Hard surface cleaning robot

Abstract

The present disclosure relates to the technical field of cleaning robots, in particular to a hard surface cleaning robot based on non-circular equal-width curve design, which comprises a rack assembly and a control unit; the rack assembly comprises a carrier plate, a side plate, a contactor and a guide; the profile shape of the carrier plate is a non-circular equal-width curve, the side plate and the contactor are arranged on the edge of the upper surface of the carrier plate and enclose a continuous fence structure; the contactor is movably connected with the carrier plate, the front end of the contactor is provided with a mounting groove, the guide is arranged in the mounting groove and can move relative to the mounting groove; the control unit comprises a detector, the detector is connected with the contactor, the guide drives the contactor to move after being extruded, and the contactor drives the detector to generate a trigger signal. In the present disclosure, the cleaning robot is closer to the manual scrubbing action, which is beneficial to the cleaning of the surface, and the volume and mass of the robot are smaller than those of the square or circular robot when cleaning the same area.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning robot technology, and more particularly to a hard surface cleaning robot based on a non-circular constant-width curve design. Background Technology

[0002] Cleaning glass curtain walls and other hard surfaces is a challenge, and the use of aerial cleaning robots is becoming a trend. Aerial cleaning robots can not only wipe the glass, but also reduce the risks to workers working at heights.

[0003] Existing aerial cleaning robots are generally square, round, or oblong in shape. During the cleaning process, there are large blind spots, especially in the edges and corners, which cannot be cleaned. In some small working areas, the cleaning robot cannot rotate freely, resulting in large blind spots. Summary of the Invention

[0004] To address at least the above-mentioned technical problems existing in the prior art, this disclosure provides a hard surface cleaning robot.

[0005] This disclosure provides a hard surface cleaning robot, including a frame assembly and a control unit. The frame assembly includes a carrier plate, side plates, contactors, and guides. The carrier plate has a non-circular, equal-width curve outline. The side plates and contactors are located on the edges of the upper surface of the carrier plate and form a continuous enclosure structure. The contactors are movably connected to the carrier plate, and the front end of the contactor has a mounting groove. The guides are located in the mounting grooves and can move relative to the mounting grooves. The control unit includes a detector that contacts the contactors. When the guides are compressed, they drive the contactors to move, and the contactors drive the detectors to generate trigger signals.

[0006] In some embodiments, the rack assembly further includes a cleaning member disposed on the lower surface of the carrier plate and arranged parallel to the carrier plate; a buffer is provided between the cleaning member and the carrier plate, and the edge of the upper surface of the cleaning member is connected to the lower surface of the carrier plate through the buffer.

[0007] In some embodiments, the contactor includes a main body and a retaining member, the mounting groove being disposed on the main body; the retaining member is connected to the main body and forms a continuous retaining structure with the side plate, and the inner wall of the retaining member is connected to or in contact with the trigger switch of the detector.

[0008] In some embodiments, the edge of the guide is located on the extension line of the tangent of the side plate and the enclosure.

[0009] In some embodiments, an adsorption assembly is further included, which is disposed on the upper surface of the carrier plate. The adsorption assembly includes a housing and a negative pressure generator. The bottom of the housing is connected to the carrier plate, and the bottom of the housing is provided with an adsorption port. The carrier plate and the cleaning component are provided with through holes, and the adsorption port is disposed facing the through holes. The negative pressure generator is disposed inside the housing, and airflow is generated by the negative pressure generator to adsorb the frame assembly onto the working surface of the hard surface cleaning robot.

[0010] In some embodiments, the bottom of the housing is located outside the adsorption port and is connected to the carrier plate via an annular sealing filler.

[0011] In some embodiments, a power assembly is also included, the power assembly including a drive structure; the drive structure is connected to the carrier plate, and a portion of the drive structure passes through the through hole and contacts the working surface of the hard surface cleaning robot.

[0012] In some embodiments, the power assembly further includes an auxiliary structure connected to the carrier plate, and the carrier plate and the cleaning component are provided with clearance holes for the auxiliary wheel of the auxiliary structure.

