Robot Cleaning Device

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001]This application claims priority to PCT/CN2025/095486, filed on May 16, 2025, which claims priority to (1) patent application No. 202421672107.6, filed with the China National Intellectual Property Administration on Jul. 15, 2024, (2) patent application No. 202410947234.0 filed with the China National Intellectual Property Administration on Jul. 15, 2024, and (3) patent application No. 202421164907.7, filed with the China National Intellectual Property Administration on May 24, 2024. Each of the above applications is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

[0002]The present application relates to the technical field of robot cleaners, in particular to a robot cleaning device.

BACKGROUND

[0003]Robot cleaners are highly intelligent cleaning devices, having various functions such as autonomous navigation, intelligent perception, path planning, cleaning, and dust absorption. Robot cleaners are widely used in household cleaning and office cleaning. They can automatically clean floors in rooms using artificial intelligence, with high cleaning efficiency. During operation, robot cleaners may need to drive roller brush modules and drum modules to automatically lift or lower for cleaning. However, robot cleaners often suffer from the drawbacks of complex structures and high manufacturing costs.

SUMMARY

[0004]One technical problem to be solved by the present application is to simplify the structure of a robot cleaning device and reduce its manufacturing cost.

[0005]The present application provides a robot cleaning device, comprising a first cleaning assembly, a second cleaning assembly, and a lifting mechanism. The lifting mechanism may comprise: a first rotating member and a first cable, with one end wound on the first rotating member and the other end connected to the first functional assembly. The lifting mechanism may also comprise a second rotating member; and a second cable, with one end wound on the second rotating member and the other end connected to the second functional assembly. The lifting mechanism may comprise a driving assembly configured to drive the first rotating member to rotate and drive the first cleaning assembly to lift or lower through the first cable, and drive the second rotating member to rotate and drive the second cleaning assembly to lift or lower through the second cable.

[0006]In one example, the first cleaning assembly and the second cleaning assembly are in a lowering (e.g., lowered) state or a lifting (e.g., raised) state through the lifting mechanism, or one is in a lifting state and the other one is in a lowering state.

[0007]In one example, the robot cleaning device has an initial working state; and in the initial working state, the first cleaning assembly and the second cleaning assembly are both in the lowering state.

[0008]In one example, in the initial working state, based on the position of the first rotating member, the first rotating member has a first maximum angle of rotation along a first direction and a second maximum angle of rotation along a second direction. And in the initial working state, based on the position of the second rotating member, the second rotating member has a third maximum angle of rotation along the first direction and a fourth maximum angle of rotation along the second direction. The first direction is opposite to the second direction, and the first maximum angle is greater than the third maximum angle.

[0009]In one example, the lifting mechanism is configured as follows: during the rotation of the first rotating member along the first direction from a position corresponding to the initial working state to a position corresponding to the first maximum angle, the first rotating member and the second rotating member transition from a state of uniform rotation to a state where the first rotating member rotates and the second rotating member stops rotating.

[0010]In one example, when the first rotating member rotates the first maximum angle along the first direction, the first cleaning assembly is in the lifting state; when the first rotating member rotates the second maximum angle along the second direction, the first cleaning assembly is in the lifting state; and when the second rotating member rotates the third maximum angle along the first direction, the second cleaning assembly is in the lifting state; when the second rotating member rotates the fourth maximum angle along the second direction, the second cleaning assembly maintains the lowering state.

[0011]In one example, when the first rotating member rotates the first maximum angle along the first direction, the first rotating member first releases and then winds the first cable.

[0012]In one example, the lifting mechanism further includes a shell, the first rotating member and the second rotating member are at least partially accommodated in the shell. The shell is provided with a first hole and a second hole, the first cable is threaded through the first hole, and the second cable is threaded through the second hole.

[0013]In one example, the direction in which the first cable exits the shell is opposite to the direction in which the second cable exits the shell.

[0014]In one example, one of the shell and the second rotating member has a boss and the other one has a limit surface; and during the rotation of the second rotating member, when the boss abuts against the limit surface circumferentially, the second rotating member stops rotating.

[0015]In one example, before the second rotating member stops rotating, the first rotating member rotates synchronously with the second rotating member. When the second rotating member stops rotating, the first rotating member can continue to rotate along the original direction relative to the second rotating member. One of the first rotating member and the second rotating member has a lug and the other one has a positioning surface; and when the lug abuts against the positioning surface circumferentially, the first rotating member stops rotating along the original direction relative to the second rotating member.

[0016]In one example, the first rotating member has a first fixing point, the first fixing point is configured to fix an end of the first cable, the second rotating member has a second fixing point, and the second fixing point is configured to fix an end of the second cable; and in the initial working state, along a circumferential direction of the first rotating member, the first fixing point is spaced apart from the first hole and the second hole, and the second fixing point is spaced apart from the first hole and the second hole.

[0017]In one example, in the initial working state, the first fixing point and the second fixing point are located at the same position in the circumferential direction of the first rotating member.

[0018]In one example, the first rotating member and the second rotating member rotate in the same direction.

[0019]In one example, the first rotating member and the second rotating member rotate synchronously; or the first rotating member and the second rotating member rotate relative to each other.

[0020]In one example, when the first rotating member and the second rotating member rotate synchronously, the first rotating member releases the first cable, and the second rotating member winds the second cable; or the first rotating member winds the first cable, and the second rotating member releases the second cable.

[0021]In one example, the winding direction of the first cable on the first rotating member is the same as or opposite to the winding direction of the second cable on the second rotating member.

[0022]In one example, the driving assembly is configured to drive the first rotating member to rotate, and the second rotating member is configured to rotate under the action of the first rotating member.

[0023]In one example, the maximum rotation angle corresponding to the first rotating member is greater than that corresponding to the second rotating member; and when the second rotating member rotates to the corresponding maximum rotation angle, the second rotating member stops rotating, and the first rotating member can continue to rotate relative to the second rotating member.

[0024]In one example, the first rotating member and the second rotating member are arranged coaxially.

[0025]In one example, the lifting mechanism further includes an elastic member, the elastic member abuts between the first rotating member and the second rotating member, and the first rotating member drives the second rotating member to rotate synchronously through the elastic member.

[0026]In one example, one of the first cleaning assembly and the second cleaning assembly is a wet cleaning assembly, and the other one is a dry cleaning assembly.

[0027]In one example, the wet cleaning assembly includes a drum, the dry cleaning assembly includes a roller brush, and axes of the drum and the roller brush are parallel to each other.

[0028]In one example, the robot cleaning device further includes a third cleaning assembly, where the third cleaning assembly is connected to the first cable for synchronous lifting or lowering with the first cleaning assembly; or the third cleaning assembly is connected to the second cable for synchronous lifting or lowering with the second cleaning assembly.

[0029]In one example, the robot cleaner further includes first feature members and second feature members, where the first cable includes a first elastic segment, and the first feature members are arranged at two opposite ends of the first elastic segment; the second cable includes a second elastic segment, and the second features are arranged at two opposite ends of the second elastic segment.

[0030]An example of the present application further provides a cleaning device, comprising: a device body; a driving motor arranged on the device body; a first cleaning member movably arranged on the device body; and a first flexible shaft. An output shaft of the driving motor is in transmission connection with the first cleaning member through the first flexible shaft, and the driving motor is configured to drive the first cleaning member to move by driving the first flexible shaft to move.

[0031]One technical effect of one example of the present application is as follows: only one lifting mechanism is arranged, the driving assembly drives the first rotating member and the second rotating member to rotate, the first cable drives the first functional assembly to lift or lower, and the second cable drives the second functional assembly to lift or lower, ensuring that the robot cleaner can be applied to different work scenarios. Because the first cleaning assembly and the second cleaning assembly share one lifting mechanism, the quantity of lifting mechanisms is reduced, thereby simplifying the structure of the robot cleaner and reducing the manufacturing cost of the robot cleaner.

BRIEF DESCRIPTION OF THE DRAWINGS

[0032]FIG. 1 is a schematic diagram of a plane structure of a robot cleaner provided in an example;

[0033]FIG. 2 is a schematic diagram of a three-dimensional structure of a lifting mechanism in the robot cleaner shown in FIG. 1;

[0034]FIG. 3 is a schematic diagram of a three-dimensional cross-sectional structure of the lifting mechanism of the robot cleaner shown in FIG. 2 at a first position;

[0035]FIG. 4 is a schematic diagram of an overall exploded structure of the lifting mechanism shown in FIG. 3;

[0036]FIG. 5 is a schematic diagram of a three-dimensional cross-sectional structure of the lifting mechanism shown in FIG. 3 at a second position;

[0037]FIG. 6 is a schematic diagram of a partially exploded structure of the lifting mechanism shown in FIG. 3;

[0038]FIG. 7 is a schematic diagram of a three-dimensional structure of FIG. 6 from another perspective;

[0039]FIG. 8 is a schematic diagram of a three-dimensional cross-sectional structure of FIG. 6;

[0040]FIG. 9 is a schematic diagram of a three-dimensional cross-sectional structure of the lifting mechanism shown in FIG. 2 at a third position;

[0041]FIG. 10a is a schematic plan diagram of a first rotating member and a second rotating member in an initial working state;

[0042]FIG. 10b is a schematic plan diagram of the first rotating member and the second rotating member in a lowering state;

[0043]FIG. 11a is a schematic plan diagram when the first rotating member and the second rotating member rotate synchronously along a first direction from a reference position corresponding to the initial working state and the second rotating member reaches a limit position;

[0044]FIG. 11b is a schematic diagram of a lifting or lowering state of FIG. 11a after rotation;

[0045]FIG. 12a is a schematic plan diagram when the first rotating member continues to rotate to a limit position along the first direction relative to the second rotating member that has rotated to the limit position along the first direction;

[0046]FIG. 12b is a schematic diagram of a lifting or lowering state of FIG. 12a after rotation;

[0047]FIG. 13a is a schematic plan diagram when the first rotating member and the second rotating member rotate synchronously to limit positions along a second direction from reference positions corresponding to the initial working state;

[0048]FIG. 13b is a schematic diagram of a lifting or lowering state of FIG. 13a after rotation;

[0049]FIG. 14 is a three-dimensional schematic diagram of a partial structure of a cleaning device according to another example of the present application;

[0050]FIG. 15 is a schematic cross-sectional diagram of the structure shown in FIG. 14;

[0051]FIG. 16 is a schematic structural diagram of part A of the cleaning device shown in FIG. 15;

[0052]FIG. 17 is a schematic structural diagram of a driving motor and a roller brush;

[0053]FIG. 18 is another schematic cross-sectional diagram of the structure shown in FIG. 14;

[0054]FIG. 19 is another schematic structural diagram of the driving motor and the roller brush;

[0055]FIG. 20 is still another schematic structural diagram of the driving motor and the roller brush; and

[0056]FIG. 21 is yet another schematic structural diagram of the driving motor and the roller brush.

