Chassis structure of cleaning robot and cleaning robot

Abstract

This application discloses a chassis structure for a cleaning robot and the cleaning robot itself. The chassis structure includes a modular support frame, a lower radar, a cleaning assembly, and a lifting drive assembly. The modular support frame includes a deck section, a water tank support section formed on the upper side of the deck section, and a battery support section. The lower radar is disposed below the water tank support section and located between the water tank support section and the deck section. A radar avoidance section is formed between the water tank support section and the deck section to give the lower radar a detection range of at least 270 degrees. The cleaning assembly is disposed below the deck section and includes a roller brush assembly, a side brush assembly, and a water-absorbing rake assembly. The lifting drive assembly is disposed on the modular support frame and located below the battery support section. It includes a first drive member connected to the water-absorbing rake assembly to drive the water-absorbing rake assembly to lift and lower, and a second drive member connected to the roller brush assembly and the side brush assembly to drive the roller brush assembly and the side brush assembly to lift and lower synchronously.

Description

Technical Field

[0001] This application relates to the technical field of cleaning robots, and more particularly to a chassis structure for a cleaning robot and the cleaning robot itself. Background Technology

[0002] With the widespread application of commercial cleaning robots in large-scale settings such as airports, shopping malls, supermarkets, and hospitals, users are increasingly demanding higher cleaning coverage, better environmental awareness, and easier equipment maintenance. To achieve multifunctional autonomous operation, the chassis of cleaning robots needs to integrate more and more functional components, such as battery packs, water tanks, pipelines, cleaning components, water-absorbing rakes, and corresponding drive mechanisms. These components occupy a significant amount of installation space, making the chassis layout increasingly complex.

[0003] However, existing cleaning robots typically employ a distributed structural design, with each functional component fixed to different positions on the chassis according to its installation requirements. Furthermore, each component is often controlled by an independent drive mechanism, resulting in a complex chassis structure, large space occupation, and low utilization rate. This also easily leads to interference between components. Simultaneously, due to the lack of a unified load-bearing and integrated structure among the functional components, when one component malfunctions, it often requires the disassembly of multiple related components for repair or replacement. This results in cumbersome maintenance operations, low repair efficiency, and consequently, increased equipment maintenance costs and downtime.

[0004] Furthermore, existing cleaning robots typically use radar mounted on the upper part of the robot body as an environmental perception device for navigation, positioning, and obstacle detection. However, because the upper radar is relatively high above the ground, its ability to identify some near-ground obstacles, low-lying obstacles, and ground-hugging structures is limited. Therefore, it is necessary to add a lower radar to improve the robot's perception of the near-ground environment. However, when adding radar to the underside of the chassis, the presence of various functional components on the chassis can easily lead to problems such as insufficient installation space, structural obstruction, and limited detection area.

[0005] Therefore, how to achieve the integrated layout of various functional components within a limited chassis space, and meet the differentiated lifting control and convenient maintenance and replacement needs of different cleaning components, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of the shortcomings of the above-mentioned related technologies, the purpose of this application is to provide a chassis structure for a cleaning robot and a cleaning robot, so as to overcome the technical problems existing in the above-mentioned related technologies, such as low chassis space utilization, insufficient integration of functional components, difficulty in achieving differentiated lifting control of different cleaning components, limited installation of lower radar, and inconvenience of maintenance and replacement.

[0007] To achieve the above and other related objectives, the first aspect of this application discloses a chassis structure for a cleaning robot, comprising: a modular support frame including a deck section, a water tank support section formed on the upper side of the deck section for supporting a water tank assembly, and a battery support section for supporting a battery assembly, wherein the water tank support section and the deck section are spaced apart in the height direction; and a lower radar disposed on the lower side of the water tank support section and located between the water tank support section and the deck section, wherein a radar avoidance section is formed between the water tank support section and the deck section, the radar avoidance section being used to avoid the detection area of ​​the lower radar, so that the lower... The radar has a detection range of at least 270 degrees; the cleaning assembly, located below the deck section, includes a central roller brush assembly, a side brush assembly in front of the roller brush assembly, and a water-absorbing rake assembly behind the roller brush assembly; the lifting drive assembly, located on the modular support bracket and below the battery support section, includes a first drive member connected to the water-absorbing rake assembly and a second drive member connected to the roller brush assembly and the side brush assembly, the first drive member driving the water-absorbing rake assembly to lift and lower, and the second drive member driving the roller brush assembly and the side brush assembly to lift and lower synchronously.

[0008] In some embodiments of the first aspect of this application, the modular support bracket is configured as a welded structural component, a sheet metal assembly structural component, or an integrally formed structural component.

[0009] In some embodiments of the first aspect of this application, the bottom surface of the deck portion is provided with a reinforcing rib structure that extends in a zigzag shape along the periphery of the deck portion and forms a closed or semi-closed profile.

[0010] In some embodiments of the first aspect of this application, the reinforcing rib structure forms a relief area recessed towards the inside of the deck portion, the relief area being configured to avoid the drive motor of the roller brush assembly.

[0011] In some embodiments of the first aspect of this application, the water tank support includes a support panel and a support structure connecting the support panel and the deck section, the support structure supporting the support panel above the deck section.

[0012] In some embodiments of the first aspect of this application, the water tank support and the battery support are arranged in a front-rear direction, the support structure is arranged close to the battery support, and the support panel extends from the support structure away from the battery support, so that the front side of the support structure forms the radar avoidance part and the rear side of the support structure forms an avoidance area for avoiding the lifting drive assembly.

[0013] In some embodiments of the first aspect of this application, the support structure is formed with a clearance notch that opens toward the battery carrier portion, and the clearance area is located at the position corresponding to the clearance notch.

[0014] In some embodiments of the first aspect of this application, the support structure includes a first support plate and a second support plate that are intersecting, and the clearance notch is formed between the first support plate and the second support plate.

[0015] In some embodiments of the first aspect of this application, a radar mounting hole is provided on the front side of the supporting panel, and when the lower radar is housed in the radar mounting hole, the detection area of ​​the lower radar corresponds to the radar avoidance part.

[0016] In some embodiments of the first aspect of this application, the battery support includes two opposing side walls and a support platform connected to the upper ends of the two side walls, the two side walls and the support platform together forming an accommodating space for accommodating the lifting drive assembly.

[0017] In some embodiments of the first aspect of this application, the deck portion has an installation opening corresponding to the accommodating space, and an installation base frame is provided at the installation opening. The installation base frame includes a base plate portion connected to the deck portion and a drive mounting frame that protrudes upward from the base plate portion and extends into the accommodating space. The first drive member and the second drive member pass through the installation opening and are fixed to the drive mounting frame.

[0018] In some embodiments of the first aspect of this application, the battery assembly is detachably mounted on the battery carrier and can be pushed in and pulled out relative to the battery carrier in a preset disassembly / removal direction.

[0019] In some embodiments of the first aspect of this application, the support platform of the battery carrier is provided with a fixing lug, which cooperates with the battery assembly to limit and fix the battery assembly.

[0020] In some embodiments of the first aspect of this application, the support platform of the battery carrier is provided with a positioning baffle, which is located on the insertion path of the battery assembly along a preset disassembly and assembly direction, so as to restrict the battery assembly from moving further inward and to position the battery assembly.

[0021] In some embodiments of the first aspect of this application, the roller brush assembly includes a dry roller brush, a wet roller brush, and a common mounting base, wherein both the dry roller brush and the wet roller brush are mounted on the common mounting base, and the dry roller brush and the wet roller brush are configured to be detachable from below the modular support bracket without disassembling the water tank assembly.

[0022] In some embodiments of the first aspect of this application, the common mounting base includes a base body configured as an integral frame structure, wherein the base body has a plurality of mounting slots spaced apart in a front-to-back direction.

[0023] In some embodiments of the first aspect of this application, the side end of the common mounting base is provided with a side cover that is detachably connected by a magnetic structure, the side cover being used to cover the components installed inside the common mounting base.

[0024] In some embodiments of the first aspect of this application, an anti-winding structure is provided at the end of the common mounting base corresponding to the dry roller brush and / or the wet roller brush. The anti-winding structure includes an outer stop and an inner stop spaced apart along the roller brush axial direction to form a two-stage blocking structure.

[0025] In some embodiments of the first aspect of this application, the outer stop is configured as a protrusion surrounding the outer end of the roller shaft of the roller brush, and the inner stop is configured as a sealing ring surrounding a rotating support member of the roller brush.

[0026] In some embodiments of the first aspect of this application, the side brush assembly is mounted on the common mounting base, which is connected to the second drive member to synchronously drive the roller brush assembly and the side brush assembly.

[0027] In some embodiments of the first aspect of this application, the roller brush assembly and the side brush assembly are synchronously switched between a working position and a retracted position under the drive of the second drive member, and the water-absorbing rake assembly is independently switched between a working position and a retracted position under the drive of the first drive member.

[0028] In some embodiments of the first aspect of this application, the chassis structure further includes a drive wheel assembly comprising left and right drive wheels respectively mounted on the underside of the deck section via mounting arms.

[0029] In some embodiments of the first aspect of this application, a passive wheel assembly is provided on the lower side of the deck portion, the passive wheel assembly including a guide wheel and an auxiliary wheel.

[0030] In some embodiments of the first aspect of this application, the auxiliary wheel is raised relative to the guide wheel so that the auxiliary wheel participates in supporting the chassis structure when the guide wheel crosses an obstacle or traverses uneven ground.

[0031] In some embodiments of the first aspect of this application, a protective structure is provided on the outer periphery of the deck section. The protective structure includes a front cover plate located on the front side of the deck section and a rear cover plate located on the rear side of the deck section. Both the front cover plate and the rear cover plate are detachably connected to the deck section and extend downward from the deck section to protect the chassis structure.

[0032] The second aspect of this application discloses a cleaning robot, including a chassis structure of the cleaning robot as described in any embodiment of the first aspect of this application and a water tank assembly disposed on the upper side of the chassis structure.

[0033] In summary, the chassis structure and cleaning robot disclosed in this application utilize a modular support frame as a unified mounting base for all functional components. The water tank assembly, battery assembly, lower radar, cleaning assembly, and lifting drive assembly are arranged in different spatial areas of the modular support frame, forming an integrated layout structure with upper and lower layers and functional zones. This improves the space utilization of the chassis structure, reduces structural interference between components, and facilitates independent disassembly, replacement, and maintenance of each functional component, thus enhancing the modularity and maintenance convenience of the chassis structure. Furthermore, by placing the lower radar between the water tank support section and the deck section, and forming a radar avoidance section at the corresponding position, the detection area of ​​the lower radar can avoid obstruction by other functional components, ensuring a larger detection range for the lower radar and improving the robot's ability to identify near-ground obstacles, low obstacles, and ground-hugging structures.

[0034] Furthermore, by centrally arranging the lifting drive components on the lower side of the battery carrier, and using a first drive component to drive the water-absorbing rake assembly to rise and fall, and a second drive component to drive the roller brush assembly and side brush assembly to rise and fall synchronously, the roller brush assembly and side brush assembly can coordinately switch between the working position and the retracted position, thereby ensuring the consistency of their actions during cleaning operations and obstacle avoidance. Simultaneously, the water-absorbing rake assembly can be independently raised and lowered relative to the roller brush assembly and side brush assembly to meet the water absorption needs of different operating modes. In addition, by reusing the drive mechanism and centrally arranging multiple drive mechanisms in the same area, it is beneficial to reduce the space occupation caused by the dispersed placement of drive mechanisms, and improve the space utilization and structural integration of the chassis structure. Attached Figure Description

[0035] The specific features of the invention involved in this application are shown in the appended claims. The features and advantages of the invention can be better understood by referring to the exemplary embodiments and drawings described in detail below. A brief description of the drawings is as follows:

[0036] Figure 1 The image shown is a split-view diagram of a cleaning robot in one embodiment of this application.

[0037] Figure 2 The image shown is a perspective view of the chassis structure in one embodiment of this application.

[0038] Figure 3 The diagram shown is a split view of the chassis structure in one embodiment of this application.

[0039] Figures 4 to 6 The images shown are schematic diagrams of the modular support bracket from different perspectives in one embodiment of this application.

[0040] Figure 7 The image shown is a perspective view of the brush assembly in one embodiment of this application.

[0041] Figure 8 The image shown is a split view of the brush assembly in one embodiment of this application.

[0042] Figure 9 The image shown is a partial enlarged view of the common mounting base in the anti-winding structure area in one embodiment of this application.

[0043] Figure 10 The image shown is a perspective view of the base body of the common mounting base in one embodiment of this application.

[0044] Figure 11 The image shown is a perspective view of a water tank assembly in one embodiment of this application.

[0045] Figure 12 The image shown is a cross-sectional view of a water tank assembly in one embodiment of this application.

[0046] Figure 13 The image shown is a top view of a water tank assembly in one embodiment of this application.

[0047] Figure 14 The image shown is a rear view of the water tank assembly after part of the outer shell has been removed in one embodiment of this application.

