel to the bearing surface 750, and the body 100 can be in a forward-tilted or backward-tilted state. In other implementations, when the cleaning component 400 is cleaning the bearing surface 750, the cleaning component 400 can move relative to the body 100 to adjust the pressure changes between the cleaning component 400 and the bearing surface 750.

[0058] When the cleaning device includes a cleaning component 400, a drive wheel assembly 200, and a driven wheel assembly 300, the number and arrangement of these components are not limited. In some implementations, as shown in Figure 10, the cleaning device includes two drive wheel assemblies 200, two cleaning components 400, and one driven wheel assembly 300. The driven wheel assembly 300 and the two cleaning components 400 can be located on opposite sides of the two drive wheel assemblies 200; alternatively, they can be located on the same side of the two drive wheel assemblies 200. In other implementations, the cleaning device may include two drive wheel assemblies 200, one cleaning component 400, and one driven wheel assembly 300. The cleaning component 400 and the driven wheel assembly 300 can be located on opposite sides of the two drive wheel assemblies 200; alternatively, they can be located on the same side of the two drive wheel assemblies 200. In some other implementations, the cleaning device may include a drive wheel assembly 200, two cleaning assemblies 400 and two driven wheel assemblies 300, the two driven wheel assemblies 300 and the two cleaning assemblies 400 may be located on opposite sides of the drive wheel assembly 200; of course, the two driven wheel assemblies 300 and the two cleaning assemblies 400 may also be located on the same side of the drive wheel assembly 200.

[0059] In this embodiment of the disclosure, the drive wheel assembly 200 is used to drive the cleaning equipment. Here, the drive wheel assembly 200 may further include a third power component 230, which may be a motor, and the third power component 230 is used to drive the drive wheel 220 of the drive wheel assembly 200 to rotate.

[0060] Example 1, as shown in Figure 11, describes a drive wheel device including a drive wheel assembly 200 and a traction member 710. The drive wheel assembly 200 includes a first support member 210 and a drive wheel 220. The first support member 210 has a first connecting portion 211 and a second connecting portion 212 located in different areas; the first connecting portion 211 is rotatably connected to the body 100 of the cleaning equipment; the drive wheel 220 is rotatably disposed on the first support member 210 and is used to contact the bearing surface 750; the traction member 710 is movably disposed on the body 100 of the cleaning equipment; the traction member 710 is connected to the second connecting portion 212, and the traction member 710 is used to rotate the first support member 210 relative to the body 100 to adjust the height of the drive wheel 220 protruding from the body 100; wherein, the traction member 710 is a non-elastic structure.

[0061] This disclosure also describes a cleaning device, as shown in Figures 5 and 6. The cleaning device includes a drive wheel device and a body 100 according to the present disclosure. A first connecting part 211 is rotatably connected to the body 100. A traction member 710 is movably disposed on the body 100. The traction member 710 is used to rotate the first support member 210 relative to the body 100 to adjust the height of the drive wheel 220 protruding from the body 100.

[0062] In the aforementioned technology, a robotic vacuum cleaner includes a body, a wheel assembly, and springs. The wheel assembly rotates relative to the body by being stretched by springs. Here, the springs are elastic and only serve to provide cushioning force for the wheel assembly during operation. Even when the wheel assembly is stretched by springs, due to the elasticity of the springs, their length changes during stretching, preventing the springs from stretching the wheel assembly to a stable length and thus hindering precise adjustment of the wheel assembly's position relative to the body. In contrast, the drive wheel device disclosed herein, with its non-elastic traction member 710, allows for precise adjustment of the stability of the height of the drive wheel 220 protruding from the body 100.

[0063] In this embodiment, the structure of the first support member 210 is not limited. In some implementations, the first support member 210 may be a plate-like structure. The first connecting portion 211 and the body 100 of the cleaning equipment can be rotatably connected via a pivot structure.

[0064] In this embodiment of the present disclosure, the drive wheel 220 can be rotatably mounted on the first support member 210 via a rotating shaft structure.

[0065] In this embodiment, the traction member 710 can be movably mounted on the body 100 via a slide groove or slide rail, and the traction member 710 and the second connecting part 212 can be connected by welding, snap-fitting, bonding or other methods.

[0066] The material of the traction member 710 is not limited. It only needs to be a non-elastic structure. In some implementations, the traction member 710 can be a flexible structure. As an example, the traction member 710 is a pull rope. In other implementations, the traction member 710 can be a rigid structure. As an example, the traction member 710 can be a plastic strip or a steel strip. In still other implementations, the traction member 710 can be both a flexible and a rigid structure. As an example, the traction member 710 is a steel wire rope.

[0067] In some implementations, as shown in Figure 12, the traction member 710 can be a flexible structure; the drive wheel device may also include: a guide member 720, which is disposed on the body 100 and located on one side of the first support member 210; the guide member 720 defines a guide groove; a portion of the traction member 710 is located in the guide groove, and the traction member 710 can be moved along the setting direction of the guide groove through the guide groove, thereby preventing the traction member 710 from shaking.

[0068] Here, the guide member 720 can be fixed to the machine body 100 by means of bonding, snap-fitting, welding, etc. Here, the direction of the guide groove can be perpendicular to the axis of rotation of the first support member 210. By ensuring the guide groove is perpendicular to the axis of rotation of the first support member 210, the force required to pull the traction member 710 can be reduced. Of course, the direction of the guide groove can also be non-perpendicular to the axis of rotation of the first support member 210.

[0069] The method by which the traction member 710 rotates the first support member 210 relative to the fuselage 100 to adjust the height of the drive wheel 220 protruding from the fuselage 100 is not limited. In some implementations, the first end of the traction member 710 is connected to the second connecting part 212, and the second end of the traction member 710 can be extended outside the fuselage 100 and detachably fixed. The first support member 210 can be rotated relative to the fuselage 100 by stretching the second end of the traction member 710 with external force, or the first support member 210 can be rotated in the opposite direction relative to the fuselage 100 by loosening the second end of the traction member 710, thereby adjusting the height of the drive wheel 220 protruding from the fuselage 100.

[0070] In some implementations of the embodiments disclosed herein, the drive wheel device may further include: a first lifting device 600, which is disposed on the body 100 and connected to the traction member 710; the first lifting device 600 is used to drive the traction member 710 to move relative to the body 100; thereby, the first lifting device 600 can automatically control the movement of the traction member 710 to automatically adjust the height of the drive wheel 220 protruding from the body 100.

[0071] In this implementation, the structure of the first lifting device 600 is not limited.

[0072] In some implementations, as shown in Figure 12, the first lifting device 600 may include a first power member 610 and a winding member 620. The first power member 610 is disposed on the body 100; the winding member 620 is connected to the output shaft of the first power member 610; the first part of the traction member 710 is connected to the first support member 210, and the second part of the traction member 710 is wound around the winding member 620.

[0073] Here, the structure of the first power member 610 is not limited. In some implementations, the first power member 610 can be a motor. The first power member 610 can be fixed to the machine body 100 by means of a snap-fit ​​structure, a threaded structure, or other structures. When the first power member 610 is used to drive the winding member 620 to rotate in the forward direction via the output shaft, the second part of the traction member 710 can be wrapped around the winding member 620 to stretch the first part of the traction member 710, thereby pulling the first support member 210 to rotate in the forward direction; when the winding member 620 rotates in the reverse direction, the second part of the traction member 710 can be detached from the winding member 620 to loosen the first part of the traction member 710, thereby enabling the first support member 210 to rotate in the reverse direction.

[0074] Of course, in some other implementations, the first lifting device 600 may also include only the first power member 610, where the second part of the traction member 710 is used to be disposed around the output shaft of the first power member 610.

[0075] In other implementations, the first lifting device 600 may include a first power member 610, a turbine, and a rack. The first power member 610 drives the turbine to rotate, and the turbine and rack mesh. The second part of the traction member 710 is connected to the rack. When the first power member 610 drives the turbine to rotate, the rack controls the movement of the second part of the traction member 710 to achieve the movement of the first part of the traction member 710. Of course, the rack may also be directly connected to the second connecting part of the first support member to directly drive the drive wheel assembly to rotate.

