Cleaning device

Abstract

The invention provides cleaning equipment which comprises a machine body, a main cleaning module and an auxiliary cleaning module, and the main cleaning module is arranged on the machine body; the main cleaning module comprises a first lifting structure and at least one main cleaning assembly; the first lifting structure is used for driving the main cleaning assembly to ascend and descend. The auxiliary cleaning module comprises at least one auxiliary cleaning assembly, and the auxiliary cleaning assembly is at least provided with an initial position and an edge position relative to the machine body; at the edge position, at least part of the auxiliary cleaning assembly extends out of the edge of the machine body so as to clean along the edge; the auxiliary cleaning module is arranged on the main cleaning assembly, and under driving of the first lifting structure, the auxiliary cleaning module synchronously ascends and descends along with the main cleaning assembly. According to the cleaning equipment, the edge area can be cleaned, the sweeping missing area is reduced, meanwhile, the auxiliary cleaning assembly does not need to occupy a large space in the machine body when swinging, the structure is simple, and the cost is low.

Description

[0001] This disclosure claims the priority of a Chinese patent application filed with the Chinese Patent Office on February 9, 2024, with application number 202410179201.6 and titled “Cleaning module, cleaning equipment and cleaning system”. The entire contents of this Chinese patent application are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of household cleaning technology, and in particular to a cleaning device. Background Art

[0003] With the development of science and technology and the improvement of living standards, household cleaning equipment has become more and more popular, reducing the burden of human housework, such as sweeping robots, floor washing robots, and sweeping and mopping robots.

[0004] In the related art, taking a sweeping robot as an example, the sweeping robot includes a body and a main cleaning component arranged at the rear part of the body. In order to expand the cleaning area of ​​the main cleaning component, clean the edges of obstacles or walls along the edges, and reduce the missed sweeping areas, the main cleaning component is swung outward and retracted inward relative to the body as a whole in the prior art, so that part of the main cleaning component extends out of the edge of the maximum width of the body, and extends out of the walking range of the edge of the maximum width of the body to perform edge cleaning.

[0005] Since the main cleaning component needs to swing, a large swinging space is reserved in the fuselage for the overall swing of the main cleaning component. At the same time, the main cleaning component usually also requires a lifting structure to drive the main cleaning component to rise and fall so as to switch between the mopping position and the lifting position. The first driving structure used to drive the main cleaning component to swing also needs to drive the lifting structure to swing as a whole, resulting in a complex structure and a large space required in the fuselage. Summary of the invention

[0006] In view of the above problems, an embodiment of the present application provides a cleaning device that can clean the edge area and avoid cleaning dead corners, and has a simple structure and occupies less space on the body.

[0007] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0008] The present application provides a cleaning device, comprising:

[0009] body;

[0010] A main cleaning module is arranged on the fuselage; the main cleaning module includes at least one main cleaning component; the first lifting structure is used to drive the main cleaning component to rise and fall;

[0011] An auxiliary cleaning module, the auxiliary cleaning module comprising at least one auxiliary cleaning component, the auxiliary cleaning component having at least an initial position (A), an edge position (C) and a third position (B) relative to the body;

[0012] In the edge position, at least a portion of the auxiliary cleaning assembly extends out of the edge of the body for edge cleaning;

[0013] In the third position (B), at least a portion of the auxiliary cleaning assembly extends out of the edge of the body (100) to clean the angled area;

[0014] Wherein, the third position (B) is used to clean the angle area formed by the edge of the obstacle.

[0015] Optionally, the auxiliary cleaning module further includes a first driving structure, the first driving structure includes a swing arm, the auxiliary cleaning component is rotatably arranged on the swing arm, and the swing arm is swung to drive the auxiliary cleaning component to any one of the initial position, the edge position and the third position;

[0016] The distances between the rotation center of the body and the rotation center of the auxiliary cleaning component at the initial position, the edge position, and the third position are LA, LB, and LC, respectively, wherein LB>LC>LA.

[0017] Optionally, along the swinging direction of the auxiliary cleaning assembly, the edge position is located between the third position and the initial position.

[0018] Optionally, along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly at the initial position is located in front of the rotation center of the auxiliary cleaning assembly at the edge position.

[0019] Optionally, when cleaning the angled area, the body drives the auxiliary cleaning assembly to rotate to clean the angled area through at least one of forward, backward, turning and twisting.

[0020] Optionally, the main cleaning module further comprises a first lifting structure; the first lifting structure is used to drive the main cleaning component to lift;

[0021] The auxiliary cleaning module is arranged on the main cleaning component, and driven by the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component.

[0022] Optionally, the main cleaning component includes a mounting seat and a vibration plate, the vibration plate is arranged on the mounting seat, and a second notch is arranged on the edge of the mounting seat; the auxiliary cleaning component includes an auxiliary cleaning disc, and an auxiliary cleaning member arranged on the bottom of the auxiliary cleaning disc;

[0023] In the initial position, at least a portion of the edge of the auxiliary cleaning disk may be embedded in the second notch.

[0024] Optionally, at least when in the edge position, the auxiliary cleaning component and the main cleaning component cooperate so that in the width direction of the fuselage, there is no missed cleaning area between the cleaning areas of the auxiliary cleaning component and the main cleaning component; wherein the width direction of the fuselage is perpendicular to the forward direction of the fuselage.

[0025] Optionally, the main cleaning component has at least a first part and the auxiliary cleaning component has at least a second part, and in the forward direction of the fuselage, the cleaning areas of the first part and the second part have an overlapping area.

[0026] Optionally, in the forward direction of the fuselage, the first part is located behind the second part, so that the second part is cleaned first and the first part is cleaned later, and the cleaning areas of the second part and the first part have the overlapping area.

[0027] Optionally, the main cleaning component includes a mounting seat, and a main rag arranged on the bottom of the mounting seat; the auxiliary cleaning module is arranged on the mounting seat; the auxiliary cleaning component includes an auxiliary rag; the main rag has the first part, and the auxiliary rag has the second part.

[0028] Optionally, the mounting base includes a top plate, and a bottom plate arranged on the bottom of the top plate, the bottom plate is provided with a mounting hole or an avoidance opening, and a vibration plate embedded in the mounting hole or the avoidance opening; the main rag is arranged on the bottom of the vibration plate and the bottom plate; the auxiliary cleaning module is arranged on the top plate; the vibration plate vibrates or twists back and forth to drive the main rag to move to clean the surface to be cleaned.

[0029] Optionally, the auxiliary cleaning module further comprises a first driving structure, the first driving structure comprises a swing arm, the auxiliary cleaning assembly is rotatably arranged on the swing arm, and the swing arm is swung to drive the auxiliary cleaning assembly to any one of the initial position, the edge position and the third position;

[0030] The distances between the rotation center of the body and the rotation center of the auxiliary cleaning assembly at the initial position, the edge position, and the third position are LA, LC, and LB, respectively, wherein LB>LC>LA; the third position is used to clean the angle area formed by the edge of the obstacle;

[0031] When the auxiliary cleaning component is in at least one of the initial position and the third position, the cleaning areas of the second part and the first part successively have the overlapping area.

[0032] The present application also provides a cleaning device, comprising:

[0033] body;

[0034] A main cleaning module is arranged on the fuselage; the main cleaning module comprises a first lifting structure and at least one main cleaning component; the first lifting structure is used to drive the main cleaning component to lift;

[0035] An auxiliary cleaning module, the auxiliary cleaning module comprising at least one auxiliary cleaning component, the auxiliary cleaning component having at least an initial position and an edge position relative to the body;

[0036] In the edge position, at least a portion of the auxiliary cleaning assembly extends out of the edge of the body for edge cleaning;

[0037] The auxiliary cleaning module is arranged on the main cleaning component, and driven by the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component.

[0038] The cleaning device provided in the embodiment of the present application is provided with an auxiliary cleaning module, which includes at least one auxiliary cleaning component, and the auxiliary cleaning component can have at least an initial position and an edge position relative to the fuselage. When the auxiliary cleaning component is in the edge position, at least part of the auxiliary cleaning component extends out of the edge of the fuselage to clean the edge area, and the auxiliary cleaning module is arranged on the main cleaning module. Driven by the lifting structure, the auxiliary cleaning module is lifted and lowered synchronously with the main cleaning component. In this way, while cleaning the edge area and reducing the missed cleaning area, the auxiliary cleaning component does not need to occupy a large space inside the fuselage when swinging, and the structure is simple and the cost is low.

[0039] Optionally, the main cleaning component and the auxiliary cleaning component are synchronously in a mopping position and a lifting position. In the mopping position, both the main cleaning component and the auxiliary cleaning component clean the surface to be cleaned.

[0040] Optionally, the main cleaning component is arranged below the chassis of the fuselage, and the main cleaning component at least includes a mounting seat and a main cleaning member arranged at the bottom of the mounting seat; the auxiliary cleaning module is arranged on the top of the mounting seat and is located below the fuselage, and the first lifting structure drives the mounting seat to rise and fall to drive the auxiliary cleaning module to rise and fall.

[0041] Optionally, a first avoidance opening is provided on the side wall of the fuselage, and a first avoidance area is provided on the chassis of the fuselage;

[0042] At least part of the structure of the auxiliary cleaning module is located in the first avoidance area, and the auxiliary cleaning module can swing outward toward the edge position through the first avoidance opening, and retract toward the initial position;

[0043] When the auxiliary cleaning component is in the initial position, at least a portion of the auxiliary cleaning component is located in the first avoidance area.

[0044] Optionally, the first avoidance area is a concave cavity provided on the bottom of the chassis and concave upward toward the inner cavity of the fuselage.

[0045] Optionally, the auxiliary cleaning module further includes a first driving structure located in the first avoidance area;

[0046] The first driving structure at least includes a first driving motor, a first elastic member and a swing arm, and the auxiliary cleaning assembly is arranged on the swing arm; the first driving motor and the first elastic member cooperate to at least drive the swing arm to swing, so as to drive the auxiliary cleaning assembly to swing, so as to switch between the initial position and the edge position;

[0047] When the auxiliary cleaning component is located at the edge position, one end of the swing arm is located in the first avoidance area, and the other end of the swing arm is located outside the first avoidance area through the first avoidance opening to extend out of the edge of the fuselage.

[0048] Optionally, the first driving structure also includes a first transmission assembly, and the two ends of the first elastic member respectively act on the first transmission assembly and the swing arm, so that when the first driving motor drives the first transmission assembly to rotate, the swing arm is driven to swing through the first elastic member; when the first driving motor is not started, when the swing arm and / or the auxiliary cleaning assembly are squeezed or collided by external obstacles, the swing arm can swing toward the initial position relative to the first transmission assembly.

[0049] Optionally, the first driving structure also includes a self-rotation driving mechanism for driving the auxiliary cleaning component to rotate; the self-rotation driving mechanism includes a self-rotation motor arranged on the swing arm, and a second transmission assembly, and the auxiliary cleaning component is arranged on the swing arm by being arranged on the second transmission assembly, and is located below the swing arm; the self-rotation motor drives the second transmission assembly to rotate, so as to drive the auxiliary cleaning component to rotate.

[0050] Optionally, the main cleaning module also includes a second driving structure, which is used to drive the main cleaning component to vibrate or twist back and forth to clean the floor; in the width direction and the height direction of the fuselage, the second driving structure and the first driving structure are staggered on the mounting base.

[0051] Optionally, the second driving structure is located in the first avoidance zone.

[0052] Optionally, the cleaning device further comprises a water replenishing structure and a dry cleaning module, wherein the dry cleaning module at least comprises a dust box; and the water replenishing structure at least comprises a water tank;

[0053] The dust box is arranged in the dust box cavity in the body; the water tank is arranged in the dust box cavity or below the dust box, and the water tank is used to provide liquid to the main cleaning component and / or the auxiliary cleaning component to wet the main cleaning component and / or the auxiliary cleaning component.

[0054] Optionally, the fuselage includes a chassis and an upper shell arranged on the chassis; the upper shell and the chassis form an inner cavity of the fuselage;

[0055] The water tank is located below the bottom plate, and the dust box cavity is located above the bottom plate.

[0056] Optionally, vertical projections of the water tank and the dust box cavity on the ground at least partially overlap; and / or

[0057] The vertical projections of the water tank and the dust box on the ground at least partially overlap.

[0058] Optionally, the cleaning device further comprises a water replenishing structure, which comprises at least a water tank for replenishing water to the main cleaning component and / or the auxiliary cleaning component to wet the main cleaning component and / or the auxiliary cleaning component.

[0059] Optionally, the water replenishment structure further includes a water delivery mechanism connected to the water tank, and the water delivery mechanism includes a first waterway and a second waterway, which respectively replenish water to the auxiliary cleaning component and the main cleaning component;

[0060] The cleaning device further comprises a first driving structure, the first driving structure comprising a first driving motor and a swing arm, the auxiliary cleaning assembly being arranged on the swing arm; the first driving motor is at least used to drive the swing arm to swing, so as to drive the auxiliary cleaning assembly to swing, so that the auxiliary cleaning assembly switches between the initial position and the edge position;

[0061] The first water channel is at least partially located on the swing arm and swings with the swing of the swing arm, so that the auxiliary cleaning component can be replenished with water when the auxiliary cleaning component is in an initial position, an edge position and during the swinging process; and / or the second water channel does not swing with the swinging of the swing arm.

[0062] Optionally, a first water outlet is provided on the bottom of the swing arm; the liquid outlet of the first water channel is connected to the first water outlet;

[0063] The first water outlet is located directly above the auxiliary cleaning member of the auxiliary cleaning assembly, and the solution in the first water channel drips onto the auxiliary cleaning member through the first water outlet.

[0064] Optionally, the auxiliary cleaning component includes an auxiliary cleaning plate and an auxiliary rag arranged on the bottom of the auxiliary cleaning plate; the auxiliary cleaning plate is provided with a hollow area along its circumference, and the first water outlet is connected to the hollow area, so that the solution on the first water path drips onto the auxiliary cleaning component through the first water outlet and the hollow area.

[0065] Optionally, the first driving structure further comprises a support base which is liftable relative to the fuselage, and the swing arm is swingably disposed on the support base;

[0066] The first drive motor and the first transmission assembly are both arranged on the support base; the support base is provided with a pipe passage hole;

[0067] One end of the first water channel is connected to the water tank, and the other end is arranged behind the pipe hole and on the swing arm, so that the first water channel swings with the swing arm; and / or

[0068] One end of the second water channel is connected to the water tank, and the other end passes through the pipe hole to replenish water to the main cleaning component.

[0069] Optionally, the main cleaning component includes a mounting seat, and a main cleaning part arranged at the bottom of the mounting seat, the other end of the second water channel is arranged on the top of the mounting seat, and a second water outlet is provided on the mounting seat. The other end of the second water channel is connected to the second water outlet, and the solution in the second water channel drips onto the main cleaning part through the second water outlet to replenish water to the main cleaning part.

[0070] Optionally, the water replenishment structure further includes a water supply pipeline, one end of which is connected to the water tank, and the other end of which is connected to the second water channel and the first water channel respectively through a multi-way valve.

[0071] Optionally, a wiring hole is provided on the support base, and a receiving channel connected to the wiring hole is provided inside the support base; the support base also includes: one end is connected to the controller, and the other end passes through the wiring hole, and at least one control wiring harness is arranged in the receiving channel, one of which is connected to the first drive motor.

[0072] Optionally, a first avoidance area is recessed upward on the bottom of the chassis of the fuselage;

[0073] The first driving structure is located in the first avoidance area, and a second avoidance opening is provided on the chassis where the first avoidance area is located, so that one end of the first waterway and the second waterway is located in the inner cavity of the fuselage, and the other end passes through the second avoidance opening and is located in the first avoidance area.

[0074] Optionally, the first water channel has a redundant length so that during the swinging and / or lifting process of the auxiliary cleaning component, the first water channel remains in a relaxed state to prevent the first water channel from being separated from the water tank; and / or

[0075] The second water channel has a redundant length so that when the main cleaning component is lifted, the second water channel remains in a relaxed state, thereby preventing the second water channel from being separated from the water tank.

[0076] Optionally, the water tank is further provided with an overflow port and an overflow pipe provided at the overflow port; the chassis is provided with a third water outlet connected to the liquid outlet pipe of the overflow pipe;

[0077] When the auxiliary cleaning member is in the initial position, the overflow liquid in the overflow pipe is directly opposite to the auxiliary cleaning member of the auxiliary cleaning assembly through the third water outlet, so as to replenish water to the auxiliary cleaning member.

[0078] 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 module, cleaning equipment and cleaning system 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

[0079] 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 paying any creative work.

[0080] Figure 1 A bottom view schematic diagram of a cleaning device provided in some embodiments of the present application in which an auxiliary cleaning component is disposed on a body;

[0081] Figure 2 A schematic diagram of a structure in which an auxiliary component is arranged on a fuselage and is located at an initial position in some embodiments of the present application;

[0082] Figure 3 A schematic diagram of a structure in which an auxiliary component is arranged on a fuselage and located along an edge in some embodiments of the present application;

[0083] Figure 4 This is a schematic diagram of the internal layout in which the auxiliary components are arranged on the fuselage and located along the edge in some embodiments of the present application;

[0084] Figure 5 for Figure 4 A partial schematic diagram of the

[0085] Figure 6 It is a partial top view schematic diagram of an auxiliary component disposed on a fuselage and located along an edge in some embodiments of the present application;

[0086] Figure 7 Schematic diagrams showing auxiliary components in some embodiments of the present application being located at an edge position, an initial position and a third position respectively;

[0087] Figure 8 This is a partial structural schematic diagram of the chassis in some embodiments of the present application;

[0088] Figure 9a A schematic diagram of the structure of a mounting base in some embodiments of the present application;

[0089] Figure 9b This is a schematic diagram of the three-dimensional structure when the auxiliary cleaning module is located on the mounting seat and the auxiliary cleaning component is in the initial position in some embodiments of the present application;

[0090] Fig.9c This is a top view schematic diagram of the auxiliary cleaning module being located on the mounting seat and the auxiliary cleaning component being in the initial position in some embodiments of the present application;

[0091] Figure 9d This is a schematic diagram of an exploded structure of a main cleaning component in some embodiments of the present application;

[0092] Fig.9e 3 is a bottom view of the auxiliary cleaning assembly 510 located above the main cleaning assembly 310 and the auxiliary cleaning assembly 510 being in the edge position C;

[0093] Fig.10 This is a partial structural schematic diagram of the auxiliary cleaning component located along the edge in some embodiments of the present application;

[0094] Fig.11 Partial schematic diagram of the auxiliary cleaning components in some embodiments of the present application respectively located at the initial position, the edge position and the third position;

[0095] Fig.12 A schematic diagram of a structure of a first driving structure in some embodiments of the present application;

[0096] Fig.13 An exploded schematic diagram of a first driving structure in some embodiments of the present application;

[0097] Fig.14 This is a partial structural diagram of the first driving structure in some embodiments of the present application;

[0098] Fig.15Another exploded schematic diagram of the first driving structure in some embodiments of the present application;

[0099] Fig.16 This is a schematic structural diagram of the first spiral portion in the first driving structure in some embodiments of the present application;

[0100] Fig.17 This is a structural schematic diagram of a first matching portion in a first driving structure in some embodiments of the present application;

[0101] Fig.18 Another structural schematic diagram of a cleaning device in some embodiments of the present application;

[0102] Fig.19 This is a structural schematic diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0103] Fig. 20 A schematic diagram of the interior of a machine body in which an auxiliary cleaning component is arranged on a main cleaning component in some embodiments of the present application;

[0104] Fig.21 This is a top view schematic diagram of a partial structure in which an auxiliary cleaning component is disposed on a main cleaning component in some embodiments of the present application;

[0105] Fig. 22 This is a partial structural diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0106] Fig.23 This is another structural schematic diagram of a chassis in some embodiments of the present application;

[0107] Fig.24 A schematic diagram showing the auxiliary cleaning components in some embodiments of the present application being located at an initial position, an edge position, and a third position, respectively, when viewed from the bottom;

[0108] Fig.25 A schematic diagram of a top view of the auxiliary cleaning assembly in some embodiments of the present application being located at an initial position, an edge position, and a third position;

[0109] Fig.26 Another structural schematic diagram of the first driving structure in some embodiments of the present application;

[0110] Fig. 27 An exploded schematic diagram of an auxiliary cleaning component in some embodiments of the present application;

[0111] Fig.28 This is a partial structural schematic diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0112] Fig.29This is a schematic diagram of the structure of the first driving structure and the auxiliary cleaning module in some embodiments of the present application;

[0113] Fig.30 An exploded schematic diagram of a second position-limiting member and a force-applying member in some embodiments of the present application;

[0114] Fig.31 A schematic diagram of a layout of a first driving structure and a second driving structure in some embodiments of the present application;

[0115] Fig.32 A schematic diagram of a state of the auxiliary cleaning component in the third position in some embodiments of the present application;

[0116] Fig.33 A schematic diagram of a layout in which the auxiliary cleaning component is arranged inside the upper body of the main cleaning component in some embodiments of the present application;

[0117] Fig.34 This is another structural schematic diagram of a chassis in some embodiments of the present application;

[0118] Fig.35 This is a bottom view of a chassis in some embodiments of the present application;

[0119] Fig.36 A bottom view schematic diagram of the auxiliary cleaning component in some embodiments of the present application being located at the third position;

[0120] Fig.37 A cross-sectional view of a cleaning device provided for some embodiments of the present application;

[0121] Fig.38 A schematic diagram of a structure in which the auxiliary cleaning component is located along the edge in some implementations of the present application;

[0122] Fig.39 A schematic diagram of a structure in which the auxiliary cleaning component is located at an initial position in some embodiments of the present application;

[0123] Fig.40 A schematic diagram of the layout of another structure of a cleaning device provided in some embodiments of the present application;

[0124] Fig.41 A schematic diagram of a structure of a limiting structure in some embodiments of the present application;

[0125] Fig.42 A schematic diagram of a structure when the auxiliary cleaning component is located at an initial position in some embodiments of the present application;

[0126] Fig.43 A schematic diagram of an auxiliary cleaning component located along the edge and preventing leakage in some embodiments of the present application;

[0127] Fig.44 A schematic diagram of a structure in which the auxiliary cleaning component is located at a third position and prevents leakage in some embodiments of the present application;

[0128] Fig.45 This is a schematic diagram of a structure in which the auxiliary cleaning assembly is located on the track cover in some embodiments of the present application;

[0129] Fig.46 A bottom view schematic diagram of an auxiliary cleaning assembly located on a track cover in some embodiments of the present application;

[0130] Fig.47 A schematic diagram of an internal structure in which the auxiliary cleaning assembly is located on the track cover in some embodiments of the present application;

[0131] Fig.48 This is another structural schematic diagram of a chassis in some embodiments of the present application;

[0132] Fig.49 This is a schematic diagram of the internal structure of the auxiliary cleaning assembly located on the track cover in some embodiments of the present application;

[0133] Fig.50 A dynamic schematic diagram of the cleaning angle area in some embodiments of the present application;

[0134] Fig.51 Another dynamic schematic diagram of the cleaning angle area in some embodiments of the present application;

[0135] Fig.52 Schematic diagram of the distance between the auxiliary cleaning component and the center of the cleaning device when the auxiliary cleaning component is at the initial position, the edge position and the third position respectively in some embodiments of the present application;

[0136] Fig.53 This is another dynamic schematic diagram of the cleaning angle area in some embodiments of the present application;

[0137] Fig.54 It is a partial schematic diagram of another structure in which the auxiliary cleaning component is arranged on the body in some embodiments of the present application;

[0138] Fig.55 Schematic diagrams of the auxiliary cleaning components in some embodiments of the present application at the initial position, the edge position and the third position respectively.

[0139] Fig.56 This is another dynamic schematic diagram of the auxiliary cleaning component in some embodiments of the present application.

[0140] Fig.57a Schematic diagrams of top views of the auxiliary cleaning components in some embodiments of the present application, respectively located at the edge position, the initial position and the third position;

[0141] Fig.57bSchematic bottom view of the auxiliary cleaning assembly in some embodiments of the present application, respectively located at the edge position, the initial position and the third position;

[0142] Fig.57c This is a schematic diagram of the three-dimensional structure of the cleaning component when the auxiliary cleaning component is in the initial position in some embodiments of the present application;

[0143] Fig.57d Schematic diagram of the internal structure of the cleaning device (including the chassis) when the auxiliary cleaning component is in the initial position in some embodiments of the present application;

[0144] Fig.57e This is a schematic diagram of a partial structure in which an auxiliary cleaning component is disposed on a main cleaning component in some embodiments of the present application;

[0145] Figure 57f This is a bottom view schematic diagram of a partial structure in which an auxiliary cleaning component is disposed on a main cleaning component in some embodiments of the present application;

[0146] Figure 57g This is a schematic top view of a partial structure in which an auxiliary cleaning component is disposed on a main cleaning component in some embodiments of the present application;

[0147] Fig.58 A partial schematic diagram of the internal structure of the cleaning device (excluding the chassis) when the auxiliary cleaning component is in the initial position in some embodiments of the present application;

[0148] Fig.59 for Fig.57a A schematic diagram of the three-dimensional structure of the chassis in the cleaning device shown;

[0149] Fig.60 for Fig.59 A schematic diagram of the bottom view of the chassis in the cleaning device shown;

[0150] Fig.61a This is one of the schematic diagrams of the structure of the dust box in some embodiments of the present application;

[0151] Fig.61b This is the second structural schematic diagram of the dust box in some embodiments of the present application;

[0152] Figure 61c This is the third structural schematic diagram of the dust box in some embodiments of the present application;

[0153] Fig.61d This is the fourth structural schematic diagram of the dust box in some embodiments of the present application;

[0154] Figure 61f A longitudinal cross-sectional view of a dust box in some embodiments of the present application;

[0155] Figure 61gThis is a schematic diagram of the top inner structure of the dust box in some embodiments of the present application;

[0156] Figure 61h This is a schematic transverse cross-sectional view of a dust box in some embodiments of the present application;

[0157] Fig.62 for Fig.57a A cross-sectional view of the cleaning apparatus shown;

[0158] Fig.63 for Fig.57a A schematic diagram of the internal structure of the cleaning device when the auxiliary cleaning component is in the initial position;

[0159] Fig.64 for Fig.63 Enlarged view at X1 in the middle;

[0160] Fig.65 for Fig.63 A partial schematic diagram of the internal structure of the middle cleaning device near the auxiliary cleaning module;

[0161] Fig.66a An exploded schematic diagram of an auxiliary cleaning component in some embodiments of the present application;

[0162] Figure 66b This is a schematic diagram of the three-dimensional structure of the auxiliary cleaning component in some embodiments of the present application;

[0163] Figure 66c In some embodiments of the present application, a partial structural schematic diagram of the cleaning device (showing the overflow pipe) when the auxiliary cleaning component is in the initial position;

[0164] Figure 66d A partial structural cross-sectional view of an auxiliary cleaning component in some embodiments of the present application;

[0165] Figure 66e It is a partial structural exploded diagram of the connection structure between the auxiliary cleaning disk and the swing arm in some embodiments of the present application;

[0166] Figure 66f A schematic diagram of the structure of a floating sleeve in an auxiliary cleaning module provided in some embodiments of the present application;

[0167] Figure 66g This is a partial structural cross-sectional view of the auxiliary cleaning disc and the connection between the auxiliary cleaning disc and the swing arm in some embodiments of the present application;

[0168] Fig.67a A top view of an auxiliary cleaning module provided in some embodiments of the present application;

[0169] Figure 67b A partial structural schematic diagram of an auxiliary cleaning module provided in some embodiments of the present application, wherein the partial structural schematic diagram includes an auxiliary cleaning disk;

[0170] Figure 67c A schematic diagram of the structure of an auxiliary cleaning disk provided in some embodiments of the present application;

[0171] Fig.68a This is one of the internal structure schematic diagrams of the auxiliary cleaning module of some embodiments of the present application;

[0172] FIG68 b is a second schematic diagram of the internal structure of the auxiliary cleaning module in some embodiments of the present application;

[0173] FIG68c is a schematic diagram of a partial structure of the auxiliary cleaning module in some embodiments of the present application when the limiting protruding tooth abuts against the first end wall of the second limiting groove;

[0174] FIG68d is a schematic diagram of a partial structure of the auxiliary cleaning module in some embodiments of the present application when the limiting protruding tooth abuts against the second end wall of the second limiting groove;

[0175] FIG68e is a cross-sectional view of the overall structure of the auxiliary cleaning module in some embodiments of the present application;

[0176] Fig. 68f is an enlarged view of X2 in Fig. 68e;

[0177] Figure 68g This is a cross-sectional view of the structure after the first rotating shaft, the output gear and the first elastic member are assembled in some embodiments of the present application;

[0178] Figure 68h An exploded view of the auxiliary cleaning module of some embodiments of the present application (showing the upper swing arm and the lower swing arm);

[0179] Figure 68i An exploded view of the auxiliary cleaning module of some embodiments of the present application (showing the connecting column);

[0180] Figure 68j This is a schematic diagram of the upper swing arm structure in some embodiments of the present application;

[0181] Figure 68k for Figure 68j A structural diagram of the middle upper swing arm from another perspective;

[0182] Figure 68l This is a schematic diagram of the structure of the first rotating shaft in some embodiments of the present application;

[0183] Figure 68m This is a schematic diagram of the structure of the output gear in some embodiments of the present application;

[0184] Figure 68n An exploded view of a local structure consisting of an output gear, a torsion spring, a first rotating shaft and a self-rotating motor in some embodiments of the present application;

[0185] Fig.69aThis is the third schematic diagram of the internal structure of the auxiliary cleaning module of some embodiments of the present application;

[0186] Fig.69b A top view of a portion of the internal structure of the auxiliary cleaning module of some embodiments of the present application;

[0187] Fig.69c This is a schematic diagram of the appearance structure of the auxiliary cleaning module of some embodiments of the present application;

[0188] Fig.69d A schematic diagram of the relative position relationship between a portion of the first water channel of the auxiliary cleaning module and the auxiliary cleaning component in some embodiments of the present application;

[0189] Fig.69e A partial structural cross-sectional view of the auxiliary cleaning module in some embodiments of the present application (showing the relative positional relationship between a portion of the first water channel and the auxiliary cleaning component);

[0190] Figure 69f A schematic diagram of the relative position relationship between a portion of the first water channel of the auxiliary cleaning module and the auxiliary cleaning component in some other embodiments of the present application;

[0191] Figure 69g A partial structural cross-sectional view of the auxiliary cleaning module in some other embodiments of the present application (showing the relative positional relationship between a portion of the first water channel and the auxiliary cleaning component);

[0192] Figure 69h An exploded view of the connection position between the second water channel and the sealing plug in some embodiments of the present application;

[0193] Figure 69i This is a cross-sectional view of the swing arm and the sealing plug after assembly in some embodiments of the present application;

[0194] Fig.70 This is a schematic diagram of the structure of the auxiliary cleaning module from another perspective in some embodiments of the present application (showing the auxiliary cleaning disk);

[0195] Fig.71 A schematic top view of an auxiliary cleaning module in some embodiments of the present application;

[0196] Fig.72a An exploded view of the local structure of the location of the roller brush chamber in the cleaning device of some embodiments of the present application;

[0197] Figure 72b This is a schematic diagram of the structure of the lower cover of the roller brush in some embodiments of the present application;

[0198] Figure 72c A schematic diagram of the structure when the roller brush is installed on the roller brush upper cover in some embodiments of the present application;

[0199] Fig.73aThis is a schematic diagram of the bottom structure of the roller brush upper cover in some cleaning devices implemented in this application;

[0200] Figure 73b This is a schematic diagram of the structure of the sealing connector in some embodiments of the present application;

[0201] Figure 73c This is a schematic diagram of a partial structure of a cleaning device in some embodiments of the present application after the sealing connector, the chassis and the roller brush are assembled;

[0202] Figure 73d A partial structural cross-sectional view of the location of the sealing connector in the cleaning device of some embodiments of the present application;

[0203] Fig.74 A schematic diagram of the top structure of the roller brush upper cover in the cleaning device of some embodiments of the present application;

[0204] Fig.75 A schematic diagram of the internal structure of a cleaning device according to some embodiments of the present application (showing the top structure of the roller brush cover);

[0205] Fig.76 An exploded view of a main cleaning component in a cleaning device according to some embodiments of the present application;

[0206] Fig.77 This is a schematic diagram of the top surface structure of a mounting base in a cleaning device in some embodiments of the present application;

[0207] Fig.78 This is a schematic structural diagram of a cleaning device in some embodiments of the present application, in which the auxiliary cleaning module is in an initial position and the auxiliary cleaning module is installed on a mounting seat;

[0208] Fig.79 This is a schematic diagram of a partial structure of the second bracket and the guide hole of the first lifting structure in the cleaning device of some embodiments of the present application;

[0209] Fig.80 It is a schematic diagram of the partial structure of the second bracket, the first bracket and the connecting rod of the first lifting structure in the cleaning device of some embodiments of the present application;

[0210] Fig.81 This is a schematic diagram of the structure of a mounting base and a second bracket in a cleaning device in some embodiments of the present application;

[0211] Fig.82 This is another dynamic schematic diagram of the cleaning angle area of ​​the cleaning device in some embodiments of the present application.

