Cleaning robot

Abstract

The invention provides a cleaning robot. The cleaning robot comprises a clear water tank and a first cleaning part; the cleaning robot is provided with a front side and a rear side which are oppositely arranged in the advancing direction, the clean water tank and the first cleaning part are arranged in the advancing direction at intervals, the clean water tank is close to the front side, the first cleaning part is close to the rear side, the average weight can be distributed to the front side and the rear side, the problem of slipping or uphill and downhill uphill head warping is prevented, and a balancing weight can be omitted; compared with the prior art, more layout space is saved in the cleaning robot, all parts of the robot can be reasonably arranged according to the saved space, on the basis that the whole machine is more balanced, the adverse effect on all the parts due to layout can be eliminated, and the operation performance and simplification of the whole machine are improved.

Description

Technical Field

[0001] This application belongs to the technical field of cleaning equipment, and more specifically, relates to a cleaning robot. Background Art

[0002] An intelligent cleaning robot is used to travel on a surface to be cleaned, and uses the movement of a cleaning member at the bottom of the main body relative to the surface to be cleaned to perform mopping cleaning and vacuum cleaning on the surface to be cleaned.

[0003] Generally, a water tank is provided in the cleaning robot, and the cleaning member can be a rotary brush. When the cleaning robot docks at a cleaning base station, the cleaning base station can provide clean water in the water tank, and supply the clean water to the rotary brush through the water tank, and the rotary brush can clean the ground. In the prior art, the water tank and the rotary brush are arranged adjacent to each other, and both are arranged on one side of the cleaning robot along the traveling direction.

[0004] On the one hand, the water tank is filled with clean water, and the rotary brush also needs to be in a wet state to clean the ground. Therefore, the weights of the water tank and the rotary brush are relatively large. When both are arranged on the same side of the cleaning robot, it is easy to cause the cleaning robot to lose balance or slip during operation, and it is easy to lift the head during the process of going up and down slopes. On the other hand, a counterweight is also arranged on the other side opposite to the water tank and the rotary brush to maintain the balance of the whole robot. Since a counterweight with a relatively large weight and a relatively large volume is required, the layout space inside the robot is occupied, which is not conducive to the reasonable layout of each component of the robot, thereby reducing the layout rationality of the whole machine, having an adverse effect on the working performance of each component, and increasing the weight of the whole machine, which is likely to reduce the user experience of the robot. Summary of the Invention

[0005] The purpose of the embodiments of this application is to provide a cleaning robot to solve the technical problem that the existing cleaning robot is prone to imbalance, slip and affects the rationality of its internal layout due to the water tank and the cleaning member being on the same side.

[0006] To achieve the above purpose, the technical solution adopted in this application is:

[0007] Provide a cleaning robot, the cleaning robot includes a water tank and a first cleaning member;

[0008] The cleaning robot has a front side and a rear side that are oppositely arranged along the traveling direction, the water tank and the first cleaning member are arranged at intervals along the traveling direction, the water tank is close to the front side, and the first cleaning member is close to the rear side;

[0009] The surface of the water tank is communicated with the first cleaning member to supply a cleaning liquid to the first cleaning member, so that the first cleaning member can clean the surface to be cleaned or self-clean.

[0010] In some embodiments, the cleaning robot further includes a main control board, which is configured to control the running functions of the cleaning robot according to the operation instructions of the user and the information of the environment where the cleaning robot is located;

[0011] The main control board and the clean water tank are arranged in sequence from top to bottom along the height direction of the cleaning robot, and the projection of the board surface of the main control board along the height direction falls on the clean water tank;

[0012] Wherein, the traveling direction is perpendicular to the height direction.

[0013] In some embodiments, the cleaning robot further includes a battery component, which is configured to provide the electric energy required for the running functions of the cleaning robot, and the battery component is electrically connected to the main control board;

[0014] In the height direction, the clean water tank is arranged between the main control board and the battery component and isolates the main control board and the battery component.

[0015] In some embodiments, the clean water tank has a top wall and a bottom wall that are oppositely arranged along the height direction;

[0016] The main control board is stacked with the top wall, and part of the bottom wall is recessed towards the top wall to form a battery accommodation cavity. The opening direction of the battery accommodation cavity faces away from the top wall, and the battery component is accommodated in the battery accommodation cavity.

[0017] In some embodiments, the clean water tank includes a first cavity part and a second cavity part, and the first cavity part and the second cavity part are arranged on both sides of the battery accommodation cavity along the traveling direction;

[0018] A communication gap is formed between the battery accommodation cavity and the top wall at an interval, and the first cavity part and the second cavity part are communicated through the communication gap.

[0019] In some embodiments, the cleaning robot further includes a guiding wheel, which is close to the front side, and the guiding wheel is configured to execute the direction instructions of the main control board and guide the cleaning robot to travel according to the direction instructions when the cleaning robot executes the running functions;

[0020] The clean water tank includes a first cavity part and a second cavity part, and the first cavity part and the second cavity part are arranged on both sides of the guiding wheel along the axial direction of the guiding wheel.

[0021] In some embodiments, the cleaning robot further includes a second cleaning part and two third cleaning parts;

[0022] The first cleaning member, the second cleaning member, and the third cleaning member are arranged in sequence along the traveling direction. The two third cleaning members are arranged at intervals along the axial direction of the second cleaning member, and the guide wheel is arranged between the two third cleaning members;

[0023] The fresh water tank is configured to be restricted by the guide wheel and the second cleaning member along the traveling direction, and the fresh water tank is configured to be restricted by the two third cleaning members along the axial direction.

[0024] In some embodiments, the cleaning robot further includes two second swing arms arranged at intervals along the axial direction. The second cleaning member is directly or indirectly connected to the two second swing arms and is configured to be able to displace along the height direction by the rotation of the second swing arms;

[0025] The battery accommodation cavity is configured to be restricted by the two second swing arms along the axial direction, and the two second swing arms are arranged inside the two third cleaning members.

[0026] In some embodiments, the cleaning robot further includes two traveling wheels, and the two traveling wheels are coaxially arranged at intervals;

[0027] The first cleaning member and the traveling wheels are arranged in sequence along the traveling direction. The dimension of the first cleaning member along the axial direction is greater than or equal to the distance between the outer edges of the two traveling wheels, and the second cleaning member is arranged between the two traveling wheels.

[0028] In some embodiments, the cleaning robot further includes a dust box, and the dust box is communicated with the surface of the second cleaning member;

[0029] The dust box is configured to be restricted by the first cleaning member and the second cleaning member along the traveling direction, and the dust box is configured to be restricted by the two traveling wheels along the axial direction.

[0030] In some embodiments, the cleaning robot further includes two first swing arms arranged at intervals along the axial direction. The first cleaning member is directly or indirectly connected to the two first swing arms and is configured to be able to displace along the height direction by the rotation of the first swing arms;

[0031] The dust box is close to one traveling wheel and far from the other traveling wheel along the axial direction. One first swing arm is arranged below the dust box, and the other first swing arm is arranged between the dust box and the other traveling wheel.

[0032] In some embodiments, the cleaning robot further includes a dust collection channel and a fresh water pump. The dust collection channel is for connection with the dust suction channel of the cleaning base station, and the fresh water pump is for pumping the cleaning liquid in the fresh water tank to the first cleaning member;

[0033] The dust collecting channel is connected with the dust collecting port of the dust box, and the dust collecting channel is arranged above the second cleaning member; the dust collecting port and the bottom of the dust box are spaced apart along the height direction and form an escape space therebetween, and the first rotating arm and the clean water pump are arranged in the escape space.

[0034] In some embodiments, the cleaning robot further comprises a sewage tank, an air duct structure and a suction component;

[0035] The sewage tank is in communication with the surface of the first cleaning member, the sewage tank and the dust box are arranged in sequence along the traveling direction, and the air outlet of the dust box and the air outlet of the sewage tank are arranged on the same side of the axial direction;

[0036] The air duct structure is arranged on the same side along the axial direction, and the air duct structure is configured to be able to be randomly connected with the two air outlets; the suction component is connected with the air duct structure to apply suction wind force to the air duct structure.

[0037] In some embodiments, the suction assembly and the air duct structure are arranged in sequence along the axial direction;

[0038] The suction assembly includes an air inlet structure, a suction fan and an air outlet structure which are connected in sequence, and the air inlet structure is connected to the air duct structure; the air inlet structure and the air outlet structure are arranged in sequence along the travel direction, and the suction fan and the air inlet structure are arranged in sequence along the height direction.

[0039] In some embodiments, the cleaning robot further includes a docking assembly, a transfer assembly, a sewage tank and a steering valve, and a middle shell decorative cover, a middle shell and a bottom shell arranged from top to bottom along the height direction of the cleaning robot;

[0040] The docking component has a host clean water docking interface and a host sewage docking interface, and the host clean water docking interface and the host sewage docking interface are respectively provided for docking with the base station clean water docking interface and the base station sewage docking interface;

[0041] The transfer assembly has a clean water transfer channel and a sewage transfer channel; the sewage tank has a sewage suction port, a sewage outlet and a clean water port, the sewage suction port is connected to the surface of the first cleaning member, the clean water transfer channel is connected to the clean water port, and the sewage transfer channel is connected to the sewage outlet;

[0042] The steering valve is provided with a first port, a second port and a third port, and the steering valve is configured to selectively connect the first port with the second port or connect the first port with the third port; the main unit clean water docking port is connected to the first port, the clean water tank is connected to the second port, the clean water transfer channel is connected to the third port, and the sewage transfer channel is connected to the main unit sewage docking port;

[0043] Among them, the sewage tank is detachably arranged on the middle shell, and at least part of the sewage tank is arranged between the middle shell decorative cover and the middle shell; the clean water tank, the docking assembly, and the adapter assembly are arranged between the middle shell and the bottom shell, and the docking assembly, the adapter assembly and the steering valve are fixedly connected to the bottom shell.

[0044] The beneficial effects of the cleaning robot provided by the present application are:

[0045] Compared with the prior art, the cleaning robot provided in the present application has a clean water tank and a first cleaning component arranged at intervals along the traveling direction, with the clean water tank close to the front side of the cleaning robot and the first cleaning component close to the rear side of the cleaning robot, and the front side and the rear side are arranged relatively to each other along the traveling direction of the cleaning robot.

[0046] On the one hand, the clean water tank is close to the front side, and the first cleaning part is close to the rear side. The two are spaced apart in the direction of travel, and the two can distribute a relatively even weight on the front side and the rear side, preventing the robot from slipping or tilting up and down slopes. Furthermore, when the cleaning robot is performing cleaning work, the clean water tank is generally at a higher water level, and the clean water tank is connected to the surface of the first cleaning part to provide cleaning liquid to the first cleaning part. The first cleaning part is in a wet state, and the cleaning liquid further increases the weight of the first cleaning part, making the first cleaning part and the clean water tank more balanced during the operation of the robot, further preventing the robot from slipping or tilting up and down slopes.

