CN218792118U - Cleaning device and self-moving device - Google Patents

Abstract

The application discloses cleaning device and from mobile device. The cleaning device includes: the device comprises a device main body, a cleaning device and a control device, wherein the device main body can move on a surface to be cleaned and clean the surface to be cleaned; and a strike plate, wherein the strike plate comprises: the collision plate main body is used for receiving the collision of obstacles in the moving process of the device main body; and a connection portion through which the striking plate main body is movably connected to the apparatus main body, and the striking plate main body is movable in a buffering direction parallel to the surface to be cleaned in response to an impact of an obstacle, wherein a maximum distance between the striking plate main body and the apparatus main body in the buffering direction is less than 5mm. Through the mode, the product appearance can be favorably improved, and the dustproof and waterproof performance can be improved.

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 the cleaning functions of washing, mopping, sweeping and the like can replace a user to clean the ground and the like, brings great convenience to the user, and is widely applied. The cleaning robot needs to avoid obstacles in the process of cleaning. To ensure that the cleaning robot can accurately and unmistakably react to the obstacle to avoid being trapped by the obstacle, the cleaning robot is often equipped with a striking plate.

The collision plate applied to the existing cleaning robot on the market usually generates displacement after being collided so as to trigger a sensor such as an optical coupler or a microswitch, which means that a larger gap needs to be reserved between the collision plate and a host machine of the robot, and the collision plate is ensured to have enough displacement. The large gap not only affects the product appearance of the cleaning robot, but also affects the dustproof and waterproof performance of the cleaning robot.

SUMMERY OF THE UTILITY MODEL

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

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

In an embodiment of the present application, a maximum distance between the striker main body and the device main 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 striking plate body and the device body to fill a gap between the striking plate body and the device body in a buffering direction.

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

In an embodiment of the present application, the decorative buffer covers an outer edge of the striking plate main body.

In an embodiment of the application, the cleaning device further comprises: the first shock absorption buffer piece is arranged on the device body and used for abutting against the connecting portion 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, the first shock-absorbing bumper abuts the connection portion when a distance between the striking plate main body and the device main body in the cushioning direction is a maximum distance.

In an embodiment of the present application, a step portion is convexly provided on an edge of the device body adjacent to the striking plate body; the first shock absorption buffering piece is located on the inner side of the step portion, a moving groove is formed between the first shock absorption buffering piece and the step portion, and the connecting portion is movably embedded in the moving groove.

In an embodiment of the present application, the connection portion includes: a connector portion connected to the striking plate main body and extending in the cushioning direction; and the abutting sub-part is connected with the end part of the connecting sub-part far away from the striking plate main body and extends along a preset direction vertical 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 sets of first buffer group, interval distribution in proper order along the circumference of device main part, and every first buffer group of group all includes at least one first shock attenuation bolster.

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

In an embodiment of the present application, the cleaning device further comprises: and the second damping 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 damping 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, the first buffering direction being further parallel to a traveling direction of the apparatus main body; the first shock absorption buffer piece is positioned at the front end of the cleaning device and used for buffering the collision plate main body when the collision plate main body moves towards the device main body along a first buffer direction; and the second shock absorption buffer piece is positioned on the side edge of the cleaning device and used for buffering the collision plate main body when the collision plate main body moves towards the device main body along the second buffer direction.

In an embodiment of the application, the cleaning device further comprises: the buffer device comprises at least two groups of first buffer element groups, at least one first damping buffer element and at least one second damping buffer element, wherein the at least two groups of first buffer element groups are sequentially distributed at intervals along a second buffering direction; the cleaning device is provided with a first buffer group at two sides in a first buffering direction, and each first buffer group comprises at least one first damping buffer part; the number of the first buffer group is larger than that of the second buffer group.

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

In an embodiment of the present application, the apparatus main body includes: the cleaning assembly is used for cleaning a surface to be cleaned; the base and the upper cover are butted to form a space for accommodating the cleaning assembly; in the second buffer group, at least one second damping buffer member is arranged on the striking plate main body, and at least one second damping buffer member is arranged 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 abutting against the second damping buffer piece on the striking plate main body when the striking plate main body moves towards the device main body.

In an 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 tooth portions sequentially arranged along a length direction thereof; and/or the second shock absorbing buffer has at least two second buffer tooth parts arranged in sequence along the length direction of the second shock absorbing buffer.

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

In one embodiment of the present application, the striking plate body includes a front portion, a side portion, and an engaging 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 a connecting part; wherein, the side part is provided with a pressure sensor.