[0048] Figure 15 This application is displayed as being in Figure 14 A partial enlarged view of the embodiment shown.

[0049] Figure 16 The image shown is a front view of the water tank assembly after part of the outer shell has been removed in one embodiment of this application. Detailed Implementation

[0050] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand the advantages and technical effects of this application from the content disclosed in this specification. In the following description, some embodiments may be referenced to the accompanying drawings. It should be understood that other embodiments not shown in the drawings may also be used, and changes in specific structures, parts or mechanisms, components, and operations may be made without departing from the spirit and scope of this application. The following detailed description should not be considered limiting, and the scope of the embodiments of this application is limited only by the claims published in this application. The terminology used herein is for describing particular embodiments only and is not intended to limit this application.

[0051] It should be understood that although the terms first, second, third, or fourth, etc., may be used herein to describe various elements or parameters in some embodiments, these elements or parameters should not be limited by these terms. These terms are used only to distinguish one element or parameter from another, and not to define the order, priority, or importance of multiple elements. For example, a first drive member may be referred to as a second drive member, and similarly, a second drive member may be referred to as a first drive member, without departing from the scope of the various described embodiments. Similar cases include first and second support plates, first mounting slots, second mounting slots, third mounting slots, and fourth mounting slots.

[0052] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” and “including” indicate the presence of the stated features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. For example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices. Additionally, the term “and / or,” which may be used hereinafter, describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, the character “ / ”, unless otherwise specified, generally indicates that the preceding and following related objects have an “and / or” relationship. Additionally, in the description of embodiments of this application, “multiple” refers to two or more. Furthermore, the terms “or” and “and / or” as used herein are interpreted as inclusive, or mean either one or any combination thereof. Exceptions to this definition only arise when a combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0053] It should also be understood that when an element, such as a layer, region, or substrate, is referred to as being "on" another element or extending "on" another element, the element may be directly on or directly extending onto the other element, or intermediate elements may be present. Conversely, when an element is referred to as being "directly on" another element or "directly extending onto" another element, no intermediate elements are present. It will also be understood that when an element is referred to as being "connected" or "attached" to another element, it may be directly connected or coupled to the other element, or intermediate elements may be present. Conversely, when an element is referred to as being "directly connected" or "directly coupled" to another element, no intermediate elements are present. Furthermore, the term "coupled" generally means physical, mechanical, magnetic, and / or electrical coupling or connection, and in the absence of specific contrasting language, the presence of intermediate elements between coupled or associated items is not excluded.

[0054] Relative terms such as “below,” “above,” “upper,” “lower,” “horizontal,” or “vertical” may be used herein to describe the relationship between one element, layer, or region and another element, layer, or region illustrated in the figures. It will be understood that these terms are intended to cover different device orientations other than those depicted in the figures. In this application, “vertical,” “horizontal,” and “parallel” are defined as including cases within ±10% of their standard definitions. For example, vertical typically refers to an angle of 90° relative to a reference line, but in this application, vertical refers to cases including those within 80° to 100°. Unless otherwise expressly stated, comparative quantitative terms (such as “above” and “below”) are intended to cover the concept of equality. As an example, “above” can mean not only “greater than” in a mathematical sense but also “equal to.”

[0055] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It will also be understood that terms used herein shall be interpreted as having the meaning consistent with their meaning in the context of this specification and the relevant field, and shall not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0056] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. The technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. Based on the embodiments of the present application, all other embodiments and technical effects obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. The terms "an embodiment," "implementation," or similar wording used throughout this specification mean that a specific feature, structure, or characteristic described together with an implementation is included in at least one embodiment of the present application. Therefore, the appearance of the phrases "in an embodiment," "in an embodiment," and similar wording throughout this specification may (but does not necessarily) refer to the same implementation.

[0057] In view of the technical problems mentioned in the background art, this application discloses a chassis structure and a cleaning robot. By setting a modular support frame as a unified installation base for each functional component, the water tank assembly, battery assembly, lower radar, cleaning assembly, and lifting drive assembly are arranged in different spatial areas of the modular support frame, forming an integrated layout structure with upper and lower layers and functional zones. This improves the space utilization of the chassis structure, reduces structural interference between components, and facilitates independent disassembly, replacement, and maintenance of each functional component, thereby improving the modularity and maintenance convenience of the chassis structure. In addition, by setting the lower radar between the water tank support section and the deck section, and forming a radar avoidance section at the corresponding position, the detection area of ​​the lower radar can avoid obstruction by other functional components, thus ensuring that the lower radar has a large detection range and improving the robot's ability to identify near-ground obstacles, low obstacles, and ground-hugging structures.

[0058] The cleaning robot described in this application refers to mobile cleaning equipment suitable for floor cleaning operations in public or commercial places such as airports, train stations, shopping malls, supermarkets, hospitals, office buildings, exhibition halls, and warehousing and logistics centers. In some application scenarios, the cleaning robot may also be referred to as a mobile robot, floor scrubbing robot, floor scrubber, automatic floor mopping robot, or simply a cleaning robot. The cleaning robot can be controlled by a user, such as by an operator pushing, pulling, or driving it to clean the floor surface; alternatively, the operator can control the cleaning robot to perform its work via a handheld remote control or an application installed on a smart terminal. The cleaning robot can also complete the floor cleaning work autonomously, for example, by running pre-programmed procedures or rules.

[0059] Furthermore, for ease of description and understanding, in this application, the direction of movement of the cleaning robot during operation is defined as forward (e.g., ...). Figure 1The direction indicated by the dashed line X is defined as follows: the opposite direction of the forward movement during operation is defined as the backward movement. It should be understood that the side of the cleaning robot in the forward movement direction during operation is defined as the front side or front end, and the side of the cleaning robot in the opposite direction from the front side or front end is defined as the rear side or rear end. Accordingly, in the following embodiments, the front side and rear side of the housing correspond to the side of the cleaning robot in the forward movement direction and the side opposite to the forward movement direction, respectively. To facilitate the distinction between the left and right sides, the left and right sides are distinguished based on the forward movement direction of the cleaning robot during operation.

[0060] In this application, the modular support frame refers to a support structure that provides a unified support foundation and installation reference for multiple functional modules among the water tank assembly, battery assembly, environmental sensing assembly, cleaning assembly, and / or lifting drive assembly. The modular support frame can be formed by assembling, welding, or connecting multiple structural components, or it can be integrally molded. Modularity does not limit the modular support frame itself to be detachable, but rather indicates that different functional modules can be installed, disassembled, replaced, or maintained relatively independently based on the modular support frame. The deck section is the basic plate-like part of the modular support frame that extends along the lateral and longitudinal directions of the cleaning robot and is used to install or support the chassis functional components.

[0061] Please see Figure 1 The figure shows a split view of a cleaning robot in one embodiment of this application. As shown, the cleaning robot includes a chassis structure 1 and a water tank assembly 2 disposed on the upper side of the chassis structure 1. The chassis structure 1 includes a cleaning assembly 10 located on the lower side. The cleaning assembly 10 includes a roller brush assembly 11 and a water-absorbing rake assembly 12 located behind the roller brush assembly 11. The water tank assembly 2 has a clean water chamber communicating with the roller brush assembly 11 for supplying water to the roller brush assembly 11, so that the roller brush assembly 11 can perform floor cleaning work. The water tank assembly 2 also has a wastewater chamber communicating with the water-absorbing rake assembly 12 for storing wastewater collected by the water-absorbing rake assembly 12. The wastewater collected by the water-absorbing rake assembly 12 is the wastewater formed after the roller brush assembly 11 cleans. Further, in this embodiment, a battery assembly 3 is also provided on the chassis structure 1. The battery assembly 3 is used to supply power to other electrical components (e.g., the cleaning assembly, the lifting drive assembly, etc.).

[0062] In one embodiment, please refer to Figure 2 and Figure 3 , Figure 2 The image shown is a perspective view of the chassis structure in one embodiment of this application. Figure 3 The diagram shown is a split view of the chassis structure in one embodiment of this application, as follows: Figure 2 and Figure 3As shown, the chassis structure 1 includes a modular support bracket 16, a lower radar 14, a lifting drive assembly 15, and a cleaning assembly 10. The modular support bracket 16 includes a deck section 160, a water tank support section 161 formed on the upper side of the deck section 160 for supporting the water tank assembly, and a battery support section 162 for supporting the battery assembly. The water tank support section 161 and the deck section 160 are spaced apart in the height direction. The lower radar 14 is disposed below the water tank support section 161 and located between the water tank support section 161 and the deck section 160. A radar avoidance section 163 is formed between the water tank support section 161 and the deck section 160. The radar avoidance section 163 is used to avoid the detection area of ​​the lower radar 14, so that the lower radar 14 has a detection range of at least 270 degrees. The cleaning assembly 10 is disposed below the deck section 160 and includes a central roller brush assembly 11, a side brush assembly 13 located in front of the roller brush assembly 11, and a water-absorbing rake assembly 12 located behind the roller brush assembly 11. The lifting drive assembly 15 is disposed on the modular support bracket 16 and located below the battery support section 162. The lifting drive assembly 15 includes a first drive member 150 connected to the water-absorbing rake assembly 12 and a second drive member 151 connected to the roller brush assembly 11 and the side brush assembly 13. The first drive member 150 is used to drive the water-absorbing rake assembly 12 to lift and lower, and the second drive member 151 is used to drive the roller brush assembly 11 and the side brush assembly 13 to lift and lower synchronously.

[0063] For example, the modular support bracket 16 can be configured as a welded structural component, a sheet metal assembly structural component, or a one-piece molded structural component. In the example where the modular support bracket 16 is configured as a welded structural component, the deck section 160, water tank support section 161, and battery support section 162 can be separately processed and then connected by welding to form an integral structure. The modular support bracket 16 formed by welding has high structural strength and load-bearing capacity, suitable for commercial cleaning robots with large loads or long-term continuous operation. In the example where the modular support bracket 16 is configured as a sheet metal assembly structural component, the deck section 160, water tank support section 161, and battery support section 162 can be formed by bending sheet metal parts and then assembling them into an integral structure through screwing, riveting, snap-fitting, and / or welding. Using sheet metal assembly structural components can reduce processing costs and facilitate adjustments to structural dimensions and installation positions according to the needs of different models. In the example where the modular support bracket 16 is set as an integrally molded structural component, the deck part 160, the water tank support part 161, and the battery support part 162 can be manufactured by casting, die casting, injection molding, compression molding, or other integral molding processes. The integrally molded structural component can reduce the number of connecting parts and assembly steps, improve the overall structural rigidity and dimensional accuracy, and reduce assembly errors.

[0064] Given that the modular support bracket simultaneously supports the water tank assembly, battery assembly, lower radar, cleaning assembly, and lifting drive assembly, the above-mentioned structural form can achieve integrated installation of each functional module while ensuring the overall structural strength, providing basic support for optimizing the spatial layout of the chassis structure and modular disassembly and maintenance.

[0065] Please see Figures 4 to 6 The figures shown are schematic diagrams of the modular support bracket from different perspectives in one embodiment of this application. Figures 4 to 6 As shown, the water tank support 161 and the battery support 162 in the modular support bracket 16 are arranged in a front-rear direction, wherein the water tank support 161 is located in front of the battery support 162. In one example, as... Figure 4 As shown, the battery support 162 includes two opposing side walls 1621 and a support platform 1620 connected to the upper end of the two side walls 1621.

[0066] The support platform 1620 is used to place the battery assembly. In one embodiment, the battery assembly is detachably mounted on the battery support portion 162, and more specifically, detachably mounted on the support platform 1620. For example, the battery assembly can be pushed in and removed from the support platform 1620 relative to the battery support portion 162 along a predetermined installation / removal direction. Specifically, in conjunction with... Figure 1 As shown, the preset assembly / disassembly directions are set to the forward direction (i.e., the direction indicated by the dashed line X) and the backward direction. The battery assembly 3 can be pushed into the support platform 1620 for assembly along the forward direction, and the battery assembly 3 can be pulled out along the backward direction for disassembly. In other embodiments, the preset assembly / disassembly directions can also be the lateral direction of the cleaning robot or the direction tilted relative to the forward / backward direction, as long as the battery assembly can be pulled out from the corresponding maintenance opening.

[0067] In one embodiment, such as Figure 5 As shown, the support platform 1620 is provided with fixing lugs 16200 to cooperate with the battery assembly for limiting and fixing the battery assembly. In one example, the fixing lugs 16200 can be configured as two lugs spaced apart along a preset disassembly / assembly direction. The two fixing lugs 16200 can be configured as two flanges formed by bending upward from the left and right edges of the support platform 1620, and can be provided with fixing holes corresponding to the connection holes on the battery assembly, so that the battery assembly can be fixed to the battery support part 162 by fasteners. Of course, in other examples, the fixing lugs 16200 and the battery assembly can also be fixed by means of snap-fit ​​or magnetic attraction.

