CN117770714A - Cleaning device and self-moving device - Google Patents

Abstract

The application discloses a cleaning device and a self-moving device. The cleaning device includes: the device body can move on the surface to be cleaned and clean the surface to be cleaned; and a striker plate, wherein the striker plate comprises: a striking plate body for receiving an obstacle strike during movement of the apparatus body; and a connecting portion through which the striking plate body is movably connected to the device body, and the striking plate body is movable in a buffering direction parallel to the surface to be cleaned in response to striking of the obstacle, wherein a maximum distance between the striking plate body and the device body in the buffering direction is less than 5mm. Through above-mentioned mode, this application can be favorable to improving the product outward appearance and improve dustproof, waterproof performance.

Description

Cleaning device and self-moving device

Technical Field

The application relates to the technical field of cleaning equipment, in particular to a cleaning device and a self-moving device.

Background

The cleaning robot with cleaning functions such as floor washing, mopping and sweeping can replace a user to clean the floor, and brings convenience to the user, so that the cleaning robot is widely applied. The cleaning robot needs to avoid obstacles in the process of cleaning work. To ensure that the cleaning robot can react to the obstacle accurately and without any error to avoid getting stuck by the obstacle, the cleaning robot often needs to be equipped with a striker plate.

The existing collision plate applied to the cleaning robot in the market usually generates displacement after the collision plate is impacted to trigger a sensor such as an optical coupler or a micro switch, which means that a larger gap needs to be reserved between the collision plate and a host of the robot, and the collision plate is ensured to have enough displacement. The larger gap not only can influence the product appearance of the cleaning robot, but also can influence the dustproof and waterproof performances of the cleaning robot.

Disclosure of Invention

The application provides a cleaning device and from mobile device, is favorable to improving the product outward appearance and improves dustproof, waterproof performance.

The application provides a cleaning device. The cleaning device includes: the device body can move on the surface to be cleaned and clean the surface to be cleaned; and a striker plate, wherein the striker plate comprises: a striking plate body for receiving an obstacle strike during movement of the apparatus body; and a connecting portion through which the striking plate body is movably connected to the device body, and the striking plate body is movable in a buffering direction parallel to the surface to be cleaned in response to striking of the obstacle, wherein a maximum distance between the striking plate body and the device body in the buffering direction is less than 5mm.

In an embodiment of the present application, a maximum distance between the striker plate body and the device body in the cushioning direction is 1.5mm to 2mm.

In an embodiment of the present application, the cleaning device further comprises: and a decorative buffer member provided between the striker body and the device body to fill a gap between the striker body and the device body in a buffer direction.

In an embodiment of the present application, when the distance between the striker plate body and the device body in the buffering direction is the maximum distance, the decoration buffering member abuts against the striker plate body and the device body, respectively, to fill the gap.

In one embodiment of the present application, a trim bumper is provided around the outer edge of the striker plate body.

In an embodiment of the present application, the cleaning device further comprises: the first damping buffer piece is arranged on the device body and used for propping against the connecting part when the collision plate body moves towards the device body so as to buffer the collision plate body.

In an embodiment of the present application, when a distance between the striker plate main body and the device main body in the buffering direction is a maximum distance, the first shock absorbing buffer abuts the connecting portion.

In an embodiment of the present application, the device body is provided with a step portion protruding adjacent to the edge of the striker plate body; the first shock absorption buffer piece is located at the inner side of the step part, and a moving groove is formed between the first shock absorption buffer piece and the step part, wherein the connecting part is movably embedded in the moving groove.

In an embodiment of the present application, the connection portion includes: a connecting sub-portion connected to the striker main body and extending in the buffer direction; and the abutting sub-part is connected with the end part of the connecting sub-part, which is far away from the striker plate main body, and extends along a preset direction perpendicular to the surface to be cleaned, so that the abutting sub-part is movably embedded in the moving groove.

In an embodiment of the present application, the cleaning device further comprises: at least two first buffer member groups are distributed at intervals along the circumferential direction of the device body in sequence, and each first buffer member group comprises at least one first shock absorption buffer member.

In an embodiment of the present application, each first bumper set includes at least two first shock-absorbing bumpers; the device body includes: the cleaning assembly is used for cleaning the surface to be cleaned; the base and the upper cover are in butt joint to form a space for accommodating the cleaning component; wherein, in the first buffer member group, at least one first shock absorbing buffer member is located at the base, and at least one first shock absorbing buffer member is located at the upper cover.

In an embodiment of the present application, the cleaning device further comprises: and the second shock absorption buffer piece is arranged on the device main body and/or the collision plate main body and is used for being matched with the first shock absorption buffer piece to buffer the collision plate main body when the collision plate main body moves towards the device main body.

In an embodiment of the present application, the buffering direction includes a first buffering direction and a second buffering direction perpendicular to each other, and the first buffering direction is also parallel to the traveling direction of the device body; the first damping buffer piece is positioned at the front end of the cleaning device and is used for buffering the striker body when the striker body moves towards the device body along a first damping direction; and the second shock absorbing buffer piece is positioned at the side edge of the cleaning device and is used for buffering the striker body when the striker body moves towards the device body along the second buffer direction.

In an embodiment of the present application, the cleaning device further comprises: at least two first buffer member groups which are sequentially distributed at intervals along the second buffer direction, wherein each first buffer member group comprises at least one first shock absorption buffer member; the two sides of the cleaning device in the second buffering direction are respectively provided with a second buffering piece group, and each second buffering piece group comprises at least one second damping buffering piece; wherein the number of groups of the first buffer group is greater than the number of groups of the second buffer group.

In an embodiment of the application, the cleaning device further defines a predetermined direction perpendicular to the surface to be cleaned, and the cleaning device further comprises: the second buffer piece group comprises at least two second damping buffer pieces which are sequentially distributed at intervals along the preset direction.

In one embodiment of the present application, a device body includes: the cleaning assembly is used for cleaning the surface to be cleaned; the base and the upper cover are in butt joint to form a space for accommodating the cleaning component; in the second buffer member set, at least one second shock-absorbing buffer member is disposed on the striker main body, and at least one second shock-absorbing buffer member is disposed on the base or the upper cover.

In an embodiment of the present application, the base or the upper cover is provided with: and the retaining wall is used for propping against the second shock absorption buffer piece on the striking plate body when the striking plate body moves towards the device body.

In one embodiment of the present application, the length of the second shock absorbing buffer is greater than the length of the first shock absorbing buffer.

In an embodiment of the present application, the first shock absorbing buffer has at least two first buffer teeth portions sequentially disposed along a length direction thereof; and/or the second shock absorbing buffer has at least two second buffer teeth arranged in sequence along the length direction thereof.

In an embodiment of the present application, the cleaning device further comprises: the pressure sensor is arranged on the striking plate main body and used for detecting whether the striking plate main body is struck by an obstacle.