[0047] On the other hand, the clean water tank and the first cleaning part are functional components of the cleaning robot. By adopting the solution of the embodiment of the present application, the setting of the counterweight block can be cancelled, which saves more layout space inside the cleaning robot, and is conducive to the reasonable layout of the various components of the robot. On the basis of making the whole machine more balanced, the adverse effects of the layout on the various components can be eliminated, and the operability and simplicity of the whole machine can be improved. By canceling the setting of the counterweight block, the weight of the whole machine can be reduced, which is conducive to realizing the lightweight design of the whole machine, reducing the user's handling or moving load, and helping to improve the user's experience of using the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only 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 labor.

[0049] Figure 1 A schematic diagram of a cleaning robot from one perspective provided in an embodiment of the present application;

[0050] Figure 2 Schematic diagram of the cleaning robot from another perspective provided by the embodiment of the present application;

[0051] Figure 3 Schematic diagram of the bottom side of the cleaning robot provided by the embodiment of the present application;

[0052] Figure 4 Schematic diagram of the bottom side of the cleaning robot provided by the embodiment of the present application;

[0053] Figure 5 Partial schematic diagram of the bottom side of the cleaning robot provided by the embodiment of the present application;

[0054] Figure 6 Schematic diagram of the bottom side of the cleaning robot provided by the embodiment of the present application;

[0055] Figure 7 Cross-sectional view of the cleaning robot provided by the embodiment of the present application along the traveling direction;

[0056] Figure 8 Cross-sectional view of the cleaning robot provided by the embodiment of the present application along the traveling direction;

[0057] Figure 9 Exploded view of the cleaning robot provided by the embodiment of the present application;

[0058] Figure 10 is Figure 9 Assembly diagram of the provided cleaning robot;

[0059] Figure 11 Assembly schematic diagram of the water tank and the guide wheels provided by the embodiment of the present application;

[0060] Figure 12 Cross-sectional view of the cleaning robot provided by the embodiment of the present application along the traveling direction;

[0061] Figure 13 Schematic diagram of the first lifting mechanism and the second lifting mechanism arranged along the traveling direction provided by the embodiment of the present application;

[0062] Figure 14 Cross-sectional view of the cleaning robot provided by the embodiment of the present application along the traveling direction;

[0063] Figure 15 Schematic diagram of the cleaning robot provided by the embodiment of the present application;

[0064] Figure 16 Cross-sectional view of the cleaning robot provided by the embodiment of the present application along the traveling direction;

[0065] Figure 17 Exploded view of the cleaning robot provided by the embodiment of the present application;

[0066] Figure 18 Exploded view of the cleaning robot provided by the embodiment of the present application;

[0067] Figure 19 Assembly drawing of the cleaning robot provided by the embodiment of the present application;

[0068] Figure 20 Schematic diagram of the air duct structure in a disassembled state provided by the embodiment of the present application;

[0069] Figure 21 Schematic diagram of the air duct structure provided by the embodiment of the present application;

[0070] Figure 22 Schematic diagram of the cleaning robot in the side sweeping and mopping mode provided by the embodiment of the present application;

[0071] Figure 23 Schematic diagram of the cleaning robot in the side stop / docking mode provided by the embodiment of the present application;

[0072] Figure 24 Schematic diagram of the cleaning robot in the single mopping mode provided by the embodiment of the present application;

[0073] Figure 25 Schematic diagram of the cleaning robot in the single sweeping mode provided by the embodiment of the present application;

[0074] Figure 26 Schematic diagram of the suction assembly in a disassembled state provided by the embodiment of the present application;

[0075] Figure 27 Schematic diagram of the suction assembly in an assembled state provided by the embodiment of the present application;

[0076] Figure 28 Schematic diagram of the suction assembly provided by the embodiment of the present application;

[0077] Figure 29 Assembly drawing of the cleaning robot provided by the embodiment of the present application;

[0078] Figure 30 Assembly drawing of the cleaning robot provided by the embodiment of the present application;

[0079] Figure 31 Assembly drawing of the dust box and the water pump provided by the embodiment of the present application;

[0080] Figure 32 Schematic diagram of the steering valve in a disassembled state provided by the embodiment of the present application;

[0081] Figure 33 Schematic diagram of the steering valve in an assembled state provided by the embodiment of the present application;

[0082] Figure 34 Schematic diagram of the sewage tank provided by the embodiment of the present application in a detached state;

[0083] Figure 35 Schematic diagram of the sewage tank provided by the embodiment of the present application in an assembled state;

[0084] Figure 36 Schematic diagram of the adapter assembly provided by the embodiment of the present application in a detached state;

[0085] Figure 37 Schematic diagram of the adapter assembly provided by the embodiment of the present application in an assembled state;

[0086] Figure 38 Cross-sectional view of the second cleaning member provided by the embodiment of the present application perpendicular to the traveling direction;

[0087] Figure 39 Cross-sectional view of the first cleaning member provided by the embodiment of the present application perpendicular to the traveling direction;

[0088] Figure 40 Schematic diagram of the first cleaning mechanism and the second cleaning mechanism provided by the embodiment of the present application;

[0089] Figure 41 Schematic diagram of the first cleaning mechanism provided by the embodiment of the present application from the first perspective;

[0090] Figure 42 Schematic diagram of the first cleaning mechanism provided by the embodiment of the present application from the second perspective;

[0091] Figure 43 Exploded view of the first cleaning mechanism provided by the embodiment of the present application along the axial direction;

[0092] Figure 44 Exploded view of the first cleaning mechanism provided by the embodiment of the present application along the axial direction;

[0093] Figure 45 Schematic diagram of the first cleaning mechanism provided by the embodiment of the present application from the third perspective;

[0094] Figure 46 Exploded view of the first cleaning mechanism provided by the embodiment of the present application along the axial direction;

[0095] Figure 47 Partial exploded view of the first cleaning mechanism provided by the embodiment of the present application along the axial direction;

[0096] Figure 48 Partial exploded view of the first cleaning mechanism provided by the embodiment of the present application along the axial direction;

[0097] Figure 49 Schematic diagram of a part of the first cleaning mechanism provided by an embodiment of the present application;

[0098] Figure 50 Axial split schematic diagram of a part of the first cleaning mechanism provided by an embodiment of the present application;

[0099] Figure 51 Schematic diagram of a part of the first cleaning mechanism provided by an embodiment of the present application;

[0100] Figure 52 Split diagram of the cleaning device provided by an embodiment of the present application, in which the sliding guide structure and the slideway structure are split out;

[0101] Figure 53 Schematic diagram of the cleaning device provided by an embodiment of the present application;

[0102] Figure 54 Schematic diagram of the slideway structure sectioned perpendicular to the traveling direction of the cleaning device provided by an embodiment of the present application;

[0103] Figure 55 Schematic diagram of the first cleaning mechanism and the second cleaning mechanism provided by an embodiment of the present application, wherein the second swing member is in the lifting position;

[0104] Figure 56 Schematic diagram of the first cleaning mechanism and the second cleaning mechanism provided by an embodiment of the present application, wherein the second swing member is away from the lifting position;

[0105] Figure 57 Schematic diagram of the cam supported by the limiting structure to make the cleaning mechanism in the lifting position provided by an embodiment of the present application;

[0106] Figure 58 Schematic diagram of the cam about to disengage from the limiting structure provided by an embodiment of the present application;

[0107] Figure 59 Schematic diagram of the convex part of the cam at the lowest point provided by an embodiment of the present application;

[0108] Figure 60 Schematic diagram of the cam rotating in the opposite direction and re - supported by the limiting structure to make the cleaning mechanism in the lifting position provided by an embodiment of the present application;

[0109] Figure 61 Schematic diagram of the cam supported by the limiting member to make the cleaning mechanism in the lifting position provided by an embodiment of the present application;

[0110] Figure 62 Schematic diagram of the cam about to disengage from the limiting member provided by an embodiment of the present application;

[0111] Figure 63 Schematic diagram of the convex part of the cam provided by the embodiment of the present application at the lowest point;

[0112] Figure 64 Schematic diagram of the cam provided by the embodiment of the present application rotating in the original direction and re - supporting on the limiting member to make the cleaning mechanism in the lifting position. Detailed implementation manners

[0113] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0114] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0115] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0116] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0117] The specific types of cleaning robots provided by the embodiments of the present application include, but are not limited to, mopping robots, floor washing robots, integrated washing and mopping robots, sweeping and mopping integrated robots, or sweeping and washing integrated robots, etc. Among them, the cleaning robot may include a cleaning member, and the floor washing cleaning member or mopping cleaning member on the cleaning robot includes, but is not limited to, a rotary brush or a mop. More specifically, the cleaning member may include one or a combination of two or more of a rotary brush, a fluff roller, a tracked mop, a flat mop, and a rotary - type mop.

[0118] In some embodiments, a floor mopping or floor washing cleaning robot is taken as an example for illustration. During the operation of the cleaning robot, while the cleaning robot travels in the traveling direction, the cleaning surface is cleaned by the rotation or movement of the cleaning member thereon relative to the ground. For example, the rotary brush can rotate relative to the cleaning surface and the main body, and the mop can contact the cleaning surface through the cleaning surface and move along the cleaning surface to achieve cleaning.

[0119] The specific types of the cleaning robot 100 provided by the embodiments of the present application include, but are not limited to, a floor mopping robot, a floor washing robot, a washing and mopping integrated robot, a sweeping and mopping integrated robot, or a sweeping and washing integrated robot, etc. Among them, the cleaning robot 100 may include a cleaning member, and the floor washing cleaning member or the floor mopping cleaning member on the cleaning robot 100 includes, but is not limited to, a rotary brush or a mop. More specifically, the cleaning member may include one or a combination of two or more of a rotary roller brush, a fluff roller, a tracked mop, a flat mop, and a rotary disk mop.

[0120] In some embodiments, a floor mopping or floor washing cleaning robot 100 is taken as an example for illustration. During the operation of the cleaning robot 100, while the cleaning robot 100 travels in the traveling direction, the cleaning surface is cleaned by the rotation or movement of the cleaning member thereon relative to the ground. For example, the rotary brush can rotate relative to the cleaning surface and the main body, and the mop can contact the cleaning surface through the cleaning surface and move along the cleaning surface to achieve cleaning.

[0121] Now, the cleaning robot 100 provided by the embodiments of the present application will be described.

[0122] Please refer to Figures 1 to 12 , the cleaning robot 100 provided by the embodiments of the present application includes a clean water tank 10 and a first cleaning member 20. The cleaning robot 100 has a front side 100a and a rear side 100b that are oppositely arranged along the traveling direction. The clean water tank 10 and the first cleaning member 20 are arranged at intervals along the traveling direction. The clean water tank 10 is close to the front side 100a, and the first cleaning member 20 is close to the rear side 100b. The surface of the clean water tank 10 is communicated with the first cleaning member 20 to supply cleaning liquid to the first cleaning member 20 so that the first cleaning member 20 can clean the cleaning surface or self-clean.

[0123] For the cleaning robot 100 provided by the embodiments of the present application, the clean water tank 10 and the first cleaning member 20 are arranged at intervals along the traveling direction. The clean water tank 10 is close to the front side 100a of the cleaning robot 100, and the first cleaning member 20 is close to the rear side 100b of the cleaning robot 100. The front side 100a and the rear side 100b are oppositely arranged along the traveling direction of the cleaning robot 100.

