Cleaning equipment, base station and cleaning system

Abstract

The utility model discloses a cleaning device, a base station and a cleaning system, a main cleaning module and an auxiliary cleaning module used for wet cleaning on the cleaning device are both located behind a dry cleaning module in the advancing direction of a machine body of the cleaning device, and therefore a rolling brush of the dry cleaning module conducts dry cleaning in front. And a main cleaning assembly of the main cleaning module for wet-type cleaning and an auxiliary cleaning assembly of the auxiliary cleaning module perform wet-type mopping behind the rolling brush, so that a cleaning mode of firstly performing dry-type cleaning and then performing wet-type mopping is formed. Meanwhile, at least part of the auxiliary cleaning assembly extends out of the edge of the machine body all the time so that edge cleaning can be carried out on the edges such as obstacles or wall faces, and in the width direction of the machine body, due to the fact that sweeping leakage does not exist between sweeping areas of the main cleaning assembly and the auxiliary cleaning assembly, under cooperation of the main cleaning assembly and the auxiliary cleaning assembly, the cleaning efficiency is improved. Edge cleaning is achieved, meanwhile, sweeping leakage between the two parts is avoided, and the cleaning effect is improved.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to a cleaning device, a base station and a cleaning system. Background Art

[0002] There are many implementation methods for existing cleaning robots to clean obstacles along the edge. For example, a cleaning robot disclosed in Chinese patent publication number CN116919259A includes a machine body, a cleaning system and a driving system arranged on the machine body. In the forward direction of the machine body, the cleaning system is located in front of the driving system, and the driving system includes at least two driving wheels symmetrically arranged on the bottom of the machine body.

[0003] The cleaning system includes a cleaning head and an auxiliary cleaning head; the auxiliary cleaning head is arranged at the corner of the forward part of the machine body and is located below the buffer (i.e., the impact plate at the front of the machine body). A portion of the auxiliary cleaning head exceeds the buffer (i.e., exceeds the edge of the machine body). Since the auxiliary cleaning head exceeds the edge of the machine body, the area outside the machine body can be cleaned, so that the cleaning robot can better clean walls, corners and other areas.

[0004] The cleaning head may be a roller brush, which rotates to sweep up the garbage on the ground and bring it to the suction port of the dust box to achieve dry cleaning; or the cleaning head may be a cleaning pad, which removes stains on the ground through the reciprocating vibration of the cleaning head; or the cleaning head may be a roller brush for wet cleaning, and a garbage recovery system for roller brush wet cleaning. The cleaning heads of the first two types both perform dry cleaning on the ground, and the cleaning effect is poor; the cleaning head of the latter type can perform wet cleaning on the ground to improve the cleaning effect, but the wet cleaning head simultaneously cleans dry garbage and wet garbage, and a recycling system needs to be set up to recycle dry garbage and wet garbage, and a scraper bar is set up to squeeze the wet cleaning head to squeeze out the dirt on the cleaning head, resulting in a complex structure; if the recycling system is not set up, the wet cleaning head is more likely to be soiled by garbage, and the wet cleaning head needs to be constantly cleaned, which reduces the cleaning efficiency. Summary of the invention

[0005] Based on the above problems, the utility model provides a cleaning device, including a fuselage, a dry cleaning module arranged on the fuselage, and a main cleaning module and an auxiliary cleaning module for wet cleaning; the dry cleaning module includes at least one roller brush; the main cleaning module includes at least one main cleaning component; the auxiliary cleaning module includes at least one auxiliary cleaning component, at least part of the auxiliary cleaning component extends out of the edge of the fuselage for cleaning along the edge; along the forward direction of the fuselage, the main cleaning component and the auxiliary cleaning component are both located behind the roller brush; along the width direction of the fuselage, there is no missed cleaning area between the cleaning area of ​​the main cleaning component and the cleaning area of ​​the auxiliary cleaning component; wherein the width direction of the fuselage is perpendicular to the forward direction of the fuselage.

[0006] Optionally, the cleaning equipment also includes a walking system, which includes at least two driving wheels, and the two driving wheels are symmetrically arranged on the bottom of the fuselage; along the forward direction of the fuselage, the main cleaning component and / or the auxiliary cleaning component is located behind the driving wheels.

[0007] Optionally, in the cleaning equipment, the main cleaning component includes a main cleaning disc, and a main cleaning part arranged on the bottom of the main cleaning disc; the auxiliary cleaning component includes an auxiliary cleaning disc, and an auxiliary cleaning part arranged on the bottom of the auxiliary cleaning disc; the auxiliary cleaning disc and the main cleaning disc are both circular discs, and the diameter of the auxiliary cleaning disc is smaller than the diameter of the main cleaning disc; the auxiliary cleaning disc is distributed in a first area enclosed by the driving wheel, the main cleaning disc and the bottom of the fuselage adjacent to or close to it.

[0008] Optionally, in the cleaning equipment, the diameter of the main cleaning disk is 2 to 4 times the diameter of the auxiliary cleaning disk.

[0009] Optionally, the cleaning device further comprises a side brush provided on the bottom of the front part of the fuselage along the forward direction of the fuselage, wherein the side brush is located in front of the roller brush;

[0010] Along the width direction of the fuselage, the side brush and the auxiliary cleaning disk are both located on the right side of the fuselage to form right edge cleaning; the auxiliary cleaning disk is distributed in the first area enclosed by the driving wheel located on the right side of the fuselage, the main cleaning disk and the bottom of the fuselage.

[0011] Optionally, in the cleaning equipment, along the forward direction of the fuselage, the rotation center of the auxiliary cleaning disk is located in front of the rotation center of the main cleaning disk, so that the auxiliary cleaning disk is distributed in the first area behind the driving wheel on the upper right and right side of the main cleaning disk adjacent to it, and the main cleaning disk and the auxiliary cleaning disk are both located behind the driving wheel.

[0012] Optionally, in the cleaning device, the main cleaning assembly includes a main cleaning disc and a main cleaning member disposed on the bottom of the main cleaning disc; the auxiliary cleaning assembly includes an auxiliary cleaning disc and an auxiliary cleaning member disposed on the auxiliary cleaning disc;

[0013] There is a gap between the main cleaning disc and the auxiliary cleaning disc; the adjacent edges of the auxiliary cleaning member and the main cleaning member are tangent to each other, or are squeezed against each other, so that there is no gap between the adjacent edges of the main cleaning member and the auxiliary cleaning member without affecting the rotation of the main cleaning disc and the auxiliary cleaning disc.

[0014] Optionally, in the cleaning equipment, the main cleaning member and the auxiliary cleaning member are both rags, and the main cleaning member and the auxiliary cleaning member are squeezed against each other to form a second interference zone, and along the second connecting line of the rotation centers of the main cleaning member and the auxiliary cleaning member, the maximum width of the second interference zone is less than 5 mm.

[0015] Optionally, in the cleaning device, the main cleaning component has at least a first part; the auxiliary cleaning component has at least a second part, and in the forward direction of the fuselage, the cleaning areas of the first part and the second part have an overlapping area.

[0016] Optionally, in the cleaning device, in the forward direction of the fuselage, the first part is located behind the second part, so that the second part of the auxiliary cleaning component is cleaned first and the first part of the main cleaning component is cleaned later, and the cleaning areas of the two successively have the overlapping area.

[0017] Optionally, in the cleaning device, the main cleaning assembly includes a main cleaning disc and a main cleaning member disposed on the bottom of the main cleaning disc; the auxiliary cleaning assembly includes an auxiliary cleaning disc and an auxiliary cleaning member disposed on the auxiliary cleaning disc;

[0018] There is a gap between the main cleaning disc and the auxiliary cleaning disc, and the adjacent edges of the auxiliary cleaning member and the main cleaning member are tangent to each other or squeezed against each other so that there is no gap between the adjacent edges of the main cleaning member and the auxiliary cleaning member without affecting the respective rotations of the main cleaning disc and the auxiliary cleaning disc.

[0019] Optionally, in the cleaning device, the main cleaning part is a main rag, the auxiliary cleaning part is an auxiliary rag, the auxiliary cleaning plate has the second part, and the main cleaning plate has the first part, so that the main rag on the second part is cleaned first, and the auxiliary rag on the first part is cleaned later.

[0020] Optionally, the cleaning device, the auxiliary cleaning module further comprises a first driving structure for driving the auxiliary cleaning component to lift and rotate;

[0021] The main cleaning module also includes a second driving structure for driving the main cleaning component to rise and fall and rotate;

[0022] There are two main cleaning components and two second driving structures, and one second driving structure drives one main cleaning component;

[0023] The first driving structure and the second driving structure are arranged in the inner cavity of the fuselage, and the first driving structure passes through the bottom of the fuselage and is connected to the auxiliary cleaning assembly so that the auxiliary cleaning assembly is located at the bottom of the fuselage;

[0024] The second driving structure passes through the bottom of the body and is connected to the main cleaning assembly so that the main cleaning assembly is located below the bottom of the body.

[0025] Optionally, the cleaning device, the dry cleaning module further comprises a dust box and a main fan, the main fan is used to suck the garbage into the dust box; a dust box cavity for installing the dust box is provided in the fuselage; a dust exhaust channel connected to the dust box is also provided in the fuselage, which is used to suck the garbage in the dust box into the base station under the action of the dust collecting fan of the base station;

[0026] The main fan is arranged in the inner cavity of the fuselage, and is distributed in the second area surrounded by the dust exhaust channel, the dust box cavity, and the two second driving structures; the first driving structure is distributed outside the second area, and is away from one side of the dust exhaust channel, and is located behind the driving wheel adjacent to or close to it.

[0027] Optionally, the cleaning device further comprises a water replenishing mechanism disposed in the inner cavity of the body, for replenishing water to the main cleaning element and / or the auxiliary cleaning element to perform wet cleaning;

[0028] The water replenishment mechanism is arranged on the fuselage avoiding the first driving structure and is located outside the second area.

[0029] Optionally, in the cleaning equipment, the water replenishing mechanism includes a water tank and a pump body, a third area is formed between the two second driving structures and the rear side wall of the fuselage, and at least one of the water tank and the pump body is arranged in the third area.

[0030] Optionally, in the cleaning equipment, the water replenishing mechanism includes a water tank and a pump body; a fourth area is enclosed between another driving wheel away from the auxiliary cleaning component and the dust exhaust channel and the side wall of the fuselage; the water tank is arranged in the third area, and the pump body is arranged in the fourth area.

[0031] Optionally, in the forward direction of the cleaning device, the first portion is located behind a position where adjacent edges of the auxiliary cleaning member and the main cleaning member are tangent to or squeezed against each other.

[0032] Optionally, the cleaning device further comprises an exhaust duct connected to the exhaust port of the main fan;

[0033] The exhaust duct extends out of the second area and toward the side wall of the fuselage adjacent thereto so as to communicate with the outside world; along the forward direction of the fuselage, the first driving structure is located behind the exhaust duct.

[0034] Optionally, in the cleaning device, the vertical projection of the body on the surface to be cleaned is a rectangle, the long side of the rectangle is located in the forward direction of the body, the short side of the rectangle is located in the width direction of the body, the dust box cavity is distributed between the two driving wheels, and along the forward direction of the body, the roller brush is located in front of the driving wheel and the dust box cavity; or

[0035] The vertical projection of the body on the surface to be cleaned is circular, and at least part of the roller brush is located between the two driving wheels; along the forward direction of the body, the dust box is located behind the roller brush.

[0036] Optionally, the cleaning device has a fuselage having a rear portion and a front portion located in front of the rear portion along the forward direction of the fuselage; a buffer is provided on the front portion, and the buffer detects obstacles by colliding with the obstacles; the auxiliary cleaning component and the main cleaning component are arranged at the rear of the fuselage.

[0037] Optionally, in the cleaning device, the main cleaning module further comprises a second driving structure, the second driving structure being a first lifting structure, at least used to drive the main cleaning component to lift and descend, so that the main cleaning component switches between a mopping position and a lifting position;

[0038] The auxiliary cleaning module also includes a first driving structure, which is a second lifting mechanism, at least used to drive the auxiliary cleaning component to lift and descend, so that the auxiliary cleaning component can switch between a mopping position and a lifting position.