In one embodiment of the present application, the striker plate body includes a front portion, a side portion, and an engagement portion; the front part is positioned at the front end of the cleaning device, the side part is positioned at the side edge of the cleaning device, and the front part is connected with the side part through the connecting part; wherein, the lateral part is equipped with pressure sensor.

In an embodiment of the present application, the front portion is provided with a pressure sensor.

In an embodiment of the present application, the cleaning device further comprises: the navigation sensor is arranged on the collision plate main body.

In one embodiment of the present application, the striker plate body includes a front portion, a side portion, and an engagement portion; the front part is positioned at the front end of the cleaning device, the side part is positioned at the side edge of the cleaning device, and the front part is connected with the side part through the connecting part; the navigation sensor is positioned at the corner position where the joint part is positioned.

In an embodiment of the present application, a maximum distance between the navigation sensor and the surface to be cleaned is less than or equal to a maximum distance between the striker plate body and the surface to be cleaned.

Correspondingly, the application also provides a self-moving device. The self-moving device includes: a device main body movable on a moving surface; and a striker plate, wherein the striker plate comprises: a striking plate body for receiving an obstacle strike during movement of the apparatus body; and a connecting portion through which the striking plate body is movably connected to the device body, and the striking plate body is movable in a buffering direction parallel to the moving surface in response to striking of the obstacle, wherein a maximum distance between the striking plate body and the device body in the buffering direction is less than 5mm.

The beneficial effects of this application are: unlike the prior art, the present application provides a cleaning device and a self-moving device. The cleaning device includes a device body and a striker plate. The striking plate includes a striking plate body and a connecting portion, the striking plate body being movably connected to the device body through the connecting portion. The striking plate body is used for receiving the impact of the obstacle during the movement of the device body, and the striking plate body can move in a buffering direction parallel to the surface to be cleaned in response to the impact of the obstacle. The maximum distance between the collision plate main body and the device main body in the buffer direction is smaller than 5mm, which means that the gap between the collision plate main body and the device main body is smaller, and the appearance of the product is improved; in addition, the risk of dust and water entering between the striking plate main body and the device main body is reduced, so that the dust and water preventing performance of the cleaning device and the self-moving device can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an exploded construction of a first embodiment of the cleaning apparatus of the present application;

FIG. 2 is a schematic cross-sectional view of a first embodiment of the cleaning device of the present application;

FIG. 3 is a schematic view of the structure of the cleaning device A in FIG. 2;

FIG. 4 is a schematic view of an embodiment of a striker plate of the present application;

FIG. 5 is a schematic view of a base of an embodiment of the cleaning device of the present application;

FIG. 6 is a schematic view of the structure of an embodiment of the upper cover of the cleaning device of the present application;

FIG. 7 is a schematic view of an embodiment of a first shock absorber;

FIG. 8 is a schematic structural view of an embodiment of a second shock absorber of the present application;

FIG. 9 is a schematic view of a second embodiment of the cleaning apparatus of the present application;

fig. 10 is a schematic structural view of a third embodiment of the cleaning device of the present application.

Reference numerals illustrate:

the cleaning device comprises a cleaning device 10, a surface to be cleaned 10a, a device main body 11, a step part 111, a moving groove 112, a cleaning assembly 113, a base 114, an upper cover 115, a retaining wall 116, a universal wheel 12, a side brush 13, a dust box 14, a driving wheel 15, a collision plate 20, a gap 20a, a collision plate main body 21, a front part 211, a side part 212, a connecting part 213, a connecting part 22, a connecting sub part 221, a abutting sub part 222, a 31 decoration buffer piece, a 32 first shock absorption buffer piece, a 32a first buffer piece group, a 321 first buffer tooth part, a 33 second shock absorption buffer piece, a 33a second buffer piece group, a 331 second buffer tooth part, a 40 pressure sensor and a 50 navigation sensor.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which are within the scope of the protection of the present application, will be within the skill of the art without inventive effort. Furthermore, it should be understood that the detailed description is presented herein for purposes of illustration and explanation only and is not intended to limit the present application. In this application, unless otherwise indicated, terms of orientation such as "upper", "lower", "left" and "right" are generally used to refer to the directions of the drawings in which the device is actually used or in an operating state.

The present application provides a cleaning device and a self-moving device, which are described in detail below. It should be noted that the following description order of the embodiments is not intended to limit the preferred order of the embodiments of the present application. In the following embodiments, the descriptions of the embodiments are focused on, and for the part that is not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

In the prior art, the cleaning robot needs to avoid obstacles in the process of cleaning work. To ensure that the cleaning robot can react to the obstacle accurately and without any error to avoid getting stuck by the obstacle, the cleaning robot often needs to be equipped with a striker plate. The cleaning robot impacts the obstacle through the impact plate, the impact plate is impacted to trigger the sensor, so that the sensor senses the condition that the impact plate is impacted, and the cleaning robot is controlled to avoid the obstacle. The striking plate used by the existing cleaning robot is usually displaced after striking the striking plate to trigger a sensor such as an optocoupler or a micro switch. The collision plates have a common defect that a larger gap is reserved between the collision plate and a host of the robot, so that the collision plate can have enough displacement to trigger the sensor. The large gap is formed between the collision plate and the main machine of the robot, so that the product appearance of the cleaning robot can be influenced, and dust prevention and water prevention of the cleaning robot can be poor.

Referring to fig. 1 to 3, fig. 1 is an exploded view of a first embodiment of a cleaning device according to the present application, fig. 2 is a cross-sectional view of the first embodiment of the cleaning device according to the present application, and fig. 3 is a view of a region a of the cleaning device shown in fig. 2.

In an embodiment, the cleaning device 10 may be a cleaning robot having a cleaning function. Specifically, the cleaning device 10 includes a device main body 11, and the device main body 11 is movable on a surface to be cleaned 10a to clean a place where it passes. The surface to be cleaned 10a may be a floor or a surface of another object to be cleaned.

The cleaning device 10 further includes a striker plate 20. The striking plate 20 is movably disposed on the device body 11, and the striking plate 20 is used for receiving the impact of the obstacle during the movement of the device body 11. Specifically, the striker 20 includes a striker body 21 and a connecting portion 22, and the striker body 21 is movably connected to the apparatus body 11 through the connecting portion 22. The striking plate body 21 is for receiving an obstacle strike during movement of the apparatus body 11, and the striking plate body 21 is movable in a buffer direction (including a first buffer direction indicated by an arrow X in fig. 3 and a second buffer direction indicated by an arrow Y in the drawings, which will be described later) parallel to the surface to be cleaned 10a in response to the strike of the obstacle, and in particular, the striking plate body 21 is movable toward the apparatus body 11 in response to the strike of the obstacle.

