Cleaning robot and mopping assembly

Abstract

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.

Description

[0001] Cross-reference

[0002] This application incorporates by reference the following Chinese patent applications, which are hereby incorporated in their entirety by reference into this application.

[0003] Filing Date Application No. Patent Title 2024-01-05 202410018264.3 Self - moving Cleaning Device, Control Method and Cleaning System 2024-08-05 202411067857.5 Cleaning Robot and Mopping Component Technical Field

[0004] This application relates to the field of robot technology, and in particular to a cleaning robot and a mopping and washing assembly. Background Art

[0005] Most of the existing integrated sweeping and mopping cleaning robots clean the floor by first vacuuming and then mopping. For example, a rag tray is provided at the bottom of the cleaning robot, and the floor is mopped by a rotating rag tray. However, there is a problem of smearing when mopping with the rag tray, because the rag tray is not self-cleaning after being soiled. Later, cleaning robots using a roller to mop the floor appeared. Such cleaning robots have a roller, a clean water supply device, a squeegee, and a sewage collection device. During each rotation of the roller, it receives clean water supplied by the clean water supply device. After mopping the floor, it is self-cleaned by the squeegee while cleaning, realizing a live water mopping method of mopping and self-cleaning at the same time, which can improve the problem of smearing.

[0006] In order to make the cleaning robot more functional, the rollers of some cleaning robots are designed to be retractable. When the roller extends, it can clean along the wall or clean around obstacles. However, the extended part of the roller cannot be cleaned after it extends, and there is still a smearing problem similar to that of the rag tray, resulting in poor cleaning effect. In addition to continuously supplying clean water, it is also necessary to continuously collect the scraped sewage. It can be seen that how to continuously supply cleaning liquid to the cleaning roller by the liquid supply component and the decontamination mechanism can continuously collect the scraped sewage without affecting the outward swing of the mopping and washing assembly is also a problem to be solved. Summary of the Invention

[0007] In view of the above problems, this application provides a cleaning robot and a mopping and washing assembly to solve the above problems or at least partially solve the above problems.

[0008] In one embodiment of this application, a cleaning robot is provided. The cleaning robot includes:

[0009] A body;

[0010] A mopping and washing assembly, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a decontamination mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the decontamination mechanism is used to scrape off the dirt on the cleaning unit;

[0011] A driving device is provided on the body and is connected to the mopping component; along the width direction of the body, the driving device can drive the mopping component to extend from at least one side of the body, so that part of the mopping component is exposed.

[0012] A sewage tank is provided on the body, and the dirt collected by the decontamination mechanism is conveyed into the sewage tank.

[0013] A second flexible pipe, the first end of the second flexible pipe is connected to the sewage tank, and the second end of the second flexible pipe is connected to the mopping component and can move with the mopping component.

[0014] Optionally, the cleaning robot further includes: a clean water tank and a first flexible pipe. The clean water tank is provided on the body, and the cleaning liquid stored in the clean water tank can be conveyed to the liquid supply mechanism.

[0015] The first end of the first flexible pipe communicates with the clean water tank, and the second end of the first flexible pipe is connected to the mopping component and can move with the mopping component.

[0016] Optionally, the decontamination mechanism includes a squeegee assembly and a dirt collection box.

[0017] The end of the squeegee assembly contacts the cleaning unit, and the dirt collection box is located below the squeegee assembly.

[0018] When the cleaning unit rotates, the dirt scraped by the squeegee assembly enters the dirt collection box.

[0019] The decontamination mechanism further includes a dirt collection pipe. The first end of the dirt collection pipe is arranged in the dirt collection box, and the second end of the dirt collection pipe is communicated with the sewage tank through the second flexible pipe.

[0020] Optionally, the mopping component further includes a joint assembly. The joint assembly includes a clean water pipe joint and a sewage pipe joint, and the clean water pipe joint and the sewage pipe joint are respectively connected to the first flexible pipe and the second flexible pipe.

[0021] Optionally, the decontamination mechanism further includes a negative pressure pump and a valve body.

[0022] The negative pressure pump is connected to the sewage tank and is used to pump negative pressure on the sewage tank.

[0023] The valve body is arranged on the dirt collection pipe and is used to control the on-off of the dirt collection pipe.

[0024] When the valve body is opened, the negative pressure in the sewage tank passes through the second flexible pipe to suck the sewage in the dirt collection box into the sewage tank.

[0025] Optionally, the body is provided with a pipe space for accommodating the first flexible pipe and the second flexible pipe;

[0026] The pipe space has a first opening and a second opening. Both the first flexible pipe and the second flexible pipe enter the pipe space through the first opening and are connected to the joint assembly through the second opening.

[0027] Optionally, the opening direction of the first opening is substantially perpendicular to the opening direction of the second opening.

[0028] Optionally, the decontamination mechanism further includes a filtering component, which is arranged in the dirt collection box and divides the inner cavity of the dirt collection box into an upper space and a lower space;

[0029] The first end of the dirt collection pipe passes through the filtering component and is located in the lower space of the inner cavity.

[0030] Optionally, springs are arranged on the outer sides of the first flexible pipe and the second flexible pipe.

[0031] Optionally, the first flexible pipe and the second flexible pipe are bendable pipes.

[0032] Optionally, a control device is further included;

[0033] The control device is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping component to move relative to the body to change the position of the mopping component relative to the body.

[0034] In another embodiment of the present application, a cleaning robot is provided, including:

[0035] A body;

[0036] A mopping component, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a decontamination mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to supply cleaning liquid to the cleaning unit, and the decontamination mechanism is used to scrape off the dirt on the cleaning unit;

[0037] A driving device, which is arranged on the body and is connected to the mopping component; along the width direction of the body, the driving device can drive the mopping component to extend from at least one side of the body, so that a part of the mopping component is exposed;

[0038] A clean water tank, which is arranged on the body, and the cleaning liquid stored in the clean water tank can be transported to the liquid supply mechanism;

[0039] The first flexible pipeline, the first end of the first flexible pipeline is communicated with the clear water tank, and the second end of the first flexible pipeline is connected to the mopping and washing assembly and can move following the mopping and washing assembly.

[0040] In another embodiment of the present application, a mopping and washing assembly is provided, including:

[0041] A mopping and washing support, having a drum installation cavity with an opening facing downwards;

[0042] A cleaning unit motor, arranged in the drum installation cavity;

[0043] A cleaning unit, connected to the cleaning unit motor, and can contact the surface to be cleaned through the opening;

[0044] A liquid supply mechanism, arranged on the mopping and washing support, for supplying cleaning liquid to the cleaning unit;

[0045] A dirt removal mechanism, arranged on the mopping and washing support, for scraping off the dirt on the cleaning unit;

[0046] Wherein, a connection structure for connecting a driving device is arranged on the mopping and washing support, so that the mopping and washing assembly can be driven to move by the driving device; one end of the second flexible pipeline of the dirt removal mechanism can be connected to an external water collecting device;

[0047] The other end of the second flexible pipeline is connected to the mopping and washing support and can move following the mopping and washing assembly.

[0048] Optionally, the mopping and washing assembly further includes a first flexible pipeline, one end of the liquid supply mechanism can be connected to an external water supply device through the first flexible pipeline, and the other end of the first flexible pipeline is connected to the mopping and washing support and can move following the mopping and washing assembly.

[0049] In another embodiment of the present application, a mopping and washing assembly is further provided, including:

[0050] A mopping and washing support, having a drum installation cavity with an opening facing downwards;

[0051] A cleaning unit motor, arranged in the drum installation cavity;

[0052] A cleaning unit, connected to the cleaning unit motor, and can contact the surface to be cleaned through the opening;

[0053] A liquid supply mechanism, arranged on the mopping and washing support, for supplying cleaning liquid to the cleaning unit;

[0054] A dirt removal mechanism, arranged on the mopping and washing support, for scraping off the dirt on the cleaning unit;

[0055] Wherein, a connection structure for connecting a driving device is provided on the mopping bracket, so as to drive the mopping assembly to move through the driving device; one end of the liquid supply mechanism can be connected to an external water supply device through a first flexible pipe;

[0056] The other end of the first flexible pipe is connected to the mopping bracket and can move along with the mopping assembly.

[0057] In the technical solution provided by the embodiment of the present application, the mopping assembly moves as a whole relative to the body of the cleaning robot. When the mopping assembly is in any position, the liquid supply mechanism can provide cleaning liquid for the cleaning unit, the dirt removal mechanism can scrape off the dirt on the cleaning unit, and the cleaning unit can self-clean while working. When the cleaning unit extends outwards for edge cleaning, the cleaning unit will not be overly dirty, and can still have a good cleaning effect after long-term cleaning, with a better user experience. In addition, no matter what state the mopping device is in, the first flexible pipe can always continuously supply cleaning liquid to the liquid supply mechanism, and the second flexible pipe can always continuously collect the sewage scraped off by the dirt removal mechanism, so that the liquid supply mechanism and the dirt removal mechanism can work continuously. Description of the Drawings

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0059] Figure 1a and 1b show schematic diagrams of edge cleaning in two states where the drum does not extend and extends;

[0060] Figure 1c show a schematic diagram of the bottom surface of the dirt collection box being higher than the bottom surface of the body;

[0061] Figure 2 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application;

[0062] Figure 3a is an internal schematic diagram of the cleaning robot provided by the embodiment of the present application after removing the upper cover;

[0063] Figure 3b is Figure 3a a partial view of;

[0064] Figure 4 is an exploded schematic diagram of the structure of a cleaning robot provided by an embodiment of the present application;

[0065] Figure 5Exploded view of the mopping and washing component provided by an embodiment of the present application;

[0066] Figure 6 Schematic diagram of the mopping and washing component provided by an embodiment of the present application arranged on the cavity shell;

[0067] Figure 7a External structure view of the mopping and washing component provided by an embodiment of the present application;

[0068] Figure 7b Shows a schematic diagram of a specific implementation structure of the liquid supply mechanism in an embodiment of the present application;

[0069] Figure 8 Bottom view of a mopping bracket provided by an embodiment of the present application;

[0070] Figure 9a Exploded view of the mopping and washing component provided by an embodiment of the present application;

[0071] Figure 9b Cross-sectional view of the mopping and washing component provided by an embodiment of the present application;

[0072] Figure 10a Schematic diagram of the state of a cleaning robot performing edge cleaning provided by an embodiment of the present application;

[0073] Figure 10b Comparison schematic diagram of two situations where the mopping and washing component extends and does not extend when the cleaning robot provided by an embodiment of the present application performs a cleaning task;

[0074] Figure 11 Schematic diagram of a mopping and washing component in a lifted state provided by an embodiment of the present application;

[0075] Figure 12 Schematic diagram of a mopping and washing component in an extended state provided by an embodiment of the present application;

[0076] Figure 13 Schematic diagram of the structure of a driving device provided by an embodiment of the present application;

[0077] Figure 14 Stereogram of an action execution mechanism provided by an embodiment of the present application;

[0078] Figure 15 Another perspective stereogram of an action execution mechanism provided by an embodiment of the present application;

[0079] Figure 16 Semi-sectional structure schematic diagram of a mopping and washing component provided by an embodiment of the present application;

[0080] Figure 17 Partial structure schematic diagram of an action execution mechanism provided by an embodiment of the present application;

[0081] Figure 18 Schematic diagram of a slider structure provided by an embodiment of the present application;

[0082] Figure 19 Partial cross-sectional view of an action execution mechanism provided by an embodiment of the present application;

[0083] Figure 20a Partial cross-sectional view of a combination of a cavity shell and a housing cover provided by an embodiment of the present application;

[0084] Figure 20b Schematic diagram of the structure of a housing cover provided by an embodiment of the present application;

[0085] Figure 21 Schematic diagram of the setting positions of a grating structure and a fourth optoelectronic switch in a cleaning robot provided by an embodiment of the present application;

[0086] Figure 22 Schematic diagram of the structure for respectively setting a first connection end and a second connection end for connecting an elastic member on a sliding plate and a slider in an embodiment of the present application;

[0087] Figure 23 Schematic diagram of the structure with a hovering surface provided at the top of a lifting part;

[0088] Figure 24 Schematic diagram of the structure for lifting a mopping and washing assembly relative to the ground provided by an embodiment of the present application;

[0089] Figure 25 Front view of another mopping and washing assembly provided by an embodiment of the present application;

[0090] Figure 26 Cross-sectional view of another mopping and washing assembly provided by an embodiment of the present application;

[0091] Figure 27a Stereogram of another mopping and washing assembly in an initial state provided by an embodiment of the present application;

[0092] Figure 27b Front view of another mopping and washing assembly in an initial state provided by an embodiment of the present application;

[0093] Figure 27c Cross-sectional view of another mopping and washing assembly in an initial state provided by an embodiment of the present application;

[0094] Figure 28a Stereogram of another mopping and washing assembly in a lifted state provided by an embodiment of the present application;

[0095] Figure 28b Front view of another mopping and washing assembly in a lifted state provided by an embodiment of the present application;

[0096] Figure 28c Another cross-sectional view of the mopping and washing assembly provided by the embodiment of the present application in the lifted state;

[0097] Figure 29a Another perspective view of the mopping and washing assembly provided by the embodiment of the present application in the extended state;

[0098] Figure 29b Another front view of the mopping and washing assembly provided by the embodiment of the present application in the extended state;

[0099] Figure 29c Another cross-sectional view of the mopping and washing assembly provided by the embodiment of the present application in the extended state;

[0100] Figure 30 A perspective view of a mopping bracket provided by the embodiment of the present application;

[0101] Figure 31 A perspective structural diagram of a sliding plate provided by the embodiment of the present application;

[0102] Figure 32 A perspective structural diagram of a rotating bracket provided by the embodiment of the present application;

[0103] Figure 33 A perspective structural diagram of the cavity shell corresponding to another mopping and washing assembly provided by the embodiment of the present application;

[0104] Figure 34 A cross-sectional view of a mopping and washing assembly provided by the embodiment of the present application;

[0105] Figure 35a A cross-sectional view of a mopping bracket provided by the embodiment of the present application;

[0106] Figure 35b A schematic diagram showing that the front side of the dirt collection box in a mopping and washing assembly provided by the embodiment of the present application has an oblique angle;

[0107] Figure 35c A schematic structural diagram of a cleaning robot provided by the embodiment of the present application;

[0108] Figure 36a and 36b Shows a comparative schematic diagram of the dirt collection box being arranged on the front side and the rear side of the cleaning roller;

[0109] Figure 37 Another cross-sectional view of the mopping and washing assembly provided by the embodiment of the present application;

[0110] Figure 38 Another cross-sectional view of another perspective of the mopping and washing assembly provided by the embodiment of the present application;

[0111] Figure 39aAn exploded view of a squeegee assembly provided by an embodiment of the present application;

[0112] Figure 39b A cross-sectional schematic view of a water guide plate provided by an embodiment of the present application;

[0113] Figure 39c A schematic structural diagram of an adaptive adjustment device provided on a cleaning robot according to an embodiment of the present application;

[0114] Figure 40 A three-dimensional structural diagram of a squeegee assembly provided by an embodiment of the present application;

[0115] Figure 41 A schematic implementation structural diagram of another driving device provided by an embodiment of the present application;

[0116] Figure 42 Shows in Figure 41 Schematic diagrams of two states of the mopping assembly rising and extending driven by the driving device of the structure shown;

[0117] Figure 43 A schematic implementation structural diagram of yet another driving device provided by an embodiment of the present application;

[0118] Figure 44a A schematic diagram of the mopping assembly of a cleaning robot exposed on one side of the body according to an embodiment of the present application;

[0119] Figure 44b A schematic diagram of the sewage collection box removed from the mopping assembly provided by an embodiment of the present application;

[0120] Figure 44c A schematic diagram of the release assembly in a locked state provided by an embodiment of the present application;

[0121] Figure 44d A schematic diagram of the release assembly in an unlocked state provided by an embodiment of the present application;

[0122] Figure 44e A schematic diagram of the process of removing the sewage collection box provided by an embodiment of the present application;

[0123] Figure 44f An exploded view of the sewage collection box, release assembly and filter assembly provided by an embodiment of the present application. Detailed implementation manners

[0124] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the convenience of description, only the parts related to the present application rather than all the structures are shown in the drawings. In the description of the present application, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations. In the present application, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature can include the direct contact between the first and second features, or can also include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above the top", and "on the top" of the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below the bottom", and "under the bottom" of the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the horizontal height of the first feature is lower than that of the second feature. In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for distinction in description and do not have special meanings.

[0125] Currently, the bodies of many cleaning robots are circular. The circular body is relatively flexible and easy to get out of trouble. When a dust suction roller 01 and a mopping roller 02 are both provided on the cleaning robot, generally the dust suction roller 01 is located in front of the roller 02, so that the cleaning robot can vacuum first and then mop during movement. For the circular shape of the cleaning robot, for the need of avoiding obstacles and getting out of trouble during movement, the driving wheels are generally arranged at the maximum width position perpendicular to the forward direction, and the roller is generally placed behind the driving wheels, and the whole does not protrude from the projection of the circular body on the ground. This causes the roller located at the rear part of the body to be shorter, and the distance from the end of the roller to the outermost edge in the width direction of the body is relatively far, as Figure 1a shown. When the cleaning robot is to clean along the wall or wardrobe, etc., after maintaining the minimum safe distance from the wall or wardrobe and other objects, in the corner area with a relatively large dimension d of the object, the cleaning robot cannot mop. To solve this problem, some cleaning robots are designed with a retractable roller structure.

[0126] To ensure that the drum has a good cleaning effect after it extends, it is necessary for the drum to be self-cleaned in a timely manner when it is in the extended state. When the roller brush contacts the ground for mopping, it can have a good cleaning degree and there will be no problem of smearing.

[0127] When the mopping component swings outwards, the self-cleaning components (such as the liquid supply structure and the dirt removal mechanism) for self-cleaning the drum can swing out synchronously with the mopping component to achieve the effect of self-cleaning anytime and anywhere. When the mopping component is self-cleaning, the liquid supply component can provide cleaning liquid for the drum. The cleaning liquid can dissolve the stains on the surface of the drum to facilitate the scraping by the dirt removal mechanism. The dirt removal mechanism can apply a force to the surface of the drum. When the drum rotates, the dirt removal mechanism can scrape off the sewage and stains on the surface of the drum. Usually, both the liquid supply mechanism and the dirt removal mechanism have a certain internal storage space. The liquid supply mechanism can temporarily store a certain amount of cleaning liquid, and the dirt removal mechanism can store a certain amount of dirt. However, when the cleaning robot needs to perform an outward swing operation for a long time, the liquid supply mechanism cannot continuously provide a large amount of cleaning liquid, and the dirt removal mechanism cannot continuously collect sewage.

[0128] Therefore, each embodiment of the present application provides a cleaning robot. The cleaning unit of the cleaning robot can be telescopic, and it can also ensure that there is a continuous supply of cleaning water at any position of the cleaning unit. The scraper can also continuously act to scrape off the dirt on the drum, so that the cleaning unit can clean and self-clean while telescoping to any position. The cleaning robot can not only perform edge cleaning when needed, but also effectively avoid the problem of smearing.

[0129] Furthermore, in order to be able to supply cleaning liquid to the cleaning unit when the cleaning drum extends or retracts to any position and continuously scrape off the dirt on the cleaning unit, the embodiments of the present application also add a first flexible pipe and a second flexible pipe. The first flexible pipe and the second flexible pipe can adaptively move so that the cleaning unit can receive the supply of cleaning liquid at any position and the dirt can be scraped off. The first flexible pipe can connect the liquid supply mechanism to a large-capacity clean water tank on the body of the cleaning robot, and the second flexible pipe can connect the dirt removal mechanism to a large-capacity sewage tank on the body of the cleaning robot. With the outward swing movement of the mopping component, the bent first flexible pipe and the bent second flexible pipe can adaptively extend and / or straighten, so that the liquid supply mechanism and the clean water tank are always connected. The liquid supply mechanism can continuously obtain the cleaning liquid in the clean water tank to supply it to the cleaning drum; the dirt removal mechanism and the sewage tank are always connected. The dirt removal mechanism can continuously scrape off the sewage on the cleaning drum and transport it to the sewage tank for storage. The cleaning robot will have a long cleaning endurance time and can meet the user's cleaning tasks in various environments.

[0130] In each embodiment of the present application, the cleaning unit may be, but is not limited to, a cleaning roller, a track-type cleaning member, etc. Among them, the cleaning roller may be a cylindrical roller, that is, the surface of the cylindrical roller has cleaning fluff. The track-type cleaning member, also known as a track-type roller, includes two spaced-apart track wheels, and an annular runway-shaped track-type cleaning cloth is sleeved on the two track wheels. The outer surface of the track-type cleaning cloth has cleaning fluff. One side of the track-type cleaning cloth is in contact with the ground. As the track wheels rotate, the track-type cleaning cloth will move relative to the ground, thereby realizing mopping the floor. In addition, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor can be called a roller motor, and the cleaning roller is driven by the roller motor to rotate to mop the floor. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor can be called a pulley motor, and the pulley motor drives the track to rotate to drive the track-type cleaning cloth to move to mop the floor.

[0131] Before introducing the mopping assembly and the driving device provided by the embodiments of the present application, the structure of the cleaning robot will be briefly introduced. In the following embodiments, the cleaning unit is taken as an example of a cleaning roller for illustration.