[0039] Optionally, in the cleaning device, the main cleaning component and the auxiliary cleaning component are synchronously in a raised position or a mopping position;

[0040] Optionally, in the cleaning device, the second driving structure is further used to drive the main cleaning component to rotate when in the mopping position to clean the surface to be cleaned;

[0041] The first driving structure is also used to drive the auxiliary cleaning component to rotate when in the mopping position to clean the surface to be cleaned;

[0042] When in the mopping position, the adjacent auxiliary cleaning disc and the main cleaning disc rotate in opposite directions.

[0043] Optionally, in the cleaning device, there are two main cleaning assemblies, and the two main cleaning assemblies are symmetrically arranged on the bottom of the fuselage; along the width direction of the fuselage, there is no gap between the main cleaning parts of the two main cleaning assemblies;

[0044] The auxiliary cleaning tray is arranged on the right side of the bottom of the machine body to form a right edge, and the auxiliary cleaning tray is adjacent to the main cleaning tray located on the right side of the machine body;

[0045] In the mopping position, the two adjacent main cleaning discs rotate in opposite directions, and the auxiliary cleaning disc rotates counterclockwise.

[0046] Optionally, in the cleaning device, the first driving structure and / or the second driving structure includes a first motor and a lifting assembly, the lifting assembly is connected to a cleaning assembly, the cleaning assembly is a main cleaning assembly or an auxiliary cleaning assembly, and the lifting assembly drives the cleaning assembly to rise and fall, and rotate in the mopping position.

[0047] Optionally, in the cleaning equipment, the first drive structure and the second drive structure share a motor; and also include a first transmission mechanism, one end of the first transmission mechanism is connected to the power output shaft of the first motor, and the other end has a first output end and a second output end; the first output end is connected to the lifting component of the first drive structure, and the second output end is connected to the lifting component of the second drive structure, so that the first motor can synchronously drive the main cleaning component and the auxiliary cleaning component to lift and rotate.

[0048] Optionally, in the cleaning equipment, the lifting component drives the lifting and rotation of the cleaning component through a spiral mechanism; the rotation directions of the first output end and the second output end are opposite, and the spiral direction of the spiral mechanism of the first driving structure is the same as the spiral direction of the spiral mechanism of the second driving structure.

[0049] Optionally, in the cleaning equipment, the lifting component drives the lifting and rotation of the cleaning component through a spiral mechanism; the rotation directions of the first output end and the second output end are the same, and the spiral direction of the spiral mechanism of the first driving structure is opposite to the spiral direction of the spiral mechanism of the second driving structure.

[0050] Optionally, the cleaning device, the lifting assembly comprises

[0051] A first fixed body connected to a power output shaft of the first motor;

[0052] A second fixed body is connected to a cleaning component, the cleaning component being a main cleaning component or an auxiliary cleaning component; a spiral mechanism is formed between the first fixed body and the second fixed body;

[0053] The power output shaft rotates in the first direction, and under the action of the power output shaft or at least under the gravity of the second fixed body and the cleaning component, the second fixed body is caused to move downward relative to the first fixed body through the spiral mechanism; in the mopping position, the power output shaft continues to rotate in the first direction, the second fixed body does not continue to move downward relative to the first fixed body, and the second fixed body rotates to drive the cleaning component to rotate and clean the surface to be cleaned;

[0054] The power output shaft rotates along the second direction. Under the action of the power output shaft, the second fixed body is caused to move upward relative to the first fixed body through the screw mechanism, so as to drive the cleaning component to move upward.

[0055] Optionally, in the cleaning device, the first fixed body comprises a first sleeve, the bottom of the first sleeve is provided with a first mounting cavity recessed upward, the top of the first sleeve is drivingly connected to the power output shaft of the first motor;

[0056] The second fixing body comprises a second sleeve and a shell, the top of the second sleeve is provided with a first annular cavity which is concave downwards, and the bottom of the second sleeve is provided with a second mounting cavity which is concave upwards; the mounting protrusion on the top of the cleaning assembly is detachably mounted in the second mounting cavity;

[0057] The outer shell is sleeved outside the second sleeve and is fixed relative to the fuselage; a damping member is provided between the inner wall of the outer shell and the outer wall of the second sleeve, so that the rotation speeds of the second sleeve and the first sleeve are different, and the second sleeve rises and falls relative to the first sleeve;

[0058] The first sleeve is embedded in the annular cavity through the first installation cavity, a rib is provided on the outer wall of the first sleeve, a thread groove matched with the rib is provided on the inner wall of the second sleeve, and the rib and the thread groove form the spiral mechanism; a first limiting portion is provided at the top of the thread groove, and in the mopping position, along the spiral direction of the thread groove, the rib abuts against the side wall of the first limiting portion to limit the second sleeve from continuing to descend relative to the first sleeve;

[0059] The descending movement of the second sleeve relative to the first sleeve is driven by the power output to rotate in a first direction.

[0060] Optionally, in the cleaning device, the damping member is a wool strip, one end of which is fixed to the inner wall of the shell, and the other end of which is interference-abutted against the outer wall of the second sleeve to form a flexible abutment; or

[0061] At least one clearance hole is provided on the housing, at least one first protrusion is provided in the clearance hole, and the first protrusion protrudes toward the second sleeve to abut against the outer wall of the second sleeve in an interference fit manner; or

[0062] At least one clearance hole is provided on the outer shell, and a rotatable first rotating body is provided in the clearance hole, and an interference fit is formed between the first rotating body and the outer wall of the second sleeve; during the lifting and lowering process of the cleaning component, the first rotating body does not rotate; when in the mopping position, rolling friction is formed between the first rotating body and the second sleeve.

[0063] Optionally, cleaning equipment,

[0064] The first fixed body comprises a first cylinder, which is sleeved on the power output shaft of the first motor through a first one-way bearing; the one-way bearing has a transmission state for transmitting the force of the power output shaft to the first cylinder, and a disconnection state for disconnecting the force of the power output shaft from being transmitted to the first cylinder;

[0065] The second fixed body comprises a floating shaft and a second cylinder, wherein the second cylinder is rotatably arranged on the outer wall of the floating shaft; the top of the floating shaft is connected to the power output shaft, and the bottom of the floating shaft is connected to the top of the cleaning assembly;

[0066] A spiral mechanism is formed between the second cylinder and the first cylinder;

[0067] The power output shaft rotates in a first direction, and the first cylinder is in a disconnected state; the power output shaft drives the floating shaft to rotate, so as to drive the cleaning assembly to rotate, and under the gravity of the second fixed body and the cleaning assembly, the second cylinder moves downward relative to the first cylinder;

[0068] The power output shaft rotates in the second direction, the first cylinder is in a transmission state, and the power output shaft drives the first cylinder to rotate, so that the second cylinder rises relative to the first cylinder, thereby driving the floating shaft and the cleaning assembly to rise.

[0069] Optionally, in the cleaning device, the spiral mechanism comprises a first threaded surface, and a first matching piece abutting against the first threaded surface, one of the first spiral surface and the first matching piece is arranged on the first cylinder, and the other is arranged on the second cylinder, and the first matching piece is a second spiral surface or a first roller; and / or

[0070] It also includes a first reset member, which is arranged between the floating shaft and the power output shaft, and is used to apply a downward reset force to the floating shaft and the cleaning assembly; the power output shaft rotates along a first direction, and under the gravity of the second fixed body and the cleaning assembly, and driven by the reset force, the second cylinder moves downward relative to the first cylinder.

[0071] Optionally, in the cleaning device, the lifting assembly includes a third cylinder, which is sleeved on the power output shaft of the first motor through a one-way bearing; the one-way bearing has a transmission state in which the force of the power output shaft is transmitted to the third cylinder, and a disconnection state in which the force of the power output shaft is disconnected from being transmitted to the third cylinder; the bottom of the power output shaft is connected to the cleaning assembly; a support body is fixedly arranged relative to the fuselage, the support body is located on the outside of the third cylinder, and a spiral mechanism is formed between the support body and the third cylinder;

[0072] When the power output shaft rotates in the first direction, the cleaning component is driven to rotate, and the third cylinder is in a disconnected state. At least under the gravity of the third cylinder and the cleaning component, the third cylinder can move downward relative to the support body through the spiral mechanism to drive the cleaning component to move downward; and in the mopping position, the power output shaft continues to rotate in the first direction, the third cylinder does not continue to move downward relative to the support body, and the power output shaft drives the cleaning component to rotate;

[0073] When the power output shaft rotates in the second direction, the third cylinder is in a transmission state. Through the screw mechanism, the power output shaft drives the third cylinder to move upward relative to the support body, so as to drive the cleaning component to rise.

[0074] Optionally, in the cleaning equipment, the spiral mechanism includes a third spiral surface and a second mating part mating with the third threaded surface, one of the third threaded surface and the second mating part is arranged on the support body, and the other is arranged on the outside of the third cylinder; the second mating part is a fourth threaded surface or a second roller.

[0075] Optionally, in the cleaning device, the third threaded surface is provided on the support body, and a third limiting portion is provided at the bottom of the third spiral surface;

[0076] Along the spiral direction of the third threaded surface, the second matching member abuts against the side wall of the third limiting portion to limit the third cylinder from continuing to descend relative to the supporting body in the mopping position.

[0077] Optionally, the cleaning device further includes a first housing and a second restoring member;

[0078] The first motor, the power output shaft and the third cylinder are all arranged on the first housing, and the first housing is slidably arranged on the support body in the vertical direction;

[0079] The second restoring member is disposed between the first shell and the supporting body; the second restoring member is used to apply a second restoring force downward to the first shell;

[0080] Under the gravity of the third cylinder, the first shell, and the cleaning assembly and the action of the second restoring force, the first shell is driven to move downward relative to the support body.

[0081] Optionally, the cleaning device further includes a torsion component, which is sleeved outside the third cylinder, has one end connected to the support body, and the other end abuts against the third cylinder; and is used to apply torque to the third cylinder so that the third cylinder can rotate downward relative to the support body.

[0082] Optionally, in the cleaning device, in the non-edge cleaning mode, the auxiliary cleaning plate is in a raised position, and the main cleaning plate is in a mopping position; or

[0083] During edge cleaning, the auxiliary cleaning plate is in a mopping position, and during non-edge cleaning, the auxiliary cleaning plate is in a raised position.

[0084] Optionally, in the cleaning device, the rotation center of the auxiliary cleaning disk is located in front of the rotation center of the main cleaning disk, and a first line connecting the rotation centers of the auxiliary cleaning disk and the main cleaning disk intersects with a second line connecting the rotation centers of the two main cleaning disks.

[0085] Optionally, in the cleaning device, the main cleaning module further comprises a first lifting structure, and the first lifting structure is used to drive the main cleaning component to lift;

[0086] The auxiliary cleaning module is arranged on the main cleaning component and cannot swing relative to the body. Under the drive of the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component, so that the main cleaning component and the auxiliary cleaning component are synchronously in the lifting position and the mopping position.

[0087] Optionally, in the cleaning equipment, the main cleaning component includes a mounting seat, and a main rag arranged on the bottom of the mounting seat; the auxiliary cleaning module is arranged on the mounting seat, and the first lifting structure drives the mounting seat to rise and fall, so as to drive the main cleaning component and the auxiliary cleaning component to rise and fall synchronously.

[0088] Optionally, in the cleaning equipment, the mounting base is a flat mop, the flat mop includes a top plate, a bottom plate arranged on the bottom of the top plate, the bottom plate is provided with a mounting hole or an avoidance opening, and a vibration plate embedded in the mounting hole or the avoidance opening; the main rag is arranged on the bottom of the vibration plate and the bottom plate, the vibration plate vibrates or twists back and forth to drive the main rag to move to clean the surface to be cleaned.

[0089] Optionally, in the cleaning equipment, the auxiliary cleaning module is arranged on the top plate.

[0090] Optionally, in the cleaning device, the main cleaning component has at least a first part and the auxiliary cleaning component has at least a second part, and in the forward direction of the fuselage, the cleaning areas of the first part and the second part have an overlapping area.

[0091] Optionally, in the cleaning device, in the forward direction of the fuselage, the first part is located behind the second part, so that the second part of the auxiliary cleaning assembly is cleaned first and the first part is cleaned later, and the cleaning areas of the two parts have the overlapping area;

[0092] Optionally, in the cleaning device, the auxiliary cleaning component includes an auxiliary rag, and along the width direction of the fuselage, there is no missed cleaning area between the cleaning area of ​​the main rag and the cleaning area of ​​the auxiliary rag.