A gap 20a is provided between the striker body 21 and the device body 11 in the cushioning direction. Fig. 3 exemplarily shows a gap 20a between the striker body 21 and the device body 11 in the following first cushioning direction. When the striker body 21 is not struck by an obstacle, the width of the gap 20a in the cushioning direction reaches a maximum value, that is, a maximum distance in the cushioning direction is provided between the striker body 21 and the device body 11; when the striker body 21 is struck by an obstacle, the striker body 21 moves toward the apparatus body 11, and at this time, the distance between the striker body 21 and the apparatus body 11 in the cushioning direction decreases, that is, the width of the gap 20a in the cushioning direction decreases.

The maximum distance between the striker body 21 and the device body 11 in the cushioning direction of the present embodiment is less than 5mm, that is, the width of the above-described gap 20a in the cushioning direction is less than 5mm when the striker body 21 is not struck by an obstacle. In other words, the width of the gap 20a between the striking plate main body 21 and the device main body 11 in the cushioning direction is smaller, which is advantageous in improving the product appearance of the cleaning device 10; further, since the width of the gap 20a in the buffer direction is small, the risk of dust and water entering the gap 20a is reduced, and thus the dust and water preventing performance of the cleaning device 10 can be improved.

Further, the maximum distance between the striker body 21 and the device body 11 in the cushioning direction is 1.5mm to 2mm. That is, when the striker main body 21 is not struck by an obstacle, the width of the gap 20a in the cushioning direction is 1.5mm to 2mm. In this way, the striker body 21 is made to have a sufficient travel stroke so as to cushion the impact force received by the striker body 21 by a cushion member described below, while ensuring that the gap 20a between the striker body 21 and the device body 11 is small. In addition, the width of the gap 20a in the cushioning direction is small, the gap 20a is not visually noticeable, and the width of the gap 20a determines the movement of the striker 20 even when the striker 20 is bumped, and the movement amount of the striker 20 is not visually noticeable. The overall appearance of the cleaning apparatus 10 of the present embodiment is more excellent than the conventional art, in which the striking plate 20 is struck to generate a larger movement.

Referring to fig. 4, fig. 4 is a schematic structural view of an embodiment of a striker according to the present application.

In one embodiment, the cleaning device 10 further includes a bumper (e.g., a decorative bumper 31, a first shock bumper 32, a second shock bumper 33, etc., as described below). The striking plate main body 21 is impacted by the obstacle and moves towards the device main body 11, so that the buffer piece generates elastic deformation, and the buffer piece can buffer the striking plate main body 21 in response to the elastic restoring force of the buffer piece, particularly, the impact force suffered by the striking plate main body 21 is buffered, and the structural reliability of the striking plate 20 is guaranteed. Moreover, in the case where the cleaning device 10 is applied to a home environment, the obstacle is often furniture, and the buffering effect provided by the buffering member of the embodiment can prevent the cleaning device 10 from crashing the furniture.

In one embodiment, the cleaning device 10 further includes a decorative bumper 31. The decorative cushion 31 is provided between the striker body 21 and the device body 11 to fill the gap 20a between the striker body 21 and the device body 11 in the cushion direction. In other words, the present embodiment, by filling the gap 20a between the striker plate main body 21 and the device main body 11 with the decorative buffer member 31, reduces the influence of the gap 20a on the visual effect of the overall product appearance of the cleaning device 10, further contributing to improvement of the product appearance of the cleaning device 10; when the striker body 21 moves toward the device body 11 and presses the decorative cushioning material 31 in cooperation with the device body 11, the decorative cushioning material 31 elastically deforms, so that the striker body 21 can be cushioned, and the structural reliability of the striker 20 can be ensured.

Further, when the distance between the striker body 21 and the device body 11 in the cushioning direction is the maximum distance described above, the trim cushioning member 31 abuts against the striker body 21 and the device body 11, respectively, to fill the gap 20a described above. In other words, when the striking plate body 21 is not struck by an obstacle, the decorative cushion 31 fills up the gap 20a, achieving a "seamless" effect in visual effect between the striking plate body 21 and the device body 11, which has a qualitative improvement in the product appearance of the cleaning device 10; in addition, the decorative buffer member 31 can seal the gap 20a, so that the risk of dust and water entering the gap 20a is greatly reduced, and the dust and water preventing performance of the cleaning device 10 can be greatly improved.

Optionally, a decorative bumper 31 is provided around the outer edge of the striker plate body 21. For example, the decoration buffer 31 extends annularly along the outer edge of the striker body 21, and the decoration buffer 31 wraps the outer edge of the striker body 21. The outer edge of the striker body 21 abuts against the device body 11 through the decorative bumper 31 to make no gap between the striker body 21 and the device body 11 in visual effect, achieving a "seamless" design.

In one embodiment, the cleaning device 10 further includes a first shock absorber 32. The first shock absorbing buffer 32 is provided on the device body 11, and the first shock absorbing buffer 32 is used for abutting against the connecting portion 22 when the striker body 21 moves toward the device body 11 to buffer the striker body 21. When the striker body 21 moves toward the device body 11, the connecting portion 22 on the striker body 21 abuts against the first shock-absorbing buffer member 32, so that the first shock-absorbing buffer member 32 is elastically deformed, and the first shock-absorbing buffer member 32 can buffer the striker body 21 in response to its own elastic restoring force, thereby being beneficial to ensuring the structural reliability of the striker 20.

Further, when the distance between the striker main body 21 and the device main body 11 in the cushioning direction is the maximum distance described above, the first shock absorbing bumper 32 abuts the connecting portion 22. In other words, when the striker main body 21 is not struck by an obstacle, the first shock absorber 32 is already in a state of abutting against the connecting portion 22. In this way, the striker 20 can be prevented from shaking when the striker body 21 is not impacted by an obstacle, and the first shock absorbing buffer member 32 can timely buffer the striker body 21 once the striker body 21 is impacted by an obstacle and moves toward the device body 11, which is further beneficial to ensuring the structural reliability of the striker 20.

In one embodiment, as shown in fig. 3, the device body 11 is provided with a stepped portion 111 protruding adjacent to the edge of the striker body 21. The first shock absorber 32 is located inside the stepped portion 111, that is, the first shock absorber 32 is located close to the inside of the apparatus main body 11 with respect to the stepped portion 111. The first shock-absorbing buffer 32 and the step 111 are spaced apart from each other such that a moving groove 112 is formed between the first shock-absorbing buffer 32 and the step 111, and the connecting portion 22 on the striker main body 21 is movably embedded in the moving groove 112.

When the striker main body 21 is moved toward the device main body 11 by being struck by an obstacle, the connection portion 22 moves along the movement groove 112 and toward the first shock absorbing buffer 32, the first shock absorbing buffer 32 is elastically deformed in response to the urging force from the connection portion 22, and the first shock absorbing buffer 32 provides an elastic restoring force to buffer the striker main body 21 by the connection portion 22.