[0068] Furthermore, such as Figure 5As shown, a positioning baffle 16201 is provided on the support platform 1620. The positioning baffle 16201 is located on the insertion path of the battery assembly along the preset disassembly and assembly direction to restrict the battery assembly from moving further inward and to position the battery assembly. Specifically, the positioning baffle 16201 forms the termination position of the battery assembly along the preset disassembly and assembly direction. When the battery assembly is installed along the preset disassembly and assembly direction, the battery assembly gradually moves into the support platform 1620 until it abuts against the positioning baffle 16201. At this time, the positioning baffle 16201 prevents the battery assembly from moving further inward, thereby limiting and positioning the battery assembly to ensure that the battery assembly is installed in the predetermined position.

[0069] In some embodiments, the support platform 1620 may also be provided with a guide structure for guiding the battery assembly to move along a preset disassembly / assembly direction. The guide structure may include a slide rail, guide groove, roller, pulley, low-friction guide surface, or a combination thereof. The guide structure can reduce the motion resistance during the pulling of heavier battery assemblies and limit the swing of the battery assembly perpendicular to the preset disassembly / assembly direction. Furthermore, the battery support portion may also be provided with a locking member that cooperates with the fixing lug or battery assembly to prevent the battery assembly from accidentally detaching during robot operation, vibration, or obstacle crossing.

[0070] With the above structure, the battery pack can be quickly installed along a preset path. The positioning baffle ensures proper installation and prevents over-insertion of the battery pack, while the fixing lugs provide reliable fixation after installation. These two elements work together to allow the operator to determine that the battery pack has reached its installation position as soon as it contacts the positioning baffle, thus improving installation efficiency and consistency. Furthermore, when maintenance or replacement is required, simply releasing the fixing lugs from the battery pack allows it to be moved out in the opposite direction, improving ease of installation and removal and reducing maintenance difficulty.

[0071] In one embodiment, such as Figure 4 As shown, the two side walls 1621 of the battery carrier 162 and the carrier platform 1620 together form an accommodating space 1622 for mounting the lifting drive assembly. Furthermore, the two side walls 1621 can be configured as left and right side walls so that the accommodating space 1622 has openings on the front and rear sides, thus providing a certain amount of space redundancy when mounting the lifting drive assembly, allowing the lifting drive assembly to be arranged beyond the accommodating space 1622.

[0072] In one embodiment, such as Figure 3 and Figure 5As shown, the deck portion 160 has an installation opening 1600 corresponding to the accommodating space 1622 formed by the battery carrier portion 162. An installation base frame is provided at the installation opening 1600. The installation base frame includes a base plate portion 1601 connected to the deck portion 160 and a drive mounting frame 1602 protruding upward from the base plate portion 1601 and extending into the accommodating space 1622. The first drive member 150 and the second drive member 151 pass through the installation opening 1600 and are fixed to the drive mounting frame 1602. In some embodiments, the first drive member 150 and the second drive member 151 can be a cylinder, an electric cylinder, an electric push rod, a lead screw linear drive mechanism, or other drive members capable of outputting linear driving force. The first drive member 150 and the second drive member 151 can be directly connected to the corresponding cleaning components, or they can indirectly drive the corresponding cleaning components to rise and fall through a connecting rod, swing arm, cable, or transmission frame.

[0073] Specifically, the drive mounting bracket 1602 is configured with two brackets distributed front and rear to respectively mount the first drive member 150 and the second drive member 151. Of course, it can also be configured as a single drive mounting bracket so that the first drive member 150 and the second drive member 151 are mounted together on one drive mounting bracket. This application does not impose any limitation. The base plate portion 1601 can be configured as a flat plate structure larger than the mounting opening 1600, and fixed to the deck portion 160 in a manner that covers the mounting opening 1600. Holes, slots, or similar structures can be pre-formed on the base plate portion 1601 for related devices, components, assemblies, or mechanisms to pass through, be installed, connected, or fixed. For example, the cleaning component 10 can be connected to the base plate portion 1601 and disposed on the lower side of the deck portion 160 to provide support for the cleaning component 10. The first drive member 150 and the second drive member 151 can enter the receiving space through the holes on the base plate portion 1601 and be fixed on the drive mounting bracket 1602. Under the drive of the first drive member 150 and the second drive member 151, the cleaning component 10 can be raised and lowered.

[0074] In this embodiment, the mounting base can be fixed to the deck section 160 by welding, screwing, riveting, or other detachable connection methods. During assembly, the first drive component 150, the second drive component 151, and the cleaning components and transmission mechanisms connected to them can be pre-installed on the mounting base to form a pre-assembled module, and then the mounting base is installed as a whole onto the deck section 160. This configuration, with the mounting base as the foundation to form a common load-bearing base for the drive components and cleaning components, helps to shorten the transmission path, improve structural integration, and also allows for quick disassembly for maintenance, thereby improving maintenance convenience and reducing repair difficulty. The pre-assembled module formed by the mounting base and the cleaning components can be disassembled from below the deck section while the water tank components are still installed.

[0075] In one embodiment, such as Figure 4 and Figure 5 As shown, the water tank support 161 includes a support panel 1610 and a support structure 1611 connecting the support panel 1610 and the deck section 160. The support structure 1611 supports the support panel 1610 above the deck section 160. Further, the support structure 1611 is positioned close to the battery support 162, and the support panel 1610 extends from the support structure 1611 away from the battery support 162, so that a radar avoidance section 163 is formed on the front side of the support structure 1611, and a avoidance area 1612 for avoiding the lifting drive assembly is formed on the rear side of the support structure 1611.

[0076] Thus, since the water tank support 161 and the battery support 162 are arranged along the front-rear direction, and the support panel 1610 extends away from the battery support 162, i.e., forward, it can form a sufficient support plane to support the water tank assembly. The support structure 1611, as the boundary, forms a clearance area 1612 on the rear side, ensuring sufficient installation space for the lifting drive assembly without interference. This front-rear partitioned layout allows for the formation of different functional areas, reducing interference between components and achieving functional integration within a limited chassis space. Specifically, the support structure forms a radar clearance area on its front side and a lifting drive assembly clearance area on its rear side, respectively. This allows the same support structure to support the water tank assembly while simultaneously accommodating radar visibility clearance and lifting drive assembly installation clearance, avoiding the need for multiple independent supports. This helps reduce the number of structural components and shorten the assembly dimension chain between functional components.

[0077] In one embodiment, such as Figure 5 As shown, the support structure 1611 has a clearance notch that opens towards the battery carrier 162, and the clearance area 1612 is located at the position corresponding to the clearance notch. For example, the clearance notch can be set as a V-shaped, U-shaped, arc-shaped, trapezoidal, or polygonal notch, as long as the opening of the notch faces towards the battery carrier 162, and more specifically, towards the accommodating space formed by the battery carrier 162. In a specific example, combined with... Figure 4 As shown, the support structure 1611 includes a first support plate 1611a and a second support plate 1611b that are intersecting. The clearance notch is formed between the first support plate 1611a and the second support plate 1611b, and is V-shaped or approximately V-shaped.

[0078] The intersecting arrangement of the first support plate 1611a and the second support plate 1611b means that the first support plate 1611a and the second support plate 1611b intersect in the extending direction, and does not require that the first support plate 1611a and the second support plate 1611b must intersect directly. In some examples, the first support plate 1611a and the second support plate 1611b can be directly connected to intersect and form a V-shaped structure. In other examples, the first support plate 1611a and the second support plate 1611b can be spaced apart and connected via a transition plate to achieve structural transition and force transfer between the two, which is beneficial to improving the overall structural strength and reducing stress concentration.

[0079] Furthermore, the angle at which the first support plate 1611a and the second support plate 1611b intersect is configured such that the angle opening of the radar avoidance section reaches at least 270 degrees, thereby enabling the lower radar to have a detection range of at least 270 degrees. That is, the obstruction angle formed by the support structure on the lower radar in the horizontal projection plane can be configured to be no greater than 90 degrees, for example, approximately 60 degrees, thus ensuring that the corresponding unobstructed detection angle is no less than 270 degrees.

[0080] In this application, the detection range of the lower radar and the angle of the radar avoidance section both refer to the circumferential angle range measured in a horizontal projection plane approximately parallel to the deck section. The obstruction angle formed by the support structure and its adjacent load-bearing structure on the lower radar in the horizontal projection plane is no greater than 90 degrees, ensuring that the unobstructed angle range corresponding to the radar avoidance section is no less than 270 degrees. The detection range of no less than 270 degrees means that the detection signal of the lower radar can propagate outward within this angle range without being substantially obstructed by the physical structure of the modular load-bearing support.

[0081] In one embodiment, such as Figure 2 , Figure 3 and Figure 5As shown, a radar mounting hole 1613 is provided on the front side of the supporting panel 1610. When the lower radar 14 is housed within the radar mounting hole 1613, the detection area of ​​the lower radar 14 corresponds to the radar clearance portion 163. Specifically, the radar mounting hole 1613 is located near the front edge of the supporting panel 1610 so that the lower radar 14 faces the front and sides of the cleaning robot for environmental detection. The lower radar 14 can be installed in the radar mounting hole 1613 by screwing, snapping, riveting, or other fixing methods. When installed in the radar mounting hole 1613, the detection area of ​​the lower radar 14 is located in the radar clearance portion 163. Since the radar clearance portion 163 is an open space facing the front and sides based on the support structure 1611, the detection signal emitted by the lower radar 14 can propagate outward through the space corresponding to the radar clearance portion 163. In other embodiments, the lower radar may only partially extend into the radar mounting hole, or it may be installed via a radar mounting bracket located on the underside of the support panel corresponding to the radar mounting hole, as long as the detection area of ​​the lower radar can extend toward the radar avoidance part through the radar mounting hole.

[0082] In some embodiments, the cleaning robot may further include an upper radar disposed on the upper part of the water tank assembly or the body, the upper radar and the lower radar being spaced apart in the height direction. The upper radar is used to detect walls, furniture, columns, and obstacles located in higher areas, while the lower radar is used to detect low obstacles, step edges, protrusions, and other near-ground environmental features near the ground. By having the upper radar and the lower radar cover environmental perception areas at different height levels, a multi-layered environmental detection system can be formed, reducing the near-ground detection blind spots that exist when only a single-height radar is installed.

[0083] In one embodiment, such as Figure 6 As shown, the bottom surface of the deck portion 160 is provided with a reinforcing rib structure 164 that extends in a zigzag shape along the periphery of the deck portion 160, forming a closed or semi-closed contour. The periphery of the deck portion 160 refers to the area near the outer contour of the deck portion 160, that is, the area extending along the corresponding positions of the front edge, rear edge, and left and right edges of the deck portion 160. The reinforcing rib structure 164 can be continuously provided in the above-mentioned area, or it can be intermittently provided in local positions according to installation requirements, as long as it extends along the outer periphery of the deck portion 160 as a whole to form a reinforcing frame.

[0084] Specifically, the reinforcing rib structure 164 can be formed on the deck section 160 by stamping, bending, stretching, welding, or other processing methods. By providing the reinforcing rib structure 164 in the peripheral area of ​​the deck section 160, the reinforcing rib structure 164 can form a ring-shaped force path around the deck section 160, thereby improving the overall structural strength and bending and torsional resistance of the deck section 160, and enabling the deck section 160 to maintain good structural stability as the load-bearing foundation for various components or assemblies.

[0085] In one embodiment, such as Figure 6 As shown, the reinforcing rib structure 164 forms a recessed avoidance area 1640 towards the inside of the deck portion 160. This avoidance area 1640 is positioned to avoid the drive motor of the roller brush assembly (such as the dry roller brush drive motor and wet roller brush drive motor mentioned in later embodiments). In other words, when the reinforcing rib structure 164 extends along the periphery of the deck portion 160, it can bend at the position corresponding to the drive motor of the roller brush assembly, thereby forming the avoidance area 1640 to prevent the reinforcing rib structure 164 from interfering with the drive motor. Thus, the reinforcing rib structure can maintain the reinforcing path around the deck portion while reserving installation space for the roller brush drive motor, avoiding the need to completely eliminate the reinforcing structure in the corresponding area for drive motor installation, thereby balancing chassis load-bearing strength and the compact arrangement of the cleaning components.

[0086] In one embodiment, such as Figures 2 to 6 As shown, the chassis structure 1 also includes a drive wheel assembly 17. The drive wheel assembly 17 includes a left drive wheel 171 and a right drive wheel 172, which are respectively mounted on the lower side of the deck section 160 via mounting arms 170. That is, mounting arms 170 can be respectively provided on opposite sides of the bottom of the deck section 160, with the left drive wheel 171 mounted on the corresponding left mounting arm 170 and the right drive wheel 172 mounted on the corresponding right mounting arm 170. Specifically, the drive wheel assembly 17 is driven to cause the cleaning robot to perform reciprocating motion, rotational motion, or curvilinear motion according to a planned movement trajectory, or to drive the cleaning robot to adjust its posture. In this embodiment, the left drive wheel 171 is located on the rear side of the bottom of the deck section 160 and on the left side of the cleaning robot, and the right drive wheel is located on the rear side of the bottom of the deck section 160 and on the right side of the cleaning robot. The left drive wheel and the right drive wheel are coaxially arranged and are used to drive the cleaning robot to move forward or backward when driven by their respective motors, or to drive the cleaning robot to turn by the differential speed of the left and right drive motors.

