Self-moving cleaning machine

Abstract

The invention discloses a self-moving cleaning machine. The self-moving cleaning machine comprises a machine body, a walking module, a cleaning device and a reciprocating device. In the wiping mode, the cleaning device is connected with the machine body through a reciprocating device. The reciprocating device includes a driving device, a wiping crank shaft, and a wiping crank arm. The wiping crank shaft comprises a shaft body and an eccentric shaft, and the wiping crank arm comprises a connecting end and a free end. The eccentric shaft is arranged at the connecting end in a penetrating mode, reciprocating motion of the cleaning device is caused by rotation of the crankshaft for wiping, and floor wiping is achieved. The longitudinal size of the reciprocating device can be reduced, and vibration of the self-moving cleaning machine can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular, an embodiment relates to a self - moving cleaning machine. Background Art

[0002] Floor - cleaning robots are widely used in households because they can achieve functions such as automatic floor - sweeping and dust - suction. However, most current floor - cleaning robots fix the cleaning cloth at the bottom of the machine and use the movement of the robot to wipe the floor. Some floor - cleaning robots, such as the Chinese invention patent with the publication number CN112842174A, in order to adapt to the terrain or material of the floor, will additionally set up a lifting module to enable the cleaning cloth to be lifted to cooperate with various floor terrains or materials.

[0003] In addition, there are other floor - cleaning robots, such as the Chinese invention patent with the authorization announcement number CN107510417B, which has set up a reciprocating device to increase the cleaning function of mopping the floor, enabling the cleaning cloth to move back and forth to wipe the floor. Although this device can increase the cleaning effect, it cannot adapt to the terrain or material of the floor to lift the cleaning cloth.

[0004] Figure 1A An exploded view and a side view of the reciprocating device of the Chinese invention patent with the authorization announcement number CN107510417B are shown. As Figure 1A shown, the reciprocating device 230 includes a crankshaft 231 and at least one crank 232. Among Figure 1A the at least one crank includes two cranks 232, and a cleaning device (not shown) is provided at the free end of the crank 232. The rotation of the crankshaft 231 drives the free end of at least one crank 232 to perform a linear reciprocating motion, and the cleaning devices at the two free ends of these cranks 232 perform a reciprocating linear motion in opposite directions. The crankshaft 231 includes a connecting shaft 234 and an eccentric shaft 235 provided on the connecting shaft 234. The connecting shaft 234 passes through a bearing 233 (bearing) on the connecting end of the crank 232. The eccentric shaft 235 is driven to rotate by a motor to enable the free end of the crank 232 to perform a linear reciprocating motion.

[0005] Figure 1BShow a three-dimensional sectional view of the existing bearing. The bearing 233 includes an inner ring 233a, an outer ring 233b, rolling elements 233c, and a cage 233d. The inner ring 233a is installed on the connecting shaft 234. The rolling elements 233c are usually balls or cylinders and are located between the inner ring 233a and the outer ring 233b, responsible for sharing the load on the connecting shaft 234. The cage 233d is used to fix the positions of the rolling elements 233c, ensure that they maintain a uniform spacing, and at the same time help to retain the lubricant between the inner ring 233a and the outer ring 233b. Through proper lubrication and maintenance, the bearing 233 can effectively reduce the friction between components, improve the mechanical operation efficiency, and extend the service life of the equipment. Summary of the Invention

[0006] An object of an embodiment of the present invention is to provide a self-propelled cleaning machine having a reciprocating device with a new structure that can reduce the longitudinal volume of the reciprocating device, thereby reducing the vibration of the self-propelled cleaning machine.

[0007] A self-propelled cleaning machine includes a machine body, a traveling module, a cleaning device, and a reciprocating device. The traveling module is adjacent to the machine body and is configured to contact the floor and move the self-propelled cleaning machine on a floor. The cleaning device is configured to contact the floor when the self-propelled cleaning machine is in a wiping mode for cleaning the floor. The reciprocating device is connected to the cleaning device and is configured such that, in the wiping mode, the cleaning device reciprocates relative to the machine body to wipe the floor reciprocally. The reciprocating device includes a driving device, a wiping crankshaft, and a wiping crank arm. The wiping crankshaft is driven by the driving device to rotate. The wiping crank arm has a connecting end connected to the wiping crankshaft and a free end for connecting to the cleaning device, and reciprocates as the wiping crankshaft rotates. The driving device, the wiping crankshaft, and the wiping crank arm are located in the machine body. The wiping crankshaft includes a shaft body and an eccentric shaft. The eccentric shaft is eccentrically provided on the shaft body. The wiping crank arm includes a connecting end and a free end. The eccentric shaft passes through the connecting end. The free end is connected to the cleaning device.

[0008] In one embodiment, the wiping crank arm further includes a shaft bearing, and the eccentric shaft passes through the shaft bearing.

[0009] In one embodiment, the reciprocating device further includes a stabilizing structure connected to the eccentric shaft of the wiping crankshaft for maintaining the rotational movement of the eccentric shaft.

[0010] In one embodiment, the machine body further includes a crankshaft mounting seat. The stabilizing structure includes a first connecting disk and a first stabilizing bearing. The first stabilizing bearing is provided on the crankshaft mounting seat, the first connecting disk passes through the first stabilizing bearing, and one end of the eccentric shaft passes through the first connecting disk.

[0011] In one embodiment, the wiping crankshaft further includes a coupling reinforcing column, which is eccentrically disposed on the shaft body and protrudes from one side of the shaft body, and is inserted through the first connection disk.

[0012] In one embodiment, the stabilizing structure further includes a second connection disk and a second stabilizing bearing. The second stabilizing bearing is disposed on another crankshaft mounting seat. The second connection disk is inserted through the second stabilizing bearing, and the other end of the eccentric shaft is inserted through the second connection disk, wherein the position of the first connection disk is relative to the position of the second connection disk.

[0013] In one embodiment, the driving device includes a wiping motor and a belt. The wiping crankshaft is inserted through the belt. The belt is formed into a loop. The first end of the belt is connected to the wiping motor, and the second end of the belt is connected to the wiping crankshaft, so as to enable the wiping motor to rotate the wiping crankshaft through the belt.

[0014] In one embodiment, the shaft body is not inserted through the connection end.

