Scraper plate mechanism for sweeping robot and sweeping robot

Abstract

The invention relates to the technical field of sweeping machines, and discloses a scraping plate mechanism for a sweeping robot and the sweeping robot. The scraper part is in driving connection with the telescopic driving unit; the scraping piece is arranged on the scraping plate part and is used for being in contact with a cleaning surface; and the at least one nozzle is integrated on the scraper part. According to the scraping plate mechanism and the sweeping robot, the telescopic driving unit is arranged on the sweeping robot to drive the scraping piece to clean the ground area where the sweeping robot body cannot reach, meanwhile, the spraying opening is combined to wet the ground, and therefore the cleaning technical effect is further improved.

Description

Technical Field

[0001] This invention relates to the field of sweeping machine technology, and more specifically to a scraper mechanism for a sweeping robot and a sweeping robot. Background Technology

[0002] With the popularization of smart home technology, robotic vacuum cleaners have become an important tool for floor cleaning in modern homes. However, despite continuous advancements in navigation and cleaning technology, effectively cleaning hard-to-reach areas (such as narrow corners and deep spaces behind furniture) remains a challenge. This problem directly affects cleaning coverage and final results, thus hindering the widespread adoption of robotic vacuum cleaners. Furthermore, conventional cleaning methods are often ineffective at removing stubborn stains. Summary of the Invention

[0003] The present invention provides a scraper mechanism for a sweeping robot and a sweeping robot, which can improve the sweeping coverage and sweeping effect of the sweeping robot, and can improve the cleaning effect of stubborn stains.

[0004] To achieve the above objectives, the present invention provides a scraper mechanism for a sweeping robot, comprising: Telescopic drive unit; The scraper section is driven to connect with the telescopic drive unit; A scraping component is provided on the scraper portion for contacting the cleaning surface; At least one nozzle integrated on the scraper section.

[0005] Optionally, the nozzle is located on the scraper portion near the scraping member.

[0006] Optionally, the telescopic drive unit includes a drive motor and a transmission mechanism driven by the drive motor.

[0007] Optionally, the transmission mechanism includes a linkage assembly hinged to the scraper portion.

[0008] Optionally, the linkage assembly includes a driving linkage and a passive linkage arranged parallel to the driving linkage. The two ends of the driving linkage and the passive linkage are respectively used to hinge with the body of the sweeping robot and the scraper part to form a parallelogram linkage mechanism.

[0009] Optionally, the drive link and / or the passive link are provided with a flow channel inside, and the flow channel is in communication with the nozzle.

[0010] Optionally, it also includes a linkage structure configured to drive the scraping member to switch to an avoidance posture in response to the scraper portion moving to a storage position.

[0011] Optionally, the nozzle is a slit-type nozzle extending along the length direction of the scraper portion.

[0012] Optionally, the nozzle is rotatably disposed on the scraper portion to adjust the spray direction.

[0013] Optionally, the scraper section is provided with at least two nozzles, which are configured to spray different types of media or spray towards different areas.

[0014] Optionally, the scraper is provided with a flow guiding structure, and the medium ejected from the nozzle is guided by the flow guiding structure to contact the cleaning surface.

[0015] On the other hand, the present invention also provides a robotic vacuum cleaner, comprising: The robot itself; A cleaning roller is installed at the bottom of the robot body; The scraper mechanism as described in any one of the above descriptions is disposed on the robot body and located behind the cleaning roller; A liquid supply system is installed inside the robot body and is connected to the nozzle of the scraper mechanism through a fluid pipeline.

[0016] Optionally, the nozzle is configured such that when the scraper portion is extended, its spray direction is toward the cleaning roller or toward the ground in front of the scraper.

[0017] Optionally, the liquid supply system includes a storage tank, a pump, and fluid pipelines.

[0018] Optionally, the liquid supply system further includes a foam generator for generating foam and spraying it through the nozzle.

[0019] Optionally, the liquid supply system further includes a heating device for generating steam or hot water and ejecting it through the nozzle.

[0020] Optionally, the nozzle is configured such that the ejected medium lies within the horizontal projection profile of the robot body.

[0021] Optionally, the spray direction of the nozzle forms an angle of 15°-90° with the horizontal plane.