[0087] In one embodiment, such as Figure 4 and Figure 6As shown, the chassis structure 1 also includes a passive wheel assembly 18 disposed on the lower side of the deck section 160, the passive wheel assembly 18 including a guide wheel 180 and an auxiliary wheel 181.

[0088] In one embodiment, the guide wheel 180 is positioned at the center of the front side of the cleaning robot to support the weight of the front of the robot and cooperates with the left drive wheel 171 and the right drive wheel 172 to achieve steering of the cleaning robot during differential drive. In this embodiment, the guide wheel 180 itself does not have driving capability; it can passively roll around its own rotation axis under the drive of the left drive wheel 171 and the right drive wheel 172, and steer according to changes in the robot's travel direction.

[0089] In one embodiment, the auxiliary wheel 181 is raised relative to the guide wheel 180 so that the auxiliary wheel 181 participates in supporting the chassis structure when the guide wheel 180 crosses obstacles or traverses uneven ground. Furthermore, two auxiliary wheels 181 are provided, located on either side of the guide wheel 180.

[0090] In other words, the raised position of the auxiliary wheel 181 relative to the guide wheel 180 can be understood as the lowest point of the auxiliary wheel 181 being higher than the lowest point of the guide wheel 180. This allows the guide wheel 180 to prioritize contact with the ground and bear the main support and guiding functions when the cleaning robot is on a flat surface, while the auxiliary wheel 181 maintains a gap or only generates a small contact force with the ground. When the cleaning robot passes through thresholds, slopes, ditches, or other uneven areas, the auxiliary wheel 181 can gradually make contact with the ground and participate in support, thereby improving the support stability of the chassis structure, reducing the impact load on the guide wheel 180, and reducing the risk of the guide wheel 180 getting stuck in pits or crossing obstacles. This improves the cleaning robot's obstacle-crossing ability, terrain adaptability, and driving stability.

[0091] In one embodiment, such as Figure 2 and Figure 3As shown, a protective structure 165 is provided on the outer periphery of the deck section 160. The protective structure 165 includes a front cover plate 1650 located on the front side of the deck section 160 and a rear cover plate 1651 located on the rear side of the deck section 160. Both the front cover plate 1650 and the rear cover plate 1651 are detachably connected to the deck section 160 and extend downwards from the deck section 160 to protect the chassis structure. In this embodiment, by providing the protective structure 165, the adverse effects of external collisions, foreign object impacts, and sewage splashes on the chassis structure can be reduced. When maintenance or repair of the chassis structure is required, the front cover plate 1650 and the rear cover plate 1651 can be disassembled to improve maintenance convenience. In this embodiment, the front cover plate 1650 and the rear cover plate 1651 mainly serve as external covers and protective components, rather than as the main load-bearing components of the water tank assembly, battery assembly, and cleaning assembly. The loads of the water tank assembly, battery assembly, and cleaning assembly are mainly transferred through the modular load-bearing bracket 16. Therefore, when the front or rear cover is damaged due to a collision, the corresponding cover can be replaced individually without affecting the installation reference of the modular load-bearing bracket and the functional components it supports.

[0092] Please see Figure 7 and Figure 8 , Figure 7 The image shown is a perspective view of the roller brush assembly in one embodiment of this application. Figure 8 The diagram shown is a split view of the roller brush assembly in one embodiment of this application. The connection between the side brush assembly and the roller brush assembly is illustrated in the diagram. Figure 7 The illustrated embodiment of the roller brush assembly also includes a side brush assembly. For example... Figure 7 and Figure 8 As shown, the roller brush assembly 11 includes a dry roller brush 111, a wet roller brush 112, and a common mounting base 110. Both the dry roller brush 111 and the wet roller brush 112 are mounted on the common mounting base 110, and the dry roller brush 111 and the wet roller brush 112 are configured to be detachable from below the modular support bracket without disassembling the water tank assembly. In some embodiments, the roller brush assembly 11 may further include a waste container 113 mounted on the common mounting base 110 and located in front of the dry roller brush 111 for collecting waste; this waste container 113 may also be detachable from below the modular support bracket without disassembling the water tank assembly.

[0093] In some embodiments, the common mounting base is detachably connected to the base plate portion and / or the deck portion via fasteners, quick-release pins, snap-fit ​​structures, plug-in structures, or combinations thereof. The common mounting base and the water tank assembly are located on the lower and upper sides of the deck portion, respectively, in the height direction, and a disassembly space is formed below the deck portion for downward movement of the common mounting base.

[0094] When disassembling the roller brush assembly, first disconnect the connection between the common mounting base and the base plate and / or deck section, and disconnect the detachable electrical connector and detachable water line connector connected to the common mounting base. Then, move the common mounting base, along with the dry and wet roller brushes mounted thereon, downwards to remove the roller brush assembly entirely from below the chassis structure. During the above disassembly process, the water tank assembly remains mounted on the water tank support section, and there is no need to disconnect the installation relationship between the water tank assembly and the water lines, electrical wiring, or modular support brackets.

[0095] By sharing the same mounting base for both dry and wet roller brushes, and making this shared mounting base removable from below the deck section, multiple wear-prone and contaminated cleaning components can be replaced as a unified maintenance module, avoiding the need to first remove the water tank assembly located above it, thus reducing maintenance steps and downtime.

[0096] In one embodiment, the dry roller brush 111 is positioned at the front, and the wet roller brush 112 is positioned at the rear. The dry roller brush 111 sweeps the ground to pre-clean up large particles of waste such as paper scraps, sweeping / carrying the large particles of waste into the waste container 113 in front of the dry roller brush 111. Then, the wet roller brush 112 washes the ground. For example, the waste container 113 can be elongated, with a waste inlet on the side facing the dry roller brush 111, located at the upper part of that side (the upper part being the portion of the waste container near the common mounting base 110). This allows waste swept up by the dry roller brush 111 to enter the waste container 113 through the waste inlet and settle at the bottom of the waste container 113, preventing waste from falling out.

[0097] In this embodiment, the dry roller brush 111 and the wet roller brush 112 are rotatably mounted on a common mounting base 110, such as... Figure 8 As shown, one side of the common mounting base 110 is provided with a dry roller brush drive motor 1110 and a dry roller brush rotating support 1111, and a wet roller brush drive motor 1120 and a wet roller brush rotating support (not shown). The dry roller brush rotating support 1111 provides a placement space for the dry roller brush 111 and rotates the dry roller brush 111 under the drive of the dry roller brush drive motor 1110. The dry roller brush 111 can be selectively removed from or loaded onto the dry roller brush rotating support 1111 for cleaning, maintenance, replacement, etc. The wet roller brush rotating support provides a placement space for the wet roller brush 112 and rotates the wet roller brush 112 under the drive of the wet roller brush drive motor 1120. The wet roller brush 112 can also be selectively removed from or loaded onto the wet roller brush rotating support for cleaning, maintenance, replacement, etc.

[0098] In one embodiment, such as Figure 8As shown, an anti-winding structure 115 is provided at the end of the common mounting base 110 corresponding to the dry roller brush 111. It should be noted that an anti-winding structure 115 may also be provided at the end of the common mounting base 110 corresponding to the wet roller brush 112, or an anti-winding structure 115 may be provided at the end of only one of the roller brushes. In this embodiment, the anti-winding structure 115 at the end of the dry roller brush 111 will be used as an example for explanation.

[0099] Please see Figure 9 The figure shows a partial enlarged view of the anti-winding structure region of the common mounting base in one embodiment of this application. As shown, the anti-winding structure 115 includes an outer stop 1150 and an inner stop 1151 spaced apart along the axial direction of the dry roller brush 111 to form a two-stage blocking structure. The dry roller brush 111 includes a roller shaft and a brush body disposed around the roller shaft. The dry roller brush 111 is inserted into a dry roller brush rotating support 1111 for loading via its roller shaft. The outer stop 1150 is configured as a protrusion disposed around the outer end of the roller shaft of the dry roller brush, and the inner stop 1151 is configured as a sealing ring disposed around the dry roller brush rotating support 1111. Specifically, the outer stop 1150 may be disposed on a side plate of the common mounting base 110, so that when the dry roller brush is mounted on the common mounting base 110, the outer end of its roller shaft can enter the outer stop 1150 and be at least partially surrounded by the outer stop 1150. The dry roller brush rotating support 1111 can be mounted on the side plate of the common mounting base 110, and the inner stop 1151 is sleeved on the shaft of the dry roller brush rotating support 1111 to form a seal on the shaft.

[0100] When the dry roller brush 111 is assembled on the dry roller brush rotating support 1111, the outer edge of its roller shaft is just covered by the outer stop 1150, thereby preventing hair, rope, and other entangled objects from entering inward along the roller shaft and wrapping around it, thus hindering the normal rotation of the dry roller brush 111. The inner stop 1151 is located inside the outer stop 1150 and is arranged around the dry roller brush rotating support 1111. When the entangled object continues to move inward around the outer stop 1150, the inner stop 1151 can further prevent the entangled object from entering the mating area between the dry roller brush rotating support 1111 and the roller shaft, thereby avoiding the accumulation of entangled object at the rotating support position, which would lead to increased rotational resistance, accelerated wear, or even jamming and failure.

[0101] In this embodiment, the outer baffle 1150 mainly acts on the outer region of the path through which the entangled material enters, while the inner baffle 1151 mainly acts on the gap sealing of the rotating support region. Together, they form a progressively advancing anti-entanglement system from the outside in. Even if a small amount of entangled material crosses the outer baffle 1150, it will still be further blocked by the inner baffle 1151, thereby reducing the probability of the entangled material entering the bearing area or rotating support area and improving the long-term reliability of the roller brush assembly.

[0102] In some embodiments, when cleaning the surface, the dry roller brush cannot effectively carry / sweep / roll up all debris into the dustbin. For example, uncollected debris may enter the wet roller brush area as the cleaning robot moves forward and accumulate in front of the squeegee assembly. This can hinder the wet roller brush from washing the floor and prevent wastewater from entering the squeegee assembly. Alternatively, uncollected debris may also enter the squeegee assembly, clogging it or its corresponding piping structure.

[0103] Therefore, in some embodiments, such as Figure 7 and Figure 8 As shown, the roller brush assembly 11 also includes a blocking mechanism 114 mounted on the common mounting base 110 and located between the dry roller brush 111 and the wet roller brush 112. The blocking mechanism 114 is used to block at least a portion of the debris from flowing towards the wet roller brush 112 and the water-absorbing rake assembly when the cleaning robot is in the forward-moving state. The blocking mechanism 114 is detachably mounted on the common mounting base 110 to allow the blocking mechanism 114 to be selectively removed or loaded from the common mounting base 110 for cleaning, maintenance, or replacement.

[0104] In one embodiment, such as Figure 8 As shown, the blocking mechanism 114 includes a connecting portion 1140 and a blocking portion 1141. The connecting portion 1140 is used to connect to the common mounting base 110, so that the blocking mechanism 114 is detachably mounted on the common mounting base 110. The blocking portion 1141 is connected to the connecting portion 1140 and is used to block at least a portion of the waste from flowing towards the wet roller brush 112 and the water suction rake assembly. The connecting portion 1140 is configured as a snap-fit ​​structure that conforms to the push-pull groove structure provided on the common mounting base 110. Through this conforming snap-fit ​​structure, the blocking mechanism 114 can be easily pulled out of the common mounting base 110 for disassembly and pushed in for installation. The blocking portion 1141 can be made of a flexible material such as rubber.

[0105] In other embodiments, the blocking part 1141 may also be formed by a leather baffle, a flexible water-blocking strip, gauze, filter cloth, scraper strip, or a combination thereof. The connecting part 1140 can be connected to the common mounting base 110 through a guide groove, expansion groove, or push-pull groove extending laterally along the cleaning robot, allowing the blocking mechanism 114 to be pulled out or inserted along the extension direction of the guide groove. With the above structure, the blocking mechanism can be replaced separately after the blocking part is worn, contaminated, or blocked, without disassembling the dry roller brush, wet roller brush, or common mounting base.

[0106] Furthermore, in order to avoid unnecessary obstruction by the blocking mechanism 114, in some embodiments, the blocking part 1141 of the blocking mechanism 114 may also form a filter channel with the surface to be cleaned, so as to allow liquid or small particulate waste to flow through the blocking mechanism 114 to the wet roller brush 112 and the water suction rake assembly. It should be understood that the liquid or small particulate waste that passes through will be recycled by the water suction rake assembly and will not affect the normal operation of the water suction rake assembly.