[0093] Optionally, in the cleaning device, the area of ​​the main rag is larger than the area of ​​the auxiliary rag; and / or

[0094] The auxiliary cleaning component also includes an auxiliary cleaning plate, the auxiliary rag is arranged on the bottom of the auxiliary cleaning plate, the mounting seat has the first part, and the auxiliary cleaning plate has the second part, so that the auxiliary rag on the second part is cleaned first, and the main rag on the first part is cleaned later, and the area of ​​the auxiliary cleaning plate is smaller than the area of ​​the mounting seat.

[0095] Optionally, in the cleaning device, the auxiliary cleaning assembly comprises an auxiliary cleaning plate, and an auxiliary rag disposed on the bottom of the auxiliary cleaning plate;

[0096] The auxiliary cleaning module further comprises a first driving structure for driving the auxiliary cleaning disc to rotate, and the second driving structure is arranged on the mounting seat; the area of ​​the auxiliary cleaning disc is smaller than the area of ​​the mounting seat.

[0097] Optionally, the cleaning device further comprises a side brush and a walking system, wherein the side brush is arranged on the bottom of the front part of the body; the auxiliary cleaning assembly comprises an auxiliary cleaning disc and an auxiliary rag arranged on the bottom of the auxiliary cleaning disc; along the width direction of the body, the auxiliary cleaning disc and the side brush are both located on the right side of the body to form a right edge;

[0098] The walking system comprises at least two driving wheels, and the two driving wheels are symmetrically arranged on the bottom of the fuselage;

[0099] Along the forward direction of the fuselage, the main cleaning assembly is located behind the driving wheel, and the auxiliary cleaning disc is located in front of the main cleaning assembly;

[0100] At least a portion of the auxiliary cleaning disc is located in an area outside the right driving wheel along the width direction of the machine body.

[0101] Optionally, in the cleaning device, the first driving structure includes a second motor, and a second transmission mechanism for transmitting the driving force of the second motor to the auxiliary cleaning disc;

[0102] The second motor is arranged on the mounting seat, and one end of the output shaft of the second transmission mechanism away from the second motor extends toward the right driving wheel and avoids the driving wheel so that the auxiliary cleaning disc is located in the area outside the right driving wheel.

[0103] Optionally, in the cleaning device, the auxiliary cleaning plate is located in front of the mounting seat so that the auxiliary rag cleans first and the main rag cleans later.

[0104] Optionally, the cleaning device further comprises a side brush and a walking system, wherein the side brush is arranged on the bottom of the front part of the body; the auxiliary cleaning assembly comprises an auxiliary rag; along the width direction of the body, the auxiliary rag and the side brush are both located on the right side of the body to form a right edge;

[0105] The walking system comprises at least two driving wheels, and the two driving wheels are symmetrically arranged on the bottom of the fuselage;

[0106] Along the forward direction of the fuselage, the main cleaning assembly is located behind the driving wheel, and the auxiliary cleaning cloth is located in front of the main cleaning assembly;

[0107] At least a portion of the auxiliary cleaning cloth is located in an area outside the right driving wheel along the width direction of the fuselage.

[0108] Optionally, in the cleaning device, the auxiliary cleaning module further comprises a first driving structure for driving the auxiliary rag to rotate to mop the floor;

[0109] The first driving structure includes a second motor and a second transmission mechanism for transmitting the driving force of the second motor to the auxiliary rag;

[0110] The second motor is arranged on the mounting seat, and one end of the output shaft of the second transmission mechanism away from the second motor extends toward the right driving wheel and avoids the driving wheel so that the auxiliary rag is located in the area outside the right driving wheel.

[0111] Optionally, the cleaning device, the auxiliary cleaning assembly further comprises an auxiliary cleaning plate, the auxiliary rag is arranged on the bottom of the auxiliary cleaning plate; the auxiliary cleaning plate is located in front of the mounting seat so that the rag cleans first and the main rag cleans later;

[0112] The second transmission mechanism drives the auxiliary cleaning disc to rotate, so as to drive the auxiliary rag to rotate. The auxiliary cleaning disc is located in the area outside the right driving wheel, so that the auxiliary rag is located in the area outside the right driving wheel.

[0113] Optionally, the cleaning device further includes at least one downward-looking sensor, one of which is arranged on the bottom of the chassis of the fuselage, and along the forward direction of the fuselage, the downward-looking sensor is located between the driving wheel on the right side and the mounting seat.

[0114] Optionally, the cleaning device further comprises a water replenishing mechanism, wherein the water replenishing mechanism is used to replenish water to the main rag and the auxiliary rag so that the main rag and the auxiliary rag can perform wet cleaning;

[0115] Along the forward direction of the fuselage, the side brush in front is used for dry cleaning, and the auxiliary cloth in the back is used for wet cleaning.

[0116] Optionally, in the cleaning equipment, the auxiliary cleaning assembly includes an auxiliary cleaning disk and an auxiliary cleaning member arranged on the bottom of the auxiliary cleaning disk; when the auxiliary cleaning member cleans the surface to be cleaned, the pressure applied to the auxiliary cleaning disk is 900-1500Pa.

[0117] The present application also provides a base station, comprising

[0118] A main body having a cleaning chamber, wherein the cleaning chamber is provided with at least one main cleaning area and an auxiliary cleaning area;

[0119] When the cleaning device described in any of the above items returns to the base station,

[0120] The main cleaning area and the auxiliary cleaning area are used for cleaning the main cleaning parts of the main cleaning assembly on the cleaning device and the auxiliary cleaning parts of the auxiliary cleaning assembly, respectively.

[0121] The present application also provides a cleaning system, comprising any one of the aforementioned cleaning devices and the base station.

[0122] Beneficial effects:

[0123] The cleaning device of the present application has a main cleaning module and an auxiliary cleaning module for wet cleaning on the cleaning device located behind the dry cleaning module along the forward direction of the body of the cleaning device, so that the roller brush of the dry cleaning module performs dry sweeping in front, and the main cleaning component of the main cleaning module for wet cleaning and the auxiliary cleaning component of the auxiliary cleaning module perform wet mopping behind the roller brush, forming a cleaning mode of dry sweeping first and then wet mopping. This cleaning mode prevents dry garbage on the ground from getting on the main cleaning component and the auxiliary cleaning component and soiling the main cleaning component and the auxiliary cleaning component, thereby reducing the cleaning frequency of the main cleaning component and the auxiliary cleaning component, and there is no need to set a scraper bar of the recovery system in the body to scrape off the dirt on the main cleaning component and the auxiliary cleaning component, thereby making the structure of the robot simple. At the same time, at least part of the auxiliary cleaning component always extends out of the edge of the fuselage to achieve edge cleaning of obstacles or walls and the like. Along the width direction of the fuselage, since there is no missed cleaning between the cleaning areas of the main cleaning component and the auxiliary cleaning component, with the cooperation of the main cleaning component and the auxiliary cleaning combination, edge cleaning is achieved while avoiding missed cleaning between the two, thereby improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0124] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0125] Figure 1 A schematic diagram (looking upward) of a cleaning device (without the auxiliary cleaning module) provided in an embodiment of the present application;

[0126] Figure 2 A schematic diagram of a cleaning device (without the auxiliary cleaning module) provided in this embodiment of the present application (viewed from above with the upper shell removed);

[0127] Figure 3 for Figure 2 A partial enlarged view of the cleaning equipment;

[0128] Figure 4 A schematic diagram of a cleaning device provided in an embodiment of the present application (looking upward);

[0129] Figure 5 A three-dimensional schematic diagram of a cleaning device provided in an embodiment of the present application;

[0130] Figure 6 A schematic diagram of another cleaning device provided in an embodiment of the present application (viewed from above without the upper shell);

[0131] Figure 7 for Figure 6 A partial enlarged view of the cleaning equipment;

[0132] Figure 8 A schematic diagram of another cleaning device provided in an embodiment of the present application;

[0133] Fig. 9 for Figure 8 A schematic diagram of the cleaning device in an upward direction;

[0134] Fig.10 for Figure 8 A schematic diagram of the arrangement of the internal structure of the cleaning equipment;

[0135] Fig.11 A schematic diagram of a first driving structure provided in an embodiment of the present application;

[0136] Fig.12 for Fig.11 A cross-sectional schematic diagram of a second sleeve of the first driving structure;

[0137] Fig.13 for Fig.11 An exploded schematic diagram of a first sleeve and a second sleeve of a first driving structure;

[0138] Fig.14 A schematic diagram of another first driving structure provided in an embodiment of the present application;

[0139] Fig.15 for Fig.14 A partial exploded schematic diagram of the first driving structure;

[0140] Fig.16 for Fig.14 An exploded schematic diagram of the first drive structure;

[0141] Fig.17 for Fig.14 A schematic diagram of another implementation of the first driving structure;

[0142] Fig.18 A schematic diagram of another first driving structure provided in an embodiment of the present application;

[0143] Fig.19 A schematic diagram of a turning method of two main rags and an auxiliary rag in an embodiment of the present application (viewed from above);

[0144] Fig. 20 A schematic diagram of another way of turning two main rags and an auxiliary rag in an embodiment of the present application (viewed from above);

[0145] Fig.21A schematic diagram of another way of turning two main rags and an auxiliary rag in an embodiment of the present application (viewed from above);

[0146] Fig. 22 A schematic diagram of another way of turning two main rags and an auxiliary rag in an embodiment of the present application (viewed from above);

[0147] Fig.23 Another embodiment of the cleaning device provided in the embodiment of the present application;

[0148] Fig.24 for Fig.23 Schematic diagram of the cleaning device removing the main rag;

[0149] Fig.25 for Fig.23 An exploded schematic diagram of the main cleaning component of the cleaning device;

[0150] Fig.26 A schematic diagram of the arrangement of two main rags and an auxiliary rag provided in an embodiment of the present application (viewed from above);

[0151] Fig. 27 for Fig.11 A cross-sectional schematic diagram of the first driving structure;

[0152] Fig.28 A schematic diagram of another cleaning device provided in an embodiment of the present application;

[0153] Fig.29 A schematic diagram of the internal arrangement of another cleaning device provided in an embodiment of the present application;

[0154] Fig.30 For this application Fig.29 A schematic diagram of a structure of a first driving structure of a cleaning device;

[0155] Fig.31 This is a test data chart of the auxiliary cloth, downward pressure, service life, and regional cleaning rate of the cleaning equipment of an embodiment of the present application. DETAILED DESCRIPTION

[0156] The inventive concept of this application is:

[0157] like Figures 1 to 4As shown, along the forward direction of the body 10 of the cleaning device, the main cleaning module 20 and the auxiliary cleaning module 30 for wet cleaning on the cleaning device are both located behind the dry cleaning module 40, so that the roller brush 403 of the dry cleaning module 40 performs dry cleaning in front, and the main cleaning component 202 of the main cleaning module 20 for wet cleaning and the auxiliary cleaning component 302 of the auxiliary cleaning module 30 perform wet mopping behind the roller brush 403, forming a cleaning mode of dry cleaning first and then wet mopping. This cleaning mode prevents dry garbage on the ground from getting on the main cleaning component 202 and the auxiliary cleaning component 302 and soiling the main cleaning component 202 and the auxiliary cleaning component 302, thereby reducing the cleaning frequency of the main cleaning component 202 and the auxiliary cleaning component 302, and there is no need to set a scraper bar of the recovery system in the body 10 to scrape the dirt on the main cleaning component 202 and the auxiliary cleaning component 302, so that the structure of the robot is simple. At the same time, at least a portion of the auxiliary cleaning component 302 always extends out of the edge of the body 10 to achieve edge cleaning of obstacles or walls and the like. Along the width direction of the body 10, since there is no missed cleaning between the cleaning areas of the main cleaning component 202 and the auxiliary cleaning component 302, with the cooperation of the main cleaning component 202 and the auxiliary cleaning combination, edge cleaning is achieved while avoiding missed cleaning between the two, thereby improving the cleaning effect.

[0158] Specifically, the main cleaning module 20 includes at least one main cleaning component 202 (for example, a cleaning disc, a flat drag, a crawler) or two main cleaning components 202 (for example, two cleaning discs, both of which are circular discs). The auxiliary cleaning module 30 includes at least one auxiliary cleaning component 302, at least part of which always extends out of the edge of the fuselage 10 to clean the edges of obstacles or walls. The width direction of the fuselage 10 is perpendicular to the forward direction of the fuselage 10. Along the forward direction of the fuselage 10 (such as along Fig. 9 direction of the arrow in the figure), such as Figure 4 As shown, the dry cleaning module 40 is located in front of the main cleaning module 20; the dry cleaning module 40 includes at least one roller brush 403 for cleaning the surface to be cleaned. The surface to be cleaned may be, but is not limited to, the surface or scene of an object such as the ground, a table, glass, or a wall. For ease of description, the surface to be cleaned below is described using the ground as an example.