[0212] Description of reference numerals:

[0213] 10. Cleaning equipment; 20. Control harness; 30. Accommodation channel; 40. Liquid filling tube; 100. Fuselage; 101. Chassis; 1011. Notch area; 1012. First mounting slot; 1013. Liquid filling port; 1014. Second avoidance area; 1015. Second avoidance port; 1016. Third water outlet;

[0214] 102, upper shell; 1021, top decorative cover; 1022, front top decorative cover; 1023, rear top decorative cover; 1024, bottom decorative cover; 103, dust suction port; 104, first avoidance port; 105, boss; 106, cavity;

[0215] 107. Dust exhaust channel; 109. First avoidance area; 115. Water tank installation area;

[0216] 200, dry cleaning module; 201, roller brush; 202, dust box; 2021, dust inlet; 2022, dust outlet; 2023, air outlet; 203, main fan;

[0217] 204, dust box cavity; 205, roller brush cavity; 206, roller brush upper cover; 2061, third avoidance opening; 2062, limit groove; 207, roller brush lower cover;

[0218] 300, main cleaning module; 310, main cleaning assembly; 311, main cleaning member; 3111, second part;

[0219] 312, mounting seat; 3121, second notch; 3123, second water outlet; 313, vibration plate; 314, top plate; 3141, recessed area;

[0220] 315, bottom plate; 3151, mounting opening on bottom plate; 330, first lifting structure; 331, lifting assembly; 332, first bracket; 333, guide hole; 334, second bracket; 335, connecting rod;

[0221] 340, second drive structure;

[0222] 316. filter assembly; 317. counterweight;

[0223] 400, side brush;

[0224] 500, auxiliary cleaning module; 501, hollow area; 502, second connecting portion; 5021, first drainage surface; 5022, drainage area; 503, second drainage surface; 504, third drainage surface; 505, annular area; 5051, drainage hole; 510, auxiliary cleaning assembly; 511, auxiliary cleaning member; 5111, first part; 5112, closing flange;

[0225] 512, auxiliary cleaning disc; 5121, first water outlet; 5122, second clearance hole; 5123, step hole; 5124, sealing plug; 5125, first clearance hole; 513, deformation part; 514, hollow structure; 515-deformation hole; 516, disc body; 5161, mounting protrusion; 5162, second flange; 5163, mounting groove; 5164, boss on the disc body; 5165, annular protrusion;

[0226] 520, first driving structure; 521, first driving motor; 522, first elastic member;

[0227] 523, first one-way transmission mechanism; 524, swing arm; 5241, upper swing arm; 5242, lower swing arm; 5243, third clearance hole; 5244, sealing groove;

[0228] 525, output shaft; 526, sun gear; 527, planetary gear; 528, planetary carrier;

[0229] 529, second one-way transmission mechanism; 540, gear ring; 550, second elastic member; 560, transmission gear;

[0230] 570, support shell; 580, support seat; 581, pipe hole; 582, wire hole; 583, soft rubber structure; 590, first roller;

[0231] 530, lifting mechanism; 531, first spiral portion; 5311, first thread surface; 5312, first horizontal section;

[0232] 5313, third horizontal section; 532, first matching portion; 5321, second helical surface;

[0233] 5322, second horizontal segment; H, overlapping area;

[0234] 600, water tank; 601, liquid inlet of water tank; 602, liquid outlet of water tank; 603, overflow port; 610, first waterway; 611, first section of first waterway; 612, second section of first waterway; 6121, horizontal portion; 6122, first connecting portion; 613, boss; 6131, first annular groove; 6132, first flange; 614, sealing member; 620, second waterway; 630, water delivery pipeline; 640, overflow pipe; 660, multi-way valve;

[0235] 650, a first water pump; 670, a second water pump;

[0236] 700, driving wheel; 710, supporting wheel;

[0237] 810, fourth drive motor; 820, second traction member; 830, third drive motor; 840, self-rotation drive mechanism; 8411, gear assembly; 850, connecting assembly; 8501, iron block; 8502, magnet; 851, fixed sleeve; 8511, sealing flange; 8512, first accommodating chamber; 852, floating sleeve; 8521, annular cylinder; 8522, inner groove; 8523, outer groove; 8524, opening of inner groove; 853, fourth elastic member; 854, floating chamber;

[0238] 900, limiting structure; 910, first limiting member; 920, second limiting member; 930, force applying member;

[0239] 960, position detection member; 970, third elastic member; 980, fixed shaft; 990, fourth position limiting member;

[0240] A. Initial position; B. Edge position; C. Third position. DETAILED DESCRIPTION

[0241] The inventive concept of the present application is that the cleaning device 10 includes a main cleaning module 300 and an auxiliary cleaning module 500 arranged on the body 100, wherein the main cleaning module 300 includes at least one main cleaning component 310 (for example, a cleaning plate, a flat mop) or two main cleaning components 310 (for example, two cleaning plates), the main cleaning component 310 will not swing relative to the body 100, and there is no need to set a swing structure in the body 100 to drive the main cleaning component 310 to swing, so that the driving structure of the main cleaning component 310 only needs to set a first lifting structure 330 that drives the main cleaning component 310 to move up and down and a second driving structure 340 for mopping. For example, the mopping motion can be the rotation of the main cleaning plate, the reciprocating vibration or twisting of the flat mop.

[0242] The auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510, which can swing relative to the body 100 to switch between the initial position A and the edge position C, and at the edge position C, at least part of the auxiliary cleaning component 510 extends out of the edge of the body 100 to perform edge cleaning on the edges of obstacles or walls. When the auxiliary cleaning component 510 is in the initial position A, the auxiliary cleaning component 510 can be located within the maximum range of the projection of the edge of the body 100, or at least part of the auxiliary cleaning component 510 is located outside the edge of the body 100.

[0243] The area of ​​the auxiliary cleaning component 510 is smaller than that of the main cleaning component 310. For example, the area of ​​the auxiliary cleaning component 510 is smaller than three quarters of the area of ​​the main cleaning component 310, or smaller than one half of the area of ​​the main cleaning component 310; or smaller than one third, one quarter, one fifth, etc. of the area of ​​the main cleaning component 310. The size relationship between the two areas can be selected according to needs, so as to drive the swing, lifting and mopping movement of the auxiliary cleaning component 510, and the required swing space is small, which is suitable for all models currently on the market, such as mopping with a round cleaning disc, mopping with a flat plate, etc.

[0244] For example, the auxiliary cleaning component 510 includes an auxiliary cleaning disc 512 and an auxiliary cleaning member 511, and the main cleaning component 310 includes a mounting seat 312 and a main cleaning member 311. The above-mentioned area size relationship. In one embodiment, the area of ​​the auxiliary cleaning disc 512 and the mounting seat 312 may be compared, for example, the area of ​​the auxiliary cleaning disc 512 is smaller than the area of ​​the mounting seat 312; in another embodiment, the area of ​​the auxiliary cleaning member 511 and the main cleaning member 311 may be compared, for example, the area of ​​the auxiliary cleaning member 511 is smaller than the area of ​​the main cleaning member 311. That is, when the main cleaning member 311 and the auxiliary cleaning member 511 are both rags, the main cleaning member 311 forms a large rag for cleaning, and the auxiliary cleaning member 511 forms a small rag for cleaning. In the non-edge mode, the large rag is mainly used for cleaning; in the edge position C, the small rag is used for cleaning, and the main cleaning member 311 and the auxiliary cleaning member 511 cooperate to achieve the function of cleaning the floor.

[0245] By retracting and swinging the auxiliary cleaning component 510 inwards and outwards, it is possible to switch between the edge position C and the initial position A, and perform edge cleaning at the edge position C; at the same time, there is no need for the main cleaning component 310 to swing as a whole, so that the structure of the entire cleaning module is simple and compact, and the space occupied is small, which facilitates the miniaturization of the robot.

[0246] Another concept of the present invention is that the auxiliary cleaning assembly 510 does not swing relative to the body 100, and a portion of the auxiliary cleaning assembly 510 always extends out of the edge of the body 100 to achieve edge cleaning.

[0247] The cleaning device 10 may be a self-propelled cleaning robot or a handheld floor scrubber. The cleaning robot may be a wet or dry cleaning robot. For example, the cleaning robot may be a mopping robot or a sweeping and mopping robot. The following description will be made by taking the sweeping and mopping robot as an example.

[0248] Please refer to Figures 1 to 3 As shown, in addition to the aforementioned main cleaning module 300 and auxiliary cleaning module 500, the cleaning robot also includes a dry cleaning mode, wherein the robot moves along the forward direction of the body 100 (such as along the Figure 1), the dry cleaning module 200 is located in front of the main cleaning module 300; the dry cleaning module 200 is used to clean the floor; the main cleaning module 300 is used to wet-mop the cleaned floor, that is, the wet cleaning module, thereby forming a mode of sweeping first and then mopping to clean the floor.

[0249] In some embodiments, please refer to Figure 2 and Figure 3 As shown, the cleaning robot also includes a side brush 400. The side brush 400 is arranged in front of the dry cleaning module 200 along the forward direction of the body 100, and the side brush 400 can rotate to gather the garbage on the ground to the inner side of the cleaning robot. In this way, the dry cleaning module 200 can collect the garbage gathered to the inner side of the cleaning robot into the dust box 202 in the body 100 by suction or other means.

[0250] Exemplarily, the side brush 400 may be located in front of the dry cleaning module 200 and close to the edge of the body 100. For example, the side brush 400 may be located at the edge of the left front, right front, etc. of the dry cleaning module 200, so that when the side brush 400 rotates, at least part of the side brush 400 is located outside the outline of the body 100. In this way, the side brush 400 can gather the garbage outside the outline of the body 100 to the inside of the cleaning robot, thereby increasing the cleaning range. The side brush 400 may be a rubber strip or a brush, etc., as long as it can clean the ground, and there is no limitation here.

[0251] The fuselage 100 is generally formed in a circular, D-shaped, rectangular, or other shape, and the outline of the fuselage 100 refers to the circular outline, D-shaped outline, or rectangular outline of the fuselage 100. For example, Figure 1 and Figure 2 In the figure, the outline of the fuselage 100 is a circular structure; illustratively, the range of the outline of the fuselage 100 can be determined according to the projection of the fuselage 100 on the horizontal plane.

[0252] As for the fuselage 100 , the fuselage 100 generally includes at least a bottom plate 101 and an upper shell connected to the bottom plate 101 . The bottom plate 101 and the upper shell form an inner cavity of the fuselage 100 to form a receiving cavity.

[0253] In some embodiments, please refer to Figures 1 to 3As shown, the dry cleaning module 200 at least includes a roller brush 201, a dust box 202 and a main fan 203. The roller brush 201 can be rotatably arranged in a roller brush chamber 205 at the bottom of the chassis 101, so that the cleaning robot can clean the garbage on the ground in the direction of travel. The roller brush 201 can be one or two roller brushes 201. The dust box 202 and the main fan 203 are respectively arranged in the inner cavity of the body 100, and the main fan 203 is configured to provide negative pressure wind force to the dust box 202. The body 100 is provided with a dust suction port 103 connected to the dust box 202. For example, the dust suction port 103 is arranged at the bottom of the body 100, and the dust suction port 103 is connected to the roller brush cavity 205. In this way, the roller brush 201 is used to collect garbage on the ground to the dust suction port 103, and the negative pressure suction force can collect garbage and dust particles into the dust box 202 through the dust suction port 103 to achieve the purpose of cleaning the ground. The main fan 203 includes but is not limited to a negative pressure fan, and can also be replaced by other negative pressure generating devices, such as a vacuum pump.

[0254] The robot also includes a walking system for driving the body 100 to move by itself and realize the walking function of self-movement on the surface to be cleaned. The walking system includes at least a driver and a driving wheel 700, and the driver drives the driving wheel 700 to move. There can generally be two driving wheels 700, and the two driving wheels 700 are symmetrically arranged on the bottom of the body 100. In addition, the walking system can be swingably arranged on the body 100 so that the cleaning device 10 has an obstacle crossing function during walking. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of objects such as the ground, a desktop, glass, and a wall. For the convenience of description, the surface to be cleaned below is described by taking the ground as an example.

[0255] The perception system includes an LDS located above the fuselage 100, a buffer and a visual sensor located at the front of the fuselage 100, an edge sensor located on the side wall of the front of the fuselage 100, and an ultrasonic sensor, a downward sensor and other sensing devices located at the bottom of the fuselage 100. Among them, the LDS, the buffer, and the edge sensor can all measure the distance to obtain the distance between the edge of the fuselage 100 and the obstacle, and the control system controls the cleaning device 10 to perform corresponding actions according to this distance. For example, the cleaning device 10 is controlled to avoid obstacles and move along the edge. The ultrasonic sensor is used to identify the carpet signal, and the control system controls the main cleaning component 310 of the cleaning device 10 to lift up, the auxiliary cleaning component 510 to lift up, or controls the cleaning device 10 to return to the base station, charge the robot, collect dust, clean the main cleaning component 311, disassemble and install the main cleaning component 310, etc. The visual sensor is used to identify the image of the environment in which the cleaning device 10 is located to obtain information about obstacles, and the control system controls the cleaning device 10 to perform actions such as avoiding obstacles, crossing obstacles, and cleaning along the edge according to this information.

[0256] In this embodiment, along the forward direction of the body 100, the body 100 has a front portion and a rear portion, and a connecting portion or a middle portion connecting the front portion and the rear portion of the body 100, with the dust box 202 or the roller brush 201 or the driving wheel 700 as a boundary. The dust box 202 or the roller brush 201 or the driving wheel 700 is arranged at the connecting portion or the middle portion.

[0257] For example, taking the roller brush 201 or the dust box 202 as an example, the part of the body 100 located in front of the roller brush 201 or the dust box 202 is called the front part of the body 100, and the part located behind the roller brush 201 or the dust box 202 is called the rear part of the body 100. Generally, the roller brush 201 is distributed in the area between the two driving wheels 700.

[0258] In one embodiment, the main cleaning module 300 and the auxiliary cleaning module 500 are both disposed at the rear of the body 100, and the side brush 400 is disposed at the front of the body 100, and in the forward direction of the body 100, the side brush 400 and the auxiliary cleaning module 500 are both distributed on the same side of the body 100. For example, they are both distributed on the right side of the body 100 to form a right edge; or, they are both located on the left side of the body 100 to form a left edge.

[0259] The main cleaning assembly 310 and the auxiliary cleaning assembly 510 are located behind the roller brush 201 along the forward direction of the body 100 , so as to facilitate the cleaning operation of the cleaning robot of first dry sweeping and then wet mopping, and also facilitate the layout of the internal space of the body 100 .

[0260] The cleaning device 10 also includes a second driving structure 340, which is arranged on the body 100 and is used to drive the main cleaning component 310 to move to mop the floor; and also includes a first lifting structure 330, which is used to drive the cleaning component to perform lifting movement so that the main cleaning component 310 is in a mopping position or a lifted position.

[0261] The cleaning device 10 at least further includes a water replenishing structure for replenishing water to the main cleaning part 311 of the main cleaning assembly 310 to wet the main cleaning part 311, so that the rag is in a wet or damp state to mop the floor, thereby achieving wet cleaning and improving the cleaning effect. The water replenishing structure at least includes a water tank 600, which transports the water in the water tank 600 to the transport mechanism on the main cleaning part 311.

[0262] Optimally, the auxiliary cleaning member 511 of the auxiliary cleaning assembly 510 can also be replenished with water, so that the auxiliary cleaning member 511 is in a wet state and performs wet cleaning of the floor. Alternatively, water can be replenished so that the auxiliary cleaning member 511 cleans the floor in a dry state, and the cleaning effect is weaker than wet mopping.

[0263] In some scenarios, the main cleaning component 310 needs to be lifted, for example, when the body 100 is on a carpet, in order to avoid wetting the carpet, the main cleaning component 310 needs to be in a lifted position; or in scenarios such as needing to cross obstacles or return to the base station, the main cleaning component 310 needs to be in a lifted position to prevent the main cleaning component 310 from being stuck by obstacles and detached from the body 100. Therefore, the cleaning device 10 further includes a first lifting structure 330, which is disposed in the body 100 and is used to drive the main cleaning component 310 to be lifted to switch between the mopping position and the lifting position.

[0264] There are many ways for the main cleaning assembly 310. For example, in some embodiments, the main cleaning assembly 310 includes a mounting seat 312 and a main cleaning member 311 disposed at the bottom of the mounting seat 312.

[0265] For example, please refer to Figure 1 As shown, the mounting seat 312 can be a main cleaning disc. In this case, illustratively, the main cleaning member 311 is a main rag installed on the bottom of the cleaning disc, and the second driving mechanism drives the main cleaning disc to rotate, so as to cause the main rag to rotate and clean the floor. Under the action of the driving force, the main cleaning disc can drive the main cleaning member 311 to rotate relative to the body 100, so that the main cleaning member 311 performs the cleaning operation; or, the main cleaning disc can also be fixed relative to the body 100, so that when the cleaning robot moves along the travel direction, the main cleaning member 311 moves relative to the ground to clean the ground; wherein, the main cleaning disc can be one, two or more, for example, in Figure 1 In the embodiment, there are two main cleaning discs, on which main cleaning members 311 are respectively arranged, and the two main cleaning discs drive the main cleaning members 311 to rotate to clean the ground.

[0266] In another exemplary embodiment, the mounting base 312 may be a flat mop, and the main cleaning member 311 is a main rag mounted on the flat mop. Specifically, a vibration plate 313 may be provided in the flat mop, and the vibration plate 313 may be driven by the second driving mechanism to reciprocate or swing in at least one direction to drive the main rag to reciprocate or twist, thereby causing friction between the main cleaning member 311 and the ground to improve the cleaning effect. The moving direction of the vibration plate 313 may be in a horizontal plane.

[0267] Please refer to Figures 2 to 5 As shown, in the embodiment of the present application, the auxiliary cleaning module 500 is mainly used to cooperate with the main cleaning module 300 to assist in cleaning the missed areas that are difficult to clean in the main cleaning component 310. For example, cleaning along the edge, or on the basis of cleaning along the edge, further cleaning the angle area (described in detail below) to improve its cleaning efficiency and reduce the missed area.

[0268] In order to clean the missed area of ​​the main cleaning component 310, the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510, and the auxiliary cleaning component 510 has at least an initial position A and an edge position C relative to the body 100; at the edge position C, at least part of the auxiliary cleaning component 510 extends out of the edge of the body 100 to clean along the edge; when the auxiliary cleaning component 510 is in the initial position A, an embodiment, as Figure 2 , Fig. 20 As shown, at the initial position A, the auxiliary cleaning module 500 will be completely retracted within the projection range of the maximum edge of the fuselage 100, and the auxiliary cleaning module 500 will not be leaked outside the fuselage 100 from the top view of the fuselage 100; or the auxiliary cleaning module 500 will be partially retracted within the projection range of the maximum edge of the fuselage 100, and partially extend out of the edge of the fuselage 100. For the initial position A and the edge position C, it can be a fixed point position or an interval position. In particular, at the edge position C, when the first driving structure 520 that drives the auxiliary cleaning component 510 to swing uses an elastic member, when the auxiliary cleaning component 510 is subjected to the force of an obstacle at the edge position C, under the buffering action of the elastic member, the auxiliary cleaning module 500 will passively retract to buffer the collision with the obstacle, so the edge position C can be a dynamically changing position, rather than a fixed point position.

[0269] In addition, if the auxiliary cleaning component 510 is in the initial position A, part of the auxiliary cleaning component 510 extends out of the fuselage 100. In the edge position C, the part of the auxiliary cleaning component 510 extending out of the fuselage 100 is larger than the part of the auxiliary cleaning component 510 extending out of the fuselage 100 in the initial position A, so as to achieve edge cleaning.

[0270] It should be noted that the initial position A and the edge position C are not limited to the auxiliary cleaning assembly 510 , but may also be any component of the auxiliary cleaning module 500 that swings synchronously with the auxiliary cleaning assembly 510 .

[0271] The auxiliary cleaning module 500 further includes a first driving structure 520 for driving the auxiliary cleaning assembly 510 to swing so as to switch between an initial position A and an edge position C.

[0272] For example, the first driving structure 520 includes a first motor, a swing arm 524 and at least one first elastic member 522. Under the cooperation of the first driving motor 521 and the first elastic member 522, the swing arm 524 is driven to swing, so as to drive the auxiliary cleaning assembly 510 to swing, so as to switch between the edge position C and the initial position A.

[0273] Since the swing arm 524 and the auxiliary cleaning assembly 510 swing synchronously, the aforementioned initial position A and edge position C can also be said that the swing arm 524 has an initial position A and an edge position C.

[0274] In some embodiments, the auxiliary cleaning assembly 510 includes an auxiliary cleaning plate 512 and an auxiliary cleaning member 511 disposed on the bottom of the auxiliary cleaning plate 512. The aforementioned initial position A and edge position C may be for the auxiliary cleaning plate 512 or for the auxiliary cleaning member 511, and the auxiliary cleaning member 511 may be a rag, a wiper, etc. Figure 7 As shown, the auxiliary cleaning assembly 510 is in the edge position C, and at least a portion of the auxiliary cleaning plate 512 extends out of the body 100. Figure 2 As shown, the auxiliary cleaning plate 512 is located within the projection range of the maximum edge of the body 100, so that the overall outline size of the cleaning robot will not be increased.

[0275] In some embodiments, Fig.58 As shown, along the moving direction of the cleaning robot, the auxiliary cleaning module 500 is arranged behind the dry cleaning module 200 and is arranged near the edge of the main body 100. In this way, when the cleaning robot is running, the auxiliary cleaning module 500 can clean the areas such as the edges that are not easy to clean by the main cleaning module 300, and because the auxiliary cleaning module 500 is arranged near the edge of the main body 100, the auxiliary cleaning module 500 will not occupy more space inside the main body 100 when it is swung outward or retracted.

[0276] In some embodiments, the auxiliary cleaning plate 512 is, for example, a plate-shaped or disc-shaped structure; the auxiliary cleaning member 511 is, for example, a cleaning cloth. Figures 2 to 5 In the figure, the auxiliary cleaning plate 512 is a circular plate, and the auxiliary cleaning member 511 is a circular cleaning cloth matching the auxiliary cleaning plate 512, and is fixed to the bottom of the auxiliary cleaning plate 512 by pasting or the like. The auxiliary cleaning plate 512 can also be a triangle, a Leroy triangle, a square, or other irregular shapes.

[0277] The auxiliary cleaning module 500 further includes a second lifting mechanism 530, which is at least used to drive the auxiliary cleaning assembly 510 to lift and lower, so that the auxiliary cleaning assembly 510 is in a lifted position to leave the ground; or in a mopping position to perform edge cleaning.

[0278] Among them, as an optional implementation, in some embodiments, the first driving mechanism can also drive the auxiliary cleaning disc 512 to rotate, thereby driving the auxiliary cleaning member 511 to rotate, so as to increase the friction between the auxiliary cleaning member 511 and the ground, and improve the cleaning effect along the edge. That is, a motor of the first driving structure 520 can drive the swing arm 524 to drive the auxiliary cleaning component 510 to swing, so as to switch between the initial position A and the edge position C; it can also drive the auxiliary cleaning component 510 to rotate to mop the floor, so that the driving structure is compact, and there is no need to set up a separate driving structure to drive the auxiliary cleaning component 510 to rotate.

[0279] Furthermore, by combining the second lifting mechanism 530 with the rotational movement of the swing arm 524, the second lifting mechanism 530 is driven to perform lifting movement through the swinging rotation, and the swing arm 524 is driven to perform lifting movement in the opposite direction, thereby driving the entire auxiliary cleaning module 500 to perform lifting movement, so that the auxiliary cleaning component 510 is between the lifting position and the mopping position, so that only one motor is needed to drive the swinging, rotation, and lifting functions of the auxiliary cleaning component 510, thereby further making the driving structure more compact and occupying less space, and the entire auxiliary cleaning module 500 can be used as a single module and occupy a small space.

[0280] The swing of the auxiliary cleaning component 510 relative to the body 100 can be a linear swing or an arc-shaped swing. Preferably, an arc-shaped swing is used. When achieving the same swing distance, the arc-shaped swing requires a smaller swinging space than the linear swing, so that the space required for the auxiliary cleaning module 500 to be arranged in the body 100 is smaller.

[0281] Since the auxiliary cleaning component 510 can swing relative to the body 100, there are many ways to set the auxiliary cleaning component 510 on the robot, mainly in two technical routes, specifically:

[0282] The first technical route is: the auxiliary cleaning assembly 510 is arranged on the body 100, and the auxiliary cleaning assembly 510 needs to swing and lift at the same time. Furthermore, in order to achieve a good edge cleaning effect, the auxiliary cleaning assembly 510 needs to rotate, so that the aforementioned first driving structure 520 drives the auxiliary cleaning assembly 510 to swing to switch between the initial position A and the edge position C, at least to rotate and mop the floor at the edge position C, and lift and lower to switch between the lifting position and the mopping position.

[0283] The second technical route is: the auxiliary cleaning module 500 is arranged as a whole on the main cleaning component 310, and the main cleaning module 300 itself is provided with a first lifting structure 330 for driving the main cleaning component 310 to perform lifting movement. Then, when the first lifting structure 330 drives the main cleaning component 310 to lift and lower, it simultaneously drives the auxiliary cleaning module 500 to lift and lower synchronously, so that the main cleaning component 310 and the auxiliary cleaning component 510 are synchronously in the mopping position and the lifting position. For the auxiliary cleaning component 510, it is only necessary for the first driving structure 520 to drive the auxiliary cleaning component 510 to swing to switch between the edge position C and the initial position A. Furthermore, it can rotate at the edge position C. Compared with the first technical route, the first driving structure 520 in the second technical route does not need to realize the lifting function, so that the structure of the first driving structure 520 is simplified and the space occupied is small.

[0284] Under the above two technical routes, for different main cleaning modules 300, the arrangement of the structure inside the fuselage 100 is different, especially the fuselage 100 needs to provide avoidance space for the swing of the auxiliary cleaning component 510. In the limited space of the fuselage 100, the arrangement of some structures will be deformed, which will be expanded later using a specific implementation method as an example.

[0285] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0286] Example 1

[0287] This embodiment is a specific embodiment of the auxiliary cleaning component 510 being arranged on the fuselage 100 under the aforementioned first technical route. For the convenience of description, this embodiment takes the main cleaning component 310 as a flat mop as an example. Figures 1 to 18 ,as well as Fig.54 and Fig.55 , giving a detailed introduction to the cleaning robot.