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

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

In one embodiment of the present application, the striker plate body includes a front portion, a side portion, and a joining 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 a connecting part; the navigation sensor is positioned at the corner position where the connecting 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 main 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 that can move on a moving surface; and a strike plate, wherein the strike plate comprises: the collision plate main body is used for receiving the collision of an obstacle in the moving process of the device main body; and a connection portion through which the striking plate main body is movably connected to the device main body, and the striking plate main body is movable in a buffering direction parallel to the moving surface in response to an impact of the obstacle, wherein a maximum distance between the striking plate main body and the device main body in the buffering direction is less than 5mm.

The beneficial effect of this application is: being different from the prior art, the application provides a cleaning device and from mobile device. The cleaning device includes a device body and a striking plate. The striking plate comprises a striking plate main body and a connecting part, wherein the striking plate main body is movably connected with the device main body through the connecting part. The collision plate main body is used for receiving the collision of an obstacle in the moving process of the device main body, and the collision plate main body can move along a buffering direction parallel to the surface to be cleaned in response to the collision 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 a product is improved; moreover, the risk of dust and water entering between the striking plate main body and the device main body is reduced, so that the dustproof and waterproof performance of the cleaning device and the self-moving device can be improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is an exploded view 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 apparatus of the present application;

FIG. 3 is a schematic view of the area A of the cleaning apparatus shown in FIG. 2;

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

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

FIG. 6 is a schematic structural view of an embodiment of a top cover of the cleaning apparatus of the present application;

FIG. 7 is a schematic view of an embodiment of the first shock absorbing bumper of the present application;

FIG. 8 is a schematic view of an embodiment of a second shock absorbing bumper 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.

Description of the reference numerals:

10 cleaning devices, 10a surfaces to be cleaned, 11 device bodies, 111 step parts, 112 moving grooves, 113 cleaning components, 114 bases, 115 upper covers, 116 retaining walls, 12 universal wheels, 13 side brushes, 14 dust boxes, 15 driving wheels, 20 striking plates, 20a gaps, 21 striking plate bodies, 211 front parts, 212 side parts, 213 connecting parts, 22 connecting parts, 221 connecting sub parts, 222 abutting sub parts, 31 decorative buffering parts, 32 first shock absorption buffering parts, 32a first buffering part group, 321 first buffering tooth parts, 33 second shock absorption buffering parts, 33a second buffering part group, 331 second buffering tooth parts, 40 pressure sensors and 50 navigation sensors.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Furthermore, it should be understood that the detailed description and specific examples, while indicating preferred embodiments of the present application, are given by way of illustration and explanation only, and are not intended to limit the present application. In the present application, unless otherwise specified, the use of directional terms such as "upper", "lower", "left" and "right" generally refer to upper, lower, left and right in the actual use or operation of the device, and specifically to the orientation of the drawing figures.

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

In the prior art, a cleaning robot needs to avoid obstacles in the process of cleaning. To ensure that the cleaning robot can accurately and unmistakably react to the obstacle to avoid being trapped by the obstacle, the cleaning robot is often equipped with a striking plate. Cleaning machines people hits the barrier through hitting the board, hits the board and receives the striking and trigger sensor for the sensor sensing hits the board and receives the condition of striking, and then control cleaning machines people dodges the barrier. The existing collision plate applied to the cleaning robot on the market is generally a sensor which generates displacement after the collision plate is collided so as to trigger an optical coupler or a microswitch and the like. The collision plates have the common defects that a larger gap needs to be reserved between the collision plate and a host of the robot, and the collision plate can have enough displacement to trigger the sensor. The larger gap between the striking plate and the main machine of the robot can affect the product appearance of the cleaning robot and cause the poor dustproof and waterproof performance of the cleaning robot.

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

In one embodiment, the cleaning device 10 may be a cleaning robot having a cleaning function. Specifically, the cleaning device 10 includes a device body 11, and the device 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 the floor, or the surface of other objects to be cleaned.

The cleaning device 10 also includes a striker plate 20. The striking plate 20 is movably provided to the apparatus body 11, and the striking plate 20 is configured to receive an obstacle striking during movement of the apparatus body 11. Specifically, the striker plate 20 includes a striker plate body 21 and a connecting portion 22, and the striker plate body 21 is movably connected to the device body 11 through the connecting portion 22. The striker main body 21 is adapted to receive an impact of an obstacle during movement of the apparatus main body 11, and the striker main body 21 is movable in a cushioning direction (including a first cushioning direction indicated by an arrow X in fig. 3 and a second cushioning 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 impact of the obstacle, specifically, the striker main body 21 is movable toward the apparatus main body 11 in response to the impact of the obstacle.

