4583results about "Floor sweeping machines" patented technology

The invention belongs to the technical field of household cleaning, and particularly relates to a rolling brush, cleaning equipment and a cleaning system. The rolling brush is rotatably connected to the cleaning equipment, a cutting groove and protection teeth are arranged on the peripheral side of a brush body of the rolling brush, two cutter bodies are connected to the peripheral side of the brush body and arranged on at least part of the outer side of a notch of the cutting groove, and at least part of cutting edges arranged in the brush body and on the peripheral sides of the two cutter bodies protrude out of the cutting groove and are located in the protection teeth. And the two cutter bodies rotate relative to the brush body. According to the rolling brush provided by the invention, the two cutter bodies rotate relative to the brush body, so that entanglements possibly wound on the rolling brush are cut, the entanglements on the surface of the rolling brush are reduced, the cleanliness of the surface of the rolling brush is improved, the running resistance of the rolling brush is reduced, the running of the rolling brush is prevented from being influenced, and meanwhile, the cleaning efficiency of the rolling brush is also improved; therefore, the cleaning effect of the cleaning equipment is improved, and the practicability is good.

The application discloses a cover plate assembly and a scrubber. The cover plate assembly is arranged on a cleaning head shell of the scrubber. The cover plate assembly comprises a cover plate and a base. The cover plate is arranged on the garbage box opening of the cleaning head shell and surrounds a first accommodating cavity of a cleaning roller arranged in the cleaning head shell. The base comprises a left side plate, a right side plate, a front side plate, a rear side plate and a guide plate arranged on a rectangular frame. The left side plate, the right side plate, the front side plate and the rear side plate extend downward from the cover plate and surround the rectangular frame. The guide plate surrounds a second accommodating cavity. The first accommodating cavity and the second accommodating cavity are connected with each other to form an accommodating space for accommodating cleaning components. The cover plate assembly is separated from the cleaning head shell directly, and the efficiency of disassembling and assembling internal components of the cleaning head shell is improved. The scrubber with the cover plate assembly is easier to maintain.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot includes: a body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the driving device is arranged on the machine body and can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body, so that part of the mopping assembly is exposed; the clean water tank is arranged on the machine body, and the cleaning liquid stored in the clean water tank can be conveyed to the liquid supply mechanism; the sewage tank is arranged on the machine body, and sewage collected by the decontamination mechanism is conveyed into the sewage tank; one end of the first flexible pipeline and one end of the second flexible pipeline are both connected with the mopping assembly and can move along with the mopping assembly. According to the technical scheme provided by the embodiment of the invention, when the mopping assembly is in any state, the liquid supply mechanism and the dirt removal mechanism can act along with the mopping assembly at the same time; the first flexible pipeline can uninterruptedly provide cleaning liquid for the liquid supply structure, and the second flexible pipeline can uninterruptedly collect sewage scraped by the decontamination mechanism.

The utility model provides a shell assembly and cleaning equipment. The shell assembly comprises a base body, the base body is provided with a mounting bin, a mechanical arm of the cleaning equipment can be folded and stored in the mounting bin, the mounting bin is provided with a bin opening, and the base body is further provided with a mounting groove used for mounting a driving wheel assembly of the cleaning equipment; the door body can move relative to the base body so as to open or close the bin opening. Therefore, after the bin opening is closed by the door body, the mounting bin is relatively closed, the possibility that the mechanical arm in the mounting bin is polluted by dust in the external environment and wetted by liquid can be reduced, the service life of the mechanical arm is prolonged, and the overall reliability of the cleaning equipment is improved.

The invention discloses an intelligent navigation system of a sweeping robot, which relates to the technical field of household intelligent equipment and comprises a multi-source sensor array, a dynamic environment modeling module, a path planning engine, a multi-mode positioning module, an autonomous decision controller, a cloud collaborative optimization unit and a fault degradation processing module. Omnibearing environment perception is provided through a multi-source sensor array, data are fused in real time through a dynamic environment modeling module, a grid map is updated in an incremental mode, obstacle semantic information is marked, an improved A * algorithm and a dynamic window method are fused through a path planning engine, and an optimized path giving consideration to global efficiency and local dynamic obstacle avoidance is generated. The multi-modal positioning module fuses SLAM resolving and IMU data through tight coupling to achieve centimeter-level high-precision and high-robustness positioning, and the autonomous decision controller intelligently and dynamically adjusts the cleaning priority, the advancing speed and the exception handling strategy according to the path, environment state and pose information, so that the cleaning behavior better meets the requirement.