[0288] like Figures 1 to 7 As shown, the cleaning robot includes a body 100, a main cleaning module 300 and an auxiliary cleaning module 500. The main cleaning module 300 is arranged on the body 100 and has at least one main cleaning component 310. The main cleaning component 310 has a lifting position and a mopping position. The auxiliary cleaning module 500 is arranged on the body 100, and the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510. The auxiliary cleaning component 510 has at least an initial position A and an edge position C relative to the body 100. In the edge position C, at least part of the auxiliary cleaning component 510 extends out of the edge of the body 100 for edge cleaning. When the auxiliary cleaning component 510 is in the initial position A, at least the auxiliary cleaning component 510 is located above the main cleaning component 310.

[0289] In this embodiment, the main cleaning component 310 is a flat mop, which includes a mounting seat 312 and a vibration plate 313 disposed on the mounting seat 312 , and the main cleaning cloth is at least mounted on the bottom of the vibration plate 313 .

[0290] The main cleaning component 310 also includes a main cleaning member 311 disposed on a mounting seat 312. Exemplarily, the main cleaning member 311 is, for example, a cleaning cloth. The cleaning device 10 drives the main cleaning member 311 along its travel direction through the mounting seat 312 to perform dry mopping, wet mopping, and other cleaning operations on the surface to be cleaned; exemplary, the surface to be cleaned is, for example, the ground.

[0291] In some embodiments, please refer to Figure 2 and Figure 3 As shown, a first avoidance opening 104 is provided on the side wall of the fuselage 100 at a position corresponding to the auxiliary cleaning module 500 at the initial position A, and a first avoidance area 109 connected to the first avoidance opening 104 is provided in the fuselage 100 to allow the auxiliary cleaning module 500 to swing between the outer swing position and the initial position A. When the auxiliary cleaning module 500 is in the initial position A, the auxiliary cleaning module 500 is stored in the first avoidance area 109, and the auxiliary cleaning module 500 is located above the mounting seat 312.

[0292] In this way, at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning module 500 can swing outward toward the edge position C through the first avoidance opening 104, or retract inward toward the initial position A. When in the non-edge cleaning mode, the auxiliary cleaning module 500 shrinks into the body 100, so that the overall structure of the cleaning device 10 is more compact, and the overall appearance of the cleaning device 10 is maintained, reducing the overall size of the cleaning device 10.

[0293] In some embodiments, the fuselage 100 includes a chassis 101 and an upper shell cover 102 , which together enclose an inner cavity of the fuselage 100 ; the first avoidance opening 104 is disposed on the upper shell cover 102 , and the first avoidance area 109 is mainly formed by the chassis 101 .

[0294] In some optional structures, the first avoidance area 109 is located below the chassis 101, and the first avoidance area 109 at least includes a cavity 106 disposed on the chassis 101 and concave upward toward the inner cavity of the body 100. In this way, the first avoidance area 109 has a relatively simple appearance structure and is convenient for storing the auxiliary cleaning module 500.

[0295] It can be understood that when the auxiliary cleaning module 500 is in the retracted and raised position, the auxiliary cleaning module 500 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of ​​the fuselage 100, and is not contained in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning module 500 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the outward swing position.

[0296] In some embodiments, the auxiliary cleaning component 510 can only switch between the initial position A and the edge position C when the main cleaning component 310 is in the mopping position. In this way, interference between the auxiliary cleaning component 510 and the main cleaning component 310 during the switching process can be avoided, so as to improve the reliability of the auxiliary cleaning component 510 switching between the initial position A and the edge position C.

[0297] In some embodiments, the auxiliary cleaning component 510 has a lifting position and a mopping position. When the auxiliary cleaning component 510 is in the edge position C, it is also in the mopping position; when the auxiliary cleaning component 510 is in the initial position A, it is also in the lifting position, that is, when the cleaning device 10 is cleaning in a non-edge mode, the auxiliary cleaning module 500 is in a non-working state; the auxiliary cleaning component 510 can only be lifted and lowered when the main cleaning component 310 is in the mopping position to switch between the lifting position and the mopping position, so that the auxiliary cleaning component 510 has sufficient lifting space in the lifting direction.

[0298] In some embodiments, when the auxiliary cleaning assembly 510 swings outward toward the edge position C, the auxiliary cleaning assembly 510 moves downward; when the auxiliary cleaning assembly 510 swings inward toward the initial position A, the auxiliary cleaning assembly 510 moves upward.

[0299] Exemplarily, when the auxiliary cleaning component 510 switches between the outward swing position and the initial position A, it can be synchronously raised and lowered along the height direction of the fuselage 100. For example, while the auxiliary cleaning component 510 moves from the initial position A to the outward swing position, the auxiliary cleaning component 510 synchronously moves from the lifted position to the mopping position; conversely, while the auxiliary cleaning component 510 moves from the outward swing position to the initial position A, the auxiliary cleaning component 510 synchronously moves from the mopping position to the lifted position. In this way, the movement efficiency of the auxiliary cleaning module 500 can be improved.

[0300] In addition, when the auxiliary cleaning component 510 is switched to the edge position C, the auxiliary cleaning component 510 can also rotate to clean the floor, so that the friction frequency between the auxiliary cleaning component 510 and the floor can be increased, thereby improving the cleaning effect and efficiency.

[0301] In some embodiments, the auxiliary cleaning module 500 also includes a first driving structure 520 and a lifting mechanism 530. The first driving structure 520 is at least used to drive the auxiliary cleaning component 510 to swing between the initial position A and the edge position C, so that the auxiliary cleaning component 510 switches between the initial position A and the edge position C; and in this swinging process, with the cooperation of the first driving structure 520 and the lifting mechanism 530, at least the auxiliary cleaning component 510 is made to rise or fall. In this way, while the first driving structure 520 drives the auxiliary cleaning component 510 to switch between the initial position A and the edge position C, with the cooperation of the lifting mechanism 530, the auxiliary cleaning component 510 is made to rise or fall, thereby improving the switching efficiency of the auxiliary cleaning component 510 between the initial position A, the edge position C, the lifting position and the mopping position, saving switching time and improving the user experience.

[0302] In some embodiments, the first driving structure 520 includes a first driving motor 521, at least one first elastic member 522 and a swing arm 524. The first driving motor 521 and the first elastic member 522 cooperate to drive the swing arm 524 to swing, so as to drive the auxiliary cleaning component 510 to swing the arm 524 to switch between the initial position A and the edge position C. During this swinging process, the swing arm 524 drives the lifting mechanism 530 to act, so that the swing arm 524 drives the auxiliary cleaning component 510 to descend or lift. In this way, the auxiliary cleaning component 510 can be switched between the initial position A, the edge position C, the lifting position and the mopping position through a simple structure, with a simple structure and low cost.

[0303] In some embodiments, the first drive structure 520 also includes a first one-way transmission mechanism 523; the auxiliary cleaning component 510 can be rotatably arranged on the swing arm 524; the first drive motor 521 is connected to the swing arm 524 through the first one-way transmission mechanism 523, and the first drive motor 521 is connected to the auxiliary cleaning component 510 in a transmission connection; the first elastic member 522 is used to drive the swing arm 524 to swing outward toward the edge position C to drive the auxiliary cleaning component 510 to swing outward; the first drive motor 521 is at least used to drive the swing arm 524 to swing inward toward the retracted position , to drive the auxiliary cleaning component 510 to retract. During the outward swing and inward retraction process, the first drive motor 521 and the swing arm 524 remain relatively stationary through the first one-way transmission mechanism 523; when in the edge position C, the first drive motor 521 can rotate unidirectionally in the first direction between the swing arm 524 through the first one-way transmission mechanism 523, so that the first drive motor 521 drives the auxiliary cleaning component 510 to rotate. In this way, while realizing the swinging, lifting and rotating functions of the auxiliary cleaning component 510, the structure is simple and compact, and the cost is low.

[0304] In some embodiments, the first one-way transmission mechanism 523 includes but is not limited to a one-way bearing or a ratchet.

[0305] In some embodiments, please refer to Figure 8 , Fig.13 , Fig.16 and Fig.17 As shown, the lifting mechanism 530 includes a first spiral portion 531 and a first matching portion 532, one of which is arranged on the swing arm 524, and the other is arranged on the fuselage 100. During the swinging process of the swing arm 524, the first matching portion 532 spirally rises or spirally descends on the first spiral portion 531 to drive the swing arm 524 to rise or fall, thereby driving the auxiliary cleaning module 500 to rise or fall as a whole, and the lifting structure is simple.

[0306] In some embodiments, a first avoidance opening 104 is provided on the side wall of the fuselage 100, and a first avoidance area 109 is provided on the fuselage 100, at least for the installation of the auxiliary cleaning module 500; the first avoidance area 109 connects the inner cavity of the fuselage 100 with the outside; the auxiliary cleaning module 500 also includes a swing arm 524, and the auxiliary cleaning component 510 is provided on the swing arm 524. The swing arm 524 swings at least in the first avoidance area 109, and swings toward the edge position C or the retracted position through the first avoidance opening 104. One end of the swing arm 524 is located in the first avoidance area 109, and the other end extends out of the first avoidance area 109 and is located below the chassis 101 of the fuselage 100.

[0307] In some embodiments, please refer to Figure 1 As shown, it also includes a dry cleaning module 200, which includes a roller brush 201 arranged at the bottom of the fuselage 100, a dust box 202 arranged in the fuselage 100, and a main fan 203; the main fan 203 is used to suck the garbage cleaned by the roller brush 201 into the dust box 202; under the action of the dust collecting fan on the base station, the garbage in the dust box 202 is collected into the base station through the dust exhaust channel; along the width direction of the fuselage 100, the dust exhaust channel 107 and the auxiliary cleaning module 500 are distributed on both sides of the main fan 203, and along the forward direction of the fuselage 100, the auxiliary cleaning module 500 is located behind the roller brush 201 or the dust box 202.

[0308] Since the roller brush 201 occupies the space in front of the body 100, in some embodiments, the main cleaning module 300 and the auxiliary cleaning module 500 are arranged together at the rear of the body 100; and along the forward direction of the body 100, the main cleaning module 300 is located behind the roller brush 201. In this way, the main cleaning module 300 and the auxiliary cleaning module 500 can be located behind the roller brush 201, which is convenient for the cleaning operation of the cleaning device 10 of first dry sweeping and then wet mopping, and also convenient for the layout of the internal space of the body 100.

[0309] In some embodiments, it also includes a side brush 400 arranged on the bottom of the front part of the fuselage 100, and the main cleaning module 300 and the auxiliary cleaning module 500 are arranged at the rear part of the fuselage 100, which can gather garbage outside the outline of the fuselage 100 to the bottom of the fuselage 100, thereby cooperating with the roller brush 201 to achieve dry sweeping operations.

[0310] In some embodiments, please refer to Figure 5 As shown, it also includes a lifting structure, which is arranged in the body 100; the main cleaning component 310 is located below the bottom of the body 100; the lifting structure is used to drive the main cleaning component 310 to lift and descend, and the lifting structure is distributed in the area enclosed by the dust box 202, the main fan 203 and the auxiliary cleaning module 500.

[0311] In some embodiments, the lifting structure includes a traction member. For example, the traction member is a traction rope. The lifting structure is connected to the main cleaning component 310 through the traction member to drive the cleaning component to move along the first direction through the traction member.

[0312] Exemplarily, the lifting structure includes a lifting motor, a rotating member and a traction member, the output shaft 525 of the lifting motor is connected to the rotating member, one end of the traction member is connected to the rotating member and is at least partially wound on the rotating member, and the other end of the traction member is connected to the main cleaning module 300. When the output shaft 525 of the lifting motor drives the rotating member to rotate, the traction member can be wound around or released on the rotating member, so that the traction member drives the main cleaning module 300 to move along the first direction. The lifting method is simple and the cost is low.

[0313] In some embodiments, a second driving structure 340 is also included. The second driving structure 340 and the main cleaning component 310 are distributed below the bottom of the fuselage 100. The second driving structure 340 is used to drive the main cleaning component 310 to reciprocate, twist or rotate to clean the floor; the lifting structure is used to drive the second driving structure 340 and the active cleaning component to rise and fall synchronously.

[0314] In some embodiments, the second driving structure 340 includes, for example, a second driving motor 341 and an eccentric structure. The second driving motor 341 drives the vibration plate 313 to swing back and forth through the eccentric structure, so that the main cleaning component 310 is subjected to friction force with the ground, thereby improving the cleaning effect.

[0315] In addition, in order to set up the first drive motor 521 and the second drive motor 341, in some optional structures, the second drive motor 341 is correspondingly located in the concave cavity 106, and the second drive motor 341 is located below the first drive motor 521. In one exemplary embodiment, the first drive motor 521 and the second drive motor 341 are stacked up and down in the first avoidance area 109, and the structure of the drive mechanism is relatively compact and occupies less space; in other exemplary embodiments, the second drive motor 341 is located in the concave cavity 106, and the first drive motor 521 is located on the chassis 101, and is staggered with the projection of the second drive motor 341 on the chassis 101.

[0316] It can be understood that when the auxiliary cleaning component 510 is in the retracted and raised position, the auxiliary cleaning component 510 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of ​​the fuselage 100, and is not contained in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning component 510 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the outward swing position.

[0317] In order to form the first avoidance area 109 , as an optional implementation method, a notch area 1011 can be provided on the chassis 101 , and the notch area 1011 and the inner cavity of the fuselage 100 , as well as the first avoidance opening 104 are all connected, and the first avoidance area 109 at least includes the notch area 1011 and part of the inner cavity of the fuselage 100 .

[0318] In some embodiments, the auxiliary cleaning assembly 510 includes an auxiliary cleaning tray 512 and an auxiliary cleaning member 511 disposed on the bottom of the auxiliary cleaning tray 512. Exemplarily, the auxiliary cleaning member 511 is, for example, a cleaning cloth, etc. In the retracted position, the edge of the auxiliary cleaning tray 512 is located inside the edge of the body 100; in the edge position C, at least part of the edge of the auxiliary cleaning tray 512 is located outside the edge of the body 100.

[0319] When the auxiliary cleaning component 510 and the main cleaning component 310 are both in the mopping position, in order to avoid the existence of a gap between the main cleaning component 310 and the auxiliary cleaning component 510 that is missed in sweeping, in an embodiment of the present application, when the main cleaning component 310 is in the mopping position and the auxiliary cleaning component 510 is in the swing-out and mopping position, there is an overlapping area H between the main cleaning component 310 and the auxiliary cleaning component 510 along the travel direction of the cleaning device 10, that is, along the travel direction of the cleaning device 10, the cleaning areas between the main cleaning component 310 and the auxiliary cleaning component 510 in the width direction of the body 100 partially overlap, so as to avoid the existence of a missed sweeping area between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience.

[0320] In some embodiments, please refer to FIGS. 9 and Fig.10 As shown, the mounting base 312 has a second notch 3121, and the second notch 3121 provides an escape space for the auxiliary cleaning disc 512. When the auxiliary cleaning disc 512 is located at the edge position C (i.e., the outward swing position), part of the auxiliary cleaning disc 512 is located in the second notch 3121; illustratively, the second notch 3121 can match part of the outer contour of the auxiliary cleaning disc 512. When cleaning along the edge, the main cleaning component 310 and the auxiliary cleaning component 510 are both located in the mopping position, and at least part of the auxiliary cleaning disc 512 is embedded in the second notch 3121, so that the main cleaning component 310 and the auxiliary cleaning component 510 have an overlapping area H in the travel direction of the cleaning device 10, so as to avoid the problem of missed sweeping areas due to the presence of a gap between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience.

[0321] It should be noted that the overlapping area H refers to the area in the moving direction of the cleaning device 10, wherein the areas cleaned by the main cleaning member 311 and the auxiliary cleaning member 511 overlap, so as to avoid the problem of missing areas.

[0322] For example, please refer to Fig.15As shown, the auxiliary cleaning plate 512 is a circular rag plate, and the partial contour of the second notch 3121 close to the rear of the fuselage 100 is an arc-shaped structure matching the contour of the rag plate, so that the partial contour of the second notch 3121 close to the rear of the fuselage 100 forms a state of covering the partial contour of the auxiliary cleaning plate 512, so that the main cleaning member 311 and the auxiliary cleaning member 511 have an overlapping area H in the moving direction along the fuselage 100, so as to avoid missing cleaning between the main cleaning member 311 and the auxiliary cleaning member 511.

[0323] In other embodiments, along the width direction of the fuselage 100 (perpendicular to the direction of travel of the fuselage 100), at least one of the main cleaning member 311 and the auxiliary cleaning member 511 has a certain deformation amount. When the auxiliary cleaning plate 512 moves to the outward swing position and the main cleaning member 311 and the auxiliary cleaning member 511 are both in the mopping position, there is a gap between the auxiliary cleaning plate 512 and the top plate 314, and the main cleaning member 311 and the auxiliary cleaning member 511 are in a state of mutual extrusion, so that there is no gap between the main cleaning member 311 and the auxiliary cleaning member 511, so as to avoid the problem of missed cleaning area between the main cleaning member 311 and the auxiliary cleaning member 511. In this way, there is no need to set the second notch 3121 on the mounting seat 312, and the implementation method and structure are simple and the cost is low.

[0324] In some embodiments, please refer to Fig.55 As shown, the auxiliary cleaning disc 512 is provided with a deformation part 513 at least on one side close to the mounting seat 312. For example, the deformation part 513 is an elastic rubber ring. The elastic rubber ring and the auxiliary cleaning disc 512 together serve as a support base for the auxiliary cleaning member 511. The auxiliary cleaning member 511 covers the auxiliary cleaning disc 512 and the elastic rubber ring in a cross section perpendicular to the thickness direction of the fuselage 100. In this way, by providing the elastic rubber ring, the edge of one side of the auxiliary cleaning member 511 close to the mounting seat 312 has a certain deformation amount.

[0325] Alternatively, a deformation portion may be provided on the edge of one side of the mounting seat 312 close to the auxiliary cleaning disk 512, that is, the deformation portion and the mounting seat 312 together serve as a support base for the main cleaning component 311, and the main cleaning component 311 covers the mounting seat 312 and the deformation portion, so that the side of the main cleaning component 310 close to the auxiliary cleaning disk 512 has a certain deformation amount.

[0326] Alternatively, the auxiliary cleaning plate 512 can be provided with an elastic rubber ring on at least one side close to the mounting seat 312, and the edge of the mounting seat 312 close to the auxiliary cleaning plate 512 has a deformation portion, so that the main cleaning member 311 and the auxiliary cleaning member 511 have a certain deformation amount on the side close to each other. In this way, when the auxiliary cleaning plate 512 moves to the outward swing position and the main cleaning member 311 and the auxiliary cleaning member 511 are both in the mopping position, the main cleaning member 311 and the auxiliary cleaning member 511 can be elastically squeezed against each other so that there is no gap between the main cleaning member 311 and the auxiliary cleaning member 511, thereby avoiding missed cleaning areas.

[0327] In some embodiments, please refer to Fig.38 As shown, the elastic rubber ring is sleeved on the outer circumference of the auxiliary cleaning disc 512 so that the edge of the auxiliary cleaning member 511 has a certain deformation amount.

[0328] In some embodiments, please refer to Fig.38 As shown, the elastic rubber ring may be provided with a deformation hole 515, and the deformation hole 515 may be located at the edge area of ​​the elastic rubber ring. Specifically, there may be multiple deformation holes 515, and they are arranged at intervals in the circumferential direction of the elastic rubber ring to increase the deformation amount of the elastic rubber ring, so as to ensure that the edge of the auxiliary cleaning member 511 has sufficient elastic compression amount; in addition, by arranging the deformation holes 515 in the circumferential direction of the elastic rubber ring, the elastic rubber ring can ensure the flatness of its surface when it is squeezed, avoiding the problem of poor flatness of the auxiliary cleaning member 511 caused by local protrusions. Among them, the cross-sectional shape of the deformation hole 515 can be a parallelogram or other shapes that are convenient for deformation and compression.

[0329] It should be noted that when the cross section of the deformation hole 515 is a parallelogram, the edges of each deformation hole 515 are inclined to the same side in the circumferential direction of the elastic rubber ring, so that the deformation holes 515 have a consistent deformation direction.

[0330] Exemplarily, the spatial layout of the cleaning device 10 inside the body 100 is introduced below with reference to the structural drawings.

[0331] Please refer to Figure 7 As shown, in the cleaning device 10 provided in the embodiment of the present application, the main cleaning module 300 is arranged on the lower side of the chassis 101, and the second driving structure 340 for driving the mounting seat 312 in the main cleaning module 300 to reciprocate in the horizontal plane is located on the mounting seat 312 and located on the lower side of the chassis 101. The lifting structure for driving the main cleaning module 300 is located on the upper side of the chassis 101, so that while the mounting seat 312 is driven to move in the first direction by the lifting structure, the mounting seat 312 can synchronously drive the second driving structure 340 to move in the first direction.

[0332] In order to ensure that the main cleaning assembly 310 and the second driving structure 340 have sufficient lifting space in the first direction, in the embodiment of the present application, please refer to Fig.44 As shown, the boss 105 on the chassis 101 is hollow inside to form a cavity 106, and the cavity 106 is used to accommodate the second driving structure 340 and the main cleaning component 310. In this way, the main cleaning component 310 and the second driving structure 340 can have sufficient lifting space in the first direction, and the boss 105 protrudes toward the inner cavity of the fuselage 100. In this way, the thickness dimension of the cleaning device 10 in the first direction will not be additionally increased, thereby improving the structural compactness of the cleaning device 10.

[0333] In some embodiments, at least part of the structure of the lifting structure is located above the boss 105, and the projections of the lifting structure and the boss 105 in the first direction at least partially overlap. In this way, the space between the boss 105 and the top of the inner cavity of the fuselage 100 can be further utilized, thereby improving space utilization and reducing the overall outline size of the cleaning equipment 10.

[0334] In addition, a dust box 202 is provided in the body 100. For example, please refer to Fig.57d As shown, the dimension of the dust box 202 in the length direction is greater than that in the width direction, wherein the length direction of the dust box 202 is consistent with the width direction of the body 100, so that at least part of the dust box 202 is located above the roller brush 201. In this way, the space for storing garbage in the dust box 202 is guaranteed without increasing the outline size of the cleaning device 10.

[0335] In some embodiments, please refer to Fig.18 As shown, the cleaning device 10 is provided with a dust exhaust channel 107 connected to the dust box 202. Exemplarily, the dust exhaust channel 107 is arranged at the rear of the dust box 202. Under the action of the dust collecting fan on the base station, the garbage in the dust box 202 is collected into the base station through the dust exhaust channel.

[0336] Specifically, when the cleaning device 10 returns to the base station, the dust exhaust channel 107 can be connected to the dust collecting fan in the base station. When the main fan 203 is running, negative pressure adsorption wind can be provided to the dust box 202 through the dust exhaust channel 107, so that the garbage in the dust box 202 can be discharged through the dust exhaust channel 107 by the negative pressure adsorption wind, thereby achieving the purpose of automatically cleaning the dust box 202, without the need for manual cleaning of the dust box 202, thereby improving the user experience.

[0337] In order to facilitate the use of the internal space of the cleaning device 10, the driving devices such as the lifting structure can be respectively arranged on different sides of the dust exhaust channel 107 and the main fan 203. Optionally, the lifting structure includes a lifting driving assembly, at least the structure belonging to the lifting driving assembly in the driving device and the main fan 203 are distributed on both sides of the dust exhaust channel 107, and the auxiliary cleaning module 500 and the dust exhaust channel 107 are distributed on both sides of the main fan 203. In this way, on the one hand, the auxiliary cleaning module 500 and the dust exhaust channel 107 are symmetrically arranged relative to the main fan 203, which is conducive to the use of the side space of the main fan 203, and on the other hand, the remaining space on the side of the dust exhaust channel 107 can also be more fully utilized.

[0338] In order to further improve the efficiency and cleaning effect of cleaning the garbage in the dust box 202, an air inlet channel 111 is also provided in the cleaning device 10. The air inlet channel 111 is connected to the dust box 202. When the cleaning device 10 returns to the base station, the air inlet channel 111 can be connected to the fan in the base station to supply air to the dust box 202 through the fan to accelerate the garbage in the dust box 202 to move toward the side of the dust exhaust channel 107. In this way, the garbage in the dust box 202 can be quickly discharged, thereby improving the efficiency and cleaning effect of cleaning the dust box 202.

[0339] In some embodiments, the body 100 is provided with a connecting channel connecting the side wall of the body 100 and the dust box 202, and the connecting channel may include at least one of the air inlet channel 111 and the dust exhaust channel 107, that is, at least one of the air inlet channel 111 and the dust exhaust channel 107 is connected between the side wall of the body 100 and the dust box 202, so as to further optimize and arrange the space of the body 100.

[0340] In some embodiments, the connecting channel includes a dust exhaust channel 107 , that is, the dust exhaust channel 107 connects the side wall of the body 100 and the dust box 202 , so that the garbage in the dust box 202 is discharged through the side wall of the body 100 under the action of negative pressure wind force.

[0341] In some embodiments, the communication channel also includes an air inlet channel 111 connected between the side wall of the body 100 and the dust box 202 , so that air is supplied to the dust box 202 through the air inlet channel 111 to accelerate the discharge of garbage in the dust box 202 .

[0342] It is understandable that by respectively providing an air inlet channel 111 and a dust exhaust channel 107 in the body 100 that connect the side wall of the body 100 and the dust box 202 , an air duct structure with one channel for blowing air and the other channel for sucking air is formed in the body 100 .

[0343] In some embodiments, along the width direction of the body 100, the air inlet channel 111 and the dust exhaust channel 107 are respectively arranged at opposite ends of the dust box 202 and are located at the rear of the body 100 (for example, along the moving direction of the body 100), that is, the air inlet channel 111 is connected to one end of the dust box 202, and the dust exhaust channel 107 is connected to the other end of the dust box 202. At this time, the air inlet channel 111 and the dust exhaust channel 107 are arranged opposite to each other, so that the opposite ends of the dust box 202 are connected, so that the airflow provided by the air inlet channel 111 and the dust exhaust channel 107 can flow through the dust box 202 unimpeded, and the dust and debris in the dust box 202 are cleaned up, leaving no dead corners in the dust box 202, thereby improving the cleaning effect of the dust box 202. In addition, other structures such as filter elements are generally provided in the dust box 202. The relative arrangement of the air inlet channel 111 and the dust exhaust channel 107 allows the clean airflow entering and exiting the dust box 202 to sweep the outer surface of the filter element (generally parallel to the direction of the connection between the opposite ends of the dust box 202), thereby cleaning the surface of the filter element.

[0344] In some embodiments, please refer to Fig.18 As shown, along the moving direction of the fuselage 100, the lifting structure and the second driving structure 340 are arranged at the rear of the dust box 202, and the lifting structure and the second driving structure 340 are close to one side of the air inlet channel 111, and the second driving structure 340 is arranged at a position relatively to the rear of the fuselage 100 relative to the lifting structure, so as to optimize the layout of the various structures in the fuselage 100 and improve the compactness of the structure in the fuselage 100.

[0345] In some embodiments, along the moving direction of the body 100 , the main fan 203 is disposed behind the dust box 202 and between the air inlet channel 111 and the dust exhaust channel 107 , and the lifting structure and the second driving structure 340 are disposed between the main fan 203 and the air inlet channel 111 .

[0346] In some embodiments, the water replenishing mechanism for replenishing water to the main cleaning part 311 includes a water tank 600. The water tank 600 can be arranged on the side of the dust exhaust channel 107 away from the air inlet channel 111. Exemplarily, the water tank 600 is arranged on the chassis 101 and close to the side wall edge of the fuselage 100 to improve the compactness of the internal structure of the fuselage 100, improve space utilization, and avoid the problem of the overall volume of the cleaning device 10 being too large while satisfying the functions of the cleaning device 10.

[0347] In some embodiments, the water tank 600 is located below the chassis 101, and the dust box cavity 204 is located above the chassis 101. In this way, the dust box 202 is arranged in the dust box cavity 204, and the water tank 600 and the dust box 202 are arranged up and down relative to the chassis 101, which can save the lateral space occupied by the cleaning device 10 and is conducive to the cleaning device 10 having a compact structure.

[0348] As an optional structure, the projections of the water tank 600 and the dust box cavity 204 on the first plane at least partially overlap, wherein the first plane is a plane perpendicular to the height direction of the body 100, for example, a horizontal plane. In this way, the water tank 600 and the dust box cavity 204 can jointly occupy a part of the horizontal space, further improving the internal space utilization of the cleaning device 10.

[0349] The cleaning module is disposed on the lower side of the chassis 101 . In order to improve the structural compactness of the cleaning device 10 , the first driving mechanism may be disposed in the inner cavity of the body 100 .

[0350] In some embodiments, please refer to Figure 4 As shown, the air inlet channel 111 may not be provided in the fuselage 100, so that the position of the air inlet channel 111 provided in the fuselage 100 in the above embodiment forms an avoidance gap. In this way, the first protrusion on the chassis 101 protruding toward the inner cavity can be closer to the dust box 202, so that the second driving structure 340 can be replaced to be closer to the front of the fuselage 100, the lifting structure is provided above the first protrusion, and the first driving mechanism is provided behind the lifting structure, that is, at least partially located in the avoidance gap and at least partially located above the first protrusion, so as to improve the compactness of the fuselage 100 structure and improve space utilization.

[0351] In addition, the gap between the first drive mechanism and the lifting structure and other structures can be formed into an air inlet channel 111 connected to the dust box 202. That is to say, the air inlet channel 111 is not additionally provided, but the air inlet channel 111 is formed by the gap between the first drive mechanism and the lifting structure and other structures, so as to improve the compactness of the structure in the fuselage 100 and improve the utilization rate of the space in the fuselage 100; it can be understood that an air inlet or an air inlet grid connected to the air inlet channel 111 is provided on the side wall of the upper shell cover 102, and no limitation is made here.

[0352] It can be understood that the first driving mechanism is arranged on a side of the main fan 203 close to the lifting structure and is located behind the lifting structure.