[0057]Reference numerals: cleaning robot 10, lifting mechanism 101, first feature member 102, second feature member 103, first functional assembly 104, drum 1041, second functional assembly 105, roller brush 1051, third functional assembly 106, edge brush 1061, first rotating member 100, lug 110, first fixing point 140, second rotating member 200, first limit surface 211, second limit surface 212, abutment surface 213, first positioning surface 221, second positioning surface 222, stop surface 223, second fixing point 240, driving assembly 300, driving motor 310, shell 400, first shell 411, second shell 412, first hole 421, second hole 422, boss 430, first cable 510, first elastic segment 511, second cable 520, second elastic segment 521, elastic member 600, device body 700, second cleaning member 800, first cleaning member 900, transmission shaft 1001, synchronous belt 1100, roller brush 201, connecting hole 523, first flexible shaft 560, connector 570, second flexible shaft 580, main shell 701, roller brush shell 702, cleaning member shell 703, bearing 704, first connecting segment 561, second connecting segment 562, first connector 571, second connector 572, first gear 601, second gear 602, edge brush 301, driving motor 1000, output shaft 1001, to-be-cleaned surface 1200, flexible shaft assembly 500, and sleeve 502.

DETAILED DESCRIPTION

[0058]In order to make the above objectives, features, and advantages of the present application more obvious and understandable, specific examples of the present application will be described in detail below in conjunction with the accompanying drawings. In the following description, many details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the content of the present application. Therefore, the present application is not limited by the specific examples disclosed below.

[0059]In the description of the present application, it should be understood that, if the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “internal”, “external”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, and the like appear, the orientations or positional relationships indicated by these terms are based on the orientations or positional relationships shown in the accompanying drawings, are merely for ease of describing the present application and simplifying the description, but do not indicate or imply that an apparatus or an element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, cannot be understood as limitations on the present application.

[0060]In addition, the if the terms “first” and “second” appear, these terms are merely used for a description purpose, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, the feature defined by “first” or “second” may explicitly or implicitly include at least one such feature. In the description of the present application, if the term “plurality” appears, it means at least two, such as two or three, unless otherwise specified.

[0061]In the present application, unless otherwise specified and limited, if the terms “mounted”, “coupled”, “connected”, “fixed”, and the like appear, these terms should be understood in a broad sense. For example, the “connected” may be fixed connection, detachable connection, integration, mechanical connection, electrical connection, direct connection, connection by a medium, internal communication of two elements, or interaction between two elements, unless otherwise expressly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present application according to specific circumstances.

[0062]In the present application, unless otherwise expressly specified and defined, if a first feature “above” or “below” a second feature and similar descriptions appear, it means that the first feature and the second feature are in direct contact, or are in indirect contact through a medium. Moreover, the first feature “on”, “above”, and “up” the second feature may be the first feature right above or obliquely above the second feature, or merely indicates that the level of the first feature is higher than that of the second feature. The first feature “below”, “under”, and “down” the second feature may be the first feature right below or obliquely below the second feature, or merely indicates that the level of the first feature is lower than that of the second feature.

[0063]It should be noted that, if one element is referred to as being “fixed” or “arranged” on other element, the element may be directly on the other element or there is a medium element between them. If one element is considered “connected” to other element, the element may be directly connected to the other element or there is a medium element between them. If any, the terms “vertical”, “horizontal”, “upper”, “lower”, “left”, “right”, and similar expressions used in the present application are for illustrative purposes only and do not imply unique implementations.

[0064]With reference to FIGS. 1, 2, and 3, a robot cleaner 10 (e.g., robot cleaning device, robotic cleaning device) may comprise a lifting mechanism 101, a first functional assembly 104, and a second functional assembly 105. The lifting mechanism 101 can be configured to drive the first functional assembly 104 and the second functional assembly 105 to lift or lower relative to a to-be-cleaned surface such as the ground. The first functional assembly 104 and the second functional assembly 105 may share one lifting mechanism 101. The ground may be designated as the to-be-cleaned surface.

[0065]The lifting mechanism 101 may include a first rotating member 100, a first cable 510, a second rotating member 200, a second cable 520, and a driving assembly 300. Both the first cable 510 and the second cable 520 may have flexibility. Each of the first rotating member 100 or the second rotating member 200 may be a cable drum, a winding reel, or a winch for winding cables. One end of the first cable 510 may be wound on the first rotating member 100, and the other end of the first cable 510 may be connected to the first functional assembly 104. One end of the second cable 520 may be wound on the second rotating member 200, and the other end of the second cable 520 may be connected to the second functional assembly 105. The driving assembly 300 may be configured to drive the first rotating member 100 and the second rotating member 200 to rotate. The first cable 510 may be wound or released relative to the first rotating member 100, so as to drive the first functional assembly to lift or lower relative to the ground. Similarly, the second cable 520 may be also wound or released relative to the second rotating member 200, so as to drive the second functional assembly to lift or lower relative to the ground.

[0066]With reference to FIGS. 1, 2, and 3, in some examples, the driving assembly 300 may be in transmission connection with at least one of the first rotating member 100 and the second rotating member 200. The driving assembly 300 may be configured to drive at least one of the first rotating member 100 and the second rotating member 200 to rotate, so as to drive the first functional assembly 104 to lift and lower through the first cable 510 and the second functional assembly 105 to lift and lower through the second cable 520. The driving assembly 300 may include one driving motor 310, and the driving motor 310 can drive the first rotating member 100 to rotate. The second rotating member 200 may be configured to rotate under the action of the first rotating member 100. For example, the first rotating member 100 can drive the second rotating member 200 to rotate, thereby simplifying the structure of the lifting mechanism 101 and ultimately achieving independent lifting or lowering of the first functional assembly 104 and the second functional assembly 105. The lifting mechanism 101 may further include an elastic member 600, the elastic member 600 abuts between the first rotating member 100 and the second rotating member 200, and the first rotating member 100 drives the second rotating member 200 to rotate through the elastic member 600. The elastic member 600 may be a torsion spring or the like. In other examples, the elastic member 600 may be replaced with other transmission structures, such as a clutch structure or a gear structure.

[0067]In some examples, for example, the driving assembly 300 may include one driving motor 310, and the driving motor 310 may drive the first rotating member 100 and the second rotating member 200 to rotate through two transmission assemblies, respectively. Alternatively, the driving assembly 300 may include a double-end motor, with one output end of the double-end motor in transmission connection with the first rotating member 100, and the other output end of the double-end motor in transmission connection with the second rotating member 200. In another example, the driving assembly 300 may include two driving motors 310, and the two driving motors 310 may independently drive the first rotating member 100 and the second rotating member 200 to rotate. It can be understood that the first rotating member 100 and the second rotating member 200 may be driven by one driving motor 310 respectively, which can also achieve independent rotation of the first rotating member 100 and the second rotating member 200. Through the independent rotation of the first rotating member 100 and the second rotating member 200, the first cable 510 and the second cable 520 may be driven to release or wind independently, ultimately enabling the first functional assembly 104 and the second functional assembly 105 to lift and lower independently.

[0068]In some examples, the first rotating member 100 and the second rotating member 200 may be arranged coaxially, simplifying the structure of the lifting mechanism 101, reducing the space occupied by the lifting mechanism 101, and achieving miniaturization design of the lifting mechanism 101 and the robot cleaner 10. In other examples, the first rotating member 100 and the second rotating member 200 may not be arranged coaxially, for example, the first rotating member 100 and the second rotating member 200 are arranged side by side, and the axis of the first rotating member 100 may be parallel to the axis of the second rotating member 200.

[0069]In some examples, the first rotating member 100 and the second rotating member 200 rotate in the same direction. For example, the first rotating member 100 and the second rotating member 200 rotate synchronously in the same direction at the same speed. Alternatively, the first rotating member 100 and the second rotating member 200 may rotate relative to each other, for example, the second rotating member 200 may stop rotating, and the first rotating member 100 rotates relative to the second rotating member 200. Alternatively, both the first rotating member 100 and the second rotating member 200 are in a rotating state, but the first rotating member 100 and the second rotating member 200 rotate relative to each other in the same direction at different speeds. In other examples, the first rotating member 100 and the second rotating member 200 may rotate in opposite directions.

[0070]The first rotating member 100 and the second rotating member 200 may rotate in either a first direction or a second direction, which are two opposite directions. Along an axial direction of the lifting mechanism 101, the first rotating member 100 is closer to an observer than the second rotating member 200. That is, the observer's sight points from the first rotating member 100 to the second rotating member 200 along the axial direction of the first rotating member 100, as indicated by the thick dashed arrow in FIG. 2, where the first direction and the second direction are defined based on the observer's viewing angle relative to the lifting mechanism 101. Hereinafter, the first direction is a clockwise direction and the second direction is a counterclockwise direction for purpose of explanation. The first direction is indicated by the thick solid arrow in FIG. 2, and the second direction is indicated by the thin dashed arrow in FIG. 2.

[0071]With reference to FIGS. 4, 5, and 6, in some examples, when the first rotating member 100 and the second rotating member 200 rotate synchronously, the first rotating member 100 releases the first cable 510, and the second rotating member 200 winds the second cable 520. Alternatively, the first rotating member 100 winds the first cable 510, and the second rotating member 200 releases the second cable 520. When the first cable 510 and the second cable 520 are wound, the winding lengths of both the first cable 510 and the second cable 520 may increase while their effective lengths decrease. And when the first cable 510 and the second cable 520 are released, the winding lengths of both the first cable 510 and the second cable 520 decrease while their effective lengths increase. The winding length mentioned here refers to a circumference of the first cable 510 wound on the first rotating member 100, and the effective length refers to a length of the first cable 510 located between the first rotating member and the first functional assembly 104. The same applies to the second cable 520. If the first cable 510 and the second cable 520 are in a tight state, and the first functional assembly 104 and the second functional assembly 105 are located above the ground and maintain a certain distance from the ground, when the first cable 510 is wound, the first cable 510 may drive the first functional assembly 104 to further lift relative to the ground. When the first cable 510 is released, the first cable 510 may drive the first functional assembly 104 to lower relative to the ground. Similarly, when the second cable 520 is wound, the second cable 520 may drive the second functional assembly 105 to further lift relative to the ground. When the second cable 520 is released, the second cable 520 may drive the second functional assembly 105 to lower relative to the ground.