[0013] In some embodiments, the auxiliary structure includes a wheel frame, a base, a bearing, an energy storage unit, and a rod; the auxiliary wheel is connected to the wheel frame, the auxiliary wheel and the wheel frame are located on one side of the lower surface of the carrier plate, the base is disposed on the upper surface of the carrier plate, the bearing is disposed inside the base and sleeved on the moving part of the wheel frame, the rod is connected to the upper surface of the carrier plate, and the energy storage unit is sleeved on the rod and used to apply driving force to the carrier plate.

[0014] In some embodiments, a water circuit assembly is also included; the water circuit assembly includes a water tank, a pump, and a nozzle, the nozzle being connected to the water tank via the pump, and the nozzle being used to spray water onto the cleaning component or the working surface of the hard surface cleaning robot.

[0015] This disclosure provides a hard surface cleaning robot with a main structure featuring a non-circular, equal-width curve design. When cleaning the work surface, it employs a reciprocating cleaning operation in areas other than edges and corners. However, in edge and corner areas, due to the non-circular, equal-width curve design, the robot can perform edge cleaning or motion cleaning, thus preventing any cleaning omissions. This cleaning robot can be used in smaller work areas. In this embodiment, the cleaning robot's operation on the work surface is closer to the scrubbing motion of a human hand cleaning the surface, which is more conducive to surface cleaning. Moreover, when cleaning the same area, the robot's volume and mass are smaller than those of square or circular robots. Attached Figure Description

[0016] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which:

[0017] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0018] Figure 1 This is a schematic diagram of the structure of a hard surface cleaning robot provided in an embodiment of this disclosure;

[0019] Figure 2 A top view of a hard surface cleaning robot provided in an embodiment of this disclosure;

[0020] Figure 3 A cross-sectional view of a hard surface cleaning robot provided in an embodiment of this disclosure;

[0021] Figure 4 This is a schematic diagram of the frame assembly in the hard surface cleaning robot provided in the embodiments of this disclosure;

[0022] Figure 5 This is a schematic diagram of the adsorption component in the hard surface cleaning robot provided in this embodiment of the disclosure;

[0023] Figure 6 This is a schematic diagram of the auxiliary structure in the hard surface cleaning robot provided in the embodiments of this disclosure;

[0024] Figure 7 A bottom view of the hard surface cleaning robot provided in an embodiment of this disclosure;

[0025] Figure 8 This is a partial enlarged view of the guide component in the hard surface cleaning robot provided in this embodiment of the disclosure;

[0026] Figure 9 This is a reference diagram showing the usage state of the hard surface cleaning robot for small-area cleaning, as provided in the embodiments of this disclosure.

[0027] In the picture:

[0028] 1: Control unit; 2: Adsorption assembly; 3: Water circuit assembly; 4: Frame assembly; 5: Power assembly;

[0029] 11: Detector; 12: Controller; 13: Backup power supply; 14: Contactor for working surface;

[0030] 21: Housing; 22: Sealing filler; 23: Negative pressure generator; 24: Adsorption port;

[0031] 31: Water tank; 32: Pump; 33: Sprayer head;

[0032] 41: Contactor; 411: Main body component; 412: Enclosure component; 42: Side plate; 43: Carrier plate; 44: Cleaning component; 45: Guide component; 46: Buffer component;

[0033] 51: Drive structure; 52: Auxiliary wheel; 53: Wheel frame; 54: Bearing; 55: Base; 56: Energy storage unit; 57: Rod. Detailed Implementation

[0034] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0035] like Figure 1 As shown in the figure, this disclosure provides a hard surface cleaning robot, which includes a control unit 1, an adsorption component 2, a water channel component 3, a frame component 4, and a power component 5. The control unit 1 sends control signals / instructions to the adsorption component 2, the water channel component 3, and the power component 5 based on received signals / instructions, so that each unit can perform corresponding actions. The adsorption component 2 is used to generate vacuum adsorption force to ensure that the hard surface cleaning robot can remain adsorbed on the working surface during operation to avoid falling off. The water channel component 3 is used to perform water spraying operation when cleaning the working surface. The frame component 4 is the supporting structure of each component and is used to detect and sense the edge of the path. The power component 5 is used to complete the walking operation of the hard surface cleaning robot.

[0036] The following, in conjunction with the accompanying drawings, provides a detailed explanation of the specific structure of each component and the positional relationship between them.