[0353] In some embodiments, please refer to Figure 5 As shown, a first water pump 650 is also provided in the fuselage 100, and the first water pump 650 is used to inject water from the base station into the clean water tank; wherein, the first water pump 650 can be arranged on one side of the inner cavity close to the first driving mechanism. Exemplarily, the water pump is arranged above the first avoidance area 109.

[0354] In some embodiments, the mounting base 312 includes a top plate 314, a vibration plate 313 and a bottom plate 315, wherein the vibration plate 313 is movably arranged between the top plate 314 and the bottom plate 315, wherein a avoidance opening is arranged in the bottom plate 315, and the vibration plate 313 is located in the avoidance opening, so that the bottom plate 315 surrounds the outer periphery of the vibration plate 313 and is fixedly connected to the top plate 314, so that the avoidance opening is used to avoid the movement trajectory of the vibration plate 313. Exemplarily, the vibration plate 313 is located in the avoidance opening, and there is a gap between the avoidance opening and the edge of the vibration plate 313; in addition, the surfaces of the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush, so that the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 can be fixed with the main cleaning member 311 by gluing or the like to ensure the flatness of the main cleaning member 311 and increase the area of ​​the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0355] Specifically, the mounting base 312 is a flat drag, which includes a top plate 314, a vibration plate 313 and a bottom plate 315. The vibration plate 313 is movably arranged between the top plate 314 and the bottom plate 315, and the main cleaning component 311 is arranged on the bottom of the bottom plate 315 and the vibration plate 313. Among them, a third avoidance opening 2061 or a mounting opening is arranged in the bottom plate 315, and the vibration plate 313 twists or reciprocates in the third avoidance opening 2061 or the mounting opening to drive the main cleaning component 311 to twist or reciprocate; here, the third avoidance opening 2061 can refer to a notch, and the mounting opening can be a closed annular hole. For the convenience of description, in this embodiment, Figure 9b The third avoidance opening 2061 shown is taken as an example for explanation.

[0356] The vibration plate 313 is located in the third avoidance opening 2061, so that the bottom plate 315 surrounds the outer periphery of the vibration plate 313 and is fixedly connected to the top plate 314, so that the third avoidance opening 2061 is used to avoid the movement trajectory of the vibration plate 313. Exemplarily, the vibration plate 313 is located in the third avoidance opening 2061, and there is a gap between the third avoidance opening 2061 and the edge of the vibration plate 313; in addition, the surfaces of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush, so that the main cleaning member 311 can be fixed on the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 by gluing or the like to ensure the flatness of the main cleaning member 311 and increase the area of ​​the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0357] In some embodiments, please refer to Figure 2As shown, the side of the chassis 101 facing the ground has a first avoidance area 109 connected to the first avoidance opening 104, and the top plate 314 of the mounting base 312 is provided with a recessed area 3141 facing the ground on the top of the chassis 101, and the avoidance space is located above the recessed area 3141, so that the recessed area 3141 and the avoidance space on the chassis 101 together form the first avoidance area 109 for accommodating the auxiliary cleaning module 500.

[0358] It can be understood that by providing a recessed area 3141 on the top plate 314 that is recessed toward the ground (i.e., the bottom plate 315), the height dimension of the first avoidance area 109 in the first direction can be increased without increasing the thickness dimension of the fuselage 100, so that the first avoidance area 109 has sufficient space in the first direction to accommodate the auxiliary cleaning module 500.

[0359] In some embodiments, please refer to Figure 9a , Figure 9b , Fig.9c and Figure 9d As shown, the side of the top plate 314 facing the bottom plate 315 may have a protrusion protruding toward the side of the bottom plate 315, and the protrusion is a hollow structure to form a recessed area 3141. The recessed area 3141 is formed on the upper surface of the top plate 314. In this way, the size of the first avoidance area 109 in the first direction can be further increased.

[0360] Fig.9e (Looking up) exemplarily shows the structural schematic diagram of the cleaning structure when the auxiliary cleaning component 510 is in the edge position C. Figure 9b and Fig.9c (Top view) exemplarily shows the structural schematic diagram of the cleaning structure when the auxiliary cleaning component 510 is in the initial position A; Fig.11 (looking up and removing the tablet drag) and Fig.55 (Top view) shows a schematic diagram of the auxiliary cleaning component in the initial position A, the third position B and the edge position C.

[0361] Reference Fig.11 As shown, the swing arm 524 swings counterclockwise to drive the auxiliary cleaning assembly 511 to switch from the initial position A to the edge position C; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly 511 at the initial position A is located behind the rotation center of the auxiliary cleaning assembly 511 at the edge position C. Since the upper surface of the top plate 315 forms a recessed area 3141, when the auxiliary cleaning assembly 511 is at the initial position A, at least a portion of the auxiliary cleaning assembly 511 can be located in the recessed area 3141, so that the auxiliary cleaning assembly 511 is separated from the ground.

[0362] To avoid interference between the vibration plate 313 and the bottom plate 315 and the protrusions, please continue to refer to Figure 9bAs shown, in the embodiment of the present application, a third notch 3131 is provided at a position corresponding to the protrusion on the vibration plate 313, and the third notch 3131 is a notch. A second notch 3121 is also provided at a position corresponding to the protrusion on the bottom plate 315. When the top plate 314, the vibration plate 313 and the bottom plate 315 are connected together, the protrusion is located in the third notch 3131 and the second notch 3121, and the outer bottom wall of the protrusion is flush with the outer bottom wall surface of the vibration plate 313 and the bottom plate 315, so that the vibration plate 313, the bottom plate 315 and the outer bottom wall of the protrusion are kept on the same plane, and the main cleaning member 311 covers the plane formed by the vibration plate 313, the bottom plate 315 and the outer bottom wall of the recessed area 3141. Here, the second notch 3121 of the bottom plate 315 can be understood as a part of the third avoidance opening 2061 , so that the third avoidance opening 2061 is a notch. In this way, the third avoidance opening 2061 of the bottom plate 315 can not only avoid the movement trajectory of the vibration plate 313 , but also avoid the protrusion of the top plate 314 .

[0363] like Figures 9a to 9d As shown, in some embodiments, the front edge of the mounting seat 312 has a second notch 3121; the main cleaning member 311 has a first notch 3122 corresponding to the second notch 3121; when the auxiliary cleaning assembly 511 is located at the edge position A, part of the auxiliary cleaning assembly 510 is embedded in the second notch 3121, so that the second part 5111 is located in front of the first part 3111, and the cleaning areas of the first part 3111 and the second part 511 have the overlapping area. Figure 9d It can be seen that since the mounting seat 312 includes a top plate 314 and a bottom plate 315, and the top plate 314 and the bottom plate 315 together form the front edge of the mounting seat 312, a second notch 3121 is provided on the top plate 314 and the bottom plate 315. When the auxiliary cleaning component 510 is in the edge position, part of the auxiliary cleaning component 510 is embedded in the second notch 3121 and the first notch 3122.

[0364] For the top plate 314, the second notch 3121 on the top plate 314 can not only prevent the bottom plate 315 from interfering with the protrusion on the top plate 314, but also allow the auxiliary cleaning component 511 to at least partially embed when the auxiliary cleaning component 511 is located at the edge position C to form the overlapping area. In addition, based on the above, the third avoidance opening 2061 on the bottom plate 315 can also allow the auxiliary cleaning component 511 to partially embed when it is at the edge position C to form the overlapping area.

[0365] In some embodiments, please refer to Figure 2As shown, the side of the chassis 101 facing the ground has a first avoidance area 109 connected to the first avoidance opening 104, and the top plate 314 of the mounting base 312 is provided with a recessed area 3141 facing the ground on the top of the chassis 101, and the avoidance space is located above the recessed area 3141, so that the recessed area 3141 and the avoidance space on the chassis 101 together form the first avoidance area 109 for accommodating the auxiliary cleaning module 500.

[0366] It can be understood that by providing a recessed area 3141 on the top plate 314 that is recessed toward the ground (i.e., the bottom plate 315), the height dimension of the first avoidance area 109 in the first direction can be increased without increasing the thickness dimension of the fuselage 100, so that the first avoidance area 109 has sufficient space in the first direction to accommodate the auxiliary cleaning module 500.

[0367] In some embodiments, please refer to Figure 9a and Fig.10 As shown, the side of the top plate 314 facing the bottom plate 315 may have a protrusion protruding toward the side of the bottom plate 315, and the protrusion is a hollow structure to form a recessed area 3141, so that the size of the first avoidance area 109 in the first direction can be further increased.

[0368] To avoid interference between the vibration plate 313 and the bottom plate 315 and the protrusions, please continue to refer to Fig.14 As shown, in the embodiment of the present application, a third notch is provided at a position corresponding to the protrusion on the vibration plate 313, and a second notch 3121 is provided at a position corresponding to the protrusion on the bottom plate 315. When the top plate 314, the vibration plate 313 and the bottom plate 315 are connected together, the protrusion is located in the third notch and the second notch 3121, and the outer bottom wall of the protrusion is flush with the outer bottom wall surface of the vibration plate 313 and the bottom plate 315, so that the vibration plate 313, the bottom plate 315 and the outer bottom wall of the protrusion remain on the same plane, and the main cleaning member 311 covers the plane formed by the vibration plate 313, the bottom plate 315 and the outer bottom wall of the recessed area 3141.

[0369] In the embodiment of the present application, by making the first avoidance area 109 have sufficient height space in the first direction, when the first driving mechanism drives the auxiliary cleaning module 500 to move from the initial position A to the outward swing position, and synchronously drives the auxiliary cleaning module 500 to descend from the lifting position to the mopping position, the first avoidance area 109 has sufficient space in the first direction for the auxiliary cleaning module 500 to be lifted and lowered. In some optional structures, the first avoidance area 109 is located below the chassis 101, and the first avoidance area 109 at least includes a concave cavity 106 provided on the chassis 101 and concave upward toward the inner cavity of the fuselage 100. In this way, the first avoidance area 109 has a relatively simple appearance structure and is convenient for storing the auxiliary cleaning module 500.

[0370] It can be understood that when the auxiliary cleaning module 500 is in the retracted and raised position, the auxiliary cleaning module 500 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of ​​the fuselage 100, and is not contained in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning module 500 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the edge position.

[0371] When the main cleaning component 310 is in the mopping position, the auxiliary cleaning component 510 can switch between the initial position A and the edge position C. In this way, the auxiliary cleaning component 510 can avoid interference with the main cleaning component 310 during the switching process, thereby improving the reliability of the auxiliary cleaning component 510 switching between the initial position A and the edge position C.

[0372] The auxiliary cleaning component 510 has a lifting position and a mopping position. When the auxiliary cleaning component 510 is in the edge position C, it is also in the mopping position; when the auxiliary cleaning component 510 is in the initial position A, it is also in the lifting position, that is, when the cleaning device 10 is cleaning in a non-edge mode, the auxiliary cleaning module 500 is in a non-working state; the auxiliary cleaning component 510 can only be raised and lowered to switch between the lifting position and the mopping position when the main cleaning component 310 is in the mopping position, so that the auxiliary cleaning component 510 has sufficient lifting space in the lifting direction.

[0373] In some embodiments, when the auxiliary cleaning assembly 510 swings outward toward the edge position C, the auxiliary cleaning assembly 510 moves downward; when the auxiliary cleaning assembly 510 swings inward toward the initial position A, the auxiliary cleaning assembly 510 moves upward.

[0374] Exemplarily, when the auxiliary cleaning component 510 switches between the edge position and the initial position A, it can be synchronously raised and lowered along the height direction of the fuselage 100. For example, while the auxiliary cleaning component 510 moves from the initial position A to the edge position, the auxiliary cleaning component 510 synchronously moves from the raised position to the mopping position; conversely, while the auxiliary cleaning component 510 moves from the edge position to the initial position A, the auxiliary cleaning component 510 synchronously moves from the mopping position to the raised position. In this way, the movement efficiency of the auxiliary cleaning module 500 can be improved.

[0375] In addition, when the auxiliary cleaning component 510 is switched to the edge position C, the auxiliary cleaning component 510 can also rotate to clean the floor, so that the friction frequency between the auxiliary cleaning component 510 and the floor can be increased, thereby improving the cleaning effect and efficiency.

[0376] In some embodiments, the auxiliary cleaning module 500 also includes a first driving structure 520 and a lifting mechanism 530, or the first driving structure itself includes a lifting mechanism 530, and the first driving structure 520 is at least used to drive the auxiliary cleaning component 510 to swing between the initial position A and the edge position C, so that the auxiliary cleaning component 510 switches between the initial position A and the edge position C; and during this swinging process, with the cooperation of the first driving structure 520 and the lifting mechanism 530, at least the auxiliary cleaning component 510 is made to rise or fall. In this way, while the first driving structure 520 drives the auxiliary cleaning component 510 to switch between the initial position A and the edge position C, with the cooperation of the lifting mechanism 530, the auxiliary cleaning component 510 is made to rise or fall, thereby improving the switching efficiency of the auxiliary cleaning component 510 between the initial position A, the edge position C, the lifting position and the mopping position, saving switching time and improving the user experience.

[0377] In some embodiments, the first driving structure 520 includes a first driving motor 521, at least one first elastic member 522 and a swing arm 524. The first driving motor 521 and the first elastic member 522 cooperate to drive the swing arm 524 to swing, so as to drive the auxiliary cleaning component 510 to swing the arm 524 to switch between the initial position A and the edge position C. During this swinging process, the swing arm 524 drives the lifting mechanism 530 to act, so that the swing arm 524 drives the auxiliary cleaning component 510 to descend or lift. In this way, the auxiliary cleaning component 510 can be switched between the initial position A, the edge position C, the lifting position and the mopping position through a simple structure, with a simple structure and low cost.

[0378] In some embodiments, a first avoidance opening 104 is provided on the side wall of the fuselage 100, and a first avoidance area 109 is provided on the fuselage 100, at least for the installation of the auxiliary cleaning module 500; the first avoidance area 109 connects the inner cavity of the fuselage 100 with the outside; the auxiliary cleaning module 500 also includes a swing arm 524, and the auxiliary cleaning component 510 is provided on the swing arm 524. The swing arm 524 swings at least in the first avoidance area 109, and swings toward the edge position C or the initial position through the first avoidance opening 104. One end of the swing arm 524 is located in the first avoidance area 109, and the other end extends out of the first avoidance area 109 and is located below the chassis 101 of the fuselage 100.

[0379] A preferred embodiment of the first driving structure 520 is specifically introduced below. The auxiliary cleaning assembly 510 includes an auxiliary cleaning disc 512 and an auxiliary cleaning member 511 arranged on the auxiliary cleaning bottom. For ease of description, the auxiliary cleaning disc 512 is used as the starting point when introducing the first driving structure 520.

[0380] In this embodiment, the first driving structure 520 is driven by a motor to realize the swing, rotation and lifting functions of the auxiliary cleaning disc 512, so that the first driving structure 520 is simple and compact. Specifically:

[0381] The first driving structure 520 includes a first driving motor 521, a swing arm 524, a first one-way transmission mechanism 523 and a first elastic member 522; the auxiliary cleaning disc 512 is rotatably arranged on the swing arm 524, one end of the first elastic member 522 is fixed relative to the fuselage 100, and the other end is connected to the swing arm 524 or the auxiliary cleaning disc 512, and the auxiliary cleaning disc 512 is transmission-connected with the power output member of the first driving motor 521, for example, the power output member is a power output shaft 525, and when the power output shaft 525 rotates, the auxiliary cleaning disc 512 is driven to rotate.

[0382] The first one-way transmission mechanism 523 is arranged between the power output member of the first drive motor 521 and the swing arm 524, and the first one-way transmission mechanism 523 has a first state and a second state; in the first state, the power output member and the swing arm 524 remain relatively stationary; in the second state, the power output member can rotate unidirectionally along the first direction relative to the swing arm 524, and the driving force of the first drive motor 521 is not transmitted to the swing arm 524; when the auxiliary cleaning disc 512 is in the edge position C, the first one-way transmission mechanism 523 is in the second state, and the first drive motor 521 drives the auxiliary cleaning disc 512 to rotate; when the auxiliary cleaning disc 512 swings between the initial position A and the edge position C, the first one-way transmission mechanism 523 is in the first state.

[0383] Among them, the first elastic member 522 is used to drive the swing arm 524 to swing outward toward the edge position C to drive the auxiliary cleaning disc 512 to swing outward; the first drive motor 521 is used to drive the swing arm 524 to swing inward toward the initial position A to drive the auxiliary cleaning disc 512 to retract. During the swing outward and retracting process, the first drive motor 521 and the swing arm 524 remain relatively still through the first one-way transmission mechanism 523; when at the edge position C, the first drive motor 521 can rotate unidirectionally with the swing arm 524 through the first one-way transmission mechanism 523, so that the first drive motor 521 drives the auxiliary cleaning disc 512 to rotate; when the swing arm 524 swings outward or retracts, the second lifting structure is driven to act, thereby causing the swing arm 524 to descend or rise.

[0384] When the swing arm 524 and the power output member connected to the first one-way transmission mechanism 523 rotate relative to each other in one direction, the first one-way transmission mechanism 523 can rotate smoothly, but in the other direction, the two cannot rotate relative to each other. In this way, at the edge position C, the first drive motor 521 can drive the auxiliary cleaning disc 512 to rotate unidirectionally without acting on the swing arm 524.

[0385] During the outward swing, under the action of the first elastic member 522, since the driving force of the first elastic member 522 is much greater than the driving force of the first drive motor 521, the first one-way transmission mechanism 523 is forced to be in the first state. Therefore, during the outward swing, the swing of the swing arm 524 mainly relies on the action of the first elastic member 522 to swing outward.

[0386] At the edge position C, the first one-way transmission mechanism 523 is forced to be in the second state by the first drive motor 521, and at this time, the power output member cannot transmit power to the swing arm 524. Since at the edge position C, the first elastic member 522 exerts a force on the swing arm 524, but does not continue to drive the swing arm 524 to swing outward, when the first drive motor 521 continues to rotate, the power output shaft 525 can rotate relative to the swing arm 524 under the action of the first drive motor 521, so that the force will not be transmitted to the swing arm 524, thereby driving the auxiliary cleaning disc 512 to rotate.

[0387] The first drive motor 521 is used to drive the swing arm 524 to swing inwards, so as to drive the cleaning assembly to retract toward the initial position A. During the retraction process, the first one-way transmission mechanism 523 is forced to be in the first state under the action of the first drive motor 521. At this time, the elastic member will deform and store elastic potential energy for release when swinging outwards. Since the first elastic member 522 does not work during the retraction process, the retraction of the swing arm 524 depends on the action of the first drive motor 521.

[0388] For example, during the outward swing process and along the edge, the first drive motor 521 drives the power output shaft 525 to rotate along the first direction all the time; during the inward retraction process, the first drive motor 521 drives the power output shaft 525 to rotate along the second direction, one of the first direction and the second direction is clockwise, and the other is counterclockwise; under the action of the first unidirectional transmission mechanism 523, the power output shaft 525 can rotate in the first direction relative to the swing arm 524, so that the power output shaft 525 and the swing arm 524 remain relatively stationary in the second direction, and the force is transmitted in one direction.

[0389] Correspondingly, during the outward swing process, the first elastic member 522 drives the swing arm 524 to rotate in the first direction. Due to the action of the first elastic member 522, the speed of the swing arm 524 along the first direction is much greater than the speed of the power output shaft 525, which is equivalent to the power output shaft 525 having a movement tendency in the second direction relative to the swing arm 524, thereby keeping the power output shaft 525 and the swing arm 524 in a relatively static state, thereby realizing the swinging and rotation of the auxiliary cleaning disc 512 under the cooperation of a motor and the first elastic member 522.

[0390] In some embodiments, the first unidirectional transmission mechanism 523 includes a first inner connecting member and a first outer connecting member, the first inner connecting member is connected to the power output member, and the first outer connecting member is connected to the swing arm 524; in this way, in the first state, the first inner connecting member and the first outer connecting member remain relatively stationary and transmit power and torque, and in the second state, the first inner connecting member can rotate unidirectionally in the first direction relative to the first outer connecting member, thereby not transmitting driving force.

[0391] In some embodiments, the first inner connecting member is sleeved outside the power output member, and the first outer connecting member is sleeved inside the first inner connecting member.

[0392] During the outward swing process, the first elastic member 522 releases energy to drive the swing arm 524 to rotate in the first direction, and at the same time, the first drive motor 521 also drives the output shaft 525 to rotate in the first direction; the first inner connecting member remains stationary relative to the first outer connecting member; at the edge position C, the first drive motor 521 drives the power output member to continue to rotate in the first direction, and the first inner connecting member rotates in the first direction relative to the first outer connecting member; during the inward retraction process, the first drive motor 521 drives the power output member to rotate in the second direction, the first inner connecting member remains stationary relative to the first outer connection, and the elastic member deforms to store energy; one of the first direction and the second direction is a clockwise direction, and the other is a counterclockwise direction.

[0393] It is understandable that the first one-way transmission mechanism 523 can be a one-way bearing or a ratchet, whose inner ring serves as the first inner connecting member and the outer ring serves as the first outer connecting member. Alternatively, other one-way transmission structures in the prior art only need to make the power output member rotatable relative to the swing arm 524 along the first direction, and the power output member cannot rotate relative to the swing arm 524 along the second direction.

[0394] Specifically, taking the first one-way transmission mechanism 523 as a one-way bearing as an example, it may include a first inner ring and a first outer ring, wherein the first outer ring is sleeved on the outer periphery of the first inner ring, wherein the first inner ring is sleeved on the output shaft 525, and the first outer ring is connected to the swing arm 524, wherein the first inner ring can only rotate unidirectionally along a first direction relative to the first outer ring, and if the first inner ring has a tendency to move in a second direction relative to the second inner ring, the first inner ring and the first outer ring remain relatively stationary.

[0395] If the first direction is counterclockwise and the second direction is clockwise, the swing arm 524 is in the three states of the outward swing process, the inward retraction process, and the initial position A. The first inner ring tends to move clockwise relative to the first outer ring, that is, the first inner ring and the first outer ring remain stationary, and the power between the two can be transmitted, that is, the power is transmitted from the output shaft 525 to the swing arm 524, which can apply a force to the swing arm 524; in the outward swing process and the inward retraction process, since the first drive motor 521 is constantly rotating, the auxiliary cleaning disc 512 is constantly rotating while swinging between the initial position A and the edge position C.

[0396] Specifically, when the swing arm 524 needs to swing outward, if the first drive motor 521 drives the output shaft 525 to rotate forward (for example, counterclockwise), the first drive motor 521 drives the first inner ring to have a counterclockwise movement trend, so that the first inner ring has a rotation speed V1, and the first elastic member 522 drives the swing arm 524 to rotate counterclockwise, so that the first outer ring has a counterclockwise movement trend. If the rotation speed of the first outer ring is V2, since V2 is much greater than V1, the first inner ring has a clockwise movement trend relative to the first outer ring, and the first inner ring and the first outer ring are relatively stationary. Under the action of the first elastic member 522, the swing arm 524 is driven to swing outward, so that the auxiliary cleaning disc 512 swings outward with the swing arm 524 and can rotate on its own.

[0397] When the auxiliary cleaning disc 512 reaches the edge position C, the speed of the first elastic member 522 acting on the swing arm 524 is 0. At this time, the first drive motor 521 drives the output shaft 525 to continue to rotate counterclockwise, and the first inner ring has a counterclockwise movement trend relative to the first outer ring. The first inner ring and the first outer ring remain relatively still, and there is no power transmission; when the first drive motor 521 continues to drive the output shaft 525 to rotate counterclockwise, the output shaft 525 continues to drive the auxiliary cleaning disc 512 to rotate to clean along the edge.

[0398] When the swing arm 524 needs to retract, the first drive motor 521 rotates in the opposite direction (for example, clockwise), driving the output shaft 525 to rotate clockwise, and the first elastic member 522 is deformed to store energy, so that the first inner ring has a clockwise movement trend relative to the first outer ring, and the first inner ring and the first outer ring remain relatively still, and there is power transmission. Under the action of the first drive motor 521, the swing arm 524 is driven to retract, thereby driving the auxiliary cleaning disc 512 to retract; and during the retraction process, the auxiliary cleaning disc 512 is driven to rotate.

[0399] In addition, in some embodiments, the first driving mechanism may further include a transmission mechanism, which includes a first transmission mechanism, a second transmission mechanism and a third transmission mechanism. The first transmission mechanism is connected between the first driving motor 521 (i.e., the power output member) and the output shaft 525, the second transmission mechanism is connected between the output shaft 525 and the swing arm 524, and the third transmission mechanism is connected between the output shaft 525 and the auxiliary cleaning disk 512. In this way, the first driving motor 521 transmits power to the output shaft 525 through the first transmission assembly, and the output shaft 525 transmits power to the swing arm 524 and the auxiliary cleaning disk 512 respectively through the second transmission mechanism and the third transmission mechanism, so that the second transmission mechanism is used to drive the swing arm 524 to move between the edge position C and the initial position A, and the third transmission mechanism is used to drive the auxiliary cleaning disk 512 to drive the auxiliary cleaning member 511 to rotate, so as to perform cleaning operations.

[0400] In some embodiments, the first transmission mechanism includes a worm gear unit and a transmission gear 560 group, the worm gear unit includes a worm wheel and a worm that mesh with each other, one of the worm wheel and the worm is connected to the motor shaft of the first drive motor 521, and the other is connected to the transmission gear 560 group, and the rotation axes of the worm wheel and the worm are intersecting with each other; and the transmission gear 560 group includes a plurality of gears that mesh with each other, so that the first drive motor 521 changes the output direction of its power through the worm gear unit, and further transmits the power to the output shaft 525 through the transmission gear 560 group with a suitable transmission ratio or torque to drive the output shaft 525 to rotate around its own axis; wherein, the axial direction of the output shaft 525 has an angle with the ground, and the angle is, for example, a right angle or approximately a right angle.

[0401] In some embodiments, Fig.13 , Fig.14 and Fig.15As shown, the second transmission assembly may have a planetary gear train to change the transmission ratio through the planetary gear train. Specifically, the second transmission assembly includes a ring gear 540, a sun gear 526, a planetary support 528 and a planetary gear 527, wherein the ring gear 540, the sun gear 526, the planetary support 528 and the swing arm 524 are all sleeved on the output shaft 525, wherein the ring gear 540 is sleeved on the output shaft 525 and fixed relative to the fuselage 100, the inner wall of the ring gear 540 has internal teeth, the planetary gear 527 is fixed on the planetary support 528 and is arranged around the circumference of the sun gear 526, the planetary gear 527 is meshed with the sun gear 526 and meshed with the internal teeth of the ring gear 540 at the same time, and the planetary support 528 and the swing arm 524 are fixedly connected. In this way, through the mutual engagement of the sun gear 526 and the planetary gear 527, the sun gear 526 and the planetary bracket 528 can rotate around the output shaft 525 at different rotation rates. The rotation rate of the planetary bracket 528 is lower than the rotation rate of the sun gear 526, and the output torque of the second transmission mechanism is increased accordingly. Therefore, it can drive the swing arm 524 to swing outward or retract with sufficient torque.

[0402] Exemplarily, there may be at least two planetary gears 527 , and the at least two planetary gears 527 are respectively arranged at intervals along the circumference of the sun gear 526 and mesh with the outside of the sun gear 526 , and each planetary gear 527 meshes with the internal teeth of the ring gear 540 .

[0403] The first one-way transmission mechanism 523 is disposed between the sun gear 526 and the output shaft 525. When the sun gear 526 and the output shaft 525 connected to the first one-way transmission mechanism 523 rotate relative to each other in one direction, the sun gear 526 and the output shaft 525 cannot rotate relative to each other in the other direction.

[0404] In some embodiments, Fig.15 As shown, the swing arm 524 includes an upper swing arm 5241 and a lower swing arm 5242, which are jointly arranged to form an inner cavity, and the planetary bracket 528 is fixedly connected to the upper swing arm 5241, and the lower swing arm 5242 is fixedly connected to each other by buckling, clamping or threaded connectors.

[0405] In order to drive the auxiliary cleaning disk 512 to rotate and perform cleaning operations, the third transmission mechanism can also have a variety of different implementation methods. Fig.14 As shown, the third transmission mechanism includes a transmission gear 560 and a driven gear set. The transmission gear 560 is sleeved on the output shaft 525 and meshes with the input end gear of the driven gear set. The output end of the driven gear set is connected to the auxiliary cleaning disk 512; wherein, the transmission gear 560 and the driven gear set are arranged in the inner cavity of the swing arm 524 to improve the compactness of the structure.

[0406] In some embodiments, Fig.13 As shown, the transmission mechanism also includes a support shell 570, which is fixedly connected to the ring gear 540 and fixed relative to the fuselage 100, so as to provide a supporting basis for the ring gear 540 through the support shell 570; wherein, the support shell 570 can be sleeved on the output shaft 525 through the first transmission bearing, so that when the output shaft 525 rotates relative to the support shell 570, the friction between the output shaft 525 and the first transmission bearing is reduced.

[0407] In order to reduce the wear between the planetary bracket 528 and the output shaft 525, in an embodiment of the present application, a second transmission bearing is arranged between the planetary bracket 528 and the output shaft 525, that is, the planetary bracket 528 is sleeved on the outside of the output shaft 525 through the second transmission bearing to reduce the wear between the planetary bracket 528 and the output shaft 525.

[0408] In addition, the lower swing arm 5242 can be sleeved on the outside of the output shaft 525 through the third transmission bearing, so that when the output shaft 525 rotates relative to the lower swing arm 5242, the wear between the output shaft 525 and the lower swing arm 5242 can be reduced.

[0409] The swing arm 524 drives the auxiliary cleaning plate 512 to swing outward and inward, and the swing arm 524 cooperates with the second lifting structure to make the auxiliary cleaning module 500 rise or fall as a whole.

[0410] Specifically, the second lifting structure may include a structure with a threaded surface, and by relying on the mutual cooperation of the threaded surfaces, the auxiliary cleaning module 500 is lifted or lowered simultaneously when it moves between the initial position A and the edge position C.