[0072]In some examples, the winding direction of the first cable 510 on the first rotating member 100 is the same as or opposite to the winding direction of the second cable 520 on the second rotating member 200. For example, the first cable 510 and the second cable 520 may be wound along the second direction simultaneously, or the first cable 510 may be wound along the first direction and the second cable 520 may be wound along the second direction. When the first cable 510 is wound on the first rotating member 100 along the first direction, starting from the fixed end of the first cable 510 fixed on the first rotating member 100, the first cable 510 is wound on the first rotating member 100 along the first direction relative to the fixed end. When the first cable 510 is wound on the first rotating member 100 along the second direction, the first cable 510 is wound on the first rotating member 100 along the second direction relative to the fixed end. Similarly, when the second cable 520 is wound on the second rotating member 200 along the first direction, the second cable 520 is wound on the second rotating member 200 along the first direction relative to the fixed end. When the second cable 520 is wound on the second rotating member 200 along the second direction, the second cable 520 is wound on the second rotating member 200 along the second direction relative to the fixed end. In some examples, the direction in which the first cable 510 is wound on the first rotating member 100 varies with the direction of rotation of the first rotating member 100. For example, when the first rotating member 100 rotates along the first direction, the first cable 510 is wound on the first rotating member 100 along the first direction; and when the first rotating member 100 rotates along the second direction, the first cable 510 is wound on the first rotating member 100 along the second direction. The same applies to the winding direction of the second cable 520 on the second rotating member 200. Details will not be repeated here.

[0073]When the first functional assembly 104 and the second functional assembly 105 come into contact with the ground, both the first functional assembly 104 and the second functional assembly 105 may be in a lowering state (e.g., a lowered position or state). When the first functional assembly 104 and the second functional assembly 105 are located above the ground and maintain a distance from the ground, both the first functional assembly 104 and the second functional assembly 105 may be in a lifting state (e.g., a raised position or state). Taking the first cable 510 and the first functional assembly 104 as an example for explanation, given that the first cable 510 has flexibility, if the first functional assembly 104 is in a lowering state and the portion of the first cable 510 located between the first functional assembly 104 and the first rotating member 510 is just in a tight state, when the first cable 510 is released, the length of the portion of the first cable 510 located between the first functional assembly 104 and the first rotating member 510 increases, but the height of the first functional assembly 104 remains unchanged due to ground restrictions, so the first functional assembly 104 may continue to remain in the lowering state. When the first cable 510 is wound, the first cable 510 drives the first functional assembly 104 to lift and leave the ground, so that the first functional assembly 104 is in a lifting state. For the first functional assembly 104 in the lifting state, the first cable 510 can be wound or released to drive the first functional assembly 104 to further lift or lower relative to the ground. If the first functional assembly 104 is in the lowering state and the first cable 510 is in a loose state, when the first cable 510 is released, the first functional assembly 104 may continue to contact the ground and maintain the lowering state. When the first cable 510 is wound, before the first cable 510 is in the tight state, the first functional assembly 104 may continue to contact the ground and maintain the lowering state. After the first cable 510 is in the tight state, the first functional assembly 104 may lift off the ground and be in the lifting state. For the second cable 520 and the second functional assembly 105, reference can be made to the relevant description of the first cable 510 and the first functional assembly 104 mentioned above.

[0074]In some examples, the driving assembly 300 drives the first rotating member 100 and the second rotating member 200 to rotate, which in turn drive the first cable 510 and the second cable 520 to release or wind, so that both the first functional assembly 104 and the second functional assembly 105 can be in the lowering state, or both the first functional assembly 104 and the second functional assembly 105 can be in the lifting state, or one of the first functional assembly 104 and the second functional assembly 105 can be in the lowering state while the other one can be in the lifting state.

[0075]With reference to FIGS. 5, 6, and 7, in some examples, the robot cleaner 10 has an initial working state. In the initial working state, both the first functional assembly 104 and the second functional assembly 105 are in the lowering state (e.g., both the first functional assembly 104 and the second functional assembly 105 are in contact with the ground). In other examples, in the initial state of the robot cleaner 10, both the first functional assembly 104 and the second functional assembly 105 are in the lifting state, or one of the first functional assembly 104 and the second functional assembly 105 is in the lifting state while the other one is in the lowering state.

[0076]Each of the first rotating member and the second rotating member may have rotational limit positions. Specifically, in the initial working state, taking the position of the first rotating member 100 as a reference position, when the first rotating member 100 rotates from the reference position to the limit position along the first direction and stops rotating, the first rotating member 100 rotates a first maximum angle in the first direction. When the first rotating member 100 rotates from the reference position to the limit position along the second direction and stops rotating, the first rotating member 100 rotates a second maximum angle in the second direction. In the initial working state, taking the position of the second rotating member 200 as a reference position, when the second rotating member 200 rotates from the reference position to the limit position along the first direction and stops rotating, the second rotating member 200 rotates a third maximum angle in the first direction. When the second rotating member 200 rotates from the reference position to the limit position along the second direction and stops rotating, the second rotating member 200 rotates a fourth maximum angle in the second direction. The first maximum angle is greater than the third maximum angle, and the second angle may be less than, greater than, or equal to the fourth angle. Accordingly, the first rotating member 100 and the second rotating member 200 can at least rotate relative to each other along the first direction, enabling the first cable 510 and the second cable 520 to independently wind or release, thereby driving the first functional assembly 104 and the second functional assembly 105 to independently lift or lower relative to the ground.

[0077]With reference to FIGS. 5, 6, and 7, in some examples, during the rotation of the first rotating member 100 along the first direction from a position corresponding to the initial working state to a position corresponding to the first maximum angle, the first rotating member 100 and the second rotating member 200 transition from a state of uniform rotation to a state where the first rotating member 100 rotates and the second rotating member 200 stops rotating. In other words, during the rotation of the first rotating member 100 from the reference position to the limit position along the first direction, both the first rotating member 100 and the second rotating member 200 rotate, then the second rotating member 200 stops rotating, and the first rotating member 100 rotates relative to the second rotating member 200. When both the first rotating member 100 and the second rotating member 200 rotate, the first rotating member 100 and the second rotating member 200 can rotate synchronously at the same speed, or the first rotating member 100 and the second rotating member 200 can rotate asynchronously at different speeds. Therefore, the first rotating member 100 and the second rotating member 200 achieve diverse rotation in time and space, thereby achieving diverse lifting and lowering of the first functional assembly 104 and the second functional assembly 105.

[0078]The maximum rotation angle corresponding to the first rotating member 100 may be greater than that corresponding to the second rotating member 200 (e.g., the first maximum angle is greater than the third maximum angle). When the second rotating member 200 rotates to the third maximum angle, the second rotating member 200 stops rotating, and the first rotating member 100 can continue to rotate relative to the second rotating member 200. For example, during the rotation of the first rotating member 100 along the first direction from the reference position to the limit position corresponding to the first maximum angle, the second rotating member 200 stops rotating after rotating the third maximum angle, while the first rotating member 100 continues to rotate a certain angle along the first direction relative to the stationary second rotating member 200.

[0079]With reference to FIGS. 5, 8, and 9, in some examples, when the first rotating member 100 rotates the first maximum angle along the first direction (e.g., when the first rotating member 100 reaches the limit position in the first direction), the first functional assembly 104 is in the lifting state. And when the first rotating member 100 rotates the second maximum angle along the second direction (e.g., when the first rotating member 100 reaches the limit position in the second direction), the first functional assembly 104 is also in the lifting state. When the second rotating member 200 rotates the third maximum angle along the first direction (e.g., when the second rotating member 200 reaches the limit position in the first direction), the second functional assembly 105 is in the lifting state. And when the second rotating member 200 rotates the fourth maximum angle along the second direction (e.g., when the second rotating member 200 reaches the limit position in the second direction), the second functional assembly 105 is in the lowering state. Therefore, when the first rotating member 100 and the second rotating member 200 rotate from their reference positions along the first direction, the second functional assembly 105 is in the lifting state, and the first functional assembly 104 may be in the lowering or lifting state. During the rotation of the first rotating member 100 and the second rotating member 200 from their reference positions along the second direction, the first functional assembly 104 is in the lifting state, while the second functional assembly 105 maintains the lowering state. Therefore, diverse combinations of the first functional assembly 104 and the second functional assembly 105 between the lifting state and the lowering state can be achieved.

[0080]In some examples, during the rotation of the first rotating member 100 along the first direction by the first maximum angle (e.g., during the rotation of the first rotating member 100 from the reference position to the limit position along the first direction), the first rotating member 100 first releases and then winds the first cable 510. When the first cable 510 is released, the first functional assembly 104 can maintain the lowering state; during the winding process of the first cable 510, the first functional assembly 104 can continue to maintain the lowering state before the first cable 510 is tightened, and the first functional assembly 104 can be in the lifting state after the first cable 510 is tightened.

[0081]With reference to FIGS. 5, 8, and 9, in some examples, the lifting mechanism 101 further includes a shell 400, and the first rotating member 100 and the second rotating member 200 are at least partially accommodated in the shell 400. For example, the first rotating member 100 and the second rotating member 200 can be fully accommodated in the shell 400. The first cable 510 and the second cable 520 pass through the shell 400. The shell 400 can protect the first rotating member 100 and the second rotating member 200, avoiding interference from external impact on the rotation of the first rotating member 100 and the second rotating member 200. The direction in which the first cable 510 exits the shell 400 is opposite to that the second cable 520 exits the shell 400, which can avoid interference such as entanglement between the first cable 510 and the second cable 520, thereby improving the accuracy of controlling the lifting and lowering motion of the first functional assembly 104 and the second functional assembly 105. In other examples, the shell 400 can be omitted, and the direction in which the first cable 510 exits the shell 400 can be the same as that the second cable 520 exits the shell 400.