[0037] like Figures 1 to 4 , Figure 7 and Figure 8 As shown, the frame assembly 4 includes a carrier plate 43, a side plate 42, a contactor 41, and a guide 45. The outline of the carrier plate 43 is a non-circular curve of equal width. The side plate 42 and the contactor 41 are located on the edge of the upper surface of the carrier plate 43 and form a continuous enclosure structure. The contactor 41 is movably connected to the carrier plate 43. The front end of the contactor 41 is provided with a mounting groove. The guide 45 is located in the mounting groove and can move relative to the mounting groove.

[0038] For example, contactor 41 can be located at the intersection of curves in the profile of carrier plate 43, or contactor 41 can be located at any position (non-intersection) corresponding to curves in the profile of carrier plate 43.

[0039] The cleaning component 44 is disposed on the lower surface of the carrier plate 43 and is arranged parallel to the carrier plate 43. For example, the cleaning component 44 is made of a brush or a fiber cloth, and the shape of the cleaning component 44 is the same as that of the carrier plate 43, that is, its outline shape is also a non-circular equal-width curve.

[0040] A buffer 46 is provided between the cleaning component 44 and the carrier plate 43, and the edge of the upper surface of the cleaning component 44 is connected to the lower surface of the carrier plate 43 through the buffer 46. The buffer 46 has a rebound capability. When the hard surface cleaning robot is used, the cleaning component 44 is attached to the working surface. After the cleaning component 44 is attached, the buffer 46 contracts to store energy. Under the rebound action of the buffer 46, the cleaning component 44 remains attached to the working surface and has a certain pressure. For example, the buffer 46 is made of elastic rubber or other materials, which can also perform a sealing operation while having the function of buffering and rebounding. In this embodiment, the material of the buffer 46 is not limited.

[0041] For example, the outline shape of the carrier plate 43 and the cleaning component 44 is a curved triangle. Based on this shape, when cleaning the edges and corners of the working surface, one side of the cleaning component 44 in the hard surface cleaning robot can move along the edge for cleaning, such as moving or rolling along the edge. When cleaning corners, the corners are thoroughly cleaned by rotating the cleaning robot. In this embodiment of the present disclosure, the outline shape of the carrier plate 43 and the cleaning component 44 can also be other non-circular constant-width curves.

[0042] like Figure 1 , Figure 2 , Figure 4 and Figure 7 As shown, the contactor 41 includes a main body 411 and a retaining member 412. The mounting groove is provided on the main body 411. The retaining member 412 is connected to the main body 411 and forms a continuous retaining structure with the side plate 42. The inner wall of the retaining member 412 is connected to or in contact with the trigger switch of the detector 11 of the control unit 1.

[0043] Taking the outline shape of the carrier plate 43 as a curved triangle as an example, one curved edge is the front end, and the other two curved edges are the sides. For example, side plates 42 are respectively provided on both sides, and a side enclosure structure is formed by the enclosure member 412 and the side plates 42, while the front end is formed by two enclosure members 412 to form an integral enclosure structure (without side plates 42), so as to improve the sensitivity of the front end detector 11 being triggered. When the hard surface cleaning robot is running, the guide member 45 (e.g., guide wheel) touches the edge of the working surface, causing the contactor 41 to move, and the contactor 41 triggers the detector 11 to trigger a signal.

[0044] For example, the edge of the guide member 45 is located on the extension line of the tangent of the side plate 42 and the enclosure member 412. The guide member 45 can be wrapped within the outermost frame line of the hard surface cleaning robot to prevent the guide member 45 from protruding and affecting the cleaning effect. The guide member 45 can also abut against the frame of the working surface and complete the guiding function. Alternatively, for example, the edge of the guide member 45 can also protrude from the outermost frame of the hard surface cleaning robot, that is, the edge of the guide member 45 is not on the extension line of the tangent of the side plate 42 and the enclosure member 412. In this embodiment of the present disclosure, whether the edge of the guide member 45 protrudes or the length of the protrusion can be selected according to the actual usage requirements of the hard surface cleaning robot.