[0411] As an optional implementation, Fig.15 and Fig.16 As shown, the second lifting structure includes a first spiral portion 531 and a first matching portion 532, one of the first spiral portion 531 and the first matching portion 532 is arranged on the swing arm 524, and the other is arranged on the fuselage 100. During the swinging process of the swing arm 524, the first matching portion 532 spirally rises or spirally descends on the first spiral portion 531 to drive the swing arm 524 to rise or fall, thereby driving the auxiliary cleaning module 500 to rise or fall as a whole. For example, the first spiral portion 531 is arranged on the chassis 101, and the first matching portion 532 is arranged on the bottom of the swing arm 524, and the positions of the two can be interchangeable.

[0412] Furthermore, in some embodiments, when the swing arm 524 swings outward toward the edge position C, the first matching portion 532 spirally descends under the first spiral portion 531, and when the auxiliary cleaning disc 512 is at the edge position C, the auxiliary cleaning disc 512 is at the mopping position. When the swing arm 524 retracts toward the initial position A, the first matching portion 532 spirally ascends on the first spiral portion 531, and when the auxiliary cleaning disc 512 is at the initial position A, the auxiliary cleaning is also at the raised position.

[0413] For example, in some optional structures, such as Fig.15 As shown, the first driving mechanism also includes a bottom shell, which is fixed on the chassis 101. The inner cavity of the bottom shell is provided with a first spiral portion 531, and the bottom of the lower swing arm 5242 is provided with a first matching portion 532 matching the first spiral portion 531. The first matching portion 532 and the first spiral portion 531 are constructed to be spirally abutted.

[0414] Since the first spiral portion 531 and the first matching portion 532 cooperate with each other through the spiral surface, during the outward swing of the swing arm 524, when the lower swing arm 5242 rotates relative to the body 100, the first matching portion 532 will abut against the first spiral portion 531 and spirally descend under the guidance of the spiral surface of the first spiral portion 531, thereby allowing the auxiliary cleaning plate 512 to descend from the raised position to the mopping position; on the contrary, during the inward retraction of the swing arm 524, the lower swing arm 5242 rotates, so that the first matching portion 532 spirally rises along the spiral surface of the first spiral portion 531, driving the auxiliary cleaning member 511 to rise from the mopping position to the raised position, thereby the first driving structure 520 realizes the swinging, lifting and rotation functions of the auxiliary cleaning plate 512.

[0415] In addition, if Fig.15 , Fig.16 As shown, when the first spiral portion 531 is arranged on the bottom shell, a plane is arranged at the bottom of the spiral surface of the first spiral portion 531, such as the first horizontal section 5312. During the outward swing or inward retraction process, the first matching portion 532 abuts against the first threaded surface 5311 to spirally descend or ascend; when in the edge position C, the first matching portion 532 abuts against the first horizontal section 5312 to keep the cleaning component in the mopping position.

[0416] Specifically, Fig.17As shown, the first matching portion 532 may also be provided with a second spiral segment and a second horizontal segment 5322 connected to the bottom of the second spiral segment. The second horizontal segment 5322 is a horizontal plane. During the swinging or retracting process of the swing arm 524, the second spiral segment abuts against the first spiral segment to achieve descent or ascent; in the mopping position, the bottom or lower portion of the second spiral segment abuts against the first horizontal segment 5312 to keep the auxiliary cleaning disc 512 in the mopping position; in the lifting position, the top or upper portion of the first spiral segment abuts against the second horizontal segment 5322 to keep the cleaning assembly in the lifting position.

[0417] In some embodiments, the first matching portion 532 of the lower swing arm 5242 can be in various forms. For example, as shown in Figure 66, the first matching portion 532 is a first roller 590 protruding from the outer wall of the swing arm 524, and a spiral slope is provided on the bottom shell. It can be understood that the spiral slope extends spirally in the direction of the fuselage 100; when the swing arm 524 swings outward, the rolling element rolls down along the spiral slope; when the swing arm 524 retracts inward, the roller rolls up along the spiral slope, so that the swing arm 524 rises and falls in the height direction of the fuselage 100, so that the auxiliary cleaning plate 512 switches between the raised position and the mopping position.

[0418] When the first matching portion 532 is a roller, Figure 8 As shown, correspondingly, the first spiral portion 531 includes a first spiral segment, a first horizontal segment 5312 arranged at the bottom of the first spiral segment, and a third horizontal segment 5313 arranged on the top of the first spiral segment; in the mopping position, the first roller 590 is rotatably abutted against the first horizontal segment 5312, and in the raised position, the first roller 590 abuts against the third horizontal plane.

[0419] In some embodiments, the bottom shell can be integrated with the chassis 101; or, the first drive mechanism does not have a bottom shell, but directly sets the spiral slope on the chassis 101, which is simple in structure and low in cost. Figure 8 In the embodiment, no bottom shell is provided, and the first spiral portion 531 is directly provided on the bottom plate 101 .

[0420] Please refer to Fig.13 As shown, in order to prevent the first driving mechanism from affecting the normal cleaning operation of the auxiliary cleaning member 511, in some optional embodiments, the first driving mechanism also includes a fourth elastic member and a second mounting seat, the second mounting seat is connected to the support shell 570, and the fourth elastic member is connected between the second mounting seat and the fuselage 100.

[0421] Exemplarily, the second mounting seat may be in the shape of a positioning column, one end of the fourth elastic member is sleeved on the second mounting seat, and the other end is abutted against the body 100. When the fourth elastic member is in a compressed state, on the one hand, the first matching portion 532 and the first spiral portion 531 can be kept in spiral abutment; on the other hand, when the auxiliary cleaning disc 512 is in the mopping position for cleaning, the elastic force of the fourth elastic member can make the auxiliary cleaning member 511 float and contact with the ground, that is, at this time, the auxiliary cleaning member 511 is in contact with the ground, but can overcome the elastic force of the fourth elastic member and move upward, so as to avoid the auxiliary cleaning member 511 affecting the mopping effect due to too large abutment force with the ground.

[0422] Illustratively, in this embodiment, the second mounting seat is disposed above the supporting shell 570 , and the bottom end of the fourth elastic member is disposed on the second mounting seat, and the top end abuts against the fuselage 100 .

[0423] In one embodiment, the first driving mechanism further includes a connecting shaft, the top of the connecting shaft is arranged on the mounting seat 312, and the bottom is arranged on the chassis 101, the mounting seat 312 remains stationary relative to the fuselage 100, and the fourth elastic member is sleeved on the connecting shaft.

[0424] In some embodiments, the connecting shaft is passed through the support seat 580 and the support shell 570, and the fourth elastic member is sleeved on the connecting shaft, and the two ends can respectively abut on the mounting seat 312 and the top of the support shell 570 to apply a force to the support shell 570, the support seat 580, and the swing arm 524 as a whole, so that the first spiral portion 531 and the first matching portion 532 can abut reliably, or the roller can abut reliably on the spiral slope, thereby improving the lifting and lowering reliability of the swing arm 524.

[0425] It should be noted that when the auxiliary cleaning member 511 rises, the deformation (compression) generated by the fourth elastic member will be greater than the deformation of the auxiliary cleaning member 511 when it falls, that is, the fourth elastic member is always in a certain compression position, so as to ensure the reliability of the connection between the first matching portion 532 and the first spiral portion 531, while improving the cleaning effect of the auxiliary cleaning member 511. Exemplarily, the fourth elastic member is a structure such as a compression spring.

[0426] In some embodiments, please refer to Fig.13 As shown, the first driving structure 520 also includes a second elastic member 550, one end of which is stationary relative to the body 100, and the other end acts on the cleaning module to at least apply a biasing force to any component in the cleaning module to keep the first matching portion 532 and the first spiral portion 531 in abutment.

[0427] In some embodiments, the first driving mechanism also includes a third support seat 580, the third support seat 580 and the support shell 570 are fixedly connected, the end of the output shaft 525 and the third support seat 580 are rotatably connected, and the swing arm 524 is located between the third support seat 580 and the support shell 570, so that the third support seat 580 can provide a supporting foundation for the support shell 570 and the output shaft 525.

[0428] In addition, in order to improve the accuracy of the swing position of the swing arm 524, when the swing arm 524 is in the outward swing position, the side wall of the swing arm 524 can abut against the limiting portion to limit the swing arm 524 so that the auxiliary main cleaning disk is kept in the outward swing position. The specific structure and implementation of the limiting portion have been described in detail in the above embodiments and will not be repeated here.

[0429] For the first drive structure 520, the aforementioned first elastic member 522 may be a tension spring, which is connected between the swing arm 524 and the fuselage 100. It is understandable that when the swing arm 524 swings outward, the first drive motor 521 releases the restriction on the freedom of the swing arm 524, so that under the elastic force of the tension spring itself, the swing arm 524 moves toward the swing-out position under the force of the tension spring. That is, when swinging outward, the first drive motor 521 rotates in the first direction, mainly to unlock the self-locking or limiting force between the transmission components of the aforementioned transmission mechanism, for example, the aforementioned worm gear has a self-locking effect, and the first drive motor 521 itself also has a self-locking effect. During the swing-out process, the first drive motor 521 rotates in the first direction, mainly to release the self-locking or limiting of the drive structure at the initial position A, so as to facilitate the swing arm 524 to swing outward.

[0430] In other embodiments, the first elastic member 522 may also be a torsion spring. For example, the torsion spring may be arranged at the rotation axis of the swing arm 524, for example, it is sleeved outside the ring gear 540 or the support shell 570, one end of the torsion spring is connected to the swing arm 524, and the other end is interconnected with the fuselage 100, or the support shell 570, or other components that remain relatively stationary with the fuselage 100.

[0431] In this way, the swing arm 524 is driven by replacing the tension spring with a torsion spring, and the swing arm 524 is driven by the torsion force of the torsion spring when the swing arm 524 moves toward the initial position A. When the swing arm 524 is in the process of swinging outward, the swing arm 524 can be driven to swing outward by the elastic force of the torsion spring itself. The torsion spring can be arranged outside the support shell 570 or inside the support shell 570.

[0432] In another embodiment, the first driving structure 520 includes a second one-way transmission mechanism 529 between the power output member and the auxiliary cleaning disc 512, and the second one-way transmission mechanism 529 has a third state and a fourth state; in the third state, the power output member and the auxiliary cleaning disc 512 remain stationary; in the fourth state, the power output assembly can rotate relative to the auxiliary cleaning disc 512 in the second direction, and the driving force of the first driving motor 521 is not transmitted to the auxiliary cleaning disc 512; during the outward swing of the auxiliary cleaning disc 512 toward the edge position C and at the edge position C, the second one-way transmission mechanism 529 is in the third state, and the first driving motor 521 drives the auxiliary cleaning disc 512 to rotate; during the inward swing of the auxiliary cleaning disc 512 toward the initial position A, the second one-way transmission mechanism 529 is in the fourth state, and the auxiliary cleaning disc 512 does not rotate. It can be understood that one of the first direction and the second direction is clockwise and the other is counterclockwise.

[0433] Specifically, the second one-way transmission mechanism 529 is the same as the first one-way transmission mechanism 523, and has the same working principle. Similarly, the second one-way transmission mechanism 529 may include a second inner connecting member and a second outer connecting member, the second inner connecting member is connected to the power output member, and the second outer connecting member is connected to the auxiliary cleaning disk 512; in the third state, the second inner connecting member and the second outer connecting member remain relatively stationary; in the fourth state, the second inner connecting member can rotate unidirectionally along the second direction relative to the second outer connecting member.

[0434] The following description is made by taking the second one-way transmission mechanism 529 as a one-way bearing as an example: In some embodiments, please refer to Fig.32 As shown, a second one-way transmission mechanism 529 is provided between the transmission gear 560 and the output shaft 525; wherein the specific structure and function of the second one-way transmission mechanism 529 are similar to those of the first one-way transmission mechanism 523, for example, it includes a second inner ring and a second outer ring, the second outer ring is sleeved on the outer periphery of the second inner ring, the second inner ring has a movement tendency in the first direction relative to the second outer periphery, the two remain stationary, and the driving force of the power output member is transmitted to the auxiliary cleaning disc 512, driving the auxiliary cleaning disc 512 to rotate. On the contrary, the second inner ring rotates in the second direction relative to the second outer ring, and the driving force of the power output member is not transmitted to the auxiliary cleaning disc 512, and the auxiliary cleaning disc 512 will not be driven to rotate. The two states of the second one-way transmission mechanism 529 have nothing to do with the force of the first elastic member 522 on the swing arm 524, and are only related to the rotation direction of the driving power output member of the first drive motor 521.

[0435] It should be noted that the directions of the unidirectional transmission forces of the second unidirectional transmission mechanism 529 and the first unidirectional transmission mechanism 523 are opposite, one of the first direction and the second direction is clockwise, and the other is counterclockwise.

[0436] During the external swing process, the first drive motor 521 drives the power output member to rotate in a first direction, for example, the first direction is counterclockwise, and the first inner ring and the first outer ring of the first one-way transmission mechanism 523 remain relatively still; the second inner ring of the second one-way transmission mechanism 529 has a counterclockwise movement trend relative to the second outer ring, and the two remain relatively still, and the second inner ring and the second outer ring transmit power, and the power output member drives the auxiliary cleaning disc 512 to rotate, that is, during the external swing process, the auxiliary cleaning disc 512 rotates while revolving with the swing arm 524. The second one-way bearing is provided between the transmission gear 560 of the aforementioned third transmission mechanism and the power output shaft 525.

[0437] When reaching the edge position C, the first driving motor 521 drives the power output member to continue to rotate counterclockwise, the second inner ring and the second outer ring remain relatively still, and the auxiliary cleaning disc 512 drives the auxiliary cleaning member 511 to rotate.

[0438] During the retraction process, the first drive motor 521 drives the output member to rotate in the second direction, for example, the second direction is clockwise, and the second inner ring moves clockwise relative to the second outer ring. The driving force of the power output member is not transmitted to the auxiliary cleaning disc 512, and the auxiliary cleaning disc 512 revolves with the swing arm 524, but does not rotate on its own.

[0439] That is, if only the first unidirectional transmission mechanism 523 is provided in the first driving structure 520, when the auxiliary cleaning disc 512 swings outward, the auxiliary cleaning disc 512 swings outward along with the swing arm 524, and rotates and moves downward, switching from the raised initial position A to the edge position C for mopping the floor. At the edge position C, the auxiliary cleaning disc 512 rotates; during the retraction process, the auxiliary cleaning disc 512 swings inward along with the swing arm 524, and rotates and moves upward, switching from the raised initial position A for mopping the floor.

[0440] If the first one-way transmission mechanism 523 and the second one-way transmission mechanism 529 are provided in the first driving structure 520, when the auxiliary cleaning disc 512 swings outward, the auxiliary cleaning disc 512 swings outward along with the swing arm 524, rotates and moves downward, and switches from the raised initial position A to the edge position C for mopping the floor. At the edge position C, the auxiliary cleaning disc 512 rotates; during the retraction process, the auxiliary cleaning disc 512 swings inward along with the swing arm 524, moves upward, but does not rotate, and switches from the edge position C for mopping the floor to the raised initial position A. Since during the retraction process, the auxiliary cleaning disc 512 is detached from the ground, there is no need to mop the floor for cleaning, and the auxiliary cleaning disc 512 does not need to rotate, which protects the auxiliary cleaning disc 512 and the third transmission mechanism.

[0441] During the retraction process, the auxiliary cleaning plate 512 simultaneously moves upward, and when in the initial position A, the auxiliary cleaning plate 512 is located above the flat mop. Therefore, when the auxiliary cleaning plate 512 switches between the initial position A and the edge position C, or when switching between the raised position and the initial position A, the main cleaning component 310 needs to be in the mopping position first, which can change the position of the auxiliary cleaning plate 512.

[0442] like Figure 7 As shown, when the swing arm 524 rotates from the initial position A toward the edge position C, the swing arm 524 rotates counterclockwise, thereby driving the auxiliary cleaning disc 512 to rotate counterclockwise, switching from the initial position A to the edge position C. Correspondingly, the first inner ring of the first one-way transmission mechanism 523 can rotate unidirectionally in the first direction relative to the first outer ring, and the second inner ring of the second one-way transmission mechanism 529 can rotate unidirectionally in the second direction relative to the second outer ring. In other embodiments, the relative positions of the initial position A and the edge position C of the swing arm 524 can also be swapped, such as Fig.36 As shown, when the swing arm 524 rotates from the initial position A toward the edge position C, the swing arm 524 rotates clockwise, thereby driving the auxiliary cleaning disc 512 to rotate clockwise. Correspondingly, the first inner ring of the first one-way transmission mechanism 523 can rotate unidirectionally in the second direction relative to the first outer ring, and the second inner ring of the second one-way transmission mechanism 529 can rotate unidirectionally in the first direction relative to the second outer ring.

[0443] The above is a preferred mode of the first driving structure 520. As an alternative embodiment, the first driving structure 520 further includes two first motors. Different from the aforementioned first driving structure 520, the lifting and swinging of the auxiliary cleaning disc 512 uses one first motor, and another first motor is arranged on the swing arm 524. This first motor alone drives the auxiliary cleaning disc 512 to rotate, so there is no need to arrange the aforementioned first one-way transmission mechanism 523 and second one-way transmission mechanism 529. Relatively speaking, the first driving structure 520 with two first motors occupies a large space and has a high cost.

[0444] For the replacement of the first one-way transmission mechanism 523 and the second one-way transmission mechanism 529, a shifting structure can also be provided. For example, a shifting structure is provided between the power output member and the swing arm 524, and two gears are provided. The first gear connects the power output member to the swing arm 524, and the second gear connects the power output member to the auxiliary cleaning disk 512. It is also possible to use a motor to drive the swinging and rotation of the auxiliary cleaning disk 512.

[0445] As an alternative, the first driving structure 520 may not be provided with the first elastic member 522, and the outward swing and inward retraction of the swing arm 524 may be driven by the first driving motor 521. However, when the motor is used for driving during the outward swing, when the auxiliary cleaning disc 512 encounters an obstacle, hard contact will be formed, which may easily impact the auxiliary cleaning disc 512, and the auxiliary cleaning disc 512 may be easily damaged. The first elastic member 522 is usually used to drive the auxiliary cleaning disc 512 to swing outward.

[0446] The first motor is used to drive the swing arm 524 to swing outward and retract inward, and the auxiliary cleaning disk 512 to rotate at the edge position C. The aforementioned first one-way transmission mechanism 523 and second one-way transmission mechanism 529 can also be set, but a limiting structure 900 is required for the swing arm 524 at the edge position C. For example, at the edge position C, when the swing arm 524 is blocked by the limiting structure 900, the first drive motor 521 continues to rotate in the direction of the outward swing. At this time, the swing arm 524 does not rotate, and the auxiliary cleaning disk 512 rotates.

[0447] The first driving structure 520 involved in all the following embodiments can adopt the aforementioned first driving mechanism and has universality.

[0448] Example 2

[0449] This embodiment is based on the above content, under the second technical route, to set the auxiliary cleaning component 510 on the main cleaning component 310. For the convenience of description, this embodiment takes the main cleaning component 310 as a flat mop as an example. Figures 19 to 31 As shown, a detailed introduction to the cleaning robot is given.

[0450] like Figures 19 to 31 In the robot shown, the main cleaning module 300 includes a first lifting structure 330, a second driving structure 340, and at least one main cleaning component 310; the first lifting structure 330 is used to drive the main cleaning component 310 to rise and fall. The main cleaning component 310 is a flat mop, which includes a mounting seat 312, a vibration plate 313 disposed on the mounting seat 312, and at least a main cleaning member 311 disposed on the bottom of the vibration plate 313; the second driving structure 340 is disposed on the mounting seat 312 or the body 100, and is used to drive the vibration plate 313 to reciprocate and vibrate relative to the mounting seat 312, or to reciprocate and twist, so that the main rag mounted on the bottom of the vibration plate 313 can mop the floor. Fig. 20 , Fig.21 and Fig. 22 As shown, the main cleaning component 310 is located below the bottom plate 101 of the body 100. Compared with Example 1, the structural arrangement inside the body 100 is the same, refer to the inner cavity of Example 1, which will not be repeated here, but the arrangement position of the auxiliary cleaning module 500 is different.

[0451] Among them, the first lifting structure 330 and the second driving structure 340 can both adopt the first lifting structure 330 and the second driving structure 340 of the aforementioned embodiment 1, which will not be repeated here. For the first lifting structure 330 and the second driving structure 340, other structures can also be used as long as they can drive the flatbed tow truck to lift and lower as a whole, such as a gear and rack structure, a cylinder structure, a four-bar structure, etc. The second driving structure 340 can be a cam structure, or other structures, which only needs to drive the vibration plate 313 to do reciprocating motion. The first lifting structure 330 and the second driving structure 340 can be driven by one motor, or they can be driven by one motor separately.

[0452] Since the auxiliary cleaning module 500 is arranged on the top of the mounting seat 312, when the first lifting structure 330 drives the mounting seat 312 to be lifted and lowered, the auxiliary cleaning module 500 is synchronously driven to be lifted and lowered along with the flat mop, and the main cleaning member 311 and the auxiliary cleaning member 511 are synchronously in the lifting position and the mopping position. Compared with Example 1, the second lifting structure 330 is not required, and the first driving structure 520 only drives the auxiliary cleaning plate 512 to swing and rotate, and the first spiral portion 531 and the first matching portion 532 of the aforementioned second lifting structure are not required, so that the structure of the first driving structure 520 in the height direction of the fuselage 100 is simpler and more compact, the avoidance space required in the fuselage 100 is small, and the structure is more compact. Please refer to the content of Example 1 for the first driving structure 520, which will not be repeated here.

[0453] Since the auxiliary cleaning module 500 as a whole rises and falls synchronously with the flat mop, the main cleaning member 311 and the auxiliary cleaning member 511 are synchronously in the mopping position and the lifting position. In the mopping position, the main cleaning member 311 and the auxiliary cleaning member 511 both clean the surface to be cleaned.

[0454] The auxiliary cleaning plate 512 has the aforementioned initial position A and edge position C. Regardless of whether the flat mop is in the lifting position or the mopping position, the auxiliary cleaning plate 512 can switch between the initial position A and the edge position C under the drive of the first driving structure 520. When in the mopping position, the auxiliary cleaning plate 512 is in the initial position A and the edge position C, and can mop the floor. In the edge position C, similarly, the first driving structure 520 drives the auxiliary cleaning plate 512 to rotate; in the initial position A, the first driving structure 520 can drive the auxiliary cleaning plate 512 to rotate and mop the floor; or in the initial position A, the first driving motor 521 is stopped, the auxiliary cleaning plate 512 remains in the initial position A without rotating, and as the fuselage 100 moves, the auxiliary cleaning member 511 on the bottom of the auxiliary cleaning plate 512 mops the floor (without rotating).

[0455] like Fig.24 and Fig.25As shown, the auxiliary cleaning disc 512 is at the initial position A and the edge position C. When the auxiliary cleaning disc 512 swings from the initial position A toward the edge position C, the swing arm 524 swings clockwise, and the auxiliary cleaning disc 512 at the initial position A is closer to the front of the mounting base 312 of the flatbed mop along the forward direction of the fuselage 100. In other words, along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly 511 at the initial position A is located in front of the rotation center of the auxiliary cleaning assembly 511 at the edge position C.

[0456] Specifically, continue to refer to Fig.16 and Fig.17 , the swing arm 524 swings clockwise to drive the auxiliary cleaning assembly 511 to switch from the initial position A to the edge position C; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly 511 at the initial position A is located in front of the rotation center of the auxiliary cleaning assembly 511 at the edge position C.

[0457] When the auxiliary cleaning plate 512 in Embodiment 1 swings from the initial position A toward the edge position C, as shown in FIG. Figure 7 As shown, the swing arm 524 swings counterclockwise, along the forward direction of the fuselage 100, and the auxiliary cleaning plate 512 in the initial position A is closer to the rear of the flat mop, as shown in FIG. Fig.10 As shown, in order to reserve space for the auxiliary cleaning module 500 at the initial position A, the mounting plate of the mounting seat 312 of the flat mop needs to have a first recessed area 3141 protruding downward, so that the vibration plate 313, the bottom plate 315 and the bottom of the first recessed area 3141 are flush, which is convenient for installing the main rag. In order to avoid the first recessed area 3141, the vibration plate 313 and the bottom plate 315 need to be provided with a avoidance portion or a avoidance opening. The auxiliary cleaning module set up will have a great impact on the structure of the flat mop. Fig.24 and Fig.25 As shown, along the forward direction of the body 100, the auxiliary cleaning plate 512 at the initial position A is closer to the front of the mounting base 312 of the flatbed mop, and the vibration plate 313 and the bottom plate 315 of the flatbed mop do not need to be a retraction avoidance space for the auxiliary cleaning module 500, and the aforementioned first recessed area 3141 and avoidance port are not required.

[0458] Specifically, Fig. 22In this embodiment, the main cleaning component 310 includes a mounting seat 312 and a main cleaning member fixed to the bottom of the mounting seat 312. The mounting seat 312 is a flat drag, which includes a top plate 314, a vibration plate 313 and a bottom plate 315. The vibration plate 313 is movably arranged between the top plate 314 and the bottom plate 315, and the main cleaning member 311 is arranged on the bottom of the bottom plate 315 and the vibration plate 313. The side of the top plate 314 facing the bottom plate 315 is no longer provided with a protrusion protruding toward the side of the bottom plate 315, that is, the upper surface of the top plate 314 is no longer provided with a recess 3141. Furthermore, the aforementioned third notch 3131 is not required on the vibration plate 313. The mounting opening 3151 provided on the bottom plate 315 of the present embodiment is a closed annular hole. The mounting opening 3151 is used to avoid the vibration track of the vibration plate 313. That is, the vibration plate 313 is located in the mounting opening 3151, so that the bottom plate 315 surrounds the outer periphery of the vibration plate 313 and is fixedly connected to the top plate 314, so that the mounting opening 3151 is used to avoid the movement track of the vibration plate 313. The front edge of the bottom plate 315 is provided with a second notch 3121. The second notch 3121 is used to avoid the auxiliary cleaning assembly 510 when it is in the initial position A. The second notch 3121 is not connected to the mounting opening 3151.

[0459] The structure of the auxiliary cleaning module 500 is the same as that of the embodiment 1, and includes an auxiliary cleaning assembly 510 and a first driving structure 520. The first driving structure 520 includes a first driving motor 521, a swing arm 524, and a first elastic member 522. The auxiliary cleaning assembly 510 is arranged on the swing arm 524. The first driving motor 521 cooperates with the first elastic member 522 to at least drive the swing arm 524 to swing, so as to drive the auxiliary cleaning disc 512 to swing, so as to switch between the initial position A and the edge position C. Further, at the edge position C, the first driving motor 521 drives the auxiliary cleaning disc 512 to rotate and mop the floor, but the first lifting mechanism 530 is not provided.

[0460] In order to allow the auxiliary cleaning assembly 510 to swing, as Fig.19 As shown, the side wall of the fuselage 100 is provided with a first avoidance opening 104, such as Fig.23 As shown, a first avoidance area 109 is provided on the chassis 101 of the body 100; at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning plate 512 can swing outward toward the edge position C through the first avoidance opening 104, and retract inward toward the initial position A; when the auxiliary cleaning component 510 is in the initial position A, at least part of the auxiliary cleaning component 510 is located in the first avoidance area 109.

[0461] like Fig.23As shown, a notch area 1011 is provided on the chassis 101 , and the notch area 1011 is connected to the inner cavity of the fuselage 100 , and the first avoidance opening 104 . The notch area 1011 and part of the inner cavity of the fuselage 100 form a first avoidance area 109 .

[0462] like Fig. 20 and Fig. 22 As shown, in the aforementioned first driving structure 520, the first driving motor 521 is located in the fuselage 100, the swing arm 524 is located in the notch area 1011 (the aforementioned supporting shell 570 and the second transmission assembly are also located in this notch area 1011), one end of the swing arm 524 is provided on the mounting seat 312 of the flatbed mop, and the other end is located below the chassis 101. Since the auxiliary cleaning module 500 as a whole rises and falls with the flatbed mop as a whole, at least the first driving motor 521 in the first driving structure 520 is lifted and lowered in the fuselage 100, and the swing arm 524 is lifted and lowered below the chassis 101.

[0463] like Fig. 20 As shown, the chassis 101 is provided with a first boss 105 which is recessed into the inner cavity of the body 100 and extends into the inner cavity of the body 100. The first boss 105 forms a first cavity 106 ( Fig. 22 ), the first boss 105 and the notch area 1011 on the aforementioned chassis 101 are adjacent to and connected to each other.

[0464] Preferably, at least part of the second driving structure 340 on the flatbed mop is disposed in the first concave cavity 106. In the width direction and the height direction of the body 100, the second driving structure 340 and the first driving structure 520 are staggered on the mounting seat 312 of the flatbed mop. When the flatbed mop is lifted and lowered synchronously with the auxiliary cleaning module 500, since the first driving structure 520 and the second driving structure 340 are staggered in the height direction of the body 100, the height space required for lifting the first driving structure 520 and the second driving structure 340 in the body 100 is relatively small. Correspondingly, the first lifting structure 330 can also be disposed in the area between the first boss 105 and the dust box cavity 204 in the body 100.

