CN221205274U

CN221205274U - Cleaning apparatus

Info

Publication number: CN221205274U
Application number: CN202323385147.0U
Authority: CN
Inventors: 孙佳佳; 丘伟楠; 杨咚浩; 邓晶; 刘广宇; 舒忠义; 严松; 刘璎皞; 花天宇; 詹镇伟; 马怀超; 夏磊
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-06-14
Filing date: 2023-06-14
Publication date: 2024-06-25
Anticipated expiration: 2033-06-14
Also published as: CN221153960U; CN221153961U; CN221266062U

Abstract

The invention provides a cleaning device, comprising a machine body; the cleaning component is movably connected with the machine body; the cleaning assembly has a retracted position and an outwardly swung position; the cleaning component can realize edge cleaning when in the outward swinging position; a second drive structure for driving the cleaning assembly to oscillate between the retracted position and the swung-out position, and for driving the cleaning assembly to switch from the swung-out position to the retracted position in at least one scenario; the scene comprises at least one of a scene that the cleaning device returns to the base station, a scene that the cleaning assembly is in lifting, and a scene that the cleaning device is in non-edgewise cleaning.

Description

Cleaning apparatus

RELATED APPLICATIONS

The utility model is a divisional application of Chinese utility model patent with the patent application number 202390000060.6, the application date 20230614 and the utility model creation name of cleaning equipment.

Technical Field

The application relates to the field of cleaning equipment, in particular to cleaning equipment.

Background

Along with the continuous progress of living conditions and technological level, the cleaning device has the advantages of convenient use and good cleaning effect, so the cleaning device gradually starts to replace manual cleaning to widely appear in life and work, and the cleaning device mainly collects dirt on a surface to be cleaned through cleaning elements such as a rolling brush or a rag.

However, the cleaning elements on the existing cleaning equipment are designed to be fixed on the host machine, so that when the cleaning elements are used for cleaning the floor along the edges, the edges cannot be pulled, dirty marks are formed along the edges of the feet of the house for a long time, and poor user experience is caused.

Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art.

Disclosure of Invention

The application aims to provide cleaning equipment which is used for solving the problem that edge cleaning is not thorough.

The application can be realized by adopting the following technical scheme: the present application provides a cleaning device comprising: a body; the cleaning assembly is movably connected with the machine body, and is provided with a first position and a second position, and when the cleaning assembly is in the first position, a part of the cleaning assembly is positioned outside the peripheral side of the machine body; when the cleaning assembly moves to the second position, a portion of the cleaning assembly that is located outside of the peripheral side of the machine body is larger than a portion of the cleaning assembly that is located outside of the peripheral side of the machine body when the cleaning assembly is in the first position.

The application also provides cleaning equipment, which comprises a machine body; the cleaning component is movably connected with the machine body; the cleaning assembly has a retracted position and an outwardly swung position; the cleaning component can realize edge cleaning when in the outward swinging position; a second drive structure for driving the cleaning assembly to oscillate between the retracted position and the swung-out position, and for driving the cleaning assembly to switch from the swung-out position to the retracted position in at least one scenario; the scene comprises at least one of a scene that the cleaning device returns to the base station, a scene that the cleaning assembly is in lifting, and a scene that the cleaning device is in non-edgewise cleaning.

Optionally, the cleaning device further includes a lifting structure, where the lifting structure is used to drive the cleaning assembly to lift and descend; and if the cleaning assembly is at the outward swing position, the second driving structure drives the cleaning assembly to be switched from the outward swing position to the inward retraction position, and in the inward retraction position, the lifting structure drives the cleaning assembly to lift or descend.

Optionally, the cleaning device further includes a lifting structure, where the lifting structure is used to drive the cleaning assembly to lift and descend, so that the cleaning assembly has a lifting position and a mopping position; when the cleaning component is at the retracted position, the lifting structure drives the cleaning component to do lifting or descending movement.

Optionally, the cleaning device is configured such that the lifting structure causes the cleaning assembly to be in the lifted position when the cleaning assembly is removed and/or when the cleaning device is at least one of cleaning carpets, obstacle surmounting, and returning to a base station.

Optionally, the cleaning device performs at least one operation in a base station, and the second driving structure is used for driving the cleaning assembly to keep at the retracted position; the operations include at least one of collecting dust within a dust box of the cleaning apparatus into the base station, cleaning a cleaning member of the cleaning assembly, removing and/or assembling the cleaning member, and filling water within a water tank of a water replenishment mechanism of the cleaning apparatus.

Optionally, the cleaning device further includes a first driving structure, where the first driving structure is used to drive the cleaning assembly to move so as to drive the cleaning assembly to move, so as to clean the surface to be cleaned; the first driving structure and the lifting structure share a motor.

Optionally, the cleaning device described above, the first driving structure includes a rotating motor; the lifting structure comprises a first fixed body and a second fixed body, wherein the first fixed body is in threaded fit with the second fixed body, one of the first fixed body and the second fixed body is provided with a threaded groove, and the other one of the first fixed body and the second fixed body is provided with a convex rib or a threaded tooth matched with the threaded groove; the bottom of the second fixed body is connected with the top of the cleaning assembly, and the first fixed body is connected with the rotating motor; the cleaning assembly is positioned at a mopping position, the rotating motor rotates along a first direction, and the second fixed body rotates upwards relative to the first fixed body to drive the cleaning assembly to lift to a lifting position; the cleaning assembly is located at a lifting position, the rotating motor rotates along a second direction, the second fixed body rotates downwards relative to the first fixed body, the cleaning assembly descends to a mopping position from the lifting position, the rotating motor continues to rotate along the second direction, and relative rotation does not exist between the first fixed body and the second fixed body, so that the cleaning assembly is driven to integrally rotate to mop the floor.

Optionally, in the cleaning apparatus, the cleaning assembly further has a separation position, and when the cleaning assembly is in the lifted position, the rotating motor continues to rotate in the first direction, and the cleaning assembly is separated from the second fixing portion from the lifted position to the separation position. Further optionally, the second driving structure is used for driving the first driving structure and/or the lifting structure to swing so as to drive the cleaning assembly to swing.

Optionally, the cleaning device described above, the second driving structure includes a motor, a reset member, or an elastic member; one end of the reset piece or the elastic piece is connected with the cleaning assembly, the other end of the reset piece or the elastic piece is connected with the machine body, and the reset piece or the elastic piece provides reset force for the cleaning assembly to be kept at the outward swing position; the motor is used for driving the cleaning assembly to retract so as to overcome the reset force and enable the cleaning assembly to be switched from the outward swing position to the retracted position.

Optionally, in the cleaning apparatus described above, the second driving structure includes a motor, a transmission mechanism, and an elastic member, where the elastic member is disposed between the transmission mechanism and the cleaning assembly; when the cleaning assembly is required to swing outwards, the motor rotates along a first direction to drive the transmission mechanism to rotate, the transmission mechanism applies acting force to the elastic piece to force the elastic piece to store energy so as to drive the cleaning assembly to swing outwards; when the cleaning assembly needs to retract, the motor rotates along the second direction to drive the transmission mechanism to rotate, and the transmission mechanism is used for poking the cleaning assembly to swing towards the retracted position.

Optionally, in the above cleaning apparatus, the motor rotates along a first direction to drive the transmission mechanism to rotate, the transmission mechanism applies an acting force to the elastic element to force the elastic element to store energy, and when the motor withdraws driving force or stops rotating, the elastic element releases the stored energy to drive the cleaning assembly to swing outwards.

Optionally, in the cleaning apparatus, the transmission mechanism includes a transmission member and a swinging member, and the swinging member is rotatably disposed on the machine body; the cleaning component is arranged on the swinging piece; when the cleaning assembly needs to retract, the motor rotates along a second direction to drive the transmission piece to rotate, and the transmission piece is abutted on the swinging piece to toggle the swinging piece to rotate so as to drive the cleaning assembly to swing towards the retracted position; or the transmission mechanism is provided with a first abutting part, and the cleaning assembly is provided with a second abutting part; when the cleaning assembly needs to shrink inwards, the motor drives the transmission mechanism to rotate when rotating along the second direction, and the cleaning assembly is stirred to rotate towards the shrinking position through the abutting of the first abutting part and the second abutting part.

Optionally, the cleaning device described above, the second driving structure includes a transmission member; the swing arm is rotatably arranged on the machine body through a rotating shaft; the cleaning component is arranged on the swing arm; an actuator; two ends of the actuating piece respectively act on the swing arm and the transmission piece; the swing arm is matched with the transmission piece and driven by the transmission piece to rotate so as to drive the cleaning assembly to switch between the retracted position and the outward swing position; in the process of switching the cleaning assembly from the retracted position to the outward swing position, the actuating piece is driven by the driving force of the transmission piece to store energy and drive the swing arm to rotate; when the driving force of the transmission piece is withdrawn, the actuating piece releases the energy storage to drive the swing arm to swing towards the outward swing position continuously.

Optionally, the cleaning device described above, the second driving structure includes an elastic member and a link driving mechanism; the cleaning device further comprises a first driving structure, wherein the first driving structure is used for driving the cleaning assembly to move so as to drive the cleaning assembly to move, and the cleaning surface is cleaned; the elastic piece is arranged between the machine body and the first driving structure or the cleaning component; moving the cleaning assembly toward the swung-out position under the resilience of the resilient member; the connecting rod driving mechanism is arranged on the machine body and drives the first driving structure and/or the cleaning assembly to rotate so as to enable the cleaning assembly to move towards the retracted position; when the cleaning component is positioned at the retracted position, the connecting rod driving mechanism is self-locking, overcomes the resilience force of the elastic piece and can maintain the cleaning component at the retracted position; when the connecting rod driving mechanism cancels self-locking, the cleaning assembly moves to the outward swinging position under the action of the resilience force of the elastic piece.

Optionally, the cleaning device is characterized in that the motor is a brush motor or a self-locking motor, and the brush motor or the self-locking motor is used for locking the cleaning assembly in the retracted position; when the cleaning component needs to swing outwards, the brush motor or the self-locking motor can cancel the locking effect on the cleaning component.

Optionally, the cleaning device further includes a locking structure, provided on the second driving structure, the first driving structure or the cleaning assembly, for locking the cleaning assembly in the retracted position, so as to keep the cleaning assembly in the retracted position; when the cleaning component needs to swing outwards, the locking structure removes the locking effect on the cleaning component, and the cleaning component swings outwards under the drive of the second driving structure.

Optionally, in the cleaning device, the swing arm is provided with a second abutting part, and the transmission member is provided with an abutting part; the second abutting part abuts against the abutting part; when the cleaning assembly is switched from the second position to the first position, the transmission piece is abutted on the second abutting part through the abutting part so as to toggle the swing arm to rotate.

The application also provides cleaning equipment, which comprises a machine body; the cleaning assembly is movably connected with the machine body, the cleaning assembly is provided with an initial position and a contracted position, one end of the resetting piece is connected with the cleaning assembly, the other end of the resetting piece is connected with the machine body, and the resetting piece provides resetting force for the cleaning assembly to be kept at the initial position; wherein a portion of the cleaning assembly is located outside of a peripheral side of the body when the cleaning assembly is in the retracted position; when the cleaning assembly is at the initial position, the part of the cleaning assembly, which is positioned outside the peripheral side of the machine body, is larger than the part of the cleaning assembly, which is positioned outside the peripheral side of the machine body when the cleaning assembly is at the contracted position, and the cleaning assembly is switched from the initial position to the contracted position after the part of the cleaning assembly, which is positioned outside the peripheral side of the machine body, is abutted against the edge of the obstacle.

The beneficial effects of the application are as follows:

The cleaning device comprises a machine body and a cleaning component, wherein the cleaning component is movably connected with the machine body and is provided with a first position and a second position, and when the cleaning component is in the first position, a part of the cleaning component is positioned outside the peripheral side of the machine body; when the cleaning assembly moves to the second position, a portion of the cleaning assembly located outside the peripheral side of the machine body is larger than a portion of the cleaning assembly located outside the peripheral side of the machine body when the cleaning assembly is in the first position.

In the application, when the cleaning component is in the first position and the second position, at least one part of the cleaning component is positioned outside the periphery of the machine body, and can clean dead corners such as the obstacle and the like when the cleaning component is in the second position, so that the cleaning efficiency is improved.

Drawings

The following drawings are only for purposes of illustration and explanation of the present application and are not intended to limit the scope of the application. Wherein:

fig. 1 is a schematic view showing the structure of a cleaning assembly according to embodiments 1 to 7 of the present application in a first position;

Fig. 2 is a schematic view showing a structure of the cleaning assembly in embodiments 1 to 7 in a second position, wherein the cleaning assembly extends to be flush with the widest region of the machine body;

Fig. 3 is a schematic view showing the structure of the cleaning assembly in the second position according to embodiments 1 to 7 of the present application, wherein the cleaning assembly extends out of the widest region of the machine body;

Fig. 4 is a schematic view showing the internal structure of one embodiment of the cleaning apparatus in examples 1 to 7 of the present application;

FIG. 5 is a schematic view of the interior of the cleaning apparatus of FIG. 4 without a cleaning assembly mounted thereto;

FIG. 6 is a schematic view of the drive mechanism of the cleaning assembly provided in FIG. 4;

Fig. 7 is a schematic view showing the structure of the cleaning assembly in embodiments 1 to 7 of the present application in the initial position;

FIG. 8 is a schematic view showing the structure of the cleaning assembly of embodiments 1 to 7 of the present application in a retracted position;

fig. 9 is a schematic view showing a structure of the cleaning assembly in the initial position in embodiments 1 to 7 of the present application, wherein the cleaning assembly is protruded to be flush with the widest area of the machine body;

Fig. 10 is a schematic view showing a structure of the cleaning assembly in the initial position in embodiments 1 to 7 of the present application, wherein the cleaning assembly extends out of the widest region of the machine body;

FIG. 11 is a schematic view showing the structure of a cleaning assembly in embodiment 4 of the present application;

FIG. 12 is a schematic view of the cleaning assembly of FIG. 11 in a flared position;

FIG. 13 is a schematic view of the cleaning assembly of FIG. 11 in a retracted position;

FIG. 14 is a schematic cross-sectional view of the cleaning assembly of FIG. 11;

FIG. 15 is an exploded view of a portion of the construction of the cleaning assembly shown in FIG. 11;

FIG. 16 is a schematic view of a second drive assembly of the cleaning assembly of FIG. 11;

FIG. 17 is a schematic view of another portion of the cleaning assembly of FIG. 11;

FIG. 18 is a schematic view of a further portion of the cleaning assembly of FIG. 11;

FIG. 19 is a schematic view of the cleaning assembly of FIG. 11 in another orientation;

FIG. 20 is a schematic view of the cleaning assembly of FIG. 11 in a further orientation;

FIG. 21 is a schematic view showing a part of the structure of an embodiment of a cleaning apparatus according to example 5 of the present application;

FIG. 22 is an exploded view of the cleaning device of FIG. 21;

FIG. 23 is a top view of the cleaning apparatus of FIG. 21 with the cleaning assembly in the edgewise position;

FIG. 24 is another top view of the cleaning apparatus of FIG. 21 with the cleaning assembly in an initial position;

FIG. 25 is an enlarged view of area A of the cleaning apparatus of FIG. 24;

FIG. 26 is a schematic view of a cleaning assembly of the cleaning apparatus of FIG. 21;

FIG. 27 is a top view of the cleaning assembly of FIG. 26;

FIG. 28 is a cross-sectional view of the cleaning assembly of FIG. 27 taken along line I-I;

FIG. 29 is an exploded view of the cleaning assembly of FIG. 26;

FIG. 30 is a schematic diagram of a cleaning apparatus, according to an example embodiment;

FIG. 31 is a side cross-sectional view of a first drive structure illustrated in accordance with an exemplary embodiment;

FIG. 32 is a schematic top view of the internal structure of a cleaning apparatus, shown in accordance with an exemplary embodiment;

FIG. 33 is a schematic top view of a second drive structure illustrated in accordance with an example embodiment;

FIG. 34 is a schematic view of a maximum width of a body illustrated in accordance with an exemplary embodiment;

FIG. 35 is a schematic view of another orientation of a cleaning assembly, illustrated in accordance with an exemplary embodiment;

FIG. 36 is a schematic cross-sectional view of FIG. 35, schematically illustrated according to an exemplary embodiment;

Detailed Description

The cleaning apparatus may be a cleaning robot, a mopping robot, a sweeping robot, a window cleaning robot, etc., and may include a body 10, a traveling system 300M, a cleaning module, a control system, a sensing system, etc.