[0022] Optionally, the opening or closing of the nozzle is linked to the extension or retraction of the scraper.

[0023] Optionally, the fluid pipeline includes a flexible tube, which is arranged to avoid excessive bending during the extension and retraction of the scraper section.

[0024] Optionally, the scraper mechanism is configured to perform spray cleaning on the cleaning roller and / or the scraper when the scraper portion is in the retracted position using the nozzle.

[0025] Optionally, the system also includes a control unit configured to control the nozzle to perform intermittent pulse spraying when the scraper portion extends to clean.

[0026] Through the above technical solution, the embodiments of the present invention provide a scraper mechanism for a sweeping robot and a sweeping robot. The scraper mechanism and the sweeping robot, by setting a telescopic drive unit on the sweeping robot to drive the scraping component to clean the ground area that the sweeping robot body cannot reach, and at the same time, the ground is moistened by the nozzle, thereby further improving the cleaning effect. Moreover, for some stubborn stains, after the liquid is sprayed from the nozzle, the scraper mechanism scrapes, which improves the cleaning effect of stubborn stains. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the scraper mechanism for a sweeping robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the scraper portion in an extended state according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the scraper section in a retracted state according to an embodiment of the present invention; Figure 4 This is a partial structural schematic diagram of a sweeping robot according to an embodiment of the present invention; and Figure 5 This is a partial structural schematic diagram of a sweeping robot according to one embodiment of the present invention.

[0028] Explanation of reference numerals in the attached figures 10. Telescopic drive unit; 11. Drive motor; 12. Transmission structure; 12-1. Drive linkage; 12-2. Passive linkage; 13. Linkage structure; 14. Torsion spring; 15. Contact part; 20. Scraper part; 21. Scraping component; 22. Nozzle; 23. Scraper support rod; 24. Scraper support shaft; 30. Cleaning roller. Detailed Implementation

[0029] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0030] In this application, unless otherwise expressly defined, directional terms are defined as follows: Based on the robot's normal forward-moving posture, its forward direction is defined as "forward" or "positive," and the opposite direction is defined as "rear" or "reverse." A direction perpendicular to the forward-backward direction and parallel to the cleaning surface is defined as "lateral." Specifically, when facing forward, the left side is "left-side," and the right side is "right-side."

[0031] With the popularization of smart home technology, robotic vacuum cleaners have become an important tool for floor cleaning in modern homes. However, despite continuous advancements in their navigation and cleaning technologies, effectively cleaning hard-to-reach areas (such as narrow corners and deep areas behind furniture) remains a challenge. This problem directly affects the cleaning coverage and final result, thus hindering the widespread adoption of robotic vacuum cleaners.

[0032] To overcome the above technical problems, embodiments of the present invention provide a scraper mechanism for a sweeping robot and a sweeping robot in general. This scraper mechanism and sweeping robot, by incorporating a telescopic drive unit on the sweeping robot to drive scraping components, clean areas of the floor that the sweeping robot's main body cannot reach. Simultaneously, it combines this with spray nozzles to wet the floor, thereby further improving the cleaning effect. Specifically: Example 1: like Figure 1 The diagram shown is a structural schematic of a scraper mechanism for a sweeping robot according to an embodiment of the present invention. Figure 1 The scraper mechanism may include a telescopic drive unit 10, a scraper section 20, a scraping member 21, and at least one nozzle 22 integrated on the scraper section 20. The scraper section 20 may be driven to connect with the telescopic drive unit 10, and the scraping member 21 may be disposed on the scraper section 20 for contacting the cleaning surface.

[0033] Through this Figure 1 The scraper mechanism shown, the telescopic drive unit 10 can be used to drive the scraper part 20 to extend or retract relative to the sweeping robot (its extension posture is as shown in the figure). Figure 2 As shown, the retraction posture is as follows Figure 3 As shown in the diagram, this scraper mechanism allows the robot vacuum to clean areas inaccessible to the main body. Furthermore, the nozzle 22 on the scraper section 20 allows the scraping member 21 to work in conjunction with the spraying action of the nozzle 22, achieving a better cleaning effect. For stubborn stains, the scraper mechanism scrapes after the liquid is sprayed from the nozzle, enhancing the cleaning effect on these stubborn stains.