[0465] like Fig. 20 and Fig.21As shown, the dry cleaning module 200 of the cleaning device also includes a dust exhaust channel 107 disposed in the body 100. Under the action of the dust collecting fan or vacuum pump on the base station, the garbage in the dust box 202 is extracted through the dust exhaust channel 107, and the dust is collected in the dust collecting bin of the base station. If the auxiliary cleaning module 500 is not provided, the dry cleaning module 200 also includes an air inlet channel 111 disposed in the body 100. The air outlet end of the dust collecting fan or vacuum pump on the base station is connected to the inner cavity of the dust box 202 through the air inlet channel 111. When collecting dust, the dust collecting fan blows air into the dust box 202 through the air inlet channel 111. Through the negative pressure generated by the dust collecting fan, the garbage in the dust box 202 is sucked into the dust collecting bin through the dust exhaust channel, so as to form a blowing and sucking, and a closed-loop airflow direction is formed between the suction end and the blowing end of the dust collecting fan and the inner cavity of the dust box 202. The aforementioned main fan 203 is distributed between the dust exhaust channel and the air inlet channel 111, and is located on the rear part of the body 100. However, when the cleaning robot includes the aforementioned auxiliary cleaning module 500, in order to reserve space for the lifting and swinging of the auxiliary cleaning module 500, the dry cleaning module 200 is not provided with the air inlet channel 111. Since the air inlet channel 111 is not provided, the air inlet of the side wall of the body 100 is directly connected to the inner cavity of the body 100, and the area in the body 100 that is connected to the air inlet of the dust box 202 is used as the air inlet area.

[0466] Therefore, the auxiliary cleaning module 500 and the dust exhaust ventilation are distributed on both sides of the main fan 203. Since the dust exhaust channel 107 needs to discharge garbage, the longitudinal cross-sectional area of ​​the dust exhaust channel 107 is large and the space occupied is large. Therefore, the auxiliary cleaning module 500 can only be set in the area where the air inlet channel 111 was previously set. The auxiliary cleaning module 500 and the side brush 400 are located on the same side of the forward direction of the fuselage 100.

[0467] In addition, since the main rag on the flat mop is replenished with water, a water replenishment structure is provided as in the aforementioned embodiment. The water replenishment structure at least includes a water tank 600, a water delivery mechanism connected to the water tank 600, and a first liquid port provided on the chassis 101. The water delivery mechanism delivers the liquid in the water tank 600 to the first liquid port on the chassis 101. A second liquid port is provided on the mounting plate and the vibration plate 313. The liquid drips onto the main rag through the first liquid port and the second liquid port.

[0468] like Fig.10 As shown, the flat mop also includes a bottom plate 315, which is arranged on the bottom of the mounting plate, and the bottom plate 315 is provided with a mounting cavity, and the vibration plate 313 is embedded in the mounting cavity. The bottom of the vibration plate 313 and the bottom of the bottom plate 315 are on the same flat plate, and the main rag is pasted on the bottom of the bottom plate 315 and the bottom of the vibration plate 313 by pasting.

[0469] Continue to refer Fig.76The mounting seat 312 is a flat mop, and the front edge of the mounting seat 312 has a second notch 3121; the main cleaning member 311 is provided with a first notch 3122 corresponding to the second notch 3121; when the auxiliary cleaning component 511 is located at the edge position C, part of the auxiliary cleaning component 310 is embedded in the second notch 3121, so that the second part 5111 is located in front of the first part 3111, and the cleaning areas of the first part 3111 and the second part 5111 have the overlapping area.

[0470] Different from Example 1, when the auxiliary cleaning component 511 is in the initial position A, the auxiliary cleaning component 310 is also partially embedded in the second notch 3121 on the front edge of the mounting seat 312, so that the second part 5111 is located in front of the first part 3111, and the cleaning areas of the first part 3111 and the second part 5111 have the overlapping area.

[0471] Specifically, the flat mop includes a top plate 314, a vibration plate 313 and a bottom plate 315, wherein a mounting opening 3151 is provided on the bottom plate 315, the bottom plate 315 and the top plate 314 are fixedly connected, and the vibration plate 313 is embedded in the mounting opening 3151; the main cleaning member 311 is provided on the bottom of the bottom plate 315 and the vibration plate 313; the vibration plate twists or reciprocates in the third avoidance opening or the mounting opening to drive the main cleaning member to twist or reciprocate; and the second notch is provided on the top plate and the bottom plate. Specifically, the surfaces of the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush, so that the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 can be fixed with the main cleaning member 311 by gluing or the like to ensure the flatness of the main cleaning member 311 and increase the area of ​​the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0472] Different from the first embodiment, since the top plate 314 no longer has a protrusion, the second notch 3121 on the top plate 315 does not need to avoid the protrusion, and thus the second notch 3121 of the bottom plate 315 of the present embodiment has a smaller space, which can avoid the auxiliary cleaning assembly 510 in the initial position A. After the top plate 314, the vibration plate 313, the bottom plate 315 and the main cleaning member 311 are assembled, the second notches 3121 on the top plate 314 and the bottom plate 315, and the first notch 3122 of the main cleaning member 311 are aligned.

[0473] In this embodiment, the area of ​​the auxiliary cleaning member is smaller than the area of ​​the main cleaning member; the main cleaning member has a first portion, and the auxiliary cleaning member has the second portion.

[0474] like Fig. 20 As shown, a water tank installation area 115 is provided in the body 100 , and the water tank 600 is arranged in the installation area, adjacent to or close to the dust exhaust passage 107 , so that the water tank 600 and the main fan 203 are distributed on both sides of the dust exhaust passage 107 .

[0475] Same as Example 1, Fig.24 As shown, regardless of whether the auxiliary cleaning module 500 is in the initial position A, the edge position C, or the third position B (mentioned below), the main cleaning component 310 and the auxiliary cleaning component 510 respectively have a first part 3111 and a second part 5111. In the direction of forward movement of the fuselage 100, the cleaning areas of the first part 3111 and the second part 5111 overlap to avoid missed scanning.

[0476] like Fig.25 As shown, in the forward direction of the fuselage 100, since the initial position A of the auxiliary cleaning disk 512 is located in front of the edge position C of the auxiliary cleaning disk 512, the aforementioned second part 5111 is located in front of the first part 3111, the second part 5111 is cleaned first, and the first part 3111 is cleaned later, and the cleaning areas of the two have an overlapping area H.

[0477] In addition to the above-mentioned contents, other contents not mentioned in this embodiment are the same as those in the aforementioned embodiment 1 and are not described here in detail. Please refer to the aforementioned contents.

[0478] Example 3

[0479] This embodiment is the same as the second embodiment, which is the second technical route, in which the auxiliary cleaning component 510 is arranged on the main cleaning component 310. Under the drive of the first lifting structure 330, the auxiliary cleaning module 500 rises and falls synchronously with the main cleaning component 310. The main cleaning module 300 of this embodiment is still a flat mop structure, such as Figures 32 to 44 As shown, the difference between it and embodiment 3 is mainly that:

[0480] like Fig.34 As shown, the chassis 101 is not provided with a notch area 1011, the first avoidance area 109 is located below the chassis 101, the first protrusion 105 of the chassis 101 is directed upward toward the first concave cavity 106 of the inner cavity of the fuselage 100, and the first concave area 3141 forms the first avoidance area 109. Fig.35 As shown, the first concave cavity 106 and the roller brush cavity 205 for installing the roller brush 201 are schematically shown from the upward direction. Fig.34 As shown, the first boss 105 and the dust box cavity 204 in which the dust supply box 202 is installed are shown from a top view.

[0481] As in Example 2, the first driving structure 520 includes a first driving motor 521, a first elastic member 522 and a swing arm 524, and the auxiliary cleaning assembly 510 is disposed on the swing arm 524. Fig.33As shown, at least the first driving motor 521 of the first driving structure 520 is located in the first concave cavity 106, one end of the swing arm 524 is located in the first concave cavity 106, and the other end of the swing arm 524 is located outside the first concave cavity 106 and below the chassis 101. When the flat plate drags the auxiliary cleaning module 500 to rise and fall synchronously, the first driving structure 520 rises and falls in the first boss 105, and the first boss 105 protects and limits the first driving structure 520. Since the first driving structure 520 rises and falls below the chassis 101, it will not affect other structures in the fuselage 100 during the movement. At the same time, Fig.33 In the embodiment, a first opening is provided on the left side of the first boss 105. The first opening is mainly used to allow the wires connected between the first drive motor 521 of the first drive structure 520, the second drive motor 341 of the second drive structure 340, the sensors provided on the auxiliary cleaning module 500 and the main cleaning component 310 and the control board at the front of the body 100 to pass through so as to connect with the control board, thereby making the wiring more regular. At the same time, during the installation process, the auxiliary cleaning module 500 and the flat mop are first assembled as a cleaning module. The bottom of the cleaning module body 100 faces upward, and part of the structure of the first drive structure 520 is directly embedded in the first concave cavity 106. The first boss 105 plays a guiding and positioning role in its installation.

[0482] The first boss 105 is connected to the inner cavity of the fuselage 100 except for the first opening for wiring, while other areas are not connected to the inner cavity of the fuselage 100, which plays a role of waterproofing and protection, and also enables the robot to achieve an avoidance area on the chassis 101 while maintaining the structural integrity of the chassis 101 as much as possible, thereby facilitating the processing and manufacturing of the chassis 101.

[0483] The second driving structure 340 of the main cleaning module 300 is used to drive the flat plate to reciprocate and vibrate or twist to clean the floor; the second driving structure 340 includes at least a second driving motor, which is located in the first cavity 106 and below the first driving motor 521. Fig.40 shown.

[0484] like Fig.41 As shown, at least the first driving motor 521 of the first driving structure 520 is installed on the top of the shell of the second driving structure 340, and other structures of the first driving structure 520 are staggered with the second driving structure 340 in the height direction and horizontal direction of the fuselage 100.

[0485] Furthermore, the second driving structure 340 may be entirely located in the first concave cavity 106 , so that the first driving structure 520 and the second driving structure 340 are more compactly arranged when the tablet is dragged thereon.

[0486] Since at least the first driving motor 521 of the first driving structure 520 is located above the top of the shell of the second driving structure 340 (i.e., stacked in the height direction) and are both embedded in the first concave cavity 106, when the flat mop and the auxiliary cleaning module 500 rise synchronously, the height of the first concave cavity 106 needs to be higher than the height of the first concave cavity 106 in Example 2, so that the first boss 105 is further recessed toward the inner cavity of the fuselage 100, and there is no space in the fuselage 100 to set the first lifting structure 330. In order to set the first lifting structure 330 in the fuselage 100, in this embodiment, the position where the water tank 600 was originally set in Example 2 is vacated for the installation of the lifting drive assembly of the first lifting structure 330.

[0487] The water tank 600 of the water replenishment structure is also arranged at a different position, and the water tank 600 is arranged below the dust box cavity 204. The body 100 includes a bottom plate 101 and an upper shell cover 102 arranged on the bottom plate 101; the upper shell cover 102 and the bottom plate 101 form an inner cavity of the body 100; the water tank 600 is located below the bottom plate 101, and the dust box cavity 204 is located above the bottom plate 101. Thus, the water tank 600 and the dust box cavity 204 are distributed on both sides of the bottom plate 101.

[0488] Further, if Fig.35 As shown, a first mounting groove 1012 is provided on the bottom of the chassis 101, and the water tank 600 is installed in the first mounting groove 1012. In the height direction of the body 100, the dust box 202 and / or the dust box cavity 204 are located above the water tank 600, and the projections of the water tank 600 and the dust box cavity 204 on the first plane at least partially overlap, wherein the first plane is a plane perpendicular to the height direction of the body 100. That is, in the height direction of the body 100, the thickness of the dust box 202 is thinner than that of the dust box 202 in Example 2, so as not to affect the volume of the dust box 202, as shown in FIG. Fig.33 , the width of the dust box 202 is increased along the forward direction of the body 100 to ensure the volume of the dust box 202. The dust box 202 as a whole occupies more space toward the rear of the body 100. In addition, coupled with the aforementioned first boss 105, the first driving component of the first lifting structure 330 has no space at all to be arranged in the area between the rear of the dust box 202 and the first boss 105.

[0489] like Fig.35 The roller brush chamber 205 of the dry cleaning module 200 is shown, and the water tank 600 is located behind the roller brush chamber 205 along the forward direction of the body 100, so that the arrangement of the water tank 600 does not affect the position of the roller brush chamber 205. Preferably, a double roller brush 201 is arranged in the roller brush chamber 205, so that the structure in the body 100 is compact without increasing the size of the body 100.

[0490] In addition, the auxiliary cleaning component 510 can also be provided with a water replenishing structure to moisten the auxiliary cleaning part 511. The water tank 600 with the aforementioned water replenishing structure can be used to output the water in the water tank 600 to the hollow area of ​​the auxiliary cleaning disc 512 (mentioned below), and the solution drips onto the auxiliary cleaning part 511 through the hollow area.

[0491] Same as Example 2, Fig.24 and Fig.25 As shown, in the forward direction of the fuselage 100, since the initial position A of the auxiliary cleaning disk 512 is located in front of the edge position C of the auxiliary cleaning disk 512, the aforementioned second part 3111 is located in front of the first part 5111, the second part 3111 is cleaned first, and the first part 5111 is cleaned later, and the cleaning areas of the two have an overlapping area H.

[0492] The main cleaning component 310 of this embodiment can be used in conjunction with the main cleaning component 311 of embodiment 2. Fig. 22 The main cleaning components 310 shown are of the same structure.

[0493] like Fig.33 As shown, the other structures of this embodiment are arranged the same as those in Embodiment 2, and will not be described in detail here. See the description of Embodiment 2 above. Fig.42 , Fig.43 and Fig.44 As shown, the auxiliary cleaning plate 512 is at the initial position A and the edge position C, and the auxiliary cleaning plate 512 and the mounting base 312 of the flat mop respectively have the aforementioned second part 5111 and the first part 3111 to avoid missing the cleaning area. In addition, the structures and contents not mentioned above can be arranged the same as those in Example 2, and refer to the aforementioned contents.

[0494] Example 4

[0495] This embodiment is the same as the embodiment 3, which is the second technical route, in which the auxiliary cleaning component 510 is arranged on the main cleaning component 310. Under the drive of the first lifting structure 330, the auxiliary cleaning module 500 rises and falls synchronously with the main cleaning component 310. The main cleaning module 300 of this embodiment is still a flat mop structure, such as Figures 57a to 81 As shown, the main difference between this embodiment and the third embodiment is that the layout and structure of the auxiliary cleaning module 500 are different, and the first driving structure is different. In addition, this embodiment further refines the water replenishment structure, auxiliary cleaning assembly and dry cleaning module on the basis of the aforementioned third embodiment, and these differences and refinements will be described in detail below.

[0496] In this embodiment, at the edge position C, at least part of the auxiliary cleaning assembly 510 extends out of the edge of the fuselage 100, that is, the auxiliary cleaning assembly 510 extends out of the edge of the maximum width of the fuselage 100 and is located outside the walking range of the fuselage 100 to achieve edge cleaning.

[0497] The auxiliary cleaning module 500 is disposed on the main cleaning assembly 310 . Driven by the first lifting structure 330 , the auxiliary cleaning module 500 rises and falls synchronously with the main cleaning assembly 310 .

[0498] The first lifting structure 330 of this embodiment may be the same as that of the third embodiment.

[0499] In some embodiments, the main cleaning component 310 and the auxiliary cleaning component 510 are simultaneously in the mopping position and the lifting position. When in the mopping position, the main cleaning component 310 and the auxiliary cleaning component 510 both clean the surface to be cleaned.

[0500] In some embodiments, Figure 57a to Figure 57c As shown, the main cleaning component 310 is arranged below the chassis 101 of the body 100, and the auxiliary cleaning module 500 is arranged on the top of the mounting seat 312 of the main cleaning module 300 and is located below the chassis 101 of the body 100. The first lifting structure 330 drives the mounting seat 312 to rise and fall to drive the auxiliary cleaning module 500 to rise and fall.

[0501] Since the auxiliary cleaning module 500 is arranged on the top of the mounting seat 312, when the first lifting structure 330 drives the mounting seat 312 to rise and fall, the mounting seat 312 drives the auxiliary cleaning module 500 and the main cleaning component 311 to rise and fall synchronously. In this case, the mounting seat 312 is used not only as a mounting carrier for the main cleaning component 311, but also for driving the auxiliary cleaning module 500 to rise and fall. One component has multiple uses, which is conducive to simplifying the structural design and realizing the compactness of the structure in the height direction of the fuselage 100.

[0502] Fig.59 Schematic diagram of the three-dimensional structure of the chassis 101 in this embodiment; Fig.60 It is a schematic diagram of the chassis 101 structure from an upward perspective. It can also be seen from the figure that the structure of the chassis 101 of this embodiment is the same as the chassis structure in Example 3.

[0503] In some embodiments, Fig.57c As shown, the side wall of the fuselage 100 is provided with a first avoidance opening 104, such as Fig.59 and Fig.60 As shown, a first avoidance area 109 which is concave upward toward the inner cavity of the fuselage 100 is provided on the bottom of the fuselage 100 , and the aforementioned first driving structure 520 is located in the first avoidance area 109 .

[0504] Exemplarily, a first avoidance area 109 is provided on the chassis 101 of the fuselage 100; at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning component 510 can swing outward toward the edge position C through the first avoidance opening 104, and retract inward toward the initial position; when the auxiliary cleaning component 510 is in the initial position, at least part of the auxiliary cleaning component 510 is located in the first avoidance area 109.

[0505] The first avoidance area 109 is located below the bottom plate 101 , and the first avoidance area 109 is connected to the first avoidance opening 104 , so that the auxiliary cleaning module 500 can swing between the edge position C and the initial position A.

[0506] When the auxiliary cleaning module 500 is in the initial position A, the auxiliary cleaning module 500 is at least partially stored in the first avoidance area 109. For example, when the auxiliary cleaning assembly 510 is in the initial position A, the auxiliary cleaning disc 512 and the swing arm 524 are both located in the first avoidance area 109, and at least part of the auxiliary rag is located in the first avoidance area 109. At least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning module 500 can swing outward toward the edge position C through the first avoidance opening 104, or retract toward the initial position A.

[0507] In this way, when in the non-edge cleaning mode, the auxiliary cleaning module 500 is retracted to the bottom of the body 100, so that the overall structure of the cleaning device 10 is more compact, and the overall appearance of the cleaning device 10 is maintained, and the overall size of the cleaning device 10 is reduced.

[0508] In some embodiments, when the auxiliary cleaning cloth is at the initial position A, the auxiliary cleaning module 500 is partially retracted within the projection range of the maximum edge of the body 100. The portion of the auxiliary cleaning cloth extending outside the edge of the maximum width of the body 100 when the auxiliary cleaning cloth is at the edge position B is greater than the portion of the auxiliary cleaning cloth extending outside the edge of the maximum width of the body 100 when the auxiliary cleaning cloth is at the initial position A.

[0509] In some embodiments, Fig.59 As shown, the first avoidance area 109 is a concave cavity 106 disposed on the bottom of the chassis 101 and concave upward toward the inner cavity of the fuselage 100 .

[0510] The first avoidance area 109 is disposed at an edge region of the fuselage 100 .

[0511] It can be understood that when the auxiliary cleaning module 500 is in the initial position A and the raised position, the auxiliary cleaning module 500 is stored in the first avoidance area 109, and is not housed in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning module 500 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the outward swing position.

[0512] In some embodiments, Figure 57g and Fig.77 As shown, the main cleaning assembly 310 includes a mounting seat 312 and a vibration plate 313 ( Fig.76 ), the vibration plate 313 is arranged on the mounting seat 312, and a second notch 3121 is arranged at the edge of the mounting seat 312. In the initial position A, at least part of the edge of the auxiliary cleaning plate 512 can be embedded in the second notch 3121.

[0513] The second notch 3121 provides an escape space for the auxiliary cleaning plate 512 , and the escape space is mainly used to escape the edge portion of the auxiliary cleaning plate 512 .

[0514] like Fig.76 As shown, since the vibration plate 313 is relatively small and is relatively far from the auxiliary cleaning assembly 510 , the vibration plate 313 may not be provided with a gap for avoiding the auxiliary cleaning disc 512 .

[0515] Exemplarily, the auxiliary cleaning disk 512 is a circular rag disk, see Figure 57g As shown, the contour of the second notch 3121 close to the front of the body 100 is an arc-shaped structure matching the contour of the auxiliary cleaning plate 512 .

[0516] The second notch 3121 may match a portion of the outer contour of the auxiliary cleaning plate 512 .

[0517] Exemplarily, the auxiliary cleaning plate 512 is a circular rag plate, and the partial contour of the second notch 3121 close to the rear of the fuselage 100 is an arc-shaped structure matching the contour of the rag plate, so that the partial contour of the second notch 3121 close to the rear of the fuselage 100 forms a state of covering the partial contour of the auxiliary cleaning plate 512, so that the main cleaning element 311 and the auxiliary cleaning element 511 have an overlapping area H in the moving direction along the fuselage 100, so as to avoid missing cleaning between the main cleaning element 311 and the auxiliary cleaning element 511.

[0518] Similar to Example 3, in the forward direction of the body 100, since the initial position A of the auxiliary cleaning disk 512 is located in front of the edge position C of the auxiliary cleaning disk 512, the aforementioned second part 5111 is located in front of the first part 3111, the second part 5111 is cleaned first, and the first part 3111 is cleaned later, and the cleaning areas of the two have an overlapping area H to avoid the problem of missed cleaning areas due to the presence of a gap between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience.

[0519] Fig.76 The main cleaning component 310 of this embodiment is schematically shown in an exploded view. The main cleaning component 310 of this embodiment has universal structure, and the main cleaning component 310 can also be used in Embodiment 2 and Embodiment 3.

[0520] like Fig.76As shown, the mounting base 312 includes a top plate 314 and a bottom plate 315 arranged on the bottom of the top plate 314, the bottom plate 315 is provided with a mounting opening 3151, and the vibration plate 313 is embedded in the mounting opening 3151; the main rag is arranged on the bottom of the vibration plate 313 and the bottom plate 315; the auxiliary cleaning module 500 is arranged on the top plate 314; the vibration plate 313 reciprocates and vibrates or twists to drive the main rag to move, so as to clean the surface to be cleaned.

[0521] Fig.76 In the embodiment, the installation opening 3151 of the bottom plate 314 is a closed annular opening.

[0522] The main cleaning member 311 can be fixed to the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 by gluing or the like. In addition, the surface of the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 is flush to ensure the flatness of the main cleaning member 311 and increase the area of ​​the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0523] like Fig.76 As shown, in order to avoid the auxiliary cleaning disk 512 , the top plate 314 , the bottom plate 315 and the main cleaning member 311 all have a second notch 3121 .

[0524] Without limitation, Figure 57f As shown, when the auxiliary cleaning plate 512 swings from the initial position A toward the edge position C, the swing arm 524 drives the auxiliary cleaning assembly 510 to swing clockwise. Along the forward direction of the fuselage 100, the auxiliary cleaning plate 512 at the initial position A is closer to the front of the mounting seat 312 of the flatbed mop, and thus, in addition to the second notch 3121, the top plate 314 and the bottom plate 315 of the flatbed mop do not need to further set a larger recessed area 3141 for the retraction of the auxiliary cleaning module 500, thereby ensuring that the main cleaning assembly 310 has a larger cleaning area.

[0525] In some embodiments, Fig.57c As shown, the auxiliary cleaning module 500 also includes a first driving structure 520 located in the first avoidance area 109; the first driving structure 520 includes at least a first driving motor 521, a first elastic member 522 and a swing arm 524, and the auxiliary cleaning component 510 is arranged on the swing arm 524; the first driving motor 521 and the first elastic member 522 cooperate with each other to at least drive the swing arm 524 to swing, so as to drive the auxiliary cleaning component 510 to swing, so as to switch between the initial position A and the edge position C.

[0526] like Fig.57a and Fig.57c As shown, when the auxiliary cleaning assembly 510 is located at the edge position A, one end of the swing arm 524 is located in the first avoidance area 109, and the other end of the swing arm 524 is located outside the first avoidance area 109 through the first avoidance opening 104 to extend out of the edge of the fuselage 100.

[0527] When the auxiliary cleaning assembly 510 is subjected to the force of an obstacle at the edge position C, the auxiliary cleaning module 500 will passively retract under the buffering effect of the first elastic member 522 to buffer the collision with the obstacle. Therefore, the edge position C can be a dynamically changing position rather than a fixed point position.

[0528] Fig.58 For Fig.57d FIG. 1 is a schematic diagram of a portion of the structure of the cleaning device 10 after the chassis 101 is removed.

[0529] In some embodiments, Fig.58 As shown, in the width direction of the fuselage 100 and the height direction of the fuselage 100, the second drive structure 340 and the first drive structure 520 are staggered on the mounting seat 312. The layout of the second drive structure 340 and the first drive structure 520 is different from that of Example 3 in that the first drive motor 521 of the first drive structure 520 is no longer installed on the top of the housing of the second drive structure 340. The width direction here and the horizontal direction described in Example 3 can be understood as the same direction.

[0530] In some embodiments, the second driving structure 340 is located in the first avoidance area 109 .

[0531] The second driving structure 340 can be entirely located in the concave cavity 106 below the chassis 101 , so that the first driving structure 520 and the second driving structure 340 dragged on the tablet are arranged more compactly.

[0532] In some embodiments, the cleaning device 10 further includes a water replenishing structure and a dry cleaning module 200 , wherein the dry cleaning module 200 includes at least a dust box 202 ; and the water replenishing structure includes at least a water tank 600 .

[0533] Same as Example 3, Figure 7 As shown, the dust box 202 is disposed in the dust box cavity 204 in the body 100; Fig.62 As shown, the water tank 600 is disposed below the dust box cavity 204 or the dust box 202, and the water tank 600 is used to provide liquid to the main cleaning component 310 and the auxiliary cleaning component 510 to wet the main cleaning component 310 and the auxiliary cleaning component 510. Alternatively, in other embodiments, the water tank 600 provides liquid to one of the main cleaning component 310 and the auxiliary cleaning component 510 to wet the main cleaning component 310 or the auxiliary cleaning component 510.

[0534] like Fig.63As shown, the water tank 600 is arranged along the width direction of the cleaning device 10 and is roughly rectangular. In other words, the length of the water tank 600 along the width direction of the cleaning device 10 is greater than its width along the travel direction. This water tank 600 can ensure the volume of the water tank 600 and the liquid storage capacity of the water tank 600 while fully utilizing the space of the entire machine.

[0535] In some embodiments, the water tank 600 is located below the chassis 101 and the dust box cavity 204 is located above the chassis 101 , so that the water tank 600 and the dust box cavity 204 are distributed on the upper and lower sides of the chassis 101 , making full use of the space of the chassis 101 .

[0536] In some embodiments, the vertical projections of the water tank 600 and the dust box cavity 204 on the ground at least partially overlap. In some embodiments, the vertical projections of the water tank 600 and the dust box 202 on the ground at least partially overlap. The ground is a plane perpendicular to the height direction of the fuselage 100100, such as a horizontal plane.

[0537] The projections of the water tank 600 and the dust box cavity 204 (or the dust box 202) on the ground overlap at least partially, so that the water tank 600 and the dust box cavity 204 (or the dust box 202) can jointly occupy a part of the horizontal space, further improving the internal space utilization of the cleaning device 10.

[0538] For the dry cleaning module 200, in some embodiments, as Fig.57d As shown, the dust exhaust channel 107 and the first avoidance area 109 are distributed on both sides of the main fan 203 ; along the forward direction of the fuselage 100 , the main fan 203 is distributed behind the dust box 202 .

[0539] The dust discharge channel 107 and the auxiliary cleaning module 500 are distributed on both sides of the main fan 203 along the width direction of the machine body 100, and the auxiliary cleaning module 500 is located behind the roller brush 201 or the dust box 202 along the forward direction of the machine body 100. In this way, on the one hand, the auxiliary cleaning module 500 and the dust discharge channel 107 are symmetrically arranged relative to the main fan 203, which is conducive to utilizing the side space of the main fan 203, and on the other hand, the remaining space on the side of the dust discharge channel 107 can also be more fully utilized.

[0540] Since the roller brush 201 occupies the space in front of the body 100, in some embodiments, the main cleaning module 300 and the auxiliary cleaning module 500 are arranged together at the rear of the body 100; and along the forward direction of the body 100, the main cleaning module 300 is located behind the roller brush 201. In this way, the main cleaning module 300 and the auxiliary cleaning module 500 can be located behind the roller brush 201, which is convenient for the cleaning operation of the cleaning device 10 of first dry sweeping and then wet mopping, and also convenient for the layout of the internal space of the body 100.

[0541] The side brush 400 in the dry cleaning module 200 is arranged on the bottom of the front part of the fuselage 100, and the main cleaning module 300 and the auxiliary cleaning module 500 are arranged at the rear part of the fuselage 100. The garbage outside the outline of the fuselage 100 can be gathered to the bottom of the fuselage 100, thereby cooperating with the roller brush 201 to realize dry sweeping operation.

[0542] In order to facilitate the use of the internal space of the cleaning device 10, the first lifting structure 330, the first driving structure 520 and other driving devices can be respectively arranged on different sides of the dust exhaust channel 107 and the main fan 203.

[0543] like Fig.58 As shown, without limitation, the cleaning device 10 further includes a counterweight 317, which is located in the inner cavity of the body above the chassis 101 of the body 100 and behind the roller brush 201, and the counterweight 317 is located between the main fan 203 and the auxiliary cleaning module 500. The counterweight 317 is disposed adjacent to the auxiliary cleaning module 500, which is conducive to reducing the shaking of the body 100 caused by the swinging process of the auxiliary cleaning component 510.

[0544] In some embodiments, the water tank 600 is disposed below the dust box cavity 204 or the dust box 202, and along the forward direction of the body 100, the water tank 600 is located behind the roller brush 201. This facilitates the cleaning operation of the cleaning robot of first dry sweeping and then wet mopping, and also facilitates the layout of the internal space of the body 100.

[0545] In some embodiments, the first lifting structure 330 at least includes a lifting motor, a third transmission assembly and at least one lifting assembly 331 ( Fig.58 and Fig.78 The lifting motor is arranged in the inner cavity of the fuselage 100; the lifting assembly 331 is arranged on the mounting seat 312 and is located below the chassis 101 of the fuselage 100; one end of the third transmission assembly is connected to the lifting motor driving, and the other end passes through the chassis 101 and is connected to the lifting assembly 331, so that the lifting motor drives the lifting assembly 331 to move up and down through the third transmission assembly, thereby driving the mounting seat 312 to move up and down.