Wherein the body 10 has a mounting cavity therein for mounting a number of structures. The shape of the body 10 is not limited, and may be circular, D-shaped, triangular, or other shapes.

The traveling system 300M is disposed on the machine body 10, and is used for driving the machine body 10 to realize a self-moving traveling function on a surface to be cleaned, and the traveling system 300M generally includes a driver and a traveling member, wherein the driver drives the traveling member to move. The number of the walking parts can be generally two, the two walking parts are symmetrically arranged on the machine body 10, and the walking parts can be, but are not limited to, driving wheels, crawler wheels or steering wheels with adjustable steering. For example: the steering wheel is Mecanum wheel. Further, the traveling system 300M is swingably provided on the machine body 10 so that the cleaning apparatus has an obstacle surmounting function during traveling. The surface to be cleaned may be, but is not limited to, a surface or scene of an object such as a floor, a table top, glass, a wall, etc. For convenience of description, the surface to be cleaned hereinafter will be described by taking the floor as an example. The width direction of the machine body is perpendicular to the traveling direction of the machine body 10, and as in the embodiment shown in fig. 34, the maximum width of the machine body 10 is Wmax along the traveling direction of the machine body.

The cleaning module includes a dry cleaning module 100M or a wet cleaning module 200M, or includes both the dry cleaning module 100M and the wet cleaning module 200M. The dry cleaning module 100M includes a main brush 101M, a dust box 102M and a fan 103M, a main brush cavity is disposed at the bottom of the machine body 10, the main brush 101M is rotatably disposed in the main brush cavity, a dust collection opening on the main brush cavity is communicated with a dust inlet 1021M of the dust box 102M, and an air outlet 1022M of the dust box 102M is communicated with the fan 103M. In the rotation process of the main brush 101M, the garbage around and in front of the main brush is moved to the dust collection opening, and the garbage at the dust collection opening is sucked into the dust box 102M under the action of negative pressure generated by the fan 103M, so that the cleaning function of the surface to be cleaned is realized.

The wet cleaning module 200M includes a first driving structure 40M and a cleaning assembly 20. The cleaning assembly 20 includes a cleaning disc 90H and a cleaning member 91H disposed on a bottom of the cleaning disc 90H, and the first driving structure 40M drives the cleaning disc 90H to move so as to drive the cleaning member 91H to vibrate or rotate reciprocally, and the cleaning member 91H forms friction with the floor during the movement process so as to clean the floor. In view of the cleaning member 91H being in a wet state, a water replenishing mechanism is generally provided in the body 10 of the cleaning apparatus, the water replenishing mechanism including a water tank, and a solution in the water tank being supplied to the cleaning member 91H by a pump to wet the cleaning member 91H. The number of the wet cleaning modules 200M is generally two, and the two wet cleaning modules 200M are symmetrically disposed on the machine body 10. Of course, the wet cleaning module 200M may be provided in one or more than two, for example, three, four, five or more, etc., and the specific number of the wet cleaning modules 200M may be selected according to the need, which is not particularly limited herein.

The cleaning module further comprises edge brushes 400M located at one side or two sides of the front of the machine body 10, the edge brushes 400M are located in front of the dry cleaning module 100M along the advancing direction of the cleaning device, at least part of the edge brushes 400M extend out of the edge of the machine body 10, the edge brushes 400M rotate under the driving of the driving mechanism, and the garbage located in front and at the periphery of the edge brushes 400M moves towards the inner side of the machine body 10 in the rotating process of the edge brushes 400M, so that the main brushes 101M of the dry cleaning module 100M located behind clean the garbage and are sucked into the dust box 102M by the fan 103M.

For the arrangement of the dry type cleaning module 100M and the wet type cleaning module 200M on the machine body 10, when the cleaning device is performing the cleaning task, the cleaning device can clean and then drag the floor, and then the wet type cleaning module 200M is positioned behind the dry type cleaning module 100M in the advancing direction of the cleaning device; when the cleaning device performs a cleaning task, the wet cleaning module 200M is located in front of the dry cleaning module 100M in the advancing direction of the cleaning device.

The arrangement of the wet cleaning module 200M and the traveling system 300M on the machine body 10 preferentially arranges the wet cleaning module 200M behind the traveling system 300M, preventing the wet cleaning module 200M from cleaning the floor first and then the traveling components travel on the cleaned floor to pollute the cleaned floor.

The sensing system comprises an LDS positioned above the machine body, a buffer and a visual sensor positioned at the front part of the machine body 10, an edge sensor positioned on the side wall at the front part of the machine body 10, an ultrasonic sensor positioned at the bottom of the machine body 10 and other sensing devices. Wherein, LDS, buffer, edge sensor all can measure the distance to obtain the distance between the edge of organism 10 and the barrier, control system is according to this distance control cleaning equipment execution corresponding action. Such as controlling the cleaning device to avoid obstacles, edges, etc. The ultrasonic sensor is used for recognizing a carpet signal, and the control system controls the cleaning piece 91H of the wet cleaning module 200M of the cleaning device to perform a lifting action or controls the cleaning device to detach the cleaning piece 91H of the wet cleaning module 200M back to the base station according to the carpet signal. The vision sensor is used for identifying an image of the environment where the cleaning device is located so as to acquire information of an obstacle, and the control system controls the cleaning device to execute actions such as obstacle avoidance, obstacle surmounting, edge cleaning and the like according to the information.

In the embodiment shown in fig. 32, two wet cleaning modules 200M of the cleaning apparatus in the prior art are fixedly disposed with respect to the machine body 10 in the width direction W0 (perpendicular to the traveling direction of the cleaning apparatus), the cleaning tray 90H and the cleaning member 91H in the wet cleaning modules 200M can rotate or vibrate with respect to the machine body 10, and when the cleaning apparatus performs edge cleaning on an obstacle, the wet cleaning modules 200M near the obstacle side are difficult to perform edge cleaning on the obstacle near the edge of the obstacle, resulting in a large area where a missed scan exists at the edge of the obstacle, and the cleaning effect is not ideal.

In order to improve the cleaning effect of the cleaning device on the edge of the obstacle, at least one wet cleaning module 200M of the two wet cleaning modules 200M in the present embodiment is swingable relative to the machine body 10, the cleaning assembly 20 of the wet cleaning module 200M is swingable outwards in a direction away from the machine body 10 and inwards towards the machine body 10, and the cleaning assembly 20 has a second position (i.e. an outwards swinging position) when outwards swung, and correspondingly the cleaning assembly 20 is in an outwards swung state; the cleaning assembly 20 has a first position (i.e., a retracted position) when swinging inwards, and correspondingly, the cleaning assembly 20 is in a retracted state, and the swinging outwards and the retracted positions can be a fixed position or a section position. When the cleaning assembly 20 is in the first position, a portion of the cleaning assembly 20 is located outside the peripheral side of the machine body 10; when the cleaning member 20 moves to the second position, a portion of the cleaning member 20 located outside the circumferential side of the body 10 is larger than a portion of the cleaning member 20 located outside the circumferential side of the body 10 when the cleaning member 20 is in the first position.

When the cleaning device performs a cleaning task, the sensor of the sensing system detects a first distance between the machine body 10 and the edge of the obstacle in real time, if the first distance is smaller than or equal to a preset threshold value, the obstacle needs to be cleaned along edges, the cleaning assembly 20 of the wet cleaning module 200M needs to swing outwards, and the cleaning assembly 20 swings outwards from a retracted position to a swinging outwards position so as to clean the edge of the obstacle along edges. Because the cleaning assembly 20 is configured to extend a greater distance out of the machine body 10 in the out-swinging position relative to the in-swinging position, the cleaning assembly 20 is configured to be positioned closer to or closer to the edge of the obstacle, thereby performing edge cleaning on the edge of the obstacle to reduce or avoid the area of the obstacle that is missed due to the edge cleaning. The cleaning apparatus requires the cleaning assembly 20 of the wet cleaning module 200M to swing inwardly from the swung-out position to the retracted position when the first distance detected by the sensor is greater than a predetermined threshold during edge cleaning.

If the cleaning assembly 20 is kept in the swung-out position, the cleaning assembly 20 is easily interfered or disturbed by the obstacles in the environment, so that the cleaning assembly 20 is at risk of falling off from the machine body 10, and the cleaning assembly 20 of the wet cleaning module 200M swings out of the machine body 10 and is in the swung-out state only when the cleaning assembly 20 is cleaned along the edges; the cleaning apparatus tends to remain retracted during non-edged cleaning or other conditions of the cleaning assembly 20. Other scenarios may include, but are not limited to, the cleaning device needing to be returned to a base station, the base station charging the cleaning device, collecting dust in the dust box 102M into a dust bin of the base station, cleaning the cleaning member 91H, removing and/or assembling the cleaning member 91H, filling water into a water tank of a water replenishment mechanism in the cleaning device, etc.; or the cleaning member 91H of the cleaning apparatus needs to be lifted, the cleaning apparatus needs to surmount the obstacle, and the like.

The machine body 10 is further provided with a second driving structure 50M, and the second driving structure 50M can directly drive the cleaning assembly 20 to swing, or can indirectly drive the cleaning assembly 20 to swing by driving the whole wet cleaning module 200M. For convenience of description, the second driving structure 50M is described for the example of driving the cleaning assembly 20 to swing, and the driving force generated by the second driving structure 50M to swing the cleaning assembly 20 is described for a short time; of course, this driving force is also suitable for driving the wet cleaning module 200M to swing as a whole. The second driving structure 50M can drive the cleaning assembly 20 to move linearly or arcuately, so as to switch the cleaning assembly 20 between the swing-out position and the retracted position.

There are various embodiments of the driving force for driving the cleaning assembly 20 to swing by the second driving structure 50M, and only some of the embodiments will be described below, specifically:

The first embodiment is: the outer swing and the inner contraction of the cleaning assembly 20 are driven by a motor, and the rotation angle of the motor can be controlled, so that the outer swing and the inner contraction positions of the cleaning assembly 20 can be controlled by controlling the rotation angle of the motor, and the outer swing position and the inner contraction position of the cleaning assembly 20 can be adjusted, so that when the cleaning assembly 20 is arranged outwards, the first distance between the machine body 10 and the edge of an obstacle is detected in real time according to a sensor, and the edge distance is dynamically adjusted.

The second embodiment is: the outer swing of the cleaning assembly 20 is driven by a motor and an elastic piece in a matched mode, and the inner contraction of the cleaning assembly 20 is driven by the motor. If the cleaning apparatus needs to clean the edge, the motor rotates the pre-drive cleaning assembly 20 along the first direction by an angle θ ₁ and then stops, and then the elastic member releases the stored energy to drive the cleaning assembly 20 to continue to swing towards the outside of the machine body 10 by an angle θ ₂. Because the elastic member has a buffering function, when the cleaning assembly 20 receives the reverse abutting force of the edge obstacle, the cleaning assembly 20 can automatically swing towards the inner side of the machine body 10 to dynamically adjust the angle theta ₂ of the outer swing of the cleaning assembly 20, so that the edge distance can be dynamically adjusted, and meanwhile, the cleaning assembly 20 is protected. When the cleaning assembly 20 needs to retract, the motor rotates along the second direction to drive the cleaning assembly 20 to swing towards the inner side of the machine body 10, wherein the swing angle θ ₃,θ₃ can be equal to the sum of the angle θ ₁ and the angle θ ₂ or not equal to the sum of the angle θ ₁ and the angle θ ₂, and the retraction position of the cleaning assembly 20 is adjusted by controlling the rotation angle of the motor along the second direction. In addition, it should be noted that: the angle theta ₂ depends on the energy released by the elastic element, and if the energy released by the elastic element is small, the outward swinging driving force of the cleaning assembly 20 mainly depends on a motor, and the elastic element mainly plays a role in buffering the cleaning assembly 20; in contrast, if the energy released from the elastic member is large, the elastic member not only serves as a buffer for the cleaning assembly 20, but also serves as an outer swing for driving the cleaning assembly 20.

When the motor drives the cleaning assembly 20 to swing outwards, the driving force of the motor simultaneously applies the driving force to the elastic member, so that the elastic member stores energy, and after the driving force of the motor is removed, the elastic member releases the stored energy to drive the cleaning assembly 20 to swing outwards continuously.

For example, the second driving structure 50M includes a second motor 204M and a second transmission mechanism 202M, the elastic member is disposed between the second transmission mechanism 202M and the cleaning assembly 20, when the second motor 204M drives the cleaning assembly 20 to swing outwards, the second motor 204M rotates along the first direction to drive the second transmission mechanism 202M to rotate along the first direction, the second transmission mechanism 202M applies a force to the elastic member to force the elastic member to store energy, and the elastic member can store energy first and then drive the cleaning assembly 20 to swing outwards, or the elastic member drives the cleaning assembly 20 to swing outwards while storing energy, and when the motor stops, the elastic member releases the stored energy to drive the cleaning assembly 20 to swing outwards. For the elastic member, the elastic member may be a tension spring, a compression spring, or a deformable elastic member such as a torsion spring.

When retraction of the cleaning assembly 20 is desired, the motor is rotated in a second direction through the hard abutting relationship of the second transmission 202M with the cleaning assembly 20. For example, in the rotation direction of the transmission mechanism, a first abutting portion is provided on the second transmission mechanism 202M, and a second abutting portion is provided on the cleaning assembly 20, where the first abutting portion abuts against the second abutting portion, so that the second motor 204M drives the second transmission mechanism 202M to rotate, so as to toggle the cleaning assembly 20 to rotate towards the retracted position, and achieve the swung-in state.

The third embodiment is: the outward swing of the cleaning assembly 20 is driven by a motor, and the inward retraction of the cleaning assembly 20 is driven by an elastic element. If the cleaning equipment needs edge cleaning, the motor rotates to drive the cleaning assembly 20 to swing outwards, so that the cleaning assembly 20 is in an outward swinging state, and if the motor stops rotating, the cleaning assembly 20 can be limited at an outward swinging position by arranging a limiting structure or a locking structure; when the cleaning assembly 20 is required to retract, the limiting structure or the locking structure withdraws the acting force on the cleaning assembly 20, and the cleaning assembly 20 automatically swings inwards to the retracted position under the action of the reset force of the elastic piece.

The fourth embodiment is: the outer pendulum of the cleaning assembly 20 is driven by a motor, and the inner shrinkage of the cleaning assembly 20 is driven by the cooperation of the motor and the elastic piece. If the cleaning equipment needs edge cleaning, the motor rotates to drive the cleaning assembly 20 to swing outwards, so that the cleaning assembly 20 is in an outward swinging state; when the cleaning assembly 20 is required to retract, similar to the second embodiment, the motor drives the cleaning assembly 20 to retract by a certain angle, and the elastic element stores energy; when the motor is stopped, the spring releases the stored energy to drive the cleaning assembly 20 to continue to swing inward to the retracted position.

In addition, the outward swing of the cleaning assembly 20 may be driven by an elastic member, and the inward retraction of the cleaning assembly 20 may be driven by a motor. I.e., the motor is not in operation, the cleaning assembly 20 tends to remain in the swung-out position under the influence of the resilient member.

For the elastic member, if the second driving structure 50M drives the cleaning assembly 20 or the wet cleaning module 200M to swing linearly, the elastic member is preferably a tension spring or a compression spring; if the second driving structure 50M drives the cleaning assembly 20 or the wet cleaning module 200M to swing in an arc shape, the elastic member is preferably a torsion spring.

During the oscillation of the cleaning assembly 20, the control system needs to control whether the motor of the second driving structure 50M is stopped according to the oscillating position of the cleaning assembly 20. To facilitate knowledge of the swing-out or retracted position, or any position between the swing-out and retracted positions, of the cleaning assembly 20, the cleaning apparatus further includes an in-place detection structure; the in-place detection structure can be a micro switch, a Hall sensor, an optical coupler switch and the like. The in-place detecting structure may acquire the position of the cleaning assembly 20 by detecting the position of the motor of the second driving structure 50M; or may be by directly detecting the position of the cleaning assembly 20. Or when the second drive structure 50M includes a motor and a gear train, the in-place detection structure may also obtain the position of the cleaning assembly 20 by detecting the position of the gear train.