[0107] In one embodiment, such as Figure 8 As shown, the side end of the common mounting base 110 is provided with a side cover 116 that can be detachably connected via a magnetic structure. The side cover 116 is used to shield the components installed inside the common mounting base 110. Specifically, the side cover 116 is located at the opening on the side end of the common mounting base 110. The common mounting base 110 houses a wet roller brush 112, a dry roller brush 111, a trash can 113, a blocking mechanism 114, etc. The side cover 116 can shield and protect the above-mentioned components, thereby reducing the possibility of dust, moisture, and foreign objects entering the common mounting base 110. Furthermore, after the side cover 116 is removed, the installation space inside the common mounting base 110 can be exposed, facilitating the installation, removal, and maintenance of components such as the dry roller brush 111, wet roller brush 112, trash can 113, and blocking mechanism 114. The side cover 116 can also be positioned by magnetic attraction in combination with a limiting boss, a retaining edge, or a positioning pin to prevent lateral slippage when relying solely on magnetic attraction.

[0108] In one embodiment, the magnetic attraction structure includes a magnetic component disposed on the side cover 116 and the common mounting base 110, and a corresponding adsorption component. The magnetic component can be a permanent magnet, and the adsorption component can be an ferrous component or another magnetic component. When the side cover 116 approaches the common mounting base 110, it automatically attracts and fixes itself to the side end of the common mounting base 110 under the action of magnetic attraction.

[0109] In one embodiment, such as Figure 10 The image shown is a perspective view of the base body of a common mounting base according to one embodiment of this application. The common mounting base 110 includes a base body 1100 configured as an integral frame structure, and the base body 1100 has a plurality of spaced mounting slots sequentially formed along the front-to-back direction. In some embodiments, the base body 1100 may be formed from a profile extending laterally along the cleaning robot, and the mounting slots, guide slots, and / or push-pull slots may be integrally formed during the molding of the profile. The continuously extending groove structure on the profile provides linear guidance during the installation of dry roller brushes, wet roller brushes, dustbins, or blocking mechanisms, allowing the components to be installed to enter the corresponding installation position along a predetermined direction, reducing difficulties in aligning the ends of the components and the risk of misalignment and jamming.

[0110] Please see Figure 10and combined Figure 8 The mounting slots include a first mounting slot 1101 located at the front, a second mounting slot 1102 located in the middle, and a third mounting slot 1103 located at the rear. The first mounting slot 1101 is used to mount a trash can 113, allowing the trash can 113 to be installed in the first mounting slot 1101 via a plug-in or snap-fit ​​method. The second mounting slot 1102 is used to mount a dry roller brush 111, which, when installed in the second mounting slot 1102, can be connected to a corresponding drive motor via a corresponding rotating support. The third mounting slot 1103 is used to mount a wet roller brush 112, which, when installed in the third mounting slot 1103, can be connected to a corresponding drive motor via a corresponding rotating support. Furthermore, in some embodiments, a partition structure extending downward from the base body 1100 is provided between the second mounting slot 1102 and the third mounting slot 1103, and a fourth mounting slot 1104 is formed on the partition structure for mounting the blocking mechanism 114. Multiple mounting slots form a relatively fixed mounting reference on the integrated base body, allowing the relative positions of the waste box, dry roller brush, wet roller brush, and blocking mechanism to be directly determined by the base body during assembly. This reduces the cumulative error caused by the separate installation of multiple independent brackets and improves the pre-assembly efficiency and replacement consistency of the roller brush assembly.

[0111] In one embodiment, such as Figure 10 As shown, the base body 1100 is also provided with a water spray structure 117, which is connected to the water tank assembly of the cleaning robot (further connected to the clean water chamber) and is used to spray water to wet the wet roller brush 112, so that the wet roller brush 112 can wash the ground when rotating.

[0112] In one embodiment, such as Figure 3 and Figure 7As shown, the side brush assembly 13 is mounted on the common mounting base 110, which is connected to the second drive member 151 to synchronously drive the roller brush assembly 11 and the side brush assembly 13. In some examples, the side brush assembly 13 can be configured as two sets, with the two sets of side brush assemblies 13 respectively located on the left and right sides of the front of the common mounting base 110. In some examples, the side brush assembly 13 includes a mounting cantilever 130, a cleaning side brush 132, and a side brush motor 131 for controlling the cleaning side brush 132. The side brush assembly 13 is fixed to the common mounting base 110 by the mounting cantilever 130, and the cleaning side brush 132 can be a rotary cleaning side brush that can rotate under the control of the side brush motor 131. Furthermore, the rotating shaft in the rotary cleaning side brush can be at a certain angle relative to the surface to be cleaned. For example, the angle setting can ensure that the bristles on the outer side of the cleaning side brush 132 are lower than the bristles on the inner side, so that the outer bristles are closer to the surface to be cleaned, which is more conducive to sweeping garbage and other debris into the cleaning area of ​​the roller brush assembly.

[0113] In this embodiment, the common mounting base 110 serves as a shared support for the roller brush assembly 11 and the side brush assembly 13. When the common mounting base 110 is raised and lowered under the drive of the second drive component 151, the roller brush assembly 11 and the side brush assembly 13 mounted on it can move synchronously, thereby achieving linkage control. Synchronous raising and lowering control can be achieved without separately setting corresponding lifting drive mechanisms, thus reducing the number of drive components, simplifying the chassis structure layout, and improving the consistency of action and control reliability among the cleaning components. Simultaneously, the common mounting base 110 also provides a unified installation benchmark for the roller brush assembly 11 and the side brush assembly 13, improving assembly accuracy and reducing maintenance complexity.

[0114] Specifically, the roller brush assembly 11 and the side brush assembly 13 synchronously switch between a working position and a retracted position under the drive of the second drive member 151. In the working position, the roller brush assembly 11 and the side brush assembly 13 descend towards the ground to contact it, and perform cleaning operations while in contact with the ground. In the retracted position, the roller brush assembly 11 and the side brush assembly 13 rise relative to the ground to reduce or eliminate contact, thus not hindering the movement of the cleaning robot. For example, when the cleaning robot performs a cleaning operation, the second drive member 151 drives the common mounting base 110 to descend, so that the roller brush assembly 11 and the side brush assembly 13 move synchronously to the working position; when the cleaning robot stops cleaning, returns to the base station, crosses obstacles, or performs non-cleaning operations, the second drive member 151 drives the common mounting base 110 to rise, so that the roller brush assembly 11 and the side brush assembly 13 move synchronously to the retracted position.

[0115] In one embodiment, such as Figure 3 As shown, the water-absorbing rake assembly 12 is located behind the roller brush assembly 11. Driven by the first drive member 150, the water-absorbing rake assembly 12 independently switches between the working position and the retracted position. Specifically, the water-absorbing rake assembly 12 and the common mounting base 110 are each independently connected to the base plate portion 1601 on the deck portion 160. The common mounting base 110 supports the roller brush assembly 11 and the side brush assembly 13, while the water-absorbing rake assembly 12 is independently mounted on the base plate portion 1601, and there is no rigid linkage between them. In some embodiments, the water-absorbing rake assembly 12 is rotatably connected to the base plate portion 1601 via a hinge, a rotating shaft, and / or a swing arm. The first drive member 150 is connected to the water-absorbing rake assembly 12 via a connecting rod, a traction member, or a transmission arm. When the first drive member 150 outputs linear motion, it can drive the water-absorbing rake assembly 12 to swing around the corresponding hinge axis, thereby switching between the working position and the retracted position. In other embodiments, the water-absorbing rake assembly 12 can also be connected to the base plate portion 1601 via a vertical guide rail and driven to move vertically by the first drive member 150. By employing an independent hinged swing structure or a vertical guide structure, the water-absorbing rake assembly can be raised and lowered without driving the roller brush assembly and the side brush assembly, thereby allowing the robot to control the state of the water-absorbing rake assembly according to different working conditions such as sweeping, washing, water suction, transportation, and obstacle crossing.

[0116] In the working position, the water-absorbing rake assembly 12 descends toward the ground and comes into contact with or nearly into contact with the ground to collect wastewater from the ground; in the retracted position, the water-absorbing rake assembly 12 is raised relative to the ground to reduce ground friction and avoid interference with the ground.

[0117] Since the water-absorbing rake assembly 12 adopts an independent drive structure, its lifting action is not affected by the movement state of the roller brush assembly 11 and the side brush assembly 13. The roller brush assembly 11 and the side brush assembly 13 move synchronously, which enables the cleaning assembly to meet the motion control requirements of different cleaning modes. While ensuring functional flexibility, the number of drive mechanisms is reduced, thereby simplifying the chassis structure layout and improving system control efficiency.

[0118] In summary, the chassis structure of the cleaning robot disclosed in the above embodiments, by setting a modular support frame as a unified installation base for each functional component, arranges the water tank assembly, battery assembly, lower radar, cleaning assembly, and lifting drive assembly in different spatial areas of the modular support frame, forming an integrated layout structure with upper and lower layers and functional zones. This improves the space utilization of the chassis structure, reduces structural interference between components, and facilitates independent disassembly, replacement, and maintenance of each functional component, thereby improving the modularity and maintenance convenience of the chassis structure. Furthermore, by placing the lower radar between the water tank support section and the deck section, and forming a radar avoidance section at the corresponding position, the detection area of ​​the lower radar can avoid obstruction by other functional components, thus ensuring that the lower radar has a large detection range and improving the robot's ability to identify near-ground obstacles, low obstacles, and ground-hugging structures.

[0119] Furthermore, by centrally arranging the lifting drive components on the lower side of the battery carrier, and using a first drive component to drive the water-absorbing rake assembly to rise and fall, and a second drive component to drive the roller brush assembly and side brush assembly to rise and fall synchronously, the roller brush assembly and side brush assembly can coordinately switch between the working position and the retracted position, thereby ensuring the consistency of their actions during cleaning operations and obstacle avoidance. Simultaneously, the water-absorbing rake assembly can be independently raised and lowered relative to the roller brush assembly and side brush assembly to meet the water absorption needs of different operating modes. In addition, by reusing the drive mechanism and centrally arranging multiple drive mechanisms in the same area, it is beneficial to reduce the space occupation caused by the dispersed placement of drive mechanisms, and improve the space utilization and structural integration of the chassis structure.

[0120] Please see Figure 1 , Figure 11 and Figure 12 , Figure 11 The image shown is a perspective view of a water tank assembly according to one embodiment of this application. Figure 12 The diagram shown is a cross-sectional view of a water tank assembly 2 according to one embodiment of the present application. The water tank assembly 2 is disposed on the upper side of the chassis structure 1. The water tank assembly 2 includes a tank body 21 having a sewage chamber 210 and a clean water chamber 211. The sewage chamber 210 is connected to the suction rake assembly 12 to store the sewage collected by the suction rake assembly 12. The clean water chamber 211 is connected to the roller brush assembly 11 to supply water to the roller brush assembly 11.

[0121] In one embodiment, the housing 21 may be configured to integrally form the wastewater chamber 210 and the clean water chamber 211. Specifically, the housing 21 may include an outer peripheral wall and an isolation wall extending inward from the outer peripheral wall. The wastewater chamber 210 is formed inside the isolation wall, and the isolation wall and the outer peripheral wall together enclose the clean water chamber 211. Further, in this embodiment, the outer peripheral wall of the housing 21 may form an external receiving space 212, which accommodates the battery assembly 3 when it is placed on the battery support.

[0122] Furthermore, as presented Figure 12 As shown, the wastewater chamber 210 can be formed in the central region of the tank 21, and the clean water chamber 211 is formed around the wastewater chamber 210. By distributing the clean water chambers 211 around the wastewater chamber 210, the irregularly shaped space around the tank 21 can be used to form a clean water storage area, while maintaining a large top maintenance opening for the wastewater chamber 210, thus balancing clean water capacity, ease of cleaning the wastewater chamber, and the compactness of the tank structure.

[0123] Please combine Figure 13 The image shown is a top view of the water tank assembly in one embodiment of this application. For illustrative purposes, Figure 13 The cover is omitted. The sewage chamber 210 has an openable chamber opening 2100 facing the top of the tank 21. An openable cover 22 is provided at the chamber opening 2100. The cover 22 can switch between an open state and a closed state. In the closed state, the cover 22 can close the sewage chamber 210. In the open state, the sewage chamber 210 communicates with the outside, so as to facilitate cleaning or maintenance operations of the sewage chamber 210.

[0124] In one embodiment, such as Figure 11 and Figure 12 As shown, a clean water inlet 213 is provided on the rear side of the housing 21, which is connected to the clean water chamber 211, allowing the workstation to add clean water to the clean water chamber 211. Furthermore, the clean water chamber 211 is also connected to a backup water inlet passage 214, with its inlet located in the wastewater chamber 210, so that water can be added to the clean water chamber 211 when the chamber opening 2100 is open. In a specific example, a three-way connector can be provided at the water inlet 2110 of the clean water chamber 211. One inlet of the three-way connector is connected to the clean water inlet 213, and the other inlet is connected to the backup water inlet passage 214, thus ensuring that both the clean water inlet 213 and the backup water inlet passage 214 are connected to the clean water chamber 211.