[0045] In this embodiment of the disclosure, the control unit 1 includes a detector 11, a reserve power supply 13 and a controller 12. The detector 11 is connected to a contactor 41. When the guide member 45 is squeezed, it drives the contactor 41 to move. The contactor 41 drives the detector 11 to generate a trigger signal.

[0046] The controller 12 and the backup power supply 13 are respectively mounted on the carrier plate 43. The controller 12 is used to receive the signal emitted by the detector 11 and send control signals to other components.

[0047] For example, such as Figure 3 As shown in this embodiment, the control unit 1 further includes a contactor 14 for the working surface. This contactor is mounted on the carrier plate 43. When the hard surface cleaning robot is placed on the working surface, the contactor is the first to contact the working surface. As the robot continues to approach the working surface, the contactor remains stationary relative to the working surface. The carrier plate 43 continues to approach the working surface. At this time, the contactor generates a trigger signal and sends it to the controller 12. By setting the contactor 14 for the working surface, the installation status of the hard surface cleaning robot on the working surface can be determined. That is, the working state of the contactor 14 can be used to determine the contact state between the cleaning robot and the working surface, thereby determining whether the minimum requirements for starting operation are met, and thus determining whether to start other components.

[0048] like Figures 1 to 3 and Figure 5As shown in the embodiments of this disclosure, the hard surface cleaning robot further includes an adsorption component 2, which is disposed on the upper surface of the carrier plate 43. The adsorption component 2 includes a housing 21 and a negative pressure generator 23. The bottom of the housing 21 is connected to the carrier plate 43, and the bottom of the housing 21 is provided with an adsorption port 24. The carrier plate 43 and the cleaning component 44 are provided with through holes, and the adsorption port 24 is disposed facing the through holes. The negative pressure generator 23 is disposed inside the housing 21. The negative pressure generator 23 generates airflow, causing the frame component 4 to be adsorbed onto the working surface of the hard surface cleaning robot.

[0049] The negative pressure generator 23 is connected to the controller 12. After the negative pressure generator 23 is activated, it generates a suction airflow. The suction port 24 is positioned facing the working surface, and the negative pressure generated by the airflow adsorbs the hard surface cleaning robot onto the working surface. For example, the negative pressure generator 23 includes a drive motor and an axial fan. The controller 12 is connected to the drive motor. When the adsorption assembly 2 needs to be activated, the drive motor is started, which drives the axial fan to move, thereby adsorbing the hard surface cleaning robot onto the working surface. In this embodiment, the structure of the negative pressure generator 23 is not limited to a drive motor and an axial fan; it can also be in other structural forms.

[0050] For example, the bottom of the housing 21 is located outside the adsorption port 24 and is connected to the carrier plate 43 via an annular sealing filler 22. The sealing filler 22 connects the housing 21 to the carrier plate 43. The sealing filler 22 is flexible and can be adjusted appropriately between the relative position of the adsorption port 24 and the working surface. The sealing filler 22 can also achieve a good seal, preventing "air leakage" and making the airflow for adsorption more directional.

[0051] like Figure 1 , Figure 2 , Figure 3 and Figure 7 As shown in the present embodiment, the hard surface cleaning robot further includes a power component 5, which includes a drive structure 51. The drive structure 51 is connected to the carrier plate 43 and is disposed on the working surface of the hard surface cleaning robot through a through hole.

[0052] For example, the drive structure 51 is a drive wheel. The power assembly 5 includes two drive wheels, which, driven by a motor, enable the operation of the hard surface cleaning robot, and by adjusting the differential speed between the two drive wheels, enable turning, reversing, and other motion operations. In this embodiment, the drive structure 51 is not limited to drive wheels; it can also be a wheel, tracked, Mecanum wheel, omnidirectional wheel, etc.

[0053] like Figure 3 and Figure 6As shown in this embodiment, the power assembly 5 further includes an auxiliary structure, which is connected to the carrier plate 43, and the carrier plate 43 and the cleaning component 44 are provided with clearance holes for the auxiliary wheel 52 of the auxiliary structure.