[0132] See Figure 2 , 3a As shown in FIGS. 3 and 4, the cleaning robot includes, but is not limited to: a body 1, a vacuum cleaning system 3, a mopping system, a traveling system 8, a sensing system 640, a control system, and a side brush assembly 7. Among them, the vacuum cleaning system 3, the mopping system, the traveling system 8, the sensing system 640, and the control system are all provided on the body 1. As shown in FIG. 3, the vacuum cleaning system 3 may include, but is not limited to: a dust box 301, a vacuum fan 302, a roller brush (not shown in the figure), etc. The control system includes a hardware part and also includes a software part. The hardware part is like a main board 2, as Figure 4 shown. The main board assembly mentioned hereinafter can also be considered as the main board 2. The main board 2 may be provided with a processor, a storage medium (such as a memory), etc. The software part is a computer program stored in the storage medium. The processor executes these computer programs to control the various components of the cleaning robot, so that the cleaning robot has corresponding functions, such as map building, path planning, obstacle recognition, cleaning around obstacles, edge cleaning, returning to the base station and completing docking, area recognition, cleaning mode switching (only vacuuming, only mopping, or vacuuming first and then mopping), etc. The traveling system 8 may include drive wheels and drive wheel motors; the drive motors output corresponding power under the control of the main board to drive the drive wheels to rotate, so as to realize the forward, backward, stop, and turning of the cleaning robot. Further, the traveling system 8 may further include a caster wheel, and the caster wheel is a follow-up wheel and may be provided at the front of the body. The side brush assembly 7 may be one or two. As Figure 2In the illustrated example, a side brush assembly 7 is provided on one side (such as the right side) of the front part of the body 1. If there are two side brush assemblies 7, the two side brush assemblies can be respectively arranged on both sides of the front part of the body 1 (such as one on each of the left and right sides).

[0133] The mopping system may include but is not limited to: a clean water tank 5, a sewage tank 9, a mopping assembly 4, etc. As Figure 5 shown, the mopping assembly 4 may include but is not limited to: a roller motor 41, a cleaning roller 42, a liquid supply mechanism 45, and a decontamination mechanism 44. Among them, the roller motor 41 is used to drive the cleaning roller 42 to rotate. The liquid supply mechanism 45 is communicated with the clean water tank 5 through a clean water pipe. The decontamination mechanism 44 is communicated with the sewage tank 9 through a sewage pipe. The cleaning robot further includes a driving device 10, which is arranged on the body 1 and is connected to the mopping assembly. As Figure 6 shown, along the width direction of the body 1, the driving device 10 can drive the mopping assembly 4 to protrude from at least one side of the body 1 relative to the body 1 so that a part of the mopping assembly is exposed. Figure 6 In the reference coordinate system, the X direction is the width direction of the body; the Y direction is the traveling direction of the cleaning robot.

[0134] It should be supplemented and explained here that: from the components included in the mopping assembly 4, it can be seen that the mopping assembly 4 in this embodiment can mop the object to be cleaned (such as the ground), and at the same time can utilize its own liquid supply mechanism 45 and decontamination mechanism 44 to realize the self-cleaning function to maintain a good cleanliness of the cleaning roller.

[0135] From the above content, it can be known that in the solution provided by the embodiment of the present application, the driving device 10 can drive the mopping assembly 4 to move integrally relative to the body to extend a part outside the body. That is to say, in any position of the mopping assembly 4, the liquid supply mechanism 45 can supply cleaning liquid to the cleaning roller, the decontamination mechanism 44 can scrape off the dirt on the cleaning roller 42, and the cleaning roller 42 can clean itself while working. When the cleaning roller 42 extends outwards for edge cleaning, the cleaning roller 42 will not be overly dirty, and it can still have a good cleaning effect after long-term cleaning, and the use experience is better.

[0136] In fact, the mopping and washing component 4 in this embodiment can also be normally in the extended state. For example, when the cleaning robot is started, the main board controls the driving device 10 to drive the mopping and washing component 4 to move relative to the body, so that a part extends from one side of the body 1 and is in the extended state. When the cleaning robot is performing a cleaning task and traversing the area to be cleaned, the mopping and washing component 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the main board controls the driving device 10 to drive the mopping and washing component 4 to retract so as to hide inside the body 1, which is convenient for obstacle avoidance or passing through a narrow space. When the cleaning roller 42 is in the extended state, the outer edge of the cleaning roller 42 can be flush with the widest edge of the body 1, or the outer edge of the cleaning roller 42 can extend beyond the widest edge of the body 1.

[0137] As Figure 5 shown in the example, the mopping and washing component 4 further includes a mopping and washing bracket 43; the mopping and washing bracket 43 has a roller mounting cavity with an opening facing downwards. The roller motor 41 and the cleaning roller 42 are arranged in the roller mounting cavity. The cleaning roller 42 contacts the surface to be cleaned through the opening; the liquid supply mechanism 45 and the dirt removal mechanism 44 are both arranged on the mopping and washing bracket 43; the power end of the driving device 10 is connected to the mopping and washing bracket 43.

[0138] Specifically, the mopping and washing bracket 43 has a first opening facing downwards and a second opening on the side. The lower part of the cleaning roller 42 passes through the first opening to contact the surface to be cleaned. The cleaning roller 42 can be detachably removed through the second opening, and the second opening and the position on the body 1 where the mopping and washing component extends are on the same side. For example, when the user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42 at the position on the body 1 where the mopping and washing component extends, and then can remove the cleaning roller 42 at the second opening. During installation, the cleaning roller 42 can be inserted through the second opening. After the end of the cleaning roller 42 is connected to the roller motor 41, the other end of the cleaning roller 42 is connected at the second opening. That is, the disassembly and assembly direction of the cleaning roller 42 is the direction of the cylinder axis.

[0139] See Figure 3a shown, a water tank 5 is provided on the body 1 of the cleaning robot. As Figure 7b shown, the mopping and washing bracket 43 has a roller bracket 421. The liquid supply mechanism 45 can be arranged on the roller bracket 421. Figure 7b Shows a realizable structure of the liquid supply mechanism 45. The liquid supply mechanism 45 includes a water distributor 452. The water distributor 452 has a main path, a plurality of branch paths and a plurality of liquid supply ports 453 (as Figure 8As shown, multiple liquid supply ports 453 face the cleaning roller 42 and are distributed along the axial line of the cleaning roller 42. The main path of the water distributor 452 is connected to the clean water tank 5 through the first flexible pipe 443. One end of the first flexible pipe 443 is connected to the water supply port 451 of the main path, and the other end is connected to the clean water tank 5. The multiple branch paths communicate with the main path, and the multiple liquid supply ports correspond to the multiple branch paths respectively.

[0140] As Figure 5 shown, the dirt removal mechanism 44 includes a scraping strip 441 and a dirt collection box 442. The end of the scraping strip 441 contacts the cleaning roller 42, and the dirt collection box 442 is located below the scraping strip 441. When the cleaning roller 42 rotates, the dirt scraped off by the scraping strip 441 enters the dirt collection box 442. As Figure 1c shown, the bottom surface of the dirt collection box 442 is higher than the bottom surface of the machine body 1 by m, such as 1 mm to 5 mm.

[0141] The disassembly and assembly direction of the cleaning roller 42 is along the axial line direction. The disassembly direction of the dirt collection box 442 can be different from that of the cleaning roller 42. For example, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42. Since the cleaning roller 42 and the dirt collection box 442 are jointly arranged on the first opening provided downward by the mopping bracket 43 and are relatively close, the inventor found that if the disassembly directions of the two are the same, the positioning devices of the cleaning roller 42 and the dirt collection box 442 may interfere with each other, and when a single component is disassembled, there may be mutual contact, friction, and even the other component is driven to move. Therefore, in this solution, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, ensuring separation in the fixing method and non-interference in disassembly. And with the downward disassembly method of the dirt collection box, the user only needs to lift the tail of the cleaning robot to see the dirt collection box and conveniently take it out downward, eliminating the risk of pouring out the dirt in the dirt collection box. The content related to disassembling and assembling the dirt collection box 442 is described in detail below, and reference can be made to the following content.

[0142] Refer to Figure 3a , a sewage tank 9 is provided on the machine body 1. Correspondingly, as Figure 3b and Figure 9aIn an implementation solution shown, the squeegee 441 has an avoidance hole 446, and a sewage collection pipe 542 is provided at the avoidance hole 446. One end of the sewage collection pipe 542 communicates with the avoidance hole 446, and the other end communicates with the sewage collection box 442. The sewage collection box 442 communicates with the sewage tank 9 through a second flexible pipe 456. The dirt scraped off from the cleaning roller 42 by the squeegee 441 enters the sewage collection pipe 542 through the avoidance hole 446 and enters the sewage collection box 442 through the sewage collection pipe 542. In a specific implementation, the decontamination mechanism 44 may further include a sewage pump (not shown in the drawings), and the sewage pump is used to pump the dirt in the sewage collection box 442 into the sewage tank 9 through the second flexible pipe 456. Among them, the sewage pump can work regularly to pump away the dirt in the sewage collection box 442; it can also be started to work when the dirt volume in the sewage collection box 442 reaches a threshold value to pump away the dirt in the sewage collection box 442, and this embodiment does not limit this. As Figure 3b shown, the second flexible pipe 456 further includes a second end pipe 457. The length of the second end pipe 457 remains unchanged. One end of it is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0143] See Figure 3b 、 Figure 7a 、 Figure 8 and Figure 9a , in an embodiment provided by the present application, the clean water tank 5 communicates with the liquid supply mechanism 45 through a first flexible pipe 443. The cleaning liquid stored in the clean water tank 5 can be transported to the liquid supply mechanism 45 through the first flexible pipe 443, and the liquid supply mechanism 45 then supplies the cleaning liquid to the cleaning roller 42. The sewage tank 9 communicates with the decontamination mechanism 44 through a second flexible pipe 456. The sewage collected by the decontamination mechanism 44 can be transported to the sewage tank 9 through the second flexible pipe 456. When the mopping and washing assembly 4 moves outwards, the first flexible pipe 443 and the second flexible pipe 456 will move together with the mopping and washing assembly 4, and the bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually elongate. The first flexible pipe 443 always keeps the liquid supply mechanism 45 and the clean water tank 5 in communication, and the second flexible pipe 456 always keeps the decontamination mechanism 44 and the sewage tank 9 in communication.

[0144] See Figure 7a and Figure 7b , the liquid supply water inlet 451 is connected to the first flexible pipe 443, and the decontamination water outlet 4410 is connected to the second flexible pipe 456. The liquid supply water inlet 451 and the decontamination water outlet 4410 extend from above the mopping and washing bracket 43 to be connected to the first flexible pipe 443 and the second flexible pipe 456 respectively. See Figure 6 , the first flexible pipe 443 and the second flexible pipe 456 are arranged horizontally (i.e., in the negative X-axis direction in the figure) below the cavity housing 46, and then from Figure 6It comes out upward from the gap 03 in the [description] to connect with the clean water tank 5 and the sewage tank 9 on the body 1. Refer to Figure 6 , a pipeline space for accommodating the first flexible pipeline 443 and the second flexible pipeline 456 is arranged beside the gap 03. Since the mopping component 4 is to move relative to the cavity housing 46 in the positive and negative X-axis directions, the first flexible pipeline 443 and the second flexible pipeline 456 can deform with the movement of the mopping component 4 to provide cleaning liquid for the cleaning roller 42 and can discharge the dirt in the dirt collection box 442 in real time.

[0145] Therefore, the first flexible pipeline 443 and the second flexible pipeline 456 enter the pipeline space from the first opening in a substantially horizontal direction, turn approximately 90° in the pipeline space, and then extend out from the second opening in a direction substantially perpendicular to the ground downward, and are connected to the upper end of the vertically upward L-shaped joint assembly. And with the horizontal extension and retraction of the cleaning roller assembly. When the joint assembly reciprocates in the horizontal direction, it drives the horizontal movement of the first flexible pipeline 443 and the second flexible pipeline 456 in the pipeline space. With such a setting, the first flexible pipeline 443 and the second flexible pipeline 456 only need to bend once in the pipeline space and will not affect the horizontal movement of the flexible pipeline.

[0146] Considering other solutions, such as the solution of entering the pipeline space from above, if the direction of the joint assembly is still the vertical direction, in order to realize the horizontal movement of the mopping component, the flexible pipeline needs to bend twice in the pipeline space. This situation obviously reduces the flow rate of the pipeline and increases the risk of pipeline blockage; and if the direction of the joint assembly is the horizontal direction, in order to realize the horizontal movement of the mopping component, the flexible pipeline accompanies contraction or stretching. When retracting, the flexible pipelines may get entangled with each other, resulting in a reduction in the flow rate of the pipeline and also increasing the risk of pipeline blockage. Therefore, it is set that the first flexible pipeline 443 and the second flexible pipeline 456 enter from the horizontal direction, extend out from the vertical direction below and are connected to the vertical joint assembly, and only need to bend once in the pipeline space. This layout method is optimal.

[0147] To avoid bending, springs can be provided on the outer sides of the first flexible pipeline 443 and the second flexible pipeline 456 (Figure 9 and Figure 38Neither is shown) so that when the mopping and washing assembly 4 moves integrally (lifts and / or extends), there will be no bending blockage to affect sewage discharge and liquid supply. In a specific embodiment, the first flexible pipe 443 and the second flexible pipe 456 are respectively elastic pipes. When the mopping and washing assembly 4 extends outwards, the first flexible pipe 443 and the second flexible pipe 456 will be stretched and extended and / or bent. When the mopping and washing assembly 4 retracts, the first flexible pipe 443 and the second flexible pipe 456 will contract and shorten and / or bend. In another embodiment, the first flexible pipe 443 and the second flexible pipe 456 can also be bendable plastic pipes. When the mopping and washing assembly 4 is in the retracted state, the first flexible pipe 443 and the second flexible pipe 456 are in the bent state, but the first flexible pipe 443 and the second flexible pipe 456 are not in the blocked state. In this bent state, both flexible pipes are unobstructed. When the mopping and washing assembly 4 extends outwards, the bent first flexible pipe 443 and the second flexible pipe 456 move along with the action and gradually extend, so as to ensure that the connection of the pipes is not interrupted.

[0148] The cleaning robot provided by an embodiment of the present application has a mopping and washing assembly 4 that can extend and retract relative to the body 1. When the body 1 is on the ground to perform the mopping task, the cleaning roller 42 in the mopping and washing assembly 4 contacts the ground. Or rather, the cleaning roller 42 not only contacts the ground but also has a certain pressure on the ground, which helps to improve the cleaning effect of the cleaning roller on the ground. As Figure 3a shown, a receiving cavity 101 is provided at the bottom of the body 1, and the mopping and washing assembly 4 is arranged in the receiving cavity 101. The receiving cavity 101 extends along the width direction of the body 1. At least one end of the receiving cavity 101 is open in the width direction of the body 1.

[0149] It should be noted that Figure 1b the direction of the arrow X in

[0150] Figure 3a can be considered as the length direction of the mopping and washing assembly 4, or the width direction of the body 1. Figure 3a In the example shown, from the perspective of Figure 3a , the end of the receiving cavity 101 located on the right side of the body 1 is open. The mopping and washing assembly 4 can extend out through the open opening at the open end to expose a part outside the body 1. Specifically, when implemented, both ends of the receiving cavity 101 are open. In this case, the mopping and washing assembly 4 can extend out from the open opening on the right side of the body 1 or from the open opening on the left side of the body 1. The cleaning robot can control the mopping and washing assembly 4 to extend on the corresponding side according to the actual scene needs.

[0151] The extension of the mopping and washing assembly 4 can be driven by the driving device 10. When the mopping and washing assembly 4 extends outwards, from the top view of the cleaning robot (as Figure 10aAs shown, the outermost edge of the mopping and washing assembly 4 extends outward beyond the edge of the body 1. Therefore, when the body 1 of the cleaning robot maintains a safe distance from the edges of objects such as the wall edge and the edge of furniture, the cleaning roller 42 can achieve edge cleaning of the object. Of course, in an open space, the cleaning roller 42 can also extend out, such as Figure 10a the state shown, to perform the cleaning task. In a specific embodiment, Figure 10a In the figure, the dashed-line frame E represents a schematic diagram of the mopping and washing assembly 4 in the retracted state (initial state), and the solid-line frame F represents a schematic diagram of the mopping and washing assembly 4 extending outward or swinging outward. When the cleaning robot performs edge cleaning along the edge of an object, the edge of the body 1 of the cleaning robot maintains a safe distance from the edge of the object. The distance that the mopping and washing assembly 4 extends outward relative to the edge of the body 1 is D, and the value range of D is [10 mm to 0 mm], for example, 5 mm. Of course, in order to prevent the outer edge of the mopping and washing assembly 4 from directly colliding with or scratching the edge of the object, there is also a safe distance between the outer edge of the mopping and washing assembly 4 and the edge of the object. This safe distance is d, and the value range of d is [10 mm to 1 mm], for example, 2 mm. The moving stroke of the mopping and washing assembly 4 relative to the body 1 can be 40 to 60 mm, such as an extension stroke of 50 mm.

[0152] The driving device 10 can drive the mopping and washing assembly 4 to extend outward from the opening on the side of the accommodating cavity 101. For the retraction of the mopping and washing assembly 4, it can be retracted under the drive of the driving device 10. Or, the retraction of the mopping and washing assembly 4 is not driven by the driving device 10, and it can be retracted under the drive of an elastic member provided between the cavity housing 46 (such as Figure 6 shown) and the mopping and washing assembly 4. For example, when the driving device 10 drives the mopping and washing assembly 4 to extend outward, the elastic member provided between the cavity housing 46 and the mopping and washing assembly 4 deforms (such as compresses). When the mopping and washing assembly 4 needs to retract, the driving device 10 is decoupled from the mopping and washing assembly 4, and the mopping and washing assembly 4 is driven to retract under the restoring force of the elastic member. Of course, this is only an embodiment provided in the present application. In other embodiments, the extending action and the retracting action of the mopping and washing assembly 4 are both driven by the driving device 10. Here, it should be added that: the cavity housing 46 can be understood as a part of the bottom wall of the base of the body 1, and this part of the bottom wall forms the accommodating cavity 101. Or, a cavity housing 46 such as Figure 6 shown is provided on the base of the body 1.

[0153] The above text briefly introduced the structure of the cleaning robot provided by the embodiments of the present application. Next, the structure of the mopping and washing component 4 in the present application, the structure for realizing the telescopic function of the mopping and washing component (i.e., the specific implementation of the driving device), etc. will be described in more detail. The solutions provided by the embodiments of the present application focus on the mopping and washing component 4. The mopping and washing component 4 can extend from at least one side of the body of the cleaning robot relative to the body of the cleaning robot, so that a part of the mopping and washing component 4 is exposed, so that the mopping and washing component 4 can maintain good cleanliness during self-cleaning at any position. The following will first describe in detail the telescopic function of the mopping and washing component 4. There are various implementation structures for the telescopic function of the mopping and washing component 4, which will be introduced one by one below.

[0154] See Figure 6 、 11 to Figure 12 In an embodiment of the present application, a driving device 10 is provided. The driving device 10 includes: a first power source 102 and a first motion execution mechanism 103. The first motion execution mechanism 103 includes a power access end and a power output end. The power access end is connected to the first power source 102. The first motion execution mechanism 103 is used to convert the rotational power output by the power source into linear power, and the power output end is connected to the mopping and washing component 4.

[0155] The first power source 102 may include, but is not limited to: a first motor and a speed reducer. The first motion execution mechanism 103 may include, but is not limited to: a first gear 13 and a first rack 14. Specifically, in the initial position of the first motion execution mechanism 103, such as Figure 13 In the example shown, relative to the first gear 13, most of the teeth of the first rack 14 are located on the left side of the first gear 13. This state can be referred to as the rack being in the origin position. At this time, the mopping and washing component 4 is in the initial state, that is, Figure 11 The state shown. From the perspective of the overall cleaning robot, Figure 11 In this state, the mopping and washing component 4 is hidden inside the body 1. When the mopping and washing component 4 needs to extend, the first motor of the first power source 102 rotates forward (from Figure 13 Looking at the first motor from this angle, it outputs power in the counterclockwise direction) to drive the first rack 14 to move along the first direction ( Figure 13 The direction of the arrow X in). Figure 12 shows a schematic diagram of the mopping and washing component 4 in the extended state. When the mopping and washing component 4 needs to retract, the first motor of the first power source 102 rotates in reverse (from Figure 13 Looking at the first motor from this angle, it outputs power in the clockwise direction) to drive the first rack 14 to move along the opposite direction of the first direction (the second direction).

[0156] See Figure 13, in an embodiment provided by the present application, at least one slide rail 15 is provided on the cavity shell 46 of the accommodation cavity 101 of the body 1. The first motion execution mechanism 103 further includes a sliding plate, and the first rack 14 can be arranged on the sliding plate. The sliding plate is slidably connected to the slide rail 15. The first power source 102 can be arranged at the installation position of the cavity shell 46, the first gear 13 is arranged on the output shaft of the first power source 102, and the first gear 13 meshes with the first rack 14. After the first power source 102 outputs power, the sliding plate 20 can be driven to slide back and forth on the slide rail 15 through the first gear 13 and the first rack 14. The sliding plate is connected to the mopping and washing assembly 4 to drive the mopping and washing assembly 4 to act. In addition, the first rack 14 and the sliding plate 20 can be an integral structure, or the first rack 14 and the sliding plate 20 can be fixedly connected.

[0157] As mentioned above, the sliding plate is arranged on the upper surface of the cavity shell 46. Refer to Figure 16 , a connecting column 241 is provided on the mopping and washing assembly 4, and the mopping and washing assembly 4 is connected to the sliding plate through the connecting column 241. In order to avoid interference between the connecting column 241 and the cavity shell 46, corresponding to the movement range of the connecting column 241, a slot hole 27 is provided on the cavity shell 46 (as Figure 14 shown), and the connecting column 241 extends above the sliding plate 20 through the slot hole 27 and the through hole 23 on the sliding plate 20. The length of the slot hole 27 is greater than or equal to the maximum moving distance of the mopping and washing assembly 4.