[0015] The present invention has the following beneficial effects: According to an embodiment of the present invention, the self-propelled cleaning machine has a reciprocating device, and the new structure of the reciprocating device can reduce the longitudinal volume of the reciprocating device and reduce the vibration of the self-propelled cleaning machine. Description of the Drawings

[0016] Figure 1A An exploded view and a side view of the reciprocating device of the Chinese invention patent with the authorization announcement number CN107510417B are shown.

[0017] Figure 1B A three-dimensional sectional view of the existing bearing is shown.

[0018] Figure 2A A three-dimensional view of the self-propelled cleaning machine according to an embodiment of the present invention is shown.

[0019] Figure 2B A bottom view of the self-propelled cleaning machine according to an embodiment of the present invention is shown.

[0020] Figure 3 An exploded view of the self-propelled cleaning machine according to an embodiment of the present invention is shown.

[0021] Figure 4 An exploded view of a part of the self-propelled cleaning machine according to an embodiment of the present invention is shown.

[0022] Figure 5 A three-dimensional view of the lifting module and the cleaning device assembled according to an embodiment of the present invention is shown.

[0023] Figure 6 An exploded view of a part of the self-propelled cleaning machine according to an embodiment of the present invention is shown.

[0024] Figure 7 Exploded view of a part of the reciprocating module of the self - moving cleaning machine according to another embodiment of the present invention.

[0025] Figure 8 Exploded view of the reciprocating device according to an embodiment of the present invention.

[0026] Figure 9 Front view (left figure) and side view (right figure) of the shaft body according to an embodiment of the present invention are respectively shown.

[0027] Symbol description:

[0028] B: Moving direction; F: Moving direction; Df: First extension direction; Dr: Second extension direction;

[0029] 100: Self - moving cleaning machine; 101: Machine body; 102: Housing cover; 106: Operation panel; 112: Housing; 114: Base; 115: Accommodation opening; 120: Bumper bar; 121: Cleaning device for dust suction; 122: First suction port part; 123: First suction inlet; 124: Second suction port part; 125: Second suction inlet; 128: Opening; 129: Opening; 130: Traveling module; 132: Front wheel; 140: Rotary brush device; 150: Side brush device; 160: Water spraying module; 170: Battery module; 172: Battery cover; 180: Air extraction module; 190: Circuit board;

[0030] 200: Dust box; 227: Rotary brush cover;

[0031] 300: Lifting module; 301: Lifting base; 302: Opening; 310: Crankshaft seat; 320: Crank device; 322: Crankshaft; 324: Force - applying arm; 326: Tooth part; 330: Abutting part; 340: Upper cover of the wiping motor; 341: Motor mounting seat; 342: Crankshaft mounting seat; 350: Driving device; 352: Gear; 354: Motor; 355: Driving upper cover; 361: First rocker; 362: Second rocker; 363: Third rocker; 364: Fourth rocker; 367: First mounting piece; 368: Second mounting piece; 369: Connecting rod; 370: Elastic component;

[0032] 400: Reciprocating device; 410: Motor; 420: Wiping crankshaft; 421: Belt cover; 422: Tooth part; 423: Shaft body; 424: Eccentric shaft; 425: Connecting reinforcement column; 430: Wiping crank arm; 431: Connecting end; 432: Free end; 433: Bearing; 440: Belt; 451: First stable bearing; 452: Second stable bearing; 461: First connecting disc; 462: Second connecting disc; 470: Driving device; 480: Stable structure;

[0033] 500: Cleaning device; 510: Cleaning cloth seat; 511: Roller mounting seat; 512: Mounting post; 513: Crank arm mounting seat; 520: Cleaning cloth; 561: Slide block; 562: Guide groove; 563: Roller; 564: Bearing. Detailed implementation

[0034] Figure 2A Displays a perspective view of a self - moving cleaning machine according to an embodiment of the present invention. Figure 2B Displays a bottom view of a self - moving cleaning machine according to an embodiment of the present invention. Figure 3 Displays an exploded perspective view of a self - moving cleaning machine according to an embodiment of the present invention. Figure 4 Displays an exploded view of a part of a self - moving cleaning machine according to an embodiment of the present invention. In conjunction with the above - mentioned drawings according to the following explanations, the working principle of the self - moving cleaning machine 100 disclosed by the present invention can be more easily understood.

[0035] The self - moving cleaning machine includes a machine body 101, a traveling module 130, a cleaning device 500 and a reciprocating device 400. The machine body 101 includes a lifting module 300 and a base 114. The reciprocating device 400 is connected to the cleaning device 500. At least a part of the reciprocating device 400 is configured to be connected to the lifting base 301 of the lifting module 300, so that at least this part of the reciprocating device 400 moves up and down with the up - and - down movement of the lifting base 301, and the reciprocating device 400 is configured to, in the wiping mode, make the cleaning device 500 perform a reciprocating motion relative to the lifting base 301, thereby wiping the floor reciprocally. The base 114 defines a receiving space.

[0036] In one embodiment, the reciprocating device 400 includes a belt 440, a wiping motor 410, a wiping crankshaft 420 and a wiping crank arm 430. The wiping crankshaft 420 is used to be driven by the wiping motor 410 to rotate. A connecting end 431 of the wiping crank arm 430 is connected to the wiping crankshaft 420, and a free end 432 of the wiping crank arm 430 is used to connect to the cleaning device 500 and performs a reciprocating motion as the wiping crankshaft 420 rotates. In one embodiment, the wiping motor 410, the wiping crankshaft 420 and the wiping crank arm 430 of the reciprocating device 400 move up and down with the up - and - down movement of the lifting base 301. The wiping motor 410, the wiping crankshaft 420 and the wiping crank arm 430 are located in the receiving space of the base 114. The first end of the belt 440 is connected to the wiping motor 410, and the second end of the belt 440 is connected to the wiping crankshaft 420, so as to transmit the torque of the wiping motor 410 to the wiping crankshaft 420 through the belt 440.

[0037] After detailed research by the inventor, it is found that according to the prior art, since the eccentric shaft 235 is provided on the connecting shaft 234, the size of the connecting shaft 234 needs to include an eccentric distance H, and the connecting shaft 234 passes through the inner ring of the bearing 233 at the connecting end of the crank 232, making the connecting end of the crank 232 and the bearing 233 require a larger volume. When the connecting end of the crank 232 rotates around the eccentric shaft 235 as the axis, since the moment of inertia is proportional to the eccentric distance H, when the bearing 233 is larger, the moment of inertia is larger, resulting in more obvious vibration of the self-propelled cleaning machine. In order to reduce the vibration phenomenon of the self-propelled cleaning machine in the prior art, two cleaning devices are provided and the moving directions of these cleaning devices are opposite to offset the moment of inertia. In the case where there is only one cleaning device, there is still a phenomenon of causing vibration of the self-propelled cleaning machine.