[0124] On the one hand, the water tank 10 is close to the front side 100a, and the first cleaning member 20 is close to the rear side 100b. The two are spaced apart along the traveling direction. The two can distribute the weight more evenly on the front side 100a and the rear side 100b, preventing problems such as slipping or tipping up on slopes. Further, during the cleaning operation of the cleaning robot 100, the water tank 10 is generally at a high water level. The water tank 10 is in communication with the surface of the first cleaning member 20 to supply cleaning liquid to the first cleaning member 20. The first cleaning member 20 is in a wet state. The cleaning liquid further increases the weight of the first cleaning member 20, making the first cleaning member 20 and the water tank 10 more balanced during the operation of the robot, and further preventing problems such as slipping or tipping up on slopes.

[0125] On the other hand, the water tank 10 and the first cleaning member 20 are functional components of the cleaning robot 100. By adopting the solution of the embodiment of the present application, the setting of the counterweight can be cancelled, and more layout space can be saved inside the cleaning robot 100. The saved space is conducive to the reasonable layout of the various components of the robot. On the basis of making the whole machine more balanced, the adverse effects caused by the layout on the various components can be eliminated, and the operability and simplicity of the whole machine can be improved. By cancelling the setting of the counterweight, the weight of the whole machine can be reduced, which is conducive to realizing the lightweight design of the whole machine, reducing the handling or moving load of the user, and improving the user experience of using the cleaning robot 100.

[0126] Among them, the first cleaning member 20 can be a floor washing cleaning member or a mopping cleaning member, including but not limited to a rotary brush or a mop. More specifically, the first cleaning member 20 can include one or a combination of two or more of a rotary roller brush, a fluff roller, a tracked mop, a flat mop, and a rotary mop.

[0127] Such as Figure 7 and Figure 8 As shown in, in some embodiments, the cleaning robot 100 further includes a main control board 30, and the main control board 30 is configured to be able to control the running functions of the cleaning robot 100 according to the user's operation instructions and the information of the environment where the cleaning robot 100 is located. The main control board 30 and the water tank 10 are arranged in sequence from top to bottom along the height direction of the cleaning robot 100, and the projection of the board surface of the main control board 30 along the height direction falls on the water tank 10. Among them, the traveling direction is perpendicular to the height direction.

[0128] On the one hand, the space below the main control board 30 of the existing cleaning robot 100 is empty, or a counterweight is arranged below the main control board 30. In this embodiment, the water tank 10 is arranged in the empty space below the main control board 30, or is arranged in this space instead of the original counterweight, so as to make reasonable use of the space in the front part 100a of the robot.

[0129] On the other hand, the main control board 30 belongs to the control unit of the robot. As the main heat source, cooling the main control board 30 can extend its service life and ensure its normal performance. The inside of the water tank 10 stores the cleaning liquid for the first cleaning member 20 to use. When the robot works, the cleaning liquid is output outward. When the water is lacking, the robot can go to the cleaning base station to replenish water. Therefore, both the storage and flow of the cleaning liquid can ensure that the heat of the main control board 30 is taken away through the surface of the water tank 10.

[0130] In some embodiments, the cleaning robot 100 further includes a battery member 40, which is configured to be able to provide the electric energy required for the operation function of the cleaning robot 100. The battery member 40 is electrically connected to the main control board 30. In the height direction, the water tank 10 is arranged between the main control board 30 and the battery member 40 and isolates the main control board 30 and the battery member 40.

[0131] On the one hand, the battery member 40 belongs to the power supply unit of the robot. As the main heat source, cooling the battery member 40 can extend the service life of the main control board 30. The inside of the water tank 10 stores the cleaning liquid for the first cleaning member 20 to use. When the robot works, the cleaning liquid is output outward. When the water is lacking, the robot can go to the cleaning base station to replenish water. Therefore, both the storage and flow of the cleaning liquid can ensure that the heat of the main control board 30 is taken away through the surface of the battery member 40.

[0132] On the other hand, by isolating the main control board 30 and the battery member 40 with the water tank 10, that is, the water tank 10 separates the two main heat sources in the robot, it can avoid the mutual high-temperature radiation between the two, and further improve the service life and performance of the two.

[0133] In some embodiments, the cleaning robot 100 is provided with a navigation module, which is arranged on the top of the area of the front side 100a of the cleaning robot 100. The navigation module extends beyond the decorative cover 1001 of the middle shell 1002 in the height direction, forming a protruding part on the decorative cover 1001 of the middle shell 1002. Among them, the navigation method of the navigation module can be LDS lidar, or DTOF or visual navigation. The navigation module not only has the function of providing navigation for the operation process of the cleaning robot 100, but also can have the function of detecting obstacles in the traveling direction during the operation process and avoiding obstacles. In some embodiments, a front collision component is arranged at the end of the front side 100a of the cleaning robot 100. The front collision component can move back and forth within a certain range, and is provided with a front collision induction module, which can sense the direct contact between the robot and the obstacle in front during the traveling process. By triggering the front collision induction module to send a trigger signal to the main control board 30, the main control board 30 controls the robot to retreat or turn in time according to the trigger signal, so as to escape from the obstacle. In the middle area of the front side 100a of the cleaning robot 100, a front recharge receiving head and an obstacle avoidance module are arranged. Among them, the front recharge receiving head is used to receive the signal sent by the cleaning base station. The cleaning robot 100 locates the position of the cleaning base station in the space through this signal, so as to plan the path back to the base station. The obstacle avoidance module is used to identify obstacles in front of the robot, and the obstacle avoidance method can adopt line laser, infrared ray, TO, ultrasonic wave or AI vision and other methods. A right wall-following module is arranged on the right front side of the cleaning robot 100 along the traveling direction, which is used to control the distance from the wall during the cleaning work, make the traveling path of the robot more approximate to a straight line, and perform the cleaning work along a straight line. The right wall-following module can adopt line laser, infrared ray, TOF, ultrasonic wave or AI vision and other methods.

[0134] In some embodiments, on the rear side 100b of the cleaning robot 100, there are charging electrode plates, a rear recharge module and a docking component 210, as well as a dust collection port of the base station for docking with the dust collection channel 140 to collect the garbage in the dust bucket. The charging electrode plates are used to contact the output charging head of the cleaning base station to provide electrical energy for the battery component 40 of the robot. The rear recharge module is used to ensure that the cleaning robot 100 can accurately retreat to the set docking position on the base station for relevant connection work by relying on the continuous communication between the rear recharge module and the base station after the cleaning robot 100 locates the position of the base station. The docking component 210 is provided with a main machine clean water docking port and a main machine sewage docking port, which are respectively communicated with the main machine clean water tank 10 and the main machine sewage tank 130 of the robot. After the robot docks in place, the main machine clean water docking port and the main machine sewage docking port are respectively docked with the base station clean water docking port and the base station sewage docking port. The dust collection port of the base station is used to communicate with the dust box 120 of the robot through the dust collection channel 140 to suck the concentrated dust and garbage from the dust box 120 of the robot.

[0135] In some embodiments, the clean water tank 10 has a top wall 103 and a bottom wall 104 that are oppositely arranged in the height direction. The main control board 30 is stacked with the top wall 103. Part of the bottom wall 104 is recessed toward the top wall 103 to form a battery accommodation cavity 1041. The opening direction of the battery accommodation cavity 1041 faces away from the top wall 103, and the battery component 40 is accommodated in the battery accommodation cavity 1041.

[0136] The battery component 40 has a certain weight. By providing the battery accommodation cavity 1041, not only can the battery component 40 be stably fixed in the battery accommodation cavity 1041. At the same time, the cavity design of the battery accommodation cavity 1041 can increase the contact area between the battery component 40 and the clean water tank 10, further enhancing the cooling and heat dissipation effects of the clean water tank 10 on the battery component 40.

[0137] In some embodiments, the battery component 40 is disposed between the bottom case 1003 and the decorative cover of the bottom case 1003. To make the battery component 40 fit the clean water tank 10, part of the bottom case 1003 and part of the bottom wall 104 of the clean water tank 10 can be stretched toward the top wall 103 simultaneously to form the battery accommodation cavity 1041, which can not only ensure good isolation between the clean water tank 10 and the battery component 40 but also form the installation structure of the battery component 40.

[0138] In some embodiments, the clean water tank 10 includes a first cavity portion 101a and a second cavity portion 102a. The first cavity portion 101a and the second cavity portion 102a are separately disposed on both sides of the battery accommodation cavity 1041 along the traveling direction. A communication gap is formed at an interval between the battery accommodation cavity 1041 and the top wall 103, and the first cavity portion 101a and the second cavity portion 102a are communicated through the communication gap.

[0139] Since the battery accommodation cavity 1041 compresses the volume of the clean water tank 10, to make full use of the space on both sides of the battery accommodation cavity 1041 along the traveling direction and to maximize the effective volume of the clean water tank 10, the first cavity portion 101a and the second cavity portion 102a are separately disposed on both sides of the battery accommodation cavity 1041 along the traveling direction and are communicated through the communication gap.

[0140] As Figure 11 shown, in some other embodiments, the cleaning robot 100 further includes a guide wheel 50. The guide wheel 50 is close to the front side 100a. The guide wheel 50 is configured to be able to execute the direction instructions of the main control board 30 and guide the cleaning robot 100 to travel according to the direction instructions when the cleaning robot 100 executes the running function. The clean water tank 10 includes a first cavity portion 101a and a second cavity portion 102a that are communicated with each other. The first cavity portion 101a and the second cavity portion 102a are separately disposed on both sides of the guide wheel 50 along the axial direction of the guide wheel 50.

[0141] Since the guide wheel 50 has a certain overlap with the water tank 10 in the height direction, in order to make full use of the space on both axial sides of the guide wheel 50 and to maximize the effective volume of the water tank 10, the first cavity 101a and the second cavity 102a are arranged on both sides of the guide wheel 50 along the axis and communicate with each other.

[0142] In some specific embodiments, since the guide wheel 50 and the battery component 40 occupy a relatively large space at the bottom of the water tank 10, in order to maximize the effective volume of the water tank 10, the size of the water tank 10 is specially designed in the space between the guide wheel and the battery component 40, and a minimum distance is selected between the two to ensure that the first cavity 101a and the second cavity 102a can pass through a channel with a W dimension as shown in Figure 12 The W dimension of the channel can be designed to be 1.5 mm wide, and the minimum is not less than 1.0 mm, so as to prevent the channel from being easily blocked and unable to connect the first cavity 101a and the second cavity 102a. In addition, in order to make the cavities of the water tank 10 before and after the battery component 40 coherent, an H dimension is provided between the battery accommodation cavity 1041 and the top wall 103, and the H dimension can be designed to be 2.0 mm, and the minimum is not less than 1.0 mm.

[0143] In some embodiments, the cleaning robot 100 further includes a second cleaning member 70 and two third cleaning members 80. The first cleaning member 20, the second cleaning member 70, and the third cleaning member 80 are arranged in sequence along the traveling direction. The two third cleaning members 80 are arranged at intervals along the axis of the second cleaning member 70, and the guide wheel 50 is arranged between the two third cleaning members 80. The water tank 10 is configured to be restricted by the guide wheel 50 and the second cleaning member 70 along the traveling direction, and the water tank 10 is configured to be restricted by the two third cleaning members 80 along the axis.