[0158] Furthermore, as Figure 20a and 20b shown, the body 1 includes a shell cover 47, and the shell cover 47 can be cooperatively connected above the cavity shell 46. When the shell cover 47 is cooperatively connected to the cavity shell 46, a hollow cavity will be formed, and the driving device 10 (i.e., the first power source 102 and the first motion execution mechanism 103) is located in this hollow cavity. The shell cover 47 can not only provide effective protection for the driving device 10 to prevent garbage and foreign objects from entering and affecting the normal operation of the driving device 10. In addition, a mating groove 471 is provided on the bottom surface of the shell cover 47, and the top end of the second baffle 26 contacts in the mating groove 461. During the sliding process of the sliding plate, the top end of the second baffle 26 can slide in the mating groove 461. The shell cover 47 can play a role in limiting the second baffle 26 and effectively prevent the sliding plate 20 from moving upward or bulging.

[0159] In this embodiment, the mopping and washing assembly 4 can be telescopic relative to the body 1, and the mopping and washing assembly 4 can have a first limit position in the retracted state and a second limit position in the extended state. In addition, the mopping and washing assembly 4 can also stop at the first limit position and the second limit position to work at any position between the first limit position and the second limit position to adapt to a variety of working scenarios. The main board 2 of the cleaning robot can determine the target position of the mopping and washing assembly 4 relative to the body based on the information detected by the sensing system 640; then control the driving device to drive the mopping and washing assembly to move to the target position. The main board 2 can realize the mopping and washing assembly 4 to stop and work at any position by controlling the driving device 10.

[0160] To further improve the control accuracy, multiple detection units are added in this embodiment to detect the position information of the mopping and washing assembly 4 relative to the body 1, so as to facilitate the main board assembly of the cleaning robot to make corresponding controls. As Figure 13 shown in the example, multiple detection units can be arranged on the cavity shell 46. Multiple detection units can be respectively arranged at multiple positions within the stroke range of the mopping and washing assembly 4. For example, the first limit position in the retracted state, the second limit position in the extended state, and at least one intermediate position between the first limit position and the second limit position. The detection unit can include but is not limited to: photoelectric switch, microswitch, Hall element, etc. Multiple detection units can include a first detection unit and a second detection unit. The first detection unit can be located at the first limit position where the mopping and washing assembly 4 is in the retracted state, and the second detection unit can be located at the second limit position where the mopping and washing assembly 4 is in the extended state. Taking the detection unit as a photoelectric switch as an example, as Figure 13 shown, a first photoelectric switch 281 and a second photoelectric switch 282 are provided on the cavity shell 46. These two photoelectric switches are respectively arranged at different positions on the cavity shell 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located at the first limit position where the mopping and washing assembly 4 is in the retracted state and the first limit position where the mopping and washing assembly 4 is in the extended state. The first photoelectric switch 281 and the second photoelectric switch 282 can be on the same side of the first action execution mechanism 103 or on different sides. Of course, at least one photoelectric switch for detecting the intermediate position can also be arranged between the first photoelectric switch 281 and the second photoelectric switch 282.

[0161] Correspondingly, a trigger structure may be provided on the first motion execution mechanism 103. When the first photoelectric switch 281 and the second photoelectric switch 282 can be located on the same side of the first motion execution mechanism 103, only one trigger structure needs to be provided. If the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located on both sides of the first motion execution mechanism 103, two trigger structures need to be provided on the first motion execution mechanism 103. As shown in 14, the first trigger structure 291 and the second trigger structure 292. More specifically, the first trigger structure 291 and the second trigger structure 292 can be provided on the sliding plate in the first motion execution mechanism 103. When the mopping assembly 4 is in the first extreme position in the retracted state, the first trigger structure 291 triggers the first photoelectric switch 281. When the mopping assembly 4 moves along Figure 23 the arrow X direction in the figure to the second extreme position in the extended state, the second trigger structure 292 can trigger the second photoelectric switch 282, indicating that the mopping assembly 4 extends out to the farthest distance.

[0162] Although the second trigger structure 292 and the second photoelectric switch 282 can detect whether the mopping assembly 4 reaches the second extreme position in the extended state, the main board assembly can control the first power source 102 to stop working based on the trigger signal of the second photoelectric switch 282, so that the mopping assembly 4 stops at the second extreme position. However, for the sake of safety, a limiting structure can also be provided on the cavity shell 46. When the sliding plate 20 slides to the second extreme position, the first motion execution mechanism 103 abuts against the limiting structure (more specifically, the sliding plate of the first motion execution mechanism 103 abuts against the limiting structure).

[0163] As mentioned above, when the mopping assembly 4 extends outwards, it has multiple gears. At different gears, the position of the mopping assembly 4 relative to the body is different. Of course, it can also be said that at different gears, the distance that the mopping assembly extends outwards is different. Refer to Figure 13 、 Figure 14 and Figure 21 . In order to achieve precise gear adjustment, the solution provided in this embodiment may further include a fourth detection unit and a fourth trigger structure. Among them, the fourth detection unit can be a fourth photoelectric switch, a fourth microswitch or a fourth Hall element. Taking the fourth detection unit as the fourth photoelectric switch as an example and the fourth trigger structure as a grating structure as an example. A fourth photoelectric switch 284 is also provided on the cavity shell 46, and a grating structure 294 is provided on the first motion execution mechanism 103. The length of the grating structure 294 is equal to or less than the maximum stroke of the mopping assembly 4. When performing gear adjustment, the fourth photoelectric switch 284 can accurately detect the counting scale on the grating structure 294, so as to determine the gear at which the mopping assembly 4 extends outwards.

[0164] The implementation process of the driving device 10 will be described in detail below in combination with the usage scenario.

[0165] Scenario 1: When the cleaning robot is performing a cleaning task, the mopping component extends. In special situations such as encountering an obstacle, the mopping component retracts.

[0166] When the cleaning robot is not performing a task, it docks at the base station for replenishment (charging and / or filling with clean water), sewage discharge (such as discharging the garbage in the dust box and / or the sewage in the sewage tank), self-cleaning (cleaning the cleaning roller), etc. The user can start the cleaning robot to perform a cleaning task by touching the controls on the base station, or operating the interactive device on the base station, or through the smart device APP, or the controls on the cleaning robot, etc. When the cleaning robot is inside the base station, the mopping component is in a retracted state. When the cleaning robot drives out of the base station and detects that it has driven out of the base station, the main board component of the cleaning robot controls the driving device 10 to drive the mopping component to extend to a set position. This set position can be the second limit position in the extended state mentioned above, or a position between the first limit position in the retracted state and the second position in the extended state. This embodiment does not make a specific limitation on this. Then, the cleaning robot maintains the posture with the mopping component extended at the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0167] During the cleaning process of the cleaning robot, when an obstacle is detected by the sensing system, the main board component controls the driving device 10 to drive the mopping component to retract a certain distance. The "certain distance" retracted here can be calculated by the main board component based on the information of the obstacle sensed by the sensing system; or it is the distance for the mopping component to retract from the current extended state to the first limit position. After bypassing the obstacle, the main board component then controls the driving device to extend the mopping component to continue the cleaning task.

[0168] It should be supplemented here that special situations may include but are not limited to: the user instructs the mopping component to retract, passing through a narrow passage, etc.

[0169] Scenario 2: When the cleaning robot is performing a cleaning task, the mopping component is in a retracted state. When edge cleaning is required, the mopping component extends.

[0170] The cleaning robot plans a cleaning path according to the map of the area to be cleaned. Assume the cleaning path is to clean the open area first and then perform edge cleaning. Such as cleaning along the wall, the edge of the cabinet, etc. The mopping component of the cleaning robot is in a retracted state (such as the first limit position), and the open area is cleaned according to the zigzag travel path. After the open area is cleaned, the main board 2 of the cleaning robot controls the driving device to control the mopping component to extend (it can extend a set length or extend to the second limit position), and perform edge cleaning according to the planned edge path. After the edge cleaning is completed, the cleaning robot retracts the mopping component (such as the first position) to move to the next area to be cleaned, or return to the base station for replenishment, sewage discharge or self-cleaning, etc.

[0171] SeeFigure 16 As shown, the mopping and washing assembly 4 is floatingly connected to the first motion execution mechanism 103. For example, assume that Figure 16 in the state shown, the mopping and washing assembly 4 is in contact with the ground. Since the mopping and washing assembly 4 is floatingly arranged, when the mopping and washing assembly travels on an uneven ground, it can float up and down according to the change of the ground. The first motion execution mechanism 103 is connected to the mopping and washing assembly 4 through the connection assembly 24. As Figure 16 shown, the connection assembly 24 may include: a connection column 241 and a slider 242. Above the mopping bracket 43 of the mopping and washing assembly 4, there is a connection column 241. The first motion execution mechanism 103 includes a slider 242 as Figure 18 shown. There is a mounting hole on the slider 242, and a screw enters the hole of the connection column 241 through the mounting hole to connect the slider 242 with the connection column 241. In Figure 16 the state shown, there is a gap between the upper part of the mopping and washing assembly 4 and the cavity shell 46, and this gap provides space for the mopping and washing assembly 4 to float up and down.

[0172] In the above text, it is only mentioned that the driving device 10 can drive the mopping and washing assembly 4 to move in the width direction of the body 1. In fact, in the technical solution provided in this embodiment, the mopping and washing assembly 4 can not only move in the width direction of the body, but also move up and down. The mopping and washing assembly moving in the width direction of the body and moving up and down can be respectively driven by two driving devices, or can be realized by only one driving device. That is, the driving device 10 can not only drive the mopping and washing assembly 4 to move in the width direction of the body 1 in the accommodating cavity 101, but also move up and down.

[0173] The mopping and washing assembly 4 is floatingly connected to the cavity shell 46. Within a certain range, the mopping and washing assembly 4 can move up and down in the accommodating cavity 101 in the vertical direction. The mopping and washing assembly 4 makes the cleaning roller 42 press on the ground by its own gravity. When the cleaning roller on the mopping and washing assembly 4 encounters an uneven ground or a raised obstacle, the mopping and washing assembly 4 can float up and down relative to the body 1 of the cleaning robot with the undulation of the ground. Whether the ground is flat or not, the mopping and washing assembly 4 always presses on the ground by its own gravity, and the acting force on the ground is relatively small and stable, thereby effectively avoiding the sudden increase in the acting force of the mopping and washing assembly 4 on the ground due to the uneven terrain. For some soft-wood floorings, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0174] It can be considered that at any position in the width direction of the body 1, the mopping and washing assembly 4 floats relative to the cavity shell 46. The mopping and washing assembly 4 floating relative to the cavity shell means that the mopping and washing assembly 4 floats relative to the body.

[0175] Refer to Figures 13 to 22, the driving device 10 can move in multiple directions to drive the mopping and washing assembly 4 to lift, lower, extend, and retract relative to the body 1. The driving device 10 includes a first power source 102 and a first motion execution mechanism 103. Specifically, when the first power source 102 outputs power in a first direction, it can drive the mopping and washing assembly 4 to move outward relative to the body 1 along the Figure 16 X1 direction in Figure 16 , and can also drive the mopping and washing assembly 4 to lift relative to the body 1 along the Figure 16 Z2 direction in Figure 16 . When the first power source 102 outputs power in a second direction, it can drive the mopping and washing assembly 4 to retract relative to the body 1 along the Figure 16 X2 direction in Figure 16 , and can also drive the mopping and washing assembly 4 to lower relative to the body 1 along the Figure 16 Z1 direction in Figure 16 . The first direction and the second direction are two different directions. For example, one of the first direction and the second direction can be the clockwise direction, and the other is the counterclockwise direction.

[0176] The above content can also be understood as that the first motion execution mechanism 103 moves along the Figure 16 X1 direction in Figure 16 , driving the mopping and washing assembly 4 to extend; the first motion execution mechanism 103 moves along the Figure 16 X2 direction in Figure 16 , driving the mopping and washing assembly 4 to retract. When the mopping and washing assembly 4 is at the first extreme position and the second extreme position, if the mopping and washing assembly 4 is at a low position, when the motion execution mechanism 103 moves along the X2 direction, it can drive the mopping and washing assembly 4 to lift; if the mopping and washing assembly 4 is at a high position, when the motion execution mechanism 103 moves along the X1 direction, it can drive the mopping and washing assembly 4 to lower.

[0177] It should be noted that Figure 16 the directions of the arrows X1 and X2 in Figure 16 can be regarded as the length direction of the mopping and washing assembly, or the width direction of the body 1; Figure 16 the directions of the arrows Z1 and Z2 in Figure 16 can be regarded as the height direction of the mopping and washing assembly, or the height direction of the body 1.

[0178] Figure 6 is a schematic diagram of the mopping and washing assembly 4 in the first extreme position of the retracted state and in the lowered state. Figure 11 is a schematic diagram of the mopping and washing assembly 4 in the first extreme position of the retracted state and in the lifted state. Figure 12 is a schematic diagram of the mopping and washing assembly 4 in the second extreme position of the extended state and in the lowered state. The following introduces the driving device 10 provided by the present application in detail through more embodiments.

[0179] During the lifting or lowering of the mopping component 4, the dirt removal mechanism 44 and the liquid supply mechanism 45 can be lifted or lowered simultaneously with the cleaning roller 42 and the roller motor 41. Of course, it is also possible that the dirt removal mechanism 44 and the liquid supply mechanism 45 remain in fixed positions, and the dirt removal mechanism 44 and the liquid supply mechanism 45 only come into contact with the cleaning roller when the cleaning roller is in the lowered state. When the cleaning roller is in the lifted state, the dirt removal mechanism 44 and the liquid supply mechanism 45 do not contact the cleaning roller. For the extension or retraction of the mopping component 4, to ensure that the cleaning roller maintains self-cleaning ability and a certain level of cleanliness, the dirt removal mechanism 44 and the liquid supply mechanism 45 will extend or retract simultaneously with the mopping component 4. Additionally, to adapt to different cleaning environments, when the mopping component 4 extends outward, it has multiple gears, and at different gears, the distance that the mopping component 4 extends outward relative to the body 1 is different.

[0180] Combined with Figure 14 and Figure 15 , the sliding plate includes a main body portion 21 and at least one lifting portion 22. The first rack 14 is disposed on the main body portion 21, and the lifting portion 22 is disposed at the end of the main body portion 21. When the sliding plate has two lifting portions 22, the two lifting portions 22 are respectively disposed at both ends of the main body portion 21. Specifically, the lifting portion 22 has an inclined slope, and the slope extends obliquely upward from the surface of the main body portion 21, as Figure 15 shown. Additionally, a through hole 23 is provided at the middle position of the lifting portion 22. The connecting column 241 on the mopping component 4 can pass through the through hole 23, extend from below the sliding plate to above the sliding plate, and the connecting column 241 can contact the sliding plate. When the first power source 102 outputs rotational power and the sliding plate in the motion execution mechanism 103 slides, a force can be applied to the connecting column 241, thereby driving the mopping component 4 to perform actions such as lifting, lowering, extending, and retracting.

[0181] Refer to Figure 13 and Figure 16 , taking the connecting component 24 as an example of the connecting column 241 and the slider 242, one end of the connecting column 241 is connected to the mopping component 4, and the other end extends from below the sliding plate through the through hole 23 to above the sliding plate. The slider 242 is detachably connected to the connecting column 241 through a fastener (such as a screw). The slider 242 contacts the sliding plate, and the size of the slider 242 is larger than the size of the through hole 23, thereby effectively preventing the connecting component 24 from separating from the sliding plate. Connecting the sliding plate to the connecting column 241 in a detachable manner facilitates the installation of the mopping component 4.

[0182] Refer to Figures 13 to 15 , for each lifting portion 22, a first baffle 25 is provided correspondingly. The area A between the first baffle 25 and the lowest point of the lifting portion 22 is used to place the slider 242. As Figure 13As shown, when the sliding plate slides from the first limit position of the retracted state in the direction of arrow X, the first baffle 25 will contact the side wall of the slider 242, and the sliding plate can push the slider 242 to slide in the direction of arrow X, thereby driving the mopping assembly 4 to extend outward. Figure 19 A clearance groove 251 is provided on the surface of the first baffle plate 25 that abuts against the slider 242. The cross-sectional shape of the first baffle plate 25 is "L"-shaped. The clearance groove 251 can be used to store grease to improve the smoothness of the up and down floating action of the connecting column 241.

[0183] like Figure 16 As shown, when the sliding plate slides from the first limit position of the retracted state to the direction of arrow X2, one side of the mop-washing assembly 4 in the retracted state abuts against the side wall shell 411 of the cavity shell 46, limiting the further movement of the mop-washing assembly 4 relative to the cavity shell 46 in the direction of arrow X2. However, driven by the first power source 102, the sliding plate will continue to move relative to the cavity shell 46 in the direction of arrow X2, and the side wall of the other side of the slider 242 will abut against the inclined surface of the lifting part 22, and as the sliding plate 20 moves, the slider 242 climbs along the inclined surface, thereby driving the mop-washing assembly 4 to lift upward. Figure 15 In order to prevent the slider 242 from climbing over the inclined plane, there is a second baffle 26 at the top of the inclined plane; when the slider 242 climbs to the top of the inclined plane, the slider 242 will abut against the second baffle 26, and the mop-washing assembly 4 is also at the highest position of the lifting. Further, at this time, if the sliding plate 20 slides in the opposite direction of the arrow X2, the slider 242 can slide down along the inclined plane, and the mop-washing assembly 4 is in a descending state. The slider 242 slides down to the lowest point of the lifting part 22, and the mop-washing assembly 4 also descends to the low position.

[0184] Furthermore, in some cases, the mopping assembly 4 needs to remain in the lifted state for a long time. To facilitate the slider 242 to hover at the top of the lifting part 22, a horizontal hovering surface 220 is provided at the top of the lifting part 22. Figure 23 When the slider 242 climbs up along the inclined plane to the top of the lifting portion 22, the slider 242 can stably stay on the hovering surface 220, so that the mopping and washing assembly 4 remains in a lifted state.

[0185] In one embodiment provided in this application, Figure 15 and 17 As shown, the inclined surface of the lifting part 22 includes a first slope surface 221 and a second slope surface 222, and the inclination angle of the first slope surface 221 is greater than the inclination angle of the second slope surface 222. When the slider 242 climbs along the inclined surface of the lifting part 22, it first climbs up the first slope surface 221 with a larger inclination angle, and then climbs up the second slope surface 222. This technical solution will facilitate the rapid lifting of the mopping and washing assembly 4.

[0186] Further, in order to avoid excessive sliding resistance of the slider 242 on the inclined surface, refer to Figure 17 , a cylindrical sliding member 2421 is provided on the side of the slider 242 that abuts against the inclined surface of the lifting part 22. Of course, the cylindrical sliding member 2421 can also roll when sliding on the inclined surface. For another example, refer to Figure 18 , the side of the slider 242 that abuts against the inclined surface of the lifting part 22 is an arc structure 2422. That is, the part of the slider 242 in contact with the lifting part 22 is the arc structure 2422.

[0187] When the sliding plate slides from the second extreme limit position in the extended state of the mopping assembly 4 to the first extreme position in the retracted state, the slider 242 can have various states. For example, the resistance to retraction of the mopping assembly 4 is small. As the sliding plate slides, the slider 242 does not have enough force to climb the inclined surface. At this time, the slider 242 will abut against the bottom of the inclined surface, and then the sliding plate 20 pushes the mopping assembly 4 to retract slowly. It can be understood that in this state, the retraction of the mopping assembly 4 does not have a lifting action, and the mopping assembly 4 always contacts the ground when retracting. For another example, the resistance to retraction of the mopping assembly 4 is large. As the sliding plate 20 slides, the slider 242 can climb the inclined surface. At this time, the mopping assembly 4 will be lifted upward and at the same time complete the retraction action as the sliding plate 20 slides. It can be understood that in this state, when the mopping assembly 4 retracts, it first performs a lifting action and then retracts to the first extreme position along with the sliding plate 20.

[0188] Refer to Figure 22 , in an embodiment provided in the present application, a first connection end 211 is provided on the sliding plate, and a second connection end 2423 is provided on the slider 242. The first connection end 211 and the second connection end 2423 can be used to arrange an elastic member. Specifically, one end of the elastic member is connected to the first connection end 211, and the other end of the elastic member is connected to the second connection end 2423. When the slider 242 climbs upward along the inclined surface of the lifting part 22, the elastic member will be stretched. The elastic force of the elastic member can be used to assist the slider 242 to get off from the top of the lifting part 22. In addition, during the retraction process of the mopping assembly 4, the pulling force provided by the elastic member can also keep the slider 242 in contact with the first baffle 25 all the time, so as to avoid the slider 242 climbing the inclined surface, and finally the mopping assembly 4 will not be easily lifted when retracting.

[0189] Furthermore, as Figure 13 shown, in the solution provided in this embodiment, the detection unit provided on the cavity shell 46 may further include at least one detection unit for detecting the lifting state of the mopping assembly. For example, Figure 13In the example shown, a third detection unit, such as the third optoelectronic switch 283, is provided on the cavity housing 46; a third triggering structure 293 is provided on the sliding plate of the first action execution mechanism 103. After the mopping and washing assembly 4 is lifted, the third triggering structure 293 triggers the third optoelectronic switch 283, and the main board 2 can then learn that the mopping and washing assembly has been lifted, and can control the power source, the liquid supply mechanism, and the dirt removal mechanism to stop working.

