Self-propelled cleaning equipment

Abstract

The present application provides a self-propelled cleaning device, comprising: a body provided with a second exhaust port; a main cleaning module provided below the body; a sewage tank including a sewage tank body, the sewage tank body provided with a first exhaust port; a pump driving the connection between the first exhaust port and the second exhaust port, wherein, under the suction action of the pump, the air in the sewage tank body is discharged from the first exhaust port through the second exhaust port, so that a negative pressure chamber is formed in the sewage tank body; wherein, along the direction of travel of the body, the second exhaust port is located in front of or above the main cleaning module. In the cleaning device provided in an embodiment of the present application, when the pump is driven to extract sewage and discharge it from the second exhaust port, the discharged sewage can be promptly cleared by the action of the main cleaning module, thereby preventing the sewage from dripping and remaining on the ground and affecting the cleaning effect.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to a self-moving cleaning device. Background Art

[0002] With the development of science and technology and the improvement of living standards, household cleaning equipment has become increasingly popular, reducing the burden of housework for humans. For example, robot vacuums, robot scrubbers, and sweeping and mopping robots have become increasingly popular.

[0003] Taking a robot vacuum as an example, the sewage tank is a key component. Related technologies use an air pump to create negative pressure inside the sewage tank, drawing in the sewage. However, the air pump can extract sewage during the suction process. For example, if the sewage tank is in a shaky state, the sewage extracted by the air pump may cause secondary contamination.

[0004] Therefore, it is urgent to provide a cleaning device to solve at least one of the above-mentioned technical problems. Summary of the Invention

[0005] In view of the above problems, an embodiment of the present application provides a self-moving cleaning device.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] The present invention provides a cleaning device, comprising:

[0008] The fuselage is provided with a second exhaust port;

[0009] A main cleaning module is arranged below the fuselage;

[0010] A sewage tank, the sewage tank comprising a sewage tank body, the sewage tank body being provided with a first exhaust port;

[0011] A first pump is driven, the first pump drives the first exhaust port and the second exhaust port to communicate with each other, and under the suction action of the first pump, the air in the sewage tank is discharged from the first exhaust port through the second exhaust port, so that a negative pressure chamber is formed in the sewage tank;

[0012] Wherein, along the moving direction of the fuselage, the second exhaust port is located in front of or above the main cleaning module.

[0013] The cleaning equipment provided in the embodiment of the present application, by arranging the first exhaust port of the sewage tank in front of or above the main cleaning module, when the first pump is driven to extract sewage and discharge it from the second exhaust port, the discharged sewage can be promptly cleared under the action of the main cleaning module, thereby preventing the sewage from dripping and remaining on the ground and affecting the cleaning effect.

[0014] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the cleaning equipment provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 A bottom view of a self-propelled cleaning device provided in an embodiment of the present application;

[0017] Figure 2 A schematic diagram of the three-dimensional structure of a self-moving cleaning device provided in an embodiment of the present application;

[0018] Figure 3 A schematic diagram of a partial structural decomposition of a self-propelled cleaning device provided in an embodiment of the present application;

[0019] Figure 4 for Figure 1 A schematic diagram of a section view at AA in the middle;

[0020] Figure 5 A schematic structural diagram of the crawler and crawler cover of the self-propelled cleaning equipment provided in an embodiment of the present application;

[0021] Figure 6 for Figure 5 A schematic diagram of the cross section at the middle BB;

[0022] Figure 7 A schematic diagram of the three-dimensional structure of a track cover in a self-propelled cleaning device provided in an embodiment of the present application;

[0023] Figure 8 A schematic diagram of the three-dimensional structure of a first lifting structure in a self-moving cleaning device provided in an embodiment of the present application;

[0024] Figure 9 A schematic diagram of the three-dimensional structure of a first driving structure in a self-moving cleaning device provided in an embodiment of the present application;

[0025] Figure 10a A schematic diagram of the crawler structure of the self-propelled cleaning device provided in an embodiment of the present application;

[0026] Figure 10b for Figure 10a A schematic diagram of the partial structure of the cross-section at CC in the middle;

[0027] Figure 11 A schematic diagram of the exploded structure of the track cover and track of the self-propelled cleaning device provided in an embodiment of the present application;

[0028] Figure 12a A side view of a track cover and a track in a self-propelled cleaning device provided in an embodiment of the present application;

[0029] Figure 12b for Figure 12a The enlarged schematic diagram of point D in the middle;

[0030] Figure 13 A schematic structural diagram of an auxiliary cleaning module in a self-moving cleaning device provided in an embodiment of the present application;

[0031] Figure 14a A schematic diagram of the exploded structure of the third transmission assembly in the self-propelled cleaning device provided in an embodiment of the present application;

[0032] Figure 14b for Figure 13 A schematic diagram of a section view at AA in the middle;

[0033] Figure 15 A schematic diagram of the connection relationship between a partial chassis and an auxiliary cleaning module in a self-propelled cleaning device provided in an embodiment of the present application;

[0034] Figure 16a A schematic diagram of the positional relationship between the auxiliary cleaning module and part of the second transmission assembly in the self-moving cleaning device provided in an embodiment of the present application;

[0035] Figure 16b A schematic diagram of a portion of the structure of a second transmission assembly in a self-propelled cleaning device provided in an embodiment of the present application;

[0036] Figure 17 A schematic diagram showing the positional relationship between a portion of the second transmission assembly, a portion of the track cover, and an auxiliary cleaning assembly in the self-propelled cleaning device provided in an embodiment of the present application;

[0037] Figure 18a A schematic diagram of the base station structure provided in an embodiment of the present application;

[0038] Figure 18b A schematic diagram of the positional relationship between the cleaning device and the cleaning tray of the base station provided in an embodiment of the present application;

[0039] Figure 19 A top view of a portion of the structure of the cleaning device provided in an embodiment of the present application;

[0040] Figure 20a A schematic diagram of the structural decomposition of the sewage tank and the clean water tank of the cleaning equipment provided in an embodiment of the present application;

[0041] Figure 20b for Figure 20a Cross-section at AA in the middle;

[0042] Figure 20c A schematic diagram of the three-dimensional structure of a sewage tank in a cleaning device provided in an embodiment of the present application;

[0043] Figure 21a A schematic diagram of the three-dimensional structure of the sewage tank in the cleaning equipment provided in an embodiment of the present application from another angle;

[0044] Figure 21b for Figure 21a Cross-section at AA in the middle;

[0045] Figure 21c A schematic diagram of a state of the ejection mechanism in the cleaning device provided in an embodiment of the present application;

[0046] Figure 21d A schematic diagram of another state of the ejection mechanism in the cleaning device provided in an embodiment of the present application;

[0047] Figure 22 for Figure 20a A schematic diagram of a section view at BB in the middle;

[0048] Figure 23a A schematic diagram of the three-dimensional structure of the clean water tank, the dirty water tank, and the recharging structure in the cleaning equipment provided in an embodiment of the present application;

[0049] Figure 23b A schematic diagram of the frame structure of the recharging structure in the cleaning device provided in an embodiment of the present application;

[0050] Figure 24a A schematic diagram of the structure of the control panel and the cover body in the cleaning device provided in an embodiment of the present application;

[0051] Figure 24b This is a schematic diagram of the structural decomposition of the control panel and cover body in the cleaning equipment provided in an embodiment of the present application.

[0052] Description of reference numerals:

[0053] 1- Cleaning equipment;

[0054] 10 - body; 11 - upper cover; 12 - chassis; 121 - second liquid outlet; 13 - side brush; 14 - roller brush; 15 - dust box; 16 - main fan; 17 - drive wheel; 18 - bottom cover; 181 - second exhaust port;

[0055] 20-main cleaning module; 2a-main cleaning assembly; 21-crawler; 210-main cleaning part;

[0056] 22 - Track cover; 22a - Track cavity; 221 - Comb structure; 222 - Sewage suction port; 223 - Window; 224 - Main body; 225 - Side portion; 2251 - Second mounting hole; 2252 - Inner buckle portion; 226 - Overlap groove; 2261 - Sharp corner;

[0057] 23 - second transmission assembly; 231 - driving roller; 2311 - overlapping joint; 232 - driven roller; 2321 - overlapping portion; 233 - shaft seat; 2331 - limiting groove; 234 - unlocking member; 2341 - button; 2342 - first spring; 2343 - limiting protrusion;

[0058] 24-wiping structure; 241-first wiper; 242-second wiper; 243-water receiving trough;

[0059] 25 - first lifting structure; 251 - lifting motor; 252 - lifting assembly; 2521 - first connecting member; 2522 - second connecting member; 2523 - connecting rope; 2524 - receiving slot; 26 - transparent member; 27 - color sensor; 28 - in-position switch;

[0060] 30 - Fluffing roller; 31 - First roller shaft; 32 - Fluffing hook; 33 - First drive structure; 332 - First transmission assembly; 3321 - Worm gear structure; 332a - Worm; 332b - Worm wheel; 3322 - First gear structure; 3323 - Second gear structure; 3324 - Housing; 3325 - First mounting hole; 3326 - Third mounting hole;

[0061] 40-liquid outlet structure; 41-first liquid outlet;

[0062] 50- auxiliary cleaning module; 51- auxiliary cleaning assembly; 511- auxiliary cleaning disc; 512- auxiliary cleaning member; 52- second driving structure; 521- second motor; 522- reduction gearbox; 523- third transmission assembly; 5231- first shaft sleeve; 5232- second shaft sleeve; 5233- third shaft sleeve; 5234- screw mechanism;

[0063] 60 - Clean water tank; 600 - Clean water tank body; 60a - Second sewage outlet; 60b - Third sewage outlet; 60c - Clean water chamber; 61 - Mounting chamber; 62 - First clean water pipeline; 63 - Second clean water pipeline; 64 - Overflow port; 65 - Overflow channel; 66 - Duckbill valve; 67 - Second pump drive;

[0064] 70 - sewage tank; 700 - sewage tank body; 70a - accommodating channel; 70b - negative pressure chamber; 70c - first sewage outlet; 70c1 - first inclined surface; 71 - first pump drive; 72a - first water inlet; 72b - second water inlet; 73 - positioning groove; 74 - sewage inlet; 75 - first exhaust port; 76 - ejection mechanism; 761 - ejector rod; 762 - rotating rod; 763 - soft rubber cover; 764 - second elastic member;

[0065] 80 - recharging structure; 81 - frame; 811 - fourth mounting hole; 812 - accommodating chamber; 82 - charging terminal; 821 - positive terminal; 822 - negative terminal; 83 - control board; 84 - communication components; 85 - signal receiver; 86 - first fastener; 87 - cover; 871 - first isolation chamber; 872 - second isolation chamber; 873 - third isolation chamber; 874 - ninth mounting hole; 875 - pleated structure; 88 - second fastener;

[0066] b-base station; b1-cleaning tray; b11-auxiliary scraper. DETAILED DESCRIPTION

[0067] The present invention provides a self-propelled cleaning device 1, which can be a self-propelled cleaning robot or a handheld floor scrubber. The cleaning robot is a wet or dry type, and as an example, the cleaning robot is a mopping robot or a sweeping and mopping robot.