[0546] During the lifting process, the lifting assembly 331 and the mounting seat 312 are lifted synchronously, and at least part of the third transmission assembly is also lifted synchronously with the mounting seat 312 . The lifting motor can be located above the chassis 101 , and the lifting motor does not lift synchronously with the mounting seat 312 .

[0547] Exemplarily, the third transmission component includes a first rotating member and a first traction member, and the first rotating member is connected to the output shaft of the lifting motor. Under the rotation of the lifting motor, the first traction member can be wound onto or released from the first rotating member. One end of the first traction member is connected to the first rotating member, and the other end is connected to the lifting component 331. Since the lifting component 331 is relatively fixed to the mounting seat 312, when the output shaft of the lifting motor drives the first rotating member to rotate, the first traction member can be wound onto or released from the first rotating member, so that the first traction member drives the main cleaning module 300 and the auxiliary cleaning component 510 to lift and lower synchronously. This lifting method has a simple structure and low cost.

[0548] like Fig.58 As shown, two lifting assemblies 331 are respectively located on both sides of the main fan 203, and at least the second drive motor in the aforementioned second drive structure 340 is located between the lifting assembly 331 on the right and the swing arm 524. This layout structure is more compact.

[0549] In some embodiments, Figure 79 to Figure 81 As shown, the lifting assembly 331 includes a first bracket 332, a second bracket 334 and a connecting rod 335. The first bracket 332 is fixed to the chassis 101, and the second bracket 334 can be formed by a protruding structure protruding upward from the mounting seat 312. The first bracket 332 has a guide hole 333. The second bracket 334 is connected to the third transmission assembly and partially inserted into the guide hole 333. The two ends of the connecting rod 335 are respectively hinged to the first bracket 332 and the second bracket 334. Under the driving action of the lifting motor, the third transmission assembly drives the mounting seat 312 to rise and fall through the second bracket 334. During the lifting and falling process of the second bracket 334, the guide hole 333 has a guiding effect on its lifting and falling, and the connecting rod 335 also moves synchronously. With the cooperation of the guide hole 333 and the connecting rod 335, the reliability of the lifting and falling process of the mounting seat 312 can be improved.

[0550] In some embodiments, Fig.58 As shown, there are two lifting assemblies 331, one of which is located in the first avoidance area 109 and is distributed between the main fan 203 and the first driving structure 520; Fig.60 As shown, a second avoidance area 1014 recessed upward is provided on the bottom of the chassis 101 , and another lifting assembly 331 is located in the second avoidance area 1014 and distributed between the main fan 203 and the dust exhaust channel 107 .

[0551] The two lifting assemblies 331 are arranged side by side along the width direction of the cleaning device 10. A lifting motor drives the two lifting assemblies 331 to rise and fall at the same time through the third transmission assembly. The two lifting assemblies 331 are installed at different positions of the mounting seat 312, so that the mounting seat 312 can be lifted and lowered more smoothly and reliably as a whole.

[0552] In some embodiments, as shown in Figure 68b, the first drive structure 520 also includes a first transmission assembly 720, and the two ends of the first elastic member 522 act on the first transmission assembly 720 and the swing arm 524 respectively, so that when the first drive motor drives the first transmission assembly 720 to rotate, the swing arm 524 is driven to swing through the first elastic member 522; when the first drive motor is not started, when at least one of the swing arm and the auxiliary cleaning assembly is squeezed or collided by external obstacles, the swing arm 524 can swing toward the initial position relative to the first transmission assembly 720.

[0553] In some embodiments, Figure 68h As shown, the first driving structure 520 also includes a self-rotation driving mechanism 840 for driving the auxiliary cleaning component 510 to rotate; the self-rotation driving mechanism 840 includes a self-rotation motor 841 arranged on the swing arm 524, and a second transmission assembly 842. The auxiliary cleaning component is arranged on the swing arm 524 by being arranged on the second transmission assembly 842, and is located below the swing arm 524; the second transmission assembly 842 driven by the self-rotation motor 841 rotates to drive the auxiliary cleaning component 510 to rotate.

[0554] For example, the following will be combined with the attached Figure 66b , Figure 68a to Figure 68m The first driving structure 520 is introduced in more detail.

[0555] As shown in FIG68e, the first driving structure 520 in this embodiment includes a support seat 580, a swing motor (shown in FIG68e, the swing motor is the aforementioned first driving motor 521), a swing arm 524 and a self-rotating motor 841. The swing motor is arranged on the support seat 580; one end of the swing arm 524 is swingably arranged on the support seat 580 through the first rotating shaft 680, and the other end is used to connect the auxiliary cleaning component; the auxiliary cleaning component has at least an initial position A and an edge position C.

[0556] The top of the first rotating shaft 680 is rotatably disposed on the support seat 580, and the bottom of the first rotating shaft 680 is connected to the upper part of the swing arm 524; the swing motor is used to drive the swing arm 524 to swing on the support seat 580 with the first rotating shaft 680 as the swing axis, so that the auxiliary cleaning component can switch between the initial position A and the edge position C; the self-rotation motor 841 is disposed on the swing arm 524, and the self-rotation motor 841 is used to drive the auxiliary cleaning component to rotate; in the height direction of the support seat 580, at least part of the self-rotation motor 841 is distributed directly below the first rotating shaft 680.

[0557] The top of the first rotating shaft 680 is rotatably disposed on the support seat 580, and the bottom of the first rotating shaft 680 is connected to the upper part of the swing arm 524, so that the first rotating shaft 680 does not need to pass through the swing arm 524, and a part of the space is reserved below the first rotating shaft 680. This part of the space is used to set the self-rotating motor 841, and then the self-rotating motor 841 does not need to completely avoid the distribution space of the first rotating shaft 680 on the swing arm 524, and the self-rotating motor 841 is at least partially distributed directly below the first rotating shaft 680. In other words, the projections of the self-rotating motor 841 and the first rotating shaft 680 along the height direction of the support seat 580 at least partially overlap, and the structure is compact, which is conducive to reducing the occupation of space in the cleaning device.

[0558] In an embodiment not shown in the drawings of the present application, in the height direction of the support base 580, a portion of the rotation motor 841 is distributed directly below the first rotating shaft 680, and another portion is distributed directly above the first rotating shaft.

[0559] In other embodiments, Fig.68a As shown, in the height direction of the support seat 580, the entire or most or all of the self-rotating motor 841 is distributed directly below the first rotating shaft 680, so that the self-rotating motor 841 does not occupy the remaining space in the horizontal direction, making the first driving structure compact in the horizontal direction and occupying a small space. In this implementation, the self-rotating motor 841 can be coaxial with the first rotating shaft 680, or the self-rotating motor 841 and the first rotating shaft 680 are eccentrically arranged.

[0560] When the first driving structure is applied to the aforementioned cleaning device 10 , the height direction of the support base 580 generally refers to the height direction of the body 100 of the cleaning device 10 , which is substantially perpendicular to the horizontal plane (or the ground).

[0561] In some embodiments, as shown in FIG68e, the self-rotating motor 841 is disposed in the swing arm cavity 5203 of the swing arm 524, and the vertical projections of the first rotating shaft 680 and the self-rotating motor 841 on the ground have an overlapping area. In this way, the swing arm cavity 5203 can provide space for the installation of the self-rotating motor 841, and also reduce the water vapor from the external environment entering the swing arm cavity 5203 to affect the self-rotating motor 841, thereby playing a certain protective role for the self-rotating motor 841.

[0562] In an embodiment not shown in the drawings of the present application, the rotation motor 841 may also be arranged outside the swing arm 524 .

[0563] In some embodiments, in combination with Figures 68e and 68f, in the height direction of the support seat 580, the bottom of the first rotating shaft 680 is connected to the swing arm cavity 5203, and an installation space is enclosed between the bottom of the first rotating shaft 680 and the swing arm cavity 5203, and the self-rotating motor 841 is arranged in the installation space.

[0564] In this embodiment, the installation space is part of the space of the swing arm cavity 5203.

[0565] In some embodiments, Figure 68h As shown, the upper swing arm 5241 and the lower swing arm 5242 form a first cavity 5246, the top of the upper swing arm 5241 has a second cavity 5245 that is recessed downward, and the first cavity 5246 and the second cavity 5245 form a swing arm cavity 5203. The bottom of the first rotating shaft 680 is connected to the upper swing arm 5241, and an installation space is formed between the bottom of the first rotating shaft 680 and the second cavity 5245; the self-rotating motor 841 is arranged in the second cavity 5245, and the output shaft of the self-rotating motor 841 extends into the first cavity 5246, and is used to drive the auxiliary cleaning component to rotate through the second transmission assembly (mentioned below).

[0566] The setting of the upper swing arm 5241, on the one hand, facilitates the connection between the bottom of the first rotating shaft 680 and the upper swing arm 5241; on the other hand, it is convenient to set the self-rotating motor 841 in the second cavity 5245 of the upper swing arm 5241. The upper swing arm 5241 supports the self-rotating motor 841. After the output shaft of the self-rotating motor 841 extends into the first cavity 5246, it is connected to the auxiliary cleaning component 510 through the second transmission component arranged in the first cavity 5246. The swing arms 524 stacked up and down ensure that the self-rotating motor 841 is located directly below the first rotating shaft 680 while ensuring the power transmission of the self-rotating motor 841. Part of the structure of the second transmission component is also located directly below the self-rotating motor 841 (except the output shaft). Therefore, in the height direction of the swing arm 524, the structure is more compact and the space occupied in the horizontal direction is smaller. Since the self-rotating motor 841 is fixed on the upper swing arm 8241, the self-rotating motor 841 will not shake during the swinging process of the swing arm 524, ensuring that the automatic rotation can normally drive the auxiliary cleaning component to rotate.

[0567] In some embodiments, Figure 68k As shown, the upper swing arm 5241 includes an arm body 5201 and an annular sleeve 5202 protruding from the top of the arm body 5201 , and the inner cavity of the annular sleeve 5202 serves as the second cavity 5245 ; the bottom of the first rotating shaft 680 is connected to the annular sleeve 5202 .

[0568] The arm body 5201 and the lower swing arm 5242 together form a first cavity 5246 .

[0569] Combination Figure 68k As shown, the arm body 5201 is provided with a first clearance hole 5125, which is communicated with the first cavity 5246, and the first water channel 610 passes through the first clearance hole 5125 and enters the first cavity 5246 to communicate with the aforementioned first water outlet.

[0570] like Figure 68kAs shown, the arm body 5201 is also provided with a fourth clearance hole 743, which is connected to the second cavity 5245, so that the aforementioned control harness 20 can enter the second cavity 5245 through the fourth clearance hole 743 and be electrically connected to the rotation motor 841 in the second cavity 5245.

[0571] In some embodiments, in combination with FIG. 68d and Figure 68h As shown, the bottom of the first rotating shaft 680 is embedded in the second cavity 5245 and connected to the inner wall of the annular sleeve 5202. As can be seen from Figure 68f, the outer diameter of the bottom of the first rotating shaft 680 is slightly different from the inner diameter of the annular sleeve 5202, and the two are roughly equal. The bottom of the first rotating shaft 680 is at least partially located in the second cavity 5245 and is installed and fixed by the inner wall of the annular sleeve 5202. This distribution method can make the structure more compact.

[0572] In this embodiment, a swing arm cavity 5203 is defined inside the swing arm 524 , and at least a portion of the first rotating shaft 680 may be located in the swing arm cavity 5203 .

[0573] like Figure 68k As shown, the bottom of the first rotating shaft 680 is embedded in the inner cavity of the annular sleeve 5202, the outer wall of the first rotating shaft 680 is connected to the inner wall of the annular sleeve 5202, and the bottom of the annular sleeve 5202 includes an installation inner wall 5204, which is located at the connection between the second cavity 5245 and the first cavity 5246. The installation inner wall 5204 is roughly parallel to the horizontal plane and can be used as a mounting carrier for the self-rotating motor 841. In the height direction of the support seat 580, the self-rotating motor 841 is located between the bottom of the first rotating shaft 680 and the installation inner wall 5204, and the output shaft of the self-rotating motor 841 can pass through the installation inner wall 5204 to communicate with the first cavity 5246.

[0574] In the embodiment shown in FIG. 68F , the annular sleeve 5202 is at least sleeved on the outside of the bottom of the first rotating shaft 680 .

[0575] In some embodiments, a limiting protrusion 740 (Figure 68K) is provided on one of the outer wall of the bottom of the first rotating shaft 680 and the inner wall of the annular sleeve 5202, and a first limiting groove 741 (Figure 68L) that cooperates with the limiting protrusion 740 is provided on the other. The limiting protrusion 740 and the first limiting groove 741 extend axially along the annular sleeve 5202, and the bottom of the first rotating shaft 680 and the annular sleeve 5202 are connected through the cooperation of the limiting protrusion 740 and the first limiting groove 741.

[0576] For example, as shown in FIG68K and FIG68L, a first limiting groove 741 is provided at the bottom of the first rotating shaft 680, and a limiting protrusion 740 is provided on the annular sleeve 5202. The limiting protrusion 740 is embedded in the first limiting groove 741 to prevent the relative rotation between the annular sleeve 5202 and the first rotating shaft 680. When the swing arm 524 rotates, the first rotating shaft 680 can rotate synchronously.

[0577] The number of the limiting protrusions 740 is at least two, and the number of the first limiting grooves 741 is also at least two.

[0578] In some embodiments, as shown in FIG68K , an annular step 742 is further provided on the inner wall of the annular sleeve 5202, and the bottom of the first rotating shaft 680 is embedded in the annular sleeve 5202 and abuts against the step surface of the annular step 742, and the first rotating shaft 680 is connected to the annular step 742. The support of the bottom of the first rotating shaft 680 by the annular step 742 can prevent the first rotating shaft 680 from moving downward along its axial direction, and the top of the first rotating shaft 680 can be limited by the support seat 580, thereby realizing the axial and circumferential fixation of the first rotating shaft 680, with a compact structure and better stability.

[0579] In some embodiments, as shown in FIG. 68K, Figure 68j and Figure 68i As shown, a downwardly protruding connecting column 5248 is provided at the bottom of the upper swing arm 5241 ; the connecting column 5248 passes through the lower swing arm 5242 and is rotatably provided on the support seat 580 .

[0580] During the swinging process of the swing arm 524, the upper part thereof uses the first rotating shaft 680 as the swinging axis, and the bottom part uses the connecting column 5248 as the swinging axis. These two swinging axes support the swinging of the swing arm 524 at different positions in the height direction of the support seat 580, thereby improving the stability of the swinging process of the swing arm 524.

[0581] like Figure 68i As shown, the bottom of the support seat 580 has a connecting groove 5802, and the bottom of the connecting column 5248 is embedded in the connecting groove 5802. In order to make the connecting column 5248 rotate more smoothly relative to the support seat 580, the outer shell of the connecting column 5248 is connected to the first bearing 730, and the first bearing 730 is located between the connecting column 5248 and the inner wall of the connecting groove 5802.

[0582] Similarly, as shown in FIG. 68 f , a second bearing 684 may be provided between the top of the first rotating shaft 680 and the supporting seat 580 , so that the top of the first rotating shaft 680 can rotate more smoothly relative to the supporting seat 580 .

[0583] In some embodiments, the axis of the first rotating shaft 680 is parallel to or coincides with the axis of the connecting column 5248 .

[0584] In some embodiments, the axis of the output shaft of the self-rotating motor 841 is parallel to or coincides with the axis of the first rotating shaft 680 .

[0585] In the implementation of this embodiment, the axis of the output shaft of the self-rotating motor 841 coincides with the axis of the first rotating shaft 680, and the axis of the connecting column 5248 coincides with the axis of the first rotating shaft 680. In this way, when the self-rotating motor 841 rotates and the self-rotating motor swings with the swing arm 524, the axes of rotation and swing are coaxial and there is no eccentricity, which makes it easy for the self-rotating motor 841 to drive the auxiliary cleaning component 510 to rotate and swing simultaneously and stably.

[0586] In some embodiments, as shown in Figure 68L, the first rotating shaft 680 includes a shaft body 682, and a disk body 681 horizontally protruding from the bottom of the shaft body 682, and the disk body 681 is connected to the upper part of the swing arm; the top of the shaft body 682 is rotatably connected to the support seat 580; the swing motor is used to drive the swing arm to drive the disk body 681 to rotate, so that the disk body 681 drives the shaft body 682 to rotate.

[0587] The disc body 681 cannot rotate relative to the swing arm. When the swing arm rotates, the disc body 681 drives the shaft body 682 to rotate synchronously.

[0588] The disk body 681 and the shaft body 682 are coaxially distributed, or the axis of the disk body 681 is parallel to the axis of the shaft body 682 .

[0589] In some embodiments not shown in the figures of the present application, the swing motor can drive one of the shaft 682 or the disk 681 to rotate, and then the other one drives the swing arm to rotate.

[0590] In some embodiments, Figure 12 to Figure 14 As shown, the first driving structure also includes an output gear 584 and at least one first elastic member 522; the output gear 584 is rotatably sleeved outside the first rotating shaft 680; one end of the first elastic member 522 is connected to the swing arm, and the other end is connected to the output gear 584. One of the output gear 584 and the swing arm is provided with a second limiting groove 5843 extending along the swing direction of the swing arm, and the other is provided with a limiting convex tooth 5247; the limiting convex tooth 5247 extends into the second limiting groove 5843; along the swing direction of the swing arm, the second limiting groove 5843 has a first end wall 5844 and a second end wall 5845.

[0591] When the auxiliary cleaning assembly is not subjected to the squeezing force or collision force of an obstacle, under the action of the first elastic member 522 , the limiting protruding tooth 5247 maintains contact with the first end wall 5844 , and a gap is reserved between the limiting protruding tooth 5247 and the second end wall 5845 .

[0592] The swing motor drives the output gear 584 to rotate forward, forcing the effect of the first elastic member 522 to increase, and the limiting convex tooth 5247 maintains contact with the first end wall 5844, driving the swing arm to swing outward through the first elastic member 522; the swing motor drives the output gear 584 to rotate reversely, and the effect of the first elastic member 522 is reduced, and the second end wall 5845 is moved through the limiting convex tooth 5247, driving the swing arm to actively retract and swing inward.

[0593] The first elastic member 522 can buffer external forces such as squeezing force or collision force from obstacles, thereby reducing damage to the self-rotating motor 841 caused by external forces.

[0594] In some embodiments, when the auxiliary cleaning assembly is in the edge position C, under the cooperation of the first elastic member 522, the second limiting groove 5843 and the limiting protruding tooth 5247, the swing arm 524 has a passive retraction process and an active retraction process.

[0595] Through the passive retraction and active retraction of the swing arm, the obstacle avoidance capability of the auxiliary cleaning component can be improved.

[0596] Figures 68b and 68c exemplarily show partial structural schematic diagrams of the auxiliary cleaning module 500 when the limiting protrusion 5247 abuts against the first end wall 5844; Figure 68d exemplarily shows a partial structural schematic diagram of the auxiliary cleaning module 500 when the limiting protrusion 5247 abuts against the second end wall 5845.

[0597] The following describes the driving principle of the first driving structure in two scenarios in combination with Figure 68c and Figure 68d. The first scenario is a scenario where the swing arm 524 encounters no obstacles during the swing process; the second scenario is a scenario where the swing arm 524 encounters obstacles during the swing process.

[0598] The first scenario: when the cleaning device 10 needs to clean along the edge, the swing motor rotates forward (for example, clockwise in Figure 68b), and the swing motor drives the output gear 584 to rotate forward through the first transmission assembly 720. Because the two ends of the first elastic member 522 are respectively connected to the swing arm 524 and the output gear 584, the first elastic member 522 can drive the swing arm 524 to swing outward, and the swing arm 524 can swing outward from the initial position A to the edge position C, and when it is at the edge position C, the self-rotating motor 841 drives the auxiliary cleaning assembly 510 to rotate and mop the floor; during the swing outward process, due to the deformation of the first elastic member, the limiting convex tooth 5247 always keeps in contact with the first end wall 5844.

[0599] In one embodiment, at the initial position, before the swinging starts, the first elastic member may be deformed to a certain extent, and under the action of the first elastic member, the limiting protruding tooth 5247 abuts against the first end wall 5844; during the swinging process, the deformation of the first elastic member increases continuously, so that the limiting protruding tooth 5247 always abuts against the first end wall 5844. Alternatively, in another embodiment, at the initial position, before the swinging starts, the first elastic member may not be deformed, and during the swinging process, the first elastic member is deformed, so that the limiting protruding tooth 5247 abuts against the first end wall 5844.

[0600] When it is necessary to retract from the edge position C to the initial position A, the swing motor actively retracts. During the active retraction process, the swing motor reverses (for example, counterclockwise rotation in FIG. 68b ) to drive the output gear 584 to rotate in the opposite direction through the first transmission assembly 720. Since the first end wall 5844 of the second limiting groove 5843 is in contact with the limiting convex tooth 5247 (as shown in FIG. 68c ), when the output gear 584 rotates in the opposite direction, the limiting convex tooth 5247 is driven by the first end wall 5844 to rotate in the opposite direction. The limiting convex tooth 5247 then drives the entire swing arm 524 to retract and swing, and finally retracts to the initial position A.

[0601] In the second scenario, when edge cleaning is required, the swing motor rotates forward, and the swing motor drives the output gear 584 to rotate forward through the first transmission assembly 720. Since the two ends of the first elastic member 522 are respectively connected to the swing arm 524 and the output gear 584, the first elastic member 522 can drive the swing arm 524 to swing outward to switch from the initial position A to the edge position C. During the swing outward, the deformation of the first elastic member 522 increases, so that the limiting convex tooth 5247 of the swing arm 524 abuts against the first end wall 5844 of the second limiting groove 5843 on the output gear 584.

[0602] During the outward swing process, or during edge cleaning at edge position C, when the swing arm or the auxiliary cleaning component is subjected to the squeezing force or collision force of an obstacle, since the limiting tooth 5247 of the swing arm 524 abuts against the first end wall 5844 of the second limiting groove 5843 on the output gear 584, there is a gap between the limiting tooth 5247 and the second end wall 5845 of the second limiting groove 5843 (as shown in Figure 68c), the squeezing force or collision force overcomes the action force of the first elastic member, driving the swing arm to swing toward the second end wall relative to the output gear, so that the limiting tooth 5247 separates from the first end wall 5844 and moves toward the second end wall 5845, and the swing arm 524 passively retracts to prevent the auxiliary cleaning component or the swing arm from colliding hard with the obstacle and damaging the auxiliary cleaning component or the swing arm.

[0603] Since the swing arm 524 is passively retracted, the auxiliary cleaning assembly 510 in the self-rotating state will hardly be stuck. When the extrusion force or collision force drives the limiting convex tooth 5247 to move to abut against the second end wall 5845 (as shown in Figure 68d), the passive retraction amount of the swing arm 524 is completed. If the limiting convex tooth 5247 just abuts against the second end wall 5845, or the limiting convex tooth 5247 is located between the first end wall 5844 and the second end wall 5845, the obstacle can be avoided or the edge of the obstacle can be cleaned. When the extrusion force or collision force of the obstacle is removed, under the elastic force of the first elastic member 522, the limiting convex tooth 5247 moves toward the first end wall 5844 and returns to abut against the first end wall 5844, and then the swing arm is reset. After resetting, under the driving action of the swing motor, the swing arm 524 swings outward to the edge position C under the driving action of the swing motor. If the obstacle still exists after the passive retraction of the swing arm 524 is completed, the extrusion force or collision force will jam the auxiliary cleaning component 510, hindering the auxiliary cleaning component 510 from rotating, and then the current of the rotation motor 841 will increase. According to the increased current of the rotation motor 841, the swing motor can be controlled to reverse to drive the output gear 584 to rotate in the opposite direction. Since the limiting convex tooth 5247 is in contact with the second end wall 5855 at this time, there is a gap between the first end wall 5844 and the limiting convex tooth 5247 (as shown in Figure 68d), the swing motor 1 first drives the output gear 584 to rotate in the opposite direction for a stroke (as shown in Figure 68d, the idle stroke is the gap distance between the first end wall 5844 and the limiting convex tooth 5247), until the output gear 584 rotates in the opposite direction until the first end wall 5844 is in contact with the limiting convex tooth 5247, and the swing motor then drives the swing arm 524 to actively retract by toggling the limiting convex tooth 5247.

[0604] In the above example, positive rotation is clockwise rotation, and reverse rotation is counterclockwise rotation. As a variation, positive rotation can be counterclockwise rotation, and reverse rotation can be clockwise rotation, and correspondingly, the positions of the first end wall and the second end wall need to be swapped.

[0605] In some embodiments, as shown in FIG68b, the first driving structure further includes a position detection member 960. When the swing arm retracts and swings, the position detection member 960 can detect whether the auxiliary cleaning component has reached the initial position, so as to limit the retracted swing of the swing arm. For example, as shown in FIG68b, the output gear 584 has a position-reaching convex tooth 5846. When the output gear 584 drives the swing arm to retract and swing, if the position-reaching convex tooth 5846 contacts the position detection member, the position detection member generates a position-reaching signal, indicating that the auxiliary cleaning component has retracted to the initial position A. At this time, the swing motor is controlled to stop running to prevent the auxiliary cleaning component from continuing to retract and swing.

[0606] In some embodiments, Figure 68nAs shown, the first elastic member 522 is a torsion spring, which is sleeved on the output gear 584, and the two ends of the torsion spring are respectively connected to the swing arm and the output gear 584. Figure 68g It can be seen from the illustrated implementation that the torsion spring is sleeved outside a portion of the structure of the output gear 584 .

[0607] In some embodiments, the output gear 584 and the swing arm may be provided with openings respectively, one end of the torsion spring is inserted into the opening of the output gear 584, and the other end is inserted into the opening of the swing arm. Fig.12 and Fig.25 As shown, the opening on the output gear 584 can be a through hole 5847 that penetrates the output gear 584, and the opening on the swing arm can be a notch. In an embodiment not shown in the present application, the openings on the output gear 584 and the swing arm can both be holes.

[0608] The number of the openings on the output gear 584 and the swing arm can be equal to the number of the torsion springs. In addition, the number of the openings, the shape of the openings and the depth are not intended to limit the present application.

[0609] exist Figure 68n In the illustrated embodiment, there are two first elastic members 522. It is understood that the number of the first elastic members 522 may also be one, three or more.

[0610] In some embodiments, as described above, the disk 681 of the first rotating shaft 680 is fixed to the bottom of the shaft 682 and extends outward; the disk 681 is connected to the upper part of the swing arm 524; the top of the shaft 682 is rotatably connected to the support seat 580; the swing motor drives the output gear 584 to rotate, and the swing arm swings through the torsion spring, so that the swing arm 524 drives the disk 681 and the shaft 682 of the first rotating shaft 680 to rotate. Fig.15 As shown, the output gear 584 is rotatably arranged outside the shaft body 682, and a receiving groove is formed between the disc body 681 and the output gear 584, and the torsion spring is arranged in the receiving groove. This layout structure is more compact and is conducive to saving the internal space of the swing arm cavity 5203.

[0611] In some embodiments, Fig.16 and Fig. 27 As shown, the bottom of the output gear 584 is provided with a first groove 588 that is recessed upward; Fig.16 and Fig.26 As shown, the edge of the disk body 681 has an upwardly bent outer edge 6811, and a second groove 683 with an upward opening is formed between the outer edge 6811, the disk body 681 and the shaft body 682. A receiving groove is formed between the first grooves 588 and the first grooves 588. The upper part of the torsion spring is located in the first groove 588, and the lower part of the torsion spring is located in the second groove 683.

[0612] Without limitation, Figure 68land Figure 68m As shown, the first groove 588 and the second groove 683 may both be annular grooves, and the torsion spring, the first groove 588 and the second groove 683 may be coaxially distributed.

[0613] In some embodiments, Figure 68g and Figure 68m As shown, along the radial direction of the output gear 584, an extension portion 589 extending downward is provided on the end portion where the inner groove wall of the first groove 588 is located; a first gap 685 exists between the end portion where the outer groove wall of the first groove 588 is located and the outer edge 6811; the extension portion 589 is embedded in the second groove 683, and there is a second gap 686 between the extension portion 589 and the top surface of the disk body 681; at least part of the torsion spring is sheathed outside the extension portion.

[0614] By providing the first gap 685, when the first rotating shaft 680 rotates with the swing arm, there is no rotational friction between the end face of the output gear 584 and the outer edge 6811, thereby avoiding wear of the outer end face of the first groove 588 and the outer edge 6811 opposite to the outer end face of the first groove 588 due to rotational friction between the first rotating shaft 680 and the output gear 584, thereby ensuring normal rotation of the swing arm relative to the output gear 584.

[0615] By providing the second gap 686, there is no rotational friction between the end face of the output gear 584 and the bottom of the second groove 683, thereby avoiding wear between the bottom end of the extension part and the bottom of the second groove 683 due to rotational friction between the first rotating shaft 680 and the output gear 584, thereby ensuring the normal rotation of the swing arm relative to the output gear 584.

[0616] In addition, the extension part is sleeved outside the shaft body 682 and is located inside the torsion spring. The extension part has a limiting effect on the torsion spring, preventing the torsion spring from contacting the shaft after being deformed by force, so as to reduce or even avoid the torsion spring from affecting the rotation of the first rotating shaft 680 and the swing arm.

[0617] For example, Figure 68m As shown, the extension portion 589 is formed as an annular inner cylinder protruding downward, and the outer edge 6811 surrounds the outside of the annular inner cylinder, and the interior of the annular inner cylinder is a through hole 5847 that penetrates the output gear 584. The shaft body 682 passes through the through hole 5847 of the annular inner cylinder from bottom to top to be rotatably connected to the support seat 580. The shaft body 682 can be rotatably connected to the support seat 580 directly or indirectly.