[0076] In some other implementations, the first lifting device 600 may also include a telescopic hydraulic cylinder or a telescopic air cylinder. The first lifting device 600 can drive the traction member 710 to move via the telescopic hydraulic cylinder or the telescopic air cylinder, causing the first support member 210 to rotate relative to the machine body 100, thereby adjusting the height of the drive wheel 220 protruding from the machine body 100. Of course, the rod of the telescopic hydraulic cylinder or the telescopic air cylinder can also be directly connected to the second connecting part of the first support member to directly drive the drive wheel assembly to rotate.

[0077] In some implementations of the embodiments of this disclosure, as shown in FIG12, the drive wheel device may further include: a first elastic member 730, the first elastic member 730 being connected to the third connecting portion 213 of the first support member 210; the first elastic member 730 being used to connect to the fuselage 100 to provide a rotational damping force to the first support member 210; by providing a rotational damping force to the first support member 210 through the first elastic member 730, the drive wheel assembly 200 can have a buffering force relative to the fuselage 100, thereby improving the adaptability of the drive wheel device.

[0078] In this implementation, the traction member 710 can pull the first support member 210 to rotate in the forward direction. When the traction member 710 is loosened, the first support member 210 can slowly rotate in the reverse direction based on the damping force of the first elastic member 730, thereby smoothly adjusting the height of the drive wheel 220 protruding from the body 100.

[0079] In this implementation, during the operation of the cleaning equipment, the first elastic element 730 can also improve the buffering capacity of the cleaning equipment.

[0080] In this implementation, the structure of the first elastic element 730 is not limited. In some implementations, the first elastic element 730 can be a spring. In other implementations, the first elastic element 730 can be a rubber rope.

[0081] In this implementation, the first elastic member 730 and the third connecting portion 213 of the first support member 210 can be connected by welding, snap-fitting, or other methods. The first elastic member 730 and the body 100 can be connected by welding, snap-fitting, or other methods.

[0082] In this implementation, the first support member 210 has a first end and a second end that are disposed opposite to each other; the first connecting part 211 is located at the first end of the first support member 210; the second connecting part 212 and the third connecting part 213 are spaced apart at the second end of the first support member 210. By spaced the second connecting part 212 and the third connecting part 213 at the second end of the first support member 210, the first elastic member 730 and the traction member 710 can be spaced apart, thereby preventing the first elastic member 730 and the traction member 710 from interfering with each other.

[0083] In some implementations of the embodiments of this disclosure, the cleaning device may further include: a cleaning assembly 400, a driven wheel assembly 300, and a first lifting device 600. The cleaning assembly 400 is disposed at the bottom of the body 100. The driven wheel assembly 300 is disposed on the body 100 and includes driven wheels 323 located at the bottom of the body 100.

[0084] The first lifting device 600 is disposed on the machine body 100 and connected to the traction member 710; the first lifting device 600 is used to drive the traction member 710 to move relative to the machine body 100, so as to adjust the force distribution of the driven wheel 323, the drive wheel 220 and the cleaning component 400 relative to the bearing surface 750.

[0085] In this implementation, the cleaning equipment may further include: a controller, which controls the first lifting device 600 to drive the traction member 710 to move, so as to adjust the distance between the machine body 100 and the bearing surface 750; by controlling the first lifting device 600 to drive the traction member 710 to move, the height of the drive wheel 220 protruding from the machine body 100 can be precisely adjusted, thereby enabling precise adjustment of the distance between the machine body 100 and the bearing surface 750, so as to improve the adaptability of the cleaning equipment.

[0086] In this implementation, the distance between the machine body 100 and the bearing surface 750 can be adjusted based on the different cleaning scenarios of the cleaning equipment. In some implementations, when the cleaning scenario has many low obstacles, the height of the drive wheel 220 protruding from the machine body 100 can be increased by driving the traction member 710 to move through the first lifting device 600, thereby increasing the distance between the machine body 100 and the bearing surface 750.

[0087] The first lifting device 600 is used to increase the height of the drive wheel 220 protruding from the bottom of the body 100, thereby increasing the distance between the body 100 and the bearing surface 750, so as to reduce the pressure between the cleaning component 400 and the bearing surface 750.

[0088] The first lifting device 600 is used to reduce the height of the drive wheel 220 protruding from the bottom of the body 100, thereby reducing the distance between the body 100 and the bearing surface 750, so as to increase the pressure between the cleaning component 400 and the bearing surface 750.

[0089] In this embodiment, the driven wheel assembly 300 is movably disposed on the fuselage 100. The driven wheel assembly 300 includes a driven wheel 323 located on the bottom side of the fuselage 100. The driven wheel assembly 300 is used to adjust the height of the driven wheel 323 protruding from the bottom side of the fuselage 100 by moving relative to the fuselage 100, so as to flexibly cooperate with the drive wheel assembly 200 to jointly support the movement of the fuselage 100. Of course, the driven wheel assembly 300 can also be fixed to the fuselage 100, in which case the height of the driven wheel 323 protruding from the bottom side of the fuselage 100 cannot be adjusted.

[0090] The driven wheel assembly 300 is rotatably connected to the fuselage 100. Here, the implementation of this rotatable connection between the driven wheel assembly 300 and the fuselage 100 is similar to the implementation of the rotatable connection between the drive wheel assembly 200 and the fuselage 100 described above, and will not be repeated here. In some implementations, the driven wheel assembly 300 is rotatably connected to the fuselage 100 via a shaft structure. In other implementations, the driven wheel assembly 300 may also be connected to the fuselage 100 via a spring.

[0091] Of course, the driven wheel assembly 300 can also be movably connected to the fuselage 100 to reduce the installation space of the driven wheel assembly 300. In some implementations, the driven wheel assembly 300 can be movably mounted on the fuselage 100 via a slide rail or slide path.

[0092] In this implementation, the cleaning equipment may further include a second lifting device 500. The second lifting device 500 is disposed between the machine body 100 and the driven wheel assembly 300; the second lifting device 500 is used to adjust the relative position of the driven wheel assembly 300 and the machine body 100, so as to adjust the force distribution of the driven wheel 323, the drive wheel 220 and the cleaning component 400 relative to the bearing surface 750.

[0093] The second lifting device 500 is used to drive the driven wheel assembly 300 to move, thereby enabling the driven wheel assembly 300 to move automatically.

[0094] Here, the controller can be used to control the second lifting device 500 to drive the driven wheel assembly 300 to move, thereby enabling precise adjustment of the height of the driven wheel 323 protruding from the bottom side of the body 100.

[0095] Here, the structure of the second lifting device 500 is not limited. In some implementations, the second lifting device 500 can be a telescopic hydraulic cylinder or a telescopic pneumatic cylinder.

[0096] In some implementations, the first lifting device 600 is used to adjust the relative position of the drive wheel 220 and the body 100, and the second lifting device 500 is used to adjust the relative position of the driven wheel assembly 300 and the body 100, so that the height of the driven wheel 323 protruding from the bottom of the body 100 is the same as the height of the drive wheel 220 protruding from the bottom of the body 100.

[0097] By ensuring that the height of the driven wheel 323 protruding from the bottom side of the body 100 is the same as the height of the drive wheel 220 protruding from the bottom side of the body 100, the cleaning component 400 can better fit with the bearing surface 750.

[0098] As shown in Figures 8 and 9, the cleaning component 400 and the driven wheel component 300 are located on opposite sides of the drive wheel component 200. In the first cleaning state, the second lifting device 500 is used to drive the driven wheel 323 to increase the height of its protrusion from the bottom of the body 100, thereby reducing the distance between the corresponding part of the body 100 and the cleaning component 400 and the bearing surface 750, so as to increase the pressure between the cleaning component 400 and the bearing surface 750.

[0099] Here, the cleaning component 400 can be connected to the connecting component 800 by adjusting the structure 900 so that the cleaning surface of the cleaning component 420 is always attached to the bearing surface 750, thereby improving the cleaning ability of the cleaning component 400.