[0190] The first power source 102 drives the first gear 13 to rotate forward (such as clockwise or counterclockwise), and the sliding plate moves to the right. During the movement of the sliding plate, it will contact the connection assembly 24 on the mopping and washing assembly 4, and drive the mopping and washing assembly 4 to extend out through the connection assembly 24. When the second optoelectronic switch 282 is triggered, the first power source 102 stops rotating. At this time, the mopping and washing assembly is in a fully extended state and can perform edge cleaning at the edge of the object. After the mopping and washing assembly 4 completes the edge cleaning, the power source drives the first gear 13 to rotate in the reverse direction, the sliding plate moves to the left, and during the movement, it drives the mopping and washing assembly 4 to retract into the accommodation cavity 101; when the first optoelectronic switch 281 at the initial position (i.e., the first limit position) is triggered, the first power source 102 stops rotating, and at this time, the mopping and washing assembly 4 is in a fully retracted state. Next, the cleaning robot needs to clean the carpet. To avoid secondary pollution, the mopping and washing assembly needs to be switched to the lifted state. Subsequently, the first power source 102 rotates in the reverse direction, and the sliding plate moves to the left. The lifting part 22 on the sliding plate gradually jacks up the connection assembly 24. When the third optoelectronic switch 283 is triggered, the first power source 102 stops rotating. At this time, the mopping and washing assembly 4 is switched to the lifted state, and then the carpet can be cleaned. After the carpet cleaning is completed, the first power source 102 rotates forward, the sliding plate moves to the right, and the mopping and washing assembly descends and resets to the initial state.

[0191] In the technical solution provided by the present application, the driving device 10 has a simple structure. Only one power source is required to drive the mopping and washing assembly 4 to perform four actions of extending, retracting, lifting, and descending, meeting the use of the mopping and washing assembly 4 under various working conditions. The power source has low performance requirements, simple control logic, and lower production costs.

[0192] In the embodiment mentioned above, the lifting process of the mopping and washing assembly 4 is that the sliding plate slides, and then the lifting part 22 on the sliding plate drives the slider 242 on the mopping and washing assembly 4 to move upward, so that the mopping and washing assembly 4 is lifted upward. The lifting process of the mopping and washing assembly 4 can be understood as the mopping and washing assembly 4 being lifted as a whole.

[0193] After the mopping and washing assembly 4 is lifted, the cleaning roller 42 can stop rotating, and the liquid supply mechanism 45 and the dirt removal mechanism 44 can both stop working.

[0194] The cleaning robot can lift the mopping and washing assembly 4 under the following circumstances, such as:

[0195] When the cleaning robot moves onto the carpet, it raises the mopping component 4;

[0196] When it needs to cross an obstacle, the mopping component 4 can be raised;

[0197] The user instructs to raise the mopping component 4;

[0198] When the cleaning robot works in the sweeping mode, it raises the mopping component 4; and so on.

[0199] In another embodiment provided by the present application, the raising process of the mopping component 4 can also be that one end of the mopping component 4 rotates around an axis, so that the height of the cleaning roller 42 at the other end of the mopping component 4 relative to the ground is raised. Refer to Figure 24 As shown, this figure schematically shows a structural diagram of the mopping component 4 being raised relative to the ground. Figure 24 In it, the mopping component 4 includes a cleaning roller 42 and a mopping bracket 43. The mopping bracket 43 is slidably connected to the rotating bracket 31. The rotating bracket 31 is rotatably connected to the base through a rotating shaft 4131. The base can also be considered as the cavity shell 46 or the body 1 of the cleaning robot. A connecting component 24 is provided on the mopping bracket 43. The connecting component 24 passes through the rotating bracket 31 through an avoidance groove on the rotating bracket 31 and extends to the outside of the rotating bracket 31. A sliding plate 20 is also provided on the base. The sliding plate 20 can slide relative to the base. The sliding plate 20 has a lifting portion 22. The sliding plate 20 can slide left or right relative to the base, so as to drive the mopping component 4 to be raised or extended out respectively. Specifically, when the sliding plate 20 moves to the right from the initial position relative to the base, the connecting component 24 contacts the side wall of the sliding plate 20, and the sliding plate 20 can drive the connecting component 24 to move to the right at the same time, as in Figure 32 the direction of arrow X in it. At this time, the mopping component 4 will extend to the right relative to the rotating bracket 31, and it can be considered that the mopping component 4 switches from the retracted state to the extended state. When the sliding plate 20 moves to the left from the initial position relative to the base, the connecting component 24 contacts the inclined surface of the lifting portion 22, and as the sliding plate 20 moves to the left, the connecting component 24 climbs up the inclined surface of the lifting portion 22, and the connecting piece will drive the rotating bracket 31 and the mopping component 4 to rotate upward along Figure 32 the direction of arrow a in it. When the mopping component 4 needs to be reset to the initial position, only need to slide the sliding plate 20 back to the initial position in the reverse direction, and the mopping component 4 can be reset from the lifted state or the extended state to the initial state. Among them, the initial state can be: the mopping component is in the retracted state and at a low position.

[0200] Based on the above principle of lifting and telescoping of the mopping component 4, the following will combine specific embodiments to elaborate in detail on another driving device 10 provided by the present application.

[0201] Refer toFigure 24 , Figure 25 and Figure 26 , in an embodiment of the present application, a driving device 10 is provided. The driving device 10 includes a first power source 102 and a first action execution mechanism 103. The first action execution mechanism 103 is disposed on the cavity shell 46. The first action execution mechanism 103 is movably connected to the cavity shell 46. The mopping and washing assembly 4 is floatingly connected to the first action execution mechanism 103 through the connecting assembly 24. When the first power source 102 drives the first action execution mechanism 103 to act in different directions, the first action execution mechanism 103 can drive the mopping and washing assembly 4 through the connecting assembly 24 to realize actions such as lifting, lowering, extending or retracting.

[0202] In a specific embodiment, referring to Figure 25 and Figure 26 , the first action execution mechanism 103 includes a sliding plate 20. The sliding plate 20 is slidably connected to the cavity shell 46. The power output by the first power source 102 can drive the sliding plate 20 to move relative to the cavity shell 46 along the Figure 25 directions of arrow X1 and arrow X2. The cavity shell 46 is fixedly connected to the body 1, and the cavity shell 46 has a receiving cavity 101. The mopping and washing assembly 4 and the rotating bracket 31 are located in the receiving cavity 101. The mopping bracket 43 is rotatably connected to the cavity shell 46 or the body 1 through a rotating shaft 4131.

[0203] Referring to Figures 27a to 27c , schematic diagrams showing the mopping and washing assembly 4 in an initial state are shown from different perspectives. Among them, the initial state means that the mopping and washing assembly 4 is in a retracted state (such as the first limit position of the retracted state), and the cleaning roller 42 is in contact with the ground. Referring to 28a to 28c, schematic diagrams showing the mopping and washing assembly 4 in a lifted state are shown from different perspectives. The mopping and washing assembly 4 is in a retracted state (such as the first position of the retracted state). In the lifted state, the distance between the lowest point of the cleaning roller 42 of the mopping and washing assembly 4 and the ground is H1. Referring to 29a to 29c, schematic diagrams showing the mopping and washing assembly 4 in an extended state (such as the second limit position of the extended state) are shown from different perspectives. In the extended state, the distance that the outermost edge of the mopping and washing assembly 4 extends relative to the body 1 is H2.

[0204] When the mopping and washing assembly 4 needs to extend, the first power source 102 drives the sliding plate 20 to move from the initial position along the Figure 25 direction of arrow X1. The rotating bracket 31 does not move, and the connecting assembly 24 in contact with the sliding plate 20 will drive the roller bracket 421 to extend outward relative to the rotating bracket 31 along the direction of arrow X1. When the sliding plate 20 moves to the limit position in the X1 direction, the roller bracket 421 will extend the maximum distance outward (such as Figure 29b shown). When the mopping and washing assembly 4 needs to retract, the first power source 102 drives the sliding plate 20 along the Figure 25Move in the direction of arrow X2. When it moves to the initial position, the roller bracket 421 is fully retracted.

[0205] Among them, the mopping bracket 43 may include the roller bracket 421.

[0206] See Figures 25 to 28c , when the mopping assembly 4 needs to be lifted, the first power source 102 drives the sliding plate 20 to move from the initial position along the Figure 25 direction of arrow X2 in At this time, the rotating bracket 31 will be driven by the sliding plate 20 to rotate and swing upward around the rotation axis 4131. The position of the mopping bracket 43 remains unchanged with the rotating bracket 31. The mopping bracket 43 will rotate and swing upward together with the rotating bracket 31, thereby realizing the rotational lifting of the mopping assembly 4. When the sliding plate 20 moves to the extreme position in the X2 direction, the lifting height of the mopping assembly 4 is the maximum, and the height of the lowest point of the cleaning roller 42 from the ground is also the maximum (as shown in Figure 28c ). When the mopping assembly 4 needs to be lowered, the first power source 102 drives the sliding plate 20 to move along the Figure 25 direction of arrow X1 in . When it moves to the initial position, the mopping bracket 43 is lowered and returns to the initial state (as shown in Figure 27a ).

[0207] See Figure 25 and Figure 26 , in an embodiment provided by the present application, the first power source 102 and the first action execution mechanism 103 (such as the sliding plate 20) can be arranged inside the accommodation cavity 101, or both can be arranged outside the accommodation cavity 101, or one can be arranged inside the accommodation cavity 101 and the other can be arranged outside the accommodation cavity 101.

[0208] The following will take the first power source 102 being arranged outside the accommodation cavity 101 and the sliding plate 20 being arranged inside the accommodation cavity 101 for detailed introduction. It should be noted that the action execution mechanisms in the above embodiments include but are not limited to: lead screw motor devices, push rod motor devices, linear motor devices, hydraulic devices, cylinder piston devices, gear rack devices, etc.

[0209] In a specific embodiment, see Figure 25 and Figure 26 , taking the power source as a lead screw motor device as an example, the lead screw motor device includes: a second motor 12, a lead screw 17, and a nut slider 18. The lead screw 17 is connected to the output end of the second motor 12. When the second motor 12 rotates, it can drive the lead screw 17 to rotate. The nut slider 18 is connected to the lead screw 17 in a mating manner. When the lead screw 17 rotates, the nut slider 18 can slide horizontally along the axis of the lead screw 17.

[0210] As shown in Figure 25 , the lead screw 17 is arranged along the length direction of the mopping assembly 4 (for example Figure 25in the directions of the arrows X1 and X2, when the second motor 12 outputs power in one direction, the lead screw 17 can drive the nut slider 18 to move leftward ( Figure 25 in the direction of the arrow X2), when the second motor 12 outputs power in the other direction, the lead screw 17 can drive the nut slider 18 to slide rightward ( Figure 25 in the direction of the arrow X1). Among them, the second motor 12 can output clockwise power and counterclockwise power, and one of the powers in the above two directions can be clockwise power and the other can be counterclockwise power.

[0211] Further, referring to Figure 25 and Figure 31 , in an embodiment provided by the present application, a driving portion 214 is provided on the sliding plate 20. The driving portion 214 extends outward from the plate surface of the sliding plate 20, and the end of the driving portion 214 has a concave structure that cooperates with the lead screw 17. An activity opening 415 is also provided on the cavity shell 46. The driving portion 214 on the sliding plate 20 can pass through the activity opening 415 to be connected to the nut slider 18. When the second motor 12 drives the lead screw 17 to rotate, the moving nut slider 18 can drive the driving portion 214 to move together. In order to prevent the driving portion 214 from interfering with the cavity shell 46 during the movement, the length of the activity opening 415 is greater than or equal to the maximum distance that the mopping assembly 4 can extend.

[0212] Referring to Figure 25 and Figure 26 , the cavity shell 46 is provided on the body 1, and it can be fixedly connected to the body 1, or the cavity shell 46 and the body 1 are of an integral structure. The rotating bracket 31 is rotationally connected to the body 1 or the cavity shell 46 through a rotating shaft 4131. A track groove 32 is provided on the rotating bracket 31, and a sliding portion 33 is provided on the mopping bracket 43. The sliding portion 33 is cooperatively connected to the track groove 32. The mopping bracket 43 has an installation cavity with an opening facing downward, and the cleaning roller 42 is provided in the installation cavity. A plurality of sliding portions 33 are provided on the top of the mopping bracket 43, and the sliding portions 33 can be cooperatively connected to the sliding grooves. Specifically, the sliding portion 33 is a slider. A ridge rib is provided on the top end of the mopping bracket 43, and a plurality of sliders are symmetrically distributed on both sides of the ridge rib. The plurality of sliders can be clamped in the track groove 32, so that the mopping bracket 43 is suspended and installed below the rotating bracket 31.

[0213] Referring to Figure 26 , Figure 30 and Figure 32 , in a specific embodiment, a track groove 32 is provided on the inner top surface of the rotating bracket 31. The track groove 32 has a reduced opening facing downward, and the sliding portion 33 can be connected to the track groove 32 through the reduced opening. At least one rotating connection arm 311 is further provided on the outer wall surface at the rear side of the rotating bracket 31. The rotating connection arm 311 is connected to the cavity shell 46 or the body 1 through a rotating shaft 4131.

[0214] See Figure 26 and Figure 30 , at least one connecting component 24 is provided on the mopping bracket 43. Specifically, the connecting component 24 is a connecting rod 243, and the connecting rod 243 is provided on the front side wall of the mopping bracket 43. Taking the example that two connecting rods 243 are provided on the front side wall of the mopping bracket 43 at intervals, along Figure 26 the direction of arrow M in

[0215] The driving device provided by the embodiment of the present application can not only drive the mopping component 4 to extend and retract relative to the body, but also drive the mopping component 4 to lift relative to the body. Specifically, see Figure 26 and Figure 31 , the sliding plate 20 has at least one hollow structure to form a lifting part 22 on the sliding plate 20. The lifting part 22 has an inclined slope, and a limiting part 212 is provided at the top of the slope. The limiting part 212 is arranged in the horizontal direction. The sliding plate 20 also includes a connecting buckle 213, and the connecting buckle 213 is used to connect to the cavity shell 46. Specifically, referring to Figure 33 together, a through slot 414 is provided on the cavity shell 46, and the length of the slot 414 is equal to or greater than the maximum distance that the mopping component 4 can extend. The connecting buckle 213 on the sliding plate 20 can be cooperatively connected in the slot 414. When the power source drives the sliding plate 20 to slide, the connecting buckle 213 will slide in the slot 414.

[0216] Furthermore, see Figure 33 , in an embodiment provided by the present application, a guiding slot 416 is further provided on the cavity shell 46. The guiding slot 416 includes a first slot 4161, a second slot 4162 and a third slot 4163. Among them, the setting direction of the second slot 4162 is the same as the length direction of the cavity shell 46 (such as Figure 33 the direction of arrow X in

[0217] When the sliding plate 20 drives the connecting rod 243 to move, one end of the connecting rod 243 slides in the guiding slot 416. The sliding slot can not only guide the sliding of the connecting rod 243, but also enable the mopping component 4 and the cavity shell 46 to be floatingly connected in multiple directions. See Figure 27b, when the mopping and washing assembly 4 is in the initial state (such as the first limit position in the retracted state, and the cleaning roller 42 is in contact with the ground), the connecting rod 243 is located at the leftmost end of the second groove 4162 and also at the lowermost end of the first groove 4161. As the power source drives the sliding plate 20 to move leftward, since the connecting rod 243 cannot move leftward any further, the connecting rod 243 can only climb upward along the inclined surface of the lifting portion 22. At this time, the connecting rod 243 will move upward along the first groove 4161 and finally move to the top of the first groove 4161 (as Figure 28b shown), and at this time the mopping and washing assembly 4 is in the lifted state. In the initial state, when the power source drives the sliding plate 20 to move rightward, the connecting rod 243 will move from the leftmost end to the rightmost end along the second groove 4162. As Figure 29b shown, the connecting rod 243 is also located at the lowermost end of the third groove 4163. At this time, the mopping and washing assembly 4 is in the extended state, and the distance that the mopping and washing assembly 4 extends outward relative to the cavity housing 46 is H2. Usually, the length of the second groove 4162 is equal to the maximum distance that the mopping and washing assembly 4 can extend.

[0218] The settings of the first groove 4161 and the third groove 4163 can also enable the mopping and washing assembly 4 to be floatingly connected to the cavity housing 46, so as to adapt to the ground adaptively. Specifically, if the mopping and washing assembly 4 performs cleaning on an uneven ground or encounters a raised obstacle. Since the distance between the cavity housing 46 and the ground remains unchanged or changes little, if the mopping and washing assembly 4 is rigidly connected to the cavity housing 46, then the mopping and washing assembly 4 will be severely impacted and it cannot adjust its height to adapt to the change of the ground. In the technical solution of the present application, referring to Figure 27b , in the initial state of the mopping and washing assembly 4, the connecting rod 243 is also located at the bottom end of the first groove 4161. At this time, if the mopping and washing assembly 4 is impacted, then the mopping and washing assembly 4 will float upward under the action of the ground, so as to avoid excessive force between the mopping and washing assembly 4 and the ground. In addition, when the mopping and washing assembly 4 is in the extended state, the connecting rod 243 is located at the bottom end of the third groove 4163. Similarly, when the extended mopping and washing assembly 4 is impacted by the ground, the connecting rod 243 will move upward along the third groove 4163 from bottom to top to achieve floating upward relative to the ground, and can also avoid excessive force between the mopping and washing assembly 4 and the ground.

[0219] After the mopping component 4 extends out, during the movement of the cleaning robot, the mopping component 4 is very likely to encounter obstacles. To avoid damage to the mopping component 4 due to collision with obstacles, in an embodiment of the present application, when the mopping component 4 is in the extended state and is subjected to an external force, the mopping component 4 can automatically retract into the accommodation cavity 101. Specifically, a resilient device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping component is in the initial state (such as the first limit position of the retracted state), the resilient device is in a compressed state. When the mopping component 4 is in the extended state, the resilient device is in an extended state. When the extended mopping component 4 retracts into the accommodation cavity 101 under the action of an external force, the resilient device will be compressed.

[0220] In a specific implementation, the resilient device includes but is not limited to: springs, hydraulic cylinders, pneumatic cylinders, elastic blocks, etc. Taking the resilient device as a spring as an example, refer to Figure 30 , a cavity 34 is provided on the ridge rib of the mopping bracket 43, and the spring can be arranged in the cavity 34. Refer to Figure 32 , an elastic member mounting seat 312 is provided in the track groove 32 of the rotating bracket 31. When the ridge rib is cooperatively connected with the track groove 32, one end of the elastic member will be sleeved on the elastic member mounting seat 312, and the other end of the elastic member contacts the mopping bracket 43.

[0221] As mentioned above, the power source is a lead screw motor device. If the driving part 214 on the sliding plate 20 is fixedly connected to the nut slider 18, then when the extended mopping component 4 is hit, due to the self-locking effect of the lead screw 17 and the nut slider 18, the nut slider 18 will limit the movement of the driving part 214, so the sliding plate 20 will also be limited, and finally the mopping component 4 cannot be automatically retracted.

[0222] In the technical solution of the present application, the nut slider 18 and the driving part 214 are not fixedly connected. When the mopping component 4 automatically retracts under the action of an external force, the driving part 214 on the sliding plate 20 will be separated from the nut slider 18, and the sliding plate 20 can freely move along the Figure 25 direction of the arrow X2 in. In an embodiment provided by the present application, along the extending direction of the mopping component 4 ( Figure 25 the direction of the arrow X1 in), the driving part 214 is located on the left side of the nut slider 18, and the driving part 214 contacts the nut slider 18. As mentioned above, a resilient device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping component 4 is in the initial state, the resilient device is in a compressed state, and the direction of the elastic force of the resilient device is Figure 25In the direction of arrow X1, the elastic force will drive the mopping component 4 to extend outwards. However, the nut slider 18 contacts the right side of the driving part 214, and based on the self-locking effect of the lead screw motor device, the sliding plate 20 will be restricted from automatically moving to the right. Only when the lead screw 17 rotates and the nut slider 18 moves to the right can the driving part 214 move to the right with the nut slider 18. It can be simply understood that the power for the mopping component 4 to extend outwards is provided by the spring-back device, and the nut slider 18 can restrict the free rightward movement of the sliding plate 20. Only after the nut slider 18 moves to the right can the sliding plate 20 move to the right. When the mopping component 4 changes from the extended state to the retracted state, and when the mopping component 4 changes from the low position state (such as the state where the cleaning roller contacts the ground) to the lifted state, the sliding plate 20 always moves from right to left, and the moving direction of the sliding plate 20 is the same as Figure 25 the direction of arrow X2 in the figure. The process of the sliding plate 20 moving to the right is provided by the lead screw motor device. Specifically, the second motor 12 outputs power in one direction, and the lead screw 17 drives the nut slider 18 to move in the direction of arrow X2. Since the driving part 214 of the sliding plate 20 is located on the left side of the nut slider 18, the nut slider 18 can push the sliding plate 20 to move to the left during the moving process. During this process, the spring-back device will be further compressed.

[0223] Furthermore, in an embodiment provided by the present application, the mopping component 4 has multiple gears when in the extended state and the lifted state. In different gears of the extended state, the distance that the mopping component 4 extends relative to the cavity shell 46 is different; in different gears of the lifted state, the distance that the mopping component 4 is lifted relative to the ground is different. In order to enable the mopping component 4 to extend in different gears, or the mopping component 4 to be lifted by different distances relative to the ground, a counting module is further provided on the second motor 12. The counting module records the number of turns of the second motor 12 or the lead screw 17 rotating forward or backward. By recording the number of turns of the second motor 12 or the lead screw 17, the moving distance of the nut slider 18 on the lead screw 17 can be calculated, so as to determine the different gears of the mopping component 4 in the extended state and the lifted state.