Specifically, the connection portion 22 includes a connection sub-portion 221 and an abutment sub-portion 222. The connection sub portion 221 connects the striker main body 21 and extends in the cushioning direction. The abutment sub-portion 222 is connected to an end of the connection sub-portion 221 remote from the striking plate main body 21, and the abutment sub-portion 222 extends in a predetermined direction (as indicated by an arrow Z in fig. 3, the same applies below) perpendicular to the surface to be cleaned 10a, so that the abutment sub-portion 222 is movably embedded in the moving groove 112.

For the above-described case where the first shock-absorbing buffer 32 abuts against the connecting portion 22 when the distance between the striker main body 21 and the device main body 11 in the buffer direction is the above-described maximum distance, that is, when the striker main body 21 is not struck by an obstacle, the first shock-absorbing buffer 32 clamps the abutment sub-portion 222 in cooperation with the stepped portion 111 in response to the elastic restoring force of itself, so that the striker 20 can be reliably stabilized in the device main body 11, avoiding rattling of the striker 20. When the striker body 21 is impacted by an obstacle, the abutment sub-portion 222 moves in the movement groove 112 along with the striker body 21 in a direction away from the step portion 111, thereby pressing the first shock-absorbing buffer member 32, and the first shock-absorbing buffer member 32 generates an elastic restoring force in response to the elastic deformation thereof, so as to buffer the striker body 21.

Referring to fig. 5 and fig. 6 together, fig. 5 is a schematic structural view of an embodiment of a base of the cleaning device of the present application, and fig. 6 is a schematic structural view of an embodiment of a cover of the cleaning device of the present application.

In one embodiment, the cleaning device 10 further includes at least two first bumper sets 32a. The at least two first buffer groups 32a are sequentially spaced apart along the circumferential direction of the device body 11, and each first buffer group 32a includes at least one first shock absorbing buffer 32.

The cleaning device 10 has a front end, a rear end and sides in its direction of travel. The striker body 21 includes a front 211, a side 212, and an engagement 213, as shown in fig. 4. The front 211 is located at the front end of the cleaning device 10, the side 212 is located at the side of the cleaning device 10, and the front 211 is engaged with the side 212 by the engagement portion 213. Further, the front portion 211 and the side portion 212 of the striker main body 21 are both flat, and the front portion 211 and the side portion 212 are disposed at an angle (for example, 90 °), and the engagement portion 213 is arc-shaped and arc-shaped to connect the front portion 211 and the side portion 212. Of course, in other embodiments of the present application, the engagement portion 213 may be an inclined surface or two flat surfaces forming a right angle, which is not limited herein.

Considering that the front end of the cleaning device 10 is more likely to receive a larger impact force than the side edge of the cleaning device 10 and the impact force received by the front end of the cleaning device 10 is more concentrated in the condition that the cleaning device 10 collides with an obstacle, the at least two first buffer members 32a are preferably disposed at the front end of the cleaning device 10 to buffer the front portion 211 of the striking plate main body 21, that is, to well buffer the impact force received by the front end of the cleaning device 10, which is beneficial to ensuring the structural reliability of the cleaning device 10.

Further, each of the first cushion groups 32a includes at least two first shock-absorbing cushions 32. The at least two first shock absorbing buffers 32 are sequentially spaced apart in a predetermined direction. The first buffer member sets 32a of each set of the present embodiment include at least two first shock absorbing buffer members 32, so that each first buffer member set 32a of each set can provide a sufficient buffering effect, which is further beneficial to well buffering the impact force applied to the front end of the cleaning device 10, and is beneficial to ensuring the structural reliability of the cleaning device 10.

For example, the device body 11 includes a cleaning assembly 113. The cleaning assembly 113 is used for cleaning the surface 10a to be cleaned. The cleaning assembly 113 may include a roller brush or the like. The device main body 11 further includes a base 114 and an upper cover 115, where the base 114 and the upper cover 115 are abutted to form a space for accommodating the cleaning assembly 113, specifically, the base 114 and the upper cover 115 are abutted in a preset direction, the base 114 is located at the bottom of the device main body 11 in the preset direction, and the upper cover 115 is located at the top of the device main body 11 in the preset direction. In the first buffer group 32a, at least one first shock buffer 32 is located at the base 114, and at least one first shock buffer 32 is located at the upper cover 115. The upper and lower first shock absorbing buffers 32 of the same group corresponding to the striker plate main body 21 are respectively provided with a connecting portion 22, and the abutting sub-portions 222 of the connecting portions 22 corresponding to the upper and lower first shock absorbing buffers 32 are mutually deviated. The upper and lower first shock absorbing buffers 32 are respectively formed with a moving groove 112 in cooperation with a base 114 and an upper cover 115. In the process of mounting the striker 20, the upper and lower abutment sub-portions 222 of the striker main body 21 are respectively engaged with the corresponding upper and lower movement grooves 112 of the device main body 11. The base 114 and the upper cover 115 are respectively provided with a buckle, and the first shock absorbing buffer 32 is correspondingly sleeved on the peripheries of the buckles of the base 114 and the upper cover 115, so as to be fixed on the base 114 and the upper cover 115. In addition, the striking plate 20 of the present embodiment is of an integral structure, so that the installation process of the striking plate 20 can be simplified, and the labor hour and the cost consumed in the assembly link of the production line are saved.

Of course, in other embodiments of the present application, the first damping buffer 32 may also be disposed at a side of the cleaning device 10, that is, corresponding to the side 212 of the striker plate main body 21, for buffering the side 212 of the striker plate main body 21, which is not limited herein.

In one embodiment, the cleaning device 10 further includes a second shock absorber 33. The second shock absorbing buffer 33 is provided on the device body 11 and/or the striker body 21, and the second shock absorbing buffer 33 is configured to cooperate with the first shock absorbing buffer 32 to buffer the striker body 21 when the striker body 21 moves toward the device body 11. When the striker body 21 moves toward the device body 11, the striker body 21 and the device body 11 cooperate to press the second shock-absorbing buffer member 33, so that the second shock-absorbing buffer member 33 is elastically deformed, and the second shock-absorbing buffer member 33 can buffer the striker body 21 in response to its own elastic restoring force, which is beneficial to ensuring the structural reliability of the striker 20.

Further, when the distance between the striker body 21 and the device body 11 in the cushioning direction is the maximum distance described above, the second shock absorbing cushion 33 abuts against the striker body 21 and the device body 11, respectively. In other words, when the striker body 21 is not struck by an obstacle, the second shock absorber 33 is already in a state of abutting against the striker body 21 and the device body 11. In this way, the striker 20 can be prevented from shaking when the striker body 21 is not impacted by an obstacle, and the second shock absorbing buffer member 33 can timely buffer the striker body 21 once the striker body 21 is impacted by an obstacle and moves toward the device body 11, which is further beneficial to ensuring the structural reliability of the striker 20.