[0100] The cleaning component 400 and the driven wheel component 300 are located on opposite sides of the drive wheel component 200. In the second cleaning state, the second lifting device 500 is used to drive the driven wheel 323 to protrude from the bottom of the body 100 at a reduced height, thereby increasing the distance between the corresponding part of the body 100 and the cleaning component 400 and the bearing surface 750, so as to reduce the pressure between the cleaning component 400 and the bearing surface 750.

[0101] Here, since the center of gravity of the cleaning equipment is located between the drive wheel assembly 200 and the driven wheel assembly 300, when the height of the second lifting device 500 protruding from the bottom of the body 100 decreases, the height of the body 100 on the side of the driven wheel assembly 300 will decrease.

[0102] In this implementation, the cleaning equipment may further include: a third lifting device, which is disposed between the body 100 and the cleaning component 400; the third lifting device is used to adjust the relative position of the cleaning component 400 and the body 100, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning component relative to the bearing surface, so as to adjust the force distribution of the driven wheel 323, the drive wheel 220 and the cleaning component 400 relative to the bearing surface 750.

[0103] In the slipping state, the third lifting device is used to reduce the height of the cleaning component 400 protruding from the bottom of the body 100, so as to reduce the force between the cleaning component 400 and the bearing surface 750, thereby increasing the force between the driven wheel 323 and the drive wheel 220 and the bearing surface 750, so as to eliminate the slipping state of the driven wheel 323 and / or the drive wheel 220, and enable the cleaning equipment to operate normally.

[0104] In the non-slip state, the third lifting device is used to increase the height of the cleaning component 400 protruding from the bottom of the body 100, so as to increase the force between the cleaning component 400 and the bearing surface 750, thereby improving the cleaning ability of the cleaning component 400.

[0105] In this implementation, the structure of the third lifting device is not limited, as long as it can adjust the force between the cleaning component 400 and the bearing surface 750. In some implementations, the third lifting device may include a first motor, a gear assembly, a housing, a first lifting cylinder, and a second lifting cylinder; the housing is fixed to the machine body 100, the first motor is disposed on the housing, the housing has a through first groove along a first direction, the first lifting cylinder is movably disposed in the first groove, and a friction plate and a spring are also disposed in the first groove. The spring is disposed on the housing, and the friction plate is sandwiched between the spring and the flange of the first lifting cylinder to provide friction to the first lifting cylinder. The gear assembly is connected to the drive shaft of the first motor, which drives the gear assembly to rotate. The output gear of the gear assembly has a second sliding groove, which is coaxially arranged with the first lifting cylinder. The second sliding groove is located on the bottom surface of the first sliding groove away from the machine body 100. The second lifting cylinder can be flexibly inserted into the second sliding groove and the cavity of the first lifting cylinder. The second lifting cylinder and the first lifting cylinder are engaged by a spiral structure. The first motor drives the gear assembly to drive the second lifting cylinder to rotate. Because the second lifting cylinder and the first lifting cylinder are engaged by a spiral structure and there is friction between the first lifting cylinder and the friction plate, the second lifting cylinder can both rotate and move axially along the second sliding groove. The second lifting cylinder can be connected to the cleaning component 400, thereby enabling the cleaning component 400 to switch between a cleaning state and a non-cleaning state.

[0106] Here, the third lifting device may also include a second motor. The housing can be movably mounted on the machine body along the first direction via a slide rail or slide path. The second motor is used to drive the housing to move along the first direction, thereby adjusting the height of the cleaning component 400 protruding from the bottom of the machine body 100. Here, the second motor can drive the housing to move via a turbine and a rack. The drive shaft of the second motor is connected to the turbine, and the turbine and the rack mesh. The rack can be fixed to the housing.

[0107] Of course, the third lifting device can also be a telescopic hydraulic cylinder or a pneumatic cylinder, which is used to drive the housing to move along the first direction in order to adjust the height of the cleaning component 400 protruding from the bottom of the body 100.

[0108] Example 1, as shown in Figures 13 and 14, the cleaning device may further include: a base 110, which is disposed on the body 100; the base 110 has a through first slide rail 111 along a first direction; the driven wheel assembly 300 may include: a support assembly 310 and a wheel assembly 320. The support assembly 310 is movably disposed on the first slide rail 111, and the first end of the support assembly 310 is connected to the second lifting device 500 through the first port of the first slide rail 111; the wheel assembly 320 is connected to the support assembly 310 through the second port of the first slide rail 111; at least a portion of the driven wheel 323 of the wheel assembly 320 is located outside the base 110; thus, the second lifting device 500 can drive the support assembly 310 to move the wheel assembly 320 along the first direction.

[0109] In this embodiment, the first direction is not limited, as long as it is not parallel to the bottom surface of the fuselage 100. In some implementations, the first direction can be perpendicular to the bottom surface of the fuselage 100, and the bottom surface of the fuselage 100 is generally parallel to the bearing surface 750. When the first direction is perpendicular to the bottom surface of the fuselage 100, the first direction is generally vertical, thereby enabling the driven wheel assembly 300 to move while reducing the installation space of the driven wheel assembly 300.

[0110] In this embodiment, the structure of the second lifting device 500 is not limited.

[0111] In some implementations, as shown in FIG13, the second lifting device 500 may include a second power component 510 and a rotating component 520. The second power component 510 is disposed on the body 100; the rotating component 520 is connected to the output shaft of the second power component 510 and contacts the support assembly 310 to drive the support assembly 310 to move along a first direction.

[0112] Here, the structure of the second power component 510 is not limited. In some implementations, the second power component 510 can be a motor. The rotating component 520 can be directly fixed to the output shaft of the second power component 510 by means of snap-fit, adhesive, or other methods. Of course, as shown in Figure 13, the rotating component 520 can also be fixed to the connecting shaft 530 by means of snap-fit, adhesive, or other methods, and the connecting shaft 530 can be connected to the output shaft of the second power component 510 through a coupling 760.

[0113] Here, the outer side of the support assembly 310 may have a first mating surface 313 that contacts the rotating member 520. The second power member 510 is used to drive the rotating member 520 to rotate, and the rotating member 520 is used to push the support assembly 310 to move in a first direction through the first mating surface 313.

[0114] Here, the shape of the first mating surface 313 is not limited. In some implementations, as shown in FIG14, the first part 521 of the rotating member is connected to the output shaft of the second power member 510, and the second part 522 of the rotating member contacts the first mating surface 313; the second part 522 of the rotating member protrudes from one side of the first part 521 of the rotating member; the first mating surface 313 includes: a planar region 3131 located on one side of the first part 521 of the rotating member, and an inclined surface region 3132 connected to the planar region 3131. The second part 522 of the rotating member can move between the inclined surface region 3132 and the planar region 3131 to push the support assembly 310 to move along the first direction. Here, the first mating surface 313 can also all be inclined surfaces, or the first mating surface 313 can all be planar surfaces. In other implementations, the first portion 521 of the rotating member is connected to the output shaft of the second power member 510, and the second portion 522 of the rotating member contacts the first mating surface 313. The second portion 522 protrudes from the periphery of the first portion 521 of the rotating member, and the protrusion height of the second portion 522 is different. When the rotating member 520 rotates, due to the different protrusion height of the second portion 522, the second portion 522 of the rotating member can push the support assembly 310 to move along the first direction. Here, the first mating surface 313 can be a plane or an inclined surface.

[0115] Here, as shown in Figures 13 and 14, the support assembly 310 has a first protruding wall 314 at one end of the first mating surface 313 in the direction perpendicular to the axis of the rotating member 520; the support assembly 310 has two second protruding walls 315 spaced apart in the direction of the first mating surface 313 parallel to the axis of the rotating member 520, the two second protruding walls 315 and the first protruding wall 314 defining a receiving groove 316, and a portion of the rotating member 520 is located in the receiving groove 316.

[0116] Here, the second part 522 of the rotating member can have an arcuate surface that contacts the first mating surface 313, so that the second part 522 of the rotating member can move smoothly on the first mating surface 313. Of course, as shown in Figures 13 and 14, the second part 522 of the rotating member can also have a rotatably configured mating member 523, which rolls in contact with the first mating surface 313 to reduce the frictional force of the rotating member 520.