[0224] For example, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates forward one hundred turns, the nut slider 18 moves to the first limit position. At this time, the extended distance of the mopping assembly 4 is the largest (i.e., the second limit position in the extended state). After dividing these one hundred turns into ten parts, starting from the first position, every time the second motor 12 or the lead screw 17 rotates forward ten turns, it can represent that the mopping assembly 4 switches to a gear. Similarly, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates backward twenty turns, the nut slider 18 moves to another limit position. At this time, the lifted distance of the mopping assembly 4 is the highest. Similarly, dividing these twenty turns into five parts, starting from the first position, every time the second motor 12 or the lead screw 17 rotates backward four turns, it can represent that the mopping assembly 4 lifts one gear. During the process of adjusting the lifting gear of the mopping assembly 4, due to the self-locking function of the lead screw motor device, when the motor 12 stops rotating, the self-locking force can limit the displacement of the sliding plate 20, and the connecting rod 243 can also stay stably on the inclined surface of the lifting part 22, so as to ensure that the lifting gear of the mopping assembly 4 remains unchanged.

[0225] In another embodiment provided by the present application, during gear adjustment, as mentioned above, multiple detection units can also be provided on the cavity shell 46, and different detection units can respectively detect whether the nut slider 18 or the sliding plate 20 is in the first position, different limit positions, and different positions corresponding to different gears.

[0226] The operation process of the mopping assembly 4 will be described in detail below in combination with the usage scenario.

[0227] After the mopping assembly 4 completes part of the cleaning task in the initial state (such as the first limit position in the retracted state and the cleaning roller 42 is in contact with the ground), it needs to switch to the extended state. Subsequently, the second motor 12 drives the lead screw 17 to rotate forward, and the nut slider 18 on the lead screw 17 moves to the right (see Figure 25From the perspective shown, under the action of the resilient device between the rotating bracket 31 and the mopping bracket 43, the mopping bracket 43 extends outward relative to the rotating bracket 31. As the nut slider 18 moves, the mopping assembly 4 extends outward to the farthest position. During the outward extension of the mopping bracket 43, the sliding plate 20 will move synchronously to the right, and the driving portion 214 on the sliding plate 20 will always be in contact with the nut slider 18. A counter may also be provided on the cleaning robot, and the counter records the number of turns of the power output by the second motor 12. Based on the number of turns of the power output by the second motor 12 recorded by the counter, the main board 2 of the cleaning robot can calculate the position of the nut slider 18, and then determine the position of the mopping assembly 4. If the mopping assembly 4 has reached the second limit position in the extended state, the main board 2 controls the second motor 12 to stop working, and the mopping assembly 4 is in the extended state. The cleaning robot maintains the posture with the mopping assembly 4 in the extended state to perform the cleaning task.

[0228] After the mopping assembly 4 completes the tasks to be performed in the extended state, the main board 2 controls the second motor 12 to drive the lead screw 17 to output reverse power, and the nut slider 18 moves to the left (see Figure 25 the perspective shown). The nut slider 18 drives the sliding plate 20 to move to the left. During the movement of the sliding plate 20, it can drive the mopping assembly 4 to retract into the accommodating cavity 101. Similarly, the main board 2 can calculate the moving position of the nut slider 18 based on the number of turns of the reverse power output by the second motor 12, and then determine the retracted position of the mopping assembly. If it is determined that the mopping assembly has reached the first limit position in the retracted state, the main board 2 controls the second motor 12 to stop working.

[0229] Next, when the cleaning robot recognizes a carpeted floor, in order to avoid secondary pollution, the mopping assembly 4 needs to be switched to the lifted state. The main board 2 controls the second motor 12 to drive the lead screw 17 to rotate in one direction, and the nut slider 18 moves to the left (refer to Figure 25 the perspective shown). At this time, the nut slider 18 drives the sliding plate 20 to move to the left together. As the sliding plate 20 moves, the lifting portion 22 on the sliding plate 20 gradually jacks up the connecting rod 243, and the mopping bracket 43 rotates and lifts around the rotating shaft 4131. After the mopping assembly 4 is in the lifted state, it can drive into the carpet area to clean the carpet. After the carpet is cleaned, it drives out of the carpet area. If the cleaning robot still needs to continue performing the cleaning task, the main board 2 can control the second motor 12 to drive the lead screw 17 to rotate in the other direction, and the sliding plate 20 moves to the right (see Figure 25 the perspective), and the mopping assembly descends.

[0230] Compared with a cleaning robot equipped with a cleaning cloth or a mopping turntable, the cleaning robot with the mopping and washing assembly provided in this embodiment has better cleaning effect and higher cleaning efficiency. During the process of cleaning the ground, the cleaning roller can also perform self-cleaning simultaneously. The sewage removal mechanism 44 can scrape off the sewage on the cleaning roller 42, and the liquid supply mechanism 45 can provide clean cleaning liquid for the cleaning roller 42. Subsequently, the cleaning roller 42 can mop and wash the ground again. This cleaning method can not only bring better cleaning effect, but also has a longer cleaning endurance for the mopping and washing assembly 4. During a single cleaning task, the cleaning robot does not need to frequently return to the base station for self-cleaning maintenance.

[0231] During the cleaning operation, the cleaning robot needs to face various cleaning environments. For example, tile floors, wooden floors, carpet floors, etc. When cleaning a carpet floor, in order to prevent the wet cleaning roller from wetting the carpet, it is necessary to lift the cleaning roller at this time to avoid contact between the cleaning roller and the carpet. In addition, for some corner areas (such as the edges of walls and furniture), due to the influence of the external shape structure of the cleaning robot, the cleaning robot cannot achieve edge cleaning. In the technical solution provided in the embodiment of the present application, the mopping and washing assembly 4 with the cleaning roller 42 can not only move up and down. When edge cleaning is required, the mopping and washing assembly 4 extends partially from one side of the cleaning robot, so that when the body of the cleaning robot is prevented from colliding with the wall or furniture, the mopping and washing assembly 4 can achieve edge cleaning.

[0232] When a cleaning robot is cleaning a dirty floor, in order to reduce the number of back-and-forth switches between the retracted state and the extended state, the mopping component 4 on the cleaning robot preferentially uses the extended state for floor cleaning (i.e., normally extended or normally swung outwards). During obstacle avoidance, the mopping component 4 on the cleaning robot retracts into the accommodating cavity 101, and after completing obstacle avoidance in the retracted state, it switches to the extended state. This working method can not only reduce the number of switches of the mopping component 4 between the retracted state and the extended state, but also reduce the total time of the cleaning task. Specifically, first, when the mopping component 4 is in the extended state, it can also complete the cleaning of the regular floor (non-corner floor). Since there are not only large wall corner areas on the household floor, but also corner areas of multiple scattered household objects. If the mopping component 4 on the cleaning robot preferentially cleans in the retracted state, it is inevitable to switch back and forth between the retracted state and the extended state, and during each state switch, a long wait is required, or a switch of the motion algorithm of the cleaning robot. This not only increases the total time for the cleaning robot to complete cleaning, but also increases the computational workload of the control calculation unit on the main board 2 for the motion algorithm. The working scenario of the cleaning robot is very complex. In order to achieve a better comprehensive coverage cleaning effect, the cleaning robot needs to detect and judge in real time whether it is necessary to extend the mopping component 4. The environment is complex, and there are many conditions for the cleaning robot to judge, and it is impossible to list them all. Therefore, the cleaning robot cannot control the mopping component 4 to extend in time every time it needs to extend.

[0233] Therefore, the solution provided in the embodiment of the present application is: Instead of determining whether the cleaning robot needs to perform edge cleaning, directly adopt the mode in which the mopping component 4 is in the extended state when performing the cleaning task. This solution eliminates the recognition of complex edge situations and only retracts the mopping component 4 in a few simple scenarios such as when encountering obstacles or turning. The control logic is simple, the design difficulty is not great, and it is easy to implement. In addition, see Figure 10b, in the left figure (G) of the drawing, the mopping and washing assembly 4 is shown in the first position (such as the first limit position in the retracted state), and in the right figure (H), the mopping and washing assembly 4 is shown in the second position (such as the second limit position in the extended state). The cleaning robot works according to the cleaning path shown in FIG. 10. It can be seen that when the mopping and washing assembly 4 is in the first position, the edge of the mopping and washing assembly 4 in the width direction is at a distance L3 from the widest edge of the body 1. If the cleaning robot cleans according to the "bow-shaped" cleaning path shown in the drawing, on the path where the cleaning robot travels, there will be a shaded area as shown in FIG. (G), and this shaded area is the area not cleaned by the mopping and washing assembly 4. By adopting the scheme of the mopping and washing assembly 4 being normally extended, when the cleaning robot performs the cleaning task, the mopping and washing assembly 4 is extended. When cleaning according to the "bow-shaped" cleaning path shown in the drawing, because the outer edge of the mopping and washing assembly 4 is basically flush with the widest edge of the body 1, there will be no situation where the shaded area as shown in the left figure (G) cannot be cleaned after the cleaning robot finishes cleaning. Although the shaded area can be covered by adjusting the cleaning path of the cleaning robot so that the cleaning robot can cover it after turning around, it increases the complexity of software control. By adopting the scheme of the mopping and washing assembly 4 being normally extended in the right figure (H), there is no need to consider the problem of covering the shaded area, and the traversal algorithm of the cleaning robot is simpler.

[0234] That is, the working method of the cleaning robot provided in this embodiment may include the following steps:

[0235] S11. When performing a cleaning task in an open area, the mopping and washing assembly 4 performs the cleaning task in the extended state;

[0236] S12. When it is detected that the surrounding environment determines that the mopping and washing assembly 4 needs to retract, the mopping and washing assembly 4 retracts, and the mopping and washing assembly 4 performs the cleaning task in the retracted state or the cleaning robot travels with the mopping and washing assembly 4 in the retracted state;

[0237] Wherein, in the extended state, the mopping and washing assembly 4 extends from one side of the body, and a part of the mopping and washing assembly 4 is exposed; in the retracted state, the outer edge of the mopping and washing assembly 4 is located inside the outer edge of the body, or a part of the outer edge of the mopping and washing assembly 4 is flush with the outer edge of the body.

[0238] Wherein, "detecting that the surrounding environment determines that the mopping and washing assembly needs to retract" in the above S12 may specifically include but is not limited to at least one of the following:

[0239] When it is detected that the cleaning robot needs to turn to avoid an obstacle, it is determined that the mopping and washing assembly 4 needs to retract;

[0240] When it is detected that the cleaning robot is in a narrow space and needs to escape, it is determined that the mopping and washing assembly 4 needs to retract;

[0241] When it is detected that the user issues a retraction instruction, it is determined that the mopping component 4 needs to retract.

[0242] Further, the method provided in this embodiment may further include:

[0243] When the mopping component 4 is performing a cleaning task in the extended state and it is detected that the surrounding environment determines that the mopping component 4 needs to be lifted, after the mopping component 4 retracts to the first limit position, the mopping component 4 is lifted to have a gap with the ground.

[0244] When the mopping component 4 is at the third position, the projection of the mopping component 4 is within the projection of the body; when the mopping component 4 is displaced to the fourth position, the edge of the mopping component 4 extends beyond the edge of the body, and the projection of the mopping component 4 is within the projection of the body. In the general cleaning mode, the mopping component 4 is at the fourth position; in the special cleaning mode, the mopping component 4 is at the third position to walk along the edge of the obstacle. The main board 2 controls the driving device to enable the mopping component to stop and work at any position. Among them, the mopping component 4 has a first limit position in the retracted state and a second limit position in the extended state; the any position is the first limit position, or the second limit position, or any position between the first limit position and the second limit position; the third position is the first limit position or any position between the first limit position and the second limit position; the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0245] A control method or working method of the cleaning robot provided in another embodiment of the present application may be: the control device dynamically controls the driving device according to the behavior information of the body, so that the driving device drives the mopping component to move relative to the body to change the position of the mopping component relative to the body.

[0246] Among them, the behavior information of the body may include: traveling speed, traveling direction, turning radius when turning, acceleration, etc. For example, when turning quickly, control the driving device to quickly retract the extended mopping component; or, when traveling in a straight line after turning, control the driving device to extend the retracted mopping component.

[0247] In addition, it should be added that the drum motor in the mopping and washing assembly needs to have continuous current supply during the movement of the mopping and washing assembly. Therefore, a conductive groove assembly is also provided on the body of the cleaning robot in the embodiment of the present application. The conductive groove assembly includes a conductive groove body and an electricity connection member. The electricity connection member is arranged in the conductive groove body and can move in the conductive groove body. The electricity connection member is electrically connected to the electrical interface of the drum motor. When the mopping and washing assembly moves, the electricity connection member moves in the conductive groove to follow the mopping and washing assembly, so that the drum motor can maintain a powered state while moving. The conductive groove assembly is not clearly shown in the attached drawings of the specification of the present application.

[0248] The specific structure of the mopping and washing assembly 4 will be described in detail below.

[0249] As Figure 5 shown in FIG. 7, Figure 8 and FIG. 9, in an embodiment provided by the present application, the decontamination mechanism 44 and the liquid supply mechanism 45 in the mopping and washing assembly 4 are respectively arranged on the mopping bracket 43, or are integrated with the mopping bracket 43. The scraper on the decontamination mechanism 44 can contact the cleaning drum 42 and scrape off the sewage on the cleaning drum 42 during the rotation of the cleaning drum 42. Of course, the decontamination mechanism 44 does not simply scrape off the sewage. It also has the function of collecting sewage. After the scraper scrapes off the sewage, the sewage can directly enter the collection assembly. After the collection assembly filters the sewage, it can be transported to the sewage tank 9 through the pipeline connected to the decontamination water outlet 4410. In this embodiment, the mopping and washing assembly 4 includes a decontamination mechanism 44 and a liquid supply mechanism 45, that is, when the cleaning drum moves up and down and / or expands and contracts, the decontamination mechanism 44 and the liquid supply mechanism 45 also move up and down and / or expand and contract together.

[0250] The liquid supply mechanism 45 can provide cleaning liquid for the cleaning drum 42. For example, when the cleaning drum 42 is dry, the liquid supply mechanism 45 evenly sprinkles clean water on the surface of the cleaning drum 42, and the cleaning drum 42 is fully wetted, and its cleaning ability will be significantly improved. For another example, when the cleaning drum 42 is in a relatively dirty state, the liquid supply mechanism 45 can evenly sprinkle the cleaning solution mixed with the cleaning agent on the surface of the cleaning drum 42, and the cleaning solvent dissolves the stains, so as to facilitate the decontamination mechanism 44 to remove the stains on the cleaning drum 42 completely. For still another example, when the cleaning drum 42 is in the self-cleaning mode, the liquid supply mechanism 45 can sprinkle a large amount of cleaning solution on the surface of the cleaning drum 42. After dissolving the stains, the decontamination mechanism 44 can clean the stains and sewage, which is beneficial to quickly and efficiently self-clean the cleaning drum 42.

[0251] The liquid supply mechanism 45 can be an integrated structure with the mopping bracket 43. As Figure 7bIn the illustrated example, a liquid supply inlet 451 is provided on the outer surface of the mopping bracket 43. The liquid supply inlet 451 can be connected to the clean water tank 5 through a pipeline. A water distributor 452 is also provided on the mopping bracket 43. The water distributor 452 is arranged along the length direction of the mopping bracket 43 and is communicated with a plurality of water outlets of the liquid supply mechanism 45. The water distribution path can evenly disperse the cleaning solution supplied by the liquid supply inlet 451 to the plurality of water outlets, and then the plurality of water outlets can evenly sprinkle the cleaning solution on the cleaning roller 42, so that the surface of the cleaning roller 42 has better wet and dry uniformity.

[0252] Furthermore, the liquid supply mechanism 45 further includes a liquid supply pump. The liquid supply pump is arranged on the first flexible pipeline 443. The liquid supply pump can generate a suction force to transport the cleaning liquid in the clean water tank 5 to the liquid supply mechanism 45.

[0253] When the mopping assembly 4 on the cleaning robot performs self-cleaning, there are mainly two processes. One is that the decontamination mechanism 44 removes the sewage on the cleaning roller 42 completely, and the other process is that the liquid supply mechanism 45 provides clean cleaning liquid to the cleaning roller 42. As the decontamination mechanism 44 continuously removes the sewage and stains completely, and the liquid supply mechanism 45 continuously provides the cleaning liquid, the mopping assembly 4 can perform self-cleaning while mopping the floor, and the mopping assembly 4 will always have a better cleaning effect.

[0254] See Figure 34 , the mopping bracket 43 has a roller installation cavity 51, and the cleaning roller 42 is arranged in the roller installation cavity 51. Specifically, the mopping assembly 4 further includes a roller motor 41. On one side of the roller installation cavity 51, there is a motor mounting seat. The roller motor 41 is arranged on the motor mounting seat. The cleaning roller 42 is sleeved outside the roller motor 41 and is drivingly connected to the roller motor 41. The roller motor 41 can drive the cleaning roller 42 to rotate, so as to realize the cleaning of the floor. Both the roller motor 41 and the cleaning roller 42 are arranged in the roller installation cavity 51. The roller installation cavity 51 has an opening facing downwards and a lateral opening. The cleaning roller 42 can contact the ground through the downward opening, and the lateral opening facilitates the user to disassemble and assemble the cleaning roller 42.

[0255] Both the decontamination mechanism 44 and the liquid supply mechanism 45 are arranged on the mopping bracket 43. Specifically, the decontamination mechanism 44 is arranged in the roller installation cavity 51, and the decontamination mechanism 44 is located on the cavity wall of the roller installation cavity 51. The decontamination mechanism 44 includes a squeegee assembly 53. The squeegee assembly 53 extends towards the direction close to the cleaning roller 42 and inserts into the fluff inside the cleaning roller 42. When the roller motor 41 drives the cleaning roller 42 to rotate, the squeegee assembly 53 can scrape off the sewage and stains on the cleaning roller 42. The squeegee assembly 53 includes a squeegee 441.

[0256] The liquid supply mechanism 45 is arranged above the mopping bracket 43. The liquid supply mechanism 45 has a water distributor 452 and a plurality of liquid supply ports 453. The water distributor 452 can evenly distribute the cleaning liquid to the plurality of liquid supply ports 453, and then the cleaning liquid is evenly supplied and sprinkled from the liquid supply ports 453 to the cleaning roller 42. The liquid supply mechanism 45 further includes a first flexible pipe 443, and the first flexible pipe 443 communicates with the clean water tank 5 and the liquid supply inlet 451.

[0257] Correspondingly, there are openings on the wall of the roller installation cavity 51, so that the plurality of liquid supply ports 453 of the liquid supply mechanism 45 above the mopping bracket 43 can supply and sprinkle the cleaning liquid on the cleaning roller 42 in the roller installation cavity 51 through the openings. Of course, the liquid supply mechanism 45 can also be directly arranged in the roller installation cavity 51. The liquid supply mechanism 45 is located above the cleaning roller 42 or directly contacts the cleaning roller 42, and the liquid supply mechanism 45 can directly supply and sprinkle the cleaning liquid to the cleaning roller 42 through a plurality of liquid supply ports.

[0258] Figure 34 In the figure, the direction of arrow Y represents the width direction of the mopping assembly 4. It can also be considered that when the cleaning robot performs a cleaning task, the direction of travel of the cleaning robot, or the moving direction of the mopping assembly. Figure 34 In the figure, the direction of arrow Z represents the height direction of the mopping assembly 4; Figure 34 In the figure, the direction of arrow b represents the rotation direction of the cleaning roller 42 when the cleaning roller 42 cleans the ground. In an embodiment provided by the present application, along Figure 34 In the direction of arrow Y in the figure, the liquid supply mechanism 45 is located on the front side of the decontamination mechanism 44; along Figure 34 In the direction of arrow Z in the figure, the liquid supply mechanism 45 is located above the decontamination mechanism 44.

[0259] As the cleaning roller 42 rotates along Figure 34 the direction of arrow b in the figure, the liquid supply mechanism 45 first supplies and sprinkles the cleaning liquid on the cleaning roller 42. After the wetted cleaning roller 42 mops the ground, the stains are dissolved in the sewage of the cleaning roller 42 or adhered to the surface of the cleaning roller 42. Then, the decontamination mechanism 44 scrapes off the sewage and stains on the cleaning roller 42, and then the liquid supply mechanism 45 supplies and sprinkles the cleaning liquid on the surface of the cleaning roller 42 again.

[0260] In a specific embodiment, the value range of the included angle α between the setting position of the liquid supply mechanism 45 and the setting position of the decontamination mechanism 44 is [20 degrees to 120 degrees], for example, it can be 60 degrees. Generally, in order to prevent the cleaning liquid from dripping onto the ground when the liquid supply mechanism 45 supplies and sprinkles the cleaning liquid to the cleaning roller 42, the liquid supply mechanism 45 is located directly above the cleaning roller 42, and the cleaning liquid dripping from the liquid supply port can be effectively absorbed by the cleaning roller 42, and different situations of water leakage to the ground will not occur.

[0261] Further, refer toFigure 34 The scraping strip assembly 53 on the dirt removing mechanism 44 is located above the center line J of the mopping assembly 4, and the straight line F where the contact angle between the end of the scraping strip assembly 53 and the cleaning roller 42 is located generally passes through the center of the cleaning roller 42. It can be understood that the extending direction of a section at the front end of the scraping strip assembly 53 and the center of the cleaning roller 42 are generally on the same straight line, and the tangent line at the contact point between the scraping strip assembly 53 and the cleaning roller 42 is generally perpendicular. In this way, the scraping effect of the scraping strip assembly 53 on the cleaning roller 42 is the best, the force exerted by the scraping strip assembly 53 on the cleaning roller 42 is small, and the wear rate of the scraping strip assembly 53 is also smaller.