[0144] By restricting the extension range of the water tank 10 along the traveling direction by the guide wheel 50 and the second cleaning member 70, and restricting the extension range of the water tank 10 along the axis by the two third cleaning members 80, the space enclosed by the guide wheel 50, the second cleaning member 70, and the two third cleaning members 80 is utilized to the maximum extent, and it is easy to fix the water tank 10 in this space.

[0145] It should be noted that the above restrictions do not refer to the dimensional limitations of the strictness level, but provide a general restricted range by the surrounding components, and a part of the water tank 10 can exceed any component located around it.

[0146] Among them, the third cleaning member 80 can be a side sweeping member. The side sweeping member can clean the surface to be cleaned by rotating, and the rotation axis of the side sweeping member is consistent with the height direction. The two side sweeping members rotate towards the middle relatively, and can gather the objects to be cleaned towards the second cleaning member 70. The second cleaning member 70 can be a middle sweeping member. The middle sweeping member rotates between the first cleaning member 20 and the third cleaning member 80, and first sucks away dust and dry garbage through the suction of the suction fan 1702. The first cleaning member 20 is behind, that is, the rotary brush is behind. The rotary brush drives the cleaning liquid to rotate at a high speed to clean the ground, and at the same time sucks away sewage and impurities through the suction of the suction fan 1702 to achieve cleaning.

[0147] As Figures 13 to 18 shown, in some embodiments, the cleaning robot 100 further includes two second rotating arms 1101 arranged at intervals along the axial direction. The second cleaning member 70 is directly or indirectly connected to the two second rotating arms 1101 and is configured to be able to displace along the height direction through the rotation of the second rotating arms 1101. The battery accommodation cavity 1041 is configured to be restricted by the two second rotating arms 1101 along the axial direction, and the two second rotating arms 1101 are arranged inside the two third cleaning members 80.

[0148] In some specific embodiments, the cleaning robot 100 includes a second lifting mechanism 110. The two second rotating arms 1101 belong to the second lifting mechanism 110. The design of the second lifting mechanism 110 can allow the second cleaning member 70 to displace along the height direction of the robot, and then contact or leave the surface to be cleaned.

[0149] The battery accommodation cavity 1041 is configured to be restricted by the two second rotating arms 1101 along the axial direction. The two second rotating arms 1101 are arranged inside the two third cleaning members 80, and the position of the battery accommodation cavity 1041, that is, the position where the battery member 40 is located, can be reasonably arranged along the axial direction without interfering with the lifting function of the second cleaning member 70.

[0150] As Figure 6 shown, in some embodiments, the cleaning robot 100 further includes two traveling wheels 60. The two traveling wheels 60 are coaxial and arranged at intervals. The first cleaning member 20 and the traveling wheels 60 are arranged in sequence along the traveling direction. The dimension of the first cleaning member 20 along the axial direction is greater than or equal to the distance between the outer edges of the two traveling wheels 60, and the second cleaning member 70 is arranged between the two traveling wheels 60.

[0151] The first cleaning member 20 can be a rotary brush. The effective length of the rotary brush flannel area along the axial direction can cover the trajectories of the tires of the left and right traveling wheels 60, that is: the total length of the rotary brush flannel along the axial direction can be greater than or equal to the width outside the tires of the left and right traveling wheels 60. The effective coverage of the rotary brush flannel area can timely and effectively clean the secondary pollution to the ground caused by the traveling of the traveling wheels 60.

[0152] Among them, a guide wheel 50 and two running wheels 60 are arranged in a triangle, so that the robot can be placed stably on the ground. The guide wheel 50 is used as a driven wheel and can be a universal wheel that can rotate freely 360 degrees. The running wheel 60 is a directional active wheel. It is driven by a motor and can achieve straight travel or turning by controlling the relative differential of the two running wheels 60. The above-mentioned side sweeper, middle sweeper, and roller brush are arranged in sequence from front to back, and all three are driven to rotate by independent motors. Among them, the guide wheel 50, the side sweeper brush, the middle sweeper brush, and the roller brush are all set to be easily disassembled structures, which can be used for user maintenance.

[0153] In the area of ​​the bottom shell 1003 where the guide wheel 50 is located, specifically the outer area of ​​the guide wheel 50, a ground detection sensor can be set to protect the guide wheel 50 from protruding the cliff on the ground. In some embodiments, a ground detection sensor can also be set at the front of the outer side of the two running wheels 60 to protect the running wheels 60 from protruding the cliff on the ground. An ultrasonic module is provided at the bottom of the robot for detecting and identifying the carpet so that the host can take corresponding measures.

[0154] like Figures 13 to 18 As shown, in some embodiments, the cleaning robot 100 further includes a dust box 120, which is connected to the surface of the second cleaning member 70. The dust box 120 is configured to be limited by the first cleaning member 20 and the second cleaning member 70 along the travel direction, and the dust box 120 is configured to be limited by the two walking wheels 60 along the axial direction.

[0155] The extension range of the dust box 120 along the traveling direction is limited by the first cleaning member 20 and the second cleaning member 70, and the extension range of the dust box 120 along the axial direction is limited by the two traveling wheels 60, so that the space formed by the first cleaning member 20, the second cleaning member 70 and the two traveling wheels 60 is utilized to the maximum extent, and the dust box 120 can be easily removably fixed in the space.

[0156] It should be noted that the above-mentioned limitation does not refer to a strict degree of dimensional limitation, but rather a rough limitation range provided by surrounding components, and a part of the dust box 120 may exceed any component located around it.

[0157] In some embodiments, the cleaning robot 100 further includes two first rotating arms 901 spaced apart in the axial direction, and the first cleaning member 20 is directly or indirectly connected to the two first rotating arms 901, and is configured to be displaced in the height direction by the rotation of the first rotating arms 901. The dust box 120 is axially close to one running wheel 60 and away from the other running wheel 60, one first rotating arm 901 is disposed below the dust box 120, and the other first rotating arm 901 is disposed between the dust box 120 and the other running wheel 60.

[0158] In some specific embodiments, the cleaning robot 100 includes a first lifting mechanism 90. The two first rotating arms 901 belong to the first lifting mechanism 90. The design of the first lifting mechanism 90 allows the first cleaning member 20 to displace in the height direction of the robot, so as to contact or leave the surface to be cleaned.

[0159] The two driving wheels 60 limit the axial extension range of the dust box 120. The dust box 120 axially approaches one driving wheel 60 and is away from the other driving wheel 60. One first rotating arm 901 is arranged below the dust box 120, and the other first rotating arm 901 is arranged between the dust box 120 and the other driving wheel 60. This can not only achieve a reasonable layout of the dust box 120, but also does not interfere with the lifting function of the first cleaning member 20.

[0160] Refer to Figures 26 to 31 As shown, in some embodiments, the cleaning robot 100 further includes a dust collection channel 140 and a water pump 150. The dust collection channel 140 is for connection with the dust suction channel of the cleaning base station, and the water pump 150 is for pumping the cleaning liquid in the water tank 10 to the first cleaning member 20. The dust collection channel 140 is communicated with the dust collection port 1201 of the dust box 120, and the dust collection channel 140 is arranged above the second cleaning member 70; the dust collection port 1201 is spaced from the bottom of the dust box 120 in the height direction and forms an avoidance space therebetween. One first rotating arm 901 and the water pump 150 are arranged in the avoidance space.

[0161] The axial dimension of the first cleaning member 20 is greater than or equal to the distance between the outer edges of the two driving wheels 60. The first cleaning member 20 can be installed on the cleaning robot 100 through a mounting member, and the first cleaning member 20 can be a roller brush. Since the length that the roller brush can clean axially accounts for a relatively large proportion of the width of the whole machine, the dust collection channel 140 is arranged above the roller brush and generally spans the roller brush and the mounting member along the traveling direction. Therefore, the roller brush and the mounting member raise the position of the dust collection channel 140 in the height direction.

[0162] In order to make the transition of the dust collection channel 140 smooth and ensure that the cleaning base station can smoothly collect dust from the dust box 120 through the dust collection channel 140, correspondingly, the design position of the dust collection port 1201 of the dust box 120 is raised. On the inner bottom side of the dust box 120, a slope is used to connect the dust collection port 1201 of the dust box 120 with the inner bottom side of the dust box 120. The contents inside the dust box 120 can be sucked into the dust collection channel 140 from the inner bottom side of the dust box 120 through the slope, ensuring that the contents inside the dust box 120 can be thoroughly cleaned.

[0163] Since the dust collection port 1201 of the dust box 120 is connected to the inner bottom side of the dust box 120 by using an inclined surface, the dust collection port 1201 and the bottom of the dust box 120 can be spaced apart in the height direction, and a clearance space is formed therebetween. A first rotating arm 901 and a water pump 150 are arranged in the clearance space, further improving the compactness inside the whole machine.

[0164] Referring to Figures 17 to 30 , in some embodiments shown, the cleaning robot 100 further includes a sewage tank 130, an air duct structure 160, and a suction assembly 170. The sewage tank 130 is communicated with the surface of the first cleaning member 20. The sewage tank 130 and the dust box 120 are arranged in sequence along the traveling direction. The air outlet a of the dust box 120 and the air outlet a of the sewage tank 130 are arranged on the same side in the axial direction. The air duct structure 160 is arranged along the axial direction on the same side, and the air duct structure 160 is configured to be able to communicate with the two air outlets a randomly. The suction assembly 170 is communicated with the air duct structure 160 for applying a suction wind force to the air duct structure 160.

[0165] The cleaning robot 100 includes a middle shell 1002 and a decorative cover 1001, that is, the cover body of the top visible to the user. When the user lifts the decorative cover 1001 of the middle shell 1002 at the top, the dust box 120 and the sewage tank 130 are exposed, and the user can remove the dust box 120 and the sewage tank 130.

[0166] In some embodiments, the dust box 120 and the sewage tank 130 are detachably restricted in the slots of the middle shell 1002. When the dust box 120 is placed in the slot, the dust box 120 is communicated with the surface of the second cleaning member 70, and can collect the objects to be cleaned from the second cleaning member 70, such as dust or other dry garbage. When the sewage tank 130 is placed in the slot, the sewage tank 130 is communicated with the surface of the first cleaning member 20, and can collect the sewage from the first cleaning member 20.

[0167] In some embodiments, a blocking block is provided between the dust box 120 and the sewage tank 130, which can not only prevent the dust box 120 and the sewage tank 130 from interfering with each other, but also save the structural space of two separate slots for accommodating the dust box 120 and the sewage tank 130 respectively, and simplify the design of the slots.