[0117] In some implementations, the second lifting device 500 can be used to provide a force to the driven wheel 323 to move away from the body 100; the cleaning device may also include a second elastic member 740 disposed between the driven wheel assembly 300 and the body 100; the elastic member is used to provide a force to the driven wheel 323 to move towards the body 100.

[0118] The second lifting device 500 can overcome the elasticity of the second elastic member 740 to drive the driven wheel 323 away from the fuselage 100. When it is necessary to move the driven wheel 323 closer to the fuselage 100, the second lifting device 500 can reduce the force that drives the driven wheel 323 to move away from the fuselage 100. At this time, the driven wheel assembly 300 can move closer to the fuselage 100 based on the restoring force of the second elastic member 740.

[0119] Here, the structure of the second elastic element 740 is not limited. In some implementations, the second elastic element 740 can be a spring or a rubber structure.

[0120] Of course, in other implementations, the second lifting device 500 may not include the second elastic element 740. Here, the second lifting device 500 can be directly connected to the driven wheel assembly 300 to drive the driven wheel assembly 300 to move. In some implementations, the second lifting device 500 includes a telescopic cylinder, the rod of which can be directly connected to the driven wheel assembly 300. In other implementations, the second lifting device 500 may include a rack, which can be directly connected to the driven wheel assembly 300.

[0121] In this embodiment, the seat 110 may have a first opening 112 on one side of the first slide rail 111; the first limiting part 317 of the support assembly 310 protrudes from the seat 110 through the first opening 112; the seat 110 has a protruding second limiting part 113 on the side near the driven wheel 323; the second elastic member 740 may be disposed between the first limiting part 317 and the second limiting part 113.

[0122] In this embodiment, the second lifting device 500 may include a second power component 510 and a rotating component 520. The second power component 510 is disposed on the body 100; the rotating component 520 is connected to the output shaft of the second power component 510 and contacts the support assembly 310 through the first port of the first slide rail 111 to drive the support assembly 310 to move along the first direction;

[0123] As shown in Figures 15 and 16, the cleaning device may further include: a housing 780 covering at least a portion of the rotating member 520 and the seat 110; and a second elastic member 740 located within the space defined by the housing 780 and the seat 110.

[0124] Here, the second lifting device 500 may further include: a connecting shaft 530, which is rotatably mounted on the housing 780 via two bearings 770; one end of the connecting shaft 530 extends out of the housing 780 and is connected to the output shaft of the second power member 510; and a rotating member 520 is mounted on the connecting shaft 530.

[0125] In this embodiment of the disclosure, the wheel assembly 320 may include: an axle 321, a wheel housing 322, and a driven wheel 323 rotatably disposed on the wheel housing 322; the axle 321 may be directly fixed to the support assembly 310. The axle 321 may also be rotatably disposed on the support assembly 310.

[0126] In some implementations, the support component 310 may include: a first mounting component 311 and a second mounting component 312. The first mounting member 311 has a through second slide rail 3111 along the first direction. The axle 321 is rotatably inserted into the second slide rail 3111 from the first port of the second slide rail 3111. One end of the axle 321 passes through the second port of the second slide rail 3111 and is connected to the wheel housing 322. The second mounting member 312 is connected to the first mounting member 311. The second mounting member 312 has a mating part 3122 and a blocking part 3121. The mating part 3122 is sleeved outside the first mounting member 311 and slidably inserted into the first slide rail 111. The blocking part 3121 blocks the first port of the second slide rail 3111. The side of the blocking part 3121 facing away from the axle 321 has a first mating surface 313 that contacts the rotating member 520, so that the wheel assembly 320 can both rotate in the second slide rail 3111 and slide in the first slide rail 111.

[0127] Here, the second mounting component 312 and the first mounting component 311 can be connected by means of snap-fit, adhesive, welding or other methods.

[0128] It should be noted that Figures 15 and 16 are structural schematic diagrams of the driven wheel assembly 300 in Figure 7, Figures 17 and 18 are structural schematic diagrams of the driven wheel assembly 300 in Figure 8, and Figures 19 and 20 are structural schematic diagrams of the driven wheel assembly 300 in Figure 9. Specifically, the height of the driven wheel 323 protruding from the fuselage 100 in Figure 8 is greater than that in Figure 7, and the height of the driven wheel 323 protruding from the fuselage 100 in Figure 9 is also greater than that in Figure 8.

[0129] In some implementations of the embodiments of this disclosure, the cleaning device may further include a connecting component 800, a cleaning component 400, and an adjusting structure 900. The connecting component 800 is connected to the body 100; the connecting component 800 is movably connected to the cleaning component 400 in the circumferential direction of the cleaning component 400 via the adjusting structure 900; when the body 100 is partially raised, the adjusting structure 900 is used to make the cleaning surface of the cleaning component 420 fit against the bearing surface 750, thereby greatly improving the cleaning ability of the cleaning component 420.

[0130] Of course, in other implementations, the cleaning device may not include the adjustment structure 900. Here, the connecting component 800 can be directly connected to the cleaning component 400.

[0131] In this implementation, the connecting component 800 and the body 100 can be detachably connected via a snap-fit ​​structure or a magnetic structure. Of course, the connecting component 800 and the body 100 can also be fixedly connected.

[0132] Here, the connecting component 800 can achieve the state of not contacting the bearing surface 750 in Figure 1 and the state of contacting the bearing surface 750 in Figure 2 through the third lifting device on the body 100. The third lifting device on the body 100 is similar to the way the sweeping robot's application structure extends and retracts in related technologies, and will not be described in detail here.

[0133] In this implementation, the structure of the cleaning component 400 is not limited. In some implementations, the cleaning component 400 may include a cleaning bracket 410 and a cleaning element 420. The cleaning bracket 410 may be directly connected to the connecting component 800, or it may be connected to the connecting component 800 through an adjustment structure 900. The cleaning element 420 is used to clean the bearing surface 750, and the cleaning element 420 may be a fabric structure. As an example, the cleaning element 420 is a mop.

[0134] In one application scenario, when it is necessary to increase the cleaning capacity of the cleaning equipment, the distance between the body 100 and the bearing surface 750 can be reduced by rotating the drive wheel assembly 200, thereby increasing the pressure between the cleaning component 420 and the bearing surface 750. Simultaneously, the driven wheel assembly 300 can be moved so that the height of the driven wheel 323 protruding from the bottom side of the body 100 is the same as the height of the drive wheel 220 protruding from the bottom side of the body 100, ensuring that the cleaning equipment moves approximately horizontally. When it is necessary to further increase the cleaning capacity of the cleaning equipment, the height of the driven wheel 323 protruding from the bottom side of the body 100 can be increased by controlling the movement of the driven wheel assembly 300, thereby reducing the distance between the corresponding part of the body 100 and the cleaning component 420 and the bearing surface 750, further increasing the pressure between the cleaning component 420 and the bearing surface 750.

[0135] Example 2: This embodiment of the present disclosure also describes a cleaning device, which includes a body 100, a cleaning component 400, a drive wheel assembly 200, a driven wheel assembly 300, and a first lifting device. The cleaning component 400 is disposed at the bottom of the body; the drive wheel assembly 200 is disposed at the body, and the drive wheel assembly 200 includes a drive wheel 220 located at the bottom of the body 100; the driven wheel assembly 300 is disposed at the body 100, and the driven wheel assembly 300 includes a driven wheel 323 located at the bottom of the body 100; the first lifting device 600 is disposed between the body 100 and the drive wheel assembly 200, and the first lifting device 600 is used to adjust the relative position of the drive wheel 220 and the body 100, so as to adjust the force distribution of the driven wheel 323, the drive wheel 220, and the cleaning component 400 relative to the bearing surface.

[0136] In this embodiment, the height of the machine body 100 relative to the bearing surface 750 is adjustable, and the height range is not limited. In some implementations, the height of the machine body 100 relative to the bearing surface 750 is adjustable, and the height range can be 0.5cm-5cm. The adjustable height of the machine body 100 relative to the bearing surface 750, within the range of 0.5cm-5cm, via the drive wheel assembly 200, can greatly improve the adaptability of the cleaning equipment. In other implementations, the height of the machine body 100 relative to the bearing surface 750 is adjustable, and the range can be 1cm-5cm, 2cm-5cm, 3cm-5cm, or 2cm-4cm.