The embodiment of the invention provides a cleaning robot and a working method thereof. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a cleaning unit motor and a cleaning unit; the driving device is arranged on the machine body and connected with the mopping assembly. In the width direction of the machine body, the driving device can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body so that part of the mopping assembly can be exposed. The driving device drives the mopping assembly to retract to the first working position and then drives the mopping assembly to ascend and descend relative to the machine body. According to the technical scheme, the mopping and washing assembly integrally acts relative to the cleaning robot body, the mopping and washing assembly can conduct self-cleaning at any position, and therefore the cleaning robot has the good cleaning effect and is high in cleaning efficiency. In addition, according to the scheme, the mopping assembly retracts firstly and then is lifted, so that the risk of collision in the lifting process of the mopping assembly is reduced, and complex logic for judging the surrounding environment is omitted.

The utility model provides a cleaning device. The cleaning equipment comprises a machine body, an arm bin is formed in the machine body, and a bin opening is formed in the arm bin; the mechanical arm is connected with the machine main body through the connecting structure and can extend out of or be stored in the arm bin through the bin opening; the touch assembly is arranged on the machine body and located on the peripheral side of the bin opening, and the touch assembly is configured to receive mechanical stress to send signals. Therefore, a human hand or a foreign matter near the bin opening makes contact with or collides with the touch assembly, the touch assembly is subjected to mechanical stress to send a signal, the mechanical arm makes corresponding actions according to the signal, for example, the mechanical arm stops moving, the problem that the human hand or the foreign matter is clamped at the bin opening in the moving process of the mechanical arm can be solved, and the use safety of the mechanical arm can be improved. And the use satisfaction degree of the user is improved.

The embodiment of the utility model discloses cleaning equipment and a cleaning system.The cleaning equipment comprises a cleaning equipment body, a grabbing part, a function adjusting module and an emergency stop module, the cleaning equipment is provided with the function adjusting module and the emergency stop module, and the operation mode of the cleaning equipment body can be adjusted through the function adjusting module; the control of the cleaning equipment main body is more convenient, and when the cleaning equipment is in an abnormal working state, the grabbing piece can be directly controlled to execute the safe operation mode through the emergency stop module, so that the danger caused by the fact that the cleaning equipment main body carries the grabbing piece is prevented. The scram module and the function adjusting module of the cleaning equipment are arranged at an interval, that is, a certain distance exists between the scram module and the function adjusting module, a user can recognize the scram module at the first time, the grabbing part can be immediately controlled to stop working through the scram module, the scram response efficiency can be improved, especially wrong control is avoided, and the user experience is improved. And the cleaning equipment can be used more safely.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a cleaning unit motor, a cleaning unit and a liquid supply mechanism; the cleaning unit motor is connected with the cleaning unit, and the liquid supply mechanism comprises a plurality of liquid supply ports for supplying cleaning liquid to the cleaning unit; the driving device is arranged on the machine body and connected with the mopping assembly; in the width direction of the machine body, the driving device can drive the mopping and washing assembly to stretch out from at least one side of the machine body relative to the machine body so that part of the mopping and washing assembly can be exposed. According to the technical scheme, the mopping assembly can conduct self-cleaning at any position, and the good cleaning effect is achieved; in addition, the liquid supply port is provided with an arc water guide face, liquid splashing is avoided, and the cleaning effect can be improved.

The embodiment of the invention provides a cleaning robot, an action method thereof and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly, a driving device and a control assembly. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the driving device is arranged on the machine body and is connected with the mopping assembly; the driving device can drive the mopping assembly to stretch out of at least one side of the machine body relative to the machine body in the width direction of the machine body so that part of the mopping assembly can be exposed. The control assembly is electrically connected with the driving device and used for dynamically controlling the driving device according to the behavior information of the machine body, so that the driving device drives the mopping assembly to move relative to the machine body to change the position of the mopping assembly relative to the machine body. According to the scheme, the mopping assembly can conduct self-cleaning at any position, the good cleaning effect is achieved, and the cleaning efficiency is high.

The utility model discloses a cleaning rolling brush, cleaning equipment and a cleaning system, and belongs to the technical field of electrical equipment. The cleaning rolling brush comprises a shell, a cleaning strip, a first cutting piece and a second cutting piece, and the first cutting piece and the second cutting piece extend on the outer surface of the shell; the cleaning strip protrudes out of the outer surface of the shell; wherein a cleaning strip is arranged in a gap between the first cutting piece and the second cutting piece, so that the cutting force on entanglements wound on the cleaning strip can be improved, the entanglements can be cut off, the entanglements are prevented from being wound on the shell as much as possible, the influence of the entanglements on the cleaning rolling brush is reduced, and the working effect of the cleaning rolling brush is improved; and the service life of the cleaning rolling brush is prolonged.