[0068] First, some of the components of a sweeping and mopping cleaning robot are introduced below.

[0069] like Figure 1 and Figure 2 As shown, the cleaning robot (hereinafter referred to as "robot") has a body 10, which includes a chassis 12 and an upper cover 11. The chassis 12 is connected to the upper cover 11, and a receiving cavity is defined between the chassis 12 and the upper cover 11. The body 10 is generally formed in a circular, D-shaped, rectangular, or other shape. The outline of the body 10 refers to the circular outline, D-shaped outline, or rectangular outline of the body 10. For example, Figure 1 and Figure 2 In the embodiment, the outline of the fuselage 10 is a circular structure. For example, the range of the outline of the fuselage 10 can be determined according to the projection of the fuselage 10 on the horizontal plane.

[0070] The robot includes a dry cleaning module and a wet cleaning module, which move along the direction of the body 10. Figure 1In the direction of arrow s1 shown in the figure, the dry cleaning module is located in front of the wet cleaning module. Both the dry cleaning module and the wet cleaning module are connected to the chassis 12 and / or the upper cover 11, and most of the components are housed in the accommodating cavity. The dry cleaning module is used to sweep the surface to be cleaned, and the wet cleaning module is used to wet-mop the surface to be cleaned after sweeping, thereby forming a sweep-first-then-mop mode to effectively clean the surface to be cleaned. The surface to be cleaned can be, but is not limited to, the surface or scene of an object such as the ground, a tabletop, glass, or a wall. For ease of description, the surface to be cleaned below is described using the ground as an example.

[0071] In an alternative embodiment, if Figure 1 and Figure 2 As shown, the dry cleaning module includes at least a side brush 13, a roller brush 14, a dust box 15 and a main fan 16. Figure 1 In the direction of arrow s1 shown in the figure, the side brush 13 is located in front of the roller brush 14, the dust box 15 and the main fan 16, and the side brush 13 can rotate to gather the garbage on the ground to the inside of the robot, that is, to push the garbage toward the dust box 15, so that the dust box 15 can collect the garbage by suction or other means.

[0072] For example, the side brush 13 can be located in front of the dust box 15 and near the edge of the robot body 10. Specifically, the side brush 13 can be located at the edge of a position including, but not limited to, the left front or right front of the dust box 15. This allows at least a portion of the side brush 13 to be located outside the outline of the robot body 10 during rotation. This allows the side brush 13 to gather debris outside the outline of the robot body 10 toward the inside of the robot, thereby increasing the cleaning range. The side brush 13 can be a rubber strip or a bristle brush, as long as it can clean the floor, and is not limited here.

[0073] The roller brush 14 is rotatably mounted in a roller brush chamber at the bottom of the chassis 12. The roller brush 14 can clean up the garbage on the ground during its rolling process. The number of roller brushes 14 can be set according to specific needs and is not limited in this application. The dust box 15 and the main fan 16 are respectively arranged in the accommodating chamber of the body 10. The main fan 16 is configured to provide negative pressure wind to the dust box 15. The body 10 is provided with a dust suction port connected to the dust box 15, and the dust suction port is connected to the roller brush chamber. In this way, the roller brush 14 is used to collect garbage on the ground to the dust suction port. Under the action of the negative pressure suction force generated by the main fan 16, garbage and dust particles can be sucked into the dust box 15 through the dust suction port to achieve the purpose of cleaning the ground. The main fan 16 includes but is not limited to a negative pressure fan, and can also be replaced with other negative pressure generating devices, such as a vacuum pump.

[0074] The robot also includes a walking system for driving the body 10 to move and realize the self-moving walking function on the surface to be cleaned. The walking system includes at least a driver and a driving wheel 17. The driving wheel 17 moves under the driving action of the driver. There can generally be two driving wheels 17, and the two driving wheels 17 are symmetrically arranged at the bottom of the body 10. In addition, the walking system can be swingably arranged on the body 10 so that the cleaning device 1 has the function of overcoming obstacles during the walking process. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of an object such as the ground, a table, glass, or a wall. For the sake of convenience, the surface to be cleaned below is described using the ground as an example.

[0075] The perception system includes a light-emitting diode (LDS) located above the body 10, a buffer and visual sensor located at the front of the body 10, edge sensors located on the front sidewalls of the body 10, and ultrasonic sensors and downward-looking sensors located at the bottom of the body 10, among other sensing devices. The LDS, buffer, and edge sensors all measure distance to determine the distance between the edge of the body 10 and obstacles. The control system uses this distance to control the cleaning device 1 to perform corresponding actions, such as obstacle avoidance and edge cleaning. The ultrasonic sensor is used to identify carpet signals, and the control system uses these signals to control the main cleaning module 20 and auxiliary cleaning modules of the cleaning device 1 to lift, or to control the cleaning device 1 to return to the base station, charge the robot, collect dust, clean the main cleaning component 2a, or remove and install the main cleaning module 20. The visual sensor is used to image the environment in which the cleaning device 1 is located to obtain obstacle information. Based on this information, the control system controls the cleaning device 1 to perform actions, such as obstacle avoidance, obstacle traversal, and edge cleaning.

[0076] In this embodiment, along the direction of travel of the body 10, the body 10 has a front portion, a rear portion, and a connecting portion or a middle portion connecting the front and rear portions of the body 10, with the dust box 15, the roller brush 14, or the drive wheel 17 as the boundary. The dust box 15, the roller brush 14, or the drive wheel 17 is disposed in the connecting portion or the middle portion.

[0077] For example, taking the roller brush 14 or the dust box 15 as an example, the portion of the body 10 located in front of the roller brush 14 or the dust box 15 is referred to as the front portion of the body 10, and the portion located behind the roller brush 14 or the dust box 15 is referred to as the rear portion of the body 10. Typically, the roller brush 14 is located in the area between the two drive wheels 17.

[0078] In an alternative embodiment, the main cleaning module 20 is disposed at the rear of the body 10, and the side brushes 13 are disposed at the front of the body 10 in the forward direction of the body 10. For example, they are distributed on the right side of the body 10 to form a right edge; or, they are both located on the left side of the body 10 to form a left edge.

[0079] Along the moving direction of the fuselage 10 , the main cleaning component 2a of the main cleaning module 20 is arranged behind the roller brush 14 , which facilitates the robot's cleaning operation of first dry sweeping and then wet mopping, and also facilitates the layout of the internal space of the fuselage 10 .

[0080] Optimally, the auxiliary cleaning member of the auxiliary cleaning assembly can also be replenished with water so that the auxiliary cleaning member is in a moist state for wet cleaning of the floor. Alternatively, the auxiliary cleaning member can be left dry without replenishing water, which results in a weaker cleaning effect than wet mopping.

[0081] In some scenarios, the main cleaning assembly 2a needs to be raised. For example, when the main body 10 is on a carpet, the main cleaning assembly 2a needs to be in a raised position to avoid wetting the carpet. Or, in scenarios such as when the main cleaning assembly 2a needs to be raised to avoid being stuck on an obstacle or returning to the base station, the main cleaning assembly 2a needs to be in a raised position to prevent it from being detached from the main body 10. Therefore, the cleaning device 1 also includes a first lifting structure 25, which is disposed in the main body 10 and is used to drive the main cleaning assembly 2a to be raised to switch between the mopping position and the raised position.

[0082] For the main cleaning component 2a, there are many ways to clean the main cleaning component 2a. For example, please refer to Figure 4 The main cleaning assembly 2a includes a crawler track 21 rotatably mounted on a crawler track cover 22 and located below the crawler track cover 22. The first driving mechanism 33 drives the crawler track 21 to move to clean the ground waiting to be cleaned.

[0083] Next, the main cleaning module 20 and the fluffing roller 30 are introduced in detail in the following embodiment.

[0084] like Figure 1 and Figure 4 As shown, when the fuselage 10 moves forward, that is, along Figure 4 When the driving wheel 17 and the roller brush 14 move in the direction of the arrow s1 shown in FIG. Figure 4 The track 21 rotates in the direction of the arrow r1, that is, counterclockwise. Figure 4 The direction of rotation of the track 21 is opposite to that of the roller brush 14 and the driving wheel 17, so that the track 21 and the roller brush 14 or the driving wheel 17 form a relative speed, thereby ensuring a better cleaning effect.

[0085] Further, if Figure 5 and Figure 6As shown, the fluffing roller 30 includes a first roller 31 and a fluffing hook 32. The connecting end of the fluffing hook 32 is fixed to the first roller 31, which is arranged along the length of the track 21. The free end of the fluffing hook 32 is curved. The free end of the fluffing hook 32 is curved in the same direction as the rotation of the first roller 31. This makes it easier to flip the main cleaning member 210 on the track 21, so that the main cleaning member 210 remains fluffy at all times during the cleaning process, thereby improving the cleaning effect and further reducing the frequency of the robot returning to the base station to clean the main cleaning member 210. The main cleaning member 210 can be a flexible rag, and the material of the rag is not specifically limited.

[0086] There are multiple fluffing hooks 32 , and the multiple fluffing hooks 32 are evenly distributed around the axis of the first roller 31 in the circumferential direction, so that the fluffing hooks 32 can continuously flip up the main cleaning part 210 during the rotation process.

[0087] In an optional embodiment, the fluffing roller 30 rotates following the track 21 under the rotation of the track 21, that is, the fluffing roller 30 has no drive and is a driven structure.

[0088] In an optional embodiment, the fluffing roller 30 is an active structure and further includes a first drive structure 33. The first drive structure 33 includes a first motor (not shown) and a first transmission assembly 332. The input end of the first transmission assembly 332 is connected to the first motor, and the first transmission assembly 332 has two output ends, which respectively drive the track 21 and the fluffing roller 30 to rotate. Using the same first motor to simultaneously drive the track 21 and the fluffing roller 30 can significantly save assembly space and reduce the cost of the cleaning device 1. The track 21 and the fluffing roller 30 can also be driven by different motors, which is not limited in this embodiment.