[0137] The cleaning equipment of this disclosure embodiment can adjust the force distribution of the driven wheel 323, the drive wheel 220 and the cleaning component 400 relative to the bearing surface through the first lifting device 600 and the drive wheel assembly 200, thereby greatly improving the adaptability of the cleaning equipment.

[0138] In this embodiment, the body 100, cleaning component 400, driven wheel assembly 300, and first lifting device 600 are similar to the body 100, cleaning component 400, driven wheel assembly 300, and first lifting device 600 in the first embodiment above, and will not be described again here.

[0139] In this embodiment, the drive wheel assembly 200 is movably disposed on the fuselage 100. The drive wheel assembly 200 can be rotatably connected to the fuselage 100. The implementation of the rotatable connection between the drive wheel assembly 200 and the fuselage 100 is not limited. In some implementations, the drive wheel assembly 200 can be rotatably connected to the fuselage 100 in the manner described in Embodiment 1 above. Here, the distance between the fuselage 100 and the bearing surface 750 can be adjusted via the drive wheel assembly 200. It should be noted that the traction member 710 can be an elastic structure or a non-elastic structure.

[0140] Of course, the drive wheel assembly 200 can also be movably connected to the fuselage 100. Here, the distance between the fuselage 100 and the bearing surface 750 can be adjusted through the drive wheel assembly 200. The implementation method of the movably connected drive wheel assembly 200 to the fuselage 100 is similar to the implementation method of the movably connected driven wheel assembly 300 to the fuselage 100 in the first embodiment above, and will not be described again here.

[0141] In this embodiment of the disclosure, the drive wheel assembly 200 can adjust the distance between the body 100 and the bearing surface 750 based on different cleaning scenarios of the cleaning equipment.

[0142] When the cleaning equipment is cleaning a scene with many low obstacles, the drive wheel assembly 200 can be moved by the first lifting device 600 to increase the height of the drive wheel 220 protruding from the body 100, thereby increasing the distance between the body 100 and the bearing surface 750.

[0143] The first lifting device 600 is used to increase the height of the drive wheel 220 protruding from the bottom of the body 100, thereby increasing the distance between the body 100 and the bearing surface 750, so as to reduce the pressure between the cleaning component 400 and the bearing surface 750.

[0144] The first lifting device 600 is used to reduce the height of the drive wheel 220 protruding from the bottom of the body 100, thereby reducing the distance between the body 100 and the bearing surface 750, so as to increase the pressure between the cleaning component 400 and the bearing surface 750.

[0145] In this embodiment, the driven wheel assembly 300 is movably disposed on the fuselage 100. The driven wheel assembly 300 includes a driven wheel 323 located on the bottom side of the fuselage 100. The driven wheel assembly 300 is used to adjust the height of the driven wheel 323 protruding from the bottom side of the fuselage 100 by moving relative to the fuselage 100, so as to flexibly cooperate with the drive wheel assembly 200 to jointly support the movement of the fuselage 100. Of course, the driven wheel assembly 300 can also be fixed to the fuselage 100, in which case the height of the driven wheel 323 protruding from the bottom side of the fuselage 100 cannot be adjusted.

[0146] The driven wheel assembly 300 is rotatably connected to the fuselage 100. Here, the implementation of the rotatable connection between the driven wheel assembly 300 and the fuselage 100 is similar to the implementation of the rotatable connection between the drive wheel assembly 200 and the fuselage 100 described above, and will not be repeated here. As an example, the driven wheel assembly 300 is rotatably connected to the fuselage 100 via a shaft structure, and the driven wheel assembly 300 can also be connected to the fuselage 100 via a spring.

[0147] Of course, the driven wheel assembly 300 can also be movably connected to the fuselage 100 to reduce the installation space of the driven wheel assembly 300. In some implementations, the driven wheel assembly 300 can be movably mounted on the fuselage 100 via a slide rail or slide path.

[0148] In some implementations of the disclosed embodiments, the cleaning equipment may further include a second lifting device 500. The second lifting device 500 is disposed between the body 100 and the driven wheel assembly 300; the second lifting device 500 is used to adjust the relative position of the driven wheel assembly 300 and the body 100, so as to adjust the force distribution of the driven wheel 323, the drive wheel 220 and the cleaning component 400 relative to the bearing surface 750.

[0149] In the implementation method, the second lifting device 500 has been described in the above embodiment one, and will not be repeated here.

[0150] In this implementation, the second lifting device 500 is used to drive the driven wheel assembly 300 to move, thereby enabling the driven wheel assembly 300 to move automatically.

[0151] In some implementations, the first lifting device 600 is used to adjust the relative position of the drive wheel 220 and the body 100, and the second lifting device 500 is used to adjust the relative position of the driven wheel assembly 300 and the body 100, so that the height of the driven wheel 323 protruding from the bottom of the body 100 is the same as the height of the drive wheel 220 protruding from the bottom of the body 100.

[0152] By ensuring that the height of the driven wheel 323 protruding from the bottom side of the body 100 is the same as the height of the drive wheel 220 protruding from the bottom side of the body 100, the cleaning component 400 can better fit with the bearing surface 750.

[0153] In some other implementations, the drive wheel assembly 200 is rotatably connected to the body 100, and the second lifting device 500 is used to drive the driven wheel assembly 300 to rotate the body 100 relative to the drive wheel assembly 200, so as to adjust the force distribution of the driven wheel 323, the drive wheel 220 and the cleaning component 400 relative to the bearing surface.

[0154] In one application, as shown in Figures 8 and 9, the cleaning component 400 and the driven wheel component 300 are located on opposite sides of the drive wheel component 200; in the first cleaning state, the second lifting device 500 is used to drive the driven wheel 323 to increase the height of its protrusion from the bottom of the body 100, thereby reducing the distance between the corresponding part of the body 100 and the cleaning component 400 and the bearing surface 750, so as to increase the pressure between the cleaning component 400 and the bearing surface 750.

[0155] Here, the cleaning component 400 can be connected to the connecting component 800 by adjusting the structure 900 so that the cleaning surface of the cleaning component 420 is always attached to the bearing surface 750, thereby improving the cleaning ability of the cleaning component 400.

[0156] In another application, the cleaning component 400 and the driven wheel component 300 are located on opposite sides of the drive wheel component 200; in the second cleaning state, the second lifting device 500 is used to drive the driven wheel 323 to protrude from the bottom of the body 100 at a reduced height, thereby increasing the distance between the corresponding part of the body 100 and the cleaning component 400 and the bearing surface 750, so as to reduce the pressure between the cleaning component 400 and the bearing surface 750.

[0157] Here, since the center of gravity of the cleaning equipment is located between the drive wheel assembly 200 and the driven wheel assembly 300, when the height of the second lifting device 500 protruding from the bottom of the body 100 decreases, the height of the body 100 on the side of the driven wheel assembly 300 will decrease.

[0158] In some implementations of the embodiments of this disclosure, the cleaning device may further include: a third lifting device disposed between the body 100 and the cleaning component 400; the third lifting device is used to adjust the relative position of the cleaning component 400 and the body 100, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning component relative to the bearing surface, so as to adjust the force distribution of the driven wheel 323, the drive wheel 220 and the cleaning component 400 relative to the bearing surface 750.

[0159] In the slipping state, the third lifting device is used to reduce the height of the cleaning component 400 protruding from the bottom of the body 100, so as to reduce the force between the cleaning component 400 and the bearing surface 750, thereby increasing the force between the driven wheel 323 and the drive wheel 220 and the bearing surface 750, so as to eliminate the slipping state of the driven wheel 323 and / or the drive wheel 220, and enable the cleaning equipment to operate normally.

[0160] In the non-slip state, the third lifting device is used to increase the height of the cleaning component 400 protruding from the bottom of the body 100, so as to increase the force between the cleaning component 400 and the bearing surface 750, thereby improving the cleaning ability of the cleaning component 400.

[0161] The third lifting device has already been described in Embodiment 1 above, and will not be repeated here.