[0054] For example, it may include two or more sets of auxiliary structures, which are used to maintain the relative balance of the robot body for cleaning hard surfaces. The auxiliary structures passively move following the movement of the robot. For example, the auxiliary structure includes a wheel frame 53, a base 55, a bearing 54, an energy storage unit 56, and a rod 57; the auxiliary wheel 52 is connected to the wheel frame 53, and the auxiliary wheel 52 and the wheel frame 53 are located on one side of the lower surface of the carrier plate 43; the base 55 is located on the upper surface of the carrier plate 43; the bearing 54 is located inside the base 55 and is sleeved on the moving part (such as a rotating rod) of the wheel frame 53; the rod 57 is connected to the upper surface of the carrier plate 43; the energy storage unit 56 (such as an elastic element such as a spring) is sleeved on the rod 57 and is used to apply driving force to the carrier plate 43.

[0055] The auxiliary wheel 52 can move (such as rotating at a large angle), and when the energy storage unit 56 is in use, it is in a state of applying driving force to the carrier plate 43. Thus, under the action of the energy storage unit 56, the auxiliary wheel 52 can always walk on the working surface to ensure that it can provide assistance.

[0056] like Figures 1 to 3 As shown in the present embodiment, the hard surface cleaning robot further includes a water circuit assembly 3; the water circuit assembly 3 includes a water tank 31, a pump 32 and a nozzle 33, the nozzle 33 is connected to the water tank 31 through the pump 32, and the nozzle 33 is used to spray water onto the cleaning component 44 or the working surface of the hard surface cleaning robot.

[0057] During operation, the hard surface cleaning robot sprays water (or cleaning fluid) onto the working surface or cleaning component 44 through the nozzle 33, thus wetting the cleaning component 44. In this moist environment, the cleaning operation on the working surface is completed as the cleaning component 44 moves. The water tank 31 has a movement capacity, and water can be replenished periodically.

[0058] The working principle of a hard surface cleaning robot is explained below:

[0059] A hard surface cleaning robot is placed. When the robot begins to approach the work surface, the contactor 14 first contacts the work surface. As the robot continues to approach the work surface, the contactor 14 remains stationary relative to the work surface and generates a trigger signal. After receiving the trigger signal, the controller 12 activates the adsorption assembly 2, which causes the robot to adhere to the work surface. Due to the negative pressure adsorption, the robot moves further towards the work surface, the cleaning component 44 begins to contact the work surface, and the buffer component 46 begins to store energy. Due to the energy storage phenomenon of the buffer component 46, the cleaning component 44 generates relative movement away from the carrier plate 43, further pressing the cleaning component 44 onto the work surface. When the controller 12 determines that the negative pressure chamber has reached the predetermined pressure, it controls the drive assembly to operate, which drives the entire hard surface cleaning robot to move. During the robot's movement, the auxiliary structure is used to maintain the robot's relative balance.

[0060] like Figure 9 The diagram shows the cleaning path of the hard surface cleaning robot provided in this embodiment when cleaning a small area. When cleaning a square area with the same side length as the robot, the cleaning method shown in the diagram is used. The robot is placed within the cleaning area and moves along the boundary of the cleaning area. As the robot rolls, the contactor 41, carrier plate 43, and side plate 42 continuously contact the edge of the cleaning area. The contactor 41 drives the detector 11 to sequentially generate trigger signals. The basic cleaning rolling cycle sequence is shown. Figure 9 Steps 1, 2, 3, and 4 are repeated multiple times to complete the cleaning process for the area.

[0061] This disclosure provides a hard surface cleaning robot with a main structure featuring a non-circular, equal-width curve design. When cleaning the work surface, it employs a reciprocating cleaning operation in areas other than edges and corners. However, in edge and corner areas, due to the non-circular, equal-width curve design, the robot can perform edge cleaning or motion (such as rolling) cleaning, thus preventing any cleaning omissions. This cleaning robot is suitable for use in smaller work areas. In this embodiment, the cleaning robot's operation on the work surface is closer to the scrubbing motion of a human hand cleaning the surface, which is more conducive to surface cleaning. Moreover, when cleaning the same area, the robot's volume and mass are smaller than those of square or circular robots.