The embodiment of the utility model provides a cleaning base station for a cleaning robot, the cleaning robot comprises a roller, a scraping strip assembly and a dirt collecting box, the scraping strip assembly scrapes and cleans the roller, and the cleaning base station comprises a cleaning tank and a water inlet channel. When the cleaning robot is in butt joint with the cleaning base station, the roller abuts against the cleaning tank, and when the cleaning base station conducts self-cleaning on the cleaning robot through the cleaning tank, in the rotating direction of the cleaning roller, cleaning fluid makes contact with the cleaning roller through the water inlet channel so as to wet the cleaning roller, and the cleaning fluid on the cleaning roller is scraped into the dirt collecting box by the scraping strip assembly; therefore, the dirt collecting box is cleaned. In the self-cleaning process of the cleaning roller, the base station provides the cleaning fluid for the cleaning roller through the water inlet channel, so that the cleaning water consumption of the cleaning roller in the self-cleaning process is guaranteed, and the cleaning effect on the roller is guaranteed.

The embodiment of the invention provides a cleaning robot. The machine comprises a machine body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit; the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the liquid supply mechanism and / or the decontamination mechanism can move relative to the machine body along with the mopping assembly; the dirt removing mechanism further comprises a scraping strip assembly and a dirt collecting assembly. The dirt collecting assembly is arranged below the scraping strip assembly; a plurality of water guide grooves are formed in the lower surface of the scraping strip assembly. According to the technical scheme, the end of the scraping strip assembly makes contact with the surface of the cleaning unit, and when the cleaning unit rotates, dirt on the surface of the cleaning unit can be scraped off. And meanwhile, a plurality of water guide grooves are formed in the lower surface of the scraping strip assembly and can be used for guiding the scraped dirt into the dirt collecting assembly, the scraping strip assembly has a good scraping effect on the dirt on the surface of the cleaning unit, and the collection rate of the scraped dirt is higher.

A cleaning module includes: a first rolling brush including first brushes; and a second rolling brush arranged substantially side by side with the first rolling brush and including second brushes, wherein when the first rolling brush and the second rolling brush rotate, a first outer contour formed by a trajectory of outer ends of the first brushes and a second outer contour formed by a trajectory of outer ends of the second brushes at least partially interfere with each other, and the first brushes are not in contact with the second brushes.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot includes: a body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the driving device is connected with the mopping assembly; in the width direction of the machine body, the driving device can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body so as to be partially exposed; the dirt removing mechanism further comprises a scraping strip assembly, and the end of the scraping strip assembly makes contact with the surface of the cleaning unit. The dirt removing mechanism further comprises a swing assembly, the scraping strip assembly is connected to the mopping assembly through the swing assembly, and the scraping strip assembly can swing relative to the cleaning unit through the swing assembly. According to the technical scheme, the position and posture of the scraping strip assembly are adaptively adjusted through the self-adaptive adjusting device so that the scraping strip assembly can be located in the proper position and posture, proper scraping force can be applied to the cleaning unit, and the scraping strip assembly can continuously act on the cleaning unit to scrape dirt on the cleaning unit.

The embodiment of the invention provides a cleaning robot. The cleaning robot comprises a machine body; the driving device comprises a first power source and a sliding plate connected with the first power source; the sliding plate has a lifting part; the mopping assembly is connected with the sliding plate through the connecting assembly; when the first power source drives the sliding plate to move in the first direction, the sliding plate drives the mopping assembly to extend outwards; when the first power source drives the sliding plate to move in the second direction, the sliding plate drives the mopping assembly to retract inwards, after the mopping assembly moves to the limiting position and the position of the mopping assembly is limited, the connecting assembly climbs along the lifting part of the sliding plate, and the mopping assembly vertically moves upwards. According to the technical scheme, the first power source drives the sliding plate to act in different directions, so that the mopping assembly can be driven to extend outwards and be lifted, and the driving device is simple in structure. The internal space is saved, and the rationality of deployment of each component is improved.

According to the cleaning equipment and the cleaning system, a grabbing assembly of the cleaning equipment is connected to the bottom of a shell and arranged among a plurality of wheel bodies, the gravity center of the grabbing assembly can be lowered by connecting the grabbing assembly to the bottom of the shell, and particularly, when the grabbing assembly is in a storage state, the gravity center of the grabbing assembly can be lowered, so that the cleaning efficiency is improved. The gravity center of the grabbing assembly can coincide with the gravity center of the cleaning equipment or the gravity centers of the grabbing assembly and the gravity center of the cleaning equipment can be close to each other, so that the cleaning equipment is smoother to cross, obstacle or climb, the influence of the grabbing assembly on the moving flexibility of the cleaning equipment can be reduced or avoided, and the probability that the grabbing assembly topples over is reduced; the cleaning equipment main body is safer to use, and the user experience can be improved.