[0162] In some implementations of the embodiments of this disclosure, the drive wheel assembly 200 may include a first support member 210 and a drive wheel 220. The first support member 210 has a first connecting portion 211 and a second connecting portion 212 located in different regions; the first connecting portion 211 is rotatably connected to the body 100; the drive wheel 220 is rotatably disposed on the first support member 210 and is used to contact the bearing surface 750; the cleaning device may further include a traction member 710, which is movably disposed on the body 100 of the cleaning device; the traction member 710 is connected to the second connecting portion 212. A first lifting device 600 is disposed on the body 100 and connected to the traction member 710; the first lifting device 600 is used to drive the traction member 710 to move relative to the body 100 to adjust the force distribution of the driven wheel 323, the drive wheel 220, and the cleaning assembly 400 relative to the bearing surface 750.

[0163] In this implementation, the cleaning equipment may further include: a controller, which controls the first lifting device 600 to drive the traction member 710 to move, so as to adjust the distance between the machine body 100 and the bearing surface 750.

[0164] In this implementation, the traction member 710 is a flexible structure; the cleaning equipment may further include a guide member 720, which is disposed on the body 100 and located on one side of the first support member 210; the guide member 720 defines a guide groove. A portion of the traction member 710 is located within the guide groove. Here, the orientation of the guide groove and the axis of rotation of the first support member 210 may be perpendicular.

[0165] In this implementation, the first lifting device 600 may include a first power member 610 and a winding member 620. The first power member 610 is disposed on the machine body 100; the winding member 620 is connected to the output shaft of the first power member 610; the first part of the traction member 710 is connected to the first support member 210, and the second part of the traction member 710 is used to be wound around the winding member 620.

[0166] In this implementation, the cleaning device may further include: a first elastic member 730, which is connected to the third connecting portion 213 of the first support member 210; the first elastic member 730 is connected to the body 100 to provide a rotational damping force to the first support member 210.

[0167] In this implementation, the first support member 210, the traction member 710, the first lifting device 600 and the first elastic member 730 have been described in the above embodiment 1, and will not be repeated here.

[0168] In some implementations of the embodiments of this disclosure, the cleaning device may further include a base 110 disposed on the body 100; the base 110 has a through first slide rail 111 along a first direction; the driven wheel assembly 300 may include a support assembly 310 and a wheel assembly 320. The support assembly 310 is movably disposed on the first slide rail 111, and a first end of the support assembly 310 is connected to the second lifting device 500 through a first port of the first slide rail 111; the wheel assembly 320 is connected to the support assembly 310 through a second port of the first slide rail 111; at least a portion of the driven wheel 323 of the wheel assembly 320 is located outside the base 110.

[0169] In this implementation, the first direction can be perpendicular to the bottom surface of the fuselage 100.

[0170] In this implementation, the second lifting device 500 may include: a second power component 510 and a second power component 510, the second power component 510 being disposed on the body 100; the rotating component 520 being connected to the output shaft of the second power component 510 and in contact with the support assembly 310, so as to drive the support assembly 310 to move along the first direction.

[0171] In this implementation, the support component 310, the wheel component 320 and the second lifting device 500 have been described in the above embodiment 1, and will not be repeated here.

[0172] In some implementations of the embodiments of this disclosure, the cleaning device may further include: a connecting component 800 and an adjusting structure 900. The connecting component 800 is used to connect to the body 100 of the cleaning device; the connecting component 800 is movably connected to the cleaning component 400 in the circumferential direction of the cleaning component 400 via the adjusting structure 900; when the body 100 is partially raised, the adjusting structure 900 is used to make the cleaning surface of the cleaning component 420 fit against the bearing surface 750.

[0173] In this implementation, the docking components and adjustment structure 900 in Embodiment 1 have already been described, and will not be repeated here.

[0174] Example 3: This disclosure describes a cleaning device, including a connecting assembly 800, a cleaning assembly 400, and an adjusting structure 900. The connecting assembly 800 is used to connect to the body 100 of the cleaning device; the cleaning component 420 of the cleaning assembly 400 is used to clean the bearing surface 750; the connecting assembly 800 is movably connected to the cleaning assembly 400 in the circumferential direction of the cleaning assembly 400 via the adjusting structure 900; when the body 100 is partially raised, the adjusting structure 900 is used to make the cleaning surface of the cleaning component 420 fit against the bearing surface 750.

[0175] This disclosure also describes a cleaning device, including a cleaning apparatus and a body 100 according to the present disclosure; the connecting component 800 of the cleaning apparatus is connected to the body 100.

[0176] In related technologies, the cleaning components of robotic vacuum cleaners are generally directly connected to the robot body. When the cleaning components are working, if the robot body is partially raised, the cleaning components will deflect accordingly, preventing them from adhering to the supporting surface. This results in some areas of the supporting surface remaining uncleaned, thus affecting the cleaning effect. However, in the cleaning device disclosed herein, the connecting component 800 is movably connected to the cleaning component 400 circumferentially via the adjusting structure 900. When the robot body 100 is partially raised, the adjusting structure 900 ensures that the cleaning surface of the cleaning component 400 adheres to the supporting surface 750, allowing the cleaning component 400 to clean the entire area of ​​the supporting surface 750, thereby significantly improving the cleaning effect of the device.

[0177] In this embodiment, partial lifting of the body 100 means that only a portion of the body 100 is lifted, resulting in the bottom surface of the body 100 being non-parallel to the bearing surface 750. In some implementations, as shown in Figures 8 and 9, the body 100 partially lifts when the driven wheel assembly 300 moves. In other implementations, the body 100 partially lifts when the drive wheel assembly 200 moves. In still other implementations, the body 100 partially lifts when the cleaning equipment encounters an obstacle.

[0178] In this embodiment, the connecting component 800 and the body 100 can be detachably connected via a snap-fit ​​structure or a magnetic attraction structure. Alternatively, the connecting component 800 and the body 100 can be connected via adhesive bonding, welding, or other methods. The connecting component 800 can be mounted on a movable structure of the body 100 or on a third lifting device. The connecting component 800 can move relative to the body 100 between the states shown in Figure 1 and Figure 2 via the movable structure or the third lifting device. Here, the movable structure is similar to the way the mop of a robotic vacuum cleaner extends and retracts relative to the body in related technologies, and will not be described in detail here.

[0179] In this embodiment, the form of the adjustment structure 900 is not limited. In some implementations, the adjustment structure 900 may include a ball head structure 910. As an example, the adjustment structure 900 may include: a ball socket portion 911 and a ball head 912 that mates with the ball socket; one of the ball socket portion 911 and the ball head 912 is disposed in the connecting assembly 800, and the other of the ball socket portion 911 and the ball head 912 is disposed in the cleaning assembly 400. In one application, as shown in Figures 22, 23, and 24, the ball socket portion 911 is disposed in the connecting assembly 800, and the ball head 912 is disposed in the cleaning assembly 400.

[0180] In some other implementations, the adjustment structure 900 may include a flexible structure. In still other implementations, the adjustment structure 900 may include a ball-head structure 910 and a flexible structure.

[0181] In some implementations of this disclosure, the adjustment structure 900 may include a ball-head structure 910 and a first spring structure 920. The cleaning assembly 400 is connected to the connecting assembly 800 via the ball-head structure 910; the first spring structure 920 is disposed between the connecting assembly 800 and the cleaning assembly 400 in a direction perpendicular to the cleaning surface of the cleaning member 420, so as to provide the connecting assembly 800 with a restoring force for movement in a direction perpendicular to the cleaning surface of the cleaning member 420.

[0182] In this implementation, the ball head structure 910 may include a ball socket portion 911 and a ball head portion 912 that mates with the ball socket; one of the ball socket portion 911 and the ball head portion 912 is disposed in the connecting assembly 800, and the other of the ball socket portion 911 and the ball head portion 912 is disposed in the cleaning assembly 400. As an example, as shown in Figures 22, 23 and 24, the ball socket portion 911 may be disposed in the connecting assembly 800, and the ball head portion 912 may be disposed in the cleaning assembly 400.