In one embodiment, the buffer directions include a first buffer direction (indicated by an arrow X in fig. 5, the same applies hereinafter) and a second buffer direction (indicated by an arrow Y in fig. 5, the same applies hereinafter), which are perpendicular to each other, the first buffer direction and the second buffer direction being parallel to the surface to be cleaned 10a, respectively, the first buffer direction being also parallel to the traveling direction of the apparatus main body 11, the second buffer direction being bidirectional, one of the directions being indicated by an arrow Y in fig. 5. The first shock-absorbing buffer 32 is located at the front end of the cleaning device 10, and the first shock-absorbing buffer 32 is used for buffering the striker body 21 when the striker body 21 moves toward the device body 11 in the first buffering direction; and a second shock absorbing buffer 33 is provided at a side of the cleaning device 10, the second shock absorbing buffer 33 being for buffering the striker body 21 when the striker body 21 moves toward the device body 11 in the second buffering direction.

In other words, the present embodiment disassembles the displacement occurring after the impact plate main body 21 is impacted by the obstacle into the displacement in the first cushioning direction and the second cushioning direction. The first shock-absorbing buffer 32 buffers the striker body 21 when the striker body 21 has a displacement amount in the first buffer direction, and the second shock-absorbing buffer 33 buffers the striker body 21 when the striker body 21 has a displacement amount in the second buffer direction.

In one embodiment, the cleaning device 10 further includes a second bumper set 33a. The cleaning device 10 is provided with second buffer member groups 33a on both sides in the second buffer direction, and each of the second buffer member groups 33a includes at least one second shock-absorbing buffer member 33.

Also, in consideration of the fact that the front end of the cleaning device 10 is more likely to receive a larger impact force and the front end of the cleaning device 10 is more concentrated than the side edge of the cleaning device 10 in the case where the cleaning device 10 collides with an obstacle, the number of the first buffer members 32a is preferably larger than the number of the second buffer members 33a. In this way, the front end of the cleaning device 10 has more groups of buffering members than the side edges, so that the front end of the cleaning device 10 can be well buffered, which is beneficial to ensuring the structural reliability of the cleaning device 10. At the same time, the second buffer member set 33a is also arranged on the side of the cleaning device 10, so that the impact force on the side of the cleaning device 10 can be well buffered.

It should be understood that, for the first shock absorbing buffer 32 described above may be disposed at the side of the cleaning device 10 to be disposed corresponding to the side 212 of the striker plate main body 21 for buffering the side 212 of the striker plate main body 21, and the second shock absorbing buffer 33 is disposed at the front end of the cleaning device 10 to be disposed corresponding to the front 211 of the striker plate main body 21 for buffering the front 211 of the striker plate main body 21.

In one embodiment, the second buffer group 33a includes at least two second shock-absorbing buffers 33 sequentially spaced apart in a predetermined direction. The second buffer member groups 33a of each group include at least two second buffer members 33, so that each second buffer member group 33a can provide enough buffer effect, which is further beneficial to well buffering the impact force on the side of the cleaning device 10 and guaranteeing the structural reliability of the cleaning device 10.

For example, in the second buffer member group 33a, at least one second shock buffer member 33 is provided on the striker main body 21, and at least one second shock buffer member 33 is provided on the base 114 or the upper cover 115. Fig. 4 and 5 exemplarily show that the second shock absorbing buffer 33 at the upper side in the preset direction is provided to the striker main body 21, and the second shock absorbing buffer 33 at the lower side in the preset direction is provided to the base 114. The striker body 21 is provided with a fixing structure, and the second shock absorbing buffer 33 on the striker body 21 is sleeved on the periphery of the fixing structure on the striker body 21. Similarly, a fixing structure is also provided on the base 114, and the second shock absorbing buffer 33 on the base 114 is sleeved on the periphery of the fixing structure on the base 114. The device main body 11 contacts the striking plate 20 through the decoration buffer 31, the first shock-absorbing buffer 32 and the second shock-absorbing buffer 33, and the rest positions avoid the striking plate 20, so that the striking plate 20 is ensured to contact the device main body 11 only through the decoration buffer 31, the first shock-absorbing buffer 32 and the second shock-absorbing buffer 33 after being struck, and other parts of the device main body 11 can be prevented from being influenced by the impact force. The first damping buffer member 32 and the second damping buffer member 33 are arranged inside the cleaning device 10, so that the influence of the first damping buffer member 32 and the second damping buffer member 33 on the product appearance of the cleaning device 10 can be avoided, the attractive appearance of the whole appearance of the cleaning device 10 is ensured, and meanwhile, the cleaning device has a good damping buffer effect.

Further, as shown in fig. 6, the upper cover 115 is provided with a retaining wall 116, and the retaining wall 116 of the upper cover 115 is used for abutting against the second shock absorbing buffer 33 on the striker body 21 when the striker body 21 moves towards the device body 11, and the second shock absorbing buffer 33 on the base 114 directly abuts against the striker body 21, so that the second shock absorbing buffer 33 plays a role in buffering. Of course, in the case where the second shock absorbing buffer 33 is provided below the striker body 21, the base 114 may be provided with a retaining wall 116 to abut against the second shock absorbing buffer 33 on the striker body 21 when the striker body 21 moves toward the apparatus body 11.

Of course, in other embodiments of the present application, the second shock absorbing buffer 33 located below in the preset direction may be disposed on the striker main body 21, the second shock absorbing buffer 33 located above in the preset direction may be disposed on the upper cover 115, or the second shock absorbing buffers 33 in the same group of second buffer groups 33a may be disposed on the striker main body 21, or the second shock absorbing buffers 33 in the same group of second buffer groups 33a may be disposed on the base 114 and the upper cover 115, respectively, which is not limited herein.

In one embodiment, the length of the second shock absorber 33 is greater than the length of the first shock absorber 32. In this way, the second shock absorbing buffer 33 can be ensured to perform a sufficient buffering function. Particularly, in the case that the number of the first buffer member groups 32a is greater than that of the second buffer member groups 33a, the second buffer members 33 are designed to have a greater length, so that the second buffer members 33 of the second buffer member groups 33a can perform a sufficient buffer function.

Referring to fig. 7 and 8, fig. 7 is a schematic structural view of an embodiment of a first shock absorbing buffer of the present application, and fig. 8 is a schematic structural view of an embodiment of a second shock absorbing buffer of the present application.