[0082]With reference to FIGS. 5, 8, and 9, in some examples, one of the shell 400 and the second rotating member 200 may have a boss 430 (e.g., a stud) and the other one may have a limit surface. During the rotation of the second rotating member 200, when the boss 430 abuts against the limit surface circumferentially, the second rotating member 200 stops rotating. Therefore, when the boss 430 abuts against the limit surface circumferentially, the second rotating member 200 rotates to the limit position, which can restrict the limit positions of the second rotating member 200 in the first direction and the second direction. In other examples, the boss 430 and the limit surface can also be omitted, and the limit positions of the second rotating member 200 can be controlled by controlling the rotation angle of the driving assembly 300 or restricting the transmission structure connected to the second rotating member 200. For example, when the second rotating member 200 moves to the limit position, the driving assembly 300 may be configured to automatically stop driving the second rotating member 200 to move through a control program.

[0083]With reference to FIGS. 4, 7, and 8, in some examples, one of the first rotating member 100 and the second rotating member 200 may have a lug 110 and the other one may have a positioning surface. When the lug 110 abuts against the positioning surface circumferentially, the first rotating member 100 stops rotating along the original direction relative to the second rotating member 200. Before the second rotating member 200 stops rotating, both the first rotating member 100 and the second rotating member 200 can rotate. When the second rotating member 200 stops rotating, the first rotating member 100 can continue to rotate along the original direction relative to the second rotating member 200. When the lug 110 abuts against the positioning surface circumferentially, the first rotating member 100 stops rotating along the original direction relative to the second rotating member 200. For example, when the first rotating member 100 rotates along the first direction from the reference position by the first maximum angle to reach the limit position, firstly, before the second rotating member 200 stops rotating, both the first rotating member 100 and the second rotating member 200 can rotate. Then, after the second rotating member 200 abuts against the shell 400 circumferentially, the second rotating member 200 rotates to the limit position and stops rotating. Subsequently, after the second rotating member 200 stops rotating, the first rotating member 100 can continue to rotate along the first direction relative to the second rotating member 200. And when the lug 110 abuts against the positioning surface circumferentially, the first rotating member 100 stops rotating. In other examples, the second maximum angle can be greater than the fourth maximum angle. In this case, when the first rotating member 100 rotates to the limit position along the second direction, both the first rotating member 100 and the second rotating member 200 can first rotate along the second direction. And after the second rotating member 200 abuts against the shell 400 and rotates to the limit position to stop rotating, the first rotating member 100 continues to rotate relative to the second rotating member 200 along the second direction to the limit position.

[0084]With reference to FIGS. 4 and 5, in some examples, the shell 400 is provided with a first hole 421 and a second hole 422, the first cable 510 is threaded through the first hole 421, and the second cable 520 is threaded through the second hole 422. The first rotating member 100 has a first fixing point 140, the first fixing point 140 is used to fix an end of the first cable 510, the second rotating member 200 has a second fixing point 240, and the second fixing point 240 is used to fix an end of the second cable 520. In the initial working state, along a circumferential direction of the first rotating member 100, the first fixing point 140 is spaced apart from the first hole 421 and the second hole 422, and the second fixing point 240 is spaced apart from the first hole 421 and the second hole 422. As such, in the initial working state, a portion of the first cable 510 is wound on the first rotating member 100, and a portion of the second cable 520 can also be wound on the second rotating member 200. For example, in the initial working state, the winding lengths of both the first cable 510 and the second cable 520 can be less than one turn. The winding lengths of the first cable 510 and the second cable 520 can also be multiple turns. Further, in the initial working state, the first fixing point 140 and the second fixing point 240 are located at the same position in the circumferential direction of the first rotating member 100, which can be understood as the angle between the first fixing point 140 and the second fixing point 240 in the circumferential direction of the first rotating member 100 is approximately zero. This improves the balance between the first rotating member 100 and the second rotating member 200 during rotation, reduces the oscillation of the two during rotation, and improves the smoothness of the lifting and lowering motion of the first functional assembly 104 and the second functional assembly 105 relative to the ground.

[0085]With reference to FIGS. 4 and 5, in some examples, the shell 400 may include a first shell 411 and a second shell 412. The first shell 411 and the second shell 412 can be detachably connected by bolts or other means, which can improve the convenience of assembly and maintenance of the robot cleaner 10. The first hole 421 and the second hole 422 can be spaced 180° apart along the circumferential direction of the shell 400. The first shell 411 or the second shell 412 may include the boss 430, the boss 430 may be arranged on an inner wall surface of the first shell 411 or the second shell 412 by radial protruding along the shell 400, and the boss 430 may be used to abut against the second rotating member 200. In the initial working state, the first fixing point 140 may be spaced apart from the first hole 421 and the second hole 422 at equal angles, so that the first fixing point 140 is spaced 90° apart from both the first hole 421 and the second hole 422. Similarly, the second fixing point 240 may be spaced 90° apart from both the first hole 421 and the second hole 422. In the initial working state, the first cable 510 may be wound at least a quarter of a turn around the first rotating member 100, and the second cable 520 may be also wound at least a quarter of a turn around the second rotating member 200.

[0086]With reference to FIG. 5, in some examples, the second rotating member 200 may have two limit surfaces and an abutment surface 213. The abutment surface 213 faces away from the first rotating member 100 along the axial direction of the second rotating member 200, the two limit surfaces are denoted as a first limit surface 211 and a second limit surface 212 respectively, and both the first limit surface 211 and the second limit surface 212 are connected to the abutment surface 213 at an angle. For example, the first limit surface 211 and the second limit surface 212 may be perpendicular to the abutment surface 213, that is, connected at 90°. The first limit surface 211 and the second limit surface 212 may be spaced 180° apart along the circumferential direction of the second rotating member 200. Both the first limit surface 211 and the second limit surface 212 can abut against the boss 430 along the circumferential direction of the shell 400. During the rotation of the second rotating member 200 along the first direction, when the first limit surface 211 of the second rotating member 200 abuts against the boss 430 of the shell 400 along the circumferential direction of the shell 400, the first limit surface 211 may interfere with the boss 430, thereby preventing the second rotating member 200 from continuing to rotate forward along the first direction. At this time, the second rotating member 200 rotates to the limit position along the first direction and stops rotating. During the rotation of the second rotating member 200 along the second direction, when the second limit surface 212 of the second rotating member 200 abuts against the boss 430 of the shell 400 along the circumferential direction of the shell 400, the second limit surface 212 may interfere with the boss 430, thereby preventing the second rotating member 200 from continuing to rotate forward along the second direction. At this time, the second rotating member 200 rotates to the limit position along the second direction and stops rotating.

[0087]In the initial working state, along the circumferential direction of the shell 400, the boss 430 may be spaced apart from the first limit surface 211 and the second limit surface 212 at equal angles. In a case where the first limit surface 211 and the second limit surface 212 are spaced 180° apart, the boss 430 is spaced 90° apart from both the first limit surface 211 and the second limit surface 212. The boss 430 may be spaced apart from the first limit surface 211 and the second limit surface 212 at unequal angles. During the rotation of the second rotating member 200, the boss 430 of the shell 400 can abut against the abutment surface 213 along the axial direction of the second rotating member 200, which can well limit the second rotating member 200 axially and improve the assembly accuracy and rotation accuracy of the second rotating member 200.

[0088]With reference to FIGS. 6-9, in some examples, the first rotating member 100 includes a lug 110 (e.g., a projecting piece, a connector), and the second rotating member 200 has two positioning surfaces and a stop surface 223. The stop surface 223 faces the first rotating member 100 along the axial direction of the second rotating member 200, so the stop surface 223 and the abutment surface 213 face opposite directions. The two positioning surfaces are denoted as a first positioning surface 221 and a second positioning surface 222 respectively, and both the first positioning surface 221 and the second positioning surface 222 are connected to the stop surface 223 at an angle, for example, the first positioning surface 221 and the second positioning surface 222 may be perpendicular to the stop surface 223, that is, connected at 90. And the first positioning surface 221 and the second positioning surface 222 may be spaced 180° apart along the circumferential direction of the second rotating member 200. Both the first positioning surface 221 and the second positioning surface 222 can abut against the lug 110 along the circumferential direction of the shell 400.

[0089]During the rotation of the first rotating member 100 along the first direction relative to the second rotating member 200 that has stopped rotating, when the first positioning surface 221 of the second rotating member 200 abuts against the lug 110 of the first rotating member 100 along the circumferential direction of the shell 400, the first positioning surface 221 may interfere with the lug 110, thereby preventing the first rotating member 100 from continuing to rotate forward along the first direction relative to the second rotating member 200. At this time, the first rotating member 100 rotates to the limit position along the first direction and stops rotating. During the rotation of the first rotating member 100 along the second direction relative to the second rotating member 200 that has stopped rotating, when the second positioning surface 222 of the second rotating member 200 abuts against the lug 110 of the first rotating member 100 along the circumferential direction of the shell 400, the second positioning surface 222 may interfere with the lug 110, thereby preventing the first rotating member 100 from continuing to rotate forward along the second direction relative to the second rotating member 200. At this time, the first rotating member 100 rotates to the limit position along the second direction and stops rotating. In the initial working state, along the circumferential direction of the shell 400, the lug 110 can abut against the second positioning surface 222 (e.g., the spacing angle between the lug 110 and the second positioning surface 222 along the circumferential direction of the shell 400 is zero). In a case where the first positioning surface 221 and the second positioning surface 222 are spaced 180° apart, the lug 110 is spaced 180° apart from the first positioning surface 221. The lug 110 may be spaced apart from the first positioning surface 221 and the second positioning surface 222 at equal angles, that is, the lug 110 is spaced 90° apart from both the first positioning surface 221 and the second positioning surface 222. During the rotation of the first rotating member 100, the lug 110 can abut against the stop surface 223 along the axial direction of the second rotating member 200, which can well limit the first rotating member 100 axially and improve the assembly accuracy and rotation accuracy of the first rotating member 100.

[0090]With reference to FIG. 10a and FIG. 10b, for the convenience of description, the working principle of the lifting mechanism 101 will be explained below with a specific example. In the example, the driving assembly 300 drives the second rotating member 200 to rotate through the first rotating member 100. In the initial working state, the first hole 421 and the second hole 422 are spaced 180° apart, the first fixing point 140 and the second fixing point 240 are spaced apart at an angle of zero, and the first cable 510 is wound ¼ turn around the first rotating member 100. Starting from the first fixing point 140, the first cable 510 is wound on the first rotating member 100 along the first direction M relative to the first fixing point 140. The second cable 520 is wound ¼ turn around the second rotating member 200. Starting from the second fixing point 240, the second cable 520 is wound on the second rotating member 200 along the second direction N relative to the second fixing point 240. Therefore, the winding directions of the first cable 510 and the second cable 520 are opposite. The first limit surface 211 and the second limit surface 212 of the second rotating member 200 are spaced 180° apart, and the boss 430 of the shell 400 is spaced 90° apart from both the first limit surface 211 and the second limit surface 212. The first positioning surface 221 and the second positioning surface 222 of the second rotating member 200 are spaced 180° apart, the lug 110 of the first rotating member 100 is spaced 180° apart from the first positioning surface 221, and the lug 110 abuts against the second positioning surface 222, so the spacing angle between the lug 110 and the second positioning surface 222 is zero. The first cable 510 and the second cable 520 are both in the tight state, and the first functional assembly 104 and the second functional assembly 105 are both in the lowering state, as shown in FIG. 10b.