The cleaning apparatus is further provided with a limiting structure, which is disposed on the swing path of the second driving structure 50M or the first driving structure, or the cleaning assembly 20, and the limiting structure blocks the wet cleaning module 200M from continuing to swing outwards or inwards when the wet cleaning module 200M swings to the outwards swinging position or inwards shrinking position.

The cleaning apparatus is further provided with a locking structure for locking the cleaning assembly 20 in the retracted position or the outward swing position, the cleaning assembly 20 can be kept in the outward swing position or the inward swing position all the time, or any position in the swing process, when the cleaning assembly 20 needs to be switched in position, the locking structure withdraws the locking effect on the cleaning assembly 20, and the cleaning assembly 20 swings under the drive of the second driving structure 50M. The locking structure may be provided on the second driving structure 50M, or on the first driving structure of the wet cleaning module 200M, or on the cleaning assembly 20.

In addition, the locking structure is not required, the motor of the second driving structure 50M adopts a brush motor, the brush motor has a braking function, and when the in-place detection structure detects that the cleaning assembly 20 is located at the retracted position, the control system sends a braking signal to the brush motor, and the brush motor is self-locked to lock the cleaning assembly 20 at the retracted position; or by a self-locking function of the brushed motor, to lock the cleaning assembly 20 in the out-swing position.

In other situations, the cleaning assembly 20 is required to be in the retracted position, and when the locking structure or the brush motor is adopted, the cleaning assembly 20 is locked in the retracted position by adopting the locking structure or the brush motor before the action in other situations is executed, and when the cleaning assembly 20 is required to swing outwards, the locking action on the cleaning assembly 20 is cancelled.

Cleaning apparatus in some situations, such as cleaning carpets, the wet cleaning member 91H is prevented from wetting the carpet; or the cleaning member 91H is in a dirty state to prevent contamination of the floor; or when the cleaning device needs to surmount an obstacle, the cleaning assembly 20 needs to be lifted, and the cleaning device is further provided with a lifting structure for driving the cleaning assembly 20 to lift and descend.

The first driving structure 40M for driving the cleaning assembly 20 to rotate is also used for driving the lifting structure to synchronously rotate; of course, the lifting structure may drive the whole wet cleaning module 200M to lift, and the second driving structure 50M drives the wet cleaning module 200M to swing by driving the lifting structure to swing.

The lifting structure can adopt various modes, for example, the lifting structure can be a gear and a rack, a threaded lifting mechanism, a cylinder, a screw rod, a worm gear and the like. The lifting structure can be divided into at least two cases, wherein the first case is that the lifting structure drives the cleaning assembly 20 to rotate to realize lifting and lowering, and accordingly, the cleaning assembly 20 keeps not rotating in the outward swinging and inward shrinking processes of the cleaning assembly 20. The second situation is that the cleaning assembly 20 does not rotate during the lifting process of the cleaning assembly 20 driven by the lifting structure, and accordingly, the cleaning assembly 20 may or may not rotate during the swinging and shrinking process of the cleaning assembly 20.

In the first case of the lifting structure, the lifting structure and the first driving structure 40M may share one motor, and in a preferred manner, the first driving structure 40M includes a rotating motor 2011M, as shown in fig. 31, the lifting structure includes a first fixing body 2012M and a second fixing body 2013M, where the first fixing body 2012M is in threaded engagement with the second fixing body 2013M, one of the first fixing body 2012M and the second fixing body 2013M is provided with a thread groove, and the other is provided with a rib or thread engaged with the thread groove. The bottom of the second fixed body 2013M is provided with a mounting portion 2001H, and the top of the cleaning tray 90H is connected to the mounting portion 2001H. For example, the attachment portion 2001H is provided with a first magnet 2014M, and the cleaning tray 90H is provided with a second magnet 2015M, and the cleaning tray 90H is fixed to the attachment portion 2001H by the magnetic attraction between the first magnet 2014M and the second magnet 2015M.

In fig. 31, the cleaning assembly 20 is in the mopping position, when the cleaning assembly 20 is required to be lifted, the rotating motor 2011M rotates in the first direction, the second fixing body 2013M rotates upward relative to the first fixing body 2012M, the cleaning assembly 20 is lifted to the lifting position, if the rotating motor 2011M continues to rotate in the first direction, the second fixing body 2013M continues to rotate upward relative to the first fixing body 2012M, the cleaning assembly 20 is lifted to the separating position, and at this time, the cleaning assembly 20 is separated from the mounting portion 2001H, and the cleaning tray 90H rotates in the process.

Conversely, if the cleaning member 91H needs to descend, the rotary motor 2011M rotates in the second direction, the second direction is opposite to the first direction, the second fixed body 2013M rotates downward relative to the first fixed body 2012M, the cleaning assembly 20 descends from the separating position to the lifting position and then descends to the mopping position, during this process, the cleaning tray 90H rotates, and during the mopping position, the second fixed body 2013M does not rotate relative to the first fixed body 2012M, and if the rotary motor 2011M continues to rotate in the second direction, there is no relative rotation between the first fixed body 2012M and the second fixed body 2013M, so that the cleaning assembly 20 can be driven to integrally rotate to drag the floor. Wherein the direction of rotation of the cleaning assembly 20 in the raised and lowered directions of rotation is different.

The separation position is convenient for the cleaning device to return to the base station, and the cleaning piece 91H is automatically disassembled and assembled; or the cleaning assembly is automatically detached from the machine body, and if the automatic detaching function of the cleaning member 91H is not required, the cleaning assembly 20 may be provided with a mopping position and a lifting position without setting a separating position.

Because the rotation direction of the cleaning disc 90H affects the position and disassembly of the cleaning disc 90H, the common motor drives the cleaning assembly 20 to rotate and lift, and the cleaning assembly 20 does not rotate when the cleaning apparatus swings out or retracts in the cleaning assembly 20. For example, when the cleaning apparatus needs to lift the cleaning assembly 20 in the swing-out state, the control system firstly controls the cleaning assembly 20 to retract to the retracted position, and then the lifting structure performs the lifting movement, and the cleaning assembly 20 does not rotate during the retraction process. When the cleaning assembly 20 is in the lifted state and the cleaning assembly 20 is required to swing outwards, the cleaning assembly 20 is controlled to be lowered to the mopping position, and then the cleaning assembly 20 is controlled to swing outwards, and the cleaning disc 90H does not rotate during swinging. Of course, the cleaning assembly 20 can swing outwards or inwards in the lifted position, and the cleaning assembly 20 does not rotate during swinging; after swinging out or retracting in place, the rotary motor 2011M drives the cleaning assembly 20 down to the mopping position.

In the first case of the lifting structure, the lifting structure and the first driving structure 40M may also respectively use a motor, and since the lifting structure drives the cleaning assembly 20 to rotate during lifting and lowering, the cleaning assembly 20 keeps not rotating during swinging and retracting.

In the second case of the lifting structure, since the lifting structure drives the cleaning assembly 20 to rotate during the lifting and lowering processes, the cleaning assembly 20 may rotate, may not rotate, or may rotate at a reduced speed during the swinging process of the cleaning assembly 20 swinging outwards or inwards.

The cleaning assembly 20 is disposed on the bottom of the machine body 10 of the cleaning device, and in order to enable the cleaning assembly 20 to swing outwards and retract inwards on the machine body 10, an avoidance space is required to be provided on the machine body 10 for the cleaning assembly 20 to swing outwards and retract inwards. The swing position of the cleaning assembly 20 on the machine body 10 is different, and correspondingly, the avoidance space arranged on the machine body 10 is different.

Specifically: in the first embodiment, the bottom of the machine body 10 is provided with a moving channel 300H, the cleaning assembly 20 is located at the bottom of the machine body 10, and the wet cleaning module further includes a mounting portion 2001H connected to the first driving structure 40M, and the mounting portion 2001H swings in the moving channel 300H; the cleaning assembly 20 is mounted on the mounting portion 2001H below the moving channel 300H, and the first driving structure 40M is located in the mounting cavity of the machine body 10. The moving channel 300H may be a long hole, and the mounting portion 2001H swings linearly in the long hole 110; alternatively, the moving channel 300H is an arc hole, and the mounting portion 2001H swings in the arc hole, and the length or the arc of the moving channel 300H determines the maximum stroke of the cleaning assembly 20 swinging outwards and inwards.

When the bottom of the body 10 is provided with the moving passage 300H, since the mounting portion 2001H of the first driving structure 40M swings in the moving passage 300H, the moving passage 300H communicates the external environment with the mounting chamber of the body 10, in order to prevent external dust and liquid from entering the mounting chamber of the body 10 through the moving passage 300H, the structure in the mounting chamber, such as an electronic device or an electric element, is affected. For this, the body 10 is further provided with a sealing structure for preventing water and dust to seal or block the moving path 300H, and the sealing structure includes a sealing structure.

As shown in fig. 30, the cleaning apparatus is generally provided with two wet cleaning modules 200M, and when the cleaning apparatus is used for edge cleaning, a single edge may be used, for example, the cleaning apparatus is used for right edge, then the wet cleaning modules 200M on the right side of the cleaning apparatus are swingable relative to the machine body 10, the wet cleaning modules 200M on the left side of the cleaning apparatus are not swingable relative to the machine body 10, and the installation cavity of the machine body 10 needs to reserve space for swinging of the wet cleaning modules 200M on the right side, so that the arrangement of the wet cleaning modules 200M on the whole machine is slightly different from that of the adjacent structures.

In one embodiment, as shown in fig. 32, the dust box 102M is disposed in the installation cavity of the machine body 10, and in order to reserve an installation space for the right wet cleaning module 200M, a wall surface of the dust box 102M is provided with a first avoiding surface 1024M, so as to enlarge the installation space between the wall surface of the dust box 102M and the side wall of the machine body 10, or reserve an installation space for installing the aforementioned second driving structure 50M, or the first driving structure 40M and the second driving structure 50M.

As shown in fig. 30, in one embodiment, the fan 103M of the dry cleaning module 100M is located between the non-swingable wet cleaning module 2001M and the swingable wet cleaning module 2002M, and the air outlet 1022M of the dust box 102M is provided on a wall surface facing one end of the fan 103M; the dust inlet 1021M of the dust box 102M is arranged on the wall surface of the dust box 102M at the side far away from the fan 103M, and the air outlet 1022M is provided with a filter component 1023M, for example, the filter component 1023M is a HEPA or other filter screen.

For example, as shown in the embodiment of fig. 33, the first driving structure 40M for driving the cleaning assembly 20 to rotate includes a first motor 203M, and a first transmission 201M provided on an output shaft of the first motor 203M; the second driving structure 50M includes a second motor 204M, and a second transmission mechanism 202M disposed on an output shaft of the second motor 204M, where the first transmission mechanism 201M is connected with the second transmission mechanism 202M through a swing arm, and when the second transmission mechanism 202M swings, the swing arm is used to drive the first transmission mechanism 201M to swing integrally, and the first motor 203M, the first transmission mechanism 201M, the fan 103M, and the first avoidance surface 1024M enclose an area in which the second motor 204M and the second transmission mechanism 202M are distributed.

When dust is discharged from the dust box 102M of the cleaning apparatus, the cleaning apparatus is usually returned to the base station, and a dust collecting fan on the base station collects the dust in the dust box 102M into a dust bin or a dust bag of the base station by blowing and sucking. Correspondingly, the dust box 102M is provided with an air inlet and a dust discharge port, the air blowing end of the dust collecting fan on the base station is communicated with the air inlet, and the air suction end of the dust collecting fan is communicated with the dust discharge port.

In one embodiment, the dust exhaust port is provided with a dust exhaust air passage 1026M for connecting with the air suction end of the dust collecting fan of the base station, and the air inlet is provided with an air inlet passage, or the air inlet passage may not be provided, for connecting with the air blowing end of the dust collecting fan of the base station.

Further preferably, the dust box 102M is provided with a second avoidance surface 1025M to reserve an installation space. Preferably, first and second relief surfaces 1024M, 1025M may be adjacently disposed, may be relatively disposed, or may be otherwise disposed. Further preferably, the dust discharge port is provided on the second avoidance surface 1025M.

The arrangement of the wet cleaning module 200M, the dust box 102M, the fan 103M, and the dust exhaust duct 1026M may be other manners besides the above manner, and only a swinging or moving space needs to be reserved for the swingable wet cleaning module 2002M.

The cleaning device often needs to be returned to the base station for charging, dust in the dust box 102M is collected in the base station, the cleaning piece 91H is cleaned, the cleaning assembly 20 or the cleaning piece 91H is disassembled, and the water tank in the machine body 10 is replenished with water, so that before the cleaning device returns to the base station, the wet cleaning module 200M of the cleaning device needs to be in the retracted position, in order to ensure that the cleaning assembly 20 is in the retracted position, before the cleaning device returns to the base station, the position of the cleaning assembly 20 can be detected, and if the cleaning assembly 20 is not in the retracted position, the control system controls the second driving structure 50M to be started, so that the cleaning assembly 20 is driven to retract until reaching the retracted position. Or before the cleaning device is set back to the base station, the control system does not detect whether the cleaning assembly 20 is located at the retracted position, controls the second driving structure 50M to drive the cleaning assembly 20 to forcedly retract, and then detects whether the cleaning assembly 20 is located at the retracted position, and if the cleaning assembly 20 is located at the retracted position, the motor of the second driving structure 50M stops rotating; otherwise the motor of the second drive structure 50M continues to rotate until the cleaning assembly 20 is in the retracted position.

In addition to the above-described return of the cleaning apparatus to the base station, when the cleaning apparatus is in other situations, such as a non-edged cleaning mode, lifting of the cleaning cloth, removal of the cleaning member 91H (without removal of the cleaning member 91H from the base station), etc., it is desirable that the cleaning assembly 20 is in the retracted position, in order to ensure that the cleaning assembly 20 is maintained in the retracted position, the control system may control the second driving structure 50M to be activated at intervals of a first predetermined period t1 to forcibly drive the cleaning assembly 20 to retract to maintain the retracted position, in addition to the aforementioned locking structure and motor self-locking manner. Similarly, if the cleaning assembly 20 is required to be kept in the swing-out state, such as in the edge cleaning mode, the control system may also control the second driving structure 50M to be activated at intervals of a second preset period t2, so as to force the cleaning assembly 20 to swing out to keep the swing-out position. The first preset time period t1 and the second preset time period t2 may be the same or different, and the first set time period and the second set time period may be a period of any minute. For example, the first set period of time and the second set period of time may be 3 minutes, 5 minutes, 10 minutes, or the like.

For the cleaning assembly 20, the cleaning assembly 20 may be a vibrating cleaning assembly 20, or a rotating cleaning assembly 20, or a mopping roller brush, as described above. The above-mentioned expansion is realized by the outward swinging and inward shrinking function of the wet cleaning module 200M, and likewise, the wet cleaning module 200M may be replaced by an edge brush, so as to realize the outward swinging and inward shrinking of the edge brush 400M, and improve the edge cleaning function of the edge brush 400M; or the wet cleaning module can be replaced by a main brush, so that the outward swing and inward shrinkage of the main brush are realized, the cleaning area of the main brush is increased, and the specific content is referred to the above and is not repeated here.

For a clearer understanding of technical features, objects, and effects of the present application, a specific embodiment of the present application will be described with reference to the accompanying drawings.

Examples

In general, in the present embodiments 1-3, a cleaning apparatus is mainly described, which has a cleaning assembly 20, the cleaning assembly 20 being switchable between a first position and a second position, so that a cleaning action is better achieved. In the present embodiment, the first driving structure 40M includes at least the rotation driving member 230 and the transmission assembly 240 in the present embodiment, and the second driving structure 50M includes at least the guide assembly 50 and the driving engagement structure 711 in the present embodiment. The present embodiment provides a cleaning apparatus, as shown in fig. 1 to 6, including a body 10 and a cleaning member 20, the cleaning member 20 being connected to the body 10, the cleaning member 20 having a first position, a portion of the cleaning member 20 being located outside a peripheral side of the body 10 when the cleaning member 20 is in the first position.

By locating a part of the cleaning assembly 20 outside the circumference of the body 10 and controlling the movement path of the body 10, the cleaning assembly 20 protruding outside the body 10 can be contacted with the edge of the obstacle during the movement of the body 10, so as to clean the area near the obstacle.