[0168] In some embodiments, elastic buckle structures or snap buckle structures are respectively provided on both sides of the dust box 120 along the traveling direction and on both sides of the sewage tank 130 along the traveling direction. Through the elastic buckle structures or snap buckle structures, the dust box 120 and the sewage tank 130 can be locked in their corresponding positions. Due to the design of the elastic buckle structures, both the dust box 120 and the sewage tank 130 can be easily removed for the user to freely intervene and clean. When the dust box 120 and the sewage tank 130 are removed, the dust suction channel of the dust box 120 communicating with the second cleaning member 70 and the sewage suction channel communicating with the first cleaning member 20 can be respectively seen. The dust box 120 communicates with the second cleaning member 70 through the dust suction channel of the dust box 120, and the sewage tank 130 communicates with the first cleaning member 20 through the sewage suction channel.

[0169] The sewage tank 130 and the dust box 120 are arranged in sequence along the traveling direction, and the air outlets a of the dust box 120 and the sewage tank 130 are arranged on the same side in the axial direction. The air duct structure 160 is arranged on the same side along the axial direction, so that a reasonable position selection of the air duct structure 160 can be made along the axial direction. The air duct structure 160 is arranged on one side in the axial direction, making full use of the space on one side in the axial direction of the dust box 120 and the sewage tank 130, and not occupying the space of the whole machine along the traveling direction.

[0170] In some embodiments, the suction assembly 170 and the air duct structure 160 are arranged in sequence along the axial direction. The suction assembly 170 includes an air inlet structure 1701, a suction fan 1702, and an air outlet structure 1703 that are sequentially connected. The air inlet structure 1701 is connected to the air duct structure 160; the air inlet structure 1701 and the air outlet structure 1703 are arranged in sequence along the traveling direction, and the suction fan 1702 and the air inlet structure 1701 are arranged in sequence along the height direction.

[0171] Among them, the air duct structure 160 is arranged in a long strip cavity structure along the traveling direction. Preferably, the air duct structure 160 is arranged between the dust box 120 and the traveling wheels 60. At the same time, to maximize the use of the space between the dust box 120 and the traveling wheels 60, the air duct structure 160 is provided with two air inlets b corresponding to the two air outlets a one by one, and the two air inlets b are arranged on the side close to the dust box 120 and the sewage tank 130. A top air outlet c is further provided on the top side of the air duct structure 160, and is connected to the air inlet structure 1701 through the top air outlet c.

[0172] In some embodiments, since the slots for fixing the dust box 120 and the sewage tank 130 are provided on the middle shell 1002, the air duct assembly is connected to the middle shell 1002, which is more conducive to the docking and sealing of the air inlet b and the air outlet a. The air inlet structure 1701, the suction fan 1702, and the air outlet structure 1703 in the suction assembly 170 are arranged on the bottom shell 1003. In this way, when assembling the whole machine, the air duct structure 160 and the suction assembly 170 can be actively docked.

[0173] In some embodiments, a movable plate 180 is slidably disposed inside the two air inlets b. The above-mentioned first lifting mechanism 90 and second lifting mechanism 110 may be respectively provided with a top rod 190. When the first lifting mechanism 90 and the second lifting mechanism 110 are displaced in the height direction, the two top rods 190 may be displaced in the height direction synchronously. The two top rods 190 are respectively connected to the two movable plates 180, and can respectively push the two movable plates 180 to move in the height direction relative to the air inlet b, thereby closing or opening the air inlet b.

[0174] As Figures 22 to 25 shown, since the first lifting mechanism 90 and the second lifting mechanism 110 can respectively drive the first cleaning member 20 and the second cleaning member 70 to be displaced in the height direction, a single-sweeping mode, a single-mopping mode, a mopping-and-sweeping mode, and a stop / docking mode can be provided. Correspondingly, one of the two air inlets b can be open while the other is closed, or the two air inlets b can be closed simultaneously, or the two air inlets b can be opened simultaneously.

[0175] The cleaning robot 100 not only has a single-sweeping mode, a single-mopping mode, a mopping-and-sweeping mode, and a stop / docking mode, but also can switch between any working modes. When the cleaning robot 100 develops in the direction of comprehensive functions such as sweeping, mopping, and washing, it can meet the requirement of controlling multiple cleaning members of the cleaning robot 100 to achieve switching between multiple working modes.

[0176] Referring to Figure 22As shown, in some specific embodiments, two connecting components may be provided on the air duct structure 160, and the two connecting components are respectively connected to the two movable plates 180. Among them, the connecting component includes a connecting rod 1061, a slider 1062, and a first elastic member 1063. The connecting rod 1061 is fixedly connected to the movable plate 180. The first elastic member 1063 is sleeved on the connecting rod 1061. The top end of the first elastic member 1063 is fixed relative to the connecting rod 1061. The bottom end of the first elastic member 1063 is connected to the slider 1062, and the slider 1062 can slide relative to the connecting rod 1061. The above-mentioned ejector rod 190 can abut against the slider 1062. When the lifting mechanism drives the corresponding cleaning member to move upward in the height direction under the drive of the motor, the ejector rod 190 abuts against the slider 1062. Under the upward drive of the ejector rod 190, the slider 1062 compresses the first elastic member 1063 and drives the movable plate 180 to move upward through the connecting rod 1061, thereby closing the corresponding air inlet b. When the lifting mechanism drives the corresponding cleaning member to move downward in the height direction under the drive of the motor or the lifting mechanism naturally falls under the action of gravity, the abutting force of the ejector rod 190 on the slider 1062 is cancelled, and the elastic force stored in the first elastic member 1063 drives the slider 1062 to slide downward, thereby cancelling the supporting force on the connecting rod 1061, and the movable plate 180 slides downward in the height direction to open the air inlet b. Of course, in other embodiments, the setting of the first elastic member 1063 can also be cancelled, and it can fall naturally by the gravity of the connecting component.

[0177] As Figures 26 to 28 shown, a plurality of continuously connected and continuously angled retaining walls 1703a are distributed on the inner side of the air outlet structure 1703. The plurality of retaining walls 1703a form an air outlet channel with sequential direction changes. In this way, not only can the effective length of the air outlet structure 1703 be extended, but also the noise of the suction fan 1702 can be reduced.

[0178] The air inlet side of the air inlet structure 1701 extends upward and communicates with the top air inlet c on the air duct structure 160. In this way, the height of the air inlet side of the air inlet structure 1701 is raised, and the air inlet structure 1701 can be designed as a whole to extend obliquely downward, and its side wall can be designed in an arc shape, so that the suction air forms a swirling wind in the channel of the air inlet structure 1701, which can realize that the air inlet and air outlet inside the air inlet structure 1701 are on the same side but in different directions, effectively changing the internal direction of the air inlet structure 1701 and improving the utilization rate of the internal space of the air inlet structure 1701.

[0179] When the suction fan 1702 is operating, the air volume it generates enters the air inlet structure 1701 from the air duct structure 160, forms a whirlwind inside the air inlet structure 1701 and enters the suction fan 1702. After being processed by the eddy current of the suction fan 1702, it enters the air outlet structure 1703. The air volume travels along the multiple baffles 1703a inside the air outlet structure 1703, extending the overall air outlet length of the suction assembly 170. This not only reasonably optimizes the air inlet and outlet directions within a limited space, but also ensures the fan efficiency and reduces noise.

[0180] In some embodiments, referring to Figures 38 to 64 As shown, the cleaning robot 100 includes two lifting mechanisms. Each of the two lifting mechanisms includes a lifting mechanism, namely the first lifting mechanism 111 and the second lifting mechanism 121 respectively. The first cleaning member 20 and the second cleaning member 70 are respectively arranged on the first lifting mechanism 111 and the second lifting mechanism 121. The following cleaning member can be the first cleaning member 20 or the second cleaning member 70. The first lifting mechanism 111 and the second lifting mechanism 121 are respectively movably connected to the main body part 13 of the robot and can be variable in height relative to the main body part 13 to drive the corresponding cleaning member to lift relative to the main body part 13.

[0181] Among them, the robot includes two lifting mechanisms. Under the action of the first lifting mechanism 111 and the second lifting mechanism, the heights of the first cleaning member 70 and the second cleaning member 80 are respectively adjustable, and they can operate independently. Therefore, the cleaning members of the cleaning robot can be adjusted according to the specific requirements of the cleaning scenario to be cleaned. For example, the first cleaning member 20 is at a low position for cleaning work, while the second cleaning member 70 is at a high position and away from the cleaning ground; or, the second cleaning member 70 is at a low position for cleaning work, while the first cleaning member 20 is at a high position and away from the cleaning ground; or, both the first cleaning member and the second cleaning member are at a low position for cleaning work; or, both the first cleaning member and the second cleaning member are at a high position and away from the cleaning ground. By respectively arranging independently adjustable lifting mechanisms for the first cleaning member 20 and the second cleaning member 70, multiple working mode switching adjustments are realized through the two lifting mechanisms, so as to meet the user's demand for the cleaning robot to have multiple working modes. Among them, the structures of the two lifting mechanisms are the same to reduce the design cost of the lifting mechanism. Of course, in other embodiments, on the basis of being able to independently drive the first cleaning member 20 and the second cleaning member 70 to lift respectively, the structures of the two lifting mechanisms can be completely different, or a part of them is the same and the other part is different.

[0182] In some embodiments, each lifting mechanism includes a swing assembly 101 and a lifting assembly 102, and the lifting assembly 102 includes a cleaning member. The swing assembly 101 is rotatably connected to the main body part 13, and the lifting assembly 102 is connected to the side of the swing assembly 101 away from the main body part 13. When the swing assembly 101 rotates relative to the main body part 13, the height of the lifting assembly 102 relative to the main body part 13 is allowed to be variable. Among them, the two swing assemblies 101 are respectively arranged on the two opposite sides of the two lifting assemblies 102. Compared with the solution in which the two swing assemblies are respectively arranged on the two opposite sides of the two lifting assemblies, the two swing assemblies are respectively arranged on the same side of the two lifting assemblies, which can reduce the occupation of the space extending along the travel direction.

[0183] In some embodiments, the swing assembly 101 includes a first swing member 1011 and a second swing member 1012. For ease of description, the first rotating arm 901 and the second rotating arm 1101 are collectively referred to as a first swing member. The lifting assembly 102 includes a driving member 1021 having a driving shaft 1021a, and the driving shaft 1021a is transmission-connected to the cleaning member. The first end 1011a of the first swing member 1011 is rotationally connected to the main unit portion 13, and the second end 1011b away from the first end 1011a is connected to the lifting assembly 102. The first head 1012a of the second swing member 1012 is movably connected to the main unit portion 13 and has a lifting position relative to the main unit portion 13, and the second head 1012b away from the first head 1012a can be transmission-connected to the driving shaft 1021a. The second swinging member 1012 is configured such that when the driving shaft 1021a drives the first head 1012a through the second head 1012b to be in the raised position, the first swinging member 1011 is fixed relative to the main body part 13, so that the lifting assembly 102 is in the raised position, and is configured such that when the driving shaft 1021a drives the first head 1012a to be out of the raised position through the second head 1012b, the first swinging member 1011 is rotatable relative to the main body part 13, so that the lifting assembly 102 is lowered from the raised position to the working position.