The embodiment of the invention provides a cleaning robot and a dismounting and mounting method of a cleaning roller. The cleaning robot includes: a body; the mopping assembly comprises a cleaning unit motor and a cleaning unit; the cleaning unit is detachably connected with the cleaning unit motor; the driving device is arranged on the machine body and connected with the mopping assembly; the control assembly is arranged on the machine body and further has a dismounting mode, and when the cleaning robot is in the dismounting mode, the control assembly receives a user instruction and controls the driving device to drive the mopping assembly to stretch out of at least one side of the machine body in the width direction of the machine body so that part of the mopping assembly can be exposed; a user can conveniently detach the cleaning unit from the exposed side of the mopping assembly. According to the technical scheme, the mopping and washing assembly integrally acts relative to the cleaning robot body, the mopping and washing assembly can conduct self-cleaning at any position, then the cleaning robot has the good cleaning effect, the cleaning effect is high, and the cleaning roller is convenient to disassemble and assemble.

The embodiment of the invention provides a cleaning robot and a working method thereof. The cleaning robot comprises a robot body, a mopping assembly and a first power source. The mopping assembly comprises a cleaning unit motor and a cleaning unit; the cleaning unit motor is connected with the cleaning unit; the first power source is arranged on the machine body and connected with the mopping assembly; in the width direction of the machine body, the first power source can drive the mopping assembly to stretch out of at least one side of the machine body, and / or the first power source can drive the mopping assembly to retract so that the exposed length of the mopping assembly can be reduced or the mopping assembly can not be exposed. And / or along the height direction of the machine body, the first power source can drive the mopping assembly relative to the machine body from the contact between the mopping assembly and the to-be-cleaned surface to the clearance between the mopping assembly and the to-be-cleaned surface, and / or the first power source can drive the mopping assembly relative to the machine body from the clearance between the mopping assembly and the to-be-cleaned surface to the contact between the mopping assembly and the to-be-cleaned surface. According to the scheme, the mopping assembly can conduct self-cleaning at any position, the mopping assembly can stretch out, draw back, ascend and descend through a single power source, and the structure is simple.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly, a driving device and a rebounding device. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the driving device is arranged on the machine body and connected with the mopping assembly. The mopping and washing assembly is connected with the springback device; when the mopping and washing assembly is subjected to external force in the retraction direction in the stretching-out state, the rebounding device is stressed to deform, and the mopping and washing assembly retracts adaptively. According to the scheme, the mopping assembly can conduct self-cleaning at any position, and the good cleaning effect is achieved; in addition, the mopping and washing assembly can be self-adaptively rebounded under the external force in the extending state instead of hard collision, so that the use safety is high.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a machine body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; in the advancing direction of the cleaning robot, the dirt removing mechanism is located on the front side of the cleaning unit. According to the technical scheme, the dirt removing mechanism is arranged on the front side of the cleaning unit, and the cleaning blind area is small.

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot which comprises a robot body and an advancing assembly, the advancing assembly comprises a driving wheel, a supporting unit and an obstacle crossing wheel, the obstacle crossing wheel is arranged on the supporting unit, the supporting unit can rotate around the driving wheel, and the obstacle crossing wheel is arranged on the robot body. The driving wheels are arranged on the machine body so that the advancing assembly can be switched between an advancing state and an obstacle crossing state, and when the advancing assembly is in the advancing state, the driving wheels abut against the ground so as to drive the machine body to advance; when the advancing assembly is in the obstacle crossing state, the supporting units drive the obstacle crossing wheels to make contact with the ground, the driving wheels are made to break away from the ground, the obstacle crossing wheels drive the robot body to advance, and the obstacle crossing capacity of the cleaning robot is improved.

The invention discloses cleaning equipment and a cleaning system, relates to the technical field of cleaning robots, and aims to improve the utilization rate of the space in a shell of the cleaning equipment so as to ensure the miniaturization of the size of the cleaning equipment. The cleaning equipment comprises a shell, a cleaning assembly and a liquid storage tank, and a containing space is formed in the shell. The cleaning assembly is arranged in the containing space, the cleaning assembly at least comprises a mop driving module, and the mop driving module is used for being connected with a mop outside the containing space and controlling the mop to move so as to clean the face to be cleaned. The liquid storage tank is arranged in the containing space, and at least part of the liquid storage tank is located below the cleaning assembly. The cleaning equipment is used for cleaning a to-be-cleaned surface.