[0034] As an optional implementation, the nozzle 22 can be positioned on the scraper portion 20 near the scraper member 21. Since the nozzle 22 sprays cleaning liquid or water onto the ground to soften or dissolve stains, and the scraper member 21 cleans the softened or dissolved stains, positioning the nozzle 22 on the scraper portion 20 near the scraper member 21 significantly improves the cleaning effect of their combined action.

[0035] Regarding the specific structure of the telescopic drive unit 10, as long as the scraper part 20 can telescopically move relative to the sweeping robot, the telescopic drive unit 10 can be of various structures known to those skilled in the art, including but not limited to motors, hydraulic cylinders, and air cylinders. In one example of the present invention, the telescopic drive unit 10 may include a drive motor 11 and a transmission mechanism driven by the drive motor 11. Since the drive motor 11 has higher safety, stability, and durability compared to conventional drive structures such as air cylinders and hydraulic cylinders, and the drive motor 11 is relatively small in size and easier to install into the robot body, selecting the drive motor 11 and combining it with the transmission structure 12 can reduce the size of the sweeping robot, improve its durability and safety, and reduce the failure rate. Furthermore, the transmission structure 12 can be of various forms known to those skilled in the art, including but not limited to gear sets and transmission links. In one example of the present invention, the transmission structure may include a link assembly hinged to the scraper part 20. Compared to gear sets, linkage assemblies have a lower failure rate and longer stroke. This extends the actual coverage area of ​​the scraper section 20 and reduces the failure rate of the scraper mechanism, including the scraper section 20. Furthermore, the linkage assembly can include a drive link 12-1 and a passive link 12-2 parallel to the drive link 12-1. The two ends of the drive link 12-1 and the passive link 12-2 are respectively hinged to the robot body and the scraper section 20, forming a parallelogram linkage mechanism. Because the parallelogram linkage mechanism has a stable extension / retraction range and a horizontal displacement direction, the scraper section 20 can move horizontally relative to the robot body and can stably move closer to or further away from the robot body, improving the cleaning effect of the scraper section 20. Furthermore, considering that the scraper section 20 is provided with a nozzle 22, which can be used to spray cleaning media or solutions, and in conjunction with the existing linkage mechanism, the flow channel for conveying the media or solution can be located inside the drive link 12-1 and / or the driven link 12-2. This avoids the flow channel for conveying the media or solution being exposed to the outside, and also reduces leakage caused by collisions due to the rigid structure of the drive link 12-1 and / or the driven link 12-2 themselves.

[0036] As an optional implementation, the scraper mechanism may include a linkage structure 13, which can be configured to drive the scraping member 21 to switch to an avoidance posture in response to the scraper part 20 moving to a retracted position. Through this linkage structure 13, the scraping member 21 can simultaneously switch to the avoidance posture while the scraper part 20 moves to the retracted position, making the overall switching process smoother and faster, thereby improving the working efficiency of the sweeping robot. The specific form of the linkage structure 13 can be various that are known to those skilled in the art. In one example of the present invention, the scraper part 20 may include a scraper support rod 23 and a scraper support shaft 24. The scraping member 21 can be rotatably connected to the scraper support rod 23 via the scraper support shaft 24, and the scraping member 21 rotates towards the ground around the scraper support shaft 24 to achieve ground contact in the working state. Figure 4 As shown, the linkage structure 13 may include a torsion spring 14 and a contact portion 15. The torsion spring 14 may be configured to drive the scraper member 21 to rotate toward the ground when the scraper part 20 leaves the storage position. The contact portion 15 may be used to compress the torsion spring 14 when the scraper part 20 is about to move to the storage position, thereby rotating the scraper member 21 away from the ground, thus switching to an avoidance posture. The corresponding state diagram is shown below. Figure 5 As shown.

[0037] As an optional implementation, the nozzle 22 can be a slit nozzle 22 extending along the length of the scraper portion 20. The slit nozzle 22 has a larger coverage area and higher spraying efficiency than a conventional circular nozzle 22. Since the length of the scraper portion 20 is directly related to the cleaning area, setting the direction of the slit nozzle 22 to extend along the length of the scraper portion 20 can maximize the spraying efficiency.