[0089] In an optional embodiment, the fluffing roller 30 and the track 21 rotate in the same direction. Figure 4 The fluffing roller 30 rotates in the direction of arrow r2 shown in the figure, and the free end of the fluffing roller 30 moves relative to the main cleaning member 210, so that the main cleaning member 210 is more easily turned up.

[0090] Alternatively, the fluffing roller 30 may be positioned along Figure 4 The fluffing roller 30 rotates in the direction of r3 shown in the figure. The rotation direction of the fluffing roller 30 is opposite to the rotation direction of the track 21. The free end of the fluffing roller 30 moves in the same direction as the main cleaning member 210. Compared with the previous embodiment, this embodiment has a poor effect in flipping up the main cleaning member 210, but can greatly reduce power consumption.

[0091] The fluffing roller 30 and the crawler belt 21 rotate in the same or opposite directions, both within the scope of protection of the present application.

[0092] Furthermore, when the rotation direction of the fluffing roller 30 is opposite to that of the track 21, the rotation speed of the fluffing roller 30 is greater than that of the track 21, thereby improving the fluffing effect of the main cleaning element 210. As an example, the rotation speed of the fluffing roller 30 is 3 times, 4 times, or 5 times the rotation speed of the track 21. The specific multiple of the rotation speed of the fluffing roller 30 and the rotation speed of the track 21 can be set according to specific circumstances and is not limited in this embodiment of the application.

[0093] The length of the fluffing roller 30 is greater than or equal to the length of the crawler 21, so that the fluffing roller 30 can cover the crawler 21 in the length direction of the crawler 21, so that the fluffing roller 30 can be used to fluff the entire area of ​​the main cleaning part 210 of the crawler 21. The length direction of the crawler 21 is perpendicular to the travel direction of the fuselage 10, that is, Figure 4 The direction of arrow s1 is shown in FIG.

[0094] Conversely, if the fluffing roller 30 only fluffs a portion of the main cleaning element 210 of the track 21, a large drop in height will form between the unfluffed area of ​​the main cleaning element 210 and the fluffed area, significantly reducing the cleaning effect of the unfluffed area of ​​the main cleaning element 210. Thus, the length of the fluffing roller 30 being greater than or equal to the length of the track 21 ensures the cleaning effect of the cleaning device 1.

[0095] The cleaning equipment 1 also includes a liquid outlet structure 40, which is located above the track 21. The liquid flowing out of the liquid outlet structure 40 is used to moisten the main cleaning part 210. The liquid outlet structure 40 continuously supplies water to the main cleaning part 210 during the entire cleaning process, so that the main cleaning part 210 is always in a moist state. The main cleaning part 210 in a moist state can better absorb and decompose stains, further improving the cleaning effect.

[0096] Along the forward direction of the fuselage 10 , the fluffing roller 30 is located behind the liquid outlet structure 40 . During the rotation of the crawler 21 , the crawler 21 first passes through the liquid outlet structure 40 and then passes through the fluffing roller 30 .

[0097] In an alternative embodiment, if Figures 3 to 6 As shown, the main cleaning module 20 also includes a track cover 22 and a second transmission assembly 23. The track cover 22 is connected to the bottom of the chassis 12 of the machine body 10, and the track 21 is located in the track cavity 22a formed by the track cover 22. The track 21 surrounds the second transmission assembly 23, which includes a driving roller 231 and a driven roller 232. The driving roller 231 and the driven roller 232 are arranged in parallel along the travel direction of the machine body 10. The first drive structure 33 is used to drive the driving roller 231 to rotate, and drives the driven roller 232 and the track 21 to rotate together.

[0098] The fluffing roller 30 is mounted on the track cover 22. Figure 4 The figure shows the height of the fluffing roller 30 in the robot. Figure 4The direction of arrow s2 shown in the figure is located between the track cover 22 and the track 21, so that the fluffing roller 30 can simultaneously fluff the main cleaning member 210 on the track 21 during the robot cleaning process, thereby keeping the robot in an efficient cleaning state.

[0099] like Figure 6 As shown, the liquid outlet structure 40 is installed on the track cover 22 and is at least partially located below the track cover 22. The liquid discharged from the liquid outlet structure 40 wets the main cleaning member 210 on the surface of the track 21. Figure 6 The crawler belt 21 and the main cleaning member 210 are not shown.

[0100] like Figure 7 As shown, the liquid outlet structure 40 includes a plurality of first liquid outlets 41, the first liquid outlets 41 face the track 21, and the plurality of first liquid outlets 41 are spaced apart along the length direction of the track 21. The plurality of first liquid outlets 41 correspond to the length of the track 21 to improve the uniformity of the wetting of the main cleaning part 210 on the track 21.

[0101] In an optional embodiment, the robot further includes at least a water replenishment structure (not shown) for replenishing water to the main cleaning element 210 on the track 21, thereby moistening the main cleaning element 210 on the track 21. This allows the main cleaning element 210 to be moistened or wetted while mopping the floor, thereby achieving wet cleaning and improving cleaning effectiveness. The water replenishment structure includes at least a clean water tank and a clean water pipeline. The clean water pipeline connects the clean water tank and the liquid inlet, thereby directing liquid from the clean water tank through the liquid inlet and the first liquid outlet 41, and then to the track 21.

[0102] In related technologies, since the crawler 21 has a large contact area with the ground during movement, the main cleaning element 210 needs to be continuously replenished with water to moisten it. The scraper is then used to scrape away the wastewater to ensure effective cleaning. Currently, robots are equipped with a scraper that is parallel to the direction of travel of the body 10 and located behind the crawler 21. The wastewater scraped away by the scraper requires a separate wastewater tank. This wastewater tank not only takes up a lot of space, but is also prone to scale buildup, which can lead to blockage of the sewage pipe, requiring the user to frequently clean the tank.

[0103] Based on this, in an optional embodiment, as Figure 4 and Figure 6 As shown, the main cleaning module 20 includes a wiper structure 24, which is located above the track 21 and is disposed at the bottom of the track cover 22. The wiper structure 24 includes a first wiper member 241 and a second wiper member 242, which are spaced apart. The first wiper member 241, the second wiper member 242, and the bottom wall of the track cover 22 form a water receiving groove 243.

[0104] During the rotation of the crawler 21 while mopping the ground, the crawler 21 first passes through the first wiper 241 and then the second wiper 242. At least under the squeezing action of the second wiper 242, the dirty water on the crawler 21 is scraped into the water receiving trough 243. The water receiving trough 243 of the embodiment of the present application occupies a small space, and there is no problem of sewage pipes being blocked by scale. Of course, the operator does not need to clean the water receiving trough 243.

[0105] After the main cleaning member 210 covering the crawler 21 is scraped by the first wiper member 241 and the second wiper member 242 , the surface of the main cleaning member 210 becomes flat due to the squeezing effect, which greatly affects the cleaning effect.

[0106] Based on this, the direction of travel along the fuselage 10 is Figure 4 In the direction of arrow s1 shown in FIG, the wiper structure 24 is located between the liquid outlet structure 40 and the fluffing roller 30, and the fluffing roller 30 is located behind the wiper structure 24. It can be understood that when the wiper structure 24 scrapes the dirty water off the track 21 and flattens it, the fluffing roller 30 acts on the track 21 and flips up the main cleaning element 210, causing it to become fluffy again, greatly reducing the impact on the cleaning effect caused by the wiper structure 24 flattening the main cleaning element 210.

[0107] The first wiper element 241 and the second wiper element 242 extend downward from the bottom wall of the track cover 22 , that is, extend along the height direction of the fuselage 10 .

[0108] Furthermore, the length of the second wiper member 242 extending from the bottom wall of the track cover 22 is greater than that of the first wiper member 241. It can be understood that during the rotation of the track 21, the extrusion force formed between the first wiper member 241 and the track 21 is smaller than the extrusion force formed between the second wiper member 242 and the track 21. The first wiper member 241 performs preliminary wiping on the track 21, and the second wiper member 242 performs wiping again, thereby improving the scraping effect of the main cleaning member 210 covering the surface of the track 21.

[0109] The first wiper 241 is provided with at least one first gap, which connects the spaces on both sides of the first wiper 241 in the rotation direction of the crawler 21. When the first wiper 241 picks up the sewage on the main cleaning element 210, the scraped sewage flows into the water receiving trough 243 from the first gap.

[0110] The first wiper member 241 has a plurality of first gaps, which are spaced apart along the length direction of the track 21. The first wiper member 241 with a plurality of first gaps can comb the main cleaning member 210 to improve the uniformity of the main cleaning member 210. In addition, the first wiper member 241 with a plurality of first gaps constitutes a comb tooth structure, which can prevent larger particles on the main cleaning member 210 from entering the water receiving groove 243, thereby greatly reducing the occurrence of the situation where the suction port is blocked by large particles.

[0111] In an alternative embodiment, if Figures 4 to 7 As shown, the track cover 22 is further provided with a comb-tooth structure 221, which is in interference contact with the track 21. Along the travel direction of the fuselage 10, the comb-tooth structure 221 is located in front of the first wiper element 241, and the liquid outlet structure 40 is located between the comb-tooth structure 221 and the first wiper element 241. When the track 21 rotates to drag the ground, it passes through the comb-tooth structure 221, the first wiper element 241, and the second wiper element 242 in sequence.

[0112] Furthermore, the comb tooth structure 221 is provided with a plurality of second gaps, which connect the spaces on both sides of the comb tooth structure 221 in the rotation direction of the track 21. The comb tooth structure 221 can block large-sized particles from entering the interior of the equipment, thereby preventing large-sized particles from causing damage to the equipment.

[0113] like Figure 7 As shown, the two ends of the second wiper 242 extend along the moving direction of the fuselage 10 and are connected to the comb-tooth structure 221. In this way, the second wiper 242 and the comb-tooth structure 221 form a chamber, which can not only greatly reduce the occurrence of liquid discharged from the liquid outlet structure 40 dripping to the ground, but also greatly reduce the occurrence of dirty water scraped by the first wiper 241 and the second wiper 242 dripping to the ground, further improving the cleaning effect of the robot.

[0114] The track cover 22 also has a sewage suction port 222 located within the water receiving trough 243. Sewage scraped by the first and second wiper members 241 and 242 is discharged through the sewage suction port 222. The cleaning apparatus 1 also includes a first sewage pipe (not shown) and a sewage tank (not shown). The first sewage pipe connects the sewage tank and the sewage suction port 222, respectively. Under the action of suction force, the sewage in the water receiving trough 243 is transported to the sewage tank through the sewage suction port 222.

[0115] Furthermore, the sewage suction port 222 protrudes from the bottom of the track cover 22 to facilitate the suction of sewage.