[0091]With reference to FIGS. 11a and 11b, when the driving assembly 300 drives the first rotating member 100 to rotate along the first direction from the reference position corresponding to the initial working state, the first rotating member 100 drives the second rotating member 200 to rotate synchronously along the first direction M through the elastic member 600. During the synchronous rotation along the first direction, the first cable 510 is released and its winding length decreases, while the second cable 520 is wound and its winding length increases. After the two rotate 90° synchronously along the first direction from the reference position, both the first fixing point 140 and the second fixing point 240 are at positions corresponding to the first hole 421, that is, along the circumferential direction of the shell 400, both the first fixing point 140 and the second fixing point 240 are spaced apart from the first hole 421 at an angle of approximately zero. At this point, the boss 430 of the shell 400 abuts against and interferes with the first limit surface 211, preventing the second rotating member 200 from continuing to rotate along the first direction. Therefore, the second rotating member 200 rotates to the limit position along the first direction, and the third maximum angle at which the second rotating member 200 rotates along the first direction is 90°. When the second rotating member 200 stops rotating, the winding length of the first cable 510 changes from ¼ turn to zero turn and is in the loose state, and the first functional assembly 104 remains in the lowering state. The winding length of the second cable 520 changes from ¼ turn to ½ turn, and the second functional assembly 105 is in the lifting state. The process that the first rotating member 100 and the second rotating member 200 rotate from the limit position to the reference position is a reverse process and will not be repeated.

[0092]With reference to FIGS. 12a and 12b, when the second rotating member 200 stops rotating, the first rotating member 100 can continue to rotate relative to the second rotating member 200 along the first direction. Specifically, the lug 110 of the first rotating member 100 gradually gets close to the first positioning surface 221. When the lug 110 of the first rotating member 100 abuts against the first positioning surface 221, the lug 110 interferes with the first positioning surface 221, preventing the first rotating member 100 from continuing to rotate along the first direction. Therefore, the first rotating member 100 rotates to the limit position along the first direction, and the first maximum angle of rotation of the first rotating member 100 along the first direction is 270°, so that the first rotating member 100 can continue to rotate 180° along the first direction relative to the second rotating member 200 that has stopped rotating. At this time, the first fixing point 140 is at a position corresponding to the second hole 422. Therefore, during the rotation of the first rotating member 100 along the first direction relative to the second rotating member 200, the winding length of the first cable 510 increases, the winding length of the second cable 520 remains unchanged, the first functional assembly 104 is in the lifting state, and the second functional assembly 105 still maintains the lifting state. Specifically, when the first rotating member 100 rotates 90° relative to the second rotating member 200 for the first time, that is, when the first rotating member 100 rotates 180° relative to the reference position, the winding length of the first cable 510 changes from zero turn to ¼ turn, the first cable 510 is in the tight state, and the first functional assembly 104 still maintains the lowering state; and when the first rotating member 100 rotates 90° relative to the second rotating member 200 again, that is, when the first rotating member 100 rotates 270° relative to the reference position, the winding length of the first cable 510 changes from ¼ turn to ½ turn, the first cable 510 is in the tight state, and the first functional assembly 104 is in the lifting state. Therefore, during the rotation of the first rotating member 100 along the first direction relative to the second rotating member 200, the first functional assembly 104 can change from the lowering state to the lifting state. The process that the first rotating member 100 rotates from the limit position to the reference position is a reverse process and will not be repeated.

[0093]With reference to FIGS. 13a and 13b, when the driving assembly 300 drives the first rotating member 100 to rotate along the second direction from the reference position corresponding to the initial working state, the first rotating member 100 drives the second rotating member 200 to rotate synchronously along the second direction through the elastic member 600. During the synchronous rotation along the second direction, the first cable 510 is wound and its winding length increases, while the second cable 520 is released and its winding length decreases. After the two rotate 90° synchronously along the second direction from the reference position, both the first fixing point 140 and the second fixing point 240 are at positions corresponding to the second hole 422, that is, along the circumferential direction of the shell 400, both the first fixing point 140 and the second fixing point 240 are spaced apart from the second hole 422 at an angle of approximately zero. At this point, the boss 430 of the shell 400 abuts against and interferes with the second limit surface 212, preventing the second rotating member 200 from continuing to rotate along the second direction. Therefore, the second rotating member 200 rotates to the limit position along the second direction, and the fourth maximum angle at which the second rotating member 200 rotates along the second direction is 90°. Because the lug 110 abuts against and interferes with the second positioning surface 222, the first rotating member 100 cannot continue to move relative to the second rotating member 200 along the second direction. Therefore, both the first rotating member 100 and the second rotating member 200 stop rotating after synchronously rotating 90° along the second direction, the first rotating member 100 also rotates to the limit position along the second direction, and the second maximum angle at which the first rotating member 100 rotates along the second direction is 90°. That is, the second maximum angle at which the first rotating member 100 rotates along the second direction is equal to the fourth maximum angle at which the second rotating member 200 rotates along the second direction. When both the first rotating member 100 and the second rotating member 200 stop rotating, the winding length of the first cable 510 changes from ¼ turn to ½ turn, and the first functional assembly 104 is in the lifting state; the winding length of the second cable 520 changes from ¼ turn to zero turn, and the second functional assembly 105 remains in the lowering state. The process that the first rotating member 100 and the second rotating member 200 rotate from the limit position to the reference position is a reverse process and will not be repeated.

[0094]Therefore, during the 180° rotation of the first rotating member 100 along the first direction from the reference position, the first functional assembly 104 is in the lowering state. Therefore, when the first functional assembly 104 is enabled to be in the lowering state, the first rotating member 100 can be rotated along the first direction to a position less than or equal to 180° from the reference position. During the process that the first rotating member 100 rotates 180° relative to the reference position along the first direction and then rotate 90°, and during the process that the first rotating member 100 rotates 90° from the reference position along the second direction, the first functional assembly 104 is in the lifting state. Therefore, when the first functional assembly 104 is enabled to be in the lifting state, the first rotating member 100 can be rotated along the first direction to a position greater than 180° and less than or equal to 270° relative to the reference position, or the first rotating member 100 can be rotated along the second direction to a position less than or equal to 90° from the reference position.

[0095]During the 90° rotation of the second rotating member 200 along the first direction from the reference position, the second functional assembly 105 is in the lifting state. Therefore, when the second functional assembly 105 is enabled (e.g., configured) to be in the lifting state, the second rotating member 200 can be rotated along the first direction to a position less than or equal to 90° from the reference position. During the 90° rotation of the second rotating member 200 along the second direction from the reference position, the second functional assembly 105 is in the lowering state. Therefore, when the second functional assembly 105 is enabled to be in the lowering state, the second rotating member 200 can be rotated along the second direction to a position less than or equal to 90° from the reference position.

[0096]More specifically, in this example, when the robot cleaner 10 is in the initial working state, both the first functional assembly 104 and the second functional assembly 105 are in the lowering state. Starting from the initial working state, when the second functional assembly 105 is enabled to lift and the first functional assembly 104 is enabled to remain in the lowering state, the driving assembly 300 drives the first rotating member 100 to rotate 90° along the first direction. Starting from the initial working state, when the first functional assembly 104 is enabled to lift and the second functional assembly 105 is enabled to lower, the driving assembly 300 drives the first rotating member 100 to rotate 90° along the second direction. Starting from the initial working state, when both the first functional assembly 104 and the second functional assembly 105 are enabled to lift, the driving assembly 300 controls the first rotating member 100 to rotate 270° along the first direction. When the robot cleaner 10 switches from a state that the first functional assembly 104 lifts and the second functional assembly 105 lowers to a state that the second functional assembly 105 lifts and the first functional assembly 104 lowers, the driving assembly 300 drives the first rotating member 100 to rotate 180° along the first direction. The switching between various states is analogized in this way, and will not be listed one by one here.

[0097]If the robot cleaner 10 adopts different lifting mechanisms 101 to drive the first functional assembly 104 and the second functional assembly 105 to move independently, the quantity of lifting mechanisms 101 increases, making the robot cleaner 10 more complex in structure, and also increasing the manufacturing cost of the robot cleaner 10. For the robot cleaner 10 in the above examples, only one lifting mechanism 101 is arranged, the driving assembly 300 drives the first rotating member 100 and the second rotating member 200 to rotate, the first cable 510 and the second cable 520 are released or wound, and ultimately the first functional assembly 104 and the second functional assembly 105 can lift or lower independently, ensuring that the robot cleaner 10 can be applied to different work scenarios. Because the first functional assembly 104 and the second functional assembly 105 share one lifting mechanism 101, the quantity of lifting mechanisms 101 is reduced, thereby simplifying the structure of the robot cleaner 10 and reducing the manufacturing cost of the robot cleaner 10.

[0098]In some examples, one of the first functional assembly 104 and the second functional assembly 105 is a wet cleaning assembly, and the other one is a dry cleaning assembly. The wet cleaning assembly includes a drum 1041, the dry cleaning assembly includes a roller brush 1051, and axes of the drum 1041 and the roller brush 1051 are parallel to each other. When the robot cleaner 10 cleans a carpet, the lifting mechanism 101 drives the wet cleaning assembly to lift, while the dry cleaning assembly is in a lowering state. When the robot cleaner 10 performs only a mopping task, the lifting mechanism 101 drives the dry cleaning assembly to lift, while the wet cleaning assembly is in a lowering state. When the robot cleaner 10 faces an obstacle, the lifting mechanism 101 drives both the wet cleaning assembly and the dry cleaning assembly to lift, so as to improve the obstacle crossing ability of the robot cleaner 10.