In one embodiment, the first shock absorbing buffer 32 has at least two first buffer teeth 321 sequentially disposed along a length direction thereof; and/or the second damper 33 has at least two second damper tooth portions 331 disposed in sequence along a length direction thereof. The first shock-absorbing buffer 32 abuts against the striker plate 20 through the first buffer tooth 321 thereon, and buffers the striker plate 20 in response to the elastic restoring force of itself; similarly, the second shock absorbing cushion 33 abuts the striker plate 20 through the second cushion tooth 331 thereon, and cushions the striker plate 20 in response to its own elastic restoring force. Of course, in other embodiments of the present application, the first shock absorbing buffer 32 and the second shock absorbing buffer 33 may be configured with other shock absorbing structures, which are not limited herein.

The hardness of the first and second damper members 32 and 33 is required to be moderate. The first shock absorbing buffer 32 and the second shock absorbing buffer 33 are not hard enough, and when the collision plate 20 is not impacted by an obstacle, the first shock absorbing buffer 32 and the second shock absorbing buffer 33 are not in interference fit between the collision plate main body 21 and the device main body 11, so that the first shock absorbing buffer 32 and the second shock absorbing buffer 33 cannot deform elastically and cannot play a role in buffering; meanwhile, the first and second shock-absorbing buffers 32 and 33 are not too soft, so that the first and second shock-absorbing buffers 32 and 33 are prevented from being excessively deformed by the striker plate main body 21 to perform a good buffering function. Preferably, the hardness of the first and second shock absorbing buffers 32 and 33 of the present embodiment may be about 50Shore a.

In one embodiment, the cleaning device 10 further includes a pressure sensor 40, where the pressure sensor 40 is disposed on the striking plate body 21, and the pressure sensor 40 is configured to detect whether the striking plate body 21 is struck by an obstacle, as shown in fig. 4. In contrast to the sensor that needs to generate a larger displacement after the striking plate 20 is struck to trigger an optocoupler or a micro switch in the prior art, in this embodiment, by providing the pressure sensor 40 on the striking plate 20, the pressure sensor 40 can sense that the striking plate 20 (i.e. the striking plate body 21) is struck by an obstacle when the striking plate 20 touches the obstacle, and is particularly suitable for the design that the gap 20a between the striking plate body 21 and the device body 11 is smaller in this embodiment. The principle of the pressure sensor 40 sensing the collision plate 20 touching the obstacle belongs to the understanding of those skilled in the art, and will not be described herein.

The cleaning device 10 senses the surrounding environment of the cleaning device 10 and makes corresponding feedback actions by providing a pressure sensor 40. The cleaning device 10 mainly needs to sense which side of the cleaning device 10 the obstacle is located on, if there is an obstacle on the left side of the cleaning device 10, it is required to control the cleaning device 10 to turn right to avoid the obstacle, and if there is an obstacle on the right side of the cleaning device 10, it is required to control the cleaning device 10 to turn left to avoid the obstacle. Therefore, the present embodiment preferably provides the side 212 of the striker plate main body 21 with the pressure sensor 40 to sense obstacles on both sides of the cleaning device 10, reducing the risk of the cleaning device 10 getting stuck by the obstacles. Further, the front portion 211 of the striking plate main body 21 may also be provided with a pressure sensor 40 to further sense an obstacle at the front end of the cleaning device 10, further enabling to reduce the risk of the cleaning device 10 getting stuck by the obstacle.

For example, as shown in fig. 4, two side portions 212 of the striker main body 21 are respectively provided with one pressure sensor 40, and a front portion 211 of the striker main body 21 is also respectively provided with one pressure sensor 40 at a position close to the two side portions 212.

In one embodiment, the cleaning apparatus 10 further includes a navigation sensor 50, and the navigation sensor 50 is disposed on the striker plate main body 21, as shown in fig. 4. The operation principle of the navigation sensor 50 applied to planning and navigating the moving path of the cleaning device 10 (i.e. the device main body 11) is understood by those skilled in the art, and will not be described herein.

Since the navigation sensor 50 needs to sense the surrounding environment of the cleaning device 10, the navigation sensor 50 needs to be disposed at the outer edge of the cleaning device 10, so as to avoid the shielding of the line of sight of the navigation sensor 50, and thus the present embodiment locates the navigation sensor 50 on the striker main body 21. In addition, since the navigation sensor 50 strictly requires that the pitch deflection angle itself be precisely fixed to ensure the accuracy of path planning and navigation, a high requirement is also put on the pitch deflection angle of the striker plate 20. In the prior art, the striker plate 20 needs to generate a large displacement to trigger the sensor design, and the striker plate 20 needs to have a large moving stroke to ensure smooth movement, which results in that the pitch deflection angle of the striker plate 20 is not precisely controlled. The smaller gap 20a between the striker body 21 and the device body 11 in the embodiment of the present application means that the displacement of the striker 20 in the embodiment of the present application is smaller, so that the accuracy of the pitch deflection angle of the striker 20 can be ensured to meet the requirement of the navigation sensor 50.

Further, referring to fig. 9, the maximum distance D1 between the navigation sensor 50 and the surface to be cleaned 10a is smaller than or equal to the maximum distance D2 between the striker body 21 and the surface to be cleaned 10 a. In other words, the navigation sensor 50 is lower than the striker body 21. Compared with the situation that the navigation sensor 50 is arranged on the top of the cleaning device 10 in a protruding manner in the prior art, the navigation sensor 50 is arranged on the striker main body 21 in the present embodiment, and the navigation sensor 50 is lower than the striker main body 21, so that the overall height of the cleaning device 10 can be greatly reduced, and the cleaning device 10 of the present embodiment can enter a shorter space for cleaning, which means that the cleaning device 10 of the present embodiment has better flexibility.

For example, since the middle position of the front portion 211 of the striker body 21 needs to be provided with a structured light module, an AI lens module, and the like, the navigation sensor 50 of the present embodiment is disposed at a corner position where the engagement portion 213 of the striker body 21 is located. Referring to fig. 10, in the cleaning device 10, a universal wheel 12 is disposed at a middle position of a front end of the cleaning device 10, and a navigation sensor 50 and a side brush 13 are respectively disposed at two sides of the universal wheel 12. The rear side of the universal wheel 12 is provided with a cleaning assembly 113 for cleaning the surface 10a to be cleaned. The rear side of the cleaning unit 113 is provided with a dust box 14 for recycling garbage, and both sides of the dust box 14 are respectively provided with a set of driving wheels 15 for driving the device body 11 to move on the surface 10a to be cleaned to perform cleaning work.

In one embodiment, the self-moving device includes a device body 11, and the device body 11 is capable of moving on a moving surface. The self-moving device also includes a striker plate 20. Wherein the striker 20 includes a striker body 21 and a connecting portion 22. The striking plate body 21 is for receiving an obstacle strike during movement of the apparatus body 11. The striker body 21 is movably connected to the device body 11 by a connecting portion 22, and the striker body 21 is movable in a buffering direction parallel to the moving surface in response to an impact of an obstacle, wherein a maximum distance between the striker body 21 and the device body 11 in the buffering direction is less than 5mm.