[0038] To solve the foregoing problems, a reciprocating device is proposed, which can reduce the volume of the shaft bearing of the crankshaft to reduce the rotational inertia or moment of inertia of the shaft bearing, and reduce the vibration phenomenon of the self-propelled cleaning machine. Hereinafter, the specific structure of an embodiment of the present invention will be described in more detail.

[0039] In one embodiment, referring to Figure 2A , when the traveling module 130 moves the self-propelled cleaning machine forward or backward on the floor, the direction is the first extension direction Df, and the cleaning device 500 reciprocates along the first extension direction Df. That is to say, the direction when the traveling module 130 moves forward or backward on the floor is the reciprocating movement direction of the cleaning device 500.

[0040] The first end and the second end of the belt 440 respectively form a U-shaped space. The wiping motor 410 includes a connecting shaft 411, and the connecting shaft 411 is connected to the inner side of the U-shaped space at the first end of the belt 440. The wiping crankshaft 420 is connected to the inner side of the U-shaped space at the second end of the belt 440. The cross-sectional area in the radial direction of the connecting shaft 411 is smaller than the cross-sectional area in the radial direction of the wiping crankshaft 420, and the size of the U-shaped space at the first end of the belt 440 is smaller than the size of the U-shaped space at the second end of the belt 440. In one embodiment, referring to Figure 8 , the extending direction of the connecting shaft 411 is within the length range of the wiping crank arm.

[0041] In one embodiment, referring to Figure 7 , when the traveling module 130 moves the self-propelled cleaning machine forward or backward on the floor, the direction is the first extension direction Df. The cleaning device 500 reciprocates along the second extension direction Dr. And the first extension direction Df is not parallel to the second extension direction Dr. Preferably, the first extension direction Df is perpendicular to the second extension direction Dr. That is to say, when the traveling module 130 moves forward or backward on the floor, the cleaning device 500 performs a left-right reciprocating movement.

[0042] In one embodiment, referring to Figure 2A , preferably, the self-propelled cleaning machine 100 further includes a bumper 120, a housing 112, and a housing cover 102. As Figure 2A shown, in some embodiments, the self-propelled cleaning machine 100 further includes an operation panel 106, which can provide the user with options to select the operation mode by touch or pressing. The self-propelled cleaning machine 100 can freely travel in different directions on the floor to be cleaned. For the convenience of description, in this article, the self-propelled cleaning machine 100 has a forward movement direction F and a backward movement direction B. The bumper 120 faces the forward movement direction F, which serves as the front side of the self-propelled cleaning machine 100 and has a straight shape, while the housing 112 faces the backward movement direction B, which serves as the rear side of the self-propelled cleaning machine 100 and has a circular arc shape. However, the present invention does not limit the shapes of the bumper 120 and the housing 112.

[0043] Referring to Figure 2B and Figure 3 , the self-propelled cleaning machine 100 further includes various components, such as: a cleaning device 121 for vacuuming, a traveling module 130, front wheels 132, a side brush device 150, and a water spraying module 160. The cleaning device 121 for vacuuming is used to clean the floor. The aforementioned components are attached to the base 114 and extend or protrude outward from the lower side of the base 114. In this article, for the convenience of description, the base 114 has an upper side and a lower side, and the reference point for the reference method is the orientation when the self-propelled cleaning machine 100 is placed upright on the floor to be cleaned. Among them, the upper side refers to the side facing away from the floor to be cleaned, and the lower side refers to the side facing the floor to be cleaned. In one embodiment, the self-propelled cleaning machine 100 further includes a battery module 170 attached to the base 114. In this embodiment, the cleaning device 121 for vacuuming may include, for example, a first suction port 122, a second suction port 124, and a roller brush device 140. However, the cleaning device 121 for vacuuming is not limited by the present invention. It may only include a first suction port 122, or it may only include a second suction port 124 and a roller brush device 140, and the roller brush device 140 is disposed in the second suction inlet 125 of the second suction port 124.

[0044] The traveling module 130 is adjacent to the base 114, located on opposite sides of the base 114, exposed outwardly through the lower side of the base 114, and located in the middle area of the base 114, so that the self - moving cleaning machine 100 contacts the floor when moving on the floor to be cleaned. The traveling module 130 may include a pair of traveling components and a driving device. The traveling components may be moving parts such as caterpillar wheels and rollers, and the driving device may be a combination of a motor, gears, and other transmission devices. The traveling components are driven by the driving device to drive the self - moving cleaning machine 100 to move forward, backward, or turn on the floor to be cleaned. In the illustrated embodiment, each traveling component of the traveling module 130 is composed of a caterpillar wheel, which includes a track and two driving wheels for driving the track.

[0045] The front wheel 132 is located in the front area of the self - moving cleaning machine 100 and is closer to the front side of the self - moving cleaning machine 100 than the traveling module 130. In some embodiments, the front wheel 132 serves as an auxiliary wheel of the traveling module 130 and assists in maintaining balance during travel when the traveling module 130 drives the self - moving cleaning machine 100 forward, and thus may not have the ability to drive the self - moving cleaning machine 100. Refer to Figure 3 , the self - moving cleaning machine 100 further includes a dust box 200 and an air extraction module 180 located in the housing 112 above the base 114. The air extraction module 180 is connected to the first suction port 122 and the second suction port 124 through the dust box 200. In one embodiment, the air extraction module 180 includes a pump. During operation, the air in the first suction port 122 and the second suction port 124 is extracted by the air extraction module 180, so that a negative pressure is formed inside the first suction port 122 and the second suction port 124, thereby generating suction force.