[0116] In an optional embodiment, the track cover 22 further has a viewing window 223 , which is located between the wiper structure 24 and the liquid outlet structure 40 . The viewing window 223 is used to collect the appearance of the track 21 to detect dirt on the track 21 .

[0117] The main cleaning module 20 also includes a color sensor 27 (not shown). The color sensor 27 is located above the viewing window 223 to collect the color of the track 21 through the viewing window 223 and determine the degree of dirtiness of the main cleaning element 210 based on the color of the track 21. There is space between the color sensor 27 and the track 21 so that the color sensor 27 can obtain a certain field of view. The greater the distance between the color sensor 27 and the track 21, the larger the field of view, thereby obtaining detection information of a larger area of ​​the track 21 and the main cleaning element 210.

[0118] The main cleaning module 20 further includes a transparent member 26, such as, but not limited to, glass, which covers the viewing window 223. During the rotation of the track 21, the lower surface of the transparent member 26 contacts the main cleaning member 210. The main cleaning member 210 can clean the lower surface of the transparent member 26, but at the same time, dirt particles in the main cleaning member 210 can also cause wear on the surface of the transparent member 26.

[0119] Alternatively, the track 21 does not contact the lower surface of the transparent part 26 during rotation, that is, there is a certain distance between the window 223 and the transparent part 26, so as to prevent the dirt particles in the main cleaning part 210 from causing wear on the surface of the transparent part 26. However, the dirt generated during the rotation of the track 21 will enter the interior of the track cover 22 through the window 223.

[0120] Of course, the dirt detection of the main cleaning component 210 in the embodiment of the present application is not limited to the color sensor 27.

[0121] Again, the following embodiment will provide a detailed introduction to the first lifting structure 25 of the main cleaning module 20 .

[0122] like Figure 8 As shown, the main cleaning module 20 also includes a first lifting structure 25, which is used to drive the track cover 22 to perform lifting movement and drive the track 21 to perform synchronous lifting movement, so that the main cleaning module 20 is in a mopping position or a raised position. Exemplarily, when the main cleaning module 20 is in the mopping state, the track 21 descends under the action of the first lifting structure 25 and contacts the ground to clean the ground, that is, the track 21 is in the mopping position. Another exemplary embodiment is that when the main cleaning module 20 is moving to the cleaning area, the track 21 is lifted under the action of the first lifting structure 25 and maintains a distance from the ground, that is, the track 21 is in the raised position.

[0123] Specifically, if Figure 3 and Figure 8 As shown, the first lifting structure 25 includes a lifting motor 251 and a lifting assembly 252. The lifting motor 251 is mounted on the track cover 22 and is located below the chassis 12 of the machine body 10. The lifting assembly 252 is connected to the chassis 12 and the lifting motor 251. Driven by the lifting motor 251, the lifting assembly 252 drives the lifting motor 251 and the track cover 22 to move upward and downward relative to the chassis 12. The installation of the lifting motor 251 on the track cover 22 can improve the assembly convenience of the cleaning device 1.

[0124] Alternatively, the lifting motor 251 is installed on the chassis 12 , and the track cover 22 is driven by the lifting motor 251 to move up and down following the lifting assembly 252 .

[0125] Furthermore, the lifting assembly 252 includes a first connecting member 2521, a second connecting member 2522, and two connecting ropes 2523. The first connecting member 2521 and the second connecting member 2522 are both fixedly connected to the chassis 12. One connecting rope 2523 is connected to the first connecting member 2521 at one end and to the lifting motor 251 at the other end. The other connecting rope 2523 is connected to the second connecting member 2522 at one end and to the lifting motor 251 at the other end. The connecting ropes 2523 are wound or unwound by the lifting motor 251 to raise or lower the track cover 22. By way of example, the connecting ropes 2523 are steel wire ropes, but are not limited thereto.

[0126] The track cover 22 is also provided with two receiving grooves 2524, which are used to accommodate the connecting rope 2523 respectively, and the receiving grooves 2524 match the connecting rope 2523 so that the connecting rope 2523 can move along the direction of the receiving grooves 2524 to ensure the stability and safety of the lifting movement of the track cover 22.

[0127] Again, the following embodiment introduces the first transmission assembly 332 of the fluffing roller 30 in detail. Figure 5 and Figure 9 shown.

[0128] In an alternative embodiment, if Figure 5 and Figure 9 As shown, the first transmission assembly 332 includes a worm gear structure 3321, a first gear structure 3322, and a second gear structure 3323. The first motor drives the worm 332a in the worm gear structure 3321. The worm wheel 332b in the worm gear structure 3321 has two layers of teeth, one of which is connected to the first gear structure 3322 to drive the driving roller 231 and thus the track 21. The other layer of teeth is connected to the second gear structure 3323 to drive the fluffing roller 30.

[0129] The first transmission assembly 332 also includes a housing 3324, which has a chamber that accommodates the worm gear structure 3321, the first gear structure 3322, and the second gear structure 3323. The housing 3324 is connected to the track cover 22 and has a first mounting hole 3325 defined therein. One end of the driving roller 231 is inserted into the first mounting hole 3325, securing the outer periphery of the driving roller 231 relative to the machine body 10. The housing 3324 also has a third mounting hole 3326 defined therein. One end of the fluffing roller 30 is inserted into the third mounting hole 3326, securing the outer periphery of the fluffing roller 30 relative to the machine body 10.

[0130] The two output ends of the first transmission assembly 332 are located at the same end of the crawler belt 21 .

[0131] Again, the second transmission assembly 23 of the main cleaning module 20 is described in detail in the following embodiment. Figures 10a to 12b shown.

[0132] like Figure 10a and Figure 10b As shown, the second transmission assembly 23 also includes a shaft seat 233 and an unlocking member 234. The active roller 231 and the driven roller 232 are rotatably connected to the two sides of the shaft seat 233 respectively. The unlocking member 234 is connected to the shaft seat 233. The unlocking member 234 has an unlocked state and a locked state relative to the track cover 22.

[0133] When the unlocking member 234 is in the unlocked state, the unlocking member 234 is separated from the track cover 22 , and the track 21 and the second transmission assembly 23 can be separated from the fuselage 10 .

[0134] When the unlocking member 234 is in the locked state, the unlocking member 234 is fixed relative to the track cover 22 , and the track 21 and the second transmission assembly 23 cannot be separated from the fuselage 10 .

[0135] Specifically, the unlocking member 234 includes a first spring 2342 and a button 2341. One end of the first spring 2342 is connected to the shaft seat 233, and the other end is connected to the button 2341. One end of the button 2341 is located outside the shaft seat 233 and is movable relative to the shaft seat 233. The button 2341 is provided with a limiting protrusion 2343. The shaft seat 233 is provided with a limiting groove 2331, and the limiting protrusion 2343 is located within the limiting groove 2331. When an external force acts on the button 2341, the limiting protrusion 2343 moves within the limiting groove 2331, thereby shifting the unlocking member 234 from the locked state to the unlocked state. The first spring 2342 can also be other elastic members, and this embodiment of the application is not limited thereto.

[0136] Figure 10bThe unlocking member 234 is shown in the schematic diagram of the locked state. The operator presses the two buttons 2341 at both ends of the shaft seat 233 at the same time. One button 2341 is pressed along the Figure 10b Move in the direction of the middle arrow n1, and the other keys 2341 along Figure 10b Move in the direction of the middle arrow n2. During the movement of the button 2341, the first spring 2342 is compressed and stressed. At this time, the two buttons 2341 and the shaft seat 233 are separated from the track cover 22, and then the second transmission assembly is separated from the track cover 22.

[0137] Of course, when the second transmission assembly needs to be installed on the track cover 22, the operator also presses the two buttons 2341 at both ends of the axle seat 233 at the same time, and aligns the buttons 2341 with the second mounting hole 2251 on the track cover 22. The button 2341 is inserted into the second mounting hole 2251 under the action of the first spring 2342 to achieve locking of the second transmission assembly 23 and the track cover 22.

[0138] like Figure 11 As shown, the track cover 22 includes a main portion 224 and side portions 225 extending downward from each end of the main portion 224. The main portion 224 extends along the length of the track 21 and defines a track cavity 22a. A second mounting hole 2251 is provided in the side portion 225, which mates with the button 2341. When the unlocking member 234 is in the unlocked state, it is located outside the second mounting hole 2251. When the unlocking member 234 is in the locked state, it is at least partially inserted into the second mounting hole 2251.

[0139] One end of the active roller 231 is inserted into the first mounting hole 3325, securing the outer periphery of the active roller 231 relative to the machine body 10. The buttons 2341 at each end of the shaft seat 233 are inserted into the track cover 22, securing the outer periphery of the driven roller 232 relative to the machine body 10. Related art uses clips or fasteners to secure the outer periphery of the driven roller 232 relative to the machine body 10, but this significantly complicates disassembly.

[0140] Based on this, Figure 11 and Figure 12a As shown, in the embodiment of the present application, overlapping portions 2321 are respectively provided at both ends of the driven roller 232. The overlapping portions 2321 surround part of the outer wall of the side portion 225 and are kept relatively fixed with the side portion 225 by friction, so as to prevent the driven roller 232 from falling, thereby keeping the track 21 flush with the horizontal plane.

[0141] It should be noted that when the second transmission assembly 23 needs to be disassembled, the operator presses the buttons 2341 at both ends of the shaft seat 233 at the same time to separate the shaft seat 233 from the track cover 22. When the shaft seat 233 is separated from the track cover 22, the driven roller 232 rotates around the axis of the active roller 231, that is, Figure 12a Movement in the direction of arrow m shown in the figure, Figure 12a 2 shows that the axis of the cross section of the active roller 231 is the center of the circle, and the distance between the driven roller 232 and the active roller 231 is the radius. It can be understood that when the second transmission assembly 23 is disassembled, the driven roller 232 performs a circular motion.

[0142] When the crawler belt 21 is in the process of rotation, that is, the cleaning device 1 is in the process of cleaning, the driven roller 232 is subjected to a force in the vertical direction. Figure 12a In the direction of arrow s2 shown in the figure, during the cleaning process, the overlapping portion 2321 of the driven roller 232 is easily separated from the surface of the track cover 22 due to its own gravity.