[0159] The area of ​​the auxiliary cleaning component 302 is smaller than the area of ​​the main cleaning component 202. For example, the area of ​​the auxiliary cleaning component 302 is smaller than three quarters of the area of ​​the main cleaning component 202, or smaller than one half of the area of ​​the main cleaning component 202; or smaller than one third, one quarter, one fifth, etc. of the area of ​​the main cleaning component 202, and the size relationship between the two areas can be selected according to needs.

[0160] For example, the auxiliary cleaning component 302 includes an auxiliary cleaning disc 3021 and an auxiliary cleaning member, and the main cleaning component 202 includes a mounting seat 2023 and a main cleaning member, and the above-mentioned area size relationship. In one embodiment, it can be a comparison of the area of ​​the auxiliary cleaning disc 3021 and the mounting seat 2023, for example, the area of ​​the auxiliary cleaning disc 3021 is smaller than the area of ​​the mounting seat 2023; another way can be a comparison of the area of ​​the auxiliary cleaning member and the main cleaning member, for example, the area of ​​the auxiliary cleaning member is smaller than the area of ​​the main cleaning member. If the main cleaning component 202 includes at least a track, correspondingly, the area of ​​the auxiliary cleaning member is smaller than the track. That is, when the main cleaning member and the auxiliary cleaning member are both rags, the main cleaning member forms a large rag for cleaning, and the auxiliary cleaning member forms a small rag for cleaning. In the non-edge mode, it is mainly the large rag for cleaning; when cleaning along the edge, the small rag is used for cleaning. Under the cooperation of the main cleaning member and the auxiliary cleaning member, while cleaning along the edge is achieved, there is no missed sweeping area between the large rag and the small rag.

[0161] It should be noted that the area here can be understood as the area of ​​the vertical projection of the cleaning disc or cleaning piece on the surface to be cleaned; it can also be understood as: when the robot body 10 is not moving and the body 10 remains stationary in the original position, the cleaning piece of the cleaning component can clean the area.

[0162] The cleaning device may be a self-propelled cleaning robot, a handheld cleaner, a window cleaning robot, etc. The structure of the cleaning device is described below taking the cleaning robot as an example.

[0163] The fuselage 10 is generally formed in a circular, D-shaped, rectangular, square, etc. shape. The outline of the fuselage 10 refers to the circular outline, D-shaped outline, rectangular outline, square outline, etc. of the fuselage 10. For example, in Figure 1 and Figure 2 In the figure, the outline of the body 10 is a circular structure; illustratively, the range of the outline of the body 10 can be determined according to the projection of the body 10 on the horizontal plane. The outline of the body 10 is a square structure, and illustratively, the range of the outline of the body 10 can be determined according to the projection of the body 10 on the horizontal plane (or vertical projection on the surface to be cleaned).

[0164] like Figure 1 and Figure 5 As shown, for the fuselage 10, the fuselage 10 generally includes at least a chassis 101 and an upper shell 102 connected to the chassis 101. The chassis 101 and the upper shell 102 form an inner cavity of the fuselage 10 to form a accommodating cavity. The aforementioned main cleaning component 202 and auxiliary cleaning component 302 are both located below the chassis 101.

[0165] like Figure 1 and Figure 2 , Figure 3As shown, the dry cleaning module 40 at least includes a roller brush 403, a dust box 401 and a main fan 402. The roller brush 403 is rotatably disposed in a roller brush 403 cavity 109 at the bottom of the chassis 101, so that the cleaning robot can clean the garbage on the ground in the direction of travel. The roller brush 403 can be one or two roller brushes 403. If there are two roller brushes 403, both roller brushes 403 can be rotatably disposed in the roller brush 403 cavity 109. The two roller brushes 403 rotate in opposite directions, so that when the two roller brushes 403 rotate, the garbage on the ground is rolled up toward the dust suction port of the dust box 401.

[0166] The dust box 401 and the main fan 402 are respectively arranged in the inner cavity of the body 10, and the main fan 402 is configured to provide negative pressure wind force to the dust box 401. The body 10 is provided with a dust suction port connected to the dust box 401. For example, the dust suction port is arranged at the bottom of the body 10, and the dust suction port is connected to the roller brush 403 cavity 109. In this way, the roller brush 403 is used to collect garbage on the ground to the dust suction port, and the negative pressure suction can collect garbage and dust particles into the dust box 401 through the dust suction port to achieve the purpose of cleaning the ground. The main fan 402 includes but is not limited to a negative pressure fan, and can also be replaced by other negative pressure generating devices, such as a vacuum pump.

[0167] like Figure 2 As shown, the dry cleaning module 40 further includes a dust exhaust channel 404 disposed in the body 10, and the dust exhaust channel 404 is connected to the dust collecting fan of the base station. Under the action of the dust collecting fan on the base station, the garbage in the dust box 401 is collected into the base station through the dust exhaust channel 404, so as to automatically discharge the garbage in the dust box 401. The dust collecting fan includes but is not limited to a negative pressure fan, and can also be replaced by other negative pressure generating devices, such as a vacuum pump.

[0168] like Figure 4 As shown, the robot further includes a walking system 80, which is used to drive the body 10 to move by itself, and realize the walking function of self-movement on the surface to be cleaned. The walking system 80 at least includes a driver and a driving wheel 801, and the driver drives the driving wheel 801 to move. Generally, there can be two driving wheels 801, and the two driving wheels 801 are symmetrically arranged on the bottom of the body 10. In addition, the walking system 80 can be swingably arranged on the body 10, so that the cleaning device has the function of crossing obstacles during walking.

[0169] like Figure 4 and Figure 6As shown, along the forward direction of the fuselage 10, with the dust box 401 or the roller brush 403 or the driving wheel 801 as the boundary, the fuselage 10 has a front part and a rear part, and a connecting part or a middle part connecting the front and rear parts of the fuselage 10. The dust box 401 or the roller brush 403 or the driving wheel 801 is arranged at the connecting part or the middle part. Alternatively, with the line connecting the rotation centers of the two driving wheels 801 as the boundary, the fuselage 10 has a front part and a rear part, and the front part of the fuselage 10 and the rear part of the fuselage 10 both include a part of the chassis 101 and a part of the upper shell 102. The main cleaning component 202 and the auxiliary cleaning component 302 are both arranged at the rear part of the fuselage 10, and are both located behind the roller brush 403.

[0170] For example, taking the roller brush 403 or the dust box 401 as an example, the portion of the body 10 located in front of the roller brush 403 or the dust box 401 is called the front of the body 10, and the portion located behind the roller brush 403 or the dust box 401 is called the rear of the body 10.

[0171] Please refer to 1. Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the cleaning robot further includes a side brush 100, which is arranged in front of the roller brush 403 of the dry cleaning module 40 along the forward direction of the body 10, or at least part of the side brush is located in front of the roller brush 403 of the dry cleaning module 40, and the rotation center of the side brush is located in front of the roller brush 403 of the dry cleaning module 40. When the robot is cleaning, the side brush rotates to gather the garbage on the ground to the inside of the cleaning robot, so that the dry cleaning module 40 can collect the garbage gathered to the inside of the cleaning robot into the dust box 401 in the body 10 by suction or other methods.

[0172] Exemplarily, at least part of the side brush may be located in front of the dry cleaning module 40 and close to the edge of the body 10. For example, the side brush may be located at the edge of the left front, right front, etc. of the dry cleaning module 40, including but not limited to, so that when the side brush rotates, at least part of the side brush is located or extends outside the outline of the body 10. In this way, the side brush can gather garbage outside the outline of the body 10 to the inside of the cleaning robot, thereby increasing the cleaning range. The side brush may be a rubber strip or a bristle brush, etc., as long as it can clean the floor, and there is no limitation here.

[0173] In one embodiment, the main cleaning module 20 and the auxiliary cleaning module 30 are both arranged at the rear of the fuselage 10, and the side brush is arranged at the front of the fuselage 10, and in the forward direction of the fuselage 10, the side brush and the auxiliary cleaning module 30 are distributed on the same side of the fuselage 10.

[0174] like Figure 5 and Figure 6As shown, for example, the side brush and the auxiliary cleaning assembly 302 are both distributed on the right side of the body 10 to form right edge cleaning.

[0175] Since the side brush and the auxiliary cleaning component 302 are both used for cleaning along the edges, the side brush is arranged at the front of the body 10, and the auxiliary cleaning component 302 is arranged at the rear of the body 10, and both are located on the right side of the body 10. During the edge cleaning process, the side brush performs dry cleaning in the front, and the auxiliary cleaning component 302 performs wet cleaning in the rear, so that when cleaning the edges of obstacles, wall edges, corner areas (for example, internal right angles), etc., a cleaning mode of dry sweeping first and then wet mopping is formed, thereby further improving the effect of edge cleaning.

[0176] The above description is based on the example that the side brush and the auxiliary cleaning component 302 are both located on the right side of the body 10. Similarly, when the side brush and the auxiliary cleaning component 302 can be located on the left side of the body 10, a side cleaning mode is formed.

[0177] The sensing system includes an LDS located above the fuselage 10, a buffer 70 located at the front of the fuselage 10 (such as Figure 2 The LDS, the buffer 70, and the edge sensor can measure the distance to obtain the distance between the edge of the body 10 and the obstacle, and the control system controls the cleaning device to perform corresponding actions according to the distance.

[0178] For example, the cleaning device is controlled to avoid obstacles, clean along edges, etc. The ultrasonic sensor is used to identify carpet signals, and the control system controls the main cleaning component 202 of the cleaning device to lift up, the auxiliary cleaning component 302 to lift up, or controls the cleaning device to return to the base station, charge the robot, collect dust, clean the main cleaning parts, remove and install the main cleaning component 202, etc. The visual sensor is used to identify the image of the environment in which the cleaning device is located to obtain information about obstacles, and the control system controls the cleaning device to perform actions such as avoiding obstacles, crossing obstacles, cleaning along edges, etc. based on this information.

[0179] The cleaning device also includes at least a water replenishing mechanism, which is used to replenish water to the main cleaning part of the main cleaning component 202 to wet the main cleaning part, so that the main cleaning part is in a wet or damp state to mop the ground, forming wet cleaning, so as to improve the cleaning effect. The water replenishing mechanism includes at least a water tank 501, which transports the water in the water tank 501 to the conveying mechanism on the main cleaning part. For example, the conveying mechanism includes a pump body 502 and a pipeline, one end of the pump body 502 is connected to the water tank 501 through a pipeline, and the other end is transported to a water distributor through a pipeline, and is transported to the main cleaning part through the liquid outlet of the water distributor. Through the setting of the water distributor, the liquid can be evenly transported to the main cleaning part, so that the main cleaning part is wetted more evenly. Of course, the water distributor can also be not provided, and the other end of the pump body 502 directly transports water to the main cleaning part through a pipeline.

[0180] The water replenishing mechanism can also replenish water to the auxiliary cleaning parts of the auxiliary cleaning assembly 302 to moisten the auxiliary cleaning parts so that the auxiliary cleaning parts can perform wet cleaning of the floor.

[0181] The auxiliary cleaning module 30 is mainly used to cooperate with the main cleaning module 20 to perform auxiliary cleaning on the missed cleaning areas of the main cleaning component 202 that are difficult to clean.

[0182] For the auxiliary cleaning component 302, Fig. 9 and Fig.14 The auxiliary cleaning assembly 302 includes an auxiliary cleaning disc 3021 and an auxiliary cleaning member disposed on the bottom of the auxiliary cleaning disc 3021. The auxiliary cleaning member may be a rag, a wiping member, a cleaning cloth, etc. The auxiliary cleaning disc 3021 is a circular disc, and the auxiliary cleaning member is a circular auxiliary rag 3022 that matches the auxiliary cleaning disc 3021 and is fixed to the bottom of the auxiliary cleaning disc 3021 by gluing or the like.

[0183] The auxiliary cleaning module 30 further includes a first driving structure 302 for driving the auxiliary cleaning disc 3021 to rotate, thereby driving the auxiliary rag 3022 to rotate, so as to increase the friction between the auxiliary rag 3022 and the ground, and improve the cleaning effect along the edge.