[0184] The main unit 13 is fixed, the first end 1011a of the first swing member 1011 is rotatably connected to the main unit 13, and the first swing member 1011 rotates around the first end 1011a, so the first swing member 1011 can be understood as a fixed-axis swing member. Since the cleaning mechanism as a whole can be raised and lowered relative to the main unit 13, the second head 1012b of the second swing member 1012 can be transmission-connected to the drive shaft 1021a, and the drive shaft 1021a is part of the lifting assembly 102, so the central axis of the second head 1012b of the second swing member 1012 can be raised and lowered, so the second swing member 1012 can be understood as a dynamic-axis swing member.

[0185] The driving member 1021 can be a driving motor, and the driving shaft 1021a provides the driving force for the rotational cleaning of the cleaning member and the lifting of the cleaning mechanism. The driving shaft 1021a drives the first head 1012a to move relative to the main body portion 13 through the second head 1012b. In one aspect, when the first head 1012a moves to the lifting position, the rotation angle of the first swing member 1011 relative to the main body portion 13 is fixed, so that the lifting assembly 102 is in the lifting position, and at this time the entire cleaning mechanism is in the lifting position. In another aspect, when the first head 1012a disengages from the lifting position, the first head 1012a loses its restriction on the first swing member 1011, that is, the angle of the first swing member 1011 relative to the device changes from the fixed state to the released state. At this time, the first swing member 1011 can rotate relative to the main body portion 13, so that the lifting assembly 102 descends from the lifting position to the working position.

[0186] In this part, the driving shaft 1021a drives the first head 1012a through the second head 1012b to move the first head 1012a to the lifting position and keep the first head 1012a in the lifting position. At this time, since the cleaning member is in the lifting position and does not need to work, the driving shaft 1021a can be in a stationary state. Therefore, in one embodiment, power can be continuously supplied to the driving shaft 1021a to keep the first head 1012a in the lifting position by the driving shaft 1021a, and then keep the entire cleaning mechanism in the lifting position.

[0187] In another embodiment, the second swing member 1012 is configured such that when the first head 1012a is in the lifting position, the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle to form a self-locking. The triangle has stability, so the three vertex positions of the same triangle can form a self-locking balance and remain stationary, that is, when the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle, they can be held in the lifting position by pure mechanical force until the self-locking balance is broken again when the driving shaft 1021a rotates. In this embodiment, power can also be continuously supplied to the driving shaft 1021a to keep the cleaning mechanism in the lifting position by electric power and mechanical force.

[0188] Such as Figure 38 and Figure 39As shown, optionally, the first head 1012a and the first end 1011a are located on the same side of the height plane where the second head 1012b is located. Optionally, the first head 1012a and the first end 1011a can also be located on both sides of the height plane where the second head 1012b is located. Wherein, the height plane refers to the vertical plane where the central axis of the second head 1012b is located. Compared with the solution in which the first head 1012a and the first end 1011a are located on both sides of the height plane where the second head 1012b is located, the first head 1012a and the first end 1011a are located on the same side of the height plane where the second head 1012b is located, and the stability of the triangle formed by them is better, which is more conducive to stably maintaining the cleaning mechanism in the raised position.

[0189] In some embodiments, the driving shaft 1021a and the cleaning member are arranged in parallel from top to bottom. The first swing member 1011 and the second swing member 1012 are arranged on the same side of the height plane where the driving shaft 1021a and the cleaning member are located, which is beneficial to the overall stability of the swing assembly 101 and reduces the size occupied by the swing assembly 101 along the travel direction. The first swing member 1011 and the second swing member 1012 are staggered along the axis of the driving shaft 1021a to prevent the first swing member 1011 and the second swing member 1012 from interfering with each other during the lifting process.

[0190] In some embodiments, reference Figures 52 to 54 As shown, the main body part 13 is configured with a slideway structure 131, which extends horizontally along the travel direction of the main body part 13, and the first head 1012a is slidably configured in the slideway structure 131. When the first head 1012a is located at the extreme position of the slideway structure 131 close to the second head 1012b, the first head 1012a is located in a raised position.

[0191] When the first head 1012a is located at the extreme position of the slideway structure 131 close to the second head 1012b, the first head 1012a is located at the lifting position. At this time, the first head 1012a has no space to continue sliding. The first head 1012a is against the extreme position of the slideway structure 131 close to the second head to form a tight state. At this time, the motor stops rotating, and the position of the second head 1012b remains fixed, so that the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle and form a self-locking. At this time, the cleaning mechanism is in the lifting position as a whole. Among them, when the first head 1012a is out of the lifting position, the first head 1012a can slide freely in other areas of the slideway structure 131 outside the extreme position close to the second head 1012b.

[0192] It should be noted that the extension length of the slideway structure 131 along the traveling direction can be flexibly designed. The longer the extension length of the slideway structure 131, the longer the length space allowed for the first head 1012a to slide, that is, the longer the swing space of the second swing member 1012, and the smaller the angle between the second swing member 1012 and the slideway structure 131 can be infinitely. In this way, the lifting height of the lifting assembly 102 can be adjusted, and the liftable height of the lifting assembly 102 can be flexibly adjusted according to the height of the host part 13. The lifting height can be increased or decreased.

[0193] Referring to Figure 17 and Figure 51 As shown, in some embodiments, the lifting assembly 102 further includes a one-way bearing 1023, and the one-way bearing 1023 is arranged on the transmission path between the drive shaft 1021a and the second head 1012b. The one-way bearing 1023 is configured such that when the drive shaft 1021a rotates in the first direction, it allows the drive shaft 1021a to drive the second head 1012b to drive the first head 1012a to move relative to the host part 13, and is configured such that when the drive shaft 1021a rotates in the second direction, it prevents the drive shaft 1021a from driving the second head 1012b. Wherein, the first direction and the second direction are opposite.

[0194] The one-way bearing 1023 means that it allows the shaft member sleeved therein to rotate in one direction, and can lock the shaft member in the other direction opposite to one direction, thereby preventing the shaft member from rotating in the other direction. Wherein, the one-way bearing 1023 is also called an overrunning clutch. A plurality of rollers, needle rollers or balls are installed in the one-way bearing 1023. The shape of the rolling seat of the one-way bearing 1023 only allows the rollers, needle rollers or balls therein to roll in one direction, and can generate great resistance in the other direction, thereby achieving the above purpose.

[0195] In some embodiments, the lifting assembly 102 further includes a camshaft 1022 and a cam 1024. The camshaft 1022 is in transmission connection with the drive shaft 1021a, and the cam 1024 is sleeved on the camshaft 1022 through the one-way bearing 1023. The second head 1012b is rotatably connected to the camshaft 1022, and the rotation axis of the second head 1012b is spaced from the rotation axis of the camshaft 1022.

[0196] The cam 1024 refers to a wheel body provided with a convex portion 1024a, wherein the convex portion 1024a is provided on the outer peripheral edge of the wheel body. When the cam 1024 rotates around its central axis, it synchronously drives the convex portion 1024a to rotate axially. Therefore, the position of the convex portion 1024a changes with the rotation of the wheel body.

[0197] Specifically, in some embodiments, the first direction may be the counterclockwise direction, and the second direction may be the clockwise direction. Referring toFigures 61 to 63 As shown, in one aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in the first direction, and the one-way bearing 1023 allows the drive shaft 1021a to drive the camshaft 1022 in the first direction. Therefore, the camshaft 1022 can drive the cam 1024 to rotate in the first direction. The second head 1012b is in transmission connection with the camshaft 1022, and the rotation axis of the second head 1012b is spaced from the rotation axis of the camshaft 1022. Then, the second head 1012b is driven by the camshaft 1022, causing the second head 1012b to move around the central axis of the cam 1024. The movement locus of the second head 1012b is located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b, and the first end 1011a is broken, and the first swing member 1011 rotates downward relative to the main body part 13, and the lifting assembly 102 is switched from the lifting position to the working position.

[0198] During the working process between, for example, Figure 63 and Figure 64 is as follows: After the lifting assembly 102 is switched to the working position, the drive shaft 1021a is switched to rotate in the second direction, and the drive shaft 1021a drives the cleaning member to perform a cleaning operation in the second direction. During this process, the drive shaft 1021a drives the camshaft 1022 to rotate in the second direction, and the one-way bearing 1023 does not allow the drive shaft 1021a to drive the camshaft 1022 in the second direction. Therefore, the camshaft 1022 cannot drive the cam 1024 to rotate in the second direction. At this time, the cam 1024 is in a substantially natural state under the action of gravity, and its convex part 1024a is located at the lowermost end. After the cleaning member completes the cleaning operation, the drive shaft 1021a stops rotating in the second direction and switches the rotation direction to rotate in the first direction.

[0199] Referring to Figure 64 As shown, in another aspect, the drive shaft 1021a drives the camshaft 1022 again in the first direction. The camshaft 1022 drives the cam 1024, and the cam 1024 drives the second head 1012b of the second swing member 1012 to move. The second head 1012b drives the first head 1012a to start moving towards the above-mentioned limit position of the slideway structure 131. When the drive shaft 1021a stops rotating in the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned limit position of the slideway structure 131, that is, the drive shaft 1021a drives the lifting assembly 102 to switch from the working position to the lifting position again. After lifting, the first head 1012a, the second head 1012b, and the first end 1011a form a triangle again to self-lock, thereby keeping the lifting assembly 102 in the lifting position.

[0200] In some embodiments, the lifting assembly 102 further includes a second elastic member 1028b, which is disposed beside the cam 1024 and extends radially along the cam 1024. The cam 1024 is configured such that the first head 1012a is located in the lifting position when its protrusion 1024a abuts against the second elastic member 1028b and remains fixed, and is configured to overcome the elastic force of the second elastic member 1028b under the driving of the driving shaft 1021a along the first direction, and drive the first head 1012a to leave the lifting position through the second head 1012b, and is configured to continue to rotate under the driving of the driving shaft 1021a along the first direction and abut against the second elastic member 1028b again, and drive the first head 1012a to move to the lifting position again through the second head 1012b.

[0201] The second elastic member 1028b serves to maintain the protrusion 1024a of the cam 1024 in a fixed position through elastic force, and the cam 1024 can overcome the elastic force and leave the fixed position when the driving shaft 1021a is driven along the first direction.

[0202] Specifically, refer to Figures 46 to 51 As shown, the lifting assembly 102 includes a lifting frame body 1027, and all the components of the lifting assembly 102 that can be driven to lift by the swing assembly 101 are arranged on the lifting frame body 1027. A limiting assembly 1028 is arranged on the lifting frame body 1027, and the limiting assembly 1028 includes a limiting bracket 1028d and a second elastic member 1028b, and the limiting bracket 1028d can be fixed to the lifting frame body 1027 by a screw connection. The limiting bracket 1028d is provided with an opening 1028c facing the cam 1024, and a limiting member 1028a is movably arranged on the opening 1028c, a part of the limiting member 1028a is arranged inside the limiting bracket 1028d, and another part of the limiting member 1028a is arranged outside the limiting bracket 1028d. The second elastic member 1028b is movably disposed inside the second elastic member 1028b, and the second elastic member 1028b is sleeved on the portion of the limiting member 1028a located inside the limiting bracket 1028d. The limiting member 1028a can move inward or outward along the opening 1028c, and the limiting member 1028a can compress or relax the second elastic member 1028b.