[0046] In one embodiment, the water spraying module 160 is provided on the base 114 and can be used to spray clean water or other cleaning liquids to wet the floor to be cleaned, so that the dirt adhered to the floor can be more easily removed, thereby improving the cleaning effect of the self - moving cleaning machine 100. In one embodiment, the self - moving cleaning machine 100 includes a water supply module, which may be composed of a water tank, a pump, and a water supply pipe. The water tank contains water or cleaning liquid and is transmitted to the water spraying module 160 through the water supply pipe, and the pump is used to pressurize the clean water or cleaning liquid in the water supply pipe. In one embodiment, the position of the nozzle of the water spraying module 160 extends from the lower side of the base 114 towards the floor to be cleaned. In one embodiment, the water spraying module 160 includes a water outlet, such as a nozzle. By adjusting the direction of the water outlet, the water outlet direction of the water spraying module 160 can be controlled, and the water or cleaning liquid is sprayed from both sides of the base 114 towards the middle area of the base 114, so that the clean water or cleaning liquid can be more effectively utilized by the cleaning cloth.

[0047] The base 114 is provided with a first suction port portion 122. In one embodiment, the first suction port portion 122 is composed of a border formed by the base 114 and a plurality of side walls to form a first dust suction channel leading from the lower side of the base 114 to the upper side of the base 114. The first dust suction channel includes a first suction inlet 123 provided on the lower side of the base 114. The first suction port portion 122 has the first suction inlet 123 on the lower side of the base 114. The first dust suction channel of the first suction inlet 123 has a larger area on the floor of the lower side, and then has a tapered shape when extending to the upper side of the base 114, and can adsorb dust or garbage in a larger range through the lower side. In one embodiment, the first suction port portion 122 sucks dust or dirt on the ground from the first suction inlet 123 into the dust box 200 through the negative pressure provided by the air extraction module 180. In one embodiment, no bristles or brush pieces for cleaning are provided in the first suction port portion 122 or the first suction inlet 123. Therefore, when the inhaled garbage is slender, such as hair, string or pet hair, this kind of garbage will not get stuck in the first dust suction channel or the first suction inlet 123, so there is no need to clean the first suction port portion 122 regularly, and more time for maintaining the self-propelled cleaning machine 100 can be saved. The base 114 is further provided with a second suction port portion 124. In one embodiment, the second suction port portion 124 is composed of a border formed by the base 114 and a plurality of side walls to form a second dust suction channel. The second dust suction channel includes a second suction inlet 125 provided on the lower side of the base 114 and adjacent to the first suction inlet 123. In one embodiment, the distance between the second suction inlet 125 and the first suction inlet 123 is within 30 mm.

[0048] In one embodiment, the roller brush device 140 is provided on the base 114, surrounded by the second suction port portion 124 and exposed from the lower side of the base 114. In one embodiment, the second suction port portion 124 includes a roller brush cover 227 provided on the lower side of the base 114. The roller brush cover 227 can be annular and expose the second suction inlet 125 therein. The roller brush cover 227 is designed to be openable and closable. When it is opened, the roller brush device 140 can be taken out from the lower side of the base 114, and when it is closed, the roller brush device 140 is locked by the roller brush cover 227 in the second suction inlet 125 on the base 114, so that the roller brush device 140 can rotate stably without shaking during the cleaning operation.

[0049] Refer to Figure 2B, the roller brush device 140 includes a roller brush shaft and a roller brush provided on the roller brush shaft. In one embodiment, the roller brush shaft is rod-shaped, and holding ends are provided on both sides of the rod, and are detachably clamped to the base 114. The roller brush shaft can be connected to a driving device, such as a motor, through the holding ends, and is rotated by the power provided by the driving device. In one embodiment, the roller brush is made of a flexible material and has the shape of brush pieces or bristles. The roller brush is attached to the roller brush shaft and extends radially outward with the roller brush shaft as the center. Therefore, when the roller brush rotates, it scrapes off dust or dirt on the ground with a rotational force.

[0050] In one embodiment, the second suction port 124 sucks the dust or dirt on the ground from the second suction inlet 125 through the negative pressure provided by the air extraction module 180. In one embodiment, since the roller brush device 140 is provided in the second suction inlet 125 of the second suction port 124, when the floor to be cleaned has sticky dust or heavy garbage, the sticky dust or heavy garbage can be removed simultaneously through the vacuum suction of the air extraction module 180 and the rotational torque of the roller brush device 140, and the garbage that cannot be completely removed by the first suction port 122 can be sucked by the second suction port 124, improving the cleaning effect of the self-propelled cleaning machine 100.

[0051] Refer to Figure 2B , the side brush device 150 is provided on the lower side of the base 114. The side brush device 150 can be provided near any corner of the self-propelled cleaning machine 100 close to its front side. For example, the side brush device 150 can be provided between the front side of the self-propelled cleaning machine 100 and the first suction port 122, close to the side of the self-propelled cleaning machine 100 or the base 114. Through the movement of the self-propelled cleaning machine 100 in cooperation with the sweeping action of the side brush device 150, the dust or dirt on the ground can be pushed by the side brush device 150 closer to the first suction inlet 123 or the second suction inlet 125, and is more easily sucked into the first suction inlet 123 or the second suction inlet 125.

[0052] Refer to Figures 2A to 3 , in one embodiment, the self-propelled cleaning machine 100 includes a battery module 170, and the base 114 is further provided with a battery cover 172, which is located on the lower side of the base 114. The battery module 170 is installed on the base, and the battery cover 172 is used to lock the battery module 170 in the base 114, and the battery module 170 can be replaced by opening the battery cover 172.

[0053] In one embodiment, the side wall of the first suction port portion 122 extends from the first suction port 123 to the upper side of the base 114, and forms an opening 128 adjacent to the second suction port portion 124. The opening 128 and the first suction port 123 are respectively located on the upper side of the base 114 and the lower side of the base 114, and serve as two openings of the first suction port portion 122. In one embodiment, the side wall of the second suction port portion 124 forms a accommodating space on the upper side of the base 114 to accommodate the roller brush device 140. In one embodiment, the accommodating space has a cylindrical shape, but the present invention does not limit the shape of the accommodating space of the second suction port portion 124, and other shapes are also within the scope of the embodiments of the present invention. The side wall of the second suction port portion 124 forms an opening 129 on the upper side of the accommodating space. Figure 2B It can be seen that the opening 129 and the second suction port 125 are respectively located on the upper side and the lower side of the base 114 and serve as two openings of the second suction port portion 124 , wherein the roller brush device 140 is disposed in the second suction port 125 and located between the second suction port 125 and the opening 129 .