The striker main body 21 and the device main body 11 have a gap 20a therebetween in the cushioning direction. Fig. 3 exemplarily shows a gap 20a between the striker main body 21 and the device main body 11 in the following first cushion direction. When the striker main body 21 is not struck by an obstacle, the width of the gap 20a in the cushioning direction reaches the maximum, i.e., the largest distance between the striker main body 21 and the device main body 11 in the cushioning direction; when the striker main body 21 is struck by an obstacle, the striker main body 21 moves toward the apparatus main body 11, and the distance between the striker main body 21 and the apparatus main 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 main body 21 and the device main body 11 in the cushioning direction in 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 main body 21 is not struck by an obstacle. In other words, the width of the gap 20a between the striker main body 21 and the device main body 11 in the cushioning direction is small, which is advantageous for improving the product appearance of the cleaning device 10; further, since the width of the gap 20a in the cushioning direction is small, the risk of dust and water entering the gap 20a is reduced, and thus the dust-proof and water-proof performance of the cleaning device 10 can be improved.

Further, the maximum distance between the striker main body 21 and the device main 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. As such, the striking plate main body 21 is allowed to have a sufficient moving stroke so as to absorb the striking force applied to the striking plate main body 21 by a buffer member explained below while ensuring that the gap 20a between the striking plate main body 21 and the device main body 11 is small. In addition, in the present embodiment, the width of the gap 20a in the cushioning direction is small, and the gap 20a is not visually noticeable, and the width of the gap 20a determines that the striker 20 moves even when it is struck, and the amount of movement of the striker 20 is not visually noticeable. The overall appearance of the cleaning device 10 is better than that of the prior art in which the striking plate 20 is struck by a larger amount of movement.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a striking plate according to the present application.

In one embodiment, the cleaning device 10 further includes a bumper (e.g., a decorative bumper 31, a first cushioned bumper 32, a second cushioned bumper 33, etc., as set forth below). The striking plate main body 21 is struck by an obstacle and moves towards the device main body 11, so that the buffer member generates elastic deformation, the buffer member responds to the elastic restoring force of the buffer member and can buffer the striking plate main body 21, particularly the impact force on the striking plate main body 21, and the structural reliability of the striking plate 20 is favorably ensured. Moreover, in the case that the cleaning device 10 is applied to a home environment, the obstacle is often furniture, and the buffer member of the embodiment can provide a buffer function to prevent the cleaning device 10 from damaging the furniture.

In one embodiment, the cleaning device 10 further includes a decorative bumper 31. The decorative cushion member 31 is provided between the striker main body 21 and the device main body 11 to fill the gap 20a between the striker main body 21 and the device main body 11 in the cushion direction. In other words, the present embodiment fills the gap 20a between the striking plate main body 21 and the device main body 11 by the decorative cushion member 31, reduces the influence of the gap 20a on the visual effect of the overall product appearance of the cleaning device 10, and further contributes to improving the product appearance of the cleaning device 10; moreover, when the striking plate main body 21 moves toward the device main body 11 until the decorative buffer member 31 is pressed in cooperation with the device main body 11, the decorative buffer member 31 is elastically deformed to buffer the striking plate main body 21, which is advantageous for ensuring the structural reliability of the striking plate 20.

Further, when the distance between the striker main body 21 and the device main body 11 in the cushioning direction is the above-described maximum distance, the decorative cushion 31 abuts against the striker main body 21 and the device main body 11, respectively, to fill the above-described gap 20a. In other words, when the striking plate body 21 is not struck by an obstacle, the decorative buffer 31 fills the gap 20a, and a "seamless" effect is visually achieved between the striking plate body 21 and the device body 11, which provides a qualitative improvement in the product appearance of the cleaning device 10; moreover, the decorative buffer 31 can seal the gap 20a, so as to greatly reduce the risk of dust and water entering into the gap 20a, and greatly improve the dustproof and waterproof performance of the cleaning device 10.

Optionally, a decorative bumper 31 is provided to cover the outer edge of the striker main body 21. For example, the decorative cushion 31 extends annularly along the outer edge of the striking plate body 21, and the decorative cushion 31 wraps the outer edge of the striking plate body 21. The outer edge of the striker main body 21 abuts the device main body 11 through the decorative cushion member 31 to visually make no gap between the striker main body 21 and the device main body 11, realizing a "seamless" design.

In one embodiment, the cleaning device 10 further includes a first shock absorbing bumper 32. The first shock absorbing and buffering member 32 is disposed on the device body 11, and the first shock absorbing and buffering member 32 is configured to abut against the connecting portion 22 when the striker body 21 moves toward the device body 11, so as to buffer the striker body 21. When the striking plate main body 21 moves towards the device main body 11, the connecting portion 22 on the striking plate main body 21 abuts against the first damping cushion 32, so that the first damping cushion 32 is elastically deformed, and the first damping cushion 32 can cushion the striking plate main body 21 in response to the elastic restoring force of the first damping cushion 32, which is beneficial to ensuring the structural reliability of the striking plate 20.

