A cleaning assembly, configured to be fixed on a body of a cleaning apparatus through a fixing structure, comprising: a cleaning performing device, comprising a cleaning module configured to clean a surface to be cleaned, and a cleaning driving module configured to drive the cleaning module to move relative to the surface to be cleaned; a driving device, configured to drive the cleaning performing device to be lifted or lowered; and a constraining structure, configured to limit a lifting or lowering trajectory of the cleaning performing device; the constraining structure comprising a linkage structure connected between the cleaning performing device and the fixing structure, the linkage structure being linked to move to limit the lifting or lowering trajectory of the cleaning performing device; the linkage structure being configured to move with a first fixed trajectory to limit lifting or lowering of the cleaning performing device with a second fixed trajectory; and/or constraints of the linkage structure to the cleaning performing device allowing the cleaning performing device to swing during lifting or lowering; characterized in that the linkage structure comprises: a first connecting rod having a first end hinged to the cleaning performing device and a second end hinged to the fixing structure; and a second connecting rod opposite to the first connecting rod, the second connecting rod having a first end hinged to the cleaning performing device and a second end hinged to the fixing structure; the linkage structure, the cleaning performing device, and the fixing structure cooperatively forming a multi-linkages structure, the multi-linkages structure being a parallelogram linkage structure. a cleaning performing device, comprising a cleaning module configured to clean a surface to be cleaned, and a cleaning driving module configured to drive the cleaning module to move relative to the surface to be cleaned; a driving device, configured to drive the cleaning performing device to be lifted or lowered; and a constraining structure, configured to limit a lifting or lowering trajectory of the cleaning performing device; the constraining structure comprising a linkage structure connected between the cleaning performing device and the fixing structure, the linkage structure being linked to move to limit the lifting or lowering trajectory of the cleaning performing device; the linkage structure being configured to move with a first fixed trajectory to limit lifting or lowering of the cleaning performing device with a second fixed trajectory; and/or constraints of the linkage structure to the cleaning performing device allowing the cleaning performing device to swing during lifting or lowering; characterized in that the linkage structure comprises: a first connecting rod having a first end hinged to the cleaning performing device and a second end hinged to the fixing structure; and a second connecting rod opposite to the first connecting rod, the second connecting rod having a first end hinged to the cleaning performing device and a second end hinged to the fixing structure; the linkage structure, the cleaning performing device, and the fixing structure cooperatively forming a multi-linkages structure, the multi-linkages structure being a parallelogram linkage structure. a first connecting rod having a first end hinged to the cleaning performing device and a second end hinged to the fixing structure; and a second connecting rod opposite to the first connecting rod, the second connecting rod having a first end hinged to the cleaning performing device and a second end hinged to the fixing structure; the linkage structure, the cleaning performing device, and the fixing structure cooperatively forming a multi-linkages structure, the multi-linkages structure being a parallelogram linkage structure.