[0262] See Figure 34 In an embodiment provided by the present application, in the height direction of the mopping assembly 4, the liquid supply mechanism 45 is located above the cleaning roller 42. In the width direction of the mopping assembly 4, the dirt removing mechanism 44 is located behind the contact point between the cleaning roller 42 and the surface to be cleaned. When the cleaning roller 42 rotates clockwise, a certain area on the cleaning roller 42 sequentially passes through the liquid supply mechanism 45, the surface to be cleaned, and the dirt removing mechanism 44, and finally returns to the liquid supply mechanism 45, and the liquid supply mechanism 45 conveys the cleaning liquid to the surface of the cleaning roller 42 again.

[0263] Further, along the first center line P in the vertical direction of the cleaning roller 42, the liquid supply mechanism 45 is located directly above the first center line P, or, with the rotation center of the cleaning roller 42 as the vertex of the angle, the value range of the included angle formed by the position where the liquid supply mechanism 45 is located and the first center line P is [-30 degrees to +30 degrees].

[0264] Further, along the second center line J in the transverse direction of the cleaning roller 42, the dirt removing mechanism 44 is located above the second center line J, or the position where the dirt removing mechanism 44 is located is flush with the second center line J.

[0265] See Figure 9, Figures 34 to 35a In an embodiment provided by the present application, the mopping bracket 43 includes an installation shell 4211 and an installation cover 4212. The installation shell 4211 has an inner cavity. The dirt removing mechanism 44 and the liquid supply mechanism 45 are arranged in the inner cavity. An opening communicating with the roller installation cavity 51 is provided in the inner cavity, and the dirt removing mechanism 44 and the liquid supply mechanism 45 are respectively arranged corresponding to the opening position. The installation cover 4212 can be connected to the upper part of the installation shell 4211 in a matching manner, so as to seal the inner cavity. In a specific implementation, the mopping bracket 43 is generally in an L-shaped structure. Along Figure 34 the direction of the arrow Y in the figure, a square accommodation inner cavity is provided on the left side of the cleaning roller 42, and the dirt removing mechanism 44 is arranged in the accommodation inner cavity.

[0266] Such as Figure 35bAs shown, the front bottom of the dirt collection box 442 may have an oblique angle as shown in the figure. In this way, when traveling on a special traveling surface, such as a carpet with long hair, this oblique angle design can reduce the traveling resistance of the machine body, and when the cleaning robot travels onto the carpet, the carpet hair can enter the bottom of the machine body along the oblique angle.

[0267] Furthermore, as Figure 35c shown, the front bottom of the machine body 1 may also have an oblique angle 1005 as shown in the figure. Similarly, when traveling on a special traveling surface, such as a carpet with long hair, this oblique angle design can reduce the traveling resistance of the machine body, and when the cleaning robot travels onto the carpet, the carpet hair can enter the bottom of the machine body along the oblique angle.

[0268] Of course, the oblique angles of the dirt collection box 442 and the bottom of the machine body can also be arc-shaped oblique angles or the straight-line oblique angles shown in the figure. This embodiment does not make specific limitations in this regard. The oblique angle between the dirt collection box 442 and the bottom of the machine body is an oblique angle surface formed at the front bottom end of the dirt collection box 442. The included angles between the oblique angle surface on the dirt collection box 442 and the oblique angle surface on the machine body and the horizontal plane (such as the ground) can be the same or different. The included angle between this oblique angle surface and the horizontal plane (such as the ground) can be an angle between 10° and 60°.

[0269] The liquid supply port of the liquid supply mechanism 45 is directly an liquid outlet hole facing the cleaning roller. Generally, the liquid discharged from the liquid outlet hole has pressure. After the liquid with pressure comes out of the liquid outlet hole and spreads out, part of it will be sprayed onto the cleaning roller, and some liquid will also splash onto the cavity wall. After the water droplets on the cavity wall condense into large water droplets, they will fall onto the cleaning roller 42 and also fall onto the ground along the cavity wall. This may result in insufficient cleaning liquid on the cleaning roller 42, and users may mistake the water droplets on the ground for water leakage. If the cleaning liquid on the cleaning roller 42 is insufficient, the roller cannot be fully wetted, and not only the effect of mopping cannot be achieved, but also the effect of self-cleaning cannot be achieved. If the liquid supply amount of the liquid supply mechanism 45 is increased to solve this problem, it may cause water accumulation on the ground due to too much cleaning liquid supply, which will still directly affect the cleaning effect of the cleaning robot.

[0270] Therefore, the embodiment of this application has made improvements to the liquid supply mechanism. Specifically, one side of the corresponding inner cavity of the liquid supply mechanism 45 is an arc-shaped surface adapted to the arc surface of the inner cavity. Refer to Figure 35a and 35b shown, the arc-shaped surface of the liquid supply mechanism 45 facing the cleaning roller has the same arc degree as the arc surface of the inner cavity, and both are the same as or similar to the arc degree of the cleaning roller 42. In addition, as Figure 38 shown, the liquid supply port 453 has an arc-shaped water guiding surface 4531 for guiding the cleaning liquid onto the cleaning roller 42.

[0271] As Figure 8As shown, the liquid supply port 453 is arranged in a circular ring shape. In this way, the liquid ejected by the liquid supply mechanism 45 can flow along the arc surface and supply the liquid to the cleaning roller 42 through the circular-ring-shaped liquid supply port 453. The liquid can drip smoothly, and the liquid supply efficiency is high. The liquid supply port 453 is circular-ring-shaped, and the center of the circular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 is communicated with the branch for liquid supply in the liquid supply mechanism 45. As Figure 38 shown, the inner ring wall of the circular-ring-shaped liquid supply port is an arc surface.

[0272] Along the liquid outflow direction, the inner ring wall of the liquid supply port 453 is a stepped structure with a gradually increasing opening size; the inner ring wall surfaces of each stepped section are all arc surfaces for guiding the liquid to flow towards the cleaning roller 42. More specifically, as Figure 38 shown in the partial enlarged view, the liquid supply port 453 is circular-ring-shaped, and the center of the circular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 is communicated with one of the multiple branches. The inner ring wall of the liquid supply port 453 is a two-stage stepped structure with a gradually increasing opening size, and the inner wall of each stage of the stepped structure is an arc surface. The cleaning liquid coming out of the liquid outlet hole 4530 falls on the arc surface and can also flow along the arc surface towards the cleaning roller 42, so that the cleaning liquid coming out of the liquid outlet hole 4530 can basically be sprayed onto the cleaning roller 42 without splashing onto the cavity wall outside the circular ring. The cleaning robot can also more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a better dry-wet state, and the mopping effect is good; also because the cleaning roller 42 has a better dry-wet state, the self-cleaning of the cleaning roller 42 by the decontamination mechanism 44 has a better self-cleaning effect, which positively promotes the mopping effect.

[0273] In order to enable the cleaning robot to have a better cleaning effect, in the solution provided in this embodiment, the liquid supply port 453 is further improved, and an arc-shaped water guiding surface is added at the liquid supply port 453 to guide the cleaning liquid to the cleaning roller; because of the arc-shaped water guiding surface, the cleaning liquid provided by the liquid supply mechanism 45 can basically flow towards the cleaning roller 42 without splashing everywhere to other places. The cleaning robot can also more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a better dry-wet state, and the mopping effect is good; also because the cleaning roller 42 has a better dry-wet state, the self-cleaning of the cleaning roller 42 by the decontamination mechanism 44 has a better self-cleaning effect, which positively promotes the mopping effect.

[0274] Furthermore, as Figure 38As shown in the figure, a water wiping structure 80 is provided on the wall of the mopping bracket facing the cleaning roller 42. The water wiping structure 80 is located on one side of the liquid supply port 453. If the scraping strip assembly is located on the front side of the cleaning roller 42, then the water wiping structure 80 can be located on the rear side of the liquid supply port. If the scraping strip assembly is located on the rear side of the cleaning roller 42, then the water wiping structure 80 can be located on the front side of the liquid supply port.

[0275] The included angle β between the line connecting the water wiping structure 80 and the center of the cross-section of the cleaning roller and the line connecting the liquid supply port and the center can be 5 to 30 degrees. There can be a gap between the water wiping structure 80 and the cleaning roller 42, or there can be no gap, but the water wiping structure cannot apply force to the cleaning roller 42. The function of the water wiping structure 80 is to block the liquid floating on the surface of the cleaning roller that has not been absorbed by the cleaning roller from flowing to the ground. Because the cleaning roller rotates during operation, if the cleaning liquid cannot be absorbed by the roller, the cleaning liquid floating on the cleaning roller will be thrown out to the ground, resulting in the ground being too wet.

[0276] Since it takes a certain amount of time for the cleaning liquid to spread evenly on the cleaning roller 42 after the liquid supply mechanism 45 supplies and sprays the cleaning liquid to the cleaning roller 42, in order to ensure that the cleaning liquid can spread more evenly before the cleaning roller 42 mops the ground, the rotation speed of the cleaning roller 42 cannot be too fast. Secondly, when the rotation speed of the cleaning roller 42 is too fast, the scraping efficiency of the scraping strip assembly 53 on the cleaning roller 42 is also lower. In the technical solution provided in this application, when the cleaning roller 42 mops the ground, the value range of its rotation speed is [100 rmp / min to 300 rmp / min], specifically 200 rmp / min.

[0277] In the technical solution provided in this application, the rotation direction of the cleaning roller 42 is opposite to the rotation direction of the traveling wheels of the cleaning robot, which can improve the cleaning effect of the cleaning roller 42.

[0278] See FIGS. 9, 34 to Figure 35a , in an embodiment provided in this application, the dirt removing mechanism 44 further includes a dirt collecting assembly 54, and the dirt collecting assembly 54 is provided below the scraping strip assembly 53. The "below" mentioned herein refers to the positional relationship where the two structural main bodies of the scraping strip assembly and the dirt collecting assembly are at different heights as a whole, and does not exclude the possibility of partial overlap in height between the two. For example, in this article, the scraping strip assembly is generally higher than the dirt collecting assembly, but it is allowed that the water guiding end of the scraping strip assembly extends into the dirt collecting box, that is, both the scraping strip assembly and the dirt collecting assembly have certain height dimensions and there is an overlapping part in height. This positional relationship also falls within the protection scope of "below" in this article. When the scraping strip assembly 53 scrapes the sewage on the cleaning roller 42, the dirt collecting assembly 54 can collect the sewage and stains to avoid secondary pollution.

[0279] Furthermore, the sewage collection assembly 54 includes a sewage collection box 442 and a sewage collection pipe 542. The sewage collection box 442 is located below the squeegee assembly 53. The sewage and stains scraped off by the squeegee assembly 53 can directly fall into the sewage collection box 442, and the sewage collection box 442 collects them. Along the traveling direction of the cleaning robot, the front side and the rear side are distinguished. The sewage collection box 442 can be located on the front side of the cleaning roller 42, which can reduce the cleaning blind area. Most cleaning robots are circular. From the perspective of the layout of each component of the whole machine, in order to make the cleaning roller in the mopping assembly longer, as shown in Fig. 36, the mopping assembly can generally be set at a position with a distance G from the center O of the machine body. The left figure (E) in Fig. 36 shows the situation where the sewage collection box 442 is located on the front side of the cleaning roller 42, and the figure (F) shows the situation where the sewage collection box 442 is located on the rear side of the cleaning roller 42. It can be seen from this figure that when the mopping assembly 4 is in the extended state and working (the extended length of the mopping assembly in both the left and right figures is L), the distance D1 from the rear edge of the cleaning roller 42 in the mopping assembly 4 shown in the figure (E) to the center O is greater than the distance D2 from the rear edge of the cleaning roller 42 shown in the figure (F) to the center O. It can also be concluded that the larger the dimension from the center O of the circle, the longer the front edge and the rear edge of the cleaning roller 42 extend out of the machine body 1, that is, the longer the length exposed outside the machine body 1. It can also be known that the area S1 of the cleaning roller 42 shown in the figure (E) exposed outside the machine body 1 is larger than the area S2 of the cleaning roller 42 shown in the figure (F) exposed outside the machine body 1.

[0280] The larger the area of the cleaning roller 42 exposed outside the machine body 1, the larger its cleaning coverage area, especially in the case of the cleaning robot turning, etc. The structure shown in the left figure (E) with the sewage collection box located on the front side of the cleaning roller 42, when the mopping assembly 4 is in the extended state and working, has a large cleaning coverage area, and the cleaning blind area is smaller than the structure shown in the right figure (F) with the sewage collection box located on the rear side of the cleaning roller. Also, as Figure 36b shown, in the corner area as shown in the figure, when the body of the cleaning robot maintains a safe distance from the wall corner or the edge of the obstacle, in the left figure (E’), the sewage collection box 442 is located on the front side of the cleaning roller 42, and the distance from the cleaning roller 42 to the wall or the edge of the obstacle is D3. In the right figure (F’), the sewage collection box 442 is located on the rear side of the cleaning roller 42, and the distance from the cleaning roller 42 to the wall or the obstacle is D4. It can be clearly seen that D3 is less than D4, that is, the distance from the cleaning roller in the scheme of the left figure (E’) to the wall or the obstacle is closer, which means that for the cleaning with the cleaning roller 42 at the rear, its cleaning coverage area is larger and the cleaning blind area is smaller.

[0281] One end of the sewage collection pipe 542 is arranged in the sewage collection box 442, and the other end is connected to the sewage tank 9 of the cleaning robot through a pipeline, so as to suck the sewage in the sewage collection box 442 into the sewage tank 9. See Figure 35aAs shown, the direction indicated by the arrow in the figure is the flow path of the sewage scraped off by the scraping strip assembly 53 into the sewage collection box 442 and being pumped away by the sewage collection pipe 542. In order to be able to timely suck the sewage in the sewage collection box 442 into the sewage tank 9, a water pump and pipelines can be provided on the sewage collection pipe 542, or alternatively, an air pump and pipelines are connected to the sewage tank 9. The air pump can provide negative pressure for the sewage tank 9. Under the action of the negative pressure, the sewage in the sewage collection box 442 can be sucked into the sewage tank 9 through the pipelines. Refer to Figure 9a and Figure 9b , in a specific embodiment, the decontamination mechanism 44 further includes a negative pressure pump and a valve body 545. The negative pressure pump is connected to the sewage tank 9 through pipelines or directly. When the negative pressure pump works, it can pump negative pressure into the sewage tank 9. The valve body 545 is arranged on the sewage collection pipe 542 and can be used to control the on-off of the sewage collection pipe 542. First, the negative pressure pump can pump negative pressure into the sewage tank 9, and then the valve body 545 is opened. The negative pressure in the sewage tank 9 can suck the sewage in the sewage collection box 442 into the sewage tank 9 through the second flexible pipeline 456.

[0282] Refer to Figure 9a and Figure 9b , in an embodiment provided by the present application, the mopping assembly 4 further includes a joint assembly 455. The joint assembly 455 includes a clean water pipe joint and a sewage pipe joint. The clean water pipe joint can be regarded as the liquid supply inlet 451 mentioned above, and the sewage pipe joint can be regarded as the decontamination outlet 4410 mentioned above. One end of the clean water pipe joint is used to connect the first flexible pipeline 443 (which can also be called the flexible clean water pipe), and the other end is connected to the liquid supply mechanism 45 through the first pipeline 447. One end of the sewage pipe joint is used to connect the second flexible pipeline 456 (which can also be called the flexible sewage pipe), and the other end is connected to the interface of the sewage collection pipe 542 through the transverse pipeline 546. The transverse pipeline 546 is a pipeline with a fixed length, and this transverse pipeline 546 can also be a flexible pipeline. As Figure 9b shown, along the length direction of the mopping assembly 4, through the first pipeline 447 and the transverse pipeline 546, the joint assembly 455 can be biased to one side of the mopping assembly 4, so as to more conveniently connect the first flexible pipeline 443 and the second flexible pipeline 456 to the joint assembly 455. Imagine that if there were no first pipeline 447, transverse pipeline 546 and joint assembly 455, then the first flexible pipeline 443 and the second flexible pipeline 456 would directly connect to the joints of the liquid supply mechanism 45 and the sewage collection pipe 542 at the middle position of the mopping assembly 4. This would not only require longer first flexible pipeline 443 and second flexible pipeline 456, but also make it difficult to effectively utilize the space above the mopping assembly 4. Figure 7aAs shown, the interface of the flexible clean water pipe and the flexible sewage pipe, that is, the joint assembly 455, includes a liquid supply inlet 451 and a decontamination outlet 4410, both of which are distributed on the front side of the cleaning roller, that is, above the sewage collection box. The flexible clean water pipe and the flexible sewage pipe are also located on the front side of the cleaning roller. With such a setting, the second flexible pipe 456 is closer to the sewage collection box, making the overall sewage discharge pipe shorter, requiring fewer bent pipes, increasing the sewage discharge efficiency, eliminating the possibility of blockage. At the same time, the first flexible pipe 443 is also arranged on the front side of the cleaning roller and adjacent to the second flexible pipe 456, so that the two flexible pipes can share a pipe space, and there is no need to specifically arrange a pipe space for the second flexible pipe 456.

[0283] Currently, for some cleaning devices, the rotation direction of the cleaning roller 42 is the same as that of the device driving wheel. Although this can assist the device in moving forward and reduce energy consumption, the collaborative working process of the cleaning roller 42, the wiper assembly 53, and the liquid supply mechanism 45 becomes: the cleaning roller 42 is replenished with water through the liquid supply mechanism 45 -> the wiper assembly 53 scrapes the liquid on the cleaning roller 42 -> the cleaning roller 42 cleans the ground. There are also some cleaning devices where the rotation direction of the cleaning roller 42 is different from that of the device driving wheel, but the sewage collection box 442 and the wiper are arranged behind the roller. At this time, the collaborative working process of the cleaning roller 42, the wiper assembly 53, and the liquid supply mechanism 45 is also: the cleaning roller 42 is replenished with water through the liquid supply mechanism 45 -> the wiper assembly 53 scrapes the liquid on the cleaning roller 42 -> the cleaning roller 42 cleans the ground. It can be seen that for current such cleaning devices, the water just replenished is immediately scraped off, and it is not very reasonable for the cleaning roller 42 to clean the ground next. The scraped liquid contains the freshly replenished clean water, and this part of the clean water is recycled without participating in the cleaning.

[0284] At the same time, since the cleaning roller of the mopping component of the cleaning robot does not have suction, in order to improve the cleaning effect, when the rotation direction of the roller is opposite to that of the device driving wheel, the roller can push the dirt forward, and the dirt that was not cleaned by the cleaning roller for the first time has the opportunity to be picked up by the cleaning roller again later, so that multiple cleanings can be achieved.

[0285] When the existing cleaning roller 42 of the cleaning robot performs a cleaning task, first, a water replenishment step is carried out, that is, the liquid supply mechanism 45 conveys the cleaning liquid to the surface of the cleaning roller 42. Then, the decontamination mechanism 44 scrapes the dirt on the surface of the cleaning roller 42. Finally, the cleaning roller 42 cleans the ground. There are mainly three problems with this execution step;

[0286] First, immediately after the liquid supply mechanism 45 replenishes water, the decontamination mechanism 44 scrapes the mixture of clean water and sewage. The stains on the surface of the cleaning roller 42 may not be completely dissolved in the clean water, so most of the scraped is clean water rather than sewage, resulting in incomplete self-cleaning.

[0287] Second, after the decontamination mechanism 44 scrapes the sewage on the surface of the cleaning roller 42, due to the action of the scraping strip, the water content of the roller before and after scraping decreases by 90%. As the water content of the cleaning roller 42 decreases, the cleaning power of the cleaning roller 42 on the ground will also decrease.

[0288] Third, after the scraping strip of the cleaning robot wipes the water, when the relatively dry roller scrubs the dirt on the ground and then needs to rotate 180° before entering the water replenishing position, the dirt stuck on the overly dry roller is likely to be thrown out during the relatively long rotation process and finally fall onto the ground, resulting in poor cleaning effect.

[0289] However, the technical solution provided by the embodiments of the present application is different from some of the cleaning devices mentioned above. In the solution provided by the embodiments of the present application, the cleaning drum 42 rotates in the reverse direction (i.e., opposite to the rotation direction of the driving wheel), the wiper assembly 53 is located on the front side of the cleaning drum 42, and the liquid supply mechanism 45 is located above the cleaning drum 42. The front side and the rear side refer to the fact that the overall of the two structural bodies has a front-rear relationship in the horizontal orientation, or the vertical central axes of the two have a front-rear relationship in the horizontal orientation, without excluding the possibility that the two have partial overlap in the horizontal direction, that is, partial overlap between the decontamination mechanism and the cleaning unit is allowed, and this positional relationship also falls within the scope of protection of "front side" or "rear side" in this article. In this way, the cooperation process of the cleaning drum 42, the wiper assembly 53 and the liquid supply mechanism 45 is as follows: the cleaning drum 42 is replenished with water through the liquid supply mechanism 45 -> the cleaning drum cleans the ground -> the wiper assembly 53 scrapes off the liquid on the cleaning drum 42. It can be seen that the solution provided by this embodiment is more reasonable. The freshly replenished clean water directly participates in the ground cleaning without being scraped by the wiper. At this time, the evenly moistened wiper has a better wiping and adsorption effect on the ground dirt, especially stubborn dirt. Then the drum rotates a small angle (usually only about 90°), and then is scraped by the wiper. The dirt is not easily thrown out, and at this time, most of the scraped is sewage, and the clean water is fully utilized. Specifically, during the rotation of the cleaning drum 42, the liquid supply mechanism 45 supplies a cleaning liquid to a region of the cleaning drum 42, and the region infiltrated with the cleaning liquid cleans the surface to be cleaned. Subsequently, the decontamination mechanism 44 acts on the region to scrape off the dirt and collect it, and the region after scraping off the dirt enters the liquid supply range of the liquid supply mechanism 45 again. It can be understood that when the cleaning drum 42 cleans the ground, first a water replenishment step is carried out, the surface of the cleaning drum 42 is fully wetted, and the water content of the cleaning drum 42 is also more. Subsequently, the cleaning drum 42 cleans the ground again. At this time, the cleaning force of the cleaning drum 42 on the ground is stronger, and more stains can be dissolved. Finally, the decontamination mechanism 44 scrapes off the sewage and stains on the cleaning drum 42, and then the liquid supply mechanism 45 replenishes the liquid again, and this process is repeated in turn. Since the liquid supply efficiency of the liquid supply mechanism 45 and the decontamination efficiency of the decontamination mechanism 44 are higher throughout the process, the cleaning liquid used by the cleaning drum 42 during self-cleaning is less, and at the same time, the amount of sewage generated is also less, and the cleaning endurance time of the cleaning robot will be significantly improved.