[0038] As an optional implementation, the nozzle 22 is rotatably mounted on the scraper portion 20 to adjust the spray direction. Since the angle of the scraper portion 20 relative to the ground is relatively fixed, rotatably mounting the nozzle 22 on the scraper portion 20 can increase the coverage area of ​​the liquid sprayed by the nozzle 22. This avoids the need to add an additional drive mechanism to the scraper portion 20 to adjust its own posture, thus reducing the design cost of the product.

[0039] As an optional implementation, the scraper section 20 may be provided with at least two nozzles 22, each configured to spray different types of media or spray towards different areas. In this embodiment, in some scenarios, when dealing with stubborn stains on the ground, it is often necessary to use a combination of media or solutions for spraying and cleaning. Therefore, providing at least two nozzles 22 on the scraper section 20, each configured to spray different types of media, can meet the spraying requirements of combination solutions. On the other hand, when dealing with different stained areas within the same cleaning area, this spraying technical requirement can also be met by providing at least two nozzles 22 on the scraper section 20, each configured to spray towards different areas.

[0040] As an optional implementation, the scraper 21 may be provided with a flow guiding structure, through which the medium sprayed from the nozzle 22 is guided to contact the cleaning surface. In this embodiment, considering that direct spraying, although covering a large area, often results in low effective coverage of actual ground stains, a flow guiding structure is provided on the scraper 21. The medium sprayed from the nozzle 22 is guided by this structure to contact the cleaning surface, ensuring that the sprayed medium is accurately guided to the desired cleaning surface, thereby improving the utilization rate of the cleaning liquid or medium.

[0041] Example 2: On the other hand, the present invention also provides a sweeping robot, which may include a robot body, a cleaning roller 30, the aforementioned scraper mechanism, and a liquid supply system. The cleaning roller 30 may be disposed at the bottom of the robot body. The scraper mechanism may be disposed in the robot body and located behind the cleaning roller 30. The liquid supply system may be disposed within the robot body and communicate with the nozzle 22 of the scraper mechanism via a fluid conduit.

[0042] With this robotic vacuum cleaner, the cleaning roller 30 can first perform preliminary cleaning on the cleaning surface of the robotic vacuum cleaner, and the extension and retraction drive unit 10 of the scraper mechanism can be used to drive the scraper part 20 to extend or retract relative to the robotic vacuum cleaner (its extension posture is as follows). Figure 2 As shown, the retraction posture is as follows Figure 3 As shown in the diagram, this allows the robot vacuum to clean areas inaccessible to the main body using the scraper mechanism. The cleaning medium or solution stored in the liquid supply system can be sprayed out through the nozzles 22 on the scraper mechanism, thereby assisting the cleaning roller 30 and / or the scraper mechanism in cleaning, achieving a better cleaning effect.

[0043] Furthermore, the specific structure of the cleaning roller 30 can be of various forms known to those skilled in the art. In one example of the present invention, the cleaning roller 30 can be a roller or track for wet cleaning. Specifically, the cleaning roller 30 can be, for example, a wet cleaning roller 30 or track, the surface of which is covered with a fibrous mop or sponge material and can be wetted by a medium sprayed, for example, from the nozzle 22, thereby initiating the cleaning of the floor.

[0044] As an alternative implementation, the nozzle 22 can be configured so that when the scraper portion 20 is extended, its spray direction is towards the cleaning roller 30 or towards the ground in front of the scraper 21. Since the cleaning roller 30 generally adheres to dust by contacting the ground, and a wetted cleaning roller 30 has a better adhesion effect, setting the spray direction of the nozzle 22 towards the cleaning roller 30 can improve the cleaning effect of the cleaning roller 30. The scraper 21 can be used to collect residual liquid on the ground and to scrape away stubborn stains. If the spray direction of the nozzle 22 is set towards the ground in front of the scraper 21, the sprayed medium can initially dissolve stubborn stains, thus facilitating cleaning by the scraper 21.

[0045] As an alternative implementation, the specific structure of this liquid supply system can be varied and known to those skilled in the art. In one example of the present invention, the liquid supply system may include a storage tank, a pump, and fluid lines. The storage tank may pre-store the solution or medium to be sprayed, the pump may provide pressure for spraying, and the fluid lines may be used to connect to the nozzle.