[0054] In one embodiment, if Figure 3 and Figure 4 As shown, the self-moving cleaning machine 100 includes a lifting module 300, a part of which is arranged on the base 114, and a lifting base 301 of the lifting module 300 is arranged below the base 114. The lifting module 300 connects the base 114 and the cleaning device 500, and can drive the cleaning device 500 to move up and down relative to the base 114, so that the cleaning device 500 is close to or away from the surface to be cleaned. In one embodiment, the cleaning device 500 includes a cleaning cloth holder 510 and a cleaning cloth 520. The cleaning cloth holder 510 is placed below the lifting base 301. The cleaning cloth 520 is arranged on the bottom surface of the cleaning cloth holder 510 to contact the floor.

[0055] In one embodiment, the cleaning cloth holder 510 approaches the surface to be cleaned in a direction perpendicular to the surface to be cleaned, so that the cleaning cloth 520 can be completely close to the surface to be cleaned. In one embodiment, the cleaning cloth holder 510 rises from the surface to be cleaned in a direction perpendicular to the surface to be cleaned and is at a distance from the ground, so that the cleaning cloth 520 can be completely separated from the surface to be cleaned.

[0056] The design of the above-mentioned vertically movable cleaning device 500 or cleaning cloth seat 510 has many advantages. When the self-propelled cleaning machine 100 needs to cross an obstacle (such as a threshold), the cleaning device 500 can be raised, increasing the space under the base 114, thereby making it easier for the self-propelled cleaning machine 100 to cross the obstacle. In one embodiment, when the self-propelled cleaning machine 100 finishes cleaning, the cleaning cloth 520 may be soiled at this time. Therefore, raising the cleaning device 500 can prevent the self-propelled cleaning machine 100 from being secondarily contaminated when passing through the area that has been cleaned. In another embodiment, the self-propelled cleaning machine 100 travels on floors of different properties, and some of the floors may not be suitable for wet cleaning, such as carpets. In this case, the self-propelled cleaning machine 100 is provided with a floor detector (not shown) for detecting the floor property. When it detects that the floor property is not suitable for wet cleaning, the self-propelled cleaning machine 100 can raise the cleaning device 500 to avoid wetting the floor. In one embodiment, the current of the rotary brush or the load torque of the rotary brush can be used to determine whether to lift the cleaning device 500. In one embodiment, the floor detector can be a floor material sensor, which can use an acoustic wave sensor, a light sensor, a polarized light sensor, and use signals of sound, light, or polarized light to determine the floor material. In one embodiment, when the self-propelled cleaning machine 100 senses a charging signal, it can be confirmed that it returns to the charging base, and the cleaning device 500 is lifted to avoid wetting the floor.

[0057] Figure 5 Shows a perspective view of the assembled lifting module 300 and cleaning device 500 according to an embodiment of the present invention. Figure 6 Shows an exploded view of a part of the self-propelled cleaning machine according to an embodiment of the present invention.

[0058] Refer to Figures 3 to 5 In one embodiment, the lifting module 300 includes at least one rocker. A first end of the at least one rocker is rotatably connected to the base 114, and a second end of the at least one rocker is rotatably connected to the lifting base 301, and the at least one rocker can swing within a predetermined angle with its first end or its second end as the axis.

[0059] Refer to Figure 6, the lifting module 300 includes a crank device 320, a abutting portion 330, and a driving device 350. In one embodiment, the lifting module 300 further includes a wiping motor upper cover 340, and the abutting portion 330 is disposed on the wiping motor upper cover 340. The abutting portion 330 straddles a part of the crank device 320 and is connected to the lifting base 301. The driving device 350 is disposed on the base 114 and is used to drive the crank device 320 to rotate. The lifting module 300 is configured such that, by the rotation of the crank device 320, a part of the crank device 320 (for example, the end of the force-applying arm 324 described below) applies a force to the abutting portion 330. More specifically, the part of the crank device 320 (for example, the end of the force-applying arm 324 described below) abuts against the abutting portion 330, and then applies a force to the abutting portion 330, thereby raising the lifting base 301 so that the lifting base 301 approaches the base 114.

[0060] In one embodiment, referring to Figure 6 , preferably, the driving device 350 includes a gear 352 and a motor 354. The crank device 320 has a crankshaft 322, a force-applying arm 324, and a tooth portion 326. A side wall is provided on the base 114 to form a crankshaft seat 310. The crank device 320 rotates while leaning on the crankshaft seat 310. Therefore, the end of the force-applying arm 324 rises or falls relative to the base 114 (or its crankshaft seat 310). In one embodiment, the crankshaft seat 310 forms an accommodating space for accommodating the crankshaft 322. The crankshaft seat 310 can be a protruding portion protruding from the base 114. In one embodiment, the self-propelled cleaning machine 100 further includes a driving upper cover 355. The driving upper cover 355 is fixed to the base 114, and an accommodating space is defined between the driving upper cover 355 and the base 114 for accommodating the gear 352 and the motor 354.

[0061] Referring to Figure 6, in one embodiment, the positions of the abutting portions 330 respectively correspond to the positions of the force - applying arms 324 of the crank device 320, such that at least a part of the abutting portions 330 straddles above the force - applying arms 324 of the crank device 320. The crankshaft 322 is provided in the crankshaft seat 310 on the base 114. The force - applying arm 324 is connected to the crankshaft 322. Preferably, the force - applying arm 324 extends from one side end of the crankshaft 322. More preferably, the force - applying arm 324 extends in a direction perpendicular to the long axis direction of the crankshaft 322, and the abutting portion 330 straddles above the end of the force - applying arm 324. The tooth portion 326 and the force - applying arm 324 are located at different positions of the crankshaft 322. The tooth portion 326 is provided on the crankshaft 322 (preferably located on the long - axis portion of the crankshaft 322) and is coupled to the driving device 350. Thus, the driving device 350 drives the tooth portion 326 to rotate in a clockwise or counter - clockwise direction. In one embodiment, the motor 354 of the driving device 350 is controlled according to the control current to output a rotational torque to drive the gear 352, and the tooth portion 326 of the crank device 320 meshes with the gear 352 and rotates. The motor 354 can output a clockwise or counter - clockwise torque according to different directions of the control current. Therefore, the motor 354 drives the gear 352 and the tooth portion 326 to rotate in a clockwise or counter - clockwise direction, and causes the end of the force - applying arm 324 of the crank device 320 to rise or fall. That is, the end of the force - applying arm 324 moves downward or upward. In one embodiment, when the end of the force - applying arm 324 moves upward, it can lift the lifting base 301, and when the end of the force - applying arm 324 moves downward, it can exert a downward pressure on the lifting base 301, so that the cleaning device 500 is subjected to a downward pressure and can wipe the floor more forcefully.