[0125] It should be noted that the inlet end of the backup water injection passage 214 being located in the sewage chamber 210 means that the inlet end is spatially exposed within the sewage chamber 210 and can be accessed and operated by the user after the chamber opening 2100 is opened; the pipe wall of the backup water injection passage 214 is sealed and isolated from the sewage chamber 210, and the internal flow channel of the backup water injection passage 214 is not connected to the sewage chamber 210, but only to the clean water chamber 211. Therefore, the clean water added through the backup water injection passage 214 will not mix with the sewage in the sewage chamber 210, and the sewage in the sewage chamber 210 will not enter the clean water chamber 211 through the backup water injection passage 214.

[0126] In this embodiment, by setting the backup water injection passage 214, while retaining the automatic water replenishment function of the workstation, it is also possible to replenish clean water to the clean water chamber 211 through the chamber opening 2100 when the workstation is unavailable, lacks automatic water replenishment conditions, or requires manual water replenishment, thereby improving the flexibility of use and the range of applicable scenarios of the water tank assembly 2.

[0127] In one embodiment, such as Figure 13 As shown, the inlet end of the backup water injection passage 214 is equipped with a sealing element 2140 to selectively open or seal the backup water injection passage 214. For example, the sealing element 2140 can be a plug structure, a flip-top structure, a screw cap structure, a flexible valve structure, or other sealing structures capable of opening and closing the passage. Specifically, when it is necessary to replenish clean water to the clean water chamber 211 through the backup water injection passage 214, the sealing element 2140 can be opened to connect the inlet end of the backup water injection passage 214 with the outside, thereby allowing clean water to be introduced into the clean water chamber 211 through the backup water injection passage 214 when the chamber opening 2100 is open. When the backup water injection passage 214 is not needed, the sealing element 2140 is in a closed state to seal the inlet end of the backup water injection passage 214. At this time, the internal flow channel of the backup water injection passage 214 is isolated from the sewage chamber 210, thereby preventing sewage, moisture, or odors in the sewage chamber 210 from entering the clean water chamber 211 or leaking into the external environment through the backup water injection passage 214. Furthermore, since the water inlet of the backup water injection passage 214 is located inside the sewage chamber 210, the sealing member 2140 can maintain the sealed state of the sewage chamber 210 when closed, preventing poor sewage suction effect caused by leakage of gas inside the sewage chamber 210 through the backup water injection passage 214 during sewage suction.

[0128] In some embodiments, the passage wall of the backup water injection passage 214 and the sealing member 2140 constitute a dual sealing structure with different functions. The passage wall forms a first sealing barrier located between the internal flow channel of the backup water injection passage 214 and the sewage chamber 210, preventing liquid cross-flow between the clean water chamber 211 and the sewage chamber 210. The sealing member 2140, in a sealing fit with the inlet end of the backup water injection passage 214, forms a second sealing barrier, used to close the inlet end of the backup water injection passage 214 when it is not in use and to maintain negative pressure within the sewage chamber 210.

[0129] The sealing component 2140 may be provided with at least one of the following: an elastic sealing part, an annular sealing ring, a sealing lip, a conical sealing part, or a threaded clamping part, to improve the sealing reliability between the sealing component 2140 and the water inlet end of the backup water injection passage 214. By having the first sealing barrier and the second sealing barrier respectively undertake the functions of clear water isolation and negative pressure maintenance, the water inlet end of the backup water injection passage 214 can be located in the sewage chamber 210 to facilitate manual water addition, while reducing the impact of the backup water injection structure on the clear water isolation and negative pressure suction performance.

[0130] In one embodiment, a removable filter element (not shown) is also provided on the backup water injection passage 214. The filter element is used to filter the liquid entering the clear water chamber 211 via the backup water injection passage 214, preventing impurities, hair, particulate matter, sediment, and other foreign objects from entering the clear water chamber 211. Preferably, the filter element is located near the water inlet of the backup water injection passage 214, so that the user can directly disassemble, clean, or replace the filter element after opening the chamber opening 2100.

[0131] In one embodiment, the filter element can be installed in the spare water injection passage 214 in a detachable manner such as snap-fit, plug-in, threaded connection or magnetic connection, and this application does not limit this.

[0132] In one embodiment, please refer to Figure 14 and Figure 15 and combined Figure 12 , Figure 14 The image shown is a rear view of the water tank assembly after part of the outer casing has been removed in one embodiment of this application. Figure 15 This application is displayed as being in Figure 14 A partial enlarged view of the embodiment shown, such as Figure 12 , Figure 14 and Figure 15 As shown, the clear water chamber 211 is supplied with water through the clear water supply component 23. Figure 8 The roller brush assembly 11 shown is supplied with water, and further, the clear water chamber 211 supplies clear water in the clear water chamber 211 as follows: Figure 10The water spray structure 117 in the roller brush assembly shown sprays water to wet the roller brush, so that the wet roller brush can wash the ground while rotating.

[0133] In one embodiment, the clean water supply assembly 23 includes a water pump 230 and a water supply pipeline. The water pump 230 is positioned above the water inlet of the roller brush assembly. In this embodiment, the water inlet is, for example, as shown in the image. Figure 10 The water spray structure 117 shown has an inlet 1170. By positioning the water supply pump 230 above the inlet 1170 of the roller brush assembly and making the second pipe section 232 form a gravity drainage path from the water supply pump 230 down to the roller brush assembly, the water supply pump can be used to achieve active water supply in the working state and passive drainage in the shutdown state. This avoids the need for a separate drainage drive component for emptying the pipes after the pump, thereby reducing the number of water circuit components, control nodes, and potential leakage points.

[0134] The water supply pipeline includes a first pipe section 231 that connects to the clear water chamber 211 and extends upward to the inlet of the water supply pump 230, and a second pipe section 232 that extends downward from the outlet of the water supply pump 230 to the inlet, so that when the water supply pump 230 stops working, the residual clear water in the second pipe section 232 is automatically drained under the action of gravity.

[0135] In this application, automatic drainage of the second pipe section 232 means that after the water supply pump 230 stops working, without the need to start an additional drainage pump, drainage motor, or open a drainage valve specifically for the second pipe section 232, at least most of the residual clean water in the second pipe section 232 can flow towards the inlet of the roller brush assembly 11 and be discharged under its own gravity. To form the above-mentioned gravity drainage path, the second pipe section 232 can extend downward from the outlet end of the water supply pump 230 as a whole, avoiding the setting of inverted U-shaped pipe sections or partial water traps that would form obvious water storage areas. The inlet of the roller brush assembly 11 can be connected to the water spray structure 117 or the water distribution space, and is located at or near the lowest position of the second pipe section 232, so that the residual clean water in the second pipe section 232 can be discharged through the inlet.

[0136] In one embodiment, a clean water outlet 2111 is provided at a lower position in the clean water chamber 211. The first pipe section 231 includes an outlet section 2310 connecting to the clean water outlet 2111 and an ascending section 2311 connecting to the inlet of the water supply pump 230. At least a portion of the ascending section 2311 is higher than the outlet section 2310, thereby forming an upward-trending water inlet path for the first pipe section 231. Here, "lower position" refers to a position closer to the bottom relative to the water storage space inside the clean water chamber 211.

[0137] In some embodiments, the lead-out segment 2310 extends primarily in a horizontal direction (as shown in the figure). Figure 15 (As shown) or inclined extension, which can be configured as a straight pipe section. In some embodiments, the ascending section 2311 can be a continuously rising straight pipe section, or it can include a bent section, an arc section, or a combination structure composed of multiple connecting pipe sections. It can also allow for local water level drops, as long as at least a portion of the ascending section 2311 is higher than the outlet section 2310 and can deliver clean water to the inlet end of the water supply pump 230.

[0138] In one embodiment, the upstream section 2311 forms an installation section 2314 for mounting water circuit functional devices. Specifically, at least one of a filter element 2312 and a flow meter 2313 may be installed on the installation section 2314. The filter element 2312 is located upstream of the water supply pump 230 and is used to filter particulate impurities, hair, sediment, and other foreign objects from the clean water to reduce the risk of foreign objects entering the water supply pump 230 or the water spray structure 117. The flow meter 2313 is used to detect the flow parameters in the water supply pipeline and feed the detection results back to the control system to realize water supply status monitoring, water shortage detection, blockage detection, or water supply control.

[0139] In some embodiments, the filter element 2312 and the flow meter 2313 may be sequentially arranged in the installation section 2314 along the water flow direction; in other embodiments, the filter element 2312 and the flow meter 2313 may also be respectively arranged on different pipe sections. In some examples, the installation section 2314 is an independent pipe joint, a mounting base, or an integrated pipeline module. In other examples, the installation section 2314 may also be formed by a partially enlarged area, a connecting flange area, or a reserved installation area of ​​the first pipe section 231. By concentrating the filter element 2312 and the flow meter 2313 in the installation section 2314, it is not only convenient for assembly and maintenance, but also conducive to the formation of standardized water supply modules, improving the integration and reliability of the water supply system. In embodiments where both the filter element 2312 and the flow meter 2313 are arranged in the installation section 2314, the filter element 2312 may be arranged upstream of the flow meter 2313 along the water flow direction to filter out particulate impurities that may affect the flow meter's detection accuracy or cause flow meter blockage.

[0140] Furthermore, such as Figures 11 to 15The water tank assembly 2 shown also includes, in an example, an outer shell 24 covering the tank body 21 (described in detail later). The outer shell 24 has an opening corresponding to the filter element 2312, through which the filter element 2312 can be maintained. The filter element 2312 extends out of the opening. When maintenance such as replacement or cleaning is required, the filter element 2312 can be pulled out. After maintenance, the user can reinstall the filter element 2312 through the opening. The opening can be left open or a removable filter access cover can be provided; when closed, the filter access cover blocks the opening, and when opened, it allows the filter element 2312 to be removed from the outside of the outer shell 24.

[0141] In some embodiments, both the first pipe segment 231 and the second pipe segment 232 can be composed of rigid pipes, flexible pipes, or a combination of rigid and flexible pipes. Preferably, both the first pipe segment 231 and the second pipe segment 232 can be composed of a combination of rigid and flexible pipes, wherein the flexible hose portion adapts to component assembly tolerances and reduces vibration transmission, while the rigid pipe portion provides pipe support strength and layout stability.

[0142] In one embodiment, such as Figure 15 As shown, an on / off valve 2315 is also provided on the outlet section 2310 to control the on / off of the water supply pipeline, thereby controlling the supply state of clean water to the roller brush assembly 11. Figure 15 In the example shown, the on / off valve 2315 is further configured at the connection between the outlet section 2310 and the clean water outlet 2111. In some examples, the on / off valve 2315 may be electrically connected to an electronic control component to open or stop the liquid supply under the control of the electronic control component. In some examples, the on / off valve 2315 may be manually controlled, specifically, as... Figures 11 to 15 The water tank assembly 2 shown also includes, in an example, an outer shell 24 covering the tank body 21 (described in detail later). The outer shell 24 has an access port 240 corresponding to the on / off valve 2315, through which the on / off valve 2315 can be manually controlled. The access port 240 is covered by a cap. When maintenance is not required, the access port 240 is closed. When maintenance is required, the cap can be opened to expose the access port 240, allowing the user to manually insert the cap into the access port 240 to control the on / off valve 2315. By enabling the on / off valve 2315 to be operated from the outside of the outer shell 24 via the access port 240, the clean water supply path can be closed, opened, or adjusted without removing the outer shell 24 and the water tank assembly 2, improving the efficiency of commissioning, inspection, and maintenance.

[0143] In one embodiment, such as Figure 15As shown, the first pipe section 231 also includes a diversion connector 2316 located at the lowest position of the outlet section 2310. In the example where the outlet section 2310 is a horizontally extending pipe section, its horizontal position is the lowest position. The diversion connector 2316 connects the outlet section 2310, the ascending section 2311, and a manual drainage branch (not shown) with a downward drainage state. In the downward drainage state, the manual drainage branch can drain the clean water in the clean water chamber under the action of gravity. Specifically, one end of the manual drainage branch is connected to the diversion connector 2316, and the other end forms a drain end. Under normal conditions, the manual drainage branch can be in an upwardly bent or high-positioned state, thereby reducing the risk of clean water flowing out on its own. When it is necessary to empty the chamber, the drain end of the manual drainage branch can be placed downward, so that the clean water is discharged outward through the manual drainage branch under the action of gravity. By setting up a manual drainage branch, users can drain residual liquid in the clear water chamber during maintenance, transportation, long-term storage, winter antifreeze, or clear water replacement, reducing the risk of odor, scaling, freezing cracks, or leakage during transportation caused by long-term liquid stagnation in the clear water chamber. In some embodiments, the manual drainage branch can be formed by a transparent flexible tube, allowing users to observe the liquid level in the clear water chamber 211 through the tube. Under normal use, the transparent flexible tube is fixed at a high position above the liquid level in the clear water chamber 211. During drainage, it is released and its drain end is lowered to a lower position, thus combining liquid level observation and manual drainage functions.

[0144] In some embodiments, the manual drainage branch can be bent and extended along the outer edge, side wall area, or other peripheral area of ​​the water tank assembly, and can be held in a high position by a hanging structure, limiting structure, or fixing structure. The hanging structure can be, for example, a hook structure, a snap-on structure, a slot structure, a clamping structure, or other structural forms suitable for fixing the manual drainage branch, and this application does not limit it.