[0143] Based on this, Figure 12a and Figure 12b As shown, in the embodiment of the present application, an inner buckle 2252 is provided on the side portion 225 at a position corresponding to the upper end of the overlap portion 2321. The inner buckle 2252 bends and extends toward the active roller 231 so that in the vertical direction, the upper end of the overlap portion 2321 overlaps the inner buckle 2252, thereby causing friction not only in the vertical direction but also in the horizontal direction between the inner wall of the overlap portion 2321 and the side portion 225. The horizontal friction between the inner wall of the overlap portion 2321 and the side portion 225 can ensure that the driven roller 232 is always located at the same horizontal plane as the active roller 231 during rotation, ensuring that the crawler 21 can remain flush with the horizontal plane during the cleaning process, further ensuring the cleaning effect of the cleaning device 1. In addition, since the driven roller 232 performs a circular motion when disassembling the second transmission assembly 23, the provision of the inner buckle 2252 on the side portion 225 of the track cover 22 does not affect the disassembly of the second transmission assembly 23.

[0144] In an alternative embodiment, if Figure 11 and Figure 12a As shown, the main cleaning module 20 also includes an in-position switch 28, which is mounted on the side portion 225 and opposite the overlap portion 2321. When the driven roller 232 contacts the in-position switch 28, the in-position switch 28 generates an in-position signal, which indicates that the track 21 is in place. After the track 21 is in place, it rotates and cleans to ensure effective cleaning.

[0145] The following embodiments provide a detailed description of the auxiliary cleaning module.

[0146] In an alternative embodiment, if Figure 1 and Figure 2 As shown, the cleaning device 1 also includes an auxiliary cleaning module 50 (not shown in the figure), which is embedded in the chassis 12. The auxiliary cleaning module 50 includes at least one auxiliary cleaning component 51. The auxiliary cleaning component 51 is located below the fuselage 10. The auxiliary cleaning component 51 at least partially extends out of the edge of the fuselage 10 for cleaning along the edge.

[0147] The area of ​​the auxiliary cleaning component 51 is smaller than the area of ​​the main cleaning component 2a. For example, the area of ​​the auxiliary cleaning component 51 is smaller than three-quarters of the area of ​​the main cleaning component 2a, or smaller than one-half of the area of ​​the main cleaning component 2a; or smaller than one-third, one-quarter, one-fifth, etc. of the area of ​​the main cleaning component 2a. The size relationship between the two areas can be selected according to needs, thereby driving the lifting and mopping movement of the auxiliary cleaning component 51. The space required is small and is suitable for all models currently on the market, such as mopping with a round cleaning disc, a flat plate, mopping with a crawler 21, etc.

[0148] Further, if Figure 4 and Figure 13 As shown, the auxiliary cleaning component 51 includes an auxiliary cleaning disc 511 and an auxiliary cleaning piece 512. As an example, the auxiliary cleaning piece 512 is a small rag. The main cleaning piece 210 of the main cleaning component 2a forms a large rag for cleaning, and the auxiliary cleaning piece 512 forms a small rag for cleaning. In the non-edge mode, the large rag is mainly used for cleaning; when in the edge position, the small rag is used for cleaning. The large rag of the main cleaning piece 210 and the small rag of the auxiliary cleaning piece 512 cooperate to achieve the function of cleaning the floor.

[0149] In an alternative embodiment, if Figure 2 As shown, the auxiliary cleaning assembly 51 rotates in the positive direction, i.e., along Figure 2 The utility model is rotated in the direction of arrow r4 shown in the figure to sweep the garbage under the fuselage 10 to the outside of the fuselage 10.

[0150] Conversely, if the auxiliary cleaning component 51 rotates in the opposite direction, Figure 2 When the auxiliary cleaning component 51 rotates in the opposite direction of the arrow r4 shown in the figure, the auxiliary cleaning component 51 sweeps the garbage to the inside of the fuselage 10. Part of the garbage can be cleaned by the track 21, and part of the garbage will exist in the adjacent area of ​​the track 21 and the auxiliary cleaning component 51. The edge areas of the auxiliary cleaning component 51 and the track 21 (for example, the seam area) are areas with weaker cleaning ability. Therefore, when the auxiliary cleaning component 51 sweeps the garbage to the inside of the fuselage 10, some of the garbage cannot be effectively cleaned, affecting the cleaning effect.

[0151] In the related art, the auxiliary cleaning component 51 and the main cleaning component 2a share the same driving structure. When the main cleaning component 2a is lifted or lowered under the driving force of the driving structure, the auxiliary cleaning component 512 is simultaneously driven to be lifted or lowered.

[0152] Based on this, Figure 13 As shown, the second driving structure 52 provided in the embodiment of the present application is used to drive the auxiliary cleaning part 512 to rotate and lift, the first driving structure 33 is used to drive the main cleaning component 2a to move, and the first lifting structure 25 is used to drive the track cover 22 to lift and lift and drive the main cleaning component 2a to lift and lift synchronously. The two rotate and lift independently of each other and do not affect each other, which can improve the flexibility of the cleaning equipment and further ensure the cleaning effect; in addition, the cleaning equipment is connected to the base station, and during the cleaning process, the main cleaning part and the auxiliary cleaning part are in the mopping position under the action of the first lifting structure, and the auxiliary cleaning part is in the lifting position under the action of the second driving structure, so that the main cleaning part and the auxiliary cleaning part can be effectively cleaned.

[0153] Specifically, the auxiliary cleaning module 50 includes a second drive structure 52, which is connected to the auxiliary cleaning assembly 51. The auxiliary cleaning assembly 51 rotates and elevates under the driving force of the second drive structure 52. The auxiliary cleaning assembly 51 is raised and lowered by the driving force of the second drive structure 52 to switch between a raised position and a mopping position. The first lifting structure 25 has been described in detail above and will not be repeated here.

[0154] Further, if Figure 2 、 Figure 13 、 Figure 14a and Figure 14b As shown, the second driving structure 52 includes a second motor 521, a reduction gearbox 522 and a third transmission assembly 523. The second motor 521 is connected to the input end of the reduction gearbox 522, the input end of the third transmission assembly 523 is connected to the output end of the reduction gearbox 522, and the output end of the third transmission assembly is connected to the auxiliary cleaning assembly 51 to drive the auxiliary cleaning assembly 51 to rotate and lift.

[0155] Among them, the third transmission assembly 523 includes a first sleeve 5231, a second sleeve 5232 and a third sleeve 5233. The second sleeve 5232 is sleeved on the first sleeve 5231, and the first sleeve 5231 and the second sleeve 5232 form a spiral mechanism 5234. One end of the first sleeve 5231 is connected to the output end of the reduction gearbox 522, one end of the third sleeve 5233 is embedded in the second sleeve 5232, and the other end is connected to the auxiliary cleaning assembly 51.

[0156] It can be understood that: the second motor 521 outputs driving force and transmits the driving force to the reduction gear 522. After deceleration, the reduction gear 522 transmits the driving force to the first sleeve 5231. The driving force is transmitted between the first sleeve 5231 and the second sleeve 5232 through the spiral mechanism 5234. The driving force is then transmitted to the third sleeve 5233 by the second sleeve 5232. The third sleeve 5233 drives the auxiliary cleaning component 51 to move.

[0157] As an example, when the auxiliary cleaning assembly 51 needs to be lowered for cleaning, the first shaft sleeve 5231 is driven to rotate in the forward direction under the driving force of the second motor 521. Figure 2 The first sleeve 5231 rotates in the direction of the arrow r4 shown in the figure, and the second sleeve 5232 rotates in the positive direction based on the spiral mechanism 5234. The position of the first sleeve 5231 in the vertical direction remains unchanged, and the second sleeve 5232 moves downward relative to the first sleeve 5231 so that the auxiliary cleaning member 512 can contact the ground.

[0158] When the auxiliary cleaning component 51 needs to rise, the first shaft sleeve 5231 is driven to rotate in the opposite direction under the driving force of the second motor 521, the first shaft sleeve 5231 drives the second shaft sleeve 5232 to rotate in the opposite direction, and the second shaft sleeve 5232 drives the auxiliary cleaning component 51 to rise, so that the auxiliary cleaning part 512 is separated from the ground.

[0159] In an alternative embodiment, if Figure 15 As shown, the chassis 12 is provided with a second liquid outlet 121, which is connected to the clean water tank of the water replenishment structure through a clean water pipeline. The vertical projection of the second liquid outlet 121 falls within the vertical projection of the auxiliary cleaning component 51, and the height direction of the cleaning equipment 1 during cleaning is the vertical direction.

[0160] Preferably, the vertical projection of the second liquid outlet 121 falls within the vertical projection of the auxiliary cleaning disc 511. It can be understood that during the cleaning process, the liquid discharged from the second liquid outlet 121 first drips onto the surface of the auxiliary cleaning disc 511 and then flows from the surface of the auxiliary cleaning disc 511 to the auxiliary cleaning member 512, thereby improving the uniformity of the liquid wetting the auxiliary cleaning member 512.

[0161] When liquid drips from the second liquid outlet 121 onto the auxiliary cleaning disc 511, the auxiliary cleaning disc 511 is in a rotating state. The liquid dripping on the auxiliary cleaning disc 511 is scattered on the auxiliary cleaning part 512 under the action of centrifugal force, which can evenly wet the auxiliary cleaning part 512 and further improve the cleaning effect.

[0162] The number of the second liquid outlets 121, the aperture of the second liquid outlet 121 and the distance between the second liquid outlet 121 and the auxiliary cleaning component 51 are set according to specific needs. The number of the second liquid outlets 121 can be one, two or three, which is not specifically limited in the embodiment of the present application.

[0163] In related art, to avoid missed sweeps, the auxiliary cleaning member 512 overlaps with the main cleaning assembly 2a. Therefore, the auxiliary cleaning member 512 must be lowered before the main cleaning assembly 2a can be lowered, creating a descending and descending sequence. In this solution, the end of the active roller 231 overlaps with the auxiliary cleaning assembly 51. The end of the active roller 231 closest to the auxiliary cleaning assembly 51 is inserted into the mounting hole of the track cover 22 to ensure the secure connection of the active roller 231, but this will block the raising and lowering of the auxiliary cleaning assembly 51.

[0164] Based on this, Figure 16a and Figure 16b As shown, the end of the active roller 231 near the auxiliary cleaning assembly 51 is connected to a lap joint 2311. The lap joint 2311 is connected to a portion of the end of the active roller 231 that is vertically away from the auxiliary cleaning assembly 51. This allows the end of the active roller 231 to form an escape space for the auxiliary cleaning assembly 51 to be raised or lowered, thereby preventing the active roller 231 from affecting the raising or lowering of the auxiliary cleaning assembly 51 and further improving the flexibility of the cleaning device. It can be understood that a portion of the end of the active roller 231 near the auxiliary cleaning assembly 51 is cut away to form an escape space for the raising or lowering of the auxiliary cleaning assembly 51.