Further, when the distance between the striker main body 21 and the device main body 11 in the cushioning direction is the above-described maximum distance, the first cushion material 32 abuts against the connection portion 22. In other words, when the striker main body 21 is not struck by an obstacle, the first cushion damper 32 is already in a state of abutting against the connection portion 22. In this way, the striking plate 20 can be prevented from shaking when the striking plate main body 21 is not struck by an obstacle, and the first shock absorbing cushion 32 can cushion the striking plate main body 21 in time when the striking plate main body 21 is struck by an obstacle and moves toward the device main body 11, which is further advantageous for ensuring the structural reliability of the striking plate 20.

In one embodiment, as shown in fig. 3, the device body 11 is provided with a step 111 protruding from an edge adjacent to the striker body 21. The first cushion material 32 is located inside the step portion 111, that is, the first cushion material 32 is located inside the device main body 11 relative to the step portion 111. The first shock absorbing bumper 32 and the stepped portion 111 are spaced apart from each other such that a moving groove 112 is formed between the first shock absorbing bumper 32 and the stepped portion 111, and the connecting portion 22 of the striking plate body 21 is movably fitted 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 connecting portion 22 moves along the moving groove 112 and toward the first shock-absorbing cushion 32, the first shock-absorbing cushion 32 is elastically deformed in response to the abutting force from the connecting portion 22, and the first shock-absorbing cushion 32 provides an elastic restoring force to cushion the striker main body 21 through the connecting portion 22.

Specifically, the connecting portion 22 includes a connecting sub-portion 221 and an abutting sub-portion 222. The connector portion 221 is connected to the striker main body 21 and extends in the cushioning direction. The abutting sub-portion 222 is connected with an end of the connecting sub-portion 221 away from the striker main body 21, and the abutting sub-portion 222 extends in a preset direction (as indicated by an arrow Z in fig. 3, the same applies below) perpendicular to the surface 10a to be cleaned, so that the abutting sub-portion 222 is movably fitted in the moving groove 112.

In the case where the first cushion bumper 32 abuts the connecting portion 22 when the distance between the striker main body 21 and the device main body 11 in the cushioning direction is the above-described maximum distance, that is, when the striker main body 21 is not struck by an obstacle, the first cushion bumper 32 cooperates with the step portion 111 in response to its elastic restoring force to sandwich the abutting sub-portion 222, so that the striker 20 can be reliably stabilized in the device main body 11, avoiding rattling of the striker 20. When the striker main body 21 is struck by an obstacle, the abutting sub-portion 222 moves in the moving groove 112 in a direction away from the step portion 111 in synchronization with the striker main body 21, thereby pressing the first shock absorbing buffers 32, and the first shock absorbing buffers 32 generate elastic restoring force in response to elastic deformation thereof to buffer the striker main body 21.

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

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

The cleaning device 10 has a front end, a rear end, and side edges in its traveling direction. The striking plate body 21 includes a front portion 211, a side portion 212, and an engagement portion 213, as shown in fig. 4. The front portion 211 is located at the front end of the cleaning apparatus 10, the side portion 212 is located at the side of the cleaning apparatus 10, and the front portion 211 is engaged with the side portion 212 by the engaging portion 213. Further, the striker main body 21 has a front portion 211 and a side portion 212 each having a flat plate shape, the front portion 211 and the side portion 212 are disposed at an angle (for example, 90 °), and the engagement portion 213 is formed in an arc shape and transitionally connects the front portion 211 and the side portion 212. Of course, in other embodiments of the present application, the engaging portion 213 may be a slant surface or two planes forming a right angle, which is not limited herein.

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

Further, each set of 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 along a predetermined direction. In the embodiment, each set of the first buffer member groups 32a includes at least two first shock absorbing buffer members 32, so that each set of the first buffer member groups 32a can provide sufficient buffering effect, which is further favorable for buffering the impact force applied to the front end of the cleaning apparatus 10, and is favorable for ensuring the structural reliability of the cleaning apparatus 10.

For example, the apparatus body 11 includes a cleaning member 113. The cleaning assembly 113 is used to clean the surface to be cleaned 10a. The cleaning assembly 113 may include a roll brush or the like. The device main body 11 further includes a base 114 and an upper cover 115, the base 114 and the upper cover 115 are butted to form a space for accommodating the cleaning assembly 113, specifically, the base 114 and the upper cover 115 are butted along 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 cushion group 32a, at least one first shock absorbing cushion 32 is located at the base 114, and at least one first shock absorbing cushion 32 is located at the upper cover 115. The striking plate main body 21 is provided with a connecting portion 22 corresponding to the upper and lower first shock absorbing buffers 32 of the same group, and the abutting sub-portions 222 of the connecting portions 22 corresponding to the upper and lower first shock absorbing buffers 32 are separated from each other. The upper and lower first shock absorbing buffers 32 are formed with moving slots 112 respectively engaged with the base 114 and the upper cover 115. In the process of mounting the striker 20, the upper and lower two abutment sub-portions 222 of the striker main body 21 are respectively engaged with the corresponding upper and lower two moving 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, and is further fixed on the base 114 and the upper cover 115. In addition, the striking plate 20 of the present embodiment is an integrated structure, which can simplify the installation process of the striking plate 20 and save the labor hour and cost consumed in the assembly process of the production line.