[0184] The auxiliary cleaning module 30 also includes a second lifting mechanism, which is at least used to drive the auxiliary cleaning component 302 to lift and lower, so that the auxiliary cleaning component 302 is in a lifted position to leave the ground; or in a mopping position to perform edge cleaning.

[0185] With the cooperation of the first driving structure 302 and the second lifting mechanism, the auxiliary cleaning disc 3021 is lifted and lowered to switch positions, and rotates to mop the floor. In view of the limited space in the robot body 10, the first driving structure 302 and the second lifting mechanism are driven by a motor, that is, the first driving structure 302 and the second lifting mechanism are the same structure. For the convenience of description, the first driving structure 302 is used as an example, and the first driving structure 302 can drive the auxiliary cleaning disc 3021 to lift and rotate, so that the first driving structure 302 is compact and occupies a small space in the body 10.

[0186] Of course, when the space inside the fuselage 10 is large, the first driving structure 302 and the second lifting mechanism can be two driving structures. The second lifting mechanism can drive the auxiliary cleaning plate 3021 and the first driving structure 302 to rise and fall as a whole. In the mopping position, the motor of the second lifting mechanism stops, and the first driving structure 302 drives the auxiliary cleaning plate 3021 to rotate.

[0187] The cleaning device also includes a second driving structure 201, which is arranged in the inner cavity of the body 10 and is used to drive the main cleaning component 202 to move to mop the floor; and also includes a first lifting structure, which is used to drive the cleaning component to perform lifting movement so that the main cleaning component 202 is in a mopping position or a lifted position.

[0188] In some scenarios, the main cleaning component 202 needs to be lifted, for example, when the body 10 is on a carpet, in order to avoid wetting the carpet, the main cleaning component 202 needs to be in a lifted position; or in scenarios such as needing to cross obstacles or return to the base station, the main cleaning component 202 needs to be in a lifted position to prevent the main cleaning component 202 from being stuck by obstacles and detached from the body 10. Therefore, the cleaning device also includes a first lifting structure, which is arranged in the body 10 and is used to drive the main cleaning component 202 to lift, so as to switch between the mopping position and the lifting position.

[0189] For the main cleaning component 202, there are many ways of the main cleaning component 202, and the structural form of the main cleaning component 202 is different. Correspondingly, the second driving structure 201 drives the main cleaning component 202 to mop the floor in different ways, for example: the mopping movement can be the rotation of the circular main cleaning disc 2021, the reciprocating vibration or twisting of the flat mop, and the movement of the crawler. When the appearance of the fuselage 10 is different, correspondingly, the arrangement of the aforementioned auxiliary cleaning module 30, dry cleaning module 40, driving wheel 801, water replenishment mechanism, main cleaning module 20, and auxiliary cleaning module 30 on the fuselage 10 of the robot is different. That is, the robot has the aforementioned fuselage 10, side brush, walking system 80, water replenishment mechanism, main cleaning module 20, auxiliary cleaning module 30, buffer 70 and other structures. In order to clearly record the arrangement of the aforementioned contents under different models, the following will be unfolded one by one through specific embodiments.

[0190] Example 1

[0191] This embodiment provides a cleaning device, such as a cleaning robot. Figure 8 , Fig. 9 , Fig.19 , Fig.28 As shown, the robot includes the aforementioned body 10, side brush, walking system 80, dry cleaning module 40, water replenishing mechanism, buffer 70, main cleaning module 20, auxiliary cleaning module 30, and sensing system.

[0192] Among them, Figure 8 As shown, the outer contour of the body 10 is a rectangle, that is, the vertical projection of the body 10 on the surface to be cleaned is a rectangle, the long side of the rectangle is located in the forward direction of the body 10, and the short side of the rectangle is located in the width direction of the body 10.

[0193] like Fig. 27 As shown, the main cleaning assembly 202 includes a circular main cleaning plate 2021 and a main rag 2022 installed at the bottom of the main cleaning plate 2021. The main rag 2022 is circular and is attached to the bottom of the main cleaning plate 2021 by Velcro. The second driving structure 201 is used to drive the main cleaning plate 2021 to rotate on the body 10 so that the main rag 2022 rotates to clean the floor. The first lifting structure is used to drive the main cleaning plate 2021 to do lifting and lowering movements to drive the main cleaning member to lift and lower, and realize switching between the lifting position and the mopping position.

[0194] In this embodiment, there are two main cleaning components 202, and two circular main cleaning discs 2021 are symmetrically arranged on the bottom of the body 10. The two circular main cleaning discs 2021 rotate in opposite directions. For example, one main cleaning disc 2021 rotates clockwise and the other main cleaning disc 2021 rotates counterclockwise to clean the floor. To avoid a missed sweeping area between the two circular main cleaning discs 2021, there is a gap between the adjacent edges of the two main cleaning discs 2021 so that the rotations of the two main cleaning discs 2021 do not interfere with each other, and the adjacent edges of the main rags 2022 on the bottom of the two main cleaning discs 2021 are tangent or squeezed against each other; or, since the main rags 2022 are usually flexible and have a certain amount of deformation, the adjacent edges of the two main rags 2022 are squeezed to form a first interference area 905, so that there is no gap between the adjacent edges of the two main rags 2022 to avoid missed sweeping areas.

[0195] There is a gap between the two main cleaning discs 221, so that they do not affect each other's rotation. Fig.26As shown, there is a certain first interference area 905 between the two main rags 2022, so as to avoid the problem of missed scanning. The maximum width of the interference area between the two main rags 2022 can be about 1 mm, about 2 mm, about 3 mm, about 4 mm, about 5 mm, or about 6 mm, and no specific numerical value is limited here.

[0196] The rags have a certain amount of deformation. When the two rags are rotating, the adjacent parts of the two rags are squeezed against each other without any gap to form an interference area, and the normal rotation of the rags is not affected.

[0197] For the maximum width of the first interference area 905: the second line connecting the rotation centers of the two main cleaning disks 2021, the maximum width of the interference area is the length L1 of the intersection line of the second line and the interference area, such as Fig.26 shown.

[0198] The auxiliary cleaning disc 3021 of the auxiliary cleaning assembly 302 is a circular disc, and correspondingly, the auxiliary cleaning member is an auxiliary rag 3022, which is attached to the auxiliary cleaning disc 3021 by Velcro. Of course, the auxiliary rag 3022 can also be detachably attached to the auxiliary cleaning disc 3021 by other means.

[0199] The main cleaning module 20 and the auxiliary cleaning module 30 are both arranged at the rear of the fuselage 10, and the side brush is arranged at the front of the fuselage 10. In the forward direction of the fuselage 10, the side brush and the auxiliary cleaning module 30 are distributed on the right side of the fuselage 10 to form right edge cleaning.

[0200] Since the side brush is arranged at the front of the body 10 and the auxiliary cleaning component 302 is arranged at the rear of the body 10, both are located on the right side of the body 10. During the edge cleaning process, the side brush performs dry cleaning in the front and the auxiliary cleaning component 302 performs wet cleaning in the back. Therefore, when cleaning the edges of obstacles, wall edges, corner areas (for example, internal right angles), etc., an edge cleaning mode of first dry sweeping and then wet mopping is formed, thereby further improving the effect of edge cleaning.

[0201] like Fig.10 As shown, the two driving wheels 801 of the walking system 80 are symmetrically arranged on the bottom of the machine body 10, and the dry cleaning module 40 includes the aforementioned roller brush 403, dust box 401 and main fan 402. Since the machine body 10 is a square machine, the width of the machine body 10 is smaller than the maximum width (circular diameter) of the circular machine compared to the circular machine in which the machine body 10 is circular. In the width direction of the machine body 10, the length of the roller brush 403 is greater than the distance between the two driving wheels 801. Therefore, in the square machine, along the forward direction of the machine body 10, the roller brush 403 is located in front of the driving wheel 801, and the dust box 401 is distributed between the two driving wheels 801.

[0202] The two main cleaning components 202 are both located behind the dust box 401 (or the dust box 401 cavity 108 on the body 10), and are symmetrically distributed below the bottom of the rear part of the body 10. Along the forward direction of the body 10, the two main cleaning components 202 are both located behind the two driving wheels 801, so that the driving wheels 801 move in front, and the main cleaning components 202 mop the floor behind the driving wheels 801, so that no wheel marks of the driving wheels 801 will remain in the cleaned area of ​​the main rag 2022, so as to improve the cleaning effect of the main rag 2022.

[0203] It should be noted that there are two ways to place the main cleaning assembly 202 behind the driving wheel 801. The first way is: Fig.10 As shown, along the forward direction of the fuselage 10, the main cleaning component 202 is completely behind the two driving wheels 801; the second mode: in the forward direction of the fuselage 10 and the width direction of the fuselage 10, the driving wheel 801 and the main cleaning disc 2021 are staggered, and the main cleaning disc 2021 is located behind the line connecting the rotation centers of the two driving wheels 801; along the width direction of the fuselage 10, a part of the arc of the main cleaning disc 2021 is completely behind the driving wheel 801, but a part of the arc of the main cleaning disc 2021 is located in the area between the two driving wheels 801, and the rotation of the main cleaning disc 2021 and the movement of the driving wheel 801 do not affect each other, so that along the forward direction of the fuselage 10, the length of the fuselage 10 can be shortened, and the driving wheel 801 can be moved in front and the main rag 2022 can be cleaned in the back, thereby improving the cleaning effect.

[0204] In order to prevent a missed cleaning area from being formed between the auxiliary rag 3022 and the main rag 2022, in this embodiment, along the width direction of the fuselage 10, there is no missed cleaning area between the cleaning area of ​​the main rag 2022 and the cleaning area of ​​the auxiliary rag 3022, ensuring high edge cleaning effect and cleaning efficiency.

[0205] There are multiple implementations for the auxiliary rag 3022 and the main rag 2022 to sweep all areas without missing any area, specifically:

[0206] In the first embodiment, there is a gap between the auxiliary cleaning disk 3021 and the main cleaning disk 2021 so that the rotation of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 does not affect each other; there is no gap between the main rag 2022 and the auxiliary rag 3022 so that there is no missed cleaning area when the auxiliary rag 3022 and the main rag 2022 rotate for cleaning.

[0207] For example, the adjacent edges of the main rag 2022 and the auxiliary rag 3022 are tangent to each other so that there is no gap between them. Since the main rag 2022 and the auxiliary rag 3022 are usually flexible and have a certain amount of deformation, when the main rag 2022 and the auxiliary rag 3022 are used for a period of time, they will deform to prevent the occurrence of gaps between the adjacent tangent edges of the main rag 2022 and the auxiliary rag 3022. Therefore, in order to further ensure that there is no gap between the main rag 2022 and the auxiliary rag 3022, in another way, such as Fig.26 As shown, the adjacent ends of the main rag 2022 and the auxiliary rag 3022 are squeezed to form a small amount of second interference area 906, so as to ensure that there is no gap between the main rag 2022 and the auxiliary rag 3022 without affecting the rotation of the main rag 2022 and the auxiliary rag 3022 with their respective cleaning discs, thereby achieving no missed sweeping area between the auxiliary cleaning disc 3021 and the main cleaning disc 2021 on the right. However, in this embodiment, since the main rag 2022 and the auxiliary rag 3022 are always tangent or squeezed against each other, the adjacent edges of the two form a tangent line or squeeze line (second interference area 906), and after the robot mops the floor, it is easy to leave one or more trace lines on the ground, resulting in the ground not being cleaned, affecting the cleaning effect.

[0208] The second interference zone 906 is similar to the aforementioned first interference zone 905. The maximum width of the second interference zone 906 between the main rag 2022 and the auxiliary rag 3022 can be about 1 mm, about 2 mm, about 3 mm, about 4 mm, about 5 mm, or about 6 mm, and no specific numerical limit is given here.

[0209] like Fig.26 As shown, for the maximum width of the second interference zone 906: the first connecting line of the rotation centers of the right main cleaning disk 2021 and the auxiliary cleaning disk 3021, the maximum width of the second interference zone 906 is the length L2 of the intersection line of the first connecting line and the second interference zone 906.