[0165] It should be noted that the end of the active roller 231 away from the auxiliary cleaning component 51 is connected to the first drive structure 33, which can fix the outer periphery of the active roller 231 relative to the fuselage 10. Therefore, although the end of the active roller 231 close to the auxiliary cleaning component 51 is not inserted into the track cover 22, the cleaning effect of the active roller 231 during the cleaning process can also be guaranteed.

[0166] In an alternative embodiment, if Figure 17 As shown, Figure 17 The schematic diagram shows the positional relationship of the auxiliary cleaning module 50, the track cover 22 and the partial structure of the track 21. The track cover 22 has a lap groove 226, which is used to accommodate the lap joint 2311. The end of the lap groove 226 near the auxiliary cleaning member 512 has a sharp corner 2261. The vertical projection of the sharp corner 2261 falls on the vertical direction of the auxiliary cleaning member 512, i.e. Figure 17 It can be understood that the auxiliary cleaning component 51 is projected along the direction of the arrow s2. Figure 17 When the track cover 22 is lifted and lowered in the direction of the arrow s2 shown in the figure, the sharp corner 2261 of the overlapping groove 226 of the track cover 22 will block the auxiliary cleaning member 512 and press down the bristles at the edge of the auxiliary cleaning member 512, that is, the edge area of ​​the auxiliary cleaning member 512 can be closer to the ground than other areas of the auxiliary cleaning member 512, and the edge area of ​​the auxiliary cleaning member 512 can also be fluffed, thereby improving the overall cleaning ability of the auxiliary cleaning member 512.

[0167] In related art, when a cleaning device 1 has two independent cleaning members, both must be able to contact the ground simultaneously during the cleaning process to ensure effective cleaning. Typically, one of the cleaning members is connected to a spring that allows the cleaning member to float up and down to ensure both members are in contact with the ground. However, as the functionality of the cleaning device increases, available space becomes limited, and installing the spring requires more space.

[0168] Based on this, the auxiliary cleaning disc 511 provided in the embodiment of the present application is made of soft rubber material, and the auxiliary cleaning disc 511 is a conical structure, similar to the structure of a suction cup. This structure can deform in the vertical direction so that the auxiliary cleaning part 512 and the main cleaning part 210 covered on the surface of the track 21 can contact the ground at the same time during the cleaning process. This structure occupies less space.

[0169] In an optional embodiment, the water replenishment structure further includes a first water pump and a second water pump. The first water pump is connected between the liquid outlet structure 40 of the track cover 22 and the clean water tank, while the second water pump is connected between the clean water tank and a second liquid outlet 121 on the chassis 12. Liquid discharged from the first liquid outlet 41 of the liquid outlet structure 40 of the track cover 22 is used to moisten the main cleaning element 210 covering the track 21, while liquid discharged from the second liquid outlet 121 is used to moisten the auxiliary cleaning element 512 mounted on the auxiliary cleaning disc 511. Due to the differences in area, material, and other characteristics of the main cleaning element 210 and the auxiliary cleaning element 512 covering the track 21, two independent first and second water pumps are used to control parameters such as the liquid output volume and output speed of the first and second liquid outlets 41 and 121, respectively, to meet different requirements and further ensure that both the main cleaning assembly 2a and the auxiliary cleaning assembly 51 achieve better cleaning results.

[0170] In addition, when it is necessary to drain all the clean water in the clean water tank to the outside of the machine body 10, using the first water pump and the second water pump at the same time can greatly reduce the drainage time and improve the drainage efficiency.

[0171] In an alternative embodiment, if Figure 1 、 Figure 18a and Figure 18b As shown, along the travel direction of the machine body 10, the auxiliary cleaning module 50 is located in front of the main cleaning module 20. When the cleaning device 1 moves to the base station b, the main cleaning module 20 approaches the cleaning tray b1 of the base station b, while the auxiliary cleaning module 50 moves away from the cleaning tray b1. The side of the cleaning tray b1 closest to the machine body 10 is sloped. As a result, the distance between the auxiliary cleaning module 50 and the cleaning tray b1 is smaller than the distance between the main cleaning module and the cleaning tray b1. Based on this, when cleaning the auxiliary cleaning element 512, the auxiliary cleaning module 50 is in a raised position to maintain the smaller distance between the auxiliary cleaning module 50 and the cleaning tray b1.

[0172] Furthermore, when base station b is cleaning the main cleaning element 210 and auxiliary cleaning element 512 of cleaning device 1, cleaning liquid is injected into cleaning tray b1. Since auxiliary cleaning element 512 is located at a high position on the sloped structure, it is difficult for the water level in cleaning tray b1 to reach the auxiliary cleaning element 512 and immerse it. In this embodiment of the present application, a second water pump is used to replenish water to the auxiliary cleaning element 512 to achieve cleaning of the auxiliary cleaning element 512. In other words, the second water pump is used to replenish water to the auxiliary cleaning element 512 while cleaning it, without the need for replenishment through base station b.

[0173] In addition, an auxiliary scraper b11 is provided on the surface of the cleaning tray b1. Positioned opposite the auxiliary cleaning module 50, the auxiliary scraper b11 can scrape the auxiliary cleaning element 512 to improve the cleaning effect of the auxiliary cleaning element 512. Using a second water pump to independently replenish water to the auxiliary cleaning assembly 51 improves the cleaning effect of the auxiliary cleaning element 512 during cleaning of the base station b, while also reducing the requirements for cleaning the auxiliary cleaning module 50 of the base station b.

[0174] It should be noted that the main cleaning member 210 can be immersed in the cleaning liquid in the cleaning tray b1 during the cleaning process of the base station b, and can be scraped by the wiper structure at the bottom of the track cover 22 to ensure the cleaning effect.

[0175] In an optional embodiment, the auxiliary cleaning module 50 includes an outward swing structure (not shown), and the second driving structure is used to drive the auxiliary cleaning assembly to swing so that the auxiliary cleaning assembly 51 has at least an initial position and an edge position relative to the machine body 10. In the edge position, at least a portion of the auxiliary cleaning assembly 51 extends beyond the edge of the machine body 10 for edge cleaning.

[0176] The specific structure and working principle of the swing-out structure of the auxiliary cleaning module 50 are described in detail in other series of cases and will not be repeated here.

[0177] The following embodiments will specifically describe the clean water tank 60 and the dirty water tank 70 .

[0178] First of all, it should be noted that during the cleaning process, since the liquid in the clean water tank 60 and the sewage tank 70 is constantly changing, the clean water tank 60 and the sewage tank 70 are generally arranged symmetrically about the axis of the fuselage 10 to ensure the stability of the fuselage 10 during movement and the uniformity of force on the main cleaning module 20.

[0179] like Figure 19 As shown, the direction of travel along the fuselage 10 is Figure 19In the direction of arrow s1 shown in FIG, the clean water tank 60 and the sewage tank 70 are located at the rear edge of the fuselage 10, which is not only convenient for removing the sewage tank 70, but also convenient for connecting to the base station. The clean water tank 60 is connected to the top of the chassis 12, and the sewage tank 70 is embedded in the clean water tank 60.

[0180] The sewage tank 70 is a key component of the sweeping and mopping robot. It draws in sewage by creating a negative pressure inside. It is connected to a first pump driver 71, which is connected to the interior of the tank. This pump driver 71 pumps air, creating a negative pressure inside the tank, drawing the sewage into the tank. The first pump driver 71 can be either a water pump or an air pump, and this is not a limitation in this embodiment.

[0181] In related technology, a fresh water tank inlet, a positioning member, and a recharging structure are required to be located at the rear edge of the fuselage 10. The positioning member and the recharging structure are integrated into a structure fixedly connected to the chassis 12. This occupies a certain amount of space in the vertical direction, thereby affecting the vertical height of the sewage tank 70. If the vertical height of the sewage tank 70 is too small, it is not conducive to the formation of negative pressure in the sewage tank 70.

[0182] Based on this, in the embodiment of the present application, the water inlet of the clean water tank 60 is set in the sewage tank 70, and the positioning member for positioning with the base station is also set on the side of the sewage tank 70 close to the tail of the fuselage 10, so as to ensure that the sewage tank 70 has a large distance in the vertical direction, which facilitates the formation of negative pressure in the sewage tank 70.

[0183] like Figure 20a As shown, the clean water tank 60 comprises a clean water tank body 600, with a mounting cavity 61 defined in the middle of the clean water tank body 600. The sewage tank 70 comprises a sewage tank body 700, which matches the mounting cavity 61 and is embedded within the mounting cavity 61 of the clean water tank body 600. The sewage tank body 700 has a first water inlet 72a and two positioning grooves 73. The first water inlet 72a is located along the axis of the body 10, facilitating docking of the first water inlet 72a with the water supply port of the base station. The two positioning grooves 73 are located on either side of the first water inlet 72a, constituting positioning elements for the cleaning device and the base station. The first water inlet 72a serves as the water inlet of the clean water tank 60.

[0184] Specifically, if Figure 20b As shown, Figure 20b for Figure 20aA cross-sectional view of the sewage tank 70 at point AA is shown. A first clean water pipe 62 is connected to the interior of the sewage tank 700. One end of the first clean water pipe 62 is connected to a first water inlet 72a provided on the sewage tank 700, while the other end communicates with the interior of the sewage tank 600. The first clean water pipe 62, which supplies water to the sewage tank 600, runs through the sewage tank 700, eliminating the need for a separate first clean water pipe 62 and maintaining the vertical height of the sewage tank 70.

[0185] like Figure 20c As shown, the sewage tank 700 is provided with a second water inlet 72b, a sewage inlet 74, and a first exhaust port 75 on the side away from the rear end of the fuselage 10. The other end of the first clean water pipe 62 is connected to the second water inlet 72b, which is able to communicate with the interior of the clean water tank 600. The sewage inlet 74 is connected to the sewage suction port of the track cover through a sewage pipe. Under the action of negative pressure, sewage in the water receiving trough 243 enters the sewage pipe from the sewage suction port 222 and is discharged from the sewage inlet 74 into the sewage tank 700. The first exhaust port 75 is connected to the first pump driver 71 through an exhaust pipe, and the interior of the sewage tank 70 is in a negative pressure state under the action of the first pump driver 71.

[0186] like Figure 1 As shown, the body 10 is provided with a second exhaust port 181. The first pump driver 71 discharges the gas extracted from the sewage tank 700 through the exhaust pipe and out of the second exhaust port 181. In related art, when the first pump driver 71 is pumping air from the sewage tank 70, there is a possibility of extracting sewage, for example, when the sewage tank 70 is in a swaying state. When the first pump driver 71 extracts sewage, it can be discharged through the second exhaust port 181.