[0046] As an optional implementation, to improve the spraying efficiency and effectiveness of the solution or medium, the liquid supply system may further include a foam generator that generates foam and sprays it through nozzle 22. Because the foam adheres tightly to the cleaning surface and is less prone to splashing during spraying, it prolongs the contact time between the cleaning agent and the dirt, allowing the active ingredients to fully decompose the stains. The dense foam can also penetrate into crevices and uneven surfaces that are difficult for a brush to reach, achieving more comprehensive coverage and thorough cleaning.

[0047] As an optional implementation, the liquid supply system may include a heating device that can generate steam or hot water and spray it through nozzle 22. Since increased temperature accelerates molecular motion, thereby accelerating the interaction rate between the sprayed solution or medium and the stains on the ground, adding a heating device to the liquid supply system can obviously improve cleaning efficiency.

[0048] As an optional implementation, considering that the sprayed solution or medium needs to be cleaned up by the robot vacuum, the nozzle 22 can be configured such that the sprayed medium is within the horizontal projection contour of the robot body, thereby facilitating cleaning by the robot vacuum and avoiding secondary pollution. Furthermore, the angle between the spray direction of the nozzle 22 and the ground can be one of several values ​​known to those skilled in the art. In one example of the invention, considering the coverage of the ground and the splashing of the sprayed solution or medium, the angle can range from 15° to 90° with respect to the horizontal plane.

[0049] As an optional implementation, the opening or closing of the nozzle 22 can be linked to the extension or retraction of the scraper 20. Compared to the conventional sequential execution of actions, such as "first closing the nozzle 22, then extending or retracting the scraper 20," linking the opening or closing of the nozzle 22 to the extension or retraction of the scraper 20 makes the switching process of the robot vacuum cleaner smoother and improves the working efficiency of the robot vacuum cleaner.

[0050] As an optional implementation, considering that the scraper section 20 has a telescopic movement and the nozzle is disposed on the scraper section 20, in order to avoid pipeline damage, the fluid pipeline of the liquid supply system may include a section of flexible pipe, and the arrangement of the flexible pipe is configured to avoid excessive bending during the telescopic movement of the scraper section 20, so that the overall pipeline design is reliable, the failure rate of the system is reduced, and the durability of the system is improved.

[0051] As an optional implementation, the scraper mechanism can be configured to perform spray cleaning on the cleaning roller 30 and / or the scraper component 21 using the nozzle 22 when the scraper part 20 is in the retracted position. Since the cleaning roller 30 and / or the scraper component 21 inevitably accumulate dust after prolonged cleaning, by configuring the scraper mechanism to perform spray cleaning on the cleaning roller 30 and / or the scraper component 21 using the nozzle 22 when the scraper part 20 is in the retracted position, the scraper mechanism can perform self-cleaning on the cleaning roller 30 and the scraper component 21, improving the durability and automation level of the sweeping robot.

[0052] As an optional implementation, a control unit is also included, configured to control the nozzle 22 to perform intermittent pulse spraying when the scraper 20 extends to clean. In this implementation, when cleaning small areas such as corners or specific dirt spots, continuous spraying can easily lead to excessive accumulation of cleaning fluid in local areas. This accumulated liquid may not only be carried away by the robot's wheels or scraper 20, causing secondary pollution and splashing, but may also leave water stains on the floor after cleaning. By implementing intermittent pulse spraying through the control unit, the cleaning fluid is delivered to the surface to be cleaned in a discrete and controllable manner, ensuring a moisturizing effect while greatly reducing the risk of liquid splashing and water stains, thus improving the reliability of the cleaning process and the user experience. The specific implementation method of the control unit controlling the nozzle 22 to perform intermittent pulse spraying can be of various forms known to those skilled in the art. In one example of the present invention, a speed-regulating water pump or a proportional solenoid valve can be controlled by the control unit directly outputting a PWM signal. In another example of the present invention, a pulse pump (such as a piezoelectric ceramic pump, diaphragm pump) or a peristaltic pump can be used as the core of the liquid supply system.

[0053] Through the above technical solution, the embodiments of the present invention provide a scraper mechanism for a sweeping robot and a sweeping robot. The scraper mechanism and the sweeping robot, by setting a telescopic drive unit on the sweeping robot to drive the scraping component to clean the ground area that the sweeping robot body cannot reach, and at the same time, combine with the nozzle to wet the ground, thereby further improving the cleaning technical effect.