[0210] In view of the fact that the radius of the main cleaning disk 2021 is much larger than the radius of the auxiliary cleaning disk 3021, if the maximum width of the second interference area 906 exceeds 5 mm, it will not affect the rotation of the main cleaning disk 2021, but will affect the rotation of the auxiliary cleaning disk 3021. Therefore, the maximum width of the second interference area 906 is selected to be ≤5 mm, which can achieve leak-proof scanning without affecting the rotation of the main cleaning disk 2021 and the auxiliary cleaning disk 3021.

[0211] In the second embodiment, there is a gap between the main cleaning disc 2021 and the auxiliary cleaning disc 3021, and they do not affect each other's rotational motion; there is also a gap between the adjacent or close edges of the main rag 2022 and the auxiliary rag 3022, and when the main rag 2022 and the auxiliary rag 3022 rotate with their respective cleaning discs, the main rag 2022 and the auxiliary rag 3022 do not interfere with each other. The main cleaning disc 2021 has a first portion 901; the auxiliary cleaning disc 3021 has a second portion 902, and in the forward direction of the fuselage 10, the first portion 901 and the second portion 902 have an overlapping area 903, and the main rag 2022 on the first portion 901 and the auxiliary rag 3022 on the second portion 902 also have an overlapping area 903 in the forward direction of the fuselage 10.

[0212] Since part of the main cleaning tray 2021 extends out of the edge of the rear part of the fuselage 10, in this embodiment, in the forward direction of the fuselage 10, the second part 902 of the auxiliary cleaning tray 3021 is located in front of the first part 901 of the main cleaning tray 2021 (or the first part 901 is located behind the second part 902). During the cleaning process of the robot, the auxiliary rag 3022 on the second part 902 of the auxiliary cleaning tray 3021 is cleaned first, and the main rag 2022 on the first part 901 of the main cleaning tray 2021 is cleaned later. In the forward direction of the fuselage 10, the cleaning areas of the two successively have an overlapping area 903, thereby avoiding the existence of missed cleaning areas. Compared with the aforementioned absence of a gap between the adjacent edges of the main rag 2022 and the auxiliary rag 3022, in this embodiment, since there is a gap between the auxiliary rag 3022 and the main rag 2022, the two do not interfere with each other. After the robot mops the floor, no trace line will remain on the ground, and the cleaning effect is better.

[0213] The third embodiment has the aforementioned first and second embodiments at the same time. Specifically, there is a gap between the main cleaning disc 2021 and the auxiliary cleaning disc 3021, and the two do not interfere with each other when rotating; the auxiliary rag 3022 and the adjacent edges of the main rag 2022 are tangent or squeezed (there is the aforementioned second interference area 906); at the same time, the auxiliary cleaning disc 3021 has a second part 902, the main cleaning disc 2021 has a first part 901, the second part 902 is located in front of the first part 901, and the cleaning area of ​​the auxiliary rag 3022 of the second part 902 is There is an overlapping area 903 with the cleaning area of ​​the main rag 2022 of the first part 901, which has a double effect of avoiding missed sweeping; the first part 901 of the main cleaning plate 2021 is located behind the tangent line or squeeze line of the adjacent edges of the auxiliary rag 3022 and the main rag 2022. During the cleaning process, the traces formed on the ground by the tangent line or squeeze line can be cleaned and covered by the main rag 2022 on the first part 901 of the rear main cleaning plate 2021, thereby having a double no-missing sweeping function and no traces remaining on the ground, thereby improving the cleaning effect on the ground. Fig. 9 shown.

[0214] At the same time, since there is no gap between the main rag 2022 and the auxiliary rag 3022, the auxiliary cleaning plate 3021 is within the limited first area 103 on the fuselage 10 (mentioned below), and the rotation center of the auxiliary cleaning plate 3021 can be vertically projected onto the bottom of the fuselage 10, the diameter of the auxiliary cleaning plate 3021 is larger, the auxiliary cleaning plate 3021 extends more out of the edge of the fuselage 10, and the area to be cleaned along the edge is wider.

[0215] Under the aforementioned layout of the main cleaning disc 2021 and the driving wheel 801, the dust box 401 cavity 108, the roller brush 403 and the side brush, without increasing the length and width of the body 10 to increase the cleaning area of ​​the main cleaning disc 2021, part of the main cleaning disc 2021 extends out of the edge of the rear of the body 10 (i.e., the rear side wall of the body 10).

[0216] Without changing the arrangement of the aforementioned side brush, roller brush 403, dust box 401, driving wheel 801, and two main cleaning discs 2021 on the bottom of the body 10 (i.e., the chassis 101). Since part of the main cleaning disc 2021 extends out of the edge of the rear part of the body 10, the auxiliary cleaning disc 3021 cannot be distributed behind the main cleaning disc 2021. In order to achieve the edge cleaning of the auxiliary rag 3022 on the auxiliary cleaning disc 3021, the auxiliary cleaning disc 3021 is arranged in the first area 103 surrounded by the rear of the right driving wheel 801 and the right cleaning disc and the bottom of the right side of the body 10. When the chassis 101 is manufactured, only a first avoidance hole needs to be added to the chassis 101 in the first area 103, so that part of the first driving structure 302 can pass through the first avoidance hole to connect to the auxiliary cleaning disc 3021, so that the auxiliary cleaning disc 3021 is located below the chassis 101. That is, when the auxiliary cleaning plate 3021 is provided on the chassis 101 or when the auxiliary cleaning plate 3021 is not provided, the arrangements of the side brush, the roller brush 403, the driving wheel 801, the dust box 401 cavity 108, and the main cleaning component 202 on the bottom of the chassis 101 do not change, thereby reducing the manufacturing and processing costs of the chassis 101. There is no need to open a separate mold for the chassis 101. The chassis 101 can be manufactured first, and then the first clearance hole 60171 can be processed on the chassis 101. At the same time, there is space to install the auxiliary cleaning component 302 so that the auxiliary cleaning rag can realize the function of cleaning along the edges.

[0217] If the side brush and the auxiliary cleaning disc 3021 are both arranged on the left side of the machine body 10 to form a left edge, the auxiliary cleaning disc 3021 is correspondingly distributed in the first area 103 surrounded by the rear of the left driving wheel 801, the left main cleaning disc 2021, and the bottom of the left side of the machine body 10 (or the left edge along the width direction of the machine body 10). That is, the auxiliary cleaning disc 3021 is distributed in the first area 103 surrounded by the rear of the driving wheel 801 adjacent or close thereto, the main cleaning disc 2021, and the side edge of the machine body 10.

[0218] At the same time, in order to set the auxiliary cleaning disk 3021 in the limited first area 103, the diameter of the auxiliary cleaning disk 3021 must be smaller than the diameter of the main cleaning disk 2021, and the radius R2 of the auxiliary cleaning disk 3021 is at least smaller than half of the radius R1 of the main cleaning disk 2021, so that the main rag 2022 is a large rag and the auxiliary rag 3022 is a small rag. When cleaning is not along the edge, the large rag is mainly used for cleaning, and when cleaning along the edge, the small rag is mainly used for cleaning along the edge.

[0219] For example, the ratio of R1 to R2 is 2, or the ratio of R1 to R2 is 2.5, the ratio of R1 to R2 is 4, or the ratio of R1 to R2 is 3.6. If the diameter of the auxiliary cleaning disc 3021 is too small, although it can clean along the edge, from the perspective of actual testing, the intensity of cleaning along the edge is not enough, and the auxiliary cleaning disc 3021 needs to be used for at least two or more times of cleaning along the edge.

[0220] Therefore, considering the limited space of the first area 103, the cleaning intensity, and the effect of no missed sweeping between the auxiliary rag 3022 and the main rag 2022, the ratio of R1 to R2 is preferably 2-4 times. If the arrangement of R1 and R2 exceeds this range, one case is that the diameter of the auxiliary cleaning disk 3021 is too small, the cleaning intensity is insufficient, and multiple edge cleaning is required; another case is that the diameter of the auxiliary cleaning disk 3021 is too large, the cleaning intensity is sufficient, and the rotation center of the auxiliary cleaning disk 3021 is difficult to be vertically projected on the first area In 103, because the two main cleaning disks 2021 are axially symmetrically arranged on the bottom of the fuselage 10, the rotation center of the auxiliary cleaning disk 3021 needs to be vertically projected on the bottom of the fuselage 10 and not exceed the edge of the fuselage 10, so as to install the auxiliary cleaning disk 3021 on the bottom of the fuselage 10. On the one hand, it ensures that the inner cavity of the fuselage 10 will not be connected to the outside world due to the arrangement of the auxiliary cleaning disk 3021, thereby ensuring the stable operation of the aforementioned first driving structure 302 and the second driving structure 201, and playing a waterproof and dustproof function.

[0221] If the rotation center of the auxiliary cleaning disk 3021 exceeds the edge of the fuselage 10, the first driving structure 302 for driving the auxiliary cleaning disk 3021 cannot be arranged in the inner cavity of the fuselage 10, and a avoidance opening needs to be provided on the side wall of the fuselage 10. A part of the first driving structure 302 is located in the inner cavity of the fuselage 10, and the other part extends out of the fuselage 10 through the avoidance opening, causing the inner cavity of the fuselage 10 to be connected with the outside world. Water vapor, dust, garbage, etc. from the outside world can enter the inner cavity of the fuselage 10, affecting the electrical components in the fuselage 10, and also affecting the stability of the movement of the first driving structure 302, resulting in a short product life and a complex structure.

[0222] In order to select a relatively large radius of the auxiliary cleaning disk 3021, the edge area of ​​the auxiliary rag 3022 is increased, and at the same time, with the cooperation of the auxiliary rag 3022 and the main rag 2022, there is no missed sweeping area between the cleaning areas of the auxiliary rag 3022 and the main rag 2022, and when the setting position of the main cleaning disk 2021 is not changed, optimally, along the forward direction of the fuselage 10, the rotation center of the auxiliary cleaning disk 3021 is located in front of the rotation center of the main cleaning disk 2021, so that the auxiliary cleaning disk 3021 is distributed in the first area 103 on the upper right side of the adjacent right main cleaning disk 2021, and the adjacent edges of the auxiliary rag 3022 and the main rag 2022 are tangent or squeezed or there is a small amount of second interference area 906.

[0223] That is to say, in the two schemes of not setting the auxiliary cleaning disk 3021 and setting the auxiliary cleaning disk 3021, the main cleaning disk 2021, the driving wheel 801, the dust box 401 cavity 108, and the roller brush 403 are arranged in the same manner at the bottom of the fuselage 10. Without changing the arrangement of the main cleaning disk 2021, the driving wheel 801, the dust box 401 cavity 108, and the roller brush 403 at the bottom of the fuselage 10, and without changing the size of the fuselage 10, the auxiliary cleaning disk 3021 is set in the first area 103 at the upper right (or upper right corner) of the main cleaning disk 2021 and behind the right driving wheel 801. Since the rotation center of the auxiliary cleaning disk 3021 is located in front of the rotation center of the main cleaning disk 2021, the first connecting line of the rotation center of the auxiliary cleaning disk 3021 and the rotation center of the main cleaning disk 2021 intersects with the second connecting line of the rotation centers of the two main cleaning disks 2021, as shown in FIG. Fig. 9 As shown, the second connecting line of the rotation centers of the two main cleaning discs 2021 is perpendicular to the center line of the fuselage 10 in its forward direction, and the auxiliary cleaning disc 3021 is located behind the right driving wheel 801. Then, when the adjacent edges of the main rag 2022 and the auxiliary rag 3022 are tangent, squeezed or interfered with each other, the main cleaning disc 2021 will inevitably have the aforementioned first part 901, the auxiliary cleaning disc 3021 will have the aforementioned second part 902, and the first part 901 of the main cleaning disc 2021 is located behind the tangent line, squeeze line or interference strip area between the adjacent edges of the auxiliary rag 3022 and the main rag 2022. During the cleaning process, the trace lines formed on the ground by the tangent line, squeeze line or interference area can be cleaned and covered by the main rag 2022 on the first part 901 cleaned behind it, thereby improving the cleaning effect on the ground.

[0224] Therefore, in the first area 103 of the upper right corner (or upper right) of the limited main cleaning plate 2021, the radius of the auxiliary cleaning plate 3021 is selected to be the largest, and the single edge cleaning area is large. The auxiliary cleaning plate 3021 has a double cleaning effect without missing while realizing the edge cleaning function, and no trace lines are left on the ground, thereby improving the cleaning effect on the ground. Without increasing the size of the chassis 101, the arrangement of the main cleaning plate 2021, the drive wheel 801, the side brush, the roller brush 403, and the dust box 401 cavity 108 on the chassis 101 and the functions realized are not affected, thereby making the structural arrangement on the bottom of the fuselage 10 compact.