Example 2: the present embodiment provides a cleaning apparatus, as shown in fig. 1 to 6, which includes a machine body 10 and a cleaning assembly 20, the cleaning assembly 20 being movably connected with the machine body 10, the cleaning assembly 20 having a first position and a second position, wherein when the cleaning assembly 20 is in the first position, a portion of the cleaning assembly 20 is located outside a peripheral side of the machine body 10; when the cleaning member 20 moves to the second position, a portion of the cleaning member 20 located outside the circumferential side of the body 10 is larger than a portion of the cleaning member 20 located outside the circumferential side of the body 10 when the cleaning member 20 is in the first position.

Wherein a portion of the cleaning assembly 20 located outside the circumferential side of the body 10 is in contact with an edge of the obstacle when the cleaning assembly 20 is in the second position.

Specifically, the cleaning assembly 20 has a first position and a second position in the process of cleaning the surface to be cleaned, wherein the cleaning assembly 20 moves away from the machine body 10 when the cleaning assembly 20 is switched from the first position to the second position, when the cleaning assembly 20 is in the second position, the part of the cleaning assembly 20 positioned outside the machine body 10 is in contact with the edge of the obstacle so as to clean the area near the obstacle, in the application, when the cleaning assembly 20 is in the first position and the second position, at least one part of the cleaning assembly 20 is positioned outside the peripheral side of the machine body 10, and when the cleaning assembly 20 is in the second position, the cleaning of dead corners such as the obstacle can be realized, the cleaning is more comprehensive, and the cleaning efficiency is improved.

Further, the barrier may be a wall, furniture, or the like. Taking a wall as an example, when the cleaning device moves to a corner of the wall, the cleaning device senses an obstacle, and at this time, the cleaning assembly 20 is driven to switch from the first position to the second position so that the cleaning assembly 20 moves toward the obstacle and contacts with the edge of the obstacle to clean the area at the corner.

It should be noted that, the manner in which the cleaning device senses the obstacle may be different, for example, the infrared sensor may use light reflection to perform detection, and may also be other manners, which is based on identifying the position of the obstacle.

In one embodiment, when the cleaning assembly 20 is in the second position, the distance between the portion of the cleaning assembly 20 that is located outside the perimeter of the body 10 and the edge of the obstacle is less than or equal to a threshold value, which is less than or equal to 0. The cleaning assembly 20 includes a cleaning tray 90H and cleaning members 91H disposed on the cleaning tray 90H, and when the cleaning apparatus is edgewise cleaned, the cleaning tray 90H always maintains a gap with the edge of the obstacle to prevent the cleaning tray 90H from striking the edge of the obstacle, but at this time the cleaning members 91H may contact the edge of the obstacle or maintain a gap with the edge of the obstacle, for example, when the cleaning members 91H are selected as wipes, the wipes have a certain deformation amount, and when the cleaning member is edgewise cleaned, the wipes may contact the edge of the obstacle; or not in contact with the edge of the obstacle. Therefore, the threshold value described above is set to be greater than or equal to 0, and when the threshold value is 0, the cleaning member 91H is in contact with the edge of the obstacle; when the threshold is greater than 0, the cleaning member is not in contact with the edge of the obstacle, for example, the threshold may be 1 millimeter, 2 millimeters, 3 millimeters, 4 millimeters, 5 millimeters, 1 centimeter, 1.5 centimeters, or the like.

When the cleaning member 91H is a wipe, there are at least two cases in which the wipe contacts the edge of the obstacle, wherein the first case is when the wipe is not deformed; the second case is where the wipe contacts the edge of the obstacle when it is deformed.

In this embodiment, two embodiments are provided depending on the specific location of the portion of the cleaning assembly 20 located outside the machine body 10 in the second position, as follows.

In the embodiment shown in fig. 2, the line of travel of the widest position of the body 10 determines the maximum cleaning range of the cleaning device, and when the cleaning assembly 20 is moved to the second position, at least a portion of the edge of the cleaning assembly 20 reaches the edge of the maximum cleaning range.

Specifically, the body 10 has a wide portion and a narrow portion, and the cleaning member 20 is installed at an area other than the widest position of the body 10, so that although a portion of the cleaning member 20 protrudes to an area outside the body 10, an edge of the cleaning member 20 is still flush with an edge of the wide area in the traveling direction.

Further, the cleaning member 20 is installed at a front end or a rear end of the body 10 in a traveling direction of the cleaning device, the front end or the rear end having a width smaller than that of a central region of the body 10, and a portion of the cleaning member 20 located outside the body 10 is flush with a region boundary line in the traveling direction of the central region of the body 10 after being moved toward a second position away from the body 10.

In the embodiment shown in fig. 3, the line of travel of the widest position of the body 10 determines the maximum cleaning range of the cleaning device, and when the cleaning assembly 20 is moved to the second position, at least a portion of the edge of the cleaning assembly 20 is beyond the outside of the maximum cleaning range.

Specifically, the body 10 has a wide portion and a narrow portion, and the cleaning assembly 20 is installed at an area other than the widest position of the body 10, so although a portion of the cleaning assembly 20 protrudes to an area outside the body 10, and an edge of the cleaning assembly 20 may protrude to an outside of the wide portion area in the traveling direction.

Further, the cleaning assembly 20 is installed at a front end or a rear end of the body 10 in a traveling direction of the cleaning apparatus, the front end or the rear end having a smaller width than a central region of the body 10, and a portion outside the body 10 protrudes outside the wide partial region after the cleaning assembly 20 is moved toward a second position away from the body 10.

In this embodiment, the cleaning apparatus further comprises a drive assembly drivingly connected to the cleaning assembly 20 to move the cleaning assembly 20 between the first and second positions.

The driving assembly includes a guiding assembly 50 and a driving engaging structure 711, the driving engaging structure 711 is movably connected with the guiding assembly 50, and one of the driving engaging structure 711 and the guiding assembly 50 is connected with the cleaning assembly 20, so that the cleaning assembly 20 moves between a first position and a second position when the guiding assembly 50 and the driving engaging structure 711 relatively move.

Further, the drive assembly provides a guide assembly 50 for guiding the cleaning assembly 20, and a drive engagement structure 711 providing for switching of the cleaning assembly 20 between the first and second positions. At least one of the drive engagement structure 711 or the guide assembly 50 is pivotally moved to effect movement of the cleaning assembly 20 by way of the pivotal movement.

As shown in fig. 1 to 6, the guide assembly 50 extends along a first direction, and the first direction is a straight line, and when the driving engagement structure 711 moves relative to the guide assembly 50, the driving engagement structure 711 can move along the first direction.

Specifically, the driving engagement structure 711 is in driving connection with the guide assembly 50 through the manner of engaging the screw and the screw sleeve 220, and the screw sleeve 220 are in threaded connection, so that when one of the screw and the screw sleeve 220 rotates, the other is driven to move along the first direction, and the manner of engaging the screw and the screw sleeve 220 has a limiting function, so that the movement direction of the cleaning assembly 20 is limited, that is, the translation of the cleaning assembly 20 is realized through the manner of the screw and the screw sleeve 220.

Further, the guide assembly 50 includes a screw, the driving engagement structure 711 is in driving connection with the screw, the driving engagement structure 711 includes a screw sleeve 220, the screw is in threaded connection with the screw sleeve 220, and the driving engagement structure 711 is connected with the cleaning assembly 20 to drive the cleaning assembly 20 to move through the driving engagement structure 711.

It should be noted that, the machine body 10 is provided with a driving motor 710, the driving motor 710 drives the screw to rotate and drives the sleeve 220 on the screw to move along the extending direction of the screw, i.e. the first direction, through the rotation of the screw, the sleeve 220 drives the cleaning assembly 20 to move when moving so as to realize the translation of the cleaning assembly 20 along the first direction, and the forward rotation and the reverse rotation of the driving motor 710 realize the switching of the cleaning assembly 20 between the first position and the second position.

Of course, not limited to the structural form in which the driving engagement structure 711 is coupled to the cleaning member 20, it is also possible that the driving engagement structure 711 is formed on the cleaning member 20, and the driving engagement structure 711 has a screw thread engaged with the screw.

In this embodiment, the cleaning assembly 20 has a through hole in which a linear bearing is installed, and the cleaning apparatus further includes a guide bar 530, the guide bar 530 being disposed on the body 10, the linear bearing being sleeved on the guide bar 530.

Wherein the guide bar 530 has a guiding function, by providing a linear bearing at the through hole of the cleaning assembly 20, the cleaning assembly 20 can slide along the extending direction of the guide bar 530 through the linear bearing, and the guide bar 530 extends along the first direction. The guide bars 530 are provided in one or more, and when the guide bars 530 are provided in a plurality, the plurality of guide bars 530 extend in the first direction, and the plurality of guide bars 530 are symmetrically disposed with respect to the screw, so that the cleaning assembly 20 is smoothly installed and moved.

As shown in fig. 1 to 6, the cleaning apparatus further includes a first stopper 410 and a second stopper 420, the first stopper 410 and the second stopper 420 being disposed at intervals along a line direction of the first position and the second position, a mounting region 430 being formed between the first stopper 410 and the second stopper 420, and a portion of the cleaning assembly 20 being accommodated inside the mounting region 430.

Specifically, at least a portion of the cleaning assembly 20 is positioned inside the mounting area 430 and moves inside the mounting area 430, and the two stop plates have a limiting effect to prevent the cleaning assembly 20 from being separated from the machine body 10.

Further, both ends of the screw are rotatably installed to the first and second stoppers 410 and 420 through bearings, and both ends of the guide rod 530 are also installed to the first and second stoppers 410 and 420.

The moving channel 300H includes a strip hole 110 or an arc hole 110R. In this embodiment, inside the mounting area 430, the machine body 10 is provided with a long hole 110, the long hole 110 extends along the line direction between the first position and the second position, a part of the cleaning component 20 extends out of the machine body 10 from the long hole 110, and when the cleaning component 20 is switched between the first position and the second position, a part of the cleaning component 20 moves in the long hole 110.

Specifically, when the cleaning assembly 20 is switched between the first position and the second position, a portion of the cleaning assembly 20 moves in the elongated hole 110, so as to achieve a limiting effect on the cleaning assembly 20, ensure that the cleaning assembly 20 can move stably and no offset phenomenon occurs.

As shown in fig. 4 and 6, the cleaning assembly 20 includes a housing 210, a transmission assembly 240, a rotation driving member 230, and a moving cleaning member 250, the housing 210 has a receiving cavity, a portion of the transmission assembly 240 is received in the receiving cavity, the rotation driving member 230 is received on the housing 210, the rotation driving member 230 is connected with the transmission assembly 240, the moving cleaning member 250 is disposed outside the receiving cavity, another portion of the transmission assembly 240 extends out of the receiving cavity to be in driving connection with the moving cleaning member 250, and the rotation driving member 230 drives the moving cleaning member 250 to rotate through the transmission assembly 240.

Specifically, the rotation driving member 230 provides a driving force for the rotation of the cleaning member 20, and under the driving action of the rotation driving member 230, the cleaning member 20 rotates and can clean the surface to be cleaned, and the transmission member 240 is disposed between the rotation driving member 230 and the movable cleaning member 250, so that the rotation speed of the movable cleaning member 250 is regulated by the transmission member 240, and the cleaning efficiency is improved.

Further, the transmission assembly 240 includes: the input transmission piece is accommodated in the accommodating cavity, and the rotation driving piece 230 is in driving connection with the input transmission piece; the output transmission piece is accommodated in the accommodating cavity and is in driving connection with the output transmission piece; the transmission shaft, the output driving piece is connected with the first end drive of transmission shaft, and the second end of transmission shaft stretches out the holding chamber and is connected with the removal cleaning piece 250 drive.

Wherein, the input transmission member and the output transmission member may be structural members having a transmission function, and the rotation of the movable cleaning member 250 is realized by providing a transmission shaft to transmit the rotation force of the output transmission member to the movable cleaning member 250.

As shown in fig. 6, the input transmission member includes a first transmission gear 241 and a second transmission gear 242 coaxially disposed and synchronously rotated, the rotation driving member 230 is drivingly connected with the first transmission gear 241, and the tooth diameter and the number of teeth of the first transmission gear 241 are larger than those of the second transmission gear 242; the output transmission member includes a third transmission gear 243, the third transmission gear 243 is meshed with the second transmission gear 242, the third transmission gear 243 is in driving connection with the transmission shaft, and the tooth diameter and the tooth number of the third transmission gear 243 are larger than those of the second transmission gear 242, so that a transmission ratio is provided between the second transmission gear 242 and the third transmission gear 243.

Specifically, the first transmission gear 241 and the second transmission gear 242 rotate synchronously and coaxially, and the number of teeth of the first gear drivingly connected to the rotation driving part 230 are larger than those of the second transmission gear 242, so that a good deceleration effect is obtained when the second gear and the third gear are engaged, so as to prevent the unstable installation caused by too fast rotation of the movable cleaning part 250.

It should be noted that the first transmission gear 241, the second transmission gear 242, or the third transmission gear 243 may be adaptively replaced as needed to ensure a predetermined transmission ratio and a rotational speed of the movable cleaning member 250.

In this embodiment, two pulleys of different sizes may be provided between the input transmission member and the output transmission member, and power transmission between the two pulleys is achieved by a belt.

It should be noted that, the output transmission member is not limited to include the third transmission gear 243, and the output transmission member may include a plurality of other gears, i.e., the gears may be increased or decreased adaptively as required.

As shown in fig. 5, the cleaning assembly 20 further includes a micro switch 60 and a controller, the micro switch 60 is disposed on the machine body 10, the micro switch 60 is used for detecting the position of the movable cleaning member 250, the controller is mounted on the machine body 10, and the controller is electrically connected with the micro switch 60, the rotation driving member 230 and the driving engagement structure 711 of the cleaning apparatus.

Wherein, the micro-switch 60 is disposed on the machine body 10, and contacts with the micro-switch 60 to trigger the micro-switch 60 when the cleaning assembly 20 is in the first position and the second position.

Specifically, by setting the micro switch 60 to detect the position of the moving cleaning member 250, the triggered micro switch 60 sends a signal to the controller to make the controller control the rotation driving member 230 and the driving engagement structure 711 to act, that is, the position of the cleaning assembly 20 can be controlled by controlling the forward rotation and the reverse rotation of the driving motor 710, and the state of the moving cleaning member 250 can also be controlled by controlling the start and stop of the rotation driving member 230.

As shown in fig. 1 and 2 and 3, the cleaning apparatus further includes a static driving member 320 and a static cleaning member 310, the static driving member 320 is mounted on the body 10, the static driving member 320 is in driving connection with the static cleaning member 310, and the static cleaning member 310 is in rotational connection with the body 10.

Specifically, the static cleaning member 310 rotates to clean the surface to be cleaned under the driving of the static driving member 320 by the static cleaning member 310. And, adopt static cleaning piece 310 and the mode of cleaning subassembly 20 cooperation, static cleaning piece 310 is static relatively with organism 10, adopts a quiet scheme of moving one to be favorable to strengthening cleaning efficiency, avoids appearing the cleaning dead angle and leads to the phenomenon of cleaning incompletely to appear.

Further, the moving cleaning member 250 and the static cleaning member 310 both use a circular rotating disc and a mop cloth to achieve cleaning, however, the shape of the rotating disc connected with the driving member may be different from a circular shape, or the cleaning treatment may be performed by arranging bristles on the rotating disc.

Example 3: in the present embodiment, there is provided a cleaning apparatus, as shown in fig. 7 to 10, comprising a body 10, a cleaning member 20, and a reset member, the cleaning member 20 being movably coupled to the body 10, the cleaning member 20 having an initial position and a retracted position, one end of the reset member being coupled to the cleaning member 20, the other end of the reset member being coupled to the body 10, the reset member providing a reset force for maintaining the cleaning member 20 in the initial position, wherein a portion of the cleaning member 20 is located outside a peripheral side of the body 10 when the cleaning member 20 is in the retracted position; when the cleaning assembly 20 is at the initial position, a portion of the cleaning assembly 20 located outside the circumferential side of the machine body 10 is larger than a portion of the cleaning assembly 20 located outside the circumferential side of the machine body 10 when the cleaning assembly 20 is at the contracted position, and the cleaning assembly 20 is switched from the initial position toward the contracted position after the portion of the cleaning assembly 20 located outside the circumferential side of the machine body 10 abuts against the edge of the obstacle.