[0099]In other examples, the wet cleaning assembly may further include a rotatable mop with an axis perpendicular to the ground, or a flat mop. The dry cleaning assembly may further include an edge brush 1061, and the rotation axis of the edge brush 1061 is perpendicular to the ground. Alternatively, in other examples, both the first functional assembly 104 and the second functional assembly 105 may be wet cleaning assemblies or dry cleaning assemblies. Alternatively, the first functional assembly 104 or the second functional assembly 105 may be driving wheels, universal wheels, or sensors. Any structure on the robot cleaner 10 that requires driven lifting to change the lifting state can be implemented through the lifting mechanism 101.

[0100]It should be noted that, in this example, the first rotating member 100 and the second rotating member 200 are arranged coaxially, and the axes of the first rotating member 100 and the second rotating member 200 are parallel to the axes of the drum 1041 and the roller brush 1051. The first direction mentioned above may be the same as or opposite to the rotation direction of the roller brush 1051 when the robot cleaner 10 advances, and is not uniquely limited here.

[0101]In some examples, the robot cleaner 10 may further include a third functional assembly 106, where the third functional assembly 106 is connected to the first cable 510, so that the third functional assembly 106 and the first functional assembly 104 lift or lower synchronously; or the third functional assembly 106 is connected to the second cable 520, so that the third functional assembly 106 and the second functional assembly 105 lift or lower synchronously. The third functional assembly 106 may include an edge brush 1061. At this point, the first functional assembly 104, the second functional assembly 105, and the third functional assembly 106 share one lifting structure to achieve independent lifting or lowering, which can further simplify the structure of the robot cleaner 10 and reduce its manufacturing cost. Similarly, in other examples, for example, the third functional assembly 106 may be other structures that require driven lifting to change its lifting or lowering state, which will not be listed here one by one. For example, the robot cleaner 10 may be further equipped with a separate third rotating member, which can be driven to rotate by the second rotating member 200, so that the third functional assembly 106 lifts or lowers through the rotation of the third rotating member.

[0102]With reference to FIG. 2, in some examples, the robot cleaner 10 further includes first feature members 102 and second feature members 103. Each of the first feature members 102 and the second feature members 103 may be a spring cap or a spring retainer. The first cable 510 includes a first elastic segment 511, and the first feature members 102 are arranged at two opposite ends of the first elastic segment 511. The second cable 520 includes a second elastic segment 521, and the second features 103 are arranged at two opposite ends of the second elastic segment 521. The first elastic segment 511 and the second elastic segment 521 can provide pre-tension and pre-deformation to ensure rebound.

[0103]As shown in FIGS. 14 to 17, another example of the present application provides a cleaning device. The cleaning device includes a device body 700, a driving motor 1000, a first cleaning member 900, and a first flexible shaft 560. The driving motor 1000 is arranged on the device body 700. The first cleaning member 900 is movably arranged on the device body 700. An output shaft 1001 of the driving motor 1000 is in transmission connection with the first cleaning member 900 through the first flexible shaft 560, and the driving motor 1000 is used to drive the first cleaning member 900 to move by driving the first flexible shaft 560 to move.

[0104]The arrangement of the first flexible shaft 560 can simplify the transmission structure of the cleaning device and facilitates assembly. In addition, the first flexible shaft 560 has certain deformation ability, and can bend and twist to adjust the direction and position of torque during the transmission process. On the one hand, the arrangement of the first flexible shaft 560 can reduce the influence of impact force on the driving motor 1000 that the first cleaning member 900 is subjected to, achieving a shock absorption effect. On the other hand, when the position or posture of the first cleaning member 900 is adjusted, the output shaft of the driving motor 1000 can still maintain a stable connection with the first cleaning member 900, improving the structural stability and flexibility of the cleaning device and facilitating adjustment on the position or posture of the first cleaning member 900.

[0105]For example, as shown in FIGS. 14 to 17, the driving motor 1000 is configured to drive the first cleaning member 900 to rotate by driving the first flexible shaft 560 to move. The first cleaning member 900 is rotatably connected to the device body 700.

[0106]As such, the output shaft of the driving motor 1000 can drive the first flexible shaft 560 to twist and rotate when rotating, and the first flexible shaft 560 can transmit the rotation to the first cleaning member 900, so as to drive the first cleaning member 900 to rotate.

[0107]For example, as shown in FIG. 16, the first flexible shaft 560 has a first connecting segment 561 and a second connecting segment 562, and the first flexible shaft 560 is bent to form an angle between the first connecting segment 561 and the second connecting segment 562. For example, the first connecting segment 561 is perpendicular to the second connecting segment 562.

[0108]As such, the direction of motion transmission can be changed by changing the extension direction of the first flexible shaft 560, which can simplify the transmission structure of the cleaning device and facilitates assembly.

[0109]In some examples, the first connecting segment 561 and the second connecting segment 562 may be located at two ends of the first flexible shaft 560 respectively. In other examples, the first connecting segment 561 may be located at one end of the first flexible shaft 560, and the second connecting segment 562 may be located between the two ends of the first flexible shaft 560.

[0110]In some examples, a first end of the first flexible shaft 560 is connected to the output shaft of the driving motor 1000, and a second end of the first flexible shaft 560 is connected to the first cleaning member 900.

[0111]In this way, the output shaft of the driving motor 1000 can drive the first end of the first flexible shaft 560 to twist and rotate when rotating, and the first end of the first flexible shaft 560 can transmit the rotation to the second end of the first flexible shaft 560, which further transmits the rotation to the first cleaning member 900, so as to drive the first cleaning member 900 to rotate.

[0112]For example, as shown in FIG. 18, the cleaning device further includes a second cleaning member 800, and the second cleaning member 800 is movably arranged on the device body 700. The driving motor 1000 is used to drive the second cleaning member 800 to rotate. Further, the second cleaning member 800 is rotatably connected to the device body 700.

[0113]The second cleaning member 800 and the first cleaning member 900 can clean different areas, which can enhance the functional richness of the cleaning device and improve cleaning efficiency. Compared with the arrangement of different motors to drive the first cleaning member 900 and the second cleaning member 800, the arrangement of the driving motor 1000 to drive the first cleaning member 900 and the second cleaning member 800 to rotate is conducive to reducing the quantity of motors, thereby improving space utilization and reducing costs.

[0114]For example, the second cleaning member 800 may be the same as or different from the first cleaning member 900. For example, both the second cleaning member 800 and the first cleaning member 900 are edge brushes 301. For another example, both the second cleaning member 800 and the first cleaning member 900 are mops. For another example, the second cleaning member 800 is a roller brush 201, and the first cleaning member 900 is an edge brush 301. For another example, the first cleaning member 900 may be a mop, and the second cleaning member 800 may be a roller brush 201.

[0115]For example, the output shaft of the driving motor 1000 is in transmission connection with the first cleaning member 900 and the second cleaning member 800 through the first flexible shaft 560. The driving motor 1000 can drive the first cleaning member 900 and the second cleaning member 800 to rotate by driving the first flexible shaft 560 to move.

[0116]As such, the synchronization of rotation of the first cleaning member 900 and the second cleaning member 800 is improved. For example, both the second cleaning member 800 and the first cleaning member 900 are mops or edge brushes 301. The synchronous motion of the second cleaning member 800 and the first cleaning member 900 is conducive to improving the cleaning effect.

[0117]For example, the output shaft of the driving motor 1000 is in transmission connection with the second cleaning member 800 through a non-flexible shaft transmission structure. The non-flexible shaft transmission structure is a transmission structure excluding flexible shafts.

[0118]As such, the rotation of the output shaft of the driving motor 1000 is accurately transmitted to the second cleaning member 800, so as to drive the second cleaning member 800 to rotate. For example, the output shaft of the driving motor 1000 drives the second cleaning member 800 to rotate through gear transmission. For another example, as shown in FIG. 18, the cleaning device further includes a synchronous belt 1100. The output shaft of the driving motor 1000 is in transmission connection with the second cleaning member 800 through the synchronous belt 1100, whereby the synchronous belt 1100 drives the second cleaning member 800 to rotate. Specifically, the cleaning device may further include a first gear 601 and a second gear 602, the first gear 601 is fixed to the output shaft of the driving motor 1000, the second gear 602 is relatively fixed to the second cleaning member 800, and the synchronous belt 1100 engages with the first gear 601 and the second gear 602 respectively, whereby the output shaft of the driving motor 1000 can drive the second cleaning member 800 to rotate.

[0119]For example, as shown in FIG. 17, the cleaning device may further include a second flexible shaft 580, and the output shaft of the driving motor 1000 is in transmission connection with the second cleaning member 800 through the second flexible shaft 580. The driving motor 1000 can drive the second cleaning member 800 to rotate by driving the second flexible shaft 580 to move.

[0120]As such, the output shaft of the driving motor 1000 can drive the second flexible shaft 580 to twist and rotate when rotating, and the second flexible shaft 580 can transmit the rotation to the second cleaning member 800, so as to drive the second cleaning member 800 to rotate.

[0121]For example, as shown in FIG. 17, a first end of the second flexible shaft 580 is connected to the output shaft of the driving motor 1000, and a second end of the second flexible shaft 580 is inserted into or passes through the second cleaning member 800 along the rotation axis of the second cleaning member 800. The output shaft of the driving motor 1000 can drive the first end of the second flexible shaft 580 to twist and rotate when rotating, and the first end of the second flexible shaft 580 can transmit the rotation to the second end of the second flexible shaft 580, which further transmits the rotation to the second cleaning member 800, so as to drive the second cleaning member 800 to rotate.

[0122]For example, the second flexible shaft 580 may be the same as or different from the first flexible shaft 560.

[0123]For example, the driving motor 1000 is configured to drive the first cleaning member 900 and the second cleaning member 800 to rotate relative to the device body 700 (e.g., via the first flexible shaft 560 and the second flexible shaft 580, respectively).

[0124]For example, the extension direction of the rotation axis of the first cleaning member 900 is parallel to the extension direction of the rotation axis of the second cleaning member 800.

[0125]As such, the consistency of rotation of the first cleaning member 900 and the second cleaning member 800 is improved. For example, both the second cleaning member 800 and the first cleaning member 900 are mops or edge brushes 301. The consistent motion of the second cleaning member 800 and the first cleaning member 900 is conducive to improving the cleaning effect.

[0126]For example, as shown in FIG. 18, the extension direction of the rotation axis L1 of the first cleaning member 900 is arranged at an angle to the extension direction of the rotation axis L2 of the second cleaning member 800, indicated by a in the figure.