[0062] When the end of the force - applying arm 324 rises, the end of the force - applying arm 324 abuts against the abutting portion 330 and applies a force to the abutting portion 330, so that the abutting portion 330 also rises accordingly. Thus, the lifting base 301 and the cleaning cloth seat 510 also rise accordingly, and the cleaning cloth 520 is separated from the surface to be cleaned. On the contrary, when the end of the force - applying arm 324 descends, the abutting portion 330 also descends accordingly. Thus, the lifting base 301 and the cleaning cloth seat 510 also descend accordingly, and the cleaning cloth 520 adheres to the surface to be cleaned. Preferably, in addition to moving up and down, the end of the force - applying arm 324 also moves back and forth in the extending direction of the abutting portion 330.

[0063] In one embodiment, the tooth portion 326 of the crankshaft 322 is provided with an upper starting point and a lower starting point, thereby determining the lifting range of the lifting base 301 and the cleaning device 500. Preferably, the tooth portion 326 is formed with a plurality of continuous teeth, and the two ends of these teeth respectively form the upper starting point and the lower starting point. In one embodiment, by setting the number of teeth of the tooth portion 326, and the two ends of the continuous teeth correspond to the upper starting point and the lower starting point. When the tooth portion 326 rotates to the two ends, it can no longer move forward or backward, thus stopping the rotation of the crankshaft 322. In one embodiment, the lifting module 300 detects that the output current of the motor 354 increases, thus determining that the tooth portion 326 of the crankshaft 322 reaches the upper starting point or the lower starting point, and thus stops or reduces the supply current, which can protect the normal operation of the lifting module 300.

[0064] In one embodiment, the tooth portion 326 extends from the crankshaft 322 in a first direction, and the force application arm 324 extends from the crankshaft 322 in a second direction, and the first direction is not parallel to the second direction. Preferably, the crankshaft 322 rotates while leaning on the crankshaft seat 310. In one embodiment, the self-propelled cleaning machine 100 further includes a circuit board 190, on which a controller is provided, and is configured to sequentially perform the following steps when the self-propelled cleaning machine 100 moves on the surface: vacuuming with the first suction port 122, vacuuming with the second suction port 124, sprinkling water with the water spraying module 160, and wiping with the cleaning device 500 through the cleaning cloth 520.

[0065] Referring to Figures 3 to 5 , in one embodiment, at least one rocker of the lifting module 300 includes a first rocker 361 and a second rocker 362. The first rocker 361 and the second rocker 362 are respectively located on two opposite sides of the extending direction of the wiping crank arm 430 of the reciprocating device 400. In this embodiment, the first rocker 361 and the second rocker 362 are connected together by a connecting rod 369, so that the respective forces of the first rocker 361 and the second rocker 362 can be transmitted between each other, and the forces on the left and right sides when the lifting base 301 is lifted can be balanced. In one embodiment, the lifting module 300 may further include a third rocker 363 and a fourth rocker 364. The third rocker 363 and the fourth rocker 364 are respectively located on two opposite sides of the extending direction of the wiping crank arm of the reciprocating device. In one embodiment, the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364 can all swing within a predetermined angle with their respective first ends or second ends as axes, and preferably, the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364 further form a four-link module, which can lift the cleaning cloth seat 510 more horizontally when the lifting base 301 is lifted, making the cleaning cloth seat 510 less inclined, so as to make the lifting base 301 move up and down more parallelly.

[0066] The second ends of the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364 are respectively connected to the upper surface of the lifting base 301, and the lifting motor (or the position where the end of the force application arm 324 applies force to the abutting portion 330) is located within the range defined by the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364. As Figure 7 shown, the second ends of the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364 form a quadrilateral area, and the lifting motor is disposed within this quadrilateral area. According to this structure, the center of gravity of the lifting module 300 can be located within the range defined by the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364, enabling the lifting base 301 to move up and down more parallelly.

[0067] In one embodiment, the self - moving cleaning machine 100 further includes a plurality of first mounting pieces 367 and a plurality of second mounting pieces 368. The first mounting pieces 367 are fixed to the base 114 for mounting the first ends of the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364 to the base 114. The second mounting pieces 368 are fixed to the lifting base 301 for mounting the second ends of the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364 to the lifting base 301.

[0068] Refer to Figure 4, in one embodiment, the wiping motor 410 is disposed above the lifting base 301. Moreover, the upper cover 340 of the wiping motor covers the wiping motor 410, and the upper cover 340 of the wiping motor is fixed to the lifting base 301. A receiving space is defined between the upper cover 340 of the wiping motor and the lifting base 301 for receiving the wiping crankshaft 420 and the wiping motor 410. In one embodiment, side walls are provided on the lifting base 301 to form a motor mounting seat 341, and the wiping motor 410 is disposed in the motor mounting seat 341. Side walls are provided on the lifting base 301 to form a crankshaft mounting seat 342, and the wiping crankshaft 420 is disposed in the crankshaft mounting seat 342. The lifting base 301 defines an opening 302. The connecting end 431 of the wiping crank arm 430 is located on the upper side of the lifting base 301, while the free end 432 of the wiping crank arm 430 is located on the lower side of the lifting base 301. Moreover, the wiping crank arm 430 passes through the opening 302 from the upper side of the lifting base 301 and extends to the lower side of the lifting base 301. Also, the wiping motor 410, the wiping crankshaft 420, and the wiping crank arm 430 move up and down as the lifting base 301 moves up and down. In one embodiment, side walls are provided on the cleaning cloth seat 510 to form a crank arm mounting seat 513, and the free end 432 of the wiping crank arm 430 is disposed in the crank arm mounting seat 513, so that the cleaning cloth seat 510 performs a reciprocating motion through the wiping crank arm 430.

[0069] Figure 7 Shows an exploded view of a part of a reciprocating module of a self - moving cleaning machine according to another embodiment of the present invention. Figure 8 Shows an exploded view of a reciprocating device according to an embodiment of the present invention. As Figure 7 and Figure 8 shown, the reciprocating device 400 includes a wiping crank arm 430, a wiping crankshaft 420, and a driving device 470. The driving device 470 drives the wiping crankshaft 420 to rotate. In one embodiment, the driving device 470 includes a wiping motor 410 and a belt 440. The wiping crankshaft 420 is passed through the belt 440, and the wiping motor 410 drives the belt 440 to rotate, and the belt 440 drives the wiping crankshaft 420 to rotate.