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

In one embodiment, the cleaning device 10 further includes a second shock absorbing bumper 33. The second cushion damper 33 is provided in the device body 11 and/or the striker main body 21, and the second cushion damper 33 is configured to cooperate with the first cushion damper 32 to cushion the striker main body 21 when the striker main body 21 moves toward the device body 11. When the striking plate main body 21 moves towards the device main body 11, the striking plate main body 21 and the device main body 11 cooperate to press the second shock absorbing cushion 33, so that the second shock absorbing cushion 33 generates elastic deformation, and the second shock absorbing cushion 33 can cushion the striking plate main body 21 in response to the elastic restoring force of the second shock absorbing cushion 33, which is beneficial to ensuring the structural reliability of the striking plate 20.

Further, when the distance between the striker main body 21 and the device main body 11 in the cushion direction is the above-described maximum distance, the second cushion material 33 abuts against the striker main body 21 and the device main body 11, respectively. In other words, when the striker main body 21 is not struck by an obstacle, the second cushion damper 33 is already in a state of abutting against the striker main body 21 and the device main body 11. In this way, the striking plate 20 can be prevented from shaking when the striking plate main body 21 is not struck by an obstacle, and the second cushion material 33 can cushion the striking plate main body 21 in time when the striking plate main body 21 is struck by an obstacle and moves toward the apparatus main body 11, which is further advantageous for ensuring the structural reliability of the striking plate 20.

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

In other words, the present embodiment disassembles the displacement of the striker main body 21 after being struck by an obstacle into the displacements in the first and second cushion directions. The first cushion material 32 cushions the striker main body 21 when the striker main body 21 has a displacement amount in the first cushion direction, and the second cushion material 33 cushions the striker main body 21 when the striker main body 21 has a displacement amount in the second cushion direction.

In one embodiment, the cleaning device 10 further includes a second buffer set 33a. Both sides of the cleaning device 10 in the second buffering direction are provided with second buffer sets 33a, and each second buffer set 33a includes at least one second shock-absorbing buffer 33.

Also in consideration of the fact that the front end of the cleaning device 10 is susceptible to a larger impact force and the impact force received by the front end of the cleaning device 10 is more concentrated than the side edge of the cleaning device 10 in the condition where the cleaning device 10 collides with an obstacle, it is preferable that the number of the first buffer member groups 32a is larger than that of the second buffer member groups 33a in this embodiment. In this way, the front end of the cleaning device 10 has more sets of buffer members than the side edges, so that the impact force applied to 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 side of the cleaning apparatus 10 is also provided with the second buffer member group 33a, which can well buffer the impact force applied to the side of the cleaning apparatus 10.

It is understood that the first shock absorbing cushion 32 may be disposed at a side of the cleaning device 10 to correspond to the side portion 212 of the striking plate body 21 for cushioning the side portion 212 of the striking plate body 21, and the second shock absorbing cushion 33 may be disposed at a front end of the cleaning device 10 to correspond to the front portion 211 of the striking plate body 21 for cushioning the front portion 211 of the striking plate body 21.

In an embodiment, the second buffer set 33a includes at least two second shock absorbing buffers 33 sequentially spaced along the predetermined direction. This embodiment all includes two at least second shock attenuation bolster 33 through setting up every group second cushion group 33a for every group second cushion group 33a all can provide sufficient cushioning effect, further is favorable to buffering well the side impact that receives cleaning device 10, is favorable to guaranteeing cleaning device 10's structural reliability.

For example, in the second cushion group 33a, at least one second cushion member 33 is disposed on the striking plate body 21, and at least one second cushion member 33 is disposed on the base 114 or the upper cover 115. Fig. 4 and 5 exemplarily show that the second shock absorbing cushion 33 located above in the predetermined direction is provided to the striking plate main body 21, and the second shock absorbing cushion 33 located below in the predetermined direction is provided to the base 114. The striking plate main body 21 is provided with a fixing structure, and the second shock absorbing buffer 33 on the striking plate main body 21 is sleeved on the periphery of the fixing structure on the striking plate main body 21. Similarly, the base 114 is also provided with a fixing structure, and the second shock absorbing cushion 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 striker 20 through the decorative cushion 31, the first cushion 32 and the second cushion 33, and the rest positions are kept away from the striker 20, so that the striker 20 is ensured to contact the device main body 11 only through the decorative cushion 31, the first cushion 32 and the second cushion 33 after being impacted, and the influence of the impact force on other parts of the device main body 11 can be avoided. The first shock absorbing and buffering member 32 and the second shock absorbing and buffering member 33 are arranged inside the cleaning device 10, so that the first shock absorbing and buffering member 32 and the second shock absorbing and buffering member 33 can be prevented from influencing the product appearance of the cleaning device 10, and the attractiveness of the overall appearance of the cleaning device 10 is guaranteed while a good shock absorbing and buffering effect is achieved.