[0203] The above paragraph only provides an optional installation method for the second elastic member 1028b. The second elastic member 1028b can be assembled using other methods. This embodiment does not impose any specific restrictions on the assembly method of the second elastic member 1028b.

[0204] Reference Figure 61As shown, when in the raised position, the convex portion 1024a of the cam 1024 just abuts against the limiting member 1028a. The limiting member 1028a forms a support for the convex portion 1024a through the elastic force provided by the second elastic member 1028b, so that the convex portion 1024a is maintained at this position, that is, the cam 1024 is maintained at this angle. At this time, the first head 1012a, the second head 1012b and the first end portion 1011a form a triangular self-locking, and the lifting assembly 102 is maintained at the raised position.

[0205] Referring to Figures 61 to 63 As shown, in one aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in the first direction. The camshaft 1022 can drive the cam 1024 to rotate in the first direction. The convex portion 1024a of the cam 1024 rotates in the first direction against the elastic force of the second elastic member 1028b. The second head 1012b is driven by the camshaft 1022, so that the second head 1012b moves around the central axis of the cam 1024. The movement track of the second head 1012b is located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b and the first end portion 1011a is broken, and the first swing member 1011 rotates downward relative to the main body portion 13, and the lifting assembly 102 is switched from the raised position to the working position. Among them, after the convex portion 1024a of the cam 1024 passes over the limiting member 1028a, the second elastic member 1028b returns to its original position.

[0206] During the working process between Figure 63 and Figure 64 is as follows: After the lifting assembly 102 is switched to the working position, the drive shaft 1021a is switched to rotate in the second direction, and the drive shaft 1021a drives the cleaning member to perform a cleaning operation in the second direction. During this process, the second elastic member 1028b returns to its original position and remains in the original position. The cam 1024 is in a substantially natural state under the action of gravity, and its convex portion 1024a is located at the lowermost end.

[0207] Referring to Figure 64As shown, in another aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in the first direction again. The camshaft 1022 drives the cam 1024 to rotate back to the position where the stopper 1028a is located in the first direction and re-abuts against the stopper 1028a. The stopper 1028a supports the convex portion 1024a again through the elastic force provided by the second elastic member 1028b, so that the convex portion 1024a is restricted again. During this process, the cam 1024 drives the second head 1012b of the second swing member 1012 to move. The second head 1012b drives the first head 1012a to start moving towards the above-mentioned limit position of the slideway structure 131. When the drive shaft 1021a stops rotating in the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned limit position of the slideway structure 131, that is, the drive shaft 1021a drives the lifting assembly 102 to switch from the working position to the lifting position again. After lifting, the first head 1012a, the second head 1012b and the first end 1011a form a triangle again to self-lock, so that the lifting assembly 102 is kept in the lifting position.

[0208] In the previous embodiment, the second elastic member 1028b and the stopper 1028a are dynamic components. In some other embodiments, the stopper assembly 1028 can be replaced by a stopper structure 1029 fixed relative to the lifting frame body. In these two embodiments, the descending drive processes of the lifting assembly 102 are different. In the embodiment using the second elastic member 1028b and the stopper 1028a, the drive shaft 1021a provides power in the first direction to drive the lifting assembly 102 to switch from the lifting position to the working position. In the embodiment using the stopper structure 1029, the drive shaft 1021a rotates in the second direction to provide inertia force, and the inertia force serves as the driving force to drive the lifting assembly 102 to switch from the lifting position to the working position. In these two embodiments, the ascending drive processes of the lifting assembly 102 are the same.

[0209] In some other embodiments, the lifting assembly 102 further includes a stopper structure 1029. The stopper structure 1029 is arranged beside the cam 1024, and the position of the stopper structure 1029 relative to the cam 1024 is fixed. The cam 1024 is configured such that when its convex portion 1024a abuts against the stopper structure 1029 and is fixed, the first head 1012a is located at the lifting position, and is configured such that when the drive shaft 1021a rotates in the second direction, the cam 1024 is driven to disengage from the stopper structure 1029 in the second direction by inertia force, so that the cam 1024 drives the first head 1012a to disengage from the lifting position through the second head 1012b, and is configured to rotate in the reverse direction under the drive of the drive shaft 1021a in the first direction and re-abut against the stopper structure 1029, and drive the first head 1012a to move back to the lifting position through the second head 1012b.

[0210] Refer to Figure 57 As shown, when in the lifting position, the convex part 1024a of the cam 1024 just abuts against the limiting structure 1029. The limiting structure 1029 is stationary. The limiting structure 1029 forms a support for the convex part 1024a, so that the convex part 1024a is kept in this position, that is, the cam 1024 is kept at this angle. At this time, the first head 1012a, the second head 1012b and the first end 1011a form a triangular self-locking, and the lifting assembly 102 is kept in the lifting position.

[0211] Refer to Figures 57 to 59 As shown, in one aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in the second direction. The camshaft 1022 cannot drive the cam 1024 to rotate in the second direction, but can provide a driving force through the inertial force generated when the drive shaft 1021a starts. This inertial force drives the cam 1024 to rotate in the second direction. The second head 1012b is driven by the camshaft 1022, so that the second head 1012b moves around the central axis of the cam 1024. The movement track of the second head 1012b is located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b and the first end 1011a is broken, and the first swing member 1011 rotates downward relative to the main machine part 13, and the lifting assembly 102 is switched from the lifting position to the working position.

[0212] During the working process between as Figure 27 and Figure 28 is as follows: The lifting assembly 102 is switched to the working position and the drive shaft 1021a continues to rotate in the second direction. The drive shaft 1021a drives the cleaning member to perform a cleaning operation in the second direction. During this process, the cam 1024 is in a roughly natural state under the action of gravity, and its convex part 1024a is at the lowest end.

[0213] Refer to Figure 58As shown, on the other hand, after the cleaning member completes the cleaning work, the driving shaft 1021a switches the rotation direction and switches from the second direction to the first direction, and re-drives the camshaft 1022. The camshaft 1022 drives the cam 1024 to rotate back along the first direction to the position of the limiting member 1028a, and re-abuts against the limiting structure 1029. The limiting structure 1029 re-supports the protrusion 1024a so that the protrusion 1024a is restricted again. During this process, the cam 1024 drives the second head 1012b of the second swinging member 1012 to move, and the second head 1012b drives the first head 1012a to start moving toward the above-mentioned extreme position of the slide structure 131. When the driving shaft 1021a stops rotating along the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned extreme position of the slide structure 131, that is, the driving shaft 1021a drives the lifting assembly 102 from the working position to the lifting position again, and after lifting, the first head 1012a, the second head 1012b and the first end 1011a re-form a triangle for self-locking, thereby keeping the lifting assembly 102 in the lifting position.

[0214] In some embodiments, the drive shaft 1021a, the cam shaft 1022 and the cleaning member are arranged in parallel and spaced apart. The drive shaft 1021a, the cam shaft 1022 and the cleaning member are sequentially connected in transmission. Alternatively, the cam shaft 1022 and the cleaning member are respectively connected in transmission to the drive shaft 1021a.

[0215] like Figures 57 to 64 As shown, the driving shaft 1021a, the cam shaft 1022 and the cleaning member are arranged in parallel and spaced apart, and the driving shaft 1021a, the cam shaft 1022 and the cleaning member are located at three vertices of a triangle. The driving shaft 1021a and the cam shaft 1022 are connected by a first transmission belt 1025, and the cam shaft 1022 and the cleaning member are connected by a second transmission belt 1026.

[0216] In other embodiments, the camshaft 1022 and the cleaning member are respectively connected to the drive shaft 1021a by transmission. For example, the drive shaft 1021a and the camshaft 1022 are connected by transmission through the first transmission belt 1025, the drive shaft 1021a and the cleaning member are connected by transmission through the second transmission belt 1026, and the cleaning member and the camshaft 1022 are not connected by transmission.

[0217] like Figure 46 As shown, the lifting frame body 1027 is equipped with a transmission box 1027a, and the driving shaft 1021a, the camshaft 1022 and the cleaning member are sequentially connected in a transmission manner and arranged in the transmission box 1027a, wherein transmission components such as a support bearing and a synchronous wheel can be arranged. The transmission box 1027a can be provided with a transmission cover 1027b, and the transmission connection part can be repaired or replaced by installing or removing the transmission cover 1027b.

[0218] The second swinging member 1012 may include a main connecting member having a first head 1012a and a second head 1012b. Two rollers 1012c are mounted on the first head 1012a. The two rollers 1012c are coaxially connected, and the axis of the two rollers 1012c is consistent with the axis of the first head 1012a. The two rollers 1012c can be fixed to the first head 1012a by screws and can roll in the slideway structure 131. The second head 1012b can be fixed to a portion of the convex portion 1024a away from its central axis by a spacer screw 1012d.

[0219] In some embodiments, the lifting frame body 1027 of the lifting assembly 102 in the first lifting mechanism 111 includes a first accommodating structure 1027c and a first channel structure 1027d. The main body part 13 includes a dust box. The first accommodating structure 1027c, the first channel structure 1027d, and the dust box are arranged in sequence from bottom to top. The first accommodating structure 1027c has a first accommodating cavity with a top opening and a bottom opening that are open on both sides in the height direction. The first channel structure 1027d communicates with the dust box and the top opening, and the first channel structure 1027d is elastic to allow the height of the first accommodating structure 1027c relative to the dust box to be variable; the first cleaning member 20 is rotatably disposed in the first accommodating cavity and partially extends out of the bottom opening.

[0220] Wherein, the dust box is used for collecting the garbage cleaned by the first cleaning member 20, such as falling dust, etc. The dust box is fixed relative to the main body part 13, while the first cleaning member 20 can be lifted relative to the main body part 13. Therefore, the channel between the dust box and the first cleaning member 20 needs to be designed to be elastic and can deform with the lifting of the first cleaning member 20 to ensure that the first cleaning member 20 can be lifted and lowered normally.

[0221] In some embodiments, the lifting frame body 1027 of the lifting assembly 102 in the first lifting mechanism 111 includes a second accommodating structure 1027e and a second channel structure 1027f. The main body part 13 includes a sewage tank. The second accommodating structure 1027e, the second channel structure 1027f, and the sewage tank are arranged in sequence from bottom to top. The second accommodating structure 1027e has a second accommodating cavity with an upper opening and a lower opening that are open on both sides in the height direction. The second channel structure 1027f communicates with the sewage tank and the upper opening, and the second channel structure 1027f is elastic to allow the height of the second accommodating structure 1027e relative to the sewage tank to be variable; the second cleaning member 70 is rotatably disposed in the second accommodating cavity and partially extends out of the lower opening.

[0222] The sewage tank is used to collect sewage generated by the second cleaning member 70. The sewage tank is fixed relative to the main body part 13, while the second cleaning member 70 can be raised and lowered relative to the main body part 13. Therefore, the channel between the sewage tank and the second cleaning member 70 needs to be designed to be elastic and can be deformed with the lifting and lowering of the second cleaning member 70 to ensure that the second cleaning member 70 can be lifted and lowered normally.