[0127]Because the extension direction of the rotation axis L1 of the second cleaning member 800 is different from the extension direction of the rotation axis L2 of the first cleaning member 900, the second cleaning member 800 and the first cleaning member 900 can clean different directions and areas, which can enhance the functional richness of the cleaning device. For example, as shown in FIG. 18, the first cleaning member 900 is an edge brush 301, and the second cleaning member 800 is a roller brush 201. The edge brush 301 can be arranged at an edge of the cleaning device and protrude from the device body 700 for cleaning edge corner areas of a scenario to be cleaned, while the roller brush 201 is arranged at a middle position of a bottom of the cleaning device.

[0128]For example, the cleaning device is used to clean a to-be-cleaned surface. As shown in FIG. 19, the extension direction of the rotation axis L1 of the first cleaning member 900 and the extension direction of the rotation axis L2 of the second cleaning member 800 are both perpendicular to a to-be-cleaned surface 1200.

[0129]For example, as shown in FIG. 19, both the second cleaning member 800 and the first cleaning member 900 are mops or edge brushes 301, increasing the contact area and friction between the second cleaning member 800 and first cleaning member 900 and the to-be-cleaned surface, and improving the cleaning efficiency and effect. The to-be-cleaned surface 1200 may be the ground.

[0130]For example, the rotation axis of one of the first cleaning member 900 and the second cleaning member 800 intersects with the to-be-cleaned surface, while the rotation axis of the other one of the first cleaning member 900 and the second cleaning member 800 extends parallel to the to-be-cleaned surface. As shown in FIG. 18, the plane XY is the to-be-cleaned surface, which is parallel to the ground of the edge brush 301. In FIG. 18, the extension direction of the rotation axis L1 of the second cleaning member 800 intersects with the to-be-cleaned surface, and the rotation axis L2 of the first cleaning member 900 is parallel to the to-be-cleaned surface.

[0131]As such, the second cleaning member 800 and the first cleaning member 900 can clean the to-be-cleaned surface in different directions and areas, which can improve the cleaning efficiency and effect.

[0132]For example, the extension direction of the rotation axis of the first cleaning member 900 and the extension direction of the rotation axis of the second cleaning member 800 are both parallel to the to-be-cleaned surface.

[0133]For example, one of the second cleaning member 800 and the first cleaning member 900 is a roller brush 201, reducing the friction between the second cleaning member 800 and first cleaning member 900 and the to-be-cleaned surface, and reducing rotational resistance.

[0134]For example, as shown in FIG. 19 or 20, the driving motor 1000 has one output shaft 1001, where the output shaft 1001 is in transmission connection with the first cleaning member 900 and the second cleaning member 800 and is configured to drive the first cleaning member 900 and the second cleaning member 800 to rotate. The cost of the driving motor 1000 can be reduced.

[0135]In other examples, the driving motor 1000 has one output shaft for driving one first cleaning member 900 to rotate, for example, the first cleaning member 900 is an edge brush 301 arranged only on one side.

[0136]For example, the driving motor 1000 has two output shafts, one of the output shafts is in transmission connection with the first cleaning member 900, and the other one of the output shafts is in transmission connection with the second cleaning member 800. One output shaft is configured to drive the first cleaning member 900 to rotate, and the other output shaft is configured to drive the second cleaning member 800 to rotate.

[0137]The mutual interference between the rotation of the second cleaning member 800 and the rotation of the first cleaning member 900 can be reduced.

[0138]For example, the driving motor 1000 has two output shafts, which are arranged coaxially at two ends of the driving motor 1000. The two output shafts can rotate synchronously or independently.

[0139]For example, at least one of the first cleaning member 900 and the second cleaning member 800 is a mop, and the mop is used for wet cleaning of the to-be-cleaned surface. The wet cleaning refers to cleaning the to-be-cleaned surface with cleaning liquid. For example, the cleaning liquid may be water. For another example, the first cleaning member 900 may be a mop, and the second cleaning member 800 may be a roller brush.

[0140]In some examples, both the first cleaning member 900 and the second cleaning member 800 are used to work in a wet state. In other examples, one of the first cleaning member 900 and the second cleaning member 800 is used to work in a wet state.

[0141]For example, at least one of the first cleaning member 900 and the second cleaning member 800 is an edge brush 301 or a roller brush 201, and the edge brush 301 or the roller brush 201 is used for dry cleaning of the to-be-cleaned surface. The dry cleaning refers to cleaning the to-be-cleaned surface without cleaning liquid. For example, the second cleaning member 800 is a roller brush 201, the first cleaning member 900 is an edge brush 301, and the to-be-cleaned surface is the ground. Both the roller brush 201 and the edge brush 301 are used to clean the ground. Such cleaning is dry cleaning.

[0142]In some examples, both the first cleaning member 900 and the second cleaning member 800 are used to work in a non-wet state.

[0143]For example, one of the first cleaning member 900 and the second cleaning member 800 is an edge brush 301 or a roller brush 201. For example, the first cleaning member 900 may be a mop, and the second cleaning member 800 may be a roller brush. As such, the effect of cleaning the ground is improved.

[0144]For example, the driving motor 1000 is configured to drive the first cleaning member 900 to lift or lower relative to the device body 700 by driving the first flexible shaft 560 to move.

[0145]Such arrangement is beneficial to the use of the cleaning device in more scenarios. For example, the first cleaning member 900 can leave the ground through lifting, thereby avoiding water areas on the ground.

[0146]The second end of the first flexible shaft 560 can be connected to the first cleaning member 900. When the first cleaning member 900 lifts, the second end of the first flexible shaft 560 can move together with the first cleaning member 900, so that the first cleaning member 900 can maintain a stable connection with the driving motor 1000 during lifting and lowering motion or up-and-down floating.

[0147]For example, the first cleaning member 900 may be suspended at a lower end of the first flexible shaft 560, the driving motor 1000 is configured to drive the lower end of the first flexible shaft 560 to lift or lower, and the first cleaning member 900 can lift or lower with the lower end of the first flexible shaft 560.

[0148]For example, the driving motor 1000 is also configured to drive the second cleaning member 800 to lift or lower relative to the device body 700. Further, the driving motor 1000 is configured to drive the second cleaning member 800 to lift or lower relative to the device body 700 by driving the second flexible shaft 580 to move.

[0149]For example, the second cleaning member 800 may be suspended at a lower end of the second flexible shaft 580, the driving motor 1000 is configured to drive the lower end of the second flexible shaft 580 to lift or lower, and the second cleaning member 800 can lift or lower with the lower end of the second flexible shaft 580.

[0150]In some examples, the output shaft of the driving motor 1000 is in transmission connection with the first cleaning member 900 and the second cleaning member 800 through the first flexible shaft 560, and the driving motor 1000 is configured to drive the first cleaning member 900 and the second cleaning member 800 to lift or lower by driving the first flexible shaft 560. In other examples, the cleaning device further includes a second flexible shaft 580, the output shaft of the driving motor 1000 is in transmission connection with the second cleaning member 800 through the second flexible shaft 580, and the driving motor 1000 is configured to drive the second cleaning member 800 to lift or lower by driving the second flexible shaft 580 to move.

[0151]In some examples, the driving motor 1000 is configured to drive the first cleaning member 900 to lift or lower by driving the first flexible shaft 560 to move, and the driving motor 1000 is also configured to drive the first cleaning member 900 to rotate by driving the first flexible shaft 560 to move.

[0152]In some examples, the driving motor 1000 is configured to drive the second cleaning member 800 to lift or lower by driving the second flexible shaft 580 to move, and the driving motor 1000 is also configured to drive the second cleaning member 800 to rotate by driving the second flexible shaft 580 to move.

[0153]In some examples, the driving motor 1000 is configured to drive both the first cleaning member 900 and the second cleaning member 800 to lift or lower by driving the first flexible shaft 560 and the second flexible shaft 580 to move. In other examples, the driving motor 1000 is configured to drive both the first cleaning member 900 and the second cleaning member 800 to rotate by driving the first flexible shaft 560 and the second flexible shaft 580 to move. In other examples, the driving motor 1000 is configured to drive one of the first cleaning member 900 and the second cleaning member 800 to rotate and the other one to lift or lower by driving the first flexible shaft 560 and the second flexible shaft 580 to move.

[0154]Different types of first flexible shaft 560, second flexible shaft 580, first cleaning member 900, and second cleaning member 800 can be applied to the above transmission forms.

[0155]In some examples, as shown in FIGS. 14 to 16, the cleaning device includes a flexible shaft assembly 500, where the flexible shaft assembly 500 includes a first flexible shaft 560 and a second flexible shaft 580; the second cleaning member 800, when connected to the flexible shaft assembly 500, can lift or lower or move forward or backward in the travel direction of the cleaning device; and the first cleaning member 900, when connected to the flexible shaft assembly 500, can lift or lower, or move forward or backward in the travel direction of the cleaning device, or move outward.

[0156]For example, as shown in FIGS. 14 to 16 and 18, the device body 700 includes a main shell 701, a roller brush shell 702, and a cleaning member shell 703, where the roller brush shell 702 and the cleaning member shell 703 are connected to the main shell 701 respectively, the second cleaning member 800 is a roller brush 201, the roller brush 201 is rotatably mounted on the roller brush shell 702, the first cleaning member 900 is an edge brush 301, and the edge brush 301 is rotatably mounted on the cleaning member shell 703. The driving motor 1000 may be mounted on the main shell 701, the roller brush shell 702, or the cleaning member shell 703.

[0157]Further, the device body 700 is provided with a fan and a dust box, the dust box is arranged on the main shell 701, the main shell 701 is provided with a suction port, the suction port is in communication with the dust box, the roller brush 201 is arranged at the suction port, and the edge brush 301 is arranged on the periphery of the suction port. Both the roller brush 201 and the edge brush 301 have bristles. Garbage swept by the roller brush 201 and the edge brush 301 can be sucked into the dust box through the suction port under the action of the fan.

[0158]For example, in some examples, the second cleaning member 800 has a mopping function. The device body 700 is provided with a water tank to supply water to the second cleaning member 800.

[0159]For example, as shown in FIGS. 14 to 16 and FIG. 18, the extension direction of the axis L3 of the output shaft of the driving motor 1000 is arranged at an angle to the extension direction of the rotation axis L2 of the first cleaning member 900. As shown in FIG. 16, the angle between L2 and L3 is B. For example, the extension direction of the axis of the output shaft of the driving motor 1000 is perpendicular to the extension direction of the rotation axis L2 of the first cleaning member 900. The first flexible shaft 560 can be bent, whereby the first end of the first flexible shaft 560 and the output shaft of the driving motor 1000 are arranged on the same central axis, and the second end of the first flexible shaft 560 and the first cleaning member 900 are arranged on the same central axis.