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

Of course, in other embodiments of the present application, the second cushion material 33 located below in the predetermined direction may be disposed on the striking plate main body 21, the second cushion material 33 located above in the predetermined direction may be disposed on the upper cover 115, or the second cushion materials 33 in the same group of second cushion groups 33a may be disposed on the striking plate main body 21, or the second cushion materials 33 in the same group of second cushion 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 absorbing bumper 33 is greater than the length of the first shock absorbing bumper 32. In this way, the second shock absorbing cushion 33 can be ensured to have a sufficient buffering effect. Especially, in the case where the number of the first cushion group 32a is greater than that of the second cushion group 33a, the second cushion member 33 is designed to have a greater length, which is advantageous for the second cushion member 33 of the second cushion group 33a to have a sufficient cushioning effect.

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

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

It should be noted that the stiffness of the first and second shock absorbing bumpers 32 and 33 needs to be moderate. The first and second shock-absorbing buffers 32 and 33 are not too hard, and when the striking plate 20 is not struck by an obstacle, the first and second shock-absorbing buffers 32 and 33 are not suitable to be in interference fit between the striking plate main body 21 and the device main body 11, so that the first and second shock-absorbing buffers 32 and 33 cannot be elastically deformed and cannot play a role in buffering; meanwhile, the first and second shock absorbing buffers 32 and 33 should not be too soft, so that the first and second shock absorbing buffers 32 and 33 are prevented from being deformed too much to achieve a good buffering effect due to the collision of the plate body 21. Preferably, the hardness of the first and second shock absorbing bumpers 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, the pressure sensor 40 is disposed on the striking plate main body 21, and the pressure sensor 40 is used for detecting whether the striking plate main body 21 is struck by an obstacle, as shown in fig. 4. Unlike the prior art in which the striking plate 20 needs to generate a large displacement after being struck to trigger a sensor such as an opto-coupler or a micro switch, the present embodiment is provided with the pressure sensor 40 on the striking plate 20, so that the pressure sensor 40 can sense that the striking plate 20 (i.e., the striking plate main body 21) is struck by an obstacle when the striking plate 20 touches the obstacle, and is particularly suitable for the design in which the gap 20a between the striking plate main body 21 and the device main body 11 is small in the embodiment of the present application. The principle of the pressure sensor 40 sensing the touch of the striker 20 with 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 by providing the pressure sensor 40 and makes a corresponding feedback action. The cleaning device 10 mainly needs to sense which side of the cleaning device 10 the obstacle is located on through the pressure sensor 40, for example, if there is an obstacle on the left side of the cleaning device 10, it needs 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 needs to control the cleaning device 10 to turn left to avoid the obstacle. Therefore, in the present embodiment, it is preferable that the side 212 of the striking plate main body 21 is provided with the pressure sensor 40 to sense obstacles on both sides of the cleaning device 10, so as to reduce the risk of the cleaning device 10 being trapped by the obstacles. Further, the front part 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 reducing the risk of the cleaning device 10 being caught 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 the 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 device 10 further includes a navigation sensor 50, and the navigation sensor 50 is disposed on the striking plate body 21, as shown in fig. 4. The navigation sensor 50 is applied to planning and navigating the moving path of the cleaning device 10 (i.e. the device body 11), and the working principle of the navigation sensor 50 is within the understanding scope of 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 to avoid the sight of the navigation sensor 50 from being blocked, and therefore the navigation sensor 50 is disposed on the striking plate main body 21 in the present embodiment. In addition, since the navigation sensor 50 strictly requires that the pitch/yaw angle thereof is precisely fixed to ensure the accuracy of path planning and navigation, a high requirement is also imposed on the pitch/yaw angle of the striker 20. In the prior art, the striking plate 20 needs to generate a large displacement to trigger the sensor, and the striking plate 20 needs to have a large moving stroke to ensure smooth movement, which results in that the pitch and yaw angles of the striking plate 20 cannot be accurately controlled. The smaller gap 20a between the striker main body 21 and the device main body 11 in the embodiment of the present invention means that the displacement of the striker 20 in the embodiment of the present invention is smaller, and the accuracy of the pitch/yaw angle of the striker 20 can be ensured to meet the requirement of the navigation sensor 50.