[0223] like Figures 32 to 37 As shown, in some embodiments, the cleaning robot 100 further includes a docking assembly 210, an adapter assembly 220, a sewage tank 130 and a steering valve 230, and a middle shell 1002 decorative cover 1001, a middle shell 1002 and a bottom shell 1003 arranged from top to bottom along the height direction of the cleaning robot 100. The docking assembly 210 has a host clean water docking interface and a host sewage docking interface, and the host clean water docking interface and the host sewage docking interface are respectively provided for docking the base station clean water docking interface and the base station sewage docking interface. The adapter assembly 220 has a clean water transfer channel and a sewage transfer channel; the sewage tank 130 has a sewage suction port, a sewage outlet and a clean water port, the sewage suction port is connected to the surface of the first cleaning member 20, the clean water transfer channel is connected to the clean water port, and the sewage transfer channel is connected to the sewage outlet. The steering valve 230 is provided with a first port, a second port and a third port, and the steering valve 230 is configured to selectively connect the first port with the second port or connect the first port with the third port; the main unit fresh water docking port is connected to the first port, the fresh water tank 10 is connected to the second port, the fresh water transfer channel is connected to the third port, and the sewage transfer channel is connected to the main unit sewage docking port. The sewage tank 130 is detachably arranged on the middle shell 1002, and at least part of the sewage tank 130 is arranged between the decorative cover 1001 of the middle shell 1002 and the middle shell 1002; the fresh water tank 10, the docking assembly 210, and the transfer assembly 220 are arranged between the middle shell 1002 and the bottom shell 1003, and the docking assembly 210, the transfer assembly 220 and the steering valve 230 are fixedly connected to the bottom shell 1003.

[0224] For example, the diverter valve 230 can be fixed to a fixing seat 250 by screws, and the fixing seat can be fixed to the bottom shell 1003 by screws or buckles. For example, the adapter assembly 220 is fixed to the bottom shell 1003, and the sewage tank 130 can be effectively sealed and detachably connected to the host part 13 through the adapter assembly 220. For example, the docking assembly 210 can be detachably installed on the bottom shell 1003, and the docking with the cleaning base station can be achieved through the docking assembly 210.

[0225] Since the docking assembly 210, the adapter assembly 220 and the steering valve 230 are responsible for the water system for clean water to enter the robot and the sewage to be pumped out of the robot, the docking assembly 210, the adapter assembly 220 and the steering valve 230 are fixedly connected to the bottom shell 1003, which can improve the stability of the water system and ensure the smoothness of the water system during the transportation process.

[0226] As Figure 4 and Figure 5 shown, in some embodiments, a distance detection member 240 is provided on the front side 100a of the guide wheel 50. The distance detection member 240 is used to detect the road conditions in front of the cleaning robot 100 during operation, so as to prevent the guide wheel 50 from exceeding the cliff and causing the main body to fall. In this embodiment, the distance L between the distance detection member 240 and the axis of the guide wheel 50 is greater than or equal to 10 mm, so as to ensure that when the brushes of the two side sweeping members rotate towards the center, the rotation trajectory cannot cover the opening of the ultrasonic wave, so as to avoid misjudgment of the ultrasonic wave.

[0227] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: The cleaning robot includes a clean water tank and a first cleaning member; The cleaning robot has a front side and a rear side that are oppositely arranged along the traveling direction, the clean water tank and the first cleaning member are arranged at intervals along the traveling direction, the clean water tank is close to the front side, and the first cleaning member is close to the rear side; The surface of the clean water tank is communicated with the first cleaning member to supply cleaning liquid to the first cleaning member, so that the first cleaning member cleans the surface to be cleaned or self-cleans.

2. The cleaning robot according to claim 1, characterized in that: The cleaning robot further includes a main control board, and the main control board is configured to be able to control the running functions of the cleaning robot according to the user's operation instructions and the information of the environment where the cleaning robot is located; The main control board and the clean water tank are arranged in sequence from top to bottom along the height direction of the cleaning robot, and the projection of the board surface of the main control board along the height direction falls on the clean water tank; Wherein, the traveling direction and the height direction are perpendicular.

3. The cleaning robot according to claim 2, characterized in that: The cleaning robot further includes a battery member, and the battery member is configured to be able to provide the electric energy required for the running functions of the cleaning robot, and the battery member is electrically connected to the main control board; In the height direction, the clean water tank is arranged between the main control board and the battery member and isolates the main control board and the battery member.

4. The cleaning robot according to claim 3, characterized in that: The clean water tank has a top wall and a bottom wall that are oppositely arranged along the height direction; The main control board is stacked with the top wall, and part of the bottom wall is recessed toward the top wall to form a battery accommodating cavity, and the opening direction of the battery accommodating cavity faces away from the top wall, and the battery member is accommodated in the battery accommodating cavity.

5. The cleaning robot according to claim 4, characterized in that: The clean water tank includes a first cavity portion and a second cavity portion, and the first cavity portion and the second cavity portion are arranged on both sides of the battery accommodating cavity along the traveling direction; A communication gap is formed between the battery accommodating cavity and the top wall at an interval, and the first cavity portion and the second cavity portion are communicated through the communication gap.

6. The cleaning robot according to claim 4, characterized in that: The cleaning robot further includes a guide wheel, the guide wheel is close to the front side, and the guide wheel is configured to be able to execute the direction instruction of the main control board and guide the cleaning robot to travel according to the direction instruction when the cleaning robot executes the running function; The clean water tank includes a first cavity portion and a second cavity portion that are communicated with each other, and the first cavity portion and the second cavity portion are arranged on both sides of the guide wheel along the axial direction of the guide wheel.

7. The cleaning robot according to claim 6, characterized in that: The cleaning robot further includes a second cleaning member and two third cleaning members; The first cleaning member, the second cleaning member and the third cleaning members are arranged in sequence along the traveling direction, and the two third cleaning members are arranged at intervals along the axial direction of the second cleaning member, and the guide wheel is arranged between the two third cleaning members; The fresh water tank is configured to be restricted by the guide wheels and the second cleaning member along the traveling direction, and the fresh water tank is configured to be restricted by the two third cleaning members along the axial direction.

8. The cleaning robot according to claim 7, wherein: The cleaning robot further includes two second swing arms arranged at intervals along the axial direction. The second cleaning member is directly or indirectly connected to the two second swing arms and is configured to be displaced along the height direction by the rotation of the second swing arms. The battery accommodation cavity is configured to be restricted by the two second swing arms along the axial direction, and the two second swing arms are arranged inside the two third cleaning members.

9. The cleaning robot according to claim 7, wherein: The cleaning robot further includes two traveling wheels arranged coaxially and at intervals. The first cleaning member and the traveling wheels are arranged in sequence along the traveling direction. The dimension of the first cleaning member along the axial direction is greater than or equal to the distance between the outer edges of the two traveling wheels, and the second cleaning member is arranged between the two traveling wheels.

10. The cleaning robot according to claim 9, wherein: The cleaning robot further includes a dust box, and the dust box is communicated with the surface of the second cleaning member. The dust box is configured to be restricted by the first cleaning member and the second cleaning member along the traveling direction, and the dust box is configured to be restricted by the two traveling wheels along the axial direction.

11. The cleaning robot according to claim 10, wherein: The cleaning robot further includes two first swing arms arranged at intervals along the axial direction. The first cleaning member is directly or indirectly connected to the two first swing arms and is configured to be displaced along the height direction by the rotation of the first swing arms. The dust box is close to one traveling wheel and away from the other traveling wheel along the axial direction. One first swing arm is arranged below the dust box, and the other first swing arm is arranged between the dust box and the other traveling wheel.

12. The cleaning robot according to claim 11, wherein: The cleaning robot further includes a dust collection channel and a fresh water pump. The dust collection channel is used to communicate with the dust suction channel of the cleaning base station, and the fresh water pump is used to pump the cleaning liquid in the fresh water tank to the first cleaning member. The dust collection channel is communicated with the dust collection port of the dust box, and the dust collection channel is arranged above the second cleaning member; the dust collection port and the bottom of the dust box are spaced along the height direction and form an avoidance space therebetween. One first swing arm and the fresh water pump are arranged in the avoidance space.

13. The cleaning robot according to claim 10, wherein: The cleaning robot further includes a sewage tank, an air duct structure and a suction assembly. The sewage tank is communicated with the surface of the first cleaning member. The sewage tank and the dust box are arranged in sequence along the traveling direction, and the air outlet of the dust box and the air outlet of the sewage tank are arranged on the same side of the axial direction. The air duct structure is arranged on the same side along the axial direction, and the air duct structure is configured to be able to be randomly connected with the two air outlets; the suction component is connected with the air duct structure to apply suction wind force to the air duct structure.

14. The cleaning robot according to claim 13, characterized in that: The suction assembly and the air duct structure are arranged in sequence along the axial direction; The suction assembly includes an air inlet structure, a suction fan and an air outlet structure which are connected in sequence, and the air inlet structure is connected to the air duct structure; the air inlet structure and the air outlet structure are arranged in sequence along the travel direction, and the suction fan and the air inlet structure are arranged in sequence along the height direction.

15. The cleaning robot according to claim 13, characterized in that: The cleaning robot further comprises two lifting mechanisms, the first cleaning member and the second cleaning member are respectively arranged on the two lifting mechanisms, and can independently move relative to the height direction of the cleaning robot under the drive of the corresponding lifting mechanisms; The air duct structure is provided with two air inlets and two movable plates, the two movable plates are respectively slidably arranged on the two air inlets and can close or open the corresponding air inlets; the two lifting mechanisms are respectively provided with top rods, the two top rods are respectively connected to the two movable plates, and the movable plates can slide independently relative to the corresponding air inlets under the drive of the corresponding lifting mechanisms.

16. The cleaning robot according to any one of claims 1 to 15, characterized in that: The cleaning robot also includes a docking assembly, a transfer assembly, a sewage tank and a steering valve, and a middle shell decorative cover, a middle shell and a bottom shell arranged from top to bottom along the height direction of the cleaning robot; The docking component has a host clean water docking interface and a host sewage docking interface, and the host clean water docking interface and the host sewage docking interface are respectively provided for docking with the base station clean water docking interface and the base station sewage docking interface; The transfer assembly has a clean water transfer channel and a sewage transfer channel; The sewage tank has a sewage suction port, a sewage outlet and a clean water port, the sewage suction port is connected to the surface of the first cleaning member, the clean water transfer channel is connected to the clean water port, and the sewage transfer channel is connected to the sewage outlet; The steering valve is provided with a first port, a second port and a third port, and the steering valve is configured to selectively connect the first port with the second port or connect the first port with the third port; the main unit clean water docking port is connected to the first port, the clean water tank is connected to the second port, the clean water transfer channel is connected to the third port, and the sewage transfer channel is connected to the main unit sewage docking port; Among them, the sewage tank is detachably arranged on the middle shell, and at least part of the sewage tank is arranged between the middle shell decorative cover and the middle shell; the clean water tank, the docking assembly, and the adapter assembly are arranged between the middle shell and the bottom shell, and the docking assembly, the adapter assembly and the steering valve are fixedly connected to the bottom shell.

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