[0225] In another embodiment, along the width direction of the fuselage 10, the aforementioned first connecting line and the second connecting line can overlap, that is, the auxiliary cleaning disk 3021 is not arranged in the aforementioned upper right position, and the rotation centers of the auxiliary cleaning disk 3021 and the two main cleaning disks 2021 fall on the same straight line (that is, the aforementioned first connecting line and the second connecting line overlap). In this embodiment, the maximum width of the right main cleaning disk 2021 and the spatial area of ​​the right edge of the fuselage 10 are smaller than the area of ​​the aforementioned first area 103 in the upper right of the main cleaning disk 2021. Therefore, the diameter of the auxiliary cleaning disk 3021 is small. Although it can also clean along the edges, the cleaning area along the edges is small, and the auxiliary rag 3022 and the main rag 2022 are tangent, squeezed or interfered with each other, so it has the function of no missed sweeping; since the rotation centers of the auxiliary cleaning disk 3021 and the two main cleaning disks 2021 fall on the same straight line, the auxiliary cleaning disk 3021 does not have the second part 902, and the main cleaning disk 2021 does not have the first part 901, so after the robot cleans, there will be trace lines on the ground. Compared with the aforementioned solution in which the auxiliary cleaning disk 3021 is arranged at the upper right corner of the main cleaning disk 2021, its cleaning effect is poor.

[0226] like Fig. 9 As shown, the right and left corners of the rear part of the body 10 of the square machine are both arc-shaped chamfered, and the distance between the right edge of the maximum width of the main cleaning disk 2021 and the right edge of the body 10 is smaller. If the auxiliary cleaning disk 3021 is provided with the aforementioned first connecting line and the second connecting line coinciding (that is, the rotation centers of the auxiliary cleaning disk 3021 and the two main cleaning disks 2021 fall on the same straight line), the diameter of the auxiliary cleaning disk 3021 is selected to be smaller, and the cleaning efficiency and cleaning effect are relatively weaker.

[0227] In this embodiment, when the auxiliary cleaning member cleans the surface to be cleaned, the pressure applied to the auxiliary cleaning disk is preferably 900-1500Pa, for example, 900Pa, 950Pa, 1000Pa, 1100Pa, 1150Pa, 1200Pa, 1300Pa, 1400Pa, 1450Pa, 1500Pa.

[0228] When the rotation speeds of the auxiliary cleaning disk and the main cleaning disk are the same, since the radius of the auxiliary cleaning disk is smaller than that of the main cleaning disk, the linear speed of each fluff on the small rag on the auxiliary cleaning disk is smaller than the linear speed of the fluff on the large rag on the main cleaning disk. By increasing the downward pressure on the auxiliary cleaning disk and the small rag, at the same linear speed, on the one hand, the friction of the small rag on the stains is increased, making the stains easier to remove, thereby increasing the cleaning effect of the small rag; on the other hand, the deformation of the fluff of the small rag after being compressed can be further increased, so that the fluff can fully wrap the stains with the small rag, increasing the contact area between the fluff and the stains, and the cleaning liquid can also soak the stains more fully, thereby further increasing the cleaning effect of the small rag.

[0229] The stains in the blind area that the main rag cannot reach are easily changed from easy-to-clean stains to stubborn stains due to the low frequency of cleaning. Solid stubborn stains, or solid stubborn stains that were originally liquid and formed after drying and solidification, mainly adhere to the surface of the object through intermolecular forces, and the adhesion force mainly comes from van der Waals forces. Generally, the strength of adhesion increases with time and increases with the increase of the temperature of the air or the surface of the object. Based on this, the stains in the blind area of ​​the obstacle are easily changed from easy-to-clean stains to stubborn stains due to the low frequency of daily cleaning. In the embodiment of the present application, the "blind area" refers to the gap or area that the main rag cannot reach when the cleaning robot moves along its preset cleaning direction, which is formed between the main rag and the obstacle. For the sake of anti-collision strategy, anti-jamming strategy or anti-fall strategy, the cleaning robot needs to maintain a preset distance from the obstacle. When the cleaning robot performs cleaning operations along the edge of the obstacle, the cleaning frequency of the blind area formed will be lower, and the stubborn stains formed in the cleaning area will be more difficult to clean as time goes by. In the embodiment of the present application, the obstacle can be a physical object that cannot be crossed, such as a wall, furniture, or electrical appliance, or it can be a suspended area that is easy to fall, such as a suspended area, a step area, a steep slope area, a pit area, etc.

[0230] In the prior art, stubborn stains are usually removed by increasing the rotation speed of the auxiliary cleaning disc to increase the cleaning friction on the stubborn stains so that the stubborn stains can be removed. However, the rotation speed of the auxiliary cleaning disc has an upper limit and cannot be increased indefinitely. In addition, the increase in rotation speed will increase costs, shorten battery life and shorten the life of the rag disc. Moreover, since the auxiliary cleaning disc has a small radius, the increase in rotation speed cannot significantly increase its linear speed, or even if the rotation speed of the auxiliary cleaning disc is increased, its final linear speed is not enough to clean such solid stubborn stains.

[0231] By increasing the downward pressure on the auxiliary cleaning disc, firstly, at the same linear speed, the cleaning friction of the small rag (i.e., the auxiliary rag) on ​​the auxiliary cleaning disc on the stains will be increased, making the stains easier to clean, thereby increasing the cleaning effect of the small rag on stubborn stains; secondly, the deformation of the small rag fluff after being compressed can be further increased, so that the small rag fluff can fully wrap the stains, increasing the contact area between the fluff and the stains, and the cleaning liquid can also soak the stains more fully, thereby further increasing the cleaning effect of the small rag; the small rag with increased deformation will increase its cleaning area, so that even if the small rag does not need to be swung or expanded outward, it can be attached to blind spots such as corners, thereby increasing the cleaning range of the small rag disc and improving the cleaning effect. Fig.31As shown, controlling the downward pressure within the range of 900~1500Pa not only improves the cleaning effect, but also can control the service life of the small rag within the expected range. If the downward pressure is lower than 900Pa, the service life of the small rag is long, but the regional cleaning rate will be reduced; if the downward pressure is 1500Pa, the regional cleaning rate of the small rag is high, but the service life is reduced. As can be seen from the figure, the downward pressure of the small rag, the regional cleaning rate and the service life of the small rag are combined, and the downward pressure of the small rag is preferentially controlled within 900~1500Pa. In some optional embodiments, the downward pressure of the small rag is controlled at about 1000Pa, for example, when it is around 900Pa, 1000Pa or 1100Pa, regardless of the regional cleaning rate or the service life of the small rag, better results can be obtained. The so-called regional cleaning rate refers to the percentage of the remaining stains in the cleaning area to the total stains in the cleaning area per unit time.

[0232] Increasing the pressure of the small rag is also to achieve anthropomorphic operation. When dealing with stubborn stains at home, most people will consciously press the mop to increase the pressure of the mop on the stains, thereby achieving better cleaning results. One aspect of the small rag pressurization function is to simulate the operation of people pressing the rag when cleaning, so as to achieve a good cleaning effect on stubborn stains. Another aspect is from the software logic, in order to achieve more intelligent cleaning, the operation logic of the small rag pressurization is set to simulate the human body applying corresponding pressure to the mop according to the degree of dirt when using the rag for cleaning, so as to maximize the cleaning efficiency. Deploying this software logic on the sweeper can avoid the traditional "carpet-style" repeated cleaning to the greatest extent, and achieve planned and relatively "intelligent" cleaning.

[0233] From the perspective of industrial manufacturing and environmental protection, using a small rag can extend the life of a large rag, thereby extending the life of the mopping function of the entire machine as a whole, so that the machine can still maintain a good cleaning effect in the middle and late stages of long-term use, reducing the number of times the rag is replaced, thereby reducing the carbon emissions of the sweeper's life cycle and protecting the environment. Carbon emissions are reduced because sweeper rags can be made of polyester fiber materials, and the raw materials for producing such fiber materials generally come from petrochemical products. The processing of such products generally brings higher environmental pollution and carbon emissions.

[0234] As the downward pressure of the auxiliary cleaning plate increases, the small rag on the auxiliary cleaning plate can not only clean along the edges, but also detect the degree of dirt on the ground when cleaning not along the edges. If the degree of dirt is greater than the preset value, the controller can control the main cleaning plate to lift, and the small rag on the auxiliary cleaning plate can clean the garbage or stains with a higher degree of dirt, so that the small rag can not only clean along the edges, but also clean stains with a higher degree of dirt.

[0235] The auxiliary cleaning disc 3021 on the right and the two main cleaning discs 2021 rotate in different directions, and the corresponding edge cleaning effects are different, specifically:

[0236] The first implementation method, such as Fig.19 As shown, in the mopping position, the left main cleaning disc 2021 rotates counterclockwise, the right main cleaning disc 2021 rotates clockwise, and the auxiliary cleaning disc 3021 rotates counterclockwise. That is, the two main cleaning discs 2021 rotate in opposite directions, and the auxiliary cleaning disc 3021 rotates in opposite directions to the main cleaning disc 2021 on the right. During the cleaning process, since the auxiliary rag 3022 rotates counterclockwise, the auxiliary rag 3022 continuously drives the garbage on the edge of the obstacle or the wall toward the main cleaning disc 2021 on the right while mopping the floor along the edge, so that the garbage moves to the first front area in front of the adjacent edges of the right main cleaning disc 2021 and the auxiliary cleaning disc 3021. Since the auxiliary rag 3022 and the main rag 2022 have an anti-leaking sweeping function, the garbage moved from the edge of the obstacle or the wall to the first front area is cleaned up, further improving the cleaning effect along the edge.

[0237] The second implementation method, such as Fig. 20 As shown, in the mopping position, the left main cleaning disc 2021 rotates counterclockwise, the right main cleaning disc 2021 rotates clockwise, and the auxiliary cleaning disc 3021 rotates clockwise. That is, the two main cleaning discs 2021 rotate in opposite directions, and the auxiliary cleaning disc 3021 rotates in the same direction as the main cleaning disc 2021 on the right. During the cleaning process, since the auxiliary cleaning disc 3021 rotates clockwise, the auxiliary cleaning disc 3021 continuously drives the garbage in the first front area in front of the adjacent edges of the right main cleaning disc 2021 and the auxiliary cleaning disc 3021 to the edge of the obstacle while mopping the floor; since the right main cleaning disc 2021 rotates clockwise, the main rag 2022 continuously drives the garbage in front of it, or the garbage in the second front area in front of the adjacent edges of the two main rags 2022, to the first front area while mopping the floor. After cleaning for a period of time, garbage is easily gathered at the edge of the obstacle, and the cleaning effect of the auxiliary cleaning disc 3021 along the edge is relatively reduced.

[0238] The third embodiment, as Fig. 22 As shown, in the mopping position, the left main cleaning disc 2021 rotates clockwise, the right main cleaning disc 2021 rotates counterclockwise, and the auxiliary cleaning disc 3021 rotates counterclockwise, that is, the auxiliary cleaning disc 3021 and the right main cleaning disc 2021 rotate in the same direction.

[0239] During the cleaning process, similar to the first embodiment, since the auxiliary cleaning plate 3021 rotates counterclockwise, the auxiliary rag 3022 continuously drives the garbage on the edge of the obstacle or the wall toward the main cleaning plate 2021 on the right while mopping the floor along the edge, so that the garbage moves to the first front area in front of the adjacent edges of the main cleaning plate 2021 and the auxiliary cleaning plate 3021 on the right. Since the auxiliary rag 3022 and the main rag 2022 have an anti-leaking sweeping function, the garbage in the first front area is cleaned up, thereby improving the cleaning effect along the edge; even if the garbage in the first front area , cannot be cleaned by the adjacent edges of the main rag 2022 and the auxiliary rag 3022, or the aforementioned first part 901, and there is residual garbage in the first front area; but since the main cleaning plate 2021 on the right side rotates counterclockwise, the main rag 2022 continuously drives the remaining garbage in the first front area to the second front area between the two main cleaning plates 2021 while mopping the floor. The two main rags 2022 themselves have the function of preventing leakage sweeping, so the remaining garbage is further cleaned by the two main rags 2022, further improving the edge cleaning effect of the auxiliary rag 3022.