It should be noted that the self-moving device is a device capable of moving on a moving surface, and includes, but is not limited to, the cleaning device 10 described in the above embodiments. Correspondingly, the moving surface includes, but is not limited to, the surface to be cleaned 10a as set forth in the above embodiments. The device body 11 and the striker 20 are described in detail in the above embodiments, and will not be described here again.

The technical scheme provided by the embodiment of the application is explained below in combination with a specific application scene.

Application scenario one:

the cleaning device 10 is a sweeping robot. The cleaning device 10 includes a device body 11, and the device body 11 is movable on the floor. The cleaning device 10 further includes a striker plate 20. Wherein the striker 20 includes a striker body 21 and a connecting portion 22. The striking plate body 21 is for receiving an obstacle strike during movement of the apparatus body 11. The striking plate body 21 is movably connected to the device body 11 through the connecting portion 22, and the striking plate body 21 is movable in a cushioning direction parallel to the ground in response to striking by an obstacle.

The maximum distance between the striker body 21 and the device body 11 in the cushioning direction is less than 5mm. When the striking plate main body 21 is not struck by an obstacle, the width of the gap 20a between the striking plate main body 21 and the apparatus main body 11 in the cushioning direction is smaller than 5mm, meaning that the width of the gap 20a between the striking plate main body 21 and the apparatus main body 11 in the cushioning direction is smaller, which is advantageous in improving the product appearance of the cleaning apparatus 10; further, since the width of the gap 20a in the buffer direction is small, the risk of dust and water entering the gap 20a is reduced, and thus the dust and water preventing performance of the cleaning device 10 can be improved.

The cleaning device 10 further includes a decorative buffer member 31, the decorative buffer member 31 being provided to cover the outer edge of the striker body 21 so as to fill the gap 20a between the striker body 21 and the device body 11 in the buffer direction, so that a "seamless" effect is achieved in visual effect between the striker body 21 and the device body 11, which has a quality improvement in the product appearance of the cleaning device 10; in addition, the decorative buffer member 31 can seal the gap 20a, so that the risk of dust and water entering the gap 20a is greatly reduced, and the dust and water preventing performance of the cleaning device 10 can be greatly improved.

The cleaning device 10 further comprises a first shock absorber 32 and a second shock absorber 33. The first shock-absorbing buffer 32 buffers the striker body 21 when the striker body 21 has a displacement amount in the first buffer direction, and the second shock-absorbing buffer 33 buffers the striker body 21 when the striker body 21 has a displacement amount in the second buffer direction.

The cleaning device 10 further includes a pressure sensor 40, where the pressure sensor 40 is disposed on the striking plate body 21, and the pressure sensor 40 is used to detect whether the striking plate body 21 is struck by an obstacle. The pressure sensor 40 senses that the striker 20 (i.e., the striker body 21) is struck by an obstacle when the striker 20 is in contact with the obstacle, and is particularly suitable for designs in which the gap 20a between the striker body 21 and the device body 11 is small.

And (2) an application scene II:

the self-moving device includes a device body 11, and the device body 11 is movable on the ground. The self-moving device also includes a striker plate 20. Wherein the striker 20 includes a striker body 21 and a connecting portion 22. The striking plate body 21 is for receiving an obstacle strike during movement of the apparatus body 11. The striking plate body 21 is movably connected to the device body 11 through the connecting portion 22, and the striking plate body 21 is movable in a cushioning direction parallel to the ground in response to striking by an obstacle.

The maximum distance between the striker body 21 and the device body 11 in the cushioning direction is less than 5mm. When the striker body 21 is not struck by an obstacle, the width of the gap 20a between the striker body 21 and the device body 11 in the cushioning direction is smaller than 5mm, meaning that the width of the gap 20a between the striker body 21 and the device body 11 in the cushioning direction is smaller, which is advantageous in improving the product appearance of the self-moving device; further, since the width of the gap 20a in the buffer direction is small, the risk of dust and water entering the gap 20a is reduced, and thus the dust and water preventing performance of the self-moving device can be improved.

The self-moving device further comprises a decorative buffer member 31, wherein the decorative buffer member 31 is arranged to cover the outer edge of the striker body 21 so as to fill a gap 20a between the striker body 21 and the device body 11 in the buffer direction, so that a seamless effect is achieved between the striker body 21 and the device body 11 in visual effect, and the product appearance of the self-moving device is improved; in addition, the decorative buffer member 31 can seal the gap 20a, so that the risk of dust and water entering the gap 20a is greatly reduced, and the dust and water preventing performance of the mobile device can be greatly improved.

The self-moving device further comprises a first shock absorber 32 and a second shock absorber 33. The first shock-absorbing buffer 32 buffers the striker body 21 when the striker body 21 has a displacement amount in the first buffer direction, and the second shock-absorbing buffer 33 buffers the striker body 21 when the striker body 21 has a displacement amount in the second buffer direction.

The self-moving device further includes a pressure sensor 40, wherein the pressure sensor 40 is disposed on the striker body 21, and the pressure sensor 40 is configured to detect whether the striker body 21 is impacted by an obstacle. The pressure sensor 40 senses that the striker 20 (i.e., the striker body 21) is struck by an obstacle when the striker 20 is in contact with the obstacle, and is particularly suitable for designs in which the gap 20a between the striker body 21 and the device body 11 is small.

The cleaning device and the self-moving device provided by the present application have been described in detail, and specific examples are applied herein to illustrate the principles and embodiments of the present application, and the above examples are only used to help understand the method and core idea of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (26)

1. A cleaning device, comprising:

a device main body movable on a surface to be cleaned and cleaning the surface to be cleaned; and

a strike plate, wherein the strike plate comprises:

a striking plate body for receiving an obstacle strike during movement of the apparatus body; and

and a connection portion through which the striking plate body is movably connected to the apparatus body, and the striking plate body is movable in a buffering direction parallel to the surface to be cleaned in response to striking by an obstacle, wherein a maximum distance between the striking plate body and the apparatus body in the buffering direction is less than 5mm.

2. A cleaning apparatus as claimed in claim 1, wherein,

the maximum distance between the striker plate body and the device body in the cushioning direction is 1.5mm to 2mm.

3. A cleaning device according to claim 1 or 2, characterized in that,

the cleaning device further includes:

and a decorative buffer member provided between the striker body and the device body to fill a gap between the striker body and the device body in the buffer direction.

4. A cleaning device according to claim 3, wherein,

When the distance between the striker body and the device body in the cushioning direction is the maximum distance, the decorative cushioning member abuts the striker body and the device body, respectively, to fill the gap.

5. A cleaning device according to claim 3, wherein,

the decorative buffer piece is arranged to cover the outer edge of the striking plate main body.