[0145] In one embodiment, such as Figure 13 As shown, the sewage chamber 210 and the water suction rake assembly are connected by the sewage suction assembly 25. The sewage suction assembly 25 can create a negative pressure in the sewage chamber 210, and the sewage collected by the water suction rake assembly is sucked into the sewage chamber 210 under the action of the negative pressure.

[0146] In one embodiment, such as Figure 13 and Figure 14 As shown, the suction assembly 25 includes a suction fan 250 disposed on one side of the sewage chamber 210 to create a negative pressure in the sewage chamber 210. The suction assembly 25 further includes a suction pipe 251 connecting the sewage chamber 210 and the suction rake assembly, thereby forming a sewage passage. Under the negative pressure of the sewage chamber 210, sewage can enter the sewage chamber 210 from the suction rake assembly through the suction pipe 251.

[0147] In some embodiments, the suction fan 250 has an air intake end and an air outlet end. The air intake end is connected to the upper gas phase space of the sewage chamber 210 through an air intake passage, and the air outlet end is arranged towards the exhaust area inside the housing 24. When the suction fan 250 is working, it draws air from the upper part of the sewage chamber 210, creating a negative pressure inside the sewage chamber 210 that is lower than the external environmental pressure, thereby allowing the sewage collected by the suction rake assembly 12 to enter the sewage chamber 210 through the suction pipe 251.

[0148] In some embodiments, a gas-liquid separator, a water-blocking component, and / or an air filter may be provided between the sewage chamber 210 and the suction end of the suction fan 250 to prevent droplets, foam, and particulate impurities from entering the suction fan 250, thereby reducing the risk of the fan impeller being contaminated, corroded, or blocked.

[0149] The gas-liquid separator may include at least one of the following: a baffle plate, a water-blocking plate, a labyrinthine flow channel, a vortex separation structure, a float-type water-stopping structure, a foam blocking component, a filter screen, filter cotton, or a filter cartridge. When the liquid-containing gas flows through the gas-liquid separator, the liquid droplets, foam, and particulate impurities entrained in the gas flow can be separated from the gas by changing the flow direction, reducing the flow velocity, centrifugal separation, or filtration interception.

[0150] In some embodiments, the gas-liquid separator is detachably disposed on the top of the sewage chamber 210, at the inlet of the air intake passage, or upstream of the air intake end of the sewage suction fan 250, so that it can be disassembled, cleaned, or replaced through the chamber opening 2100 or the maintenance opening on the housing 24.

[0151] It should be noted that the filter bag 2102 is mainly used to intercept solid waste that enters the sewage chamber 210 along with the sewage through the suction pipe 251. The gas-liquid separator is mainly used to block droplets, foam and fine impurities flowing along the suction passage to the suction fan 250. The two act on the sewage flow path and the gas flow path respectively, thereby forming a multi-level protection structure for the sewage chamber and the suction fan.

[0152] In one embodiment, such as Figure 13 and Figure 14 As shown, the suction pipe 251 has an inlet end and an outlet end, wherein the end connected to the suction rake assembly is the inlet end (e.g., Figure 13 The end of the suction pipe 251 shown in the diagram is the water inlet, and the outlet of the suction pipe 251 is connected to the top of the sewage chamber 210 (e.g., Figure 14The end of the suction pipe 251 shown in the diagram is the outlet. During suction, wastewater is transported from the inlet to the outlet of the suction pipe 251 and then enters the wastewater chamber 210. Furthermore, a filter bag 2102 is installed inside the wastewater chamber 210. The outlet of the suction pipe 251 can extend into or connect to the filter bag 2102 so that solid waste in the wastewater is trapped inside the filter bag 2102, while liquid enters the wastewater chamber 210 through the filter bag 2102. In this way, solid waste in the wastewater can be pre-filtered when it enters the wastewater chamber 210, thereby reducing the risk of solid waste accumulating, depositing, or clogging subsequent sewage discharge structures inside the wastewater chamber 210.

[0153] Furthermore, in some embodiments, the filter bag 2102 is detachably disposed inside the wastewater chamber 210. For example, the filter bag can be installed inside the wastewater chamber 210 via a hook-on structure, snap-on structure, sleeve structure, pressing structure, or other detachable connection structure, so that the user can remove, clean, replace, or maintain the filter bag.

[0154] In some embodiments, such as Figure 13 and Figure 14 As shown, a drain outlet 2101 is provided at the bottom of the sewage chamber 210, and the drain outlet 2101 discharges to the workstation through a drain pipe 2103. In one embodiment, the drain pipe 2103 is also connected to a manual drain branch, which is configured to release the sewage in the sewage chamber 210 by gravity when its branch is opened. Specifically, when manual sewage discharge is required, the sewage is discharged from the manual drain branch by opening it. In this way, an alternative sewage discharge method is provided for the cleaning robot. For example, in cases where docking with the workstation is impossible, the workstation malfunctions, or manual emptying of the sewage chamber 210 is required, the sewage chamber 210 can be discharged through the manual drain branch.

[0155] In one embodiment, please refer to Figure 16 and combined Figure 12 and Figure 14 , Figure 16This is a front view of the water tank assembly after removing part of the outer shell in one embodiment of this application. The front side of the tank body 21 is recessed to form an electrical chamber 26 for housing the electronic control component. A clean water inlet 213 is provided on the rear side, so that the clean water inlet 213 and the electronic control component are arranged in a front-rear partition. A charging component 27 is also provided on the rear side of the tank body 21, located below the clean water inlet 213 and electrically connected to the electronic control component. In this embodiment, by arranging the charging component 27 and the clean water inlet 213 together on the rear side of the tank body 21, and arranging the electronic control component on the front side of the tank body 21, the water replenishment area and the electronic control area form a front-rear separated structure, thereby reducing the risk of liquid accidentally entering the electronic control area during water filling and improving the safety of system operation. Since the electrical compartment 26 is formed by the indentation of the front side of the housing 21, the side of it close to the clear water chamber 211 and the sewage chamber 210 can be separated by the solid wall of the housing 21, while the opening facing outward is closed by the outer shell 24, so that the electrical control components have relatively independent installation boundaries, reducing the possibility of direct contact with the electrical control components when the liquid inside the water tank or the water connection leaks.

[0156] In some embodiments, the solid wall forming the electrical chamber 26 may extend continuously around at least one of the rear, left and right sides, and bottom side of the electrical chamber 26 to form a continuous isolation boundary between the electrical control components and the clean water chamber 211 and the wastewater chamber 210. The solid wall may be integrally formed with the housing 21 or may be formed by a separate partition sealed to the housing 21.

[0157] When the wiring harness of the electrical control components needs to pass through the solid wall, a wire-passing hole can be provided on the solid wall, and a sealing sleeve, sealing joint, waterproof rubber ring or sealant can be provided at the wire-passing hole to allow the wiring harness to pass through and reduce the risk of liquid entering the electrical room 26 through the wire-passing location.

[0158] Furthermore, at least one of the clean water inlet 213, clean water supply component 23, sludge suction component 25, and sewage discharge pipe 2103 can be located below the electrical control component, so that the main water circuit components and the electrical control component are not only arranged in sections in the front-to-back direction, but also staggered in the height direction. By using at least two of the measures of solid wall isolation, front-to-back staggering, and height staggering, the path of leaked liquid to the electrical control component can be extended, and the possibility of liquid directly contacting the electrical control component can be reduced.

[0159] In one embodiment, the electronic control component is configured as an electronic system including a control device. In some examples, the electronic system may further include a power conversion module, a lower-level machine connected to the control device for controlling various actuators under the control of the control device, and electrical modules such as ports or hubs connecting the various functional modules. In some examples, the electronic control component may also be electrically connected to a portion of sensing components located outside the electrical compartment 26.

[0160] Specifically, such as Figures 12 to 14 As shown, an upper radar 215 can be installed on the housing 21, and TOF (Time of Flight) sensors 216 are further installed on the front and rear sides. The upper radar 215 can work in conjunction with the lower radar 14 in the aforementioned embodiment. The upper radar 215 is positioned at a higher location to detect walls, furniture, pillars, and other obstacles located in higher areas; the lower radar 14 is positioned near the ground to detect low obstacles, step edges, protrusions, and other environmental features located in lower areas. In other words, the upper radar 215 and the lower radar 14 correspond to environmental perception areas at different height levels. By setting up the upper radar 215 and the lower radar 14, a multi-layered detection system covering different height ranges can be formed, thereby reducing the detection blind spots of a single-height radar.

[0161] In one embodiment, the control device includes a memory, a processor, and an I / O interface, wherein the memory and processor are electrically connected directly or indirectly to enable data transmission or interaction. For example, the memory and processor can be electrically connected to each other via one or more communication buses or signal lines. In some embodiments, the memory stores instructions to cause the processor to execute modules, processes, and / or functions associated with controlling one or more mechanical and / or electrical systems contained in the cleaning robot. The I / O interface may be, for example, a Universal Serial Bus (USB) interface; an IEEE 1394 interface (FireWire); a Thunderbolt™ interface; a Serial ATA (SATA) interface or an external Serial ATA (eSATA) interface; or a network interface card (which includes one or more Ethernet ports and / or radio waves, such as Wi-Fi, Bluetooth, or the like). The I / O interface is configured to send signals to and / or receive signals from the processor. Similarly, the I / O interface can be configured to receive data from and / or send data to any suitable electrical and / or electronic device (e.g., motor, pump, motor, drive and / or sensing component) contained in the cleaning robot 1.

[0162] In one embodiment, the electronic control component is mounted on a mounting plate disposed within the electrical compartment 26. The mounting plate is fixedly disposed on the inner wall of the electrical compartment 26 or on a supporting structure to provide a mounting base for the electronic control component. Further, a spacer is provided between the electronic control component and the mounting plate to form a heat dissipation gap. Specifically, the electronic control component can be suspended above the mounting plate using support columns, insulating pads, mounting bosses, or other spacer structures, thereby creating an airflow space between the electronic control component and the mounting plate. In this embodiment, the heat dissipation gap forms airflow paths on both sides of the electronic control component, allowing the heat generated during operation to be transferred to the surrounding environment through air convection, thereby improving heat dissipation efficiency.

[0163] In one embodiment, a fan is also provided inside the electrical chamber 26. The fan drives air to circulate within the electrical chamber 26 to actively dissipate heat from the electronic control components. Specifically, when the fan is operating, it drives external air into the electrical chamber 26 and causes the air to flow through the heat dissipation gap 261, thereby carrying away the heat generated by the electronic control components. Subsequently, the heated air is discharged through a pre-set exhaust channel or gap within the electrical chamber 26. The forced convection airflow generated by the fan can flow through the heat dissipation gap between the electronic control components and the mounting plate, allowing the side of the electronic control components facing the mounting plate to also participate in heat dissipation, preventing localized heat accumulation when the electronic control components are in contact with the mounting plate.

[0164] In some embodiments, the fan may be located at the top, side or bottom of the electrical room 26, or one or more fans may be provided to form a heat dissipation system, which is not limited in this application.

[0165] In one embodiment, such as Figures 11 to 16 As shown, the water tank assembly 2 also includes an outer shell 24 covering the tank body 21. The outer shell 24 covers the outer periphery of the tank body 21 and is used to shield and protect the tank body 21 and the functional components disposed on the tank body 21. For example, the sewage suction fan mentioned in the previous embodiment can be shielded by the outer shell 24 and hidden inside the outer shell 24.

[0166] In one embodiment, the housing 24 may be formed in a split structure, thereby facilitating assembly and disassembly. For example, the housing 24 may include a front panel, a rear panel, and two side panels respectively connected between the front panel and the rear panel. The front panel, rear panel, and side panels together form the outer contour of the housing 24. The front panel, rear panel, and two side panels may be fixed to each other by snap-fit, screw connection, riveting, buckle connection, or other connection methods. Since there is an assembly connection relationship between the panels, a housing splicing gap may be formed between adjacent panels.

[0167] In one embodiment, the outward opening of the electrical compartment 26 is closed by the housing 24 to form an independent space for accommodating the electronic control components. The housing 24 has a heat dissipation structure communicating with the independent space. Specifically, the heat dissipation structure may include the aforementioned housing joint gap, or it may include heat dissipation holes formed on the housing 24. In some embodiments, the heat dissipation structure includes air inlet and outlet structures located at different heights or on different sides of the electrical compartment 26, allowing air to pass through the independent space and form a continuous heat dissipation path.

[0168] The independent space referred to in this application refers to the installation space in which the electrical room 26 is structurally separated from the clean water chamber 211, the sewage chamber 210 and the main water circuit components, and does not require that the independent space be a completely airtight space; the independent space can be connected to the external environment through heat dissipation holes, shell splicing gaps or dedicated air ducts.