[0160]Further, the first end of the first flexible shaft 560 can be fixedly connected to the output shaft of the driving motor 1000. Alternatively, the first end of the first flexible shaft 560 is in transmission connection with the output shaft of the driving motor 1000 through a gear. For example, as shown in FIG. 19, the cleaning device may include a first gear 601 and a third gear 603 that mesh each other, the first end of the first flexible shaft 560 is arranged on the third gear 603, and the first gear 601 is fixedly arranged on the output shaft of the driving motor 1000, whereby the output shaft of the driving motor 1000 can drive the first end of the first flexible shaft 560 to rotate.

[0161]For example, as shown in FIGS. 14 to 18, the flexible shaft assembly 500 further includes a connector 570. The connector 570 is provided with a connecting hole 523, the first flexible shaft 560 is inserted into the connecting hole 523, the cross-section of the portion of the first flexible shaft 560 located in the connecting hole 523 matches the cross-section of the connecting hole 523 and the both are non-circular. The first flexible shaft 560 is connected to at least one of the first cleaning member 900 and the output shaft of the driving motor 1000 through the connector 570.

[0162]The arrangement of the connector 570 facilitates the assembly of the first flexible shaft 560. Because the cross-section of the first flexible shaft 560 matches the cross-section of the connecting hole 523 and the both are non-circular, the first flexible shaft 560 can rotate with the connector 570. For example, the cross-section of the first flexible shaft 560 matches the cross-section of the connecting hole 523 and the both are rectangular.

[0163]For example, the edge brush 301 includes a base and a brush body, where the base is fixedly connected to the connector 570 and connected to the second end of the first flexible shaft 560 through the connector 570.

[0164]In some examples, as shown in FIGS. 14 to 16 and FIG. 18, the first or second end of the first flexible shaft 560 is provided with a connector 570, and the first flexible shaft 560 is connected to one of the first cleaning member 900 and the output shaft of the driving motor 1000 through one connector 570. In other examples, the first and second ends of the first flexible shaft 560 are both provided with connectors 570, and the first flexible shaft 560 is connected to the first cleaning member 900 and the output shaft of the driving motor 1000 through the two connectors 570, respectively.

[0165]For example, as shown in FIGS. 14 to 16 and FIG. 18, the two connectors 570 are respectively a first connector 571 and a second connector 572. The first end of the first flexible shaft 560 is connected to the output shaft 1001 of the driving motor 1000 through the first connector 571, and the second end of the first flexible shaft 560 is connected to the first cleaning member 900 through the second connector 572. A bearing 704 or a rolling member is provided between the second connector 572 and the device body 700, and the second connector 572 rotates relative to the device body 700 through the bearing 704 or the rolling member.

[0166]Specifically, the cleaning device includes a bearing 704, the device body 700 is connected to an outer ring of the bearing 704, and the second connector 572 is connected to an inner ring of the bearing 704, so that the second connector 572 can rotate relative to the device body 700 through the bearing 704. Alternatively, the cleaning device may include a rolling member, which may be a needle roller, a ball, or the like.

[0167]By such arrangement, the device body 700 can limit the second connector 572 in a direction perpendicular to a height direction D1 of the cleaning device, reducing the obstruction of the device body 700 to the rotation of the second connector 572, and facilitating smooth rotation of the second connector 572 and the first cleaning member 900.

[0168]For example, the first connector 571 is provided with a mounting hole, and the output shaft of the driving motor 1000 can be inserted into the mounting hole to be able to connect with the first connector 571.

[0169]For example, along the height direction D1 of the cleaning device, the first cleaning member 900 and the second end of the first flexible shaft 560 are movable relative to the device body 700.

[0170]Such arrangement can achieve the lifting or lowering motion or up-and-down floating of the first cleaning member 900, and facilitates the use of the cleaning device in more scenarios. For example, the first cleaning member 900 elastically abuts against the device body 700 through a spring. When the first cleaning member 900 cleans uneven ground, the first cleaning member 900 can float up and down as the ground rises and falls to adapt to the ground. For example, the cleaning device can be equipped with a lifting motor, and the lifting motor can be configured to drive the first cleaning member 900 to lift or lower to leave the ground, thereby avoiding water areas on the ground.

[0171]When the first cleaning member 900 lifts or lowers or floats up and down, the second end of the first flexible shaft 560 can move together with the first cleaning member 900, and the first flexible shaft 560 can deform, so that the first cleaning member 900 can maintain a stable connection with the driving motor 1000 when lifting or lowering or floating up and down.

[0172]For example, the cleaning device has a width direction perpendicular to the travel direction and height direction of the cleaning device. Along the width direction D2 of the cleaning device, the first cleaning member 900 and the second end of the first flexible shaft 560 are movable relative to the device body 700.

[0173]Such arrangement can achieve the inward retraction or outward expansion of the first cleaning member 900, facilitating the use of the cleaning device in more scenarios. For example, when cleaning an edge corner of a to-be-cleaned scenario, along the width direction D2 of the cleaning device, a side of the device body 700 needs to be spaced apart from the edge corner of the to-be-cleaned scenario. Then, the first cleaning member 900 can extend more sizes through outward expansion, facilitating cleaning the edge corner of the to-be-cleaned scenario. Along the width direction D2 of the cleaning device, the first cleaning member 900 can reduce its size by through inward retraction for easy storage.

[0174]For example, the quantity of the first cleaning member 900 is 1. For another example, the quantity of the first cleaning member 900 is two. In some examples, as shown in FIG. 20, the two ends of the first flexible shaft 560 are connected to two first cleaning members 900 respectively, and the two ends of the first flexible shaft 560 are in transmission connection with the output shaft of the driving motor 1000, so that the driving motor 1000 can drive the two first cleaning members 900 to rotate synchronously. As such, the driving motor 1000 can drive the two first cleaning members 900 to rotate synchronously through one first flexible shaft 560, and can allow the two first cleaning members 900 to lift or lower, or to move forward or backward or expand outward in the travel direction of the cleaning device.

[0175]In other examples, as shown in FIG. 19, the output shaft of the driving motor 1000 is in transmission connection with the two first cleaning members 900 through two first flexible shafts 560, so that the driving motor 1000 can drive the two first cleaning members 900 to rotate synchronously. As such, the driving motor 1000 can drive the two first cleaning members 900 to rotate synchronously, and can allow the two first cleaning members 900 to lift or lower, or to move forward or backward or expand outward in the travel direction of the cleaning device. The transmission structure can alternatively be adjusted to create a difference between the rotational speeds of the two first cleaning members 900.

[0176]For example, as shown in FIG. 21, the flexible shaft assembly 500 includes a sleeve 502, the sleeve 502 is fitted around the periphery of the first flexible shaft 560 or the second flexible shaft 580, and the sleeve 502 is configured to guide the extension direction of the first flexible shaft 560 or the second flexible shaft 580.

[0177]The deformation resistance of the sleeve 502 may be higher than that of the first flexible shaft 560 or the second flexible shaft 580, so that the sleeve 502 can be configured to maintain the bending shape and extension direction of the first flexible shaft 560 or the second flexible shaft 580. There may be a gap between the sleeve 502 and the first flexible shaft 560 or the second flexible shaft 580, so that the sleeve 502 can move relative to the first flexible shaft 560 or the second flexible shaft 580, thereby reducing the resistance of the sleeve 502 to the rotation of the first flexible shaft 560 or the second flexible shaft 580. In some examples, the sleeve 502 can rotate with the first flexible shaft 560 or the second flexible shaft 580. In other examples, the sleeve 502 does not rotate with the first flexible shaft 560 or the second flexible shaft 580.

[0178]When the second cleaning member 800 lifts or lowers or floats up and down, the second end of the second flexible shaft 580 can move together with the second cleaning member 800, and the second flexible shaft 580 can deform, so that the second cleaning member 800 can maintain a stable connection with the driving motor 1000 when lifting or lowering or floating up and down. Further, the second flexible shaft 580 is connected to the second cleaning member 800 through the connector 570, so as to drive the second cleaning member 800 to rotate.

[0179]For example, the axis direction of the output shaft of the driving motor 1000 may be parallel to the extension direction of the rotation axis L1 of the second cleaning member 800.

[0180]To sum up, in this example, the second cleaning member 800 and the first cleaning member 900 can clean different directions and areas, which can enhance the functional richness of the cleaning device. Compared with the arrangement of different motors to drive the first cleaning member 900 and the second cleaning member 800, the arrangement of the driving motor 1000 to drive the first cleaning member 900 and the second cleaning member 800 to rotate is conducive to reducing the quantity of motors, thereby improving space utilization and reducing costs. The driving motor 1000 is arranged to drive the first flexible shaft 560 and the second flexible shaft 580 to rotate, so as to drive the first cleaning member 900 and the second cleaning member 800 to rotate, simplifying the transmission structure of the cleaning device and facilitating assembly. In addition, the first flexible shaft 560 and the second flexible shaft 580 have certain deformation abilities, and can bend and twist to adjust the direction and position of torque during the transmission process. On the one hand, it is conducive to reducing the influence of impact force on the driving motor 1000 that the first cleaning member 900 and the second cleaning member 800 are subjected to, achieving a shock absorption effect. On the other hand, when the position of the first cleaning member 900 or the second cleaning member 800 is adjusted, the output shaft of the driving motor 1000 can still maintain a stable connection with the first cleaning member 900 and the second cleaning member 800, improving the structural stability and flexibility of the cleaning device.

[0181]Described above are merely the examples of the present application, and the patent scope of the patent application is not limited thereto. Any equivalent structure or equivalent process transformation made through the description and accompanying drawings of the present application, directly or indirectly applied in other related technical fields, is further included in the scope of patent protection of the present application.

[0182]The technical features of the above examples can be combined arbitrarily. For the purpose of simplicity in description, all possible combinations of the technical features in the above examples are not described. However, as long as the combinations of these technical features do not have contradictions, they shall fall within the scope of the description.

[0183]The above examples describe only several implementations of the present application, and their descriptions are specific and detailed, but cannot therefore be understood as limitations to the patent scope of the present application. It should be noted that those of ordinary skill in the art can make variations and improvements without departing from the concept of the present application, and these variations and improvements all fall into the scope of protection of the present application. Therefore, the scope of patent protection of the present application should be subject to the appended claims.