[0183] In this implementation, the structure of the first elastic structure 920 is not limited. In some implementations, the first elastic structure 920 can be a spring. In other implementations, the first elastic structure 920 can be a rubber structure.

[0184] In this implementation, the location of the first spring structure 920 is not limited. In some implementations, the first spring structure 920 may be located on one side of the ball head structure 910.

[0185] In some implementations, the first elastic structure 920 can be cylindrical and can be fitted over the ball head structure 910. Here, the connecting component 800 can have a limiting groove 840, and one end of the first elastic structure 920 is located within the limiting groove 840. Of course, the connecting component 800 may also not have a limiting groove 840; in this case, one end of the first elastic structure 920 can be fixed to the connecting component 800 by means of bonding, snap-fitting, welding, etc.

[0186] In this implementation, when the cleaning device is in the state shown in FIG. 7, the driven wheel assembly 300 can be in the state shown in FIG. 13 and FIG. 14. The driven wheel 323 of the driven wheel assembly 300 protrudes from the body 100 at a relatively low height. The cleaning component 400 can be in the state shown in FIG. 22. The first elastic structure 920 is perpendicular to the cleaning surface of the cleaning component 420, and the cleaning surface of the cleaning component 420 is in contact with the bearing surface 750. When the driven wheel assembly 300 can move from the state shown in FIG. 13 and FIG. 14 to the state shown in FIG. 17 and FIG. 18, the cleaning device is in the state shown in FIG. 8. The cleaning component 400 can be in the state shown in FIG. 23. The first elastic structure 920 deforms and has a restoring force that moves in a direction perpendicular to the cleaning surface of the cleaning component 420. The cleaning surface of the cleaning component 420 is in contact with the bearing surface 750. At the same time, the pressure between the cleaning component 420 and the bearing surface 750 increases, and the cleaning component 420 can clean the bearing surface 750 more effectively. When the driven wheel assembly 300 moves from the states shown in Figures 17 and 18 to the states shown in Figures 19 and 20, the cleaning device is in the state shown in Figure 9, and the cleaning component 400 can be in the state shown in Figure 24. The first elastic structure 920 continues to deform and has a restoring force that moves in a direction perpendicular to the cleaning surface of the cleaning component 420. The cleaning surface of the cleaning component 420 contacts the bearing surface 750, and at the same time, the pressure between the cleaning component 420 and the bearing surface 750 further increases, enabling the cleaning component 420 to clean the bearing surface 750 more effectively. When the driven wheel assembly moves from the states shown in Figures 17 and 18 to the states shown in Figures 13 and 14, the cleaning device is in the state shown in Figure 7, and the cleaning component 400 can move from the state shown in Figure 24 to the state shown in Figure 22 based on the restoring force of the first elastic structure 920.

[0187] Of course, in other implementations, the adjustment structure 900 may include only one of the ball head structure 910 and the first spring structure 920. In some implementations, the cleaning component 400 and the connecting component 800 are spaced apart, and the first spring structure 920 is disposed within the gap between the cleaning component 400 and the connecting component 800.

[0188] In some implementations of the embodiments of this disclosure, the adjustment structure 900 may include a second elastic structure 930; the connecting component 800 has a first end and a second end disposed opposite to each other; the first end of the connecting component 800 is used to connect to the body 100; and the second end of the connecting component 800 is connected to the cleaning component 400 through the second elastic structure 930.

[0189] In this implementation, the second elastic structure 930 can be disposed on the end face side of the second end of the connecting component 800. Alternatively, the second elastic structure 930 can be disposed on the periphery side of the second end of the connecting component 800. Of course, the second elastic structure 930 can also be disposed on both the end face side and the periphery side of the second end of the connecting component 800.

[0190] In this implementation, the second elastic structure 930 can be a spring. Of course, the second elastic structure 930 can also be a polymer structure. In some implementations, the second elastic structure 930 can be a rubber structure.

[0191] In some implementations of this disclosure, the cleaning assembly 400 includes a cleaning bracket 410 and a cleaning component 420. The connecting assembly 800 is movably connected to the cleaning bracket 410 in the circumferential direction of the cleaning assembly 400 via an adjustment structure 900. The cleaning component 420 can be disposed on the end face side of the cleaning bracket 410 by means of adhesive bonding, snap-fitting, or other methods.

[0192] In this implementation, the hardness of the cleaning bracket 410 can be greater than the hardness of the cleaning component 420, so as to improve the rigidity of the cleaning assembly 400 by using the harder cleaning bracket 410 and improve the cleaning ability of the cleaning assembly 400 by using the softer cleaning component 420. In some implementations, the cleaning bracket 410 is made of plastic and the cleaning component 420 is a fabric structure. As an example, the cleaning component 420 is a mop.

[0193] In this implementation, the cleaning component 400 may further include a shock absorber 430, which is arranged around the periphery of the cleaning bracket 410. The shock absorber 430 can prevent the cleaning bracket 410 from being damaged and can also prevent the cleaning bracket 410 from damaging foreign objects.

[0194] Here, the anti-collision element 430 can be elastic. In some implementations, the anti-collision element 430 can be a rubber structure.

[0195] In this implementation, as shown in Figure 21, the cleaning bracket 410 may have a first mounting through hole 411; the cleaning component 420 may be disposed on the end face side of the cleaning bracket 410; the adjustment structure 900 may include a second elastic structure 930, which may be disposed within the first mounting through hole 411 and may have a second mounting through hole 931; the connecting component 800 may have a first end and a second end disposed opposite to each other; the first end of the connecting component 800 is used to connect with the body 100; the second end of the connecting component 800 may be inserted into the second mounting through hole 931.

[0196] Here, the second elastic structure 930 can be installed in the first mounting through hole 411 by means of an adhesive structure or a snap-fit ​​structure.

[0197] Here, the second end of the connecting component 800 can be disposed in the second mounting through hole 931 through an adhesive structure or a snap-fit ​​structure.

[0198] In some implementations of the embodiments of this disclosure, as shown in FIG21, the connecting component 800 may include: a first connector 810, a second connector 820, and a third elastic member 830. The first connector 810 is used to connect to the body 100 of the cleaning device; the second connector 820 is movably connected to the first connector 810 in a first direction and is connected to the cleaning component 400 through the adjustment structure 900; wherein, the first direction is perpendicular to the bottom surface of the body 100; the third elastic member 830 is connected to the first connector 810 and the second connector 820 respectively to adjust the length of the connecting component 800 in the first direction, thereby enabling the connecting component 800 to have a buffering effect in the first direction through the third elastic member 830, thereby improving the adaptability of the cleaning device.

[0199] In this implementation, the structure of the first connector 810 and the second connector 820 is not limited.

[0200] In some implementations, the first connector 810 may include a first cylindrical portion 811 and a first fixing portion 812 located within the first cylindrical portion 811. The second connector 820 may include a second cylindrical portion 821 and a second fixing portion 822 located within the second cylindrical portion 821. The first cylindrical portion 811 and the second cylindrical portion 821 are inserted into each other in a first direction and define a receiving cavity between the first connector 810 and the second connector 820; the first fixing portion 812 and the second fixing portion 822 are located within the receiving cavity; a third elastic member 830 is located within the receiving cavity; and both ends of the third elastic member 830 are respectively connected to the first fixing portion 812 and the second fixing portion 822.

[0201] Here, the first fixing part 812 can be a protrusion structure disposed in the first cylindrical part 811, and the second fixing part 822 can be a protrusion structure disposed in the second cylindrical part 821, as shown in FIG21.

[0202] Here, the structure of the third elastic element 830 is not limited. In some implementations, the third elastic element 830 can be a spring. In other implementations, the third elastic element 830 can be a rubber structure.

[0203] Here, the two ends of the third elastic member 830 can be connected to the first fixing part 812 and the second fixing part 822 respectively by means of bonding, snapping or other methods.

[0204] In some implementations of the embodiments of this disclosure, the cleaning device may further include a drive wheel assembly 200, which is movably disposed on the body 100; the drive wheel assembly 200 includes a drive wheel 220 located on the bottom side of the body 100; the drive wheel assembly 200 is used to adjust the height of the drive wheel 220 protruding from the bottom of the body 100 by moving relative to the body 100.