The invention discloses a cleaning robot control method, a storage medium and related equipment, and relates to the field of cleaning robot control, and the method comprises the steps: responding to a pet search instruction sent by a target user, and obtaining the activity thermodynamic information of a target pet, the target pet activity thermodynamic information is distribution information of activity frequencies in different areas obtained based on historical activity information of a target pet; and controlling the cleaning robot to move according to the activity thermodynamic information of the target pet so as to search for the target pet.

The invention provides a cleaning method and device of a cleaning robot, the cleaning robot, equipment and a medium, and relates to the technical field of cleaning equipment. Comprising the steps that in the process that a cleaning robot cleans a to-be-cleaned area, under the condition that it is detected that a heavily-polluted area exists, the smudginess area of the heavily-polluted area is determined; if the dirty area is larger than the preset threshold value, the robot is controlled to advance in an advancing mode so as to clean at least part of the heavily-dirty area through a mop assembly; if the dirty area is smaller than or equal to the preset threshold value, the robot is controlled to advance in a backward mode so as to clean at least part of the heavily-dirty area through the mop assembly, and the robot can push dirt out of the heavily-dirty area and pollute the adjacent area when the robot moves backward for cleaning, so that the large-area heavily-dirty area is cleaned in the previous mode, and the cleaning efficiency is greatly improved. Dirt is prevented from being pushed to an uncleaned area, pollution diffusion is prevented, small-area heavily-polluted areas are cleaned in a reverse advancing mode, driving wheels are prevented from making contact with the dirt or diffusion, and the cleaning effect is improved.

The invention discloses a sweeping robot control method and system, and the method comprises the steps: calling a pre-established fault feature library according to a fault type outputted by an abnormality recognition module, and carrying out the matching of corresponding abnormality feature data, and obtaining a preliminary abnormality confirmation result; according to the action recovery instruction, an execution unit of the sweeping robot is driven to adjust the wheel rotating speed or reversely rotate a brush, state feedback data after execution is obtained, and whether the recovery action is completed or not is judged; a new cleaning path scheme is generated according to the condition that the current obstacle avoidance capability is insufficient through a path adjustment demand, and the feasibility of an alternative path is determined; through real-time state data in a task execution process, cleaning efficiency and frequent fault problems are continuously monitored, a feature library is circulated, and operation stability is judged.

A sweeping robot includes: a main body, a first cleaning mechanism, and a second cleaning mechanism. The first cleaning mechanism is connected to the main body and is located below the main body, and the first cleaning mechanism is configured to clean a floor. The second cleaning mechanism is rotatably connected to the main body, and has a first state and a second state. In the first state, the second cleaning mechanism retracts relative to a side of the main body, and in the second state, the second cleaning mechanism protrudes relative to the side of the main body, and the second cleaning mechanism is configured to clean a wall.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a mopping support, a cleaning unit motor, a cleaning unit and a dirt removing mechanism. The mopping support is provided with a roller mounting cavity with a downward opening, the cleaning unit motor is connected with the cleaning unit, the dirt removing mechanism is used for scraping dirt on the cleaning unit, and the cleaning unit motor, the cleaning unit and the dirt removing mechanism are arranged in the roller mounting cavity; the driving device is arranged on the machine body and is connected with the mopping assembly; in the width direction of the machine body, the driving device can drive the mopping assembly to stretch out of at least one side of the machine body so that part of the mopping assembly can be exposed. The dirt removing mechanism comprises a dirt collecting box, the dirt collecting box and the cleaning unit are detachably arranged on a mopping support of the mopping assembly, and the detaching direction of the dirt collecting box is roughly perpendicular to that of the cleaning unit. According to the scheme, the mopping assembly can be self-cleaned at any position, and the dirt collecting box is convenient to disassemble.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, in the rotating process of the cleaning unit, the liquid supply mechanism provides cleaning liquid for the cleaning unit in the rotating direction, the cleaning unit soaked with the cleaning liquid cleans a to-be-cleaned face, and then the dirt removing mechanism acts on the cleaning unit to scrape off dirt and collect the dirt; the driving device is arranged on the machine body and connected with the mopping assembly. In the width direction of the machine body, the driving device can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body so that part of the mopping assembly can be exposed. According to the scheme, the mopping and washing assembly integrally acts relative to the cleaning robot body, the mopping and washing assembly can conduct self-cleaning at any position and has the working mode of first water supplementing, cleaning and scraping and washing, the good cleaning effect is achieved, and the cleaning efficiency is high.