[0187] In an optional embodiment, the direction of travel of the fuselage 10 is Figure 1 In the direction of arrow s1 shown in FIG, the body 10 further includes a bottom cover 18, and a second exhaust port 181 is provided on the bottom cover 18. The second exhaust port 181 is located in front of the main cleaning module 20. It can be understood that when the first pump driver 71 extracts the sewage and discharges it from the second exhaust port 181, the main cleaning module 20 can clean the sewage in a timely manner, thereby ensuring a cleaning effect.

[0188] Alternatively, the second exhaust port 181 is located above the main cleaning module 20. It can be understood that when the first pump driver 71 extracts sewage and discharges it from the second exhaust port 181, the sewage can drip onto the main cleaning component 210 located below the second exhaust port 181, thereby preventing the sewage from dripping and remaining on the ground and affecting the cleaning effect.

[0189] In an optional embodiment, the second exhaust port 181 is filled with a noise-reducing sponge to reduce the noise generated by the cleaning device during cleaning.

[0190] The first drain port 70c of the sewage tank 700 is typically sealed with a soft rubber seal to ensure negative pressure is generated within the sewage tank 70. According to related art, if the rubber seal is located within the sewage tank 700, the sewage tank 700 must be equipped with a vent to increase the pressure in the sewage tank 700 before draining the sewage, ensuring that the first drain port 70c can open. Furthermore, the first drain port 70c is located on the side of the sewage tank 700 closest to the ground, i.e., at the bottom of the sewage tank 700. This silt easily accumulates at the bottom of the sewage tank 700, which can reduce the seal between the rubber seal and the first drain port 70c, thereby preventing the sewage tank 70 from generating negative pressure and ultimately preventing the sewage tank 700 from drawing in sewage.

[0191] Based on this, the first sewage outlet 70c of the sewage tank body 700 provided in the embodiment of the present application is arranged on its side wall, and the soft rubber used to seal the first sewage outlet 70c is located outside the negative pressure chamber 70b. The sewage tank 70 does not need to be provided with an exhaust port, and the silt accumulated at the bottom of the sewage tank body 700 will not affect the sealing of the first sewage outlet 70c.

[0192] like Figure 21a and Figure 21b As shown, a first sewage outlet 70c is provided on the side wall of the sewage tank body 700 arranged opposite to the rear part of the fuselage 10. The sewage tank body 700 is also connected to a ejection mechanism 76. The ejection mechanism 76 is located outside the negative pressure chamber 70b of the sewage tank body 700. The ejection mechanism 76 is used to seal the first sewage outlet 70c or open the first sewage outlet 70c. The end of the ejection mechanism 76 is located at the rear part of the fuselage 10 and is in contact with the outside. When the cleaning device 1 is connected to the base station, the ejection mechanism 76 is triggered under the action of the base station to open the first sewage outlet 70c for sewage discharge.

[0193] Specifically, the sewage tank 700 is provided with an accommodating channel 70a, which passes through the negative pressure chamber 70b. Both end openings of the accommodating channel 70a are connected to the outside of the negative pressure chamber 70b, and the accommodating channel 70a extends along the moving direction of the fuselage 10. The ejection mechanism 76 includes a push rod 761, a rotating rod 762, a soft rubber cover 763, and a second elastic member 764. One end of the push rod 761 is located at the rear of the body 10, and the other end contacts the rotating rod 762. The push rod 761 is located in the accommodating channel 70a. One end of the rotating rod 762 is connected to the soft rubber cover 763, and the other end is rotatably connected to the sewage tank 700. One end of the second elastic member 764 is connected to the sewage tank 700 and the other end is connected to the rotating rod 762. The second elastic member 764 extends along the direction of travel of the body 10 and is opposite to the soft rubber cover 763, so that the soft rubber cover 763 can better withstand the force. The second elastic member 764 can also be a spring or other elastic member, which is not limited in this embodiment of the application.

[0194] like Figure 21c and 21d As shown, Figure 21c The first state diagram shows the soft rubber cover 763 installed on the first sewage outlet 70c. The rotating rod 762 rotates under the action of the second elastic member 764 so that the soft rubber cover 763 is sealed and pressed against the first sewage outlet 70c.

[0195] Figure 21d The diagram shows the sewage tank 70 in the second state of sewage discharge. The base station is provided with a trigger member (not shown in the figure) for pushing the top rod 761 to move a certain distance along the direction of travel of the fuselage 10, thereby causing the top rod 761 to push the rotating rod 762 to rotate. The rotation of the rotating rod 762 drives the soft rubber cover 763 to rotate. The soft rubber cover 763 moves away from the first sewage outlet 70c, and the sewage in the sewage tank 700 is discharged from the first sewage outlet 70c. When the sewage tank 70 has completed sewage discharge, the trigger member moves away from the top rod 761, and the rotating rod 762 rotates under the elastic force of the second elastic member 764, causing the soft rubber cover 763 to cover the sewage outlet. Of course, the top rod 761 moves to its original position under the action of the rotating rod 762.

[0196] Furthermore, the bottom surface of the first sewage outlet 70c is located on the same plane as the bottom plane of the negative pressure chamber 70b. It can be understood that the sewage at the bottom of the sewage tank 700 can also be discharged from the first sewage outlet 70c to avoid the accumulation of sewage.

[0197] Furthermore, the bottom surface of the first sewage outlet 70c is a first inclined surface 70c1, and the side of the first inclined surface 70c1 close to the soft rubber cover 763 is inclined toward the ground, so that the sewage in the sewage tank 700 can be discharged more easily under the action of gravity.

[0198] Alternatively, the bottom surface of the negative pressure chamber 70b and the bottom surface of the first sewage outlet 70c form a second inclined surface, and the side of the second inclined surface close to the soft rubber cover 763 is inclined toward the ground so that the sewage in the sewage tank 700 can be discharged more easily under the action of gravity.

[0199] In an alternative embodiment, if Figure 2 As shown, when the outline of the body 10 is a circular structure, the accommodating channel 70a extends along the centerline of the body 10. When the cleaning device 1 is connected to the base station, the trigger member of the base station acts on the top rod 761, causing the top rod 761 to move within the accommodating channel 70a and transmit force to the rotating rod 762. The external force applied to the body 10 is located in the direction of its centerline, which can ensure that the center of the circular body 10 is subjected to force, preventing rotation due to uneven force and affecting the cleaning effect.

[0200] In an alternative embodiment, if Figure 21bAs shown, when the soft rubber cover 763 is installed on the first drain outlet 70c, the second drain outlet 60a is located directly below the soft rubber cover 763, connecting the first drain outlet 70c with the exterior of the machine body 10. When the soft rubber cover 763 is removed from the first drain outlet 70c, wastewater enters the second drain outlet 60a from the first drain outlet 70c and is then discharged. When the cleaning device is connected to the base station, the second drain outlet 60a is located opposite the cleaning tray. It can be understood that wastewater discharged from the second drain outlet 60a falls on the cleaning tray of the base station and is then discharged through the base station's drain outlet.

[0201] As an example, Figure 21b The second drain outlet 60a shown is set at the bottom of the clean water tank 600. Based on the arrangement of the various components of the cleaning equipment, when there are other components directly below the soft rubber cover 763, the second drain outlet 60a is set at the bottom of the other components.

[0202] Please refer to Figure 18b and Figure 21b When the sewage tank 70 is discharging sewage, the fuselage 10 is in a tilted state, that is, the tail of the fuselage 10 is tilted upward at a certain angle. When the sewage tank 70 is discharging sewage, the components adjacent to the second sewage outlet 60a may be splashed with sewage, and sewage may remain.

[0203] Based on this, the embodiment of the present application is provided with a third drain port 60b at the bottom of a component adjacent to the second drain port 60a. Along the direction of travel of the fuselage 10, the third drain port 60b is located in front of the second drain port 60a. The third drain port 60b is used to drain residual sewage from the component adjacent to the second drain port 60a. As an example, the component adjacent to the second drain port 60a can be the clean water tank 600, but it can also be other components, and this embodiment of the present application is not limited thereto.

[0204] In an alternative embodiment, if Figure 20a and Figure 22 As shown, the sewage tank 700 is embedded in the center of the clean water tank 600, dividing the clean water chamber 60c of the clean water tank 600 into two interconnected clean water sub-chambers located on either side of the sewage tank 700. The two clean water sub-chambers are connected by a clean water channel located below and / or above the sewage tank 70. Alternatively, the two clean water sub-chambers are connected by a second clean water pipe 63. The clean water channel or second clean water pipe 63 occupies a relatively small space along the height of the machine body 10, thereby ensuring sufficient space for the sewage tank 70.

[0205] In an optional embodiment, an overflow port 64 is provided at the bottom of the clean water tank 600. Overflow port 64 communicates with the clean water chamber 60c. When the cleaning device is connected to the base station, overflow port 64 is positioned opposite the wash tray. This allows the clean water tank 600 to overflow from overflow port 64 when the cleaning device is refilling with clean water at the base station. This allows the clean water to flow into the wash tray, avoiding the floor or other components.

[0206] Furthermore, the overflow port 64 extends upward to form an overflow channel 65, which extends in a vertical direction. There is a gap between the other end of the overflow channel 65 and the top of the clean water chamber 60c, so that the air in the clean water chamber 60c can pass through the overflow channel 65 and then be discharged from the overflow port 64. The overflow port 64 is actually also the exhaust port of the clean water chamber 60c.

[0207] The clean water tank 60 is provided with a duckbill valve 66, which is connected to the overflow channel 65 near the top of the clean water chamber 60c. When the fuselage 10 is flipped over, the flip angle of the fuselage 10 can be 45°, 90°, 150°, or 180°, etc. The duckbill valve 66 can prevent the liquid in the clean water chamber 60c from entering the overflow channel 65. It can be understood that the duckbill valve 66 not only serves as an exhaust port for the clean water chamber 60c, but also prevents the liquid in the clean water chamber 60c from entering the overflow channel 65 when the fuselage 10 is flipped over. When the clean water chamber 60c is overfilled with clean water, the overflowed clean water can be discharged from the overflow port 64 through the overflow channel 65. It can also be understood that the closer the other end of the overflow channel 65 is to the top of the clean water chamber 60c, the more clean water the clean water chamber 60c can accommodate, but it is necessary to ensure that the air in the clean water chamber 60c can be discharged from the overflow channel 65.