Specifically, the reset member provides a reset force to the cleaning assembly 20 maintained at the initial position, when the cleaning assembly 20 needs to clean a corner position of an obstacle such as a wall, the cleaning assembly 20 contacts the obstacle and the obstacle gives the cleaning assembly 20 a driving force to move from the initial position to the retracted position, and under the action of the reset member, the cleaning assembly 20 can be maintained at the initial position, the retracted position or a position between the two positions, and at this time, the portion of the cleaning assembly 20 located outside the machine body 10 can realize cleaning of the corner region of the obstacle, thereby effectively improving cleaning efficiency. Further, the elastic member is a spring.

In the present embodiment, two embodiments are provided depending on the specific position of the portion of the cleaning assembly 20 located outside the machine body 10 in the initial position, as follows.

In the embodiment shown in fig. 9, the line of travel of the widest position of the body 10 determines the maximum cleaning range of the cleaning device, and when the cleaning assembly 20 is in the initial position, at least a portion of the edge of the cleaning assembly 20 reaches the edge of the maximum cleaning range.

Further, the cleaning assembly 20 is installed at a front end or a rear end of the body 10 in a traveling direction of the cleaning apparatus, and the width of the front end or the rear end is smaller than that of a central region of the body 10, and after the cleaning assembly 20 is moved toward an initial position away from the body 10, a portion outside the body 10 is flush with a region boundary line in the traveling direction of the central region of the body 10.

In the embodiment shown in fig. 10, the line of travel of the widest position of the body 10 determines the maximum cleaning range of the cleaning device, and when the cleaning assembly 20 is in the initial position, at least a portion of the edge of the cleaning assembly 20 is beyond the outside of the maximum cleaning range.

Further, the cleaning assembly 20 is installed at a front end or a rear end of the body 10 in a traveling direction of the cleaning apparatus, the front end or the rear end having a smaller width than a central region of the body 10, and a portion of the cleaning assembly 20 outside the body 10 protrudes outside the wide partial region after being moved toward an initial position away from the body 10.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects: 1. when the cleaning assembly 20 is in the first position and the second position, at least one part of the cleaning assembly 20 is positioned outside the periphery of the machine body 10, and when the cleaning assembly is in the second position, cleaning can be realized at dead corners such as obstacles, cleaning is more comprehensive, and cleaning efficiency is improved. 2. The use of the drive motor 710 to control the switching of the cleaning assembly 20 between the first and second positions increases the stability of the drive relationship. 3. The cleaning efficiency of the cleaning apparatus is improved by the cooperation of the movably disposed cleaning assembly 20 and the stationary cleaning member 310 in a static-to-dynamic arrangement.

Of course, embodiments 2 to 3 are not limited to the combination with the foregoing embodiment 1, and the whole or partial structures of embodiments 2 to 3 may be combined with any possible embodiments on the basis of realizability, so as to meet different purposes of use, and are not particularly limited herein.

Example 4: in the embodiments described mainly a specific implementation of the second driving structure 50M of the swing driving type is provided. In an embodiment, the first driving structure 40M comprises at least a second driving assembly 5B, and the second driving structure 50M comprises at least a first driving assembly 4B.

The present embodiment provides a cleaning apparatus including a body 10, a cleaning mechanism mounted on the body 10. Wherein the cleaning mechanism is adapted to follow the movement of the machine body 10 to clean the surface to be cleaned. In this embodiment, the cleaning mechanism includes a base 1B connected to the machine body 10, a cleaning assembly 20 connected to the base 1B, and a second driving assembly 5B connected to the cleaning assembly 20. When the cleaning device cleans the surface to be cleaned, the second driving component 5B drives the cleaning component 20 to rotate to clean the surface to be cleaned, and the cleaning device moves to drive the machine body 10 and the cleaning component 20 to move, so as to clean the surface to be cleaned.

In the prior art, the cleaning member 100B of the cleaning apparatus is generally fixed in position relative to the machine body 10, and the cleaning member 100B has a certain area limitation when performing cleaning operation due to the limitation of the machine body of the cleaning apparatus, for example, the cleaning member 100B cannot clean the corners of the surface to be cleaned, resulting in poor cleaning effect.

In order to solve the above-mentioned problem, referring to fig. 11, in the present embodiment, the cleaning assembly 20 includes a cleaning member 100B. The cleaning mechanism further includes a first driving component 4B, where the first driving component 4B is adapted to drive the cleaning member 100B to rotate relative to the base 1B, so that the cleaning member 100B has a retracted position or an extended position, so as to achieve a better cleaning effect of the cleaning member 100B.

Specifically, the first driving assembly 4B includes a first driving member 43B, a transmission member 41B connected to the first driving member 43B, and a swinging member 42B engaged with the transmission member 41B, and an actuating member 421B rotatably provided on the rotating shaft 2B. The first driving member 43B is adapted to generate a driving force, and the first driving member 43B may rotate in a first direction or a second direction according to a control signal. The swinging member 42B is rotatably arranged on the base 1B, the cleaning member 100B is rotatably connected with the swinging member 42B through the rotating shaft 2B and is rotatably connected with the base 1B, the swinging member 42B is connected with the cleaning member 100B, and two ends of the actuating member 421B respectively act on the swinging member 42B and the transmission member 41B; when the swinging member 42B cooperates with the transmission member 41B, the swinging member 41B is driven to rotate to drive the cleaning member 100B to switch between the retracted position (see fig. 13) and the extended position (see fig. 12). When the cleaning member 100B is in the normal cleaning action (without cleaning the corners), the cleaning member 100B is only in the retracted position to clean the surface to be cleaned; when the cleaning device needs to clean the corners of the surface to be cleaned, the cleaning member 100B needs to move from the retracted position to the extended position, so as to implement the treatment of the corners of the surface to be cleaned by the cleaning device. It should be noted that, in the present embodiment, the cleaning member 100B is a wipe tray, and an edge of the wipe tray protrudes beyond an edge of the swinging member 42B to achieve a better cleaning effect on the surface to be cleaned.

In one case, the transmission member 41B transmits the driving force of the first driving member 43B toward the first direction to the actuating member 421B, so that the transmission member 421 rotates to drive the swinging member 42B to rotate, thereby causing the cleaning member 100B to follow the swinging member 42B to rotate toward the second direction and move from the retracted position to the extended position. In the present embodiment, during the process of switching the cleaning member from the retracted position to the extended position, the actuating member 421B is driven by the driving force of the driving member 41B to store energy and drive the swinging member 42B to rotate; when the driving force applied to the transmission member 41B is canceled, the actuator 421B releases the stored energy to drive the swinging member 42B to continue swinging toward the flaring position.

Specifically, the actuator 421B includes a fitting portion 4211B fitted over the rotation shaft 2B, and a first holding end 4212B and a second holding end 4213B provided on the circumferential side of the fitting portion 4211B. The first abutting end 4212B abuts against the transmission member 41B, and the second abutting end 4213B abuts against the swinging member 42B, so that the first abutting end 4212B can rotate around the sleeved portion 4211B by the driving force of the transmission member 41B towards the second direction, and the second abutting end 4213B can abut against the swinging member 42B to rotate, so that the cleaning member 100B can move from the retracted position to the extended position.

More specifically, the transmission member 41B is provided with a catching groove 411B. The swinging member 42B further includes a first pressing portion 4221B. The first abutting end 4212B is adapted to be clamped in the clamping groove 41, and the second abutting end 4213B is engaged with the first abutting portion 4221B. When the first driving member 43B rotates in the first direction, the first driving member 43B drives the driving member 41B to rotate in the second direction, and the clamping groove 411B abuts against the first abutting end 4212B, so as to drive the second abutting end 4213B to rotate in the second direction, so that the second abutting end 4213B abuts against the first abutting portion 4221B, thereby driving the entire swinging member 42B to rotate in the second direction, and further driving the cleaning member 100B to move from the retracted position to the extended position.

As described above, referring to fig. 35 and 36, the swinging member 42B further includes a second pressing portion 4222B and a supporting portion 4223B respectively provided at both sides of the first pressing portion 4221B, and the cleaning member 100B is located below the supporting portion 4223B and connected to the supporting portion 4223B. The transmission member 41B further includes an abutment portion 44B that abuts against the second abutment portion 4222B in a matching manner, and when the transmission member 41B receives the driving force of the first driving member 43B in the second direction, the abutment portion 44B is driven to rotate around the rotation axis 2B in the first direction, so as to abut against the second abutment portion 4222B to drive the swinging member 42B to rotate, so that the cleaning member 100B moves from the expanding position to the contracting position. It should be noted that, in the present embodiment, the second abutting portion 4222B always abuts against the abutting portion 44B during the movement of the cleaning member 100B from the expanded position to the contracted position or the movement of the cleaning member 100B from the contracted position to the expanded position.

In this embodiment, the actuating member 421B is an elastic member, preferably a torsion spring, which can maintain the stability of the driving member 41B and the swinging member 42B when the cleaning member 100B is switched between the expanded position and the contracted position. In this embodiment, one torsion spring is provided, and in other embodiments, the torsion springs may be provided in other numbers, for example, two torsion springs are provided. In this embodiment, the torsion spring has an open end and a closed end, the open end is used as the first abutting end 4212, and is clamped in the clamping groove 411B, and the closed end is used as the second abutting end 4213 to cooperate with the first abutting portion 4221B of the swinging member, so that the transmission member 41B transmits the driving force of the first driving member 43B to the first abutting end 4212, and when the first driving member 43B overcomes the elastic force of the torsion spring, the closed end is driven to rotate around the rotation shaft 2B and abuts against the first abutting portion 4221B of the swinging member 42B, so that the swinging member 42B drives the cleaning member 100B to rotate. In other embodiments, the actuator 421B may be configured in other structures, for example, a structure that is connected by two connection plates and rotates around the rotation shaft 2B, so long as the above-mentioned effects can be achieved, and the specific structure thereof is not specifically limited herein.

The purpose of providing the actuating member 421B as an elastic member in the present embodiment is: on the one hand, when the cleaning mechanism follows the machine body 10 to operate, the cleaning mechanism receives external force, for example, when the cleaning mechanism is extruded by an obstacle in a position between the outward expansion position or the inward contraction position and the outward expansion position, the elastic piece can play a certain role in buffering the cleaning assembly 20, so that the cleaning assembly 20 is prevented from being damaged due to collision with the base 1B when receiving the external force; meanwhile, due to the arrangement of the elastic member, the elastic force can always support the first supporting and pressing part 4221B, so that the whole cleaning member 100B can keep supporting and pressing with the corners all the time, the cleaning of the corners is completed, and the condition that the cleaning member 100B is converted to the retracted position after the cleaning member 100B is extruded by external force can not occur; on the other hand, whether the cleaning member 100B rotates from the expanded position to the contracted position or from the contracted position to the expanded position, the cleaning member 100B receives a friction force opposite to the rotation direction of the swinging member 42B during the transmission, and the elastic force of the elastic member can offset the friction force generated by the rotation of a part of the cleaning member 100B, so as to improve the stability of the cleaning mechanism.

Referring to fig. 15 and 17, in the present embodiment, the transmission member 41B further includes a gear portion 412B and a connection portion 413B connected to the gear portion 412B, the gear portion 412B is adapted to be connected to the first driving member 43B, the abutting portion 44B is disposed on the connection portion 413B, and the first driving member 43B drives the gear portion 412B to rotate, so as to drive the connection portion 413B to rotate so as to drive the first abutting end 4212B to rotate, so that the cleaning member 100B is switched from the retracted position to the extended position, or drive the connection portion 413B to rotate so as to drive the abutting portion 44B to rotate.

When the first driving member 43B drives the gear portion 412B to rotate, the connecting portion 413B can be driven to rotate to drive the first abutting end 4212B to rotate, so as to drive the second abutting end 4213B to abut against the first abutting portion 4221B, and further drive the cleaning member 100B to move from the expanding position to the shrinking position; or when the first driving member 43B drives the gear portion 412B to rotate, the connecting portion 413B can be driven to rotate to drive the abutting portion 44B to rotate, so that the abutting portion 44B abuts against the second abutting portion 4222B, thereby driving the entire swinging member 42B to rotate, and further driving the cleaning member 100B to move from the retracted position to the extended position.

Further, the transmission member 41B further includes a first gear 414B connected to the first driving member 43B and a second gear 415B meshed with the first gear 414B, and the second gear 415B includes the gear portion 412B, the connection portion 413B, and the abutting portion 44B. In this embodiment, the second gear 415B is an incomplete gear, and the circumference of the incomplete gear is set so long as the cleaning member 100B can be switched between the retracted position and the extended position. The purpose of providing the second gear 415B as an incomplete gear is to reduce the occupation space of the second gear 415B. In other embodiments, the second gear 415B may also be configured as a full gear, which is not specifically limited herein.

In order to reduce the volume of the entire cleaning mechanism by reasonably utilizing the space, in the present embodiment, referring to fig. 14, 18, and 19, the housing portion 4211B includes an upper half end 4214B, a lower half end 4215B connected to the upper half end 4214B, and a space formed between the upper half end 4214B and the lower half end 4215B; the swinging member 42B includes an upper end 4224B and a lower end 4225B connected to the upper end 4224B, and the upper half 4214B and the lower half 4215B of the actuating member 421B are staggered with the upper end 4224B and the lower end 4225B of the swinging member 42B, so that the actuating member 421B and the swinging member 42B can be firmly connected through the rotating shaft 2B, and the structure of the actuating member 421B, the swinging member 42B and the base 1B is more compact.

Referring to fig. 14, in the present application, the cleaning mechanism further includes a bearing 54B provided between the rotating portion 311 and the rotating shaft 2B, and a sleeve 55B provided outside the bearing 54B. The main function of the sleeve 55B is to reduce the wear of the connection portion 413B of the second gear 415B during rotation about the rotation axis 2B, and the bearing 54B can reduce the friction generated during rotation of the swinging member 42B about the rotation axis 2B, so as to achieve the effort saving effect of the first driving member 43B.

Referring to fig. 14, the cleaning mechanism further includes a fixing assembly 6B, and the fixing assembly 6B is adapted to fix the rotation shaft 2B with the base 1B. In this embodiment, the fixing assembly 6B includes a first fixing member 61B and a second fixing member 62B disposed at two ends of the rotating shaft 2B, a first groove 11B and a second groove 12B adapted to the first fixing member 61B and the second fixing member 62B are disposed above and below the base 1B, respectively, two ends of the rotating shaft 2B extend into the first groove 11B and the second groove 12B, and two ends of the rotating shaft 2B pass through the through holes of the first fixing member 61B and the second fixing member 62B, so that the first fixing member 61B and the second fixing member 62B are respectively embedded into the first groove 11B and the second groove 12B, and fix the rotating shaft 2B with the base 1B. In this embodiment, the first fixing member 61B is a nut that is inserted into the first groove 11B.

In order to improve the stability of the rotating shaft 2B and the base 1B, in this embodiment, a first step 21B is disposed above the rotating shaft 2B and is flush with the bottom of the first groove 11B, and after the first fixing member 61B is embedded into the first groove 11B, the bottom of the first fixing member 61B abuts against the first step 21B. The rotating shaft 2B is also provided with a second step 22B which is flush with the bottom of the second groove 12B; the second fixing member 62B includes a cover plate 622B disposed in the second groove 12B and a screw 621B connected to the rotating shaft 2B through the cover plate 622B, at least a portion of the cover plate 622B is embedded in the second groove 12B such that the first protruding portion 6221B of the cover plate 622B abuts against the second step 22B, and after the second protruding portion 6222B of the cover plate 622B abuts against the end portion of the screw, the second fixing member 62B penetrates into the rotating shaft 2B through the cover plate 622B to abut against the lower end of the second protruding portion 6222B to lock the rotating shaft 2B with the base 1B.

In this embodiment, the cleaning mechanism further includes a second driving component 5B, where the second driving component 5B and the cleaning member 100B are disposed above and below the supporting portion 312, respectively, and the second driving component 5B is connected with the cleaning member 100B to provide a driving force for the cleaning member 100B, so as to implement autorotation of the cleaning member 100B.

More specifically, referring to fig. 16 and 17, the second driving assembly 5B includes a second driving member 51B, a third gear 52B connected to the second driving member 51B, and a fourth gear 53B engaged with the third gear 52B, the fourth gear 53B being connected to the cleaning member 100B such that a driving force generated by the second driving member 51B can be transmitted to the third gear 52B and then transmitted to the fourth gear 53B to thereby rotate the cleaning member 100B. It should be noted that, since the entire second driving member 51B can rotate along with the swinging member 42B, in the present embodiment, when the cleaning member 100B moves between any of the retracted position and the extended position and between the retracted position and the extended position, the second driving member 51B will move along with the swinging member 42B in the accommodating space of the base 1B. The purpose of this arrangement is that the second driving assembly 5B is disposed on both sides of the swinging member 42B up and down with the cleaning member 100B, and the second driving assembly 5B does not form positional interference with the base 1B when moving, so that the portion is compact in structure and space is reasonably utilized.