Further, referring to fig. 9 together, 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 main body 21 and the surface to be cleaned 10a. In other words, the navigation sensor 50 is lower than the striker main body 21. Compared with the situation that the navigation sensor 50 is convexly arranged at the top of the cleaning device 10 in the prior art, the navigation sensor 50 is arranged on the striking plate main body 21, and the navigation sensor 50 is lower than the striking plate main body 21, so that the overall height of the cleaning device 10 can be greatly reduced, the cleaning device 10 can enter a shorter space to perform cleaning work, and the cleaning device 10 in the embodiment has better flexibility.

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

In one embodiment, the self-moving device includes a device body 11, and the device body 11 is movable on a moving surface. The self-moving device further includes a striking plate 20. The striking plate 20 includes a striking plate body 21 and a connecting portion 22. The striker main body 21 is for receiving an obstacle impact during movement of the apparatus main body 11. The striker main body 21 is movably connected to the device main body 11 through the connecting portion 22, and the striker main body 21 is movable in a cushioning direction parallel to the moving surface in response to the impact of an obstacle, wherein a maximum distance between the striker main body 21 and the device main body 11 in the cushioning 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 set forth in the above embodiments. The device body 11 and the striking plate 20 are described in detail in the above embodiments, and will not be described in detail here.

The technical solution provided in the embodiments of the present application is described below with reference to specific application scenarios.

The application scene one:

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

The maximum distance between the striker main body 21 and the device main 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 less than 5mm, which means 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 small, which is advantageous for improving the product appearance of the cleaning apparatus 10; further, since the width of the gap 20a in the cushioning direction is small, the risk of dust and water entering the gap 20a is reduced, and thus the dust-proof and water-proof performance of the cleaning device 10 can be improved.

The cleaning device 10 further comprises a decorative buffer member 31, the decorative buffer member 31 is arranged to cover the outer edge of the striking plate main body 21 so as to fill the gap 20a between the striking plate main body 21 and the device main body 11 in the buffering direction, so that a seamless effect is achieved between the striking plate main body 21 and the device main body 11 in the visual effect, and the appearance of the cleaning device 10 is improved; moreover, the decorative buffer 31 can seal the gap 20a, so as to greatly reduce the risk of dust and water entering into the gap 20a, and greatly improve the dustproof and waterproof performance of the cleaning device 10.

The cleaning device 10 further comprises a first cushioned bumper 32 and a second cushioned bumper 33. The first cushion material 32 cushions the striker main body 21 when the striker main body 21 has a displacement amount in the first cushion direction, and the second cushion material 33 cushions the striker main body 21 when the striker main body 21 has a displacement amount in the second cushion direction.

The cleaning device 10 further comprises a pressure sensor 40, the pressure sensor 40 is arranged on the striking plate main body 21, and the pressure sensor 40 is used for detecting whether the striking plate main body 21 is struck by an obstacle. The pressure sensor 40 can sense that the striker 20 (i.e., the striker main body 21) is struck by an obstacle when the striker 20 is touched with the obstacle, and is particularly suitable for a design in which the clearance 20a between the striker main body 21 and the device main body 11 is small.

Application scenario two:

the self-moving apparatus includes an apparatus body 11, and the apparatus body 11 is movable on the ground. The self-moving device further includes a striking plate 20. The striking plate 20 includes a striking plate body 21 and a connecting portion 22. The striking plate body 21 is used to receive an obstacle striking during movement of the apparatus body 11. The striking plate body 21 is movably connected to the device body 11 through a connecting portion 22, and the striking plate body 21 is movable in a cushioning direction parallel to the ground in response to an impact of an obstacle.

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

The self-moving device further comprises a decorative buffer member 31, wherein the decorative buffer member 31 covers the outer edge of the striking plate main body 21 to fill the gap 20a between the striking plate main body 21 and the device main body 11 in the buffering direction, so that a seamless effect is achieved between the striking plate main body 21 and the device main body 11 in the visual effect, and the appearance of the self-moving device is improved qualitatively; moreover, the decorative cushion member 31 can seal the gap 20a, so that the risk of dust and water entering into the gap 20a is greatly reduced, and the dustproof and waterproof performance of the self-moving device can be greatly improved.

The self-moving device further comprises a first shock absorbing bumper 32 and a second shock absorbing bumper 33. The first cushion material 32 cushions the striker main body 21 when the striker main body 21 has a displacement amount in the first cushion direction, and the second cushion material 33 cushions the striker main body 21 when the striker main body 21 has a displacement amount in the second cushion direction.