[0062] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0064] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A hard surface cleaning robot, characterized in that, Includes rack assembly (4) and control unit (1); The frame assembly (4) includes a carrier plate (43), a side plate (42), a contactor (41), and a guide (45); the outline shape of the carrier plate (43) is a non-circular equal-width curve, and the side plate (42) and the contactor (41) are located on the edge of the upper surface of the carrier plate (43) and form a continuous enclosure structure. The contactor (41) is movably connected to the carrier plate (43). The front end of the contactor (41) is provided with a mounting groove. The guide (45) is located in the mounting groove and can move relative to the mounting groove. The control unit (1) includes a detector (11), which contacts the contactor (41). When the guide (45) is squeezed, it drives the contactor (41) to move. The contactor (41) drives the detector (11) to generate a trigger signal. The hard surface cleaning robot is placed in the cleaning area and performs cleaning by rolling along the boundary of the cleaning area. When the hard surface cleaning robot rolls, the contactor (41), the carrier plate (43) and the side plate (42) will continuously contact the edge of the cleaning area. The contactor (41) drives the detector (11) to generate trigger signals in sequence. The cleaning roll runs in sequence according to a set cycle. By repeating the above cycle multiple times, the cleaning movement of the cleaning area is completed. The contactor (41) includes a main body (411) and a retaining member (412), and the mounting groove is provided on the main body (411); the retaining member (412) is connected to the main body (411) and forms a continuous retaining structure with the side plate (42), and the inner wall of the retaining member (412) is connected to or in contact with the trigger switch of the detector (11); The edge of the guide (45) is located on the extension line of the tangent of the side plate (42) and the enclosure (412).

2. The hard surface cleaning robot according to claim 1, characterized in that, The rack assembly (4) further includes a cleaning component (44), which is disposed on the lower surface of the carrier plate (43) and is arranged parallel to the carrier plate (43); A buffer (46) is provided between the cleaning component (44) and the carrier plate (43), and the edge of the upper surface of the cleaning component (44) is connected to the lower surface of the carrier plate (43) through the buffer (46).

3. The hard surface cleaning robot according to claim 2, characterized in that, It also includes an adsorption component (2), which is disposed on the upper surface of the carrier plate (43). The adsorption component (2) includes a housing (21) and a negative pressure generator (23). The bottom of the housing (21) is connected to the carrier plate (43), and the bottom of the housing (21) is provided with an adsorption port (24). The carrier plate (43) and the cleaning component (44) are provided with through holes, and the adsorption port (24) is arranged facing the through holes. The negative pressure generator (23) is located inside the housing (21). The negative pressure generator (23) generates airflow, causing the frame assembly (4) to adhere to the working surface of the hard surface cleaning robot.

4. The hard surface cleaning robot according to claim 3, characterized in that, The bottom of the housing (21) is located outside the adsorption port (24) and is connected to the carrier plate (43) through an annular sealing filler (22).

5. The hard surface cleaning robot according to claim 3, characterized in that, It also includes a power assembly (5), which includes a drive structure (51); The drive structure (51) is connected to the carrier plate (43), and part of the drive structure (51) passes through the through hole and contacts the working surface of the hard surface cleaning robot.

6. The hard surface cleaning robot according to claim 5, characterized in that, The power assembly also includes an auxiliary structure connected to the carrier plate (43), and the carrier plate (43) and the cleaning component (44) are provided with clearance holes for the auxiliary wheel (52) of the auxiliary structure.

7. The hard surface cleaning robot according to claim 6, characterized in that, The auxiliary structure includes a wheel frame (53), a base (55), a bearing (54), an energy storage unit (56), and a rod (57). The auxiliary wheel (52) is connected to the wheel frame (53). The auxiliary wheel (52) and the wheel frame (53) are located on one side of the lower surface of the carrier plate (43). The base (55) is located on the upper surface of the carrier plate (43). The bearing (54) is located in the base (55) and is sleeved on the moving part of the wheel frame (53). The rod (57) is connected to the upper surface of the carrier plate (43). The energy storage unit (56) is sleeved on the rod (57) and is used to apply driving force to the carrier plate (43).

8. The hard surface cleaning robot according to claim 2, characterized in that, It also includes waterway components (3); The water circuit assembly (3) includes a water tank (31), a pump (32) and a nozzle (33). The nozzle (33) is connected to the water tank (31) through the pump (32). The nozzle (33) is used to spray water onto the cleaning component (44) or the working surface of the hard surface cleaning robot.

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