[0205] In this implementation, the drive wheel assembly 200 can be rotatably connected to the fuselage 100. Of course, the drive wheel assembly 200 can also be translatably connected to the fuselage 100.

[0206] In this implementation, the cleaning equipment may further include a first lifting device 600, which is used to drive the drive wheel assembly 200 to move relative to the body 100.

[0207] In this implementation, the drive wheel assembly 200 and the first lifting device 600 are similar to those in Embodiment 2 above, and will not be described again here.

[0208] In some implementations of the embodiments of this disclosure, the cleaning device may further include: a driven wheel assembly 300, which is movably disposed on the body 100; the driven wheel assembly 300 includes a driven wheel 323 located on the bottom side of the body 100; the driven wheel assembly 300 is used to adjust the height of the driven wheel 323 protruding from the bottom side of the body 100 by moving relative to the body 100.

[0209] In this implementation, the driven wheel assembly 300 can be rotatably connected to the body 100. Of course, the drive wheel assembly 200 can also be translatably connected to the body 100.

[0210] In this implementation, the cleaning equipment may further include a second lifting device 500, which is used to drive the driven wheel assembly 300 to move.

[0211] In this implementation, the driven wheel assembly 300 and the second lifting device 500 are similar to those in Embodiment 1 above, and will not be described again here.

[0212] In some implementations of the embodiments of this disclosure, when the drive wheel assembly 200 and / or the driven wheel assembly 300 move relative to the body 100 and cause the body 100 to be partially raised, the body 100 drives the connecting assembly 800 to move toward the side of the cleaning assembly 400 through the adjustment structure 900 so that the cleaning surface of the cleaning assembly 400 is in contact with the bearing surface 750.

[0213] In this implementation, the body 100 may be partially raised by the movement of the drive wheel assembly 200 relative to the body 100, or the body 100 may be partially raised by the movement of the driven wheel assembly 300 relative to the body 100, or the body 100 may be partially raised by the movement of both the drive wheel assembly 200 and the driven wheel assembly 300 relative to the body 100.

[0214] In the cleaning equipment of this disclosure embodiment, the first lifting device is used to adjust the relative position of the drive wheel and the machine body, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning component relative to the bearing surface. By adjusting the force distribution of the driven wheel, the drive wheel and the cleaning component relative to the bearing surface through the first lifting device and the drive wheel assembly, the adaptability of the cleaning equipment can be greatly improved.

[0215] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A cleaning device, characterized in that, include: body; A cleaning component is disposed at the bottom of the body; A drive wheel assembly is disposed on the fuselage; the drive wheel assembly includes drive wheels located at the bottom of the fuselage; Driven wheel assembly, the driven wheel assembly being disposed on the fuselage; the driven wheel assembly including a driven wheel located at the bottom of the fuselage; A first lifting device is disposed between the machine body and the drive wheel assembly. The first lifting device is used to adjust the relative position of the drive wheel and the machine body to adjust the force distribution of the driven wheel, the drive wheel and the cleaning assembly relative to the bearing surface. The height of the machine body relative to the bearing surface is adjustable, and the height range of the machine body relative to the bearing surface is 0.5cm-5cm.

2. The cleaning equipment according to claim 1, characterized in that, The first lifting device is used to increase the height of the drive wheel protruding from the bottom of the machine body, thereby increasing the distance between the machine body and the bearing surface, and reducing the pressure between the cleaning component and the bearing surface; or, The first lifting device is used to reduce the height of the drive wheel protruding from the bottom of the machine body, thereby reducing the distance between the machine body and the bearing surface, and increasing the pressure between the cleaning component and the bearing surface.

3. The cleaning equipment according to claim 1, characterized in that, Also includes: A second lifting device is disposed between the machine body and the driven wheel assembly; The second lifting device is used to adjust the relative position of the driven wheel assembly and the machine body, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning assembly relative to the bearing surface.

4. The cleaning equipment according to claim 3, characterized in that, The first lifting device is used to adjust the relative position of the drive wheel and the body, and the second lifting device is used to adjust the relative position of the driven wheel assembly and the body, so that the height of the driven wheel protruding from the bottom of the body is the same as the height of the drive wheel protruding from the bottom of the body.

5. The cleaning equipment according to claim 1, characterized in that, The drive wheel assembly is rotatably connected to the fuselage; or, the drive wheel assembly is translationally connected to the fuselage.

6. The cleaning equipment according to claim 3, characterized in that, The drive wheel assembly is rotatably connected to the machine body, and the second lifting device is used to drive the driven wheel assembly to rotate the machine body relative to the drive wheel assembly, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning assembly relative to the bearing surface.

7. The cleaning equipment according to claim 6, characterized in that, The cleaning component and the driven wheel assembly are located on opposite sides of the drive wheel assembly; In the first cleaning state, the second lifting device is used to increase the height of the driven wheel protruding from the bottom of the machine body, thereby reducing the distance between the corresponding part of the machine body and the cleaning component and the bearing surface, so as to increase the pressure between the cleaning component and the bearing surface; or, In the second cleaning state, the second lifting device is used to drive the driven wheel to protrude from the bottom of the machine body by a smaller height, thereby increasing the distance between the corresponding part of the machine body and the cleaning component and the bearing surface, so as to reduce the pressure between the cleaning component and the bearing surface.

8. The cleaning equipment according to claim 1, characterized in that, Also includes: A third lifting device is disposed between the machine body and the cleaning component; The third lifting device is used to adjust the relative position of the cleaning component and the machine body, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning component relative to the bearing surface.

9. The cleaning equipment according to claim 8, characterized in that, In the slipping state, the third lifting device is used to drive the cleaning component to protrude from the bottom of the machine body to reduce the height, so as to reduce the force between the cleaning component and the bearing surface; or, In a non-slipping state, the third lifting device is used to drive the cleaning component to protrude from the bottom of the machine body to increase the height, thereby increasing the force between the cleaning component and the bearing surface.

10. The cleaning equipment according to any one of claims 1 to 9, characterized in that, The drive wheel assembly includes: A first support member has a first connecting portion and a second connecting portion located in different areas; the first connecting portion is rotatably connected to the body. A drive wheel, which is rotatably disposed on the first support member and is used to contact the bearing surface; The cleaning equipment also includes: A traction component is movably disposed on the fuselage; the traction component is connected to the second connecting portion; wherein the traction component is a non-elastic structure; The first lifting device is disposed on the machine body and connected to the traction member; the first lifting device is used to drive the traction member to move relative to the machine body, so as to adjust the force distribution of the driven wheel, the drive wheel and the cleaning component relative to the bearing surface.

11. The cleaning equipment according to claim 10, characterized in that, The traction component is a flexible structure; and / or, The traction component is a rigid structure.

12. The cleaning equipment according to claim 10, characterized in that, The traction component is a flexible structure; The drive wheel device also includes: A guide member is disposed on the body and located on one side of the first support member; the guide member defines a guide groove; a portion of the traction member is located within the guide groove, and the direction of the guide groove is perpendicular to the axis of rotation of the first support member.

13. The cleaning equipment according to any one of claims 10 to 12, characterized in that, The first lifting device includes: The first power component is disposed on the fuselage; A winding element, wherein the winding element is connected to the output shaft of the first power element; The first part of the traction member is connected to the first support member, and the second part of the traction member is used to be wrapped around the outside of the winding member.

14. The cleaning equipment according to any one of claims 10 to 13, characterized in that, Also includes: A first elastic element is connected to a third connecting portion of the first support member; the first elastic element is connected to the fuselage to provide a rotational damping force to the first support member.

15. The cleaning equipment according to any one of claims 1 to 14, characterized in that, The driven wheel assembly is rotatably connected to the body; or, the driven wheel assembly is translationally connected to the body.

16. The cleaning equipment according to any one of claims 1 to 15, characterized in that, Also includes: A connecting component, which is connected to the body; Adjust the structure; The connecting component is movably connected to the cleaning component in the circumferential direction via the adjusting structure; when the body is partially raised, the adjusting structure is used to make the cleaning surface of the cleaning component fit against the bearing surface.

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