6. A cleaning device according to claim 1 or 2, characterized in that,

the cleaning device further includes:

the first damping buffer piece is arranged on the device main body and is used for propping against the connecting part when the collision plate main body moves towards the device main body so as to buffer the collision plate main body.

7. The cleaning apparatus of claim 6, wherein the cleaning device comprises a cleaning device,

the first shock absorbing buffer abuts the connecting portion when a distance between the striker plate main body and the device main body in the buffering direction is the maximum distance.

8. The cleaning apparatus of claim 6, wherein the cleaning device comprises a cleaning device,

the edge of the device main body adjacent to the striking plate main body is convexly provided with a step part;

the first shock-absorbing buffer piece is located on the inner side of the step portion, a moving groove is formed between the first shock-absorbing buffer piece and the step portion, and the connecting portion is movably embedded in the moving groove.

9. The cleaning apparatus of claim 8, wherein the cleaning apparatus comprises a cleaning device,

the connection part includes:

a connecting sub-portion connected to the striker main body and extending in the buffer direction; and

the abutting sub-part is connected with the end part of the connecting sub-part far away from the striker plate main body, and extends along a preset direction perpendicular to the surface to be cleaned, so that the abutting sub-part is movably embedded in the moving groove.

10. The cleaning apparatus of claim 6, wherein the cleaning device comprises a cleaning device,

the cleaning device further includes:

at least two first buffer member groups are sequentially distributed at intervals along the circumferential direction of the device main body, and each first buffer member group comprises at least one first shock absorption buffer member.

11. The cleaning apparatus of claim 10, wherein the cleaning apparatus comprises a cleaning device,

each first buffer member group comprises at least two first shock absorption buffer members;

the device body includes:

the cleaning assembly is used for cleaning the surface to be cleaned; and

the base and the upper cover are in butt joint to form a space for accommodating the cleaning assembly;

wherein, in the first buffer member group, at least one first shock-absorbing buffer member is located at the base, and at least one first shock-absorbing buffer member is located at the upper cover.

12. The cleaning apparatus of claim 6, wherein the cleaning device comprises a cleaning device,

the cleaning device further includes:

and the second shock absorption buffer piece is arranged on the device main body and/or the collision plate main body and is used for being matched with the first shock absorption buffer piece to buffer the collision plate main body when the collision plate main body moves towards the device main body.

13. The cleaning apparatus of claim 12, wherein the cleaning apparatus comprises a cleaning device,

the buffer direction comprises a first buffer direction and a second buffer direction which are perpendicular to each other, and the first buffer direction is also parallel to the travelling direction of the device main body;

the first shock-absorbing buffer piece is positioned at the front end of the cleaning device and is used for buffering the collision plate main body when the collision plate main body moves towards the device main body along the first buffer direction; and is also provided with

The second shock absorbing buffer piece is positioned at the side edge of the cleaning device and is used for buffering the striking plate main body when the striking plate main body moves towards the device main body along the second buffer direction.

14. The cleaning apparatus of claim 13, wherein the cleaning apparatus comprises a cleaning device,

the cleaning device further includes:

at least two first buffer member groups are sequentially distributed at intervals along the second buffer direction, and each first buffer member group comprises at least one first shock absorption buffer member; and

The two sides of the cleaning device in the second buffering direction are respectively provided with the second buffering piece groups, and each second buffering piece group comprises at least one second damping buffering piece;

wherein the number of groups of the first buffer group is greater than the number of groups of the second buffer group.

15. The cleaning apparatus of claim 12, wherein the cleaning apparatus comprises a cleaning device,

the cleaning device is also defined with a preset direction perpendicular to the surface to be cleaned, and

the cleaning device further includes:

the second buffer piece group comprises at least two second shock absorption buffer pieces which are sequentially distributed at intervals along the preset direction.

16. The cleaning apparatus of claim 15, wherein the cleaning apparatus comprises a cleaning device,

the device body includes:

the cleaning assembly is used for cleaning the surface to be cleaned; and

the base and the upper cover are in butt joint to form a space for accommodating the cleaning assembly;

in the second buffer member group, at least one second shock-absorbing buffer member is disposed on the striker main body, and at least one second shock-absorbing buffer member is disposed on the base or the upper cover.

17. The cleaning apparatus of claim 16, wherein the cleaning apparatus comprises a cleaning device,

the base or the upper cover is provided with:

and the retaining wall is used for propping against the second shock absorption buffer piece on the striking plate body when the striking plate body moves towards the device body.

18. The cleaning apparatus of claim 12, wherein the cleaning apparatus comprises a cleaning device,

the second shock absorbing buffer has a length greater than that of the first shock absorbing buffer.

19. The cleaning apparatus of claim 12, wherein the cleaning apparatus comprises a cleaning device,

the first damping buffer piece is provided with at least two first damping tooth parts which are sequentially arranged along the length direction of the first damping buffer piece; and/or

The second shock-absorbing buffer has at least two second buffer tooth portions which are sequentially arranged along the length direction of the second shock-absorbing buffer.

20. A cleaning device according to claim 1 or 2, characterized in that,

the cleaning device further includes:

the pressure sensor is arranged on the striking plate main body and used for detecting whether the striking plate main body is struck by an obstacle.

21. The cleaning apparatus of claim 20, wherein the cleaning device comprises a cleaning device,

the striking plate main body comprises a front part, a side part and a connecting part;

the front part is positioned at the front end of the cleaning device, the side part is positioned at the side edge of the cleaning device, and the front part is connected with the side part through the connecting part;

Wherein the side portion is provided with the pressure sensor.

22. The cleaning apparatus of claim 21, wherein the cleaning apparatus comprises a cleaning device,

the front portion is provided with the pressure sensor.

23. A cleaning device according to claim 1 or 2, characterized in that,

the cleaning device further includes:

and the navigation sensor is arranged on the collision plate main body.

24. The cleaning apparatus of claim 23, wherein the cleaning apparatus comprises a cleaning device,

the striking plate main body comprises a front part, a side part and a connecting part;

the front part is positioned at the front end of the cleaning device, the side part is positioned at the side edge of the cleaning device, and the front part is connected with the side part through the connecting part;

the navigation sensor is positioned at the corner position where the joint part is positioned.

25. The cleaning apparatus of claim 23, wherein the cleaning apparatus comprises a cleaning device,

the maximum distance between the navigation sensor and the surface to be cleaned is less than or equal to the maximum distance between the striker plate body and the surface to be cleaned.

26. A self-moving device, comprising:

a device main body movable on a moving surface; and

a strike plate, wherein the strike plate comprises:

a striking plate body for receiving an obstacle strike during movement of the apparatus body; and

And a connection portion through which the striking plate body is movably connected to the apparatus body, and the striking plate body is movable in a buffering direction parallel to the moving surface in response to striking by an obstacle, wherein a maximum distance between the striking plate body and the apparatus body in the buffering direction is less than 5mm.