The self-moving device further comprises a pressure sensor 40, the pressure sensor 40 is arranged on the striking plate main body 21, and the pressure sensor 40 is used for detecting whether the striking plate main body 21 is struck by an obstacle. The pressure sensor 40 can sense that the striker 20 (i.e., the striker main body 21) is struck by an obstacle when the striker 20 is touched with the obstacle, and is particularly suitable for a design in which the clearance 20a between the striker main body 21 and the device main body 11 is small.

The above detailed description of the cleaning device and the self-moving device provided in the present application has applied specific examples to illustrate the principles and embodiments of the present application, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (26)

1. A cleaning device, comprising:

the cleaning device comprises a device main body, a cleaning device and a cleaning device, wherein the device main body can move on a surface to be cleaned and clean the surface to be cleaned; and

a strike plate, wherein the strike plate comprises:

the collision plate main body is used for receiving the collision of an obstacle in the moving process of the device main body; and

a connecting 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 an impact of an obstacle, wherein a maximum distance between the striking plate body and the apparatus body in the buffering direction is less than 5mm.

2. The cleaning device of claim 1,

the maximum distance between the striking plate main body and the device main body in the buffer direction is 1.5mm to 2mm.

3. The cleaning device of claim 1 or 2,

the cleaning device further includes:

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

4. The cleaning apparatus of claim 3,

when the distance between the striking plate main body and the device main body in the buffering direction is the maximum distance, the decorative buffer member abuts against the striking plate main body and the device main body respectively to fill the gap.

5. The cleaning device of claim 3,

the decorative buffer piece covers the outer edge of the striking plate main body.

6. The cleaning device of claim 1 or 2,

the cleaning device further comprises:

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

7. The cleaning apparatus of claim 6,

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

8. The cleaning device of claim 6,

a step part is convexly arranged on the edge of the device main body, which is adjacent to the striking plate main body;

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

9. The cleaning device of claim 8,

the connecting portion includes:

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

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

10. The cleaning device of claim 6,

the cleaning device further comprises:

at least two sets of first buffer group, follow the circumference of device main part interval distribution in proper order, and every group first buffer group all includes at least one first shock attenuation bolster.

11. The cleaning apparatus of claim 10,

each group of the first buffer group comprises at least two first shock absorption buffers;

the device main body includes:

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

the base and the upper cover are butted to form a space for accommodating the cleaning assembly;

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

12. The cleaning apparatus of claim 6,

the cleaning device further includes:

the second shock absorption buffer part is arranged on the device main body and/or the collision plate main body and is used for buffering the collision plate main body when the collision plate main body faces the device main body and the first shock absorption buffer part is matched with the collision plate main body.

13. The cleaning device of claim 12,

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

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

The second shock absorbing and buffering member is located on the side of the cleaning device and used for buffering the collision plate main body when the collision plate main body moves towards the device main body along the second buffering direction.

14. The cleaning device of claim 13,

the cleaning device further comprises:

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

the cleaning device is provided with a first buffer group on two sides in a first buffering direction, and each first buffer group comprises at least one first damping buffer part;

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

15. The cleaning apparatus defined in claim 12,

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

the cleaning device further includes:

and the second buffer piece group comprises at least two second damping buffer pieces which are distributed at intervals in sequence along the preset direction.

16. The cleaning device of claim 15,

the device main body includes:

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

the base and the upper cover are butted to form a space for accommodating the cleaning assembly;

in the second buffer group, at least one of the second shock absorbing buffers is disposed on the striking plate main body, and at least one of the second shock absorbing buffers is disposed on the base or the upper cover.

17. The cleaning apparatus defined in claim 16,

the base or the upper cover is provided with:

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

18. The cleaning apparatus defined in claim 12,

the length of the second shock absorbing bumper is greater than the length of the first shock absorbing bumper.

19. The cleaning apparatus defined in claim 12,

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

The second shock absorbing cushion has at least two second cushion tooth portions arranged in sequence along a length direction thereof.

20. The cleaning device of claim 1 or 2,

the cleaning device further comprises:

and 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 or not.

21. The cleaning apparatus defined in claim 20,

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 jointed with the side part through the jointing part;

wherein the side portion is provided with the pressure sensor.

22. The cleaning device of claim 21,

the front portion is provided with the pressure sensor.

23. The cleaning device of claim 1 or 2,

the cleaning device further comprises:

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

24. The cleaning apparatus defined in claim 23,

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 jointed with the side part through the jointing part;

wherein the navigation sensor is positioned at a corner position where the connecting part is positioned.

25. The cleaning apparatus defined in claim 23,

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

26. A self-moving apparatus, comprising:

a device main body that can move on a moving surface; and

a strike plate, wherein the strike plate comprises:

the collision plate main body is used for receiving the collision of an obstacle in the moving process of the device main body; and

a connection part through which the striking plate main body is movably connected to the apparatus main body, and the striking plate main body 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 striking plate main body and the apparatus main body in the buffering direction is less than 5mm.

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