[0070] The wiping crankshaft 420 includes an eccentric shaft 424, a shaft body 423, a belt cover 421, and a tooth portion 422. The shaft body 423 and the belt cover 421 define a receiving space for receiving the belt 440. The tooth portion 422 is located on the outer periphery of the shaft body 423 and in the aforementioned receiving space, and the tooth portion 422 is passed through the belt 440. The eccentric shaft 424 is eccentrically disposed on the shaft body 423.

[0071] The wiping crank arm 430 includes a shaft bearing 433, a connecting end 431, and a free end 432. The shaft bearing 433 is provided at the connecting end 431. The free end 432 is connected to the cleaning device 500. The eccentric shaft 424 passes through the connecting end 431, more specifically, through the inner ring of the shaft bearing 433. The wiping crankshaft 420 and its eccentric shaft 424 are driven to rotate by the motor 410 and the belt 440. The rotational movement of the eccentric shaft 424 drives the free end 432 of the wiping crank arm 430 to perform a linear reciprocating motion.

[0072] The reciprocating device 400 further includes a stabilizing structure 480. The stabilizing structure 480 includes a first connecting disk 461 and a first stabilizing bearing 451. The outer ring of the first stabilizing bearing 451 is provided on and fixed to the crankshaft mounting seat 342 of the lifting base 301. The first connecting disk 461 passes through the inner ring of the first stabilizing bearing 451. One end of the eccentric shaft 424 passes through the first connecting disk 461. Since the first stabilizing bearing 451 is provided on the crankshaft mounting seat 342, the rotational movement of the eccentric shaft 424 can be stabilized. Preferably, the stabilizing structure 480 further includes a second connecting disk 462 and a second stabilizing bearing 452. The outer ring of the second stabilizing bearing 452 is provided on and fixed to another crankshaft mounting seat 342 of the lifting base 301. The second connecting disk 462 passes through the inner ring of the second stabilizing bearing 452. The other end of the eccentric shaft 424 passes through the second connecting disk 462, where the position of the first connecting disk 461 is relative to the position of the second connecting disk 462. Since both opposite ends of the eccentric shaft 424 pass through the first connecting disk 461 and the second connecting disk 462, it is rotatably fixed in the first stabilizing bearing 451 and the second stabilizing bearing 452. Therefore, the rotational movement of the eccentric shaft 424 can be more stabilized.

[0073] According to the present invention, since the eccentric shaft 424 is eccentrically provided on the shaft body 423 and the shaft body 423 is not provided in the connecting end 431, the size of the connecting end 431 no longer needs to include an eccentric distance H. Therefore, the volume of the connecting end 431 can be reduced, the moment of inertia can be reduced, and further the vibration of the self-propelled cleaning machine can be reduced.

[0074] Figure 9 The front view (left figure) and side view (right figure) of the shaft body according to an embodiment of the present invention are respectively shown. As Figure 9 shown, the eccentric shafts 424 are respectively located on and protrude from two opposite sides of the shaft body 423. The wiping crankshaft 420 further includes a coupling reinforcing column 425. The coupling reinforcing column 425 is eccentrically provided on the shaft body 423 and protrudes from one side of the shaft body 423, and passes through the first connecting disk 461 to make the rotation of the eccentric shaft 424 more stable.

[0075] The new structure of the reciprocating device 400 according to an embodiment of the present invention can reduce the longitudinal volume of the reciprocating device 400 and reduce the vibration of the self - moving cleaning machine.

[0076] Referring to Figure 4 and Figure 6 , in one embodiment, the base 114 defines a receiving space and a receiving opening 115 is formed at the bottom of the receiving space. The wiping motor 410, the wiping crankshaft 420 and the wiping crank arm 430 are disposed in the receiving space and move up and down in the receiving opening 115 as the lifting base 301 moves up and down.

[0077] In one embodiment, the cleaning device 500 includes a first guiding structure, and the lifting base 301 includes a second guiding structure. Preferably, the first guiding structure cooperates with the second guiding structure to guide the reciprocating motion of the cleaning device 500. More specifically, the cleaning device 500 performs a reciprocating motion within the range defined by the first guiding structure and the second guiding structure. In one embodiment, the first guiding structure is a slider, and the second guiding structure is a guiding groove; or the first guiding structure is a guiding groove, and the second guiding structure is a slider. As Figure 4 shown, the first guiding structure of the cleaning device 500 is the slider 561, and the second guiding structure of the lifting base 301 is the guiding groove 562. The slider 561 is disposed in the guiding groove 562, and the slider 561 can reciprocate in the guiding groove 562, so that the cleaning device 500 reciprocates relative to the lifting base 301.

[0078] In one embodiment, the cleaning device 500 further includes a roller 563. The roller 563 is located between the cleaning cloth seat 510 and the lifting base 301 and rolls on the cleaning cloth seat 510 or the lifting base 301, thereby reducing the friction between the cleaning cloth seat 510 and the lifting base 301. In one embodiment, the roller 563 is located between the cleaning cloth seat 510 and the lifting base 301 in the up - and - down direction. Side walls are provided on the cleaning cloth seat 510 to form a roller mounting seat 511, and the roller 563 abuts against the roller mounting seat 511 and rotates. In one embodiment, the cleaning device 500 further includes a bearing 564. The cleaning cloth seat 510 is also provided with a mounting post 512 protruding from its top surface. The bearing 564 is rotatably disposed on the mounting post 512, and preferably, the bearing 564 is located in the guiding groove 562 and can rotate about the mounting post 512 while reciprocating in the guiding groove 562. In one embodiment, the bearing 564 can be the slider 561. In one embodiment, the slider 561 is mounted on the top surface of the mounting post 512 and the bearing 564 is connected to the slider 561.

[0079] In one embodiment, another roller 563 can also be arranged in the left - right direction between the cleaning cloth seat 510 and the lifting base 301. In one embodiment, the self - moving cleaning machine 100 can further include at least one elastic component 370. The elastic component 370 is arranged between the lifting base 301 and the base 114 to apply a force to the lifting base 301 in a direction away from the base 114.