Referring to fig. 19, the cleaning mechanism further includes a first detecting component 7B in signal connection with the electric control component, where the first detecting component 7B detects the position of the connecting portion 413B to detect the state of the expanding position of the cleaning component 100B, that is, the first detecting component 7B is adapted to detect whether the cleaning component 100B is in the expanding position when the cleaning component 100B moves from the retracted position to the expanding position. The first detecting assembly 7B is adapted to emit a first in-place signal when the cleaning member 100B moves from the retracted position to the extended position, the electronic control member receiving the first in-place signal indicating that the cleaning member 100B has reached the extended position, the electronic control member controlling the first driving member 43B to stop according to the first in-place signal, i.e. the first driving member 43B stops rotating in the first direction.

It should be noted that, in the present embodiment, since the second gear 415B is driven by an external force to rotate the swinging member, the cleaning member 100B connected to the swinging member 42B moves between the expanded position and the contracted position. Therefore, in the present embodiment, the first detecting member 7B detects the state in which the cleaning member is in the expanded position or the contracted position by detecting the position state of the connecting portion 413B. In this embodiment, the specific arrangement of the first detecting component 7B is as follows: the first detecting assembly 7B includes a first emitting member 71B and a first receiving member 72B mated with the first emitting member 71B, the first emitting member 71B being provided on one of the side wall of the connecting portion 413B of the second gear 415B and the inner side wall of the base 1B, and the first receiving member 72B being provided on the other of the side wall of the connecting portion 413B of the second gear 415B and the inner side wall of the base 1B. When the first driving member 43B drives the first gear 414B to rotate in the first direction, the gear portion 412B of the second gear 415B drives the connecting portion 413B to rotate in the second direction, so as to drive the cleaning member 100B to move from the retracted position to the extended position, and simultaneously, when the first transmitting member 71B or the first receiving member 72B disposed on the sidewall of the connecting portion 413B rotates to the extended position, the first transmitting member 71B transmits a first in-place signal to the first receiving member 72B, the first receiving member 72B transmits the first in-place signal to the electric control member, and the electric control member controls the first driving member 43B to stop operating; conversely, if the first receiving member 72B cannot receive the first in-place signal emitted by the first emitting member 71B, it indicates that the cleaning member 100B is not in the expanded position, and the first driving member 43B will continue to operate in the first direction. In this embodiment, the photoelectric switch is preferably used for in-place detection, and the reliability is higher than that of other continuous switches.

Also, referring to fig. 20, the cleaning mechanism further includes a second detecting component 8B in signal connection with the electric control component, where the second detecting component 8B is adapted to detect the state of the retracted position of the cleaning component 100B by detecting the position of the connecting portion 413B, that is, the second detecting component 8B is adapted to detect whether the cleaning component 100B is in the retracted position during the process of moving the cleaning component 100B from the expanded position to the retracted position. When the cleaning member 100B moves from the expanded position to the contracted position, the second detecting assembly 8B is adapted to transmit a second in-place signal to the electric control member, and the electric control member controls the first driving member 43B to stop operating according to the second in-place signal, i.e. the first driving member 43B stops rotating toward the second direction.

In the present embodiment, the second detecting member 8B also detects the state in which the cleaning element 100B is in the expanded position or the contracted position by detecting the position state of the connecting portion 413B. In this embodiment, the specific arrangement of the second detecting component 8B is as follows: the second detecting member 8B includes a second emitting member 81B and a second receiving member 82B that cooperates with the second emitting member 81B, the second emitting member 81B being provided on one of the bottom of the connecting portion 413B and the inner bottom wall of the base 1B, and the second receiving member 82B being provided on the other of the bottom of the connecting portion 413B and the inner bottom wall of the base 1B. When the first driving member 43B drives the first gear 414B to rotate in the second direction, the gear portion 412B of the second gear 415B removes the driving force applied to the actuating member 421B, the actuating member 421B is switched from the expanded position to the retracted position under the elastic force thereof and the external force of the obstacle, and after the second transmitting member 81B or the second receiving member 82B disposed on the bottom of the connecting portion 413B is also rotated to the retracted position, the second transmitting member 81B transmits a second in-place signal to the second receiving member 82B, the second receiving member 82B transmits the second in-place signal to the electric control member, and the electric control member controls the first driving member 43B to stop operating; Conversely, if the second receiving member 82B cannot receive the second in-place signal sent by the second sending member 81B, it indicates that the cleaning member 100B is not in the retracted position, and the first driving member 43B will continue to rotate toward the second direction. In the same way, in the embodiment, the photoelectric switch is preferentially adopted for in-place detection, and the reliability is higher than that of other continuous switches. It is noted that in this embodiment, the control logic of the cleaning member between the expanded position and the contracted position is as follows: when the cleaning member moves towards the outward expansion position, the first driving member 43B rotates to drive the transmission member 41B and the swinging member 42B to rotate, and the first detecting assembly 7B is suitable for detecting the position of the transmission member 41B, but not detecting the position of the cleaning member; When it is detected that the transmission member 41B reaches the preset position, that is, the cleaning member reaches the flaring position, the first driving member 43B stops running and rotates; because the torsion spring is arranged between the swinging piece 42B and the transmission piece 41B, the torsion spring can also drive the cleaning piece to swing outwards, the swinging angle of the cleaning piece is uncertain, and the torsion spring is related to the stress of the torsion spring based on whether the cleaning piece is subjected to an external obstacle or wall. When the cleaning member moves toward the retracted position, the time required for the first driving member 43B to drive the cleaning member to swing inward by a ° is theoretically t1, but in reality, due to the tolerance in the first gear and the second gear transmission, the motor is actually driven for a period of time t1+t2 when the cleaning member is actually controlled to retract, and the cleaning member continues to retract within the period of time t2, so that the tolerance in the first gear and the second gear transmission can be offset. During retraction, the second detection assembly detects the position of the driving member 41B, and as the driving member is in hard abutment with the oscillating member 42B, when the second detection assembly detects that the cleaning member is in the retracted state, the first driving member 43B will continue to operate for a period of time t2, and at the end of the period of time t2, the first driving member 43B will stall. (i.e., the retracted position is detected first, after which the motor continues to rotate for a period of time t 2). In this embodiment, T2 may be any second, for example, T2 may be selected from 0 to 10 seconds, for example, the preset duration T3 is 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 9 seconds, 10 seconds, and so on.

In the present application, referring to fig. 11 and 16, the cleaning mechanism further comprises a first damper assembly 9B, the first damper assembly 9B being adapted to prevent the cleaning assembly 20 from colliding with the base 1B when rotated from the expanded position to the contracted position. Specifically, the first damper assembly 9B includes a first damper 91B provided on the second drive assembly 5B, and the base 1B includes a first abutment 13B. When the cleaning member 100B is in the retracted position, the first damper 91B contacts the first abutting portion 13B, and a gap exists between the cleaning assembly 20 and the base 1B in the horizontal direction. It is also understood that when the cleaning member 100B is located at the retracted position, only the first shock absorbing member 91B is in contact with the base 1B, and the other portions are not in contact with the base 1B, so as to prevent the cleaning mechanism from colliding with the base 1B.

The cleaning mechanism further comprises a second shock absorbing assembly 10B, the second shock absorbing assembly 10B being adapted to prevent the cleaning assembly 20 from colliding with the base 1B when rotated from the retracted position to the extended position. Specifically, the second damper assembly 10B includes a second damper 101B provided on the second drive assembly 5B, and the base 1B includes a second abutment portion 14B provided on the inner wall. When the cleaning member 100B is located at the expanding position, the second shock absorbing member 101B contacts the second abutting portion 14B, and a gap exists between the cleaning assembly 20 and the inner wall of the base 1B in the horizontal direction. It is also understood that when the cleaning member 100B is located at the expanding position, only the second shock absorbing member 101B contacts the inner wall of the base 1B, and other parts do not contact the base 1B, so as to prevent the cleaning mechanism from colliding with the inner wall of the base 1B. In this embodiment, the first damper 91B and the second damper 101B are made of silicone.

Of course, the whole or partial structure of embodiment 4 can be combined with any possible embodiment on a practical basis to meet different purposes, and is not particularly limited herein.

In one embodiment, a lifting structure for driving the cleaning assembly 20 up and down includes a link and a driving assembly. The attachment member includes a first end for connection with the cleaning assembly 20 and a second end for rotational connection with the body 10. The driving component is connected with the connecting component and is used for driving the connecting component to rotate around a rotating fulcrum of the second end part on the machine body 10 so as to drive the cleaning component 20 to do lifting motion relative to the machine body 10. The cleaning assembly 20 has a cleaning state in contact with the surface to be cleaned and a raised state out of contact with the surface to be cleaned.

Alternatively, when the cleaning member 91H is a wipe, the wipe has a floating displacement amount in the height direction, and the cleaning state has a first cleaning state and a second cleaning state, in both of which the wipe can be brought into contact with the surface to be cleaned. When the connector is rotated, the cleaning assembly 20 is first changed from the first cleaning state to the second cleaning state and then to the raised state. When the cleaning assembly 20 is shifted from the first cleaning state to the second cleaning state, the cleaning assembly 20 has a state of moving toward the edge direction of the machine body 10 because the movement trace of the first end portion of the connecting member is an arc. That is, in the process of converting the first cleaning state into the second cleaning state, the cleaning assembly 20 can generate lateral displacement while lifting, so that the cleaning assembly 20 expands outwards, the cleaning assembly 20 can clean edges, and pain points which cannot be cleaned by edge sanitary dead corners are effectively solved.

Example 5: in the embodiment, a cleaning apparatus having an elastic member 300F and a link driving mechanism 400F is mainly described. In an embodiment, the first driving structure 40M includes at least a driving module 210F, the second driving structure 50M includes at least an elastic member 300F and a link driving mechanism 400F, and the in-place detecting structure includes at least a detector 120F.

With the foregoing in mind, this embodiment differs from the previous embodiments in that the elastic member 300F and the link driving mechanism 400F are also disclosed in this embodiment, and different cleaning assemblies 20 and driving modules 210F are employed in this embodiment.

The present embodiment provides a cleaning apparatus, referring to fig. 21 to 24, the cleaning apparatus 100F includes a machine body 10, a cleaning module 200F, an elastic member 300F, and a link driving mechanism 400F. The cleaning module 200F includes a driving module 210F and a cleaning assembly 20, where the driving module 210F is connected to the cleaning assembly 20 and is used for driving the cleaning assembly 20 to rotate. The driving module 210F is rotatably provided to the body 10 such that the cleaning assembly 20 has an initial position and a rim position, which is a position in which at least a portion of the cleaning assembly 20 protrudes from the maximum width of the body 10 in the advancing direction, as shown in fig. 23. The elastic member 300F is disposed between the machine body 10 and the driving module 210F, and moves the cleaning assembly 20 toward the edge position by the driving module 210F, i.e., the resilience of the elastic member 300F always forces the cleaning assembly 20 to move to the edge position. The link driving mechanism 400F is disposed on the machine body 10 and connected to the driving module 210F for driving the driving module 210F to rotate. When the link driving mechanism 400F is self-locking, the link driving mechanism 400F can maintain the cleaning assembly 20 at the initial position, and prevent the cleaning assembly 20 from moving to the edge position under the action of the elastic member 300F. The first position at least comprises an initial position, and the second position at least comprises a border position.

The cleaning apparatus 100F of the present embodiment rotatably sets the driving module 210F of the cleaning module 200F on the machine body 10 such that the cleaning assembly 20 of the cleaning module 200F has an initial position and a rim position, and controls the rotation of the driving module 210F by providing the elastic member 300F and the link driving mechanism 400F, thereby controlling the swing of the cleaning assembly 20, i.e., the cleaning assembly 20 can move between the initial position and the rim position. As shown in fig. 23, when the cleaning assembly 20 is located at the edge position, the cleaning assembly 20 can be swung out to cover the range of the machine body, so that edge cleaning is realized, the cleaning effect of the cleaning device 100F in edge mopping is improved, and the problem that the cleaning assembly 20 cannot be used for mopping is solved; moreover, when the cleaning assembly 20 is towed along an obstacle, the elastic member 300F can act as a buffer for the collision, so that the extended cleaning assembly 20 can retract inward to protect the cleaning assembly 20; when the cleaning assembly 20 leaves the obstacle, the cleaning assembly 20 is rapidly moved to the edge position by the resilience of the resilient member 300F, and the cleaning assembly continues to mop the floor along the edge. As shown in fig. 24, when the cleaning assembly 20 is located at the initial position, the link driving mechanism 400F is self-locking, so as to overcome the resilience of the elastic member 300F, so as to keep the cleaning assembly 20 at the initial position, and prevent the cleaning assembly 20 from swinging out to the edge position in the non-edge mode, and the cleaning assembly 20 will not swing out even if being impacted or entangled.

In order to facilitate the installation of the cleaning module 200F, the machine body 10 is provided with an installation cavity 111F, and the cleaning module 200F and the link driving mechanism 400F are both disposed in the installation cavity 111F. The bottom of the machine body 10 is provided with a clearance portion which communicates with the installation cavity 111F, and the clearance portion is used for avoiding the movement of the cleaning assembly 20 between the edge position and the initial position, and limiting the movement range of the cleaning assembly 20. In this embodiment, the clearance defines two extreme positions of the cleaning assembly 20, namely an edge position and an initial position; however, in other embodiments, the edgewise and/or initial positions may be located between two extreme positions.

It should be noted that the number of the cleaning modules 200F of the cleaning apparatus 100F may be set according to the actual situation, for example, the cleaning apparatus 100F may be provided with one or two cleaning modules 200F, and the mounting cavity 111F, the elastic member 300F, and the link driving mechanism 400F of the machine body 10 are correspondingly provided, so that the cleaning assembly 20 of at least one cleaning module 200F may be swingably disposed. For another example, more than three cleaning modules 200F may be provided in the cleaning apparatus 100F, and the number of cleaning modules 200F that can swing the cleaning assembly 20 may be set according to actual requirements.

The cleaning apparatus 100F also includes a detector 120F and a controller 130F. The detector 120F is disposed on the machine body 10 and is used for detecting the position of the driving module 210F. The controller 130F is disposed on the machine body 10 and is electrically connected to the detector 120F and the link driving mechanism 400F, respectively, and the controller 130F controls the link driving mechanism 400F according to the position detected by the detector 120F. The detector 120F can detect the position of the driving module 210F, and when the link driving mechanism 400F drives the cleaning assembly 20 to extend to a position (edge position) or receive a position (initial position), the controller 130F controls the link driving mechanism 400F to stop working, so as not to cause a locked rotation, and thus the service life of the link driving mechanism 400F is affected. The first position at least comprises an initial position, and the second position at least comprises a border position.

Further, the cleaning apparatus 100F further includes a main board (not shown), and the controller 130F is disposed on the main board and mounted to the body 10 through the main board. Further, other electronic components are provided on the main board to realize various functions of the cleaning apparatus 100F.

In this embodiment, the detector 120F may be, but is not limited to, hall sensors, and the number of the hall sensors is two, and the driving modules 210F are respectively disposed corresponding to the initial position and the edge position. When the cleaning assembly 20 moves to the edgewise position, the outboard hall sensor can detect ferrous metal in the drive module 210F to sense its in place to detect the edgewise position of the cleaning assembly 20, as shown in fig. 23; when the cleaning assembly 20 moves to the initial position, the inboard hall sensor can detect ferrous metal in the drive module 210F and sense it in place to detect the initial position of the cleaning assembly 20, as shown in fig. 24. It should be noted that, in other embodiments, the detector 120F may be an infrared sensor, which may detect the position of the cleaning component 20 located therebelow by using the principle that the look-down sensor detects cliffs; the detector 120F may also be a micro switch (tact switch) having a deformable elastic sheet, and the micro switch is turned on by the contact between the driving module and the elastic sheet, so as to detect the position of the driving module.