[0618] In some embodiments, Figure 66bAs shown, the support seat 580 includes a base 587 and an upper cover shell 585 arranged on the base 587; the bottom of the base 587 has a horizontal outward extension seat 586; one end of the upper cover shell 585 is fixed to the top of the base 587, and the other end is suspended above the extension seat 586, and an open cavity 5801 is formed between the upper cover shell 585 and the extension seat 586; a first accommodating cavity is formed between the base 587 and the upper cover shell 585; as shown in Figure 68b, the first driving structure also includes a first transmission assembly 720 that transmits the swing motor to the output gear 584, and the first transmission assembly 720 is located in the first accommodating cavity; one end of the swing arm 524 is installed in the open cavity 5801, and the other end extends out of the open cavity 5801.

[0619] The opening cavity 5801 has an opening at least in the direction of the swing arm's outward swing or retraction to ensure that the swinging process of the swing arm is not hindered.

[0620] Compared with the open cavity 5801 , the first accommodating cavity is relatively closed to reduce the influence of impurities such as dust and water vapor on the second transmission component 842 , thereby protecting the second transmission component 842 .

[0621] The top of the first rotating shaft 680 is rotatably connected to the upper cover shell 585 , and the connecting groove 5802 matching with the connecting column 5248 is provided on the extension seat 586 .

[0622] In some embodiments, as shown in FIG. 68e , the base 587 has a hollow portion, the swing motor 521 is disposed in the hollow portion, and the output shaft of the swing motor extends into the first accommodating cavity to be connected to the first transmission assembly 720 .

[0623] As shown in Fig. 68e, the axis of the swing motor is parallel to the height direction of the support base 580, and the first transmission assembly 720 includes a plurality of gears meshing with each other, and the plurality of gears are distributed roughly in the horizontal direction. The projection of the first transmission assembly 720 and the swing motor on the ground at least partially overlaps, and this distribution method has a compact structure and fully utilizes the internal space of the support base 580.

[0624] The aforementioned installation space for accommodating the self-rotating motor 841 is part of the second cavity 5245 and is connected to the first cavity 5246 , so that the remaining part of the self-rotating motor 841 except the output shaft is located in the second cavity 5245 , and the output shaft extends into the first cavity 5246 .

[0625] In some embodiments, Figure 68h As shown, the first driving structure also includes a second transmission assembly 842 disposed in the first cavity 5246 , and the output shaft of the rotation motor 841 is transmission-connected to the auxiliary cleaning assembly 510 via the second transmission assembly 842 , so that the auxiliary cleaning assembly is located below the swing arm 524 .

[0626] The first driving structure 520 of this embodiment is universal, for example, the first driving mechanism 520 of this embodiment can also be adopted in the aforementioned embodiment 2 and embodiment 3.

[0627] Exemplarily, the water replenishment structure of this embodiment will be introduced below with reference to the accompanying drawings.

[0628] In this embodiment, Figure 66b As shown, the auxiliary cleaning module 500 at least includes a support base 580, an auxiliary cleaning component 510 and a first driving structure 520. The number of the auxiliary cleaning components 510 can be one, two or more.

[0629] The first driving structure 520 includes a first driving motor 521 and a swing arm 524, and the auxiliary cleaning assembly 510 is arranged on the swing arm 524; the first driving motor 521 is at least used to drive the swing arm 524 to swing, so as to drive the auxiliary cleaning assembly 510 to swing, so that the auxiliary cleaning assembly switches between the initial position A and the edge position C.

[0630] The support seat 580 is installed on the mounting seat of the main cleaning component 310, and the first driving structure 520 is connected to the support seat 580. Therefore, when the main cleaning component 310 is raised or lowered relative to the body 100 of the cleaning device 10, the support seat 580 and the first driving structure 520 are raised or lowered synchronously with the main cleaning component 310.

[0631] When the swing arm 524 swings, the swing arm 524 swings relative to the support base 580 .

[0632] The water replenishment structure includes a water tank 600 and a water delivery mechanism connected to the water tank 600, the water delivery mechanism includes a first waterway 610 (Figure 68b and Fig.69a As shown in the figure, the first water channel 610 is used to provide liquid to the auxiliary cleaning component 510 to wet the auxiliary cleaning component 510. At least part of the first water channel 610 is located on the swing arm 524, and swings with the swing of the swing arm 524, so that when the auxiliary cleaning component 510 is in the initial position, the edge position, and the swing position between the initial position and the edge position, the first water channel 610 can replenish water to the auxiliary cleaning component 510.

[0633] During the outward swing of the swing arm 524 , at least a portion of the first water channel 610 swings outward synchronously with the swing arm 524 ; during the retraction of the swing arm 524 , at least a portion of the first water channel 610 also retracts synchronously with the swing arm 524 .

[0634] The first water channel 610 swings along with the swing of the swing arm 524 , so that the first water channel 610 can better adapt to the change of the position of the auxiliary cleaning member 511 , replenish water for the auxiliary cleaning member 511 in time, and ensure the cleaning effect of the auxiliary cleaning member 511 .

[0635] In some embodiments, the water tank 600 is fixed relative to the fuselage 100. One end of the first water channel 610 is connected to the water tank 600, so that at least one end of the first water channel 610 does not swing with the swing of the swing arm 524.

[0636] For example, Fig.62 As shown, along the height direction of the cleaning device 10 , the cleaning device 10 is further provided with a bottom decorative cover 1024 below the bottom chassis 101 , and the water tank 600 can be installed between the bottom chassis 101 and the bottom decorative cover 1024 to fix the water tank 600 relative to the body 100 .

[0637] In some embodiments, Figure 63 to Figure 65 As shown, the water delivery mechanism of the water replenishment structure also includes a second water channel 620 , and the second water channel 620 is connected to the water tank 600 for replenishing water to the main cleaning component 310 .

[0638] Using two water channels to wet the auxiliary cleaning component 510 and the main cleaning component 310 respectively can effectively reduce the mutual interference of the wetting process of the auxiliary cleaning component 511 and the main cleaning component 311, thereby ensuring the wetting effect.

[0639] The second water channel 620 may be directly connected to the water tank 600 or indirectly connected to the water tank 600 through a pipeline. Similarly, the first water channel 610 may be directly connected to the water tank 600 or indirectly connected to the water tank 600 through a pipeline.

[0640] In some embodiments, the second water channel 620 does not swing along with the swing of the swing arm 524 .

[0641] The swinging of the first water channel 610 and the swing arm 524 will not affect the water replenishment of the second water channel 620, which is also the layout flexibility brought by using two water channels to wet the auxiliary cleaning component 510 and the main cleaning component 310 respectively.

[0642] The first water channel 610 can be formed by at least one of a hose, a hard pipe, and a box body with a flow channel. The structure of the second water channel 620 is similar, and will not be described again.

[0643] In some embodiments, Fig.66a As shown, a first water outlet 5121 is provided at the bottom of the swing arm 524; Fig.69b As shown, the liquid outlet of the first water channel 610 is connected to the first water outlet 5121; the first water outlet 5121 is located directly above the auxiliary cleaning member 511 of the auxiliary cleaning assembly 510, and the solution of the first water channel 610 drips onto the auxiliary cleaning member 511 through the first water outlet 5121. This method utilizes the structure of the swing arm 524 itself to construct the first water outlet 5121 to form a partial liquid channel to wet the auxiliary cleaning member 511, which has a simple structure and can improve the compactness of the structure.

[0644] Illustratively, the liquid outlet of the first water channel 610, the first water outlet 5121 and the auxiliary cleaning member 511 are sequentially distributed from top to bottom along the height direction of the cleaning device 10. In this way, the liquid in the water tank 600 flows out through the liquid outlet of the first water channel 610, enters the first water outlet 5121, and then drips downward from the first water outlet 5121 onto the auxiliary cleaning member 511 to moisten the auxiliary cleaning member 511.

[0645] In some embodiments, Figures 67a to 67c As shown, the auxiliary cleaning assembly 510 includes an auxiliary cleaning disc 512, and an auxiliary cleaning cloth (i.e., an auxiliary cleaning member 511) disposed on the bottom of the auxiliary cleaning disc 512; the auxiliary cleaning disc 512 has hollow areas 501 distributed along its circumference, and the first water outlet 5121 is at least partially connected to the hollow areas 501, so that the solution on the first waterway 610 sequentially drips onto the auxiliary cleaning member 511 through the first water outlet 5121 and the hollow areas 501. If the solution dripping from the first water outlet 5121 falls onto the second connecting portion 502 (mentioned below) between two adjacent hollow areas 501, under the guidance of the first drainage surface 5021, this part of the solution can drip downward onto the auxiliary cleaning cloth through the drainage holes 5051.

[0646] The hollow area 501 is a through hole that penetrates the auxiliary cleaning disc 512. The auxiliary cleaning member 511 is located below the hollow area 501, and the liquid flowing out of the first water outlet 5121 enters the hollow area 501. The liquid applied through the hollow area 501 first wets the part of the auxiliary cleaning member 511 covering the hollow area 501, and then under the action of the liquid flow, the liquid further flows to other areas of the auxiliary cleaning member 511, and finally wets all the auxiliary cleaning members 511.

[0647] This embodiment makes full use of the structure of the auxiliary cleaning disc 512, and sets a hollow area 501 in the auxiliary cleaning disc 512. The hollow area 501 is used to replenish water to the auxiliary cleaning component 511. There is no need to set up additional pipelines to connect the first water channel 610 and the auxiliary cleaning component 511. The structure of the whole machine is more compact and will not interfere with the rotation of the auxiliary cleaning disc 512.

[0648] Fig.66a and Fig.67a An exemplary embodiment shows one first water outlet 5121. It is understandable that the number of the first water outlets 5121 may be two, three or more.

[0649] In some embodiments, one end of the first water channel 610 is connected to the water tank 600 , and the other end is disposed on the swing arm 524 and serves as a liquid outlet, and is connected to the first water outlet 5121 , so that the other end of the first water channel 610 swings with the swing arm 524 .

[0650] One end of the first water channel 610 connected to the water tank 600 is fixed relative to the body 100. Figure 66b , Fig.69a As shown, the other end of the first water channel 610 is arranged on the swing arm 524, and when the swing arm 524 swings, it drives the other end of the first water channel 610 to swing. The structure of the first water channel 610 is simple and compact.

[0651] Combination Fig.63 and Fig.64 As shown, the water tank 600 is an elongated structure, and the longer direction of the water tank 600 extends along the width direction of the cleaning device 10. Under this layout of the water tank 600, a liquid outlet 602 is set at the right end of the water tank 600, and a liquid inlet 601 is set at the left end of the water tank 600. At least one of the first water channel 610 and the second water channel 620 is connected to the liquid outlet 602 at the right end of the water tank 600, and the liquid inlet 601 at the left end of the water tank 600 is connected to the liquid inlet 601 through the liquid infusion pipe 40 ( Fig.63 and Fig.57d ) and the liquid filling port 1013 (such as Fig.57c This layout makes it unnecessary for the water delivery structure to bypass the width direction of the fuselage 100, making the layout more compact and the space utilization rate higher.

[0652] When the cleaning device 10 performs cleaning work, the liquid in the water tank 600 flows to the first water channel 610 through the liquid outlet 602, and the liquid flowing out of the first water channel 610 then drips to the auxiliary cleaning member 511 through the first water outlet 5121 and the hollow area 501 in sequence. Fig.64 As shown, a second water pump 670 is further disposed on the top of the water tank 600 , and the second water pump 670 more effectively pumps the liquid in the water tank 600 into at least one of the first water channel 610 and the second water channel 620 .

[0653] After the cleaning device 10 returns to the base station, the base station replenishes water to the water tank 600 through the liquid replenishment port 1013. Fig.63 As shown, a first water pump 650 is further provided on the left side of the water tank 600, and the first water pump 650 more effectively pumps the liquid in the base station into the water tank 600. The aforementioned lifting motor may be provided below the first water pump 650.

[0654] In some embodiments, Fig.69a As shown, the first water circuit 610 includes a first section 611 and a second section 612; one end of the first section 611 is connected to the water tank 600, and the other end is connected to one end of the second section 612, at least one end of the first section 611 is located outside the swing arm 524; at least the other end of the second section 612 is arranged in the swing arm 524, serving as the liquid outlet of the first water circuit 610.

[0655] The first waterway 610 is configured as a first section 611 and a second section 612 to better meet the requirements of the direction or movement of the first waterway 610 at different positions of the cleaning device 10. For example, the first section 611 can be at least partially configured as a hose, which can better adapt to the direction with an angle. For another example, the second section 612 can be made of a hard material, which can better fix the swing arm 524, increase the reliability of the connection between the first waterway 610 and the swing arm 524, and reduce the separation of the first waterway 610 from the swing arm 524 during the swinging process of the swing arm 524.

[0656] In some embodiments, the second section 612 is located in the inner cavity of the swing arm 524, and the other end of the first section 611 extends into the inner cavity of the swing arm 524 and is connected to the second section 612. In other words, the second section 612 is entirely located in the inner cavity of the swing arm 524, a portion of the first section 611 is located outside the swing arm 524, and the other portion extends into the swing arm 524 and is connected to the second section 612.

[0657] Alternatively, in the embodiment illustrated in the present application, as shown in FIG. 68d and Fig.69a As shown, the first section 611 is located outside the swing arm 524, and one end of the second section 612 extends out of the swing arm 524 and is connected to the other end (as shown in FIG. 68d) of the first section 611. In this case, when the first section 611 is connected to the second section 612, it is not necessary to extend into the inner cavity of the swing arm 524, which makes it more convenient to assemble the first section 611 and the second section 612.

[0658] In some embodiments, as shown in FIG. 68d and Figure 68k As shown, the swing arm 524 is provided with a first clearance hole 5125, and the other end of the first section 611 and one end of the second section 612 are connected at the first clearance hole 5125. As can be seen from the figure, the first clearance hole 5125 is connected to the inner cavity of the swing arm 524, and one end of the second section 612 extends out of the inner cavity of the swing arm 524 from the first clearance hole 5125.

[0659] Only the smaller end portion of the second section 612 extends out of the swing arm 524 , so that it is convenient to connect the first section 611 and the second section 612 while reducing the space occupied in the height direction of the fuselage 100 .

[0660] In some embodiments, in combination Fig.69a As shown, the first waterway 610 satisfies at least one of the following conditions:

[0661] The first section 611 is a water pipe;

[0662] The second section 612 is a sealed box;

[0663] The second section 612 includes a horizontal portion 6121 and a first connecting portion 6122 intersecting with the horizontal portion 6121. The horizontal portion 6121 is fixed in the inner cavity of the swing arm 524 and has a liquid outlet. One end of the first connecting portion 6122 is connected to the horizontal portion 6121, and the other end is connected to the other end of the first section 611.

[0664] The sealing box has a water channel connected to the first section 611, and the outlet of the water channel is the liquid outlet of the first water channel 610. The sealing box can be formed by ultrasonic means, so that the second section 612 is an integrated structure, and the second section 612 will not form a gap due to the assembly of multiple parts, thereby improving the sealing of the sealing box. When the liquid flows in the water channel in the sealing box, the sealing box with better sealing will not cause liquid leakage, and will not affect the metal parts (such as the gear assembly of the second transmission assembly 842) or electronic devices (if any) in the sealing box. The aforementioned second transmission assembly 842 is at least partially located in the inner cavity of the swing arm 524, and the second section 612 is at least partially located below the second transmission assembly 842.

[0665] exist Fig.69a In the illustrated implementation, the first connection portion 6122 is substantially perpendicular to the horizontal portion 6121 , and the first connection portion 6122 is substantially a tubular structure to facilitate connection with the tubular first section 611 .

[0666] The horizontal portion 6121 has a water channel inside. The liquid enters the horizontal portion 6121 from the first section 611 and the first connecting portion 6122 in sequence, and then drips from the liquid outlet to the hollow area 501 of the auxiliary cleaning component 510.

[0667] In some embodiments, Fig.69d , Fig.69e , Figure 69g and Figure 69h As shown, the other end of the second section 612 has a protrusion 613, and the protrusion 613 is provided with a liquid outlet; the protrusion 613 is inserted into the first water outlet 5121 (see Fig.69e and Figure 69g ) so that the liquid outlet is connected to the first water outlet 5121. In this way, all the liquid flowing out of the liquid outlet can enter the first water outlet 5121, reducing the liquid flowing to the area outside the first water outlet 5121, and the liquid can be fully utilized.

[0668] In addition, the boss 613 is also more easily connected to the first water outlet 5121, which facilitates assembly.

[0669] In some embodiments, Fig.69d and Fig.69eAs shown, a seal 614 is further provided between the boss 613 and the first water outlet 5121 to seal the gap between the boss 613 and the first water outlet 5121. The seal 614 can at least prevent water vapor from the external environment from entering the inner cavity of the swing arm 524 and affecting the self-rotation drive mechanism 840 in the inner cavity of the swing arm 524. In this implementation, the first water outlet 5121 is located on the swing arm 524, and the liquid flowing out of the liquid outlet at the bottom of the boss 613 passes through the first water outlet 5121 and the swing arm 524 and then flows to the auxiliary cleaning member 511.

[0670] Fig.69e The seal 614 is exemplarily shown as an annular seal ring, which can be sleeved outside the protrusion 613 and has an interference fit with the inner wall of the first water outlet 5121 to achieve a liquid-tight seal. Fig.69e As can be seen in the figure, a first annular groove 6131 is provided around the convex column 613, and the sealing ring sleeve is located in the first annular groove 6131. ​​The top wall and the bottom wall of the first annular groove 6131 can prevent the sealing ring from moving axially along the convex column 613. The first annular groove 6131 facilitates the fixing of the sealing ring.

[0671] In order to prevent the water vapor from the external environment from entering the inner cavity of the swing arm 524, another implementation method can be adopted: combining Fig.66a , Figure 69f to Figure 69i As shown, the bottom of the swing arm 524 is provided with a second clearance hole 5122 ( Figure 69i ), and a sealing plug 5124 sealed and fixed on the second clearance hole 5122, the sealing plug 5124 is provided with a first water outlet 5121, and the bottom of the protrusion 613 is sealed and inserted in the first water outlet 5121 of the sealing plug 5124. In this implementation, the first water outlet 5121 is formed on the sealing plug 5124, and the sealing plug 5124 is respectively sealed with the inner wall of the second clearance hole 5122 and the outer wall of the protrusion 613. The sealing plug 5124 has both the function of liquid sealing and the function of liquid channel.

[0672] The liquid flowing out of the liquid outlet at the bottom of the protrusion 613 first flows to the first water outlet 5121, and then flows to the auxiliary cleaning assembly 510 from the first water outlet 5121. The second clearance hole 5122 penetrates the swing arm 524 in the height direction to ensure that the liquid falls to the auxiliary cleaning assembly 510.

[0673] Compared with a sealing ring, the sealing plug 5124 can provide a larger contact area, a better sealing effect, and is less likely to fall off due to vibrations generated by the swinging, lifting, and other movements of the swing arm 524.

[0674] For example, Figure 69hAs shown, part of the inner wall of the first water outlet 5121 in the sealing plug 5124 is recessed outward to form a step hole 5123, and the bottom of the boss 613 has a first flange 6132 arranged along its circumference. After the boss 613 is inserted into the sealing plug 5124, the first flange 6132 is embedded in the step hole 5123, and the hole wall of the step hole 5123 limits the axial movement of the boss 613, thereby fixing the boss 613 and improving the reliability of the boss 613 after being inserted into the sealing plug 5124.

[0675] In some embodiments, Figure 66b As shown in FIG68b , the swing arm 524 is swingably disposed on the support base 580 of the first driving structure 520; the first driving motor 521 and the first transmission assembly 720 are both disposed on the support base 580. In combination with the aforementioned support base 580 being disposed on the mounting base 312, it can be seen that although the support base 580 can be raised and lowered relative to the body 100, it does not swing synchronously with the swing of the swing arm 524.

[0676] The support seat 580 is located below the chassis 101 and is installed above the mounting seat 312 of the main cleaning device 10. When the first lifting structure 330 drives the mounting seat 312 to rise and fall, the support seat 580 drives the first drive motor 521 and the first transmission assembly to rise and fall synchronously to achieve synchronous lifting of the auxiliary cleaning module 500 and the main cleaning component 311.

[0677] like Fig.70 As shown, the support seat 580 is provided with a pipe hole 581. One end of the first water channel 610 is connected to the water tank 600, and the other end is passed through the pipe hole 581 and is arranged on the swing arm 524, so that the first water channel 610 swings with the swing arm 524.

[0678] In some embodiments, one end of the second water channel 620 is connected to the water tank 600 , and the other end passes through the pipe hole 581 to replenish water to the aforementioned main cleaning component 311 .

[0679] After passing through the pipe hole 581 of the support seat 580 , the first water channel 610 continues to extend toward the first clearance hole 5125 on the swing arm 524 , and then passes through the first clearance hole 5125 into the inner cavity of the swing arm 524 .

[0680] After the second water channel 620 passes through the pipe hole 581, it is arranged on the top of the mounting seat 312 ( Fig.71 As shown), and extending toward the main cleaning member 311, there is no connection point between the second water channel 620 and the swing arm 524, and therefore, the second water channel 620 does not swing with the swing arm 524.

[0681] like Fig.70As shown, the pipe hole 581 is located on the support seat 580. In the support seat 580, at least the part of the structure where the pipe hole 581 is provided is a soft rubber structure 583, which can reduce the wear problem of the first waterway 610 caused by the movement of the first waterway 610 relative to the support seat 580 during the swing of the first waterway 610 with the swing arm 524.

[0682] In some embodiments, Fig.71 As shown, the support seat 580 is provided with an accommodating channel 30; the first water channel 610 passes through the pipe hole 581, passes through the accommodating channel 30, and is provided on the swing arm 524; the second water channel 620 passes through the pipe hole 581, passes through the accommodating channel 30, and is provided on the mounting seat 312. The accommodating channel 30 includes at least one of a wiring groove 31 and an accommodating cavity 32. Fig.21 In the illustrated embodiment, the accommodating channel 30 in the support seat 580 includes both an accommodating cavity 32 and a wiring groove 31. The accommodating cavity 32 is connected to the first clearance hole 5125. After the first waterway 610 enters the accommodating cavity 32, it enters the inner cavity of the swing arm 524 through the first clearance hole 5125. After the second waterway 620 enters the accommodating cavity 32, it passes through the swing arm 524 through the wiring groove 31, and then extends to the mounting seat 312 of the main cleaning component 310.

[0683] Without limitation, Fig.13 and Fig.14 As shown, a groove-shaped receiving channel 30 is provided above the second driving structure 340, and a groove-shaped receiving channel 30 is also provided on the mounting seat 312, wherein the end of the receiving channel 30 of the mounting seat 312 forms a second water outlet 3123. After the second waterway 620 is led out from the support seat 580, it passes through the receiving channel 30 above the second driving motor and then extends to the receiving channel 30 at the top of the mounting seat 312.

[0684] The above layout of this embodiment makes the whole structure more compact.

[0685] In some embodiments, Fig.77 As shown, the other end of the second water channel 620 is arranged on the top of the mounting seat 312, and the mounting seat 312 is provided with a second water outlet 3123. The other end of the second water channel 620 is connected to the second water outlet 3123. The solution in the second water channel 620 drips onto the main cleaning part 311 through the second water outlet 3123 to replenish the main cleaning part 311 with water.

[0686] The second water outlet 3123 is located above the main cleaning member 311 and aligned with the main cleaning member 311 . The liquid dripping from the second water outlet 3123 falls on the main cleaning member 311 , thereby wetting the main cleaning member 311 .

[0687] In some embodiments, Fig.70As shown, the support base 580 is provided with a wiring hole 582, which is communicated with the aforementioned accommodation channel 30; the cleaning device 10 also includes at least one control harness 20, one end of the control harness 20 is connected to the controller, and the other end of the control harness 20 passes through the wiring hole 582. Moreover, among the at least one control harness 20 arranged in the accommodation channel 30, one control harness 20 is connected to the first driving motor 521.

[0688] from Fig.70 It can be seen that the wiring hole 582 is adjacent to the pipe routing hole 581, and the two are spaced apart.

[0689] In some embodiments, there are three control harnesses 20. One of the control harnesses 20 is connected to the first drive motor 521, another control harness 20 is connected to the aforementioned self-rotation motor, and the third control harness 20 is connected to the aforementioned second drive motor. Since the self-rotation motor is provided on the swing arm 524, the self-rotation motor swings synchronously with the swing arm 524, and then at least part of the control harness 20 swings with the swing of the swing arm 524.

[0690] The wiring hole 582 is also formed on the soft rubber structure 583 to reduce the wear of the control harness 20 during the swinging process.

[0691] Exemplarily, the controller is fixed relative to the body 100 , and the controller has at least one of the following functions: controlling the first drive motor 521 to rotate; controlling the rotation motor 841 to rotate; and controlling the second drive motor 521 to rotate.

[0692] In some embodiments, in combination Fig.76 As shown, when the main cleaning component 310 is flat-bed mopped, the second water channel 620 is provided on the top of the mounting seat 312 ( Fig.77 the top plate 314 of the mounting base 312 and the vibration plate 313 are respectively provided with openings, and the two openings form the aforementioned second water outlet 3123.

[0693] Continue to refer Fig.76 , along the height direction of the cleaning device 10 , the top plate 314 is located between the bottom plate 315 and the chassis 101 , and the vibration plate 313 is located between the top plate 314 and the bottom plate 315 .

[0694] In some embodiments, Fig.64 and Fig.65As shown, the water replenishment structure also includes a water delivery pipeline 630, one end of which is connected to the water tank 600, and the other end of which is connected to the second water path 620 and the first water path 610 respectively through a m...

Claims

1. A cleaning device, characterized in that: include body; A main cleaning module is arranged on the fuselage; the main cleaning module includes at least one main cleaning component; the first lifting structure is used to drive the main cleaning component to rise and fall; An auxiliary cleaning module, the auxiliary cleaning module comprising at least one auxiliary cleaning component, the auxiliary cleaning component having at least an initial position, an edge position and a third position relative to the body; In the edge position, at least a portion of the auxiliary cleaning assembly extends out of the edge of the body for edge cleaning; In the third position, at least a portion of the auxiliary cleaning assembly extends out of the edge of the body to clean the angled area; The third position is used to clean the angle area formed by the edge of the obstacle.

2. The cleaning device according to claim 1, characterized in that The auxiliary cleaning module further includes a first driving structure, which includes a swing arm, and the auxiliary cleaning component is rotatably arranged on the swing arm, and the swing arm is swung to drive the auxiliary cleaning component to any one of the initial position, the edge position and the third position; The distances between the rotation center of the body and the rotation center of the auxiliary cleaning component at the initial position, the edge position, and the third position are LA, LC, and LB, respectively, wherein LB>LC>LA.

3. The cleaning device according to claim 2, characterized in that: Along the swinging direction of the auxiliary cleaning assembly, the edge position is located between the third position and the initial position.

4. The cleaning device according to claim 2, characterized in that: Along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly at the initial position is located in front of the rotation center of the auxiliary cleaning assembly at the edge position.

5. The cleaning device according to any one of claims 1 to 4, characterized in that: When cleaning the angled area, the body drives the auxiliary cleaning assembly to rotate to clean the angled area through at least one of forward, backward, turning and twisting movements.

6. The cleaning device according to any one of claims 1 to 4, characterized in that: The main cleaning module also includes a first lifting structure; the first lifting structure is used to drive the main cleaning component to rise and fall; The auxiliary cleaning module is arranged on the main cleaning component, and driven by the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component.

7. The cleaning device according to claim 6, characterized in that The main cleaning component includes a mounting seat and a vibration plate, wherein the vibration plate is arranged on the mounting seat, and a second notch is arranged on the edge of the mounting seat; the auxiliary cleaning component includes an auxiliary cleaning plate, and an auxiliary cleaning member arranged on the bottom of the auxiliary cleaning plate; In the initial position, at least a portion of the edge of the auxiliary cleaning disk may be embedded in the second notch.

8. The cleaning device according to claim 6, characterized in that At least when in the edge position, the auxiliary cleaning component cooperates with the main cleaning component, and in the width direction of the fuselage, there is no missed cleaning area between the cleaning areas of the auxiliary cleaning component and the main cleaning component; wherein the width direction of the fuselage is perpendicular to the forward direction of the fuselage.

9. The cleaning device according to claim 8, characterized in that The main cleaning component has at least a first part and the auxiliary cleaning component has at least a second part. In the forward direction of the fuselage, the cleaning areas of the first part and the second part have an overlapping area.

10. The cleaning device according to claim 9, characterized in that In the forward direction of the fuselage, the first part is located behind the second part, so that the second part is cleaned first and the first part is cleaned later, and the cleaning areas of the second part and the first part have the overlapping area.

11. The cleaning device according to claim 10, characterized in that The main cleaning component includes a mounting seat, and a main rag arranged on the bottom of the mounting seat; the auxiliary cleaning module is arranged on the mounting seat; the auxiliary cleaning component includes an auxiliary rag; the main rag has the first part, and the auxiliary rag has the second part.

12. The cleaning device according to claim 11, characterized in that The mounting base includes a top plate, and a bottom plate arranged on the bottom of the top plate, the bottom plate is provided with a mounting hole or an avoidance opening, and a vibration plate embedded in the mounting hole or the avoidance opening; the main rag is arranged on the bottom of the vibration plate and the bottom plate; the auxiliary cleaning module is arranged on the top plate; the vibration plate vibrates or twists back and forth to drive the main rag to move to clean the surface to be cleaned.

13. The cleaning device according to claim 1, characterized in that The auxiliary cleaning module further comprises a first driving structure, the first driving structure comprises a swing arm, the auxiliary cleaning assembly is rotatably arranged on the swing arm, and the swing arm is swung to drive the auxiliary cleaning assembly to any one of an initial position, an edge position and a third position; The distances between the rotation center of the body and the rotation center of the auxiliary cleaning assembly at the initial position, the edge position, and the third position are LA, LC, and LB, respectively, wherein LB>LC>LA; the third position is used to clean the angle area formed by the edge of the obstacle; When the auxiliary cleaning component is in at least one of the initial position and the third position, the cleaning areas of the second part and the first part successively have the overlapping area.

Images