[0080] In other embodiments, at least one guiding column can also be arranged on the lifting base 301, and at least one of the guiding columns passes through at least one guiding hole of the base 114, so that the lifting base 301 moves along the long - axis direction of at least one of the guiding columns. In one embodiment, the guiding column forms a hollow polygonal column or a hollow semi - circular column. According to this design, the lifting base 301 can also move straight up and down. However, in this embodiment, when the reciprocating device makes the cleaning device perform reciprocating motion, the guiding column will also vibrate in the guiding hole, causing relatively large noise and affecting the up - and - down movement of the lifting base 301. Therefore, preferably, a design is adopted in which a rocker is used to guide the lifting base 301 to perform a more parallel lifting motion. In one embodiment, the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364 have a certain degree of elasticity, that is, it does not affect their swinging degree, and the first rocker 361, the second rocker 362, the third rocker 363, and the fourth rocker 364 can be used to absorb the vibration generated by the reciprocating device.

[0081] In summary, in one embodiment of the present invention, only the eccentric shaft 424 is passed through the middle of the bearing 433. The eccentric shaft 424 is eccentrically arranged on the shaft body 423 of the wiping crankshaft 420, and the shaft body 423 is not passed through the bearing 433 of the wiping crank arm 430, and then the shaft body 423 is rotated. According to the new design, the outer diameters of the bearing 433 and the connecting end 431 of the wiping crank arm 430 are reduced, and the dimensions of the bearing 433 and the connecting end 431 of the wiping crank arm 430 do not need to include the eccentric distance H, reducing the moment of inertia of rotation, and thus reducing the vibration phenomenon of the self - moving cleaning machine.

Claims

1. A self - moving cleaning machine, characterized in that, Comprising: Machine body; A traveling module adjacent to the machine body, configured to contact the floor and move the self - moving cleaning machine on a floor; A cleaning device configured to contact the floor when the self - moving cleaning machine is in a wiping mode for cleaning the floor; And A reciprocating device connected to the cleaning device, configured such that, in the wiping mode, the cleaning device reciprocates relative to the machine body to wipe the floor reciprocally. The reciprocating device includes: A driving device; A wiping crankshaft configured to be driven by the driving device to rotate; and A wiping crank arm including a connecting end and a free end, the connecting end being connected to the wiping crankshaft, and The free end being configured to connect to the cleaning device and reciprocate as the wiping crankshaft rotates, Wherein, The driving device, the wiping crankshaft, and the wiping crank arm are located on the machine body, The wiping crankshaft includes: A shaft body; and An eccentric shaft eccentrically provided on the shaft body, Wherein, The eccentric shaft passes through the connecting end; and the free end is connected to the cleaning device.

2. The self - moving cleaning machine according to claim 1, characterized in that, The wiping crank arm further includes a shaft bearing, and the eccentric shaft passes through the shaft bearing.

3. The self - moving cleaning machine according to claim 1, characterized in that, The reciprocating device further includes: a stabilizing structure connected to the eccentric shaft of the wiping crankshaft for maintaining the rotational movement of the eccentric shaft.

4. The self - moving cleaning machine according to claim 3, wherein The machine body further includes a crankshaft mounting seat, The stabilizing structure includes a first connecting disk and a first stabilizing bearing, The first stabilizing bearing is provided on the crankshaft mounting seat, the first connecting disk passes through the first stabilizing bearing, and one end of the eccentric shaft passes through the first connecting disk.

5. The self - moving cleaning machine according to claim 4, characterized in that, The wiping crankshaft further includes a coupling reinforcing column eccentrically provided on the shaft body and protruding from one side of the shaft body, and passing through the first connecting disk.

6. The self - moving cleaning machine according to claim 5, wherein The stabilizing structure further includes a second connecting disk and a second stabilizing bearing, the second stabilizing bearing is provided on another crankshaft mounting seat, the second connecting disk passes through the second stabilizing bearing, and the other end of the eccentric shaft passes through the second connecting disk, wherein the position of the first connecting disk relative to the position of the second connecting disk.

7. The self - moving cleaning machine according to claim 6, wherein The driving device includes a wiping motor and a belt, The wiping crankshaft passes through the belt, The belt is formed in a loop, a first end of the belt is connected to the wiping motor, and a second end of the belt is connected to the wiping crankshaft to cause the wiping motor to rotate the wiping crankshaft through the belt.

8. The self - moving cleaning machine according to claim 7, wherein The machine body includes a lifting module and a base. Among them, the traveling module is adjacent to the base, and the cleaning device reciprocates relative to the base, The lifting module includes a lifting base. Among them, the crankshaft mounting seat and another crankshaft mounting seat are provided on the lifting base, and the lifting base is provided below the base and configured to move up and down relative to the base to bring the lifting base closer to or farther away from the base, The wiping motor, the belt, the wiping crankshaft, and the wiping crank arm are located on the lifting base of the machine body. The wiping motor is disposed on the upper side of the lifting base, and the lifting base defines an opening. The connecting end of the wiping crank arm is located on the upper side of the lifting base, and the free end of the wiping crank arm is located on the lower side of the lifting base. Moreover, the wiping crank arm passes through the opening from the upper side of the lifting base and extends to the lower side of the lifting base. Furthermore, the wiping motor, the belt, the wiping crankshaft, and the wiping crank arm move up and down as the lifting base moves up and down.

9. The self - moving cleaning machine according to claim 8, wherein The first end and the second end of the belt respectively form a U - shaped space. The wiping motor includes a connecting shaft, and the connecting shaft is connected to the inner side of the U - shaped space at the first end of the belt. The wiping crankshaft is connected to the inner side of the U - shaped space at the second end of the belt. The cross - sectional area of the connecting shaft in the radial direction is smaller than the cross - sectional area of the wiping crankshaft in the radial direction, and the size of the U - shaped space at the first end of the belt is smaller than the U - shaped space at the second end of the belt.

10. The self - moving cleaning machine according to claim 7, wherein The wiping motor includes a connecting shaft, and the extending direction of the connecting shaft is within the length range of the wiping crank arm.

11. The self - moving cleaning machine according to any one of claims 1 to 10, characterized in that, The shaft body does not pass through the connecting end.

12. The self - moving cleaning machine according to claim 11, wherein, The cleaning device includes: A cleaning cloth seat placed below the lifting base; and A cleaning cloth provided on the bottom surface of the cleaning cloth seat for contacting the floor.

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