[0290] To prevent the sewage from leaking from the side during the process of the wiper assembly 53 scraping water, the length of the dirt collection box 442 is greater than or equal to the length of the wiper assembly 53. See Figure 35a, from the perspective of the setting direction of the squeegee assembly 53, the setting direction of the sewage collection box 442 is substantially perpendicular to the setting direction of the squeegee assembly 53. In this way, the sewage and stains scraped off by the squeegee assembly 53 can directly fall into the sewage collection box 442 and are not likely to leak out. In addition, to ensure that all the sewage scraped off by the squeegee assembly 53 can enter the sewage collection box 442, the end of the squeegee assembly 53 is located in the sewage collection box 442. In this way, the sewage scraped off by the squeegee assembly 53 can directly enter the sewage collection box 442 along the end of the squeegee assembly 53.

[0291] When the squeegee assembly 53 scrapes the sewage on the cleaning roller 42, it is very easy to scrape the stains attached to the cleaning roller 42 into the sewage collection box 442 at the same time. When the sewage collection pipe 542 sucks the sewage, it may be blocked by these stains. To avoid this situation, refer to Figure 37 and Figure 38 , in an embodiment provided by the present application, the decontamination mechanism 44 further includes a filtering assembly 543. The filtering assembly 543 is arranged in the sewage collection box 442. After the sewage scraped off by the squeegee assembly 53 enters the sewage collection box 442, it is first filtered by the filtering assembly 543 and then enters below the sewage collection box 442, and then can be collected into the sewage tank through the sewage collection pipe 542.

[0292] To facilitate the cleaning of the sewage collection box 442, the sewage collection box 442 can be detached from the mopping assembly 4 for cleaning, and the filtering assembly 543 in the sewage collection box 442 can also be detached for cleaning. During the disassembly process, first, the mopping assembly 4 is switched to the extended state, then the cleaning roller 42 is detached from the lateral opening of the mopping bracket 43, and finally, the sewage collection box 442 can be detached from the roller installation cavity 51. Refer to Figure 9b As shown, the sewage collection box 442 has a V-shaped bottom surface, that is, along the axis direction of the cleaning roller, both ends of the bottom surface of the sewage collection box 442 are high and the middle is low. The low point of the V-shaped bottom surface is matched with the pipe orifice of the sewage collection pipe 542 to communicate with the sewage collection pipe 542.

[0293] To avoid bending, springs (not shown in both Fig. 9 and Fig. 38) can be provided on the outer sides of the second flexible pipe 456 and the first flexible pipe 443. In this way, when the mopping assembly moves as a whole (lifting and / or telescoping), there will be no bending to affect sewage discharge and liquid supply.

[0294] Refer to Figure 38 and 39a, in an embodiment provided by the present application, the squeegee assembly 53 includes a squeegee 531 and a water guide plate 532. The end of the squeegee 531 is the squeegee strip 441. The materials of the squeegee and the squeegee strip can be the same or different, and this embodiment does not limit this. The water guide plate 532 is connected below the squeegee 531. The distance that the end of the squeegee 531 extends outwards is greater than the end of the water guide plate 532. The squeegee strip 441 at the end of the squeegee 531 contacts the cleaning roller 42. When the cleaning roller 42 rotates, the squeegee 531 can scrape the sewage on the cleaning roller 42, and then it is guided by the water guide plate 532 into the sewage collection box 442. In a specific embodiment, as Figure 35a shown, the cross-section of the water guide plate 532 is wedge-shaped. This structure can make a guiding water channel with a larger curvature formed on the surface of the water guide plate 532 after it is connected to the squeegee 531.

[0295] Furthermore, as Figure 39a , the squeegee 531 has a first plate section 5311 and a second plate section 5312. The first plate section 5311 and the second plate section 5312 are arranged at an obtuse angle, and the length of the second plate section 5312 is greater than the length of the first plate section 5311. The first plate section 5311 is the end that mainly functions when scraping water, and the second plate section 5312 is used to connect with the water guide plate 532. Specifically, the water guide plate 532 is connected below the second plate section 5312. The head end of the water guide plate 532 is close to the first plate section 5311, the tail end of the water guide plate 532 is close to the tail end of the second plate section 5312, and the tail end of the second plate section 5312 extends into the sewage collection box 442.

[0296] A plurality of water guide grooves 5321 are provided on the water guide plate 532. The plurality of water guide grooves 5321 are arranged at intervals. The arrangement direction of the water guide grooves 5321 is the same as the extension direction of the water guide plate 532. To ensure that the water guide grooves 5321 can guide the sewage into the sewage collection box 442, refer to Figure 8 , the number of liquid supply ports 453 on the liquid supply mechanism 45 is less than the number of water guide grooves 5321 on the water guide plate 532. The position where the water guide plate 532 acts on the cleaning roller is the water scraping position. Refer to Figure 39a , the water guide grooves 5321 can be through grooves (i.e., the groove openings are open) at the water scraping position 53211 (i.e., the end close to the cleaning roller) to facilitate water guiding. The end position 53210 (i.e., the tail) of the water guide grooves 5321 is closed to facilitate drainage. The tail of the water guide grooves 5321 is located at the opening of the sewage collection box. Refer to Figure 39bAs shown, the lower surface of the water guide plate 532 is an upwardly arched curved surface, which is the water guide surface 5322. Since the scraping plate 531 itself bends downward, water moves upward along the curved surface of the water guide groove 5321 by the centrifugal force of the roller to overcome its own gravity. The best scraping effect is achieved when the extension line at the end of the scraping strip assembly 53 passes through the center of the roller, that is, the scraping strip assembly 53 has a bent portion, which results in an upwardly arched curved surface of the water guide groove 5321. The water guide surface 5322 has two curved surfaces; from the water guiding to the drainage direction of the water guide surface 5322, the curvature of the corresponding arc of the curved surface decreases. As shown by the P1 section and the P2 section in the figure, where the P1 section is a section near the water guiding side of the cleaning roller 42, and the P2 section is a section on the drainage side. It can be seen from the figure that the arc curvature of the P1 section is greater than that of the P2 section.

[0297] A plurality of water guide grooves 5321 are provided on the water-facing side of the scraping strip assembly 52, and the water guide grooves 5321 at least extend to the collection port of the sewage collection assembly (sewage collection box 442). The water-facing side (lower surface) refers to the side where the scraping strip faces the rotation of the roller when the cleaning roller 42 rotates, and the roller contacts the scraping strip from bottom to top during rotation; in the absence of suction, in the prior art, the roller contacts the scraping strip from top to bottom, and water flows down along the scraping strip, and there is no need for a water guide groove.

[0298] As Figure 38 shown, the lowest point 53220 of the P2 section is lower than the highest point 4521 of the sewage collection box 442. As Figure 8 shown, the length of the water guide plate 532 is less than the actual water receiving length of the sewage collection box 442. As Figure 34 shown, the vertical distance Q between the opening position of the sewage collection box 442 near the cleaning roller 42 and the scraping strip assembly 53 is 3 - 5 mm.

[0299] In an embodiment provided by the present application, the water guide plate 532 and the scraping plate 531 can be connected by fasteners 533, or alternatively, the water guide plate 532 and the scraping plate 531 are of an integral structure. When the water guide plate 532 and the scraping plate 531 are of a split structure, the water guide plate 532 and the scraping plate 531 are made of different materials. For example, the scraping plate 531 is made of a metal material, which has good stiffness and better wear resistance; while the water guide plate 532 is made of a plastic material, which is convenient for processing, and complex water guide grooves 5321 can be processed on its surface by injection molding or stamping, and the cost is lower.

[0300] The surface of the cleaning roller 42 has fluff, and the fluff materials and / or lengths of different models will be different. In the following several situations, if the position of the scraping strip assembly 53 remains unchanged, it is possible that the distance between the scraping strip assembly 53 and the cleaning roller 42 is too far, resulting in the scraping strip assembly 52 being ineffective, or the distance is too close, which is extremely likely to cause damage (such as damage to the scraping strip assembly) or the rotation resistance of the roller is too large, which is extremely likely to cause abnormalities in the roller motor:

[0301] Replace the cleaning roller 42 with different models; or

[0302] The position deviation of the cleaning roller 42 caused by some factors during long-term operation; or

[0303] The fluff loss of the cleaning roller 42 during long-term operation, etc.

[0304] Participate Figure 34 and Figure 35a As shown, when the cleaning roller 42 rotates in the direction of arrow b, the scraping strip assembly 53 will receive a force in the direction of arrow T. If this force is too large due to the proximity, the scraping strip assembly 53 is likely to be damaged. To avoid problems caused by the above several situations, refer to Figure 39a and 40 , in an embodiment provided by the present application, the cleaning robot further includes an adaptive adjustment device. The adaptive adjustment device includes a swing assembly. The scraping strip assembly 53 is connected to the mopping bracket 43 through the swing assembly. The scraping strip assembly 53 can adaptively adjust its pose through the swing assembly to have a more suitable positional relationship with the cleaning roller 42, and can continuously act on the cleaning roller 42 to scrape off the dirt thereon. As shown in the figure, the swing assembly 500 includes a swing seat 534. A connecting hole 5342 is provided on the swing seat 534. The swing seat 534 is connected to the mopping bracket 43 through a swing shaft 535. Further, an installation hole 5341 is provided on the swing seat 534, and an elastic member 536 is arranged in the installation hole 5341. One end of the elastic member 536 is connected to the swing seat 534, and the other end is in contact with the installation shell 4211 of the mopping bracket 43. The elastic member 536 can make the contact force between the scraping strip assembly 53 and the cleaning roller 42 an elastic force. When the scraping plate 531 is subjected to too much force, the scraping strip assembly 53 rotates slightly around the swing shaft 535, thereby increasing the distance between the end of the scraping plate 531 and the cleaning roller 42, and then the contact force between the scraping plate 531 and the cleaning roller 42 also becomes smaller. For example, when the scraping plate 531 is subjected to too much force, the scraping strip assembly 53 will rotate along the swing shaft 535, and the end of the scraping plate 531 will move upward along Figure 32 the direction of arrow T in, so the acting force between the scraping plate 531 and the cleaning roller 42 will become smaller, thereby realizing the adaptive adjustment of the scraping strip assembly 53 and avoiding damage due to excessive force. Another example is that if the cleaning roller 42 has some position deviations due to long-term operation, the swing assembly will adaptively act to keep a suitable positional relationship between the scraping strip assembly 53 and the cleaning roller 42, and there is a suitable (neither too large nor too small) mutual acting force between the two, and the scraping strip assembly can continuously act on the cleaning roller to scrape off the dirt thereon.

[0305] It should be added here that: the swing assembly 500 can be an integral structure with the scraping strip assembly 53, or the swing assembly and the scraping strip assembly are two components connected together by a connection method.

[0306] Further, along the axial direction of the cleaning roller from one end to the other end of the cleaning roller, the surface of the cleaning roller is in contact with the end of the squeegee assembly. In addition, refer to Figure 39c As shown, the adaptive adjustment device in this embodiment further includes an elastic mechanism 300. The mopping assembly 4 is connected to the body 1 through the elastic mechanism 300. For example, one end of the elastic mechanism 300 can be connected to the cavity shell 46 of the body 1, and the other end can be connected to the mopping assembly 4. Among them, the elastic mechanism 300 can be an elastic component such as a spring. The squeegee assembly 53 adjusts its position and posture through the adaptive adjustment device so as to continuously act on the cleaning roller to scrape off the dirt thereon. That is, the position and posture adjustment of the squeegee assembly 53 is achieved by the combined action of the elastic mechanism 300 and the swing assembly 500. The mopping assembly 4 can adaptively adjust the relative position and posture between it and the body 1 through the elastic mechanism 300. The squeegee assembly is in the mopping assembly 4 and changes its position and posture together with the mopping assembly. Inside the mopping assembly 4, the squeegee assembly 53 adjusts the phase position and posture relationship with the cleaning roller 42 through the swing assembly 500 to be in a more appropriate position and posture, and can apply an appropriate scraping force to the cleaning roller 42, so as to finally keep continuously acting on the cleaning roller to scrape off the dirt thereon.

[0307] It can be seen that by setting the adaptive adjustment device, the squeegee assembly can float relative to the cleaning roller to keep the squeegee always pressing against the roller. When the mopping assembly moves relative to the body, the elastic mechanism moves with the mopping assembly, or the mopping assembly moves relative to the body and the elastic mechanism.

[0308] The above-mentioned adaptive adjustment assembly can also be called a biasing assembly. That is, the decontamination mechanism further includes a biasing assembly. Under the action of the biasing force provided by the biasing assembly, the squeegee assembly moves in the direction of pressing against the cleaning roller. Under the action of the biasing force provided by the biasing assembly, the depth at which the squeegee at least inserts into the cleaning roller is 1-2 mm. The biasing assembly includes a swing seat and an elastic member. The squeegee assembly is rotatably mounted on the mopping assembly or the body through the swing seat.

[0309] The above introduces a solution that uses one power source to realize the lifting and telescoping of the mopping assembly. The present application also supplements a solution here that uses two motors to respectively realize the lifting and telescoping functions of the mopping assembly. That is, the driving device 10 includes two power sources. Such as Figure 41As shown, the driving device 10 includes a first power source and a second power source. Among them, the first power source may include a first motor 60. The second power source includes a third motor 61. In specific implementation, both the first motor 60 and the third motor 61 can be connected to a speed reducer at the output end to output power outward through the speed reducer. Among them, the first power source is used to drive the telescopic movement of the mopping component, and its corresponding first action execution mechanism 103 is the same as the structure mentioned in the above embodiment, that is, the first action execution mechanism 103 includes: a first gear 13 and a first rack 14. The first action execution mechanism 103 may include a sliding plate, and the sliding plate is slidably connected to the slide rail 15. At least one slide rail 15 may be provided on the cavity shell 46. In addition, the first photoelectric switch 281, the first trigger structure on the sliding plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, the grating structure 294, etc., all have the same functions as those in the above embodiment. For specific content, please refer to the above, and details will not be elaborated here.

[0310] The second power source is used to drive the mopping component 4 to lift, and its corresponding second action execution mechanism, such as Figure 41 As shown, may include: a second gear 62 and a second rack 63. The setting method of the second rack 63 is different from that of the first rack 14. Refer to Figure 41 , the first rack 14 is horizontally arranged, and the second rack 63 is vertically arranged.

[0311] The specific implementation process is as follows: When the mopping component 4 is in the initial state (i.e., the first limit position in the retracted state, the cleaning roller is in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate. The first rack 14 is driven by the first gear 13 to translate towards one side of the machine body. The first rack 14 pushes the mopping component outwards through the connection structure located on the slide rail 15, so that a part of the mopping component extends out of the machine body (such as Figure 42 (B)). If the mopping component 4 extends to the second limit position in the extended state, the first motor 60 stops working. When the mopping component 4 needs to retract, the first motor 60 outputs reverse power to drive the first gear 13 to rotate in the reverse direction. The first rack 14 is driven by the first gear 13 to translate towards the inside of the machine body. The first rack 14 contracts the mopping component 4 inward through the connection structure located on the slide rail 15. After the mopping component 4 retracts to the initial state, the first motor 60 stops working. When the mopping component 4 needs to rise, the second motor 61 outputs power to drive the second gear 62 to rotate. The second rack 63 drives the mopping component 4 to rise along the axial direction of the connecting column 241 (refer to Figure 16 as shown) (such as Figure 42(A)). After the mopping and washing assembly 4 rises to the high position and the third optoelectronic switch 283 is triggered, the third motor 61 stops working. When the mopping and washing assembly 4 needs to descend, the third motor 61 outputs reverse power to drive the second gear 62 to rotate reversely, the second rack 63 moves downward, and the mopping and washing assembly descends along the axial direction of the connecting column 241 (see Figure 16 as shown). When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e., the time used by the third motor to drive the mopping and washing assembly to lift), the third motor 61 stops moving. In addition, by adding a counting light-shielding sheet and a counting optocoupler to this assembly, step-by-step extension can also be achieved during the extension process. For the specific implementation, refer to the above content and will not be elaborated here.

[0312] Furthermore, if the cleaning robot is cleaning a carpeted floor, the cleaning robot will repeatedly clean back and forth between the carpet area and the ordinary floor area. Then the cleaning robot will need to repeatedly switch between the lifting state and the descending state, and it may even occur that the mopping and washing assembly first switches from the extended state to the retracted state, and then switches to the lifting state. In this way, before the cleaning robot walks onto the carpeted floor from the ordinary floor, it needs to pause and wait, and only after completely switching to the lifting state can it walk onto the carpeted floor for cleaning, which will inevitably consume too much waiting time.

[0313] To avoid this problem, in an embodiment provided in the present application, the mopping and washing assembly on the cleaning robot can quickly switch to the lifting state in both the retracted state and the extended state. For example, when the mopping and washing assembly is in the extended state, or in different gears of the extended state, the mopping and washing assembly can simultaneously switch to the lifting state. In this way, when the mopping and washing assembly is in the extended state, it does not need to first retract to the initial state and then switch to the lifting state. The cleaning robot does not need to wait for too long before walking onto the carpeted floor or crossing an obstacle. Even if the cleaning robot needs to repeatedly cross an obstacle or repeatedly go up and down the carpeted floor, the cleaning robot will not consume too much waiting time, and the total cleaning time can be effectively reduced.

[0314] The present application supplements another solution here that uses two motors to separately realize the lifting and telescoping functions of the mopping and washing assembly 4. That is, the driving device 10 includes two power sources. Different from the Figure 41 structure shown above, it is realized by the second power source and the corresponding second action execution mechanism, the hoisting structure. See FigureAs shown, the first power source, the slide rail 15, the first optoelectronic switch 281, the first triggering structure on the sliding plate for triggering the first optoelectronic switch 281, the fourth optoelectronic switch 284, the grating structure 294, etc. all have the same functions as those in the above embodiments. The same points will not be elaborated here. The differences are as follows: The second action execution mechanism corresponding to the second power source is the reel 64 and the pull rope 65. That is, the third motor 61 is connected to the reel 64. The pull rope 65 is arranged on the reel 64.

[0315] The specific implementation process is as follows: The telescoping of the mopping and washing assembly 4 is the same as above. When the mopping and washing assembly 4 needs to be lifted, the third motor 61 outputs power to drive the reel 64 to rotate. The pull rope 65 drives the mopping and washing assembly to rise axially along the connecting column 241 under the drive of the reel 64. After the third optoelectronic switch 283 is triggered when the mopping and washing assembly 4 rises to a high position, the third motor 61 stops working. When the mopping and washing assembly 4 needs to be lowered, the third motor 61 outputs reverse power to drive the reel 64 to reverse, and the mopping and washing assembly 4 descends axially along the connecting column 241 under the action of gravity. When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e., the time used by the third motor to drive the mopping and washing assembly to lift), the third motor 61 stops moving. In addition, by adding a counting light-shielding sheet and a counting optocoupler to this assembly, step-by-step extension can also be achieved during the extension process. For the specific implementation, refer to the above content and will not be elaborated here.

[0316] The embodiments of the present application provide a solution for a single power source to achieve the telescopic and lifting of the mopping component 4, and also provide a solution for a dual power source to achieve the telescopic and lifting of the mopping component (i.e., one power source for telescoping and the other for lifting). No matter which implementation solution is adopted, a problem is faced: how to control each power source to enable the mopping component 4 to telescope and lift at an appropriate time. For example, the mopping component 4 extends while descending, or retracts while ascending, or retracts first and then lifts, or lifts first and then retracts, or descends first and then extends, and so on. In a specific scenario, for example, the mopping component 4 of the current cleaning robot is in the extended state. When the cleaning robot needs to enter a specific area (such as a designated non-mopping area or a carpet area), it is necessary to lift the mopping component 4 to have a certain distance from the ground. Another example is that when the cleaning robot drives from the living room into the kitchen and there is a small step at the kitchen door, the cleaning robot needs to overcome the obstacle to drive into the kitchen. At this time, in order to facilitate overcoming the obstacle, it is necessary to lift the mopping component. Whether the mopping component is directly lifted in the extended state or retracted to the innermost side (i.e., the first limit position) and then lifted requires the cleaning robot to make a judgment by sensing the environmental information. If the current environment is open and there are no obstacles in height, the mopping component 4 can be directly lifted in the extended state. However, if the current environment is relatively complex and the cleaning robot has limited detection information, if the mopping component 4 is directly lifted in the extended state, it is very likely that the mopping component 4 will collide with an object during the lifting process. If the lifting action does not stop, it is very likely to damage the mopping component. That is to say, lifting the outwardly swinging cleaning roller 42 poses a great risk to the main body of the machine. Therefore, the roller cannot participate in the cleaning function at this time. Also, due to the length protruding from the projection of the main body of the machine, the cleaning robot needs to intelligently control the action of the mopping component 4 according to the real-time detected environmental information at all times. This will inevitably increase the computational workload of the cleaning robot, not only consuming power but also affecting the execution of the main task of the cleaning robot (i.e., the cleaning task). Therefore, in order to simplify the control logic of the cleaning robot and reduce the control complexity, the embodiments of the present application provide a solution in which the mopping component 4 retracts to a preset position (such as the first limit position in the retracted state) and then lifts. Specifically, the solution provided by this embodiment includes the following steps. The execution subject of each of the following steps can be the main board 2 in the embodiments of the present application. As the mopping component control solution includes:

[0317] S1. When it is determined that the mopping component 4 needs to be lifted, obtain the current position of the mopping component 4;

[0318] S2. If the mopping component 4 is in the first limit position, control the driving device to drive the mopping component 4 to lift; if the mopping component 4 is in the extended state, control the driving device 10 to drive the mopping component 4 to first retract to the first limit position and then lift.