[0169] Furthermore, the air outlet of the suction fan described in the foregoing embodiment can face the housing 24 so that the airflow is discharged through the housing 24. Specifically, the housing splicing gap and / or air outlet on the housing 24 can be arranged opposite to the air outlet of the suction fan 250, or connected to the air outlet through an exhaust channel, so that the airflow discharged by the suction fan 250 is discharged through the housing 24. The air outlet area can be located away from the clean water inlet 213 and the electrical room 26 to reduce the risk of the exhaust airflow carrying droplets or humid air to electrical components.

[0170] In one embodiment, such as Figure 11 As shown, a water-blocking and guiding structure 28 is provided between the charging component 27 and the water inlet 213. The water-blocking and guiding structure 28 is used to block and guide liquid generated near the water inlet 213 to prevent liquid from dripping into the charging component 27. That is, the water-blocking and guiding structure 28 can guide liquid dripping from the water inlet 213 to both sides of the charging component 27, thereby preventing liquid from dripping directly onto the charging component 27. In some examples, the water-blocking and guiding structure 28 can be configured with an arc-shaped guiding surface arching towards the water inlet 213. The arc-shaped guiding surface extends in the left-right direction and forms a protruding area on the side near the water inlet 213. For example, the water-blocking and guiding structure 28 can be in the shape of an arc, an arch, an arc apex, or other curved surface structure protruding towards the water inlet 213 to form the arc-shaped guiding surface. The arc-shaped flow guide surface may have a profile that is higher in the middle and lower at the left and right ends, so that the liquid falling on the arc-shaped flow guide surface flows to the left and right sides of the charging component 27 respectively; the left and right ends of the water blocking and flow guiding structure 28 may also be connected to the water guide groove or drainage edge on the outer shell 24 to further guide the liquid to a position away from the charging component 27.

[0171] In some embodiments, the water guide channel may be formed by an inwardly recessed wall of the housing 24, or it may be surrounded by guide ribs, water-blocking edges, or independent water guide components disposed on the surface of the housing 24. The water guide channel extends in a direction away from the charging component 27, and its outlet may be disposed on the left and right sides of the charging component 27, the side of the housing 24, or the lower side of the box 21, so that the liquid diverted by the water-blocking and guiding structure 28 can be discharged to a position offset from the charging component 27.

[0172] The outer periphery of the charging component 27 may also be provided with an annular or semi-annular water-blocking edge. The water-blocking edge is located downstream of the water-blocking and guiding structure 28 and the water-guiding channel, and is used to provide secondary obstruction for a small amount of liquid that may cross the water-blocking and guiding structure 28 or flow to the charging component 27 from other directions.

[0173] Therefore, the water-blocking and guiding structure 28, the water-guiding channel and the water-blocking edge around the charging component 27 can sequentially form a multi-level waterproof path of liquid diversion to the left and right, directional guidance and secondary blocking, reducing the risk of liquid re-flowing along the surface of the outer shell 24 and contacting the charging component 27.

[0174] In one embodiment, the water-blocking and guiding structure 28 can be integrally formed by partially protruding outward from the outer shell 24. In other words, the water-blocking and guiding structure 28 can be formed by continuous deformation of the shell wall of the outer shell 24 at the position corresponding to the water inlet 213 and the charging component 27, without the need for additional independent guiding components, thereby reducing the number of parts and simplifying the assembly structure.

[0175] When water is added to the water inlet 213, if water overflows, drips, or residual liquid flows along the outer surface, the liquid will first contact the water-blocking and guiding structure 28 as it flows downwards. Because the water-blocking and guiding structure 28 has an arc-shaped guiding surface that arches towards the water inlet 213, the liquid cannot directly pass over the water-blocking and guiding structure 28 to flow towards the charging component 27 below. Instead, under the influence of gravity, the liquid will flow along the arc-shaped guiding surface to the sides or away from the charging component 27, thereby guiding the liquid to other areas, reducing the risk of liquid contacting the charging component 27, and improving the safety and reliability of the charging system.

[0176] like Figure 11 As shown, the clean water inlet 213, the water-blocking and guiding structure 28, and the charging component 27 are arranged from top to bottom along the rear side of the housing 21; the filter element 2312 and the maintenance port 240 are located in the lower area of ​​the rear side of the housing 21, so that automatic water replenishment, charging, and clean water circuit maintenance are concentrated on the docking side of the robot's workstation. The above layout not only facilitates the workstation to complete water replenishment and charging on the same docking side, but also reduces the mutual interference between water and electricity interfaces through the water-blocking and guiding structure and the separation of the upper and lower positions.

[0177] In summary, the water tank assembly of the cleaning robot disclosed in the above embodiments, by placing the water supply pump above the inlet of the roller brush assembly and constructing a high-level pumping water supply path using the first and second pipe sections, allows residual clean water in the second pipe section to be automatically drained under gravity after the water supply pump stops working. Compared with existing solutions where water supply pipelines are prone to water accumulation, this application achieves automatic drainage of the water supply pipeline without the need for additional drain pumps, drain valves, or dedicated control mechanisms. This reduces water retention inside the pipeline, lowers the risk of sediment, scale, and microbial growth, and improves the reliability and hygiene performance of the water supply system.

[0178] Furthermore, by integrating a wastewater chamber, a clean water chamber, and an electrical chamber within the enclosure, and placing the clean water inlet and charging components at the rear of the enclosure while placing the electrical control components at the front, a separate layout for the water and electrical control areas is achieved. Moreover, by incorporating a water-blocking and guiding structure between the clean water inlet and the charging components, overflow and splashing liquids generated during water addition can be blocked and guided, reducing the risk of liquid flowing into the charging components, thereby improving the safety of the charging system and the overall operational reliability.

[0179] Furthermore, by installing a lower radar on the chassis structure and an upper radar on the body, the cleaning robot can obtain environmental information at different heights. The coordinated operation of the upper and lower radars reduces blind spots in environmental detection, improving environmental perception, navigation accuracy, and obstacle avoidance reliability.

[0180] The above embodiments are merely illustrative of the inventive essence and beneficial effects of this application, and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the principles and scope of this application. Therefore, all equivalent modifications or alterations achieved by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A chassis structure for a cleaning robot, characterized in that, include: A modular support frame includes a deck section, a water tank support section formed on the upper side of the deck section for supporting a water tank assembly, and a battery support section for supporting a battery assembly, wherein the water tank support section and the deck section are spaced apart in the height direction; The lower radar is disposed on the lower side of the water tank support and located between the water tank support and the deck. A radar avoidance part is formed between the water tank support and the deck. The radar avoidance part is used to avoid the detection area of ​​the lower radar so that the lower radar has a detection range of at least 270 degrees. A cleaning assembly, located below the deck section, includes a central roller brush assembly, a side brush assembly in front of the roller brush assembly, and a water-absorbing rake assembly behind the roller brush assembly. A lifting drive assembly is disposed on the modular support bracket and located on the lower side of the battery support portion. The lifting drive assembly includes a first drive member connected to the water-absorbing rake assembly and a second drive member connected to the roller brush assembly and the side brush assembly. The first drive member is used to drive the water-absorbing rake assembly to lift and lower, and the second drive member is used to drive the roller brush assembly and the side brush assembly to lift and lower synchronously.

2. The chassis structure of the cleaning robot according to claim 1, characterized in that, The modular load-bearing bracket is configured as a welded structural component, a sheet metal assembly structural component, or an integrally formed structural component.

3. The chassis structure of the cleaning robot according to claim 1, characterized in that, The bottom surface of the deck section is provided with a reinforcing rib structure that extends in a zigzag shape along the periphery of the deck section and forms a closed or semi-closed profile.

4. The chassis structure of the cleaning robot according to claim 3, characterized in that, The reinforcing rib structure forms a recessed avoidance area that is recessed towards the inside of the deck section. The avoidance area is configured to avoid the drive motor of the roller brush assembly.

5. The chassis structure of the cleaning robot according to claim 1, characterized in that, The water tank support includes a support panel and a support structure connecting the support panel and the deck section, wherein the support structure supports the support panel above the deck section.

6. The chassis structure of the cleaning robot according to claim 5, characterized in that, The water tank support and the battery support are arranged in a front-to-back direction. The support structure is located close to the battery support. The support panel extends from the support structure away from the battery support, so that the front side of the support structure forms the radar avoidance part and the rear side of the support structure forms an avoidance area for avoiding the lifting drive assembly.

7. The chassis structure of the cleaning robot according to claim 6, characterized in that, The support structure has a clearance notch that opens toward the battery support portion, and the clearance area is located at the position corresponding to the clearance notch.

8. The chassis structure of the cleaning robot according to claim 7, characterized in that, The support structure includes a first support plate and a second support plate that are intersecting, and the clearance gap is formed between the first support plate and the second support plate.

9. The chassis structure of the cleaning robot according to claim 5, characterized in that, The front side of the support panel is provided with a radar mounting hole, and when the lower radar is housed in the radar mounting hole, the detection area of ​​the lower radar corresponds to the radar avoidance part.

10. The chassis structure of the cleaning robot according to claim 1, characterized in that, The battery support unit includes two opposing side walls and a support platform connected to the upper end of the two side walls. The two side walls and the support platform together form an accommodating space for accommodating the lifting drive assembly.

11. The chassis structure of the cleaning robot according to claim 10, characterized in that, The deck section has an installation opening corresponding to the accommodating space. An installation base frame is provided at the installation opening. The installation base frame includes a base plate section connected to the deck section and a drive mounting frame that protrudes upward from the base plate section and extends into the accommodating space. The first drive member and the second drive member pass through the installation opening and are fixed to the drive mounting frame.

12. The chassis structure of the cleaning robot according to claim 1, characterized in that, The battery assembly is detachably mounted on the battery carrier and can be pushed in and pulled out relative to the battery carrier in a preset disassembly / removal direction.

13. The chassis structure of the cleaning robot according to claim 12, characterized in that, The battery carrier platform is provided with a fixing lug, which cooperates with the battery assembly to limit and fix the battery assembly.

14. The chassis structure of the cleaning robot according to claim 12, characterized in that, The battery carrier platform is equipped with a positioning baffle, which is located on the insertion path of the battery assembly along a preset disassembly and assembly direction to restrict the battery assembly from moving further inward and to position the battery assembly.

15. The chassis structure of the cleaning robot according to claim 1, characterized in that, The roller brush assembly includes a dry roller brush, a wet roller brush, and a common mounting base. Both the dry roller brush and the wet roller brush are mounted on the common mounting base, and the dry roller brush and the wet roller brush are configured to be detachable from below the modular support bracket without disassembling the water tank assembly.

16. The chassis structure of the cleaning robot according to claim 15, characterized in that, The common mounting base includes a base body configured as an integral frame structure, and the base body has a plurality of mounting slots spaced apart in a front-to-back direction.

17. The chassis structure of the cleaning robot according to claim 15, characterized in that, The side end of the common mounting base is provided with a side cover that can be detachably connected by a magnetic structure. The side cover is used to cover the components installed inside the common mounting base.

18. The chassis structure of the cleaning robot according to claim 15, characterized in that, The common mounting base is provided with an anti-winding structure at the end of the dry roller brush and / or the wet roller brush. The anti-winding structure includes an outer stop and an inner stop spaced apart along the roller brush axis to form a two-stage blocking structure.

19. The chassis structure of the cleaning robot according to claim 18, characterized in that, The outer baffle is configured as a protrusion surrounding the outer end of the roller shaft of the roller brush, and the inner baffle is configured as a sealing ring surrounding the rotating support of the roller brush.

20. The chassis structure of the cleaning robot according to claim 15, characterized in that, The side brush assembly is mounted on the common mounting base, which is connected to the second drive unit to synchronously drive the roller brush assembly and the side brush assembly.

21. The chassis structure of the cleaning robot according to claim 1, characterized in that, The roller brush assembly and the side brush assembly are synchronously switched between the working position and the retracted position under the drive of the second drive member, while the water-absorbing rake assembly is independently switched between the working position and the retracted position under the drive of the first drive member.

22. The chassis structure of the cleaning robot according to claim 1, characterized in that, The chassis structure also includes a drive wheel assembly, which includes left and right drive wheels respectively mounted on the underside of the deck section via mounting arms.

23. The chassis structure of the cleaning robot according to claim 1, characterized in that, A passive wheel assembly is provided on the lower side of the deck section, the passive wheel assembly including a guide wheel and an auxiliary wheel.

24. The chassis structure of the cleaning robot according to claim 23, characterized in that, The auxiliary wheel is raised relative to the guide wheel so that it helps support the chassis structure when the guide wheel crosses an obstacle or traverses uneven ground.

25. The chassis structure of the cleaning robot according to claim 1, characterized in that, The outer periphery of the deck section is provided with a protective structure, which includes a front cover plate located on the front side of the deck section and a rear cover plate located on the rear side of the deck section. Both the front cover plate and the rear cover plate are detachably connected to the deck section and extend downward from the deck section to protect the chassis structure.

26. A cleaning robot, characterized in that, It includes the chassis structure of the cleaning robot as described in any one of claims 1 to 25 and a water tank assembly disposed on the upper side of the chassis structure.

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