[0054] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the inventive concept, various simple modifications can be made to the technical solutions of the present invention. This includes combining various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not further describe the various possible combinations. However, these simple modifications and combinations should also be considered as part of the content disclosed in this invention and are all within the protection scope of this invention.

Claims

1. A squeegee mechanism for a robotic floor cleaning machine, comprising: The utility model relates to a cleaning robot, comprising: a telescopic driving unit; a squeegee part drivingly connected with the telescopic driving unit; a squeegee member arranged on the squeegee part for contacting a cleaning surface; at least one nozzle integrated on the squeegee part.

2. The flight mechanism of claim 1, wherein, The nozzle is arranged on the squeegee part close to the squeegee member.

3. The flight mechanism of claim 1, wherein, The telescopic driving unit comprises a driving motor and a transmission mechanism driven by the driving motor.

4. The flight mechanism of claim 3, wherein, The transmission mechanism comprises a linkage assembly hinged with the squeegee part.

5. The flight mechanism of claim 4, wherein, The linkage assembly comprises a driving linkage and a passive linkage arranged in parallel with the driving linkage, and the two ends of the driving linkage and the passive linkage are respectively hinged with the robot body and the squeegee part to form a parallelogram linkage.

6. The flight mechanism of claim 5, wherein, The driving linkage and / or the passive linkage are internally provided with flow channels in communication with the nozzle.

7. The flight mechanism of claim 1, wherein, Further comprising a linkage structure configured to drive the squeegee member to switch to a avoiding posture in response to the squeegee part moving to a storage position.

8. The flight mechanism of claim 1, wherein, The nozzle is a slit-type nozzle extending along the length direction of the squeegee part.

9. The flight mechanism of claim 1, wherein, The nozzle is rotatably arranged on the squeegee part to adjust the spraying direction.

10. The flight mechanism of claim 1, wherein, The squeegee part is provided with at least two nozzles respectively configured to spray different types of media or to different areas.

11. The flight mechanism of claim 1, wherein, The squeegee member is provided with a flow guide structure, and the media sprayed by the nozzle contacts the cleaning surface through the flow guide structure.

12. A robot vacuum cleaner characterised in that, The utility model relates to a cleaning robot, comprising: a robot body; a cleaning roller arranged at the bottom of the robot body; a squeegee mechanism according to any one of claims 1 to 11 arranged on the robot body and located behind the cleaning roller; a liquid supply system arranged in the robot body and in communication with the nozzles of the squeegee mechanism through a fluid pipeline.

13. The robotic vacuum cleaner of claim 12, wherein, The nozzle is configured to spray towards the cleaning roller or towards the ground in front of the squeegee member when the squeegee part is extended.

14. The robotic vacuum cleaner of claim 12, wherein, The liquid supply system comprises a liquid storage tank, a pump and a fluid pipeline.

15. The robotic vacuum cleaner of claim 14, wherein, The liquid supply system further comprises a foam generator for generating foam and spraying through the nozzle.

16. The robotic vacuum cleaner of claim 14, wherein, The liquid supply system further comprises a heating device for generating steam or hot water and spraying through the nozzle.

17. The robotic vacuum cleaner of claim 12, wherein, The nozzle is configured to spray the media within the horizontal projection profile range of the robot body.

18. The robotic vacuum cleaner of claim 17, wherein, The angle between the spraying direction of the nozzle and the horizontal plane is an angle of 15°-90°.

19. The robotic vacuum cleaner of claim 12, wherein, The opening or closing of the nozzle is linked with the extending or retracting action of the squeegee part.

20. The robotic vacuum cleaner of claim 14, wherein, The fluid pipeline comprises a flexible pipe, and the flexible pipe is arranged in a manner configured to avoid excessive bending during the extension and retraction of the squeegee part.

21. The robot of claim 12, wherein, The squeegee mechanism is configured to perform spray cleaning on the cleaning roller and / or the squeegee member using the nozzle when the squeegee part is in the storage position.

22. The robot of claim 12, wherein, Further comprising a control unit configured to control the nozzle to perform intermittent pulse liquid spraying when the squeegee part performs the extending action for cleaning.

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