[0319] When the mopping and washing assembly 4 is in the extended state, the mopping and washing assembly 4 can be located at any position between the first extreme position and the second extreme position, or at the second extreme position.

[0320] After adopting the above solution, the cleaning robot does not need to detect the environmental information detected by the sensing system and perform complex calculations to determine whether there is enough space to lift the mopping and washing assembly in the current environment. The entire process does not require the participation of the sensing system, which can ensure the lifting safety of the mopping and washing assembly and is simple and easy to implement.

[0321] During the cleaning process of the cleaning robot, the cleaning roller 42 will adsorb the dirt on the ground, and the dirt on the roller will be scraped and collected by the decontamination mechanism 44. After working for a long time, the dirt collection box 442 needs to be cleaned. Currently, for some cleaning robots, if users want to disassemble the detachable parts (such as the sewage tank, roller, etc.) at the bottom of the body, they need to turn the body over with the bottom facing up before they can remove them, which is not a good user experience.

[0322] As can be seen from the above, the mopping and washing assembly 4 in the embodiment of the present application includes a liquid supply mechanism 45, a decontamination mechanism 44, and a cleaning roller 42. Among them, although the dirt in the dirt collection box 442 of the decontamination mechanism 44 can enter the sewage tank 9 through the sewage pump. However, if the dirt collection box 442 is not cleaned after working for a long time, there will still be deposited dirt, which is extremely easy to breed bacteria and generate odors. Therefore, it needs to be disassembled relatively frequently to facilitate users to clean. In addition, although the cleaning roller 42 in this embodiment can be self-cleaned with flowing water during the task execution, it still needs to be disassembled for manual cleaning after a long time, or the cleaning roller 42 is worn and needs to be disassembled and replaced with a new cleaning roller 42. If users need to turn the body over with the bottom facing up to remove them, it will not be very convenient.

[0323] Therefore, an embodiment of the present application provides a solution that can easily disassemble the dirt collection box 442 in the mopping and washing assembly without the user turning over the body, improving the disassembly convenience and meeting the ergonomic design. In addition, another embodiment of the present application provides a solution for easily disassembling the cleaning roller 42. The disassembly solution of the dirt collection box 442 will be introduced sequentially below, and then the disassembly solution of the cleaning roller 42 will be introduced.

[0324] See ​ , at least one side of the mopping and washing assembly 4 is exposed. As ​ shown in an example, the mopping and washing assembly 4 is exposed on one side of the body. Taking the forward direction of the body 1 as a reference, the mopping and washing assembly 4 is exposed on the right side of the body. The dirt collection box 442 can be located in front of or behind the cleaning roller 42. See ​ c to 44f, a release assembly is provided on the side of the dirt collection box 442 corresponding to the exposed mopping and washing assembly. Users can see and touch the release assembly on the exposed side without turning over the body 1, and then operate the release assembly to remove the dirt collection box 442.

[0325] The release component has an operating handle; the operating handle is located at the bottom of the dirt collection box 442; when disassembling, the operating handle acts, the release component is in an unlocked state, the first end of the dirt collection box 442 is detached from the mopping bracket, and the dirt collection box 442 is pulled outwards at the bottom of the machine body; when installing, after the second end of the dirt collection box 442 is inserted into place from the bottom of the machine body, the first end of the dirt collection box 442 moves upwards to the locking position, and at the locking position, the release component is triggered to switch to the locked state.

[0326] Specifically, as ​ and 44c , along the length direction of the dirt collection box 442, the dirt collection box 442 has two ends, namely a first end 4421 and a second end 4422. It should be added here that: in the length direction of the dirt collection box 442 and the axis direction of the cleaning roller 42, the length of the dirt collection box 442 can be equal to or greater than the length of the cleaning roller 42. At the position of the mopping bracket 43 corresponding to the dirt collection box 442, there are a first fixing structure 431 and a second fixing structure 432 respectively cooperating with the first end 4421 and the second end 4422. The second end 4422 of the dirt collection box 442 cooperates with the second fixing structure 432. For example, the second fixing structure 432 is a jack, and the second end 4422 of the dirt collection box 442 is a convex block structure adapted to the jack. The first end 4421 of the dirt collection box 442 is provided with a release component 70, and the release component 70 may include: an elastic operating member 71 and a fixing pin 72. The elastic operating member 71 is connected to the fixing pin 72. The first fixing structure 431 may be a pin hole adapted to the fixing pin 72. When the user operates the elastic operating member 71, the deformation of the elastic operating member 71 drives the fixing pin 72 to move, so that the fixing pin 72 is detached from the pin hole, and the dirt collection box 442 can be detached from the mopping bracket 73.

[0327] As ​ shown, after the first end 4421 of the dirt collection box 442 is detached from the first fixing structure 431, the first end 4421 descends, and the user can hold or grasp the first end 4421 and take out the dirt collection box from the machine body 1 along the length direction of the dirt collection box 442 (or the axis direction of the cleaning roller).

[0328] More specifically, as ​ , 44cWith respect to 44f, the elastic operating member 71 may include: a release button and a release spring 712. Among them, the fixed pin 72 is provided with a chute 722. The release button may be a knob. For example, the release button has a rotating shaft 714, and the release button is rotatably connected to the sewage collection box 442 through the rotating shaft 714. On both sides of the rotating shaft 714, there are respectively provided: a top structure 713 and an operating handle 711. Alternatively, the release button is a push-pull member that moves linearly. The top structure 713 of the release button is located within the chute 722. At the first end of the sewage collection box 442, there is a spring seat 4423, the release spring 712 is arranged within the spring seat 4423, one end of the fixed pin 72 is provided with a plug 721 adapted to the pin hole, and the other end is connected to the release spring 712.

[0329] When the release button is a knob, the user can rotate the release button, so that the top structure 713 drives the fixed pin 72 to act by abutting against the chute 722. When the release button is a pull-push member, the user can perform a push-pull operation (such as a push-pull operation along the length direction of the fixed pin), so that the top structure drives the fixed pin to act by abutting against the chute.

[0330] Such as ​ As shown, when the user wants to remove the sewage collection box 442, the user applies an external force to the release button, such as rotating the release button. The top structure 713 on the release button abuts against the fixed pin 72 within the chute. At this time, the plug 721 of the fixed pin 72 disengages from the pin hole, and the first end of the sewage collection box 442 drops downward. The user pulls here, and the second end of the sewage collection box 442 disengages from the mopping bracket. At this time, the sewage collection box 442 is completely removed. When the user wants to reinstall the sewage collection box 442, first install the second end of the sewage collection box 442 (that is, insert the convex block structure at the second end into the jack). The user holds the first end of the sewage collection box 442 with the hand and presses it upward. The release spring deforms, and the fixed pin 72 acts to enable the fixing to enter the installation groove of the mopping bracket. After the sewage collection box 442 is installed in place, the position of the fixed pin 72 just corresponds to the position of the pin hole. Under the action of the elastic restoring force of the release spring, the fixed pin 72 moves, and the plug is inserted into the pin hole. At this time, the sewage collection box 442 is installed.

[0331] In order to ensure the installation stability of the sewage collection box 442, the release button is further provided with a locking structure, and the sewage collection box 442 is provided with a locking cooperation structure at the corresponding position. After the sewage collection box 442 is installed, the user can rotate the release button so that the locking structure cooperates with the locking cooperation structure to lock the position of the release button, so that the fixed pin 72 will not disengage from the pin hole due to vibration or the like. In this embodiment, the specific implementation of the locking structure on the release button and the locking cooperation structure on the sewage collection box 442 is not specifically limited.

[0332] Furthermore, referring to ​As shown, a filter assembly 543 is further provided in the dirt collection box 442. The filter assembly 543 is used to filter large particle dirt in the dirt entering the dirt collection box 442. As ​ shown, the filter assembly 543 can be a filter element with a plurality of filter holes provided thereon. The filter element can be placed and stabilized in the dirt collection box 442 through some mating structures. The filter element is also provided with a through hole, and the dirt collection pipe 542 can pass through the through hole from above the filter element and extend below the filter element to be close to the bottom of the dirt collection box 442. After the user removes the dirt collection box 442, the filter assembly 543 can be taken out of the dirt collection box 442 to clean the dirt collection box 442 and the filter assembly 543 respectively. One end of the filter assembly 543 is provided with a handle 5431 for the user to easily pick up. When the user picks up the filter assembly 543, the user can pinch the handle 5431 with fingers and take out the filter assembly 543 from the dirt collection box. The handle 5431 can be a plate-like body with a certain bending arc.

[0333] In addition, a detection element 4425 is further provided in the dirt collection box 442. The detection element 4425 can be a detection magnet or the like. A sensing element (not shown in the accompanying drawings of the specification) is provided at a corresponding position on the mopping bracket. The sensing element can detect whether the dirt collection box 442 is installed on the mopping bracket by sensing the detection element on the dirt collection box 442. The reason for setting this detection element is to avoid the situation where the user starts the cleaning robot without installing the dirt collection box 442. If the sensing element senses that the dirt collection box 442 is not installed on the mopping bracket 43, the cleaning robot can remind the user to install the dirt collection box 442 by means of voice and / or display. If the sensing element and the detection element 4425 are not provided, the cleaning robot may perform the cleaning task without the dirt collection box 442, and the dirt scraped from the cleaning roller 42 may be discharged to the ground because the dirt cannot be collected in the front and back cleaning. Therefore, it is very necessary to set the sensing element and the detection element, and the machine can only be started to perform the cleaning task after the dirt collection box 442 is installed on the body.

[0334] For the disassembly of the cleaning roller 42, refer to ​ shown, the mopping assembly 4 is in a retracted state, that is, the end of the mopping assembly 4 is located inside the body 1. Looking down from above the body 1, that is, when the cleaning robot is on the ground and the user's perspective of looking at the cleaning robot, the user cannot see the mopping assembly 4. If the user wants to disassemble the cleaning roller in the mopping assembly 4, the user needs to squat down and tilt the head to look sideways at the position of the mopping assembly 4 inside the body 1, and then reach out to disassemble the cleaning roller 42. During the disassembly process, the user may disassemble blindly, and it is almost the same when installing, and there may be a situation of pinching the hand. Obviously, this solution that the cleaning roller 42 can be disassembled without flipping the body is not very convenient. The embodiment of the present application provides a more convenient solution for disassembling and assembling the cleaning roller 42. Specifically,

[0335] An interaction device is provided on the body of the cleaning robot, and the interaction device can be a button, a touch screen, a voice interaction unit, etc. The user can trigger the mopping component 4 to extend from one side of the body 1 through the interaction device, such as extending to a set position (which can be the second limit position in the extended state) or extending until the end of the mopping component exposes the outer edge of the body 1. For example, when the user presses a button on the interaction device, after the main board 2 receives the operation signal triggered by the button, it controls the driving device 10 to drive the mopping component 4 to extend from one side of the body 1 to the set position or extend a set length so that the end of the mopping component 4 is exposed. At this time, the user can detach the cleaning roller 42 from the mopping component 4. After the user cleans the cleaning roller 42 or gets a new replacement roller, the roller is then reinstalled onto the mopping component 4.

[0336] See ​ As shown, in this embodiment, a roller motor 41 is provided at the first end in the length direction (the direction of the arrow in the figure) of the mopping bracket 43, and an opening is provided at the second end. The cleaning roller 42 can be inserted into the roller cavity of the mopping bracket 43 through the opening to be connected to the roller motor 41. A first structure 430 is provided at the second end of the mopping bracket 43. Correspondingly, a second structure is provided inside the end cap 420 of the cleaning roller 42. The first structure 430 and the second structure can be magnetic attraction components used in cooperation. For example, one of the first structure 430 and the second structure is a groove, and the other is a protrusion, and the groove and the protrusion are adapted; the protrusion is a magnet, and a magnetic attraction material is provided in the groove; or, a magnet is provided in the groove, and a magnetic attraction material is provided on the protrusion, etc. This embodiment does not make specific limitations on this.

[0337] After the user triggers the extension of the mopping component 4 by means of a button, voice or touch screen, as ​ shown, the mopping component 4 extends outside the edge 1001 of the body 1. At this time, when the user bends down and looks from the upper part of the body, the mopping component can be seen, and the end of the cleaning roller 42 can also be seen. As ​ shown in the example, the end cap 420 of the cleaning roller 42 is similar to a whistle shape. The user can easily pull out the cleaning roller by pinching the end cap 420 with one hand along the pulling-out direction (i.e., the width direction of the body 1), and thus it is disassembled. When installing, since the mopping component is in the extended state, that is, ​In the state shown, the user can also see the opening of the drum cavity of the mopping bracket. The user inserts one end of the cleaning drum through the opening, and the end cap 420 of the cleaning drum comes into contact and engages with the first structure 430 on the mopping bracket, thus completing the connection between the end cap 420 and the mopping bracket. If, after installation, the cleaning robot needs to perform a cleaning task, the cleaning robot maintains the extended state of the current mopping assembly 4 to perform the cleaning task. If, after installation, the cleaning robot needs to return to the base station, after detecting that the cleaning drum is installed, the cleaning robot automatically retracts the mopping assembly 4; alternatively, the user triggers the main board 2 of the cleaning robot through the interaction device to control the driving device to retract the mopping assembly 4.

[0338] Furthermore, the driving device 10 can also drive the mopping assembly 4 to move up and down relative to the body. Correspondingly, when the cleaning drum needs to be disassembled, the driving device 10 drives the mopping assembly 4 to extend to expose the end cap of the cleaning drum 42, and at the same time drives the mopping assembly 4 to lift to have a gap from the ground, facilitating the user to remove the cleaning drum 42. Since there is a gap between the cleaning drum 42 and the ground, it is easier to pull out the cleaning drum 42.

[0339] In addition to triggering the retraction of the mopping assembly 4 through the interaction device, the following solution can also be adopted: after the cleaning drum 42 is installed on the mopping bracket 43, the user pushes the mopping assembly 4, and the driving device 10 starts to work to drive the mopping assembly 4 to retract to the first limit position. The cleaning robot further includes a sensing system and a main board 2; the main board 2 is electrically connected to the sensing system; the sensing system includes a sensing unit for detecting the retraction thrust of the mopping assembly 4; after the sensing unit detects the installation thrust of the mopping assembly 4, it sends a retraction signal to the main board 2, and the main board 2 controls the driving device 10 to start working to drive the mopping assembly 4 to retract to the first limit position.

[0340] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that, Comprising: A body; A mopping and washing assembly, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; The cleaning unit motor is connected to the cleaning unit. The liquid supply mechanism is used to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off the dirt on the cleaning unit; A driving device is arranged on the body and connected to the mopping and washing assembly; along the width direction of the body, the driving device can drive the mopping and washing assembly to extend from at least one side of the body, so that part of the mopping and washing assembly is exposed; A sewage tank is arranged on the body, and the dirt collected by the dirt removal mechanism is conveyed into the sewage tank; A second flexible pipe, the first end of the second flexible pipe is connected to the sewage tank, and the second end of the second flexible pipe is connected to the mopping and washing assembly and can move following the mopping and washing assembly.

2. The cleaning robot according to claim 1, characterized in that, The cleaning robot further includes: a clean water tank and a first flexible pipe. The clean water tank is arranged on the body, and the cleaning liquid stored in the clean water tank can be conveyed to the liquid supply mechanism; The first end of the first flexible pipe communicates with the clean water tank, and the second end of the first flexible pipe is connected to the mopping and washing assembly and can move following the mopping and washing assembly.

3. The cleaning robot according to claim 2, wherein, The dirt removal mechanism includes a scraping strip assembly and a dirt collection box; The end of the scraping strip assembly contacts the cleaning unit, and the dirt collection box is located below the scraping strip assembly; When the cleaning unit rotates, the dirt scraped off by the scraping strip assembly enters the dirt collection box; The dirt removal mechanism further includes a dirt collection pipe. The first end of the dirt collection pipe is arranged in the dirt collection box, and the second end of the dirt collection pipe is communicated with the sewage tank through the second flexible pipe.

4. The cleaning robot according to claim 3, characterized in that, The mopping and washing assembly further includes a joint assembly. The joint assembly includes a clean water pipe joint and a sewage pipe joint, and the clean water pipe joint and the sewage pipe joint are respectively connected to the first flexible pipe and the second flexible pipe.

5. The cleaning robot according to claim 4, characterized in that, The dirt removal mechanism further includes a negative pressure pump and a valve body; The negative pressure pump is connected to the sewage tank and is used to pump negative pressure on the sewage tank; The valve body is arranged on the dirt collection pipe and is used to control the on-off of the dirt collection pipe; When the valve body is opened, the negative pressure in the sewage tank passes through the second flexible pipe to suck the sewage in the dirt collection box into the sewage tank.

6. The cleaning robot according to claim 4, wherein The body is provided with a pipe space for accommodating the first flexible pipe and the second flexible pipe; The pipe space has a first opening and a second opening. The first flexible pipe and the second flexible pipe both enter the pipe space from the first opening and pass through the second opening to be connected to the joint assembly.

7. The cleaning robot according to claim 6, wherein The opening direction of the first opening is substantially perpendicular to the opening direction of the second opening.

8. The cleaning robot according to claim 3, characterized in that, The dirt removal mechanism further includes a filtering component. The filtering component is arranged in the dirt collection box and divides the inner cavity of the dirt collection box into an upper space and a lower space; The first end of the dirt collection pipe passes through the filtering component and is located in the lower space of the inner cavity.

9. The cleaning robot according to claim 2, characterized in that, Springs are arranged outside the first flexible pipe and the second flexible pipe.

10. The cleaning robot according to claim 2 or 9, characterized in that, The first flexible pipe and the second flexible pipe are bendable pipes.

11. The cleaning robot according to any one of claims 1 to 8, characterized in that, It further includes a control device; The control device, electrically connected to the driving device, is configured to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing assembly to move relative to the body, thereby changing the position of the mopping and washing assembly relative to the body.

12. A cleaning robot, characterized in that, It includes: A body; A mopping and washing assembly, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; The cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is configured to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is configured to scrape off the dirt on the cleaning unit; A driving device, disposed on the body and connected to the mopping and washing assembly; along the width direction of the body, the driving device can drive the mopping and washing assembly to extend from at least one side of the body, so that a part of the mopping and washing assembly is exposed; A fresh water tank, disposed on the body, and the cleaning liquid stored in the fresh water tank can be conveyed to the liquid supply mechanism; A first flexible pipe, the first end of the first flexible pipe communicates with the fresh water tank, and the second end of the first flexible pipe is connected to the mopping and washing assembly and can move following the mopping and washing assembly.

13. A mopping and washing component, characterized in that, It includes: A mopping bracket, having a drum installation cavity with an opening facing downwards; A cleaning unit motor, disposed in the drum installation cavity; A cleaning unit, connected to the cleaning unit motor, and can contact the surface to be cleaned through the opening; A liquid supply mechanism, disposed on the mopping bracket, and configured to supply cleaning liquid to the cleaning unit; A dirt removal mechanism, disposed on the mopping bracket, and configured to scrape off the dirt on the cleaning unit; Wherein, a connection structure for connecting the driving device is provided on the mopping bracket, so as to drive the mopping and washing assembly to move through the driving device; one end of the second flexible pipe of the dirt removal mechanism can be connected to an external water collection device; The other end of the second flexible pipe is connected to the mopping bracket and can move following the mopping and washing assembly.

14. The mopping and washing assembly according to claim 13, wherein, The mopping and washing assembly further includes a first flexible pipe, one end of the first flexible pipe of the liquid supply mechanism can be connected to an external water supply device, and the other end of the first flexible pipe is connected to the mopping bracket and can move following the mopping and washing assembly.

15. A mopping and washing component, characterized in that, It includes: A mopping bracket, having a drum installation cavity with an opening facing downwards; A cleaning unit motor, disposed in the drum installation cavity; A cleaning unit, connected to the cleaning unit motor, and can contact the surface to be cleaned through the opening; A liquid supply mechanism, disposed on the mopping bracket, and configured to supply cleaning liquid to the cleaning unit; A dirt removal mechanism, disposed on the mopping bracket, and configured to scrape off the dirt on the cleaning unit; Wherein, a connection structure for connecting the driving device is provided on the mopping bracket, so as to drive the mopping and washing assembly to move through the driving device; one end of the first flexible pipe of the liquid supply mechanism can be connected to an external water supply device; The other end of the first flexible pipe is connected to the mopping bracket and can move following the mopping and washing assembly.

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