In this embodiment, the cleaning apparatus 100F has different operation states, and may include, by way of example and not limitation, the following two operation states:

Referring to fig. 23, when the cleaning apparatus 100F recognizes the edgewise state (edgewise mode), the controller 130F controls the link driving mechanism 400F to operate to unlock the link driving mechanism 400F, and the cleaning assembly 20 moves from the initial position to the edgewise position by the resilience of the elastic member 300F, at which time at least a portion of the cleaning assembly 20 protrudes beyond the maximum width of the body 10 (the machine body) in the advancing direction, i.e., the cleaning assembly 20 is covered beyond the reference line L to the machine body range, improving the cleaning effect when the cleaning apparatus 100F is edgewise cleaned. Referring to fig. 24, when the cleaning apparatus 100F completes the edge cleaning and resumes the normal operation (non-edge mode), the controller 130F controls the link driving mechanism 400F to operate to drive the driving module 210F to rotate, so that the cleaning assembly 20 is retracted from the edge position to the initial position, and at this time, the cleaning assembly 20 does not protrude from the maximum width of the machine body 10 (the machine body) in the advancing direction, i.e., the cleaning assembly 20 is located within the reference line L, and the link driving mechanism 400F is self-locked to position the cleaning assembly 20 at the initial position, preventing the cleaning assembly 20 from swinging outwards due to the elastic member 300F and other external forces.

Referring to fig. 25, fig. 25 is a partially enlarged view of the cleaning apparatus according to the present embodiment, and fig. 22 and 24 are combined together, and the cleaning assembly 20 of the cleaning apparatus 100F is at the initial position. The machine body 10 is provided with a stopper 112F. The link driving mechanism 400F includes a link mechanism 410F and a driving member 420F, where the link mechanism 410F is connected to the driving module 210F and the driving member 420F, respectively, i.e., an input end thereof is connected to the driving member 420F, and an output end thereof is connected to the driving module 210F. The driving member 420F is disposed on the machine body 10, and is used for driving the link mechanism 410F to rotate, so as to link the driving module 210F to rotate. In the initial position state, the limiting portion 112F limits the rotation of the link mechanism 410F, and the resilience of the elastic member 300F is smaller than the force applied to the driving module 210F by the link mechanism 410F.

Since the resilience of the elastic member 300F is insufficient to overcome the force of the link mechanism 410F acting on the driving module 210F, the elastic member 300F cannot move the cleaning assembly 20 to the edge position, i.e. the link driving mechanism 400F can hold and position the cleaning assembly 20 in the initial position by self-locking, so as to prevent improper swing-out. Moreover, the linkage drive mechanism 400F can also overcome other forces that return the cleaning assembly 20 to the edgewise position, such as friction applied to the cleaning assembly 20 by the floor, forces applied by collisions with obstacles, or traction forces of the windings. It should be noted that, in other embodiments, the driving member 420F is a self-locking motor, that is, when in operation, the rotating shaft of the self-locking motor can rotate, and when not in operation, the rotating shaft of the self-locking motor cannot rotate; when the link driving mechanism 400F moves to the self-locking position, the driving member 420F stops working, the link mechanism 410F cannot rotate due to self-locking of the rotating shaft of the driving member 420F, the acting force applied by the link mechanism 410F to the driving module 210F is greater than the resilience force of the elastic member 300F, and at this time, the whole link driving mechanism 400F can realize self-locking without the cooperation of the limiting portion 112F. Therefore, the "self-locking" of the link driving mechanism 400F in the present application means that when the driving member 420F drives the link mechanism 410F to move to a certain position, the components of the link mechanism 410F cannot move relatively, so as to position the driving module 210F. The link mechanism 410F may achieve this by means of an external structure (e.g., the stopper 112F) or by means of an internal structure (e.g., a self-locking motor) of the link driving mechanism 400F. Obviously, in the present embodiment, this certain position is the initial position.

In this embodiment, the link mechanism 410F includes a first rod 412F and a second rod 414F rotatably connected, and an end of the first rod 412F away from the second rod 414F is connected to the driving member 420F. The driving member 420F is configured to drive the first rod 412F to rotate, and when the first rod 412F rotates to contact the limiting portion 112F, an included angle α between the first rod 412F and the second rod 414F is an obtuse angle. Under the action of the elastic member 300F, the limiting portion 112F applies a force to the first rod 412F, and the force is applied to the second rod 414F at the same time due to the obtuse angle α, so that the second rod 414F plays a supporting role to prevent the driving module 210F from swinging back. It can be appreciated that in other embodiments, the self-locking motor can be used for the driving member 420F, the included angle α between the first rod 412F and the second rod 414F is an obtuse angle, and when the link mechanism 410F moves to the self-locking position, the first rod 412F cannot rotate due to the self-locking of the rotating shaft of the driving member 420F, and the second rod 414F can also play a supporting role without being limited by the limiting portion 112F, so as to prevent the driving module 210F from swinging back.

Further, a pivot portion 211F and a mating portion 212F are disposed on a side of the driving module 210F away from the cleaning assembly 20. The link mechanism 410F includes a third rod 416F, one end of the third rod 416F is rotatably connected to one end of the second rod 414F away from the first rod 412F, and the other end of the third rod 416F is pivotally connected to the pivot portion 211F. The third rod 416F may be engaged with the engaging portion 212F, and drives the driving module 210F to rotate through the engaging portion 212F, so as to move the cleaning assembly 20 toward the initial position.

When the link driving mechanism 400F is self-locking, the included angle α between the first rod 412F and the second rod 414F is an obtuse angle, the driving module 210F receives a force F1 when the cleaning device 100F is moving forward, the third rod 416F applies a force F2 to the second rod 414F, and the second rod 414F applies a force F3 to the first rod 412F. Wherein, the included angle beta between F1 and F2 is an acute angle, and the included angle theta between F2 and F3 is an acute angle. The self-locking of the link driving mechanism 400F is realized through the cooperation of the limiting part 112F, the cooperation part 212F and the link mechanism 410F, and the structure is simple and the stability is good. In other embodiments, the link driving mechanism 400F may be based on the self-locking motor, in which the link mechanism 410F is additionally provided with the third rod 416F, the included angle β between F1 and F2 is an acute angle, and the included angle θ between F2 and F3 is an acute angle, which may also achieve the above-mentioned technical effects. In other embodiments, the third rod 416F may be replaced by a protruding structure provided on one side of the driving module 210F, without providing the engaging portion 212F, and the second rod 414F is rotatably connected to the protruding structure, which may be provided in an integrated manner, but is not limited to, a self-locking structure.

Further, a first bearing 213F is fixedly connected between the other end of the third rod 416F and the pivot portion 211F, and the first bearing 213F can enable the third rod 416F and the pivot portion 211F to have good rotation performance, and can ensure connection stability between the third rod 416F and the pivot portion 211F. In this embodiment, the pivot portion 211F is an axle body, and the other end of the third rod 416F is provided with an adapted axle hole. Obviously, in an embodiment, the pivot portion 211F may be a shaft hole, and the other end of the third rod 416F is provided with an adaptive shaft body.

In this embodiment, the limiting portion 112F is disposed at a connection position of the first rod 412F and the second rod 414F, so that the limiting effect is better, and the limiting portion can act on the first rod 412F and the second rod 414F at the same time, which is beneficial to improving the stability of the self-locking structure. It is understood that the limiting portion 112F may also be disposed corresponding to other positions of the first rod 412F, such as a middle position of the first rod 412F.

In this embodiment, the matching portion 212F is disposed corresponding to any portion between the middle portion of the third rod 416F and the free end, where the free end is one end of the third rod 416F connected to the second rod 414F, and the third rod 416F pushes the driving module 210F to rotate through the matching portion 212F, so that the pushing force can be reduced by using the lever effect. The engaging portion 212F is provided in a convex column shape, but is not limited to this shape, and other convex structures are also possible.

Referring to fig. 22, the body 10 is further provided with a mounting portion 113F, and the mounting portion 113F is connected to the stopper portion 112F, so that the structural strength of the stopper portion 112F can be improved due to the connection of the stopper portion 112F to the mounting portion 113F. The driving member 420F has a rotatable shaft, the mounting portion 113F is provided with a mounting groove 114F, and the driving member 420F is provided in the mounting groove 114F. The rotating shaft of the driving member 420F extends out of the mounting groove 114F and is fixedly connected with the first rod 412F, so as to drive the first rod 412F to rotate. The limiting portion 112F is higher than the mounting groove 114F, and performs a limiting function on the first rod 412F. In the present embodiment, the mounting portion 113F has a cylindrical shape, and the stopper portion 112F has a convex shape and is connected to the outer surface of the mounting portion 113F. It should be noted that the first rod 412F of the link mechanism 410F may be configured as a crank or rocker according to the size of the space of the installation cavity 111F, and the third rod 416F is configured to cooperate with the first rod 412F.

In this embodiment, the driving member 420F may be, but not limited to, a motor that outputs power by rotation of its rotation shaft. The controller 130F is electrically connected to the driving member 420F, and thus the controller 130F can control the operation of the link driving mechanism 400F by controlling the rotation speed and the direction of the driving member 420F. In other embodiments, the driving member 420F may be other power devices, such as a telescopic device, which drives the first rod 412F to rotate through a telescopic rod.

Since the limited movement range of the cleaning assembly 20 results in a limited rotation range of the first lever 412F, the limiting portion 112F can limit the rotation of the link mechanism 410F only in a time-needle direction, and in this embodiment, the limiting portion 112F limits the rotation of the link mechanism 410F only in a counterclockwise direction. It should be noted that, in other embodiments, the limiting portion 112F, the elastic member 300F, and the link driving mechanism 400F may be mirror-image disposed on the other side of the driving module 210F, and at this time, the limiting portion 112F should limit the rotation of the link mechanism 410F in the clockwise direction to realize the self-locking of the link driving mechanism 400F.

22-24, And 25, in the process of moving the cleaning assembly 20 from the edge position to the initial position, the driving member 420F drives the first rod 412F to rotate in the counterclockwise direction, the second rod 414F links the third rod 416F to rotate, the third rod 416F pushes the driving module 210F to rotate inwards through the matching portion 212F, and when the first rod 412F rotates to the limiting portion 112F, the first rod 412F cannot continue to rotate and is limited, and at this time, the whole link mechanism 410F is self-locked, so as to position the cleaning assembly 20 at the initial position. In the process of moving the cleaning assembly 20 from the initial position to the edge position, the driving member 420F drives the first rod 412F to rotate clockwise and gradually move away from the limiting portion 112F, the second rod 414F links the third rod 416F to rotate, the driving module 210F rotates outwards under the action of the elastic member 300F, and when the resilience of the elastic member 300F is greater than the force applied to the driving module 210F by the link mechanism 410F, the elastic member 300F directly pulls the cleaning assembly 20 to the edge position through the driving module 210F. At this time, the driving member 420F stops working, and is limited by the elastic member 300F or other structures, the first rod 412F cannot reach the limiting portion 112F in the clockwise direction.

Referring to fig. 26 to 29, in conjunction with fig. 22, fig. 26 is a schematic structural view of a cleaning module of the cleaning apparatus according to the present embodiment, fig. 27 is a top view of the cleaning module of fig. 26, fig. 28 is a cross-sectional view of the cleaning module of fig. 27 along line I-I, fig. 29 is an exploded view of the cleaning module of fig. 26, and a side of the driving module 210F facing the cleaning assembly 20 is provided with a first shaft coupling portion 214F. The machine body 10 is further provided with a second shaft connecting portion 115F, and the second shaft connecting portion 115F is axially inserted and matched with the first shaft connecting portion 214F. The driving module 210F is rotatably mounted to the machine body 10 by the engagement of the first shaft coupling portion 214F of the driving module 210F with the second shaft coupling portion 115F of the machine body 10, i.e., the cleaning assembly 20 can revolve around the central axis of the first shaft coupling portion 214F while rotating.

Further, a second bearing 215F is fixedly connected between the second shaft connection portion 115F and the first shaft connection portion 214F, and the first shaft connection portion 214F is axially and fixedly connected with the second shaft connection portion 115F through the second bearing 215F, so that the driving module 210F has good rotation performance, and rotation friction is reduced. Further, the second bearing 215F can also secure the connection stability between the first shaft joint 214F and the second shaft joint 115F without affecting the rotation.

In order to improve the coaxiality of the axial connection between the first shaft joint portion 214F and the second shaft joint portion 115F, the rotation accuracy of the driving module 210F is improved. The side of the driving module 210F facing the cleaning assembly 20 is further provided with a first socket portion 216F, and the first socket portion 216F is coaxially disposed around the first shaft portion 214F. The machine body 10 is further provided with a second sleeving part 116F, the second sleeving part 116F is coaxially arranged around the second sleeving part 115F, and the second sleeving part 116F is axially spliced and matched with the first sleeving part 216F. Obviously, the first socket portion 216F is better for maintaining coaxiality when being matched with the second socket portion 116F. To reduce rotational friction, the mating surfaces of the first and second sockets 216F, 116F are both smooth and may be coated with a lubricating oil.

In this embodiment, the first shaft coupling portion 214F is a shaft body, and the first socket portion 216F is a sleeve. Correspondingly, the second coupling portion 115F is a shaft hole, and the second coupling portion 116F is an annular groove. It will be appreciated that in other embodiments, the first shaft coupling portion 214F may be a shaft bore and the first socket portion 216F may be an annular groove. Correspondingly, the second coupling portion 115F is a shaft body, and the second coupling portion 116F is a sleeve.

In the present embodiment, the driving module 210F includes a housing 230F, a driving motor 240F, and a transmission mechanism 250F, and the driving motor 240F and the transmission mechanism 250F are disposed in the housing 230F. The rotating shaft of the driving motor 240F is connected with the input end of the transmission mechanism 250F, and the output end of the transmission mechanism 250F is connected with the cleaning assembly 20. Wherein, the rotation center of the driving module 210F is located on the central axis of the driving motor 240F, which can reduce vibration and noise when the driving module 210F rotates, and the cleaning assembly 20 can better achieve revolution under the condition of rotation. In addition, the casing 230F can protect the driving motor 240F and the transmission mechanism 250F, thereby achieving waterproof and dustproof effects. In other embodiments, the driving motor 240F may be disposed outside the housing 230F and connected to an input end of the transmission mechanism 250F in the housing 230F.

Further, the driving module 210F further includes a connection structure 260F, the connection structure 260F is disposed in the housing 230F, one end of the connection structure 260F is connected to the output end of the transmission mechanism 250F, and the other end of the connection structure 260F is connected to the cleaning assembly 20. In operation, the shaft of the driving motor 240F rotates to output torque, which is transmitted to the connection structure 260F via the transmission mechanism 250F, and the connection structure 260F rotates to connect with the cleaning assembly 20. It will be appreciated that in other embodiments, the cleaning assembly 20 may be directly coupled to the output of the transmission 250F without being coupled by the coupling structure 260F.

Further, the housing 230F includes a bottom shell 232F, a middle shell 234F, and a top shell 236F. The middle casing 234F is covered on the bottom casing 232F, the driving motor 240F and the connecting structure 260F are both disposed between the bottom casing 232F and the middle casing 234F, and a rotating shaft of the driving motor 240F penetrates through the middle casing 234F. The top casing 236F is covered on the middle casing 234F, the transmission mechanism 250F is arranged between the middle casing 234F and the top casing 236F, the input end of the transmission mechanism 250F is connected with the rotating shaft of the driving motor 240F, the output end of the transmission mechanism 250F is connected with the connecting structure 260F through the middle casing 234F, and the cleaning assembly 20 is connected with the connecting structure 260F through the bottom casing 232F. The housing 230F is layered to accommodate different structures, and is reasonably arranged to achieve compact arrangement and reduce volume.

Further, the transmission mechanism 250F is a gear transmission mechanism including a plurality of gears that are sequentially engaged. In other embodiments, the housing 230F may have a two-layer structure, and only the transmission mechanism 250F may be disposed in the housing 230F, and the transmission mechanism 250F may also be a pulley transmission mechanism.

Further, the cleaning assembly 20 includes a connecting shaft 222F, a cleaning disc 224F, and cleaning members 226F. One end of the connecting shaft 222F extends into the bottom shell 232F and is fixedly connected with the connecting structure 260F. The other end of the connection shaft 222F is fixedly connected with the cleaning tray 224F. The cleaning member 226F is disposed on a side of the cleaning plate 224F facing away from the connecting shaft 222F. The cleaning element 226F may be, but is not limited to, a wipe.