[0208] In an alternative embodiment, if Figure 19 As shown, the cleaning device 1 also includes a second pump drive 67, which is connected to the clean water chamber 60c. When the cleaning device is connected to the base station, the second pump drive 67 is used to pump clean water from the base station water tank into the clean water chamber 60c. The use of the second pump drive 67 can improve the efficiency of water replenishment in the clean water tank 60 and increase the accuracy of the water replenishment amount. As an example, the second pump drive 67 is a water pump, but it is of course not limited to this.

[0209] The following embodiment will describe the recharging structure 80 in detail.

[0210] As mentioned above, the recharge structure 80 affects the vertical height of the sewage tank 70 (the height of the cleaning device 1). As people's requirements for cleaning devices 1 become increasingly higher, the vertical height of the cleaning device 1, and therefore the thickness of the cleaning device 1, is becoming increasingly thinner, allowing the cleaning device 1 to enter relatively narrow spaces for cleaning, such as the floor under a sofa or a bed. When the recharge structure 80 occupies a large vertical height, the sewage tank 70 is limited in its vertical height, which affects the formation of negative pressure within the sewage tank 70.

[0211] Based on this, the recharging structure 80 provided in the embodiment of the present application ensures the vertical height of the sewage tank 70 by reducing its vertical height, thereby ensuring the stability of the negative pressure formed in the sewage tank 70.

[0212] Specifically, if Figure 2 、 Figure 23a 、 Figure 23b 、 Figure 24a and Figure 24b As shown, the recharging structure 80 is located at the rear edge of the body 10 and above the wastewater tank 70. It can be understood that at least the height of the recharging structure 80 and the wastewater tank 70 determine the height of the entire body 10 of the cleaning device 1. The recharging structure 80 includes a charging terminal 82, a frame 81, a control board 83, communication components 84, and at least two signal receivers 85.

[0213] The charging terminal 82 is used to connect to the base station's charging pad to charge the cleaning device 1. The charging terminal 82 is connected to the frame 81 and at least partially protrudes from the surface of the frame 81. This allows the cleaning device 1 to directly connect to the base station's charging pad when connected to the base station, ensuring recharging efficiency. The control board 83, communication components 84, and at least two signal receivers 85 are all embedded in the frame 81. There are two charging terminals 82, namely a positive terminal 821 and a negative terminal 822.

[0214] The communication component 84 and at least two signal receivers 85 are connected to the bottom of the control board 83, that is, connected to the side surface of the control board 83 close to the sewage tank 70. The signal receiver 85 is connected to the control board 83. At least two signal receivers 85 are used to receive the recharge signal sent by the base station and feed it back to the control board 83. The control board 83 controls the movement of the body based on the recharge signal so that the cleaning device 1 moves to the base station, thereby connecting the charging terminal 82 to the charging piece of the base station. The recharge signal can be an infrared signal with a specific frequency, and the signal receiver 85 corresponds to an infrared receiver. Of course, the embodiments of the present application are not limited to this.

[0215] It can be understood that the height of the refill structure 80 is the same as the height of the frame 81 , which reduces the space occupied by the refill structure 80 in the height direction of the cleaning equipment 1 , thereby ensuring the space occupied by the sewage tank 70 in the height direction of the cleaning equipment 1 .

[0216] Further, if Figure 23a and Figure 23b As shown, the frame 81 is provided with at least one fourth mounting hole 811, the clean water tank 600 is provided with a fifth mounting hole (not shown in the figure) opposite to the fourth mounting hole 811, and the upper cover 11 is provided with a sixth mounting hole opposite to the fourth mounting hole 811 and the fifth mounting hole. Fasteners (not shown in the figure) are inserted into the fourth mounting hole 811, the fifth mounting hole and the sixth mounting hole to achieve the connection between the frame 81, the clean water tank 600 and the upper cover 11.

[0217] The frame 81 also includes a housing 812, which houses a control panel 83, communication components 84, and at least two signal receivers 85. The housing 812 on the frame 81 serves to reduce the vertical height of the recharging structure 80 and to shield liquid from leaking from the clean water tank and / or the wastewater tank, thereby minimizing damage to electronic components caused by leaks.

[0218] The control board 83 has at least a seventh mounting hole, and the first fastener 86 is inserted into the seventh mounting hole to connect the control board 83 to the upper cover 11. The control board 83 fits the upper cover 11, so that the signal receiver 85 will have a larger field of view and improve the signal reception accuracy.

[0219] At least two signal receivers 85 are spaced and symmetrically arranged along the axis of cleaning device 1. When cleaning device 1 is low on power, signal receivers 85 capture the recharge signal from the base station, and cleaning device 1 locates the base station based on the recharge signal. Typically, a base station can emit multiple recharge signals, and the at least two signal receivers 85 on cleaning device 1 can receive these signals one-to-one, allowing cleaning device 1 to accurately locate the base station and improve alignment accuracy between cleaning device 1 and the base station.

[0220] In an optional embodiment, the recharging structure 80 further includes a cover 87, which is connected to the control board 83 and encloses at least a first isolation chamber 871, a second isolation chamber 872, and a third isolation chamber 873 that are isolated from each other. The first isolation chamber 871 and the second isolation chamber 872 are respectively used to accommodate two signal receivers 85, and the third isolation chamber 873 is used to accommodate the communication component 84. Using the cover 87 to isolate the signal receiver 85 and the communication component 84 can not only prevent damage to the signal receiver 85 and the communication component 84 due to collision or falling parts, but also prevent mutual interference between the signal receivers 85 and the signal receivers 85, and between the signal receivers 85 and the communication component 84, further improving the alignment efficiency of the cleaning device 1 and the base station.

[0221] Furthermore, the control panel 83 is provided with at least an eighth mounting hole (not shown in the figure), and the cover body 87 is provided with at least a ninth mounting hole 874 opposite to the eighth mounting hole. The second fastener 88 is inserted into the eighth mounting hole and the ninth mounting hole 874 to connect the cover body 87 to the control panel 83.

[0222] Furthermore, a pleated structure 875 is provided on the inner wall of the cover body 87, and the pleated structure 875 is used to block interference from other recharging signals, thereby ensuring that the signal receiver 85 receives the corresponding recharging signal.

[0223] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0224] Throughout this specification, references to "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" mean that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, illustrative references to the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0225] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A self-moving cleaning device, characterized in that: include: The fuselage (10) is provided with a second exhaust port (181); A main cleaning module (20) is arranged below the machine body (10); A sewage tank (70), the sewage tank (70) comprising a sewage tank body (700), the sewage tank body (700) being provided with a first exhaust port (75); a first pump drive (71), the first pump drive (71) being connected to the first exhaust port (75) and the second exhaust port (181); under the suction action of the first pump drive (71), the air in the sewage tank (700) is discharged from the first exhaust port (75) through the second exhaust port (181), so that a negative pressure chamber (70b) is formed in the sewage tank (700); Wherein, along the moving direction of the machine body (10), the second exhaust port (181) is located in front of or above the main cleaning module (20).

2. The cleaning device according to claim 1, characterized in that The second exhaust port (181) is filled with sponge for noise reduction.

3. The cleaning device according to claim 1, characterized in that The first pump drive (71) is an air pump or a water pump.

4. The cleaning device according to claim 1, characterized in that The sewage tank (700) has a first sewage outlet (70c), and the first sewage outlet (70c) is located on a side wall of the sewage tank (700) opposite to the tail of the fuselage (10).

5. The cleaning device according to claim 4, characterized in that The sewage tank (70) further comprises a ejection mechanism (76), the ejection mechanism (76) being located outside the negative pressure chamber (70b), and the ejection mechanism (76) being used to seal or open the first sewage outlet (70c).

6. The cleaning device according to claim 5, characterized in that The sewage tank (700) is provided with a receiving channel (70a), the receiving channel (70a) passes through the negative pressure chamber (70b), and both end openings of the receiving channel (70a) are in communication with the outside of the negative pressure chamber (70b); The ejection mechanism (76) comprises: A push rod (761) is inserted into the accommodating channel (70a), and one end of the push rod (761) is located at the tail of the fuselage (10); A rotating rod (762), the other end of the top rod (761) contacts the rotating rod (762), and one end of the rotating rod (762) is rotatably connected to the sewage tank (700); A soft rubber cover (763) connected to the other end of the rotating rod (762); A second elastic member (764) is connected to the sewage tank (700); When the ejection mechanism (76) is in the first state, the soft rubber cover (763) is pressed on the first sewage outlet (70c) under the action of the second elastic member (764); When the ejection mechanism (76) is in the second state, the ejector rod (761) is moved by force and pushes the rotating rod (762) to rotate, so that the soft rubber cover (763) is separated from the first sewage outlet (70c), and the sewage in the negative pressure chamber (70b) is discharged from the first sewage outlet (70c).

7. The cleaning device according to claim 6, characterized in that The accommodating channel (70a) extends along the moving direction of the fuselage (10).

8. The cleaning device according to claim 7, characterized in that When the outline of the fuselage (10) is a circular structure, the accommodating channel (70a) extends along the centerline direction of the fuselage (10).

9. The cleaning device according to claim 6, characterized in that When the ejection mechanism (76) is in the first state, the second elastic member (764) is positioned opposite to the soft rubber cover (763), and the second elastic member (764) presses against the soft rubber cover (763).

10. The cleaning device according to claim 4, characterized in that The bottom surface of the first sewage outlet (70c) and the bottom surface of the negative pressure chamber (70b) are located on the same plane.

11. The cleaning device according to claim 4, characterized in that The bottom surface of the first sewage outlet (70c) is a first inclined surface (70c1), and the side of the first inclined surface (70c1) away from the tail of the fuselage (10) is inclined toward the bottom of the fuselage (10).

12. The cleaning device according to claim 4, characterized in that The bottom surface of the negative pressure chamber (70b) and the bottom surface of the first sewage outlet (70c) form a second inclined surface, and the side of the second inclined surface away from the tail of the fuselage (10) is inclined toward the bottom of the fuselage (10).

13. The cleaning device according to claim 6, characterized in that The body (10) is further provided with a second sewage outlet (60a), and the second sewage outlet (60a) is located directly below the soft rubber cover (763) when the ejection mechanism (76) is in the first state; When the ejection mechanism (76) is in the second state, the second sewage outlet (60a) is connected to the first sewage outlet (70c), and sewage in the negative pressure chamber (70b) is discharged from the first sewage outlet (70c) through the second sewage outlet (60a).

14. The cleaning device according to claim 13, characterized in that A third sewage outlet (60b) is also provided at the bottom of the fuselage (10), and the third sewage outlet (60b) is arranged adjacent to the second sewage outlet (60a). Along the moving direction of the fuselage (10), the third sewage outlet (60b) is located in front of the second sewage outlet (60a).

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