In this embodiment, the first shaft connection portion 214F and the first socket connection portion 216F are both provided on the bottom case 252 and are integrally configured. The pivot portion 211F and the mating portion 212F are disposed on the top case and are integrally formed. The pivot portion 211F of the top case 236F, the input end of the transmission mechanism 250F, the rotating shaft of the driving motor 240F, the first shaft portion 214F of the bottom case 232F, and the second shaft portion 115F of the machine body 10 are all coaxially disposed and have the same central axis (rotation center). The output end of the transmission mechanism 250F, the connection structure 260F, and the connection shaft 222F of the cleaning assembly 20 are all coaxially disposed with the same central axis (rotation center).

Referring to fig. 21 and 24, the body 10 has an inner peripheral surface provided with a first connecting portion 117F. The driving module 210F has an outer side surface disposed toward the inner peripheral surface, and a second connection portion 217F is disposed on the outer side surface. One end of the elastic member 300F is connected to the first connection portion 117F, and the other end is connected to the second connection portion 217F. Since the elastic member 300F is tightly connected with the first connection portion 117F on the inner peripheral surface of the machine body 10, the driving module 210F always has a tendency to rotate to the edge position, and when the link driving mechanism 400F cancels the self-locking, the cleaning assembly 20 can be rapidly moved to the edge position under the elastic force of the elastic member 300F.

In this embodiment, the elastic member 300F may be, but not limited to, a tension spring, and may also be an elastic column structure, an elastic rod structure, or an elastic strip structure, which has both structural strength and elasticity. The first connecting portion 117F and the second connecting portion 217F are hooks, one end of the tension spring is sleeved on the first connecting portion 117F, and the other end of the tension spring is sleeved on the second connecting portion 217F. It should be noted that, in other embodiments, the elastic member 300F may be a torsion spring, where the torsion spring is disposed at a rotational connection portion between the machine body 10 and the driving module 210F, one torsion arm of the torsion spring abuts against the machine body 10, and the other torsion arm of the torsion spring abuts against the driving module 210F, so that the driving module 210F is in a folded state relative to the machine body 10, and further the cleaning assembly 20 always has a tendency to move towards the edge position. Further, the torsion spring may be coupled to an outer side surface of the second coupling portion 116F of the body 10.

Of course, the whole or partial structure of embodiment 5 can be combined with any possible embodiment on a practical basis to meet different purposes of use, and is not particularly limited herein.

Example 6: various modifications of the locking structure for locking the cleaning assembly 20 are mainly described in the embodiments. In view of the foregoing, this embodiment also discloses a locking structure that can be used to lock the cleaning assembly 20 of the linear outer swing or lock the cleaning assembly 20 of the arcuate outer swing, unlike the foregoing embodiment.

In one embodiment, when a drive motor for the outer swing is provided on the cleaning assembly 20, self-locking may be achieved by the motor itself. For example, the brush motor has a braking function, or the circuit structure is adopted to enable the positive electrode and the negative electrode of the motor to be reversely connected, so that the motor is self-locked.

In another specific embodiment, when the transmission mechanism of the second driving structure 50M for driving the cleaning assembly to swing includes a transmission gear, a slider-crank mechanism may be provided for realizing self-locking of the transmission gear, a limiting chute is provided on the transmission gear, and in the thickness direction of the transmission gear, teeth on the limiting chute and the transmission gear are staggered, a rocker of the slider-crank mechanism is rotatably provided on the machine body 10, a slider of the slider-crank mechanism is located in the limiting chute, the transmission gear rotates to drive the slider to slide in the chute and the rocker rotates, when in the retracted position, the slider is located on a mouth of the chute, and when in the outward swing position, the slider is located at a bottom position of the chute, so as to realize self-locking of the transmission gear; or when the sliding block is in the retracted position, the sliding block is positioned at the bottom of the limiting sliding groove; when the cleaning assembly 20 is in the outward swinging position, the sliding block is positioned at the notch of the limiting sliding groove, so that the self-locking of the transmission gear is realized, and the cleaning assembly 20 is locked in the outward swinging position and the inward shrinking position.

In yet another embodiment, when the transmission mechanism of the second driving structure 50M includes a transmission gear, a telescopic member is provided on the machine body 10, and when the cleaning assembly 20 is in the retracted position, the telescopic member extends to be in plug-in fit with a limit groove on the transmission gear. When the cleaning assembly 20 is required to swing outwards, the telescopic piece retracts to release the plugging matching relation with the limiting groove. Similarly, when the cleaning assembly 20 is in the outward swing position, the telescopic piece extends out to be spliced with the limiting groove, so that the cleaning assembly 20 is locked in the outward swing position.

In yet another embodiment, the plunger is disposed in the machine body 10, and the driving set mechanism for outward swinging is limited in the retracted position and the outward swinging position by means of the telescopic manner of the ball head. For example, the plunger includes a housing, a ball or a protrusion provided at an opening of the housing, one end of the ball or the protrusion is limited in an inner cavity of the housing, the other end is located outside the opening of the housing as a limiting end, a spring is provided in the inner cavity of the housing, one end of the spring is provided on the housing, and the other end is provided on the ball.

The plunger is disposed on the body 10 and a ball groove is provided on the cleaning assembly 20 or a transmission mechanism for driving the cleaning assembly 20 to rotate and swing. For example, when the cleaning assembly 20 moves to the retracted position, the ball head on the plunger can extend into the ball groove on the cleaning assembly 20, so that the cleaning assembly 20 is limited to the retracted position of the machine body 10 by the ball head and the ball groove, if the cleaning assembly 20 swings outwards, the cleaning assembly 20 rotates under the driving of the second driving structure 50M, the ball groove acts on the ball head, and the ball head retracts towards the inner cavity of the plunger, so that the limiting force on the ball groove is relieved. Or when the cleaning assembly 20 moves to the outward swinging position, the ball head on the plunger can extend into the ball groove on the cleaning assembly 20, so that the cleaning assembly 20 is limited to the outward swinging position of the machine body 10 by utilizing the ball head and the ball groove, if the cleaning assembly 20 needs to swing inwards, the cleaning assembly 20 rotates under the drive of the second driving structure 50M, the ball groove acts on the ball head, and the ball head retracts towards the inner cavity of the plunger, so that the limiting force on the ball groove is relieved.

In yet another embodiment, a multi-gear mechanical self-lock may also be provided. For example, a plurality of telescopic limiting pieces are arranged on the machine body, each limiting piece corresponds to a tooth slot on the driving gear of the outer pendulum, and the limiting piece corresponding to the tooth slot is driven to extend according to the outer pendulum position, namely the limiting piece is inserted into the tooth slot, and the driving gear cannot rotate so as to limit the current position. In one embodiment, when a drive motor for the outer swing is provided on the cleaning assembly 20, self-locking may be achieved by the motor itself. For example, the brush motor has a braking function, or the circuit structure is adopted to enable the positive electrode and the negative electrode of the motor to be reversely connected, so that the motor is self-locked.

As an alternative to any of the above embodiments or implementations: in one embodiment, the cleaning apparatus is provided with at least one wet cleaning module 200M, the cleaning assembly 20 of the wet cleaning module 200M having a first position (retracted position) and a second position (swung out position). Wherein, when the cleaning assembly 20 is in the retracted position, the edge of the cleaning assembly 20 is located within the range of the edge of the machine body 10; when the cleaning assembly 20 is in the swung-out position, a portion of the cleaning assembly 20 is located outside the peripheral side of the body 10, or at least a portion of the edge of the cleaning assembly 20 is beyond the edge of the travel range of the body 10. For all other structures of the foregoing embodiments, for example, the first driving structure 40M, the second driving structure 50M, the lifting structure, the sealing structure, the water supplementing structure, the in-place detecting structure, the locking structure, the limiting structure, the arrangement of the wet cleaning module 200M and the blower 103M, the dust box 102M, the dust exhaust duct 1026M in the machine body 10, etc., the specific structure is referred to the description of the foregoing embodiments or examples, and is not repeated herein.

The foregoing is illustrative of the present application and is not intended to limit the scope of the application. Any equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this application, and are intended to be within the scope of this application.

Claims

1. A cleaning apparatus, comprising

A body;

The cleaning component is movably connected with the machine body; the cleaning assembly has a retracted position and an outwardly swung position; the cleaning component can realize edge cleaning when in the outward swinging position;

A second drive structure for driving the cleaning assembly to oscillate between the retracted position and the swung-out position, and for driving the cleaning assembly to switch from the swung-out position to the retracted position in at least one scenario; the scene comprises at least one of a scene that the cleaning device returns to the base station, a scene that the cleaning assembly is in lifting, and a scene that the cleaning device is in non-edgewise cleaning.

2. The cleaning apparatus of claim 1, further comprising a lifting structure for driving the cleaning assembly up and down;

And if the cleaning assembly is at the outward swing position, the second driving structure drives the cleaning assembly to be switched from the outward swing position to the inward retraction position, and in the inward retraction position, the lifting structure drives the cleaning assembly to lift or descend.

3. The cleaning apparatus of claim 1, further comprising a lifting structure for driving the lifting and lowering of the cleaning assembly such that the cleaning assembly has a lifted position and a mopped position;

When the cleaning component is at the retracted position, the lifting structure drives the cleaning component to do lifting or descending movement.

4. A cleaning apparatus in accordance with claim 3 wherein the lifting structure causes the cleaning assembly to be in the raised position with the cleaning assembly removed and/or with the cleaning apparatus cleaning at least one of carpeting, obstacle surmounting, and back to a base station.

5. The cleaning apparatus of claim 2, wherein the cleaning apparatus performs at least one operation in a base station, the second drive structure for driving the cleaning assembly to remain in the retracted position; the operations include at least one of collecting dust within a dust box of the cleaning apparatus into the base station, cleaning a cleaning member of the cleaning assembly, removing and/or assembling the cleaning member, and filling water within a water tank of a water replenishment mechanism of the cleaning apparatus.

6. The cleaning apparatus defined in any one of claims 2-5, further comprising a first drive structure for driving the cleaning assembly in motion to move the cleaning assembly to clean a surface to be cleaned; the first driving structure and the lifting structure share a motor.

7. The cleaning apparatus defined in claim 6, wherein the first drive structure comprises a rotating electric machine;

The lifting structure comprises a first fixed body and a second fixed body, wherein the first fixed body is in threaded fit with the second fixed body, one of the first fixed body and the second fixed body is provided with a threaded groove, and the other one of the first fixed body and the second fixed body is provided with a convex rib or a threaded tooth matched with the threaded groove; the bottom of the second fixed body is connected with the top of the cleaning assembly, and the first fixed body is connected with the rotating motor;

The cleaning assembly is positioned at a mopping position, the rotating motor rotates along a first direction, and the second fixed body rotates upwards relative to the first fixed body to drive the cleaning assembly to lift to a lifting position;

The cleaning assembly is located at a lifting position, the rotating motor rotates along a second direction, the second fixed body rotates downwards relative to the first fixed body, the cleaning assembly descends to a mopping position from the lifting position, the rotating motor continues to rotate along the second direction, and relative rotation does not exist between the first fixed body and the second fixed body, so that the cleaning assembly is driven to integrally rotate to mop the floor.

8. The cleaning apparatus of claim 7, wherein the cleaning assembly further has a disengaged position, the rotating motor continues to rotate in the first direction when the cleaning assembly is in the raised position, the cleaning assembly being disengaged from the second stationary portion from the raised position to the disengaged position.

9. The cleaning apparatus of claim 7, wherein the second drive structure is configured to drive the first drive structure and/or the lifting structure to swing to cause the cleaning assembly to swing.

10. The cleaning apparatus of claim 1, wherein the second drive structure comprises a motor, a reset member, or an elastic member; one end of the reset piece or the elastic piece is connected with the cleaning assembly, the other end of the reset piece or the elastic piece is connected with the machine body, and the reset piece or the elastic piece provides reset force for the cleaning assembly to be kept at the outward swing position;

the motor is used for driving the cleaning assembly to retract so as to overcome the reset force and enable the cleaning assembly to be switched from the outward swing position to the retracted position.

11. The cleaning apparatus of claim 1, wherein the second drive structure comprises a motor, a transmission mechanism, and an elastic member disposed between the transmission mechanism and the cleaning assembly;

When the cleaning assembly is required to swing outwards, the motor rotates along a first direction to drive the transmission mechanism to rotate, the transmission mechanism applies acting force to the elastic piece to force the elastic piece to store energy so as to drive the cleaning assembly to swing outwards;

When the cleaning assembly needs to retract, the motor rotates along the second direction to drive the transmission mechanism to rotate, and the transmission mechanism is used for poking the cleaning assembly to swing towards the retracted position.

12. The cleaning apparatus of claim 11, wherein the motor rotates in a first direction to rotate the transmission mechanism, the transmission mechanism applying a force to the elastic member to force the elastic member to store energy, the elastic member releasing the stored energy to drive the cleaning assembly to swing outward when the motor is de-energized or stalled.

13. The cleaning apparatus of claim 11, wherein the transmission mechanism comprises a transmission member and a swinging member, the swinging member being rotatably provided on the body; the cleaning component is arranged on the swinging piece; when the cleaning assembly needs to retract, the motor rotates along a second direction to drive the transmission piece to rotate, and the transmission piece is abutted on the swinging piece to toggle the swinging piece to rotate so as to drive the cleaning assembly to swing towards the retracted position;

Or alternatively

The transmission mechanism is provided with a first abutting part, and the cleaning assembly is provided with a second abutting part; when the cleaning assembly needs to shrink inwards, the motor drives the transmission mechanism to rotate when rotating along the second direction, and the cleaning assembly is stirred to rotate towards the shrinking position through the abutting of the first abutting part and the second abutting part.

14. The cleaning apparatus defined in claim 1, wherein the second drive structure comprises

A transmission member;

The swing arm is rotatably arranged on the machine body through a rotating shaft; the cleaning component is arranged on the swing arm;

the two ends of the actuating piece respectively act on the swing arm and the transmission piece;

The swing arm is matched with the transmission piece and driven by the transmission piece to rotate so as to drive the cleaning assembly to switch between the retracted position and the outward swing position;

In the process of switching the cleaning assembly from the retracted position to the outward swing position, the actuating piece is driven by the driving force of the transmission piece to store energy and drive the swing arm to rotate; when the driving force of the transmission piece is withdrawn, the actuating piece releases the energy storage to drive the swing arm to swing towards the outward swing position continuously.

15. The cleaning apparatus of claim 1, wherein the second drive structure comprises a resilient member and a linkage drive mechanism;

The cleaning device further comprises a first driving structure, wherein the first driving structure is used for driving the cleaning assembly to move so as to drive the cleaning assembly to move, and the cleaning surface is cleaned;

The elastic piece is arranged between the machine body and the first driving structure or the cleaning component; moving the cleaning assembly toward the swung-out position under the resilience of the resilient member;

The connecting rod driving mechanism is arranged on the machine body and drives the first driving structure and/or the cleaning assembly to rotate so as to enable the cleaning assembly to move towards the retracted position;

When the cleaning component is positioned at the retracted position, the connecting rod driving mechanism is self-locking, overcomes the resilience force of the elastic piece and can maintain the cleaning component at the retracted position;

When the connecting rod driving mechanism cancels self-locking, the cleaning assembly moves to the outward swinging position under the action of the resilience force of the elastic piece.

16. The cleaning apparatus defined in any one of claims 10-13, wherein the motor is a brush motor or a self-locking motor for locking the cleaning assembly in a retracted position; when the cleaning component needs to swing outwards, the brush motor or the self-locking motor can cancel the locking effect on the cleaning component.

17. The cleaning apparatus of claim 1, further comprising a locking structure provided on the second drive structure, first drive structure, or cleaning assembly for locking the cleaning assembly in a retracted position to retain the cleaning assembly in the retracted position; when the cleaning component needs to swing outwards, the locking structure removes the locking effect on the cleaning component, and the cleaning component swings outwards under the drive of the second driving structure.

18. The cleaning apparatus defined in any one of claims 1-5, 10-15 and 17, wherein the cleaning assembly comprises a cleaning tray and cleaning elements disposed on a bottom of the cleaning tray for wet cleaning a surface to be cleaned;

The cleaning device further comprises an edge brush and a main brush for dry cleaning; the side brush is positioned in front of the main brush along the advancing direction of the cleaning device; the main brush is positioned in front of the cleaning piece;

And/or

The cleaning device further comprises a traveling system comprising a traveling component, and the traveling component is positioned in front of the cleaning disc along the advancing direction of the cleaning device.