[0240] Compared with the first embodiment, the cleaning effect of this embodiment is better. In the first embodiment, the main cleaning disc 2021 on the right rotates clockwise. During the rotation of the main cleaning disc 2021, the main rag 2022 mops the floor. At the same time, the main cleaning disc 2021 and the main rag 2022 continuously move the garbage in front of the main cleaning disc 2021, or the garbage in the second front area in front of the two main cleaning discs 2021, into the first front area, thereby increasing the cleaning difficulty or intensity of the auxiliary cleaning disc 3021 and the main cleaning disc 2021 on the right.

[0241] In this embodiment, since the main cleaning plate 2021 on the right side rotates counterclockwise, the main cleaning plate 2021 and the main rag 2022 rotate, and the garbage in the first front area is moved into the second front area. Since the diameters of the two main rags 2022 are large, the cleaning ability and the anti-leaking sweeping function of the two are stronger than the cleaning ability and the anti-leaking sweeping function of the main rag 2022 and the auxiliary rag 3022 on the right side. Therefore, in this embodiment, with the cooperation of the main cleaning plate 2021 and the auxiliary cleaning plate 3021, the edge cleaning effect is better.

[0242] A fourth embodiment, as Fig.21As shown, in the mopping position, the left main cleaning disc 2021 rotates clockwise, the right main cleaning disc 2021 rotates counterclockwise, and the auxiliary cleaning disc 3021 rotates clockwise. Similar to the second embodiment, during the cleaning process, since the auxiliary cleaning disc 3021 rotates in the clockwise direction, the auxiliary cleaning disc 3021 continuously moves the garbage in the front area of ​​the adjacent edges of the right main cleaning disc 2021 and the auxiliary cleaning disc 3021 to the edge of the obstacle while mopping the floor along the edge. After cleaning for a period of time, garbage tends to accumulate at the edge of the obstacle, and the edge cleaning effect of the auxiliary cleaning disc 3021 is relatively reduced. However, equivalent to the second embodiment, since the right cleaning disc rotates counterclockwise, the garbage in this front area can be moved to the front area between the two main rags 2022 and cleaned by the two main rags 2022.

[0243] The aforementioned second driving structure 201 is used to drive the main cleaning plate 2021 to rotate and mop the floor on the body 10. The first lifting structure is used to drive the main cleaning plate 2021 to do lifting movement to switch between the lifting position and the mopping position. Each main cleaning plate 2021 corresponds to a set of first driving structures 302 and first lifting structures.

[0244] The aforementioned first driving structure 302 drives the auxiliary cleaning plate 3021 to rotate and mop the floor, and the second lifting mechanism is used to drive the auxiliary cleaning plate 3021 to rise and fall, so as to switch between the lifting position and the mopping position.

[0245] During the cleaning process, the main cleaning plate 2021 and the auxiliary cleaning plate 3021 can be in the lifting position and the mopping position at the same time, so that with the cooperation of the main cleaning plate 2021 and the auxiliary cleaning plate 3021, the main rag 2022 and the auxiliary rag 3022 can mop the floor synchronously, the main rag 2022 can perform non-edge cleaning, and the auxiliary rag 3022 can perform edge cleaning, so that the cleaning area between the two is not missed, thereby improving the cleaning effect. When encountering scenes such as carpets and returning to the base station, the main cleaning plate 2021 and the auxiliary cleaning plate 3021 are both in the lifting position. Among them, the robot returns to the base station mainly for charging, washing the main rag 2022 and the auxiliary rag 3022, and collecting dust from the garbage in the dust box 401.

[0246] In addition, in the non-edge cleaning mode, the auxiliary cleaning tray 3021 is in the lifting position, and the main cleaning tray 2021 is in the mopping position, and the cleaning of the main cleaning tray 2021 is mainly performed. Of course, in the non-edge cleaning mode, both the auxiliary cleaning tray 3021 and the main cleaning tray 2021 can be in the mopping position, and the auxiliary rag 3022 and the main rag 2022 can both mop the floor. With the cooperation of the two, the area cleaned in a single time along the width direction of the fuselage 10 is large, the cleaning time is reduced, and the cleaning efficiency is improved. In order to prevent the auxiliary cleaning tray 3021 from being easily hooked by other objects or obstacles in the area to be cleaned when it is in the mopping position in the non-edge mode, causing the auxiliary cleaning tray 3021 to easily detach from the fuselage 10, the auxiliary cleaning tray 3021 is usually in the lifting position when it is not cleaning along the edge; and the auxiliary cleaning tray 3021 is in the mopping position when it is cleaning along the edge.

[0247] In the edge cleaning mode, the auxiliary cleaning plate 3021 is in the mopping position, and the main cleaning plate 2021 can be in the raised position without mopping cleaning. That is, when cleaning along the edge, the main cleaning plate 2021 does not cooperate with the auxiliary cleaning plate 3021, and only relies on the main rag 2022 for cleaning. The cleaning effect is poor compared to when both the main rag 2022 and the auxiliary rag 3022 are in the mopping position for cleaning.

[0248] The aforementioned second driving structure 201 and the first lifting structure are the same structure, which are used to drive the lifting and rotation of the main cleaning disc 2021, so that the main cleaning disc 2021 can switch between the lifting position and the mopping position, and rotate in the mopping position, so that the structure of this driving structure is compact and occupies a small space. Similarly, the aforementioned first driving structure 302 and the second lifting mechanism are the same structure, which drive the lifting and rotation of the auxiliary cleaning disc 3021, so that the auxiliary cleaning disc 3021 can switch between the lifting position and the mopping position, and rotate in the mopping position, so that the structure of this driving structure is compact and occupies a small space. That is, the main cleaning disc 2021 or the auxiliary cleaning disc 3021 is driven to lift and rotate by a motor.

[0249] The first driving structure 302 and the second driving structure 201 may have the same structure or different driving structures.

[0250] For example, the first driving structure 302 and the second driving structure 201 can both be spiral mechanisms, and the direction of the main cleaning plate 2021 when descending is the same as the direction of mopping the floor; the direction of the main cleaning plate 2021 when ascending is opposite to the direction of its descending.

[0251] In the inner cavity of the body 10, when the auxiliary cleaning module 30 is not provided, the dust box 401 cavity 108 (or dust box 401), the main fan 402, the dust exhaust channel 404, the second driving structure 201, and the water replenishing mechanism of the dry cleaning module 40 are arranged in the body 10. The main fan 402 is used to suck the garbage into the dust box 401; the dust box 401 cavity 108 for installing the dust box 401 is provided in the body 10; the dust exhaust channel 404 connected to the dust box 401 is also provided in the body 10, which is used to suck the garbage in the dust box 401 into the base station under the action of the dust collector of the base station.

[0252] The dust box 401 has a dust inlet, an air outlet, an air inlet and a dust exhaust port, wherein the dust inlet is connected to the dust suction port of the body 10, the air outlet is arranged on the rear side wall of the dust box 401 cavity 108, the main fan 402 is arranged on the air outlet and is located behind the dust box 401 cavity 108; the air inlet is arranged on the right side wall of the dust box 401; the dust exhaust port is arranged on the left side wall of the dust box 401, or at the corner between the left side wall and the rear side wall, the dust exhaust channel 404 is connected to the dust exhaust port, and the air inlet can be connected to the inner cavity of the body 10, the inner cavity of the body 10 serves as the air inlet area, under the suction action of the dust collecting fan, the air in the air inlet area opens the valve on the air inlet and enters the dust box 401, and the garbage in the dust box 401 is sucked into the dust collecting bin of the base station through the dust exhaust channel 404 along with the air, opens the valve on the dust exhaust port.

[0253] Along the forward direction of the fuselage 10, the main fan 402 is located in front of the two first driving structures 302 and behind the dust box 401 cavity 108; the dust box 401 cavity 108 is located between the two driving wheels 801, and a third driving mechanism is provided in the fuselage 10 for driving the driving wheels 801 to move respectively. The two third driving mechanisms are distributed on both sides of the dust box 401 cavity 108, corresponding to the driving wheels 801 driven by each of them; the dust exhaust channel 404 is usually arranged on the left side of the dust box 401 cavity 108, or at the junction of the left side and the rear side.

[0254] In the inner cavity of the body 10 , the dust exhaust channel 404 , the cavity 108 of the dust box 401 , and the two second driving structures 201 form a second area 104 , and the main fan 402 is distributed in the second area 104 in the inner cavity of the body 10 .

[0255] like Fig.10 As shown, the dry cleaning module 40 also includes an exhaust duct 405 connected to the exhaust port of the main fan 402; the exhaust duct is arranged in the inner cavity of the fuselage 10, one end of the exhaust duct is located in the second area 104, and the other end extends out of the second area 104 and extends toward the right side wall of the fuselage 10, and is connected to the air outlet of the right side wall of the fuselage 10, and then connected to the outside of the fuselage 10.

[0256] The water replenishing mechanism is used to replenish water to the main cleaning element so that the main rag 2022 can perform wet cleaning. Fig.28 As shown, the water replenishing mechanism includes a water tank 501 and a pump body 502 . The water tank 501 and the pump body 502 are connected by a pipeline. The pump body 502 is used to transport the solution in the water tank 501 to the main rag 2022 to wet the main rag 2022 .

[0257] In the inner cavity of the fuselage 10, a third area 105 is formed between the two second drive structures 201 and the rear side wall of the fuselage 10; a fourth area 106 is formed between the left drive wheel 801 and the dust exhaust channel 404 and the left side wall of the fuselage 10; a fifth area 107 is formed between the right second drive structure 201 and the right side wall of the fuselage 10 and the exhaust duct of the main fan 402.

[0258] When the aforementioned auxiliary cleaning module 30 is not provided, the arrangement of the water tank 501 and the pump body 502 in the inner cavity of the fuselage 10 is: the water tank 501 is a special-shaped water tank 501, and the special-shaped water tank 501 has a first box body 503, and a second box body 504 fixed and connected to the first box body 503, and the two boxes are integrally formed, of course, they may not be integrally formed. The first box body 503 of the water tank 501 is arranged in the third area 105, the second box body 504 is arranged in the fifth area 107, and the pump body 502 is arranged in the fourth area 106. In this arrangement, since the pump body 502 is a peristaltic pump, or other relatively large pump bodies 502, which occupy a large space, the peristaltic pump is arranged in the fourth area 106; the water tank 501 is arranged in the third area 105 and the fifth area 107, to ensure the capacity of the water tank 501, and to be able to accommodate more solution to replenish water for the two main rags 2022. The front side wall of the water tank 501 surrounds the rear of the shells of the two second driving structures 201 and the outside of the right side wall of the shell of the right second driving structure 201 to fill the third area 105 and the fifth area 107 .

[0259] When the auxiliary cleaning module 30 is set, the auxiliary cleaning disk 3021 is set behind the right driving wheel 801 and in the first area 103 above the right main cleaning disk 2021. In order to set the first driving structure 302 in the inner cavity of the fuselage 10, as shown in FIG. Fig.10 As shown, the arrangement of the main fan 402, the dust box 401 cavity 108, the dust exhaust channel 404, the two second drive structures 201, the drive structure of the drive wheel 801, and the exhaust channel of the main fan 402 in the inner cavity of the body 10 does not change. However, the arrangement of the water replenishment mechanism in the body 10 changes.

[0260] like Fig.10As shown, the water replenishment mechanism is arranged away from the fifth area 107, and an installation space is reserved for the first drive structure 302. The first drive structure 302 is arranged in the fifth area 107. Since the fifth area 107 is located behind the right drive wheel 801 and to the right of the right second drive structure 201, the first drive structure 302 is located directly above or nearly directly above the auxiliary cleaning disk 3021. Only a small number of transmission mechanisms are required between the power output shaft 2031 of the first motor 203 of the first drive structure 302 and the auxiliary cleaning disk 3021, that is, The driving force of the first motor 203 can be transmitted to the auxiliary cleaning disk 3021 to drive the auxiliary cleaning disk 3021 to rotate and lift, so that the structure of the first driving structure 302 is compact, and the size of the fuselage 10, especially the width of the fuselage 10, is not increased, and the arrangement of the dust box 401 cavity 108, the main fan 402, the two second driving structures 201, and the dust exhaust channel 404 in the inner cavity of the fuselage 10 is not changed. The first driving structure 302 can be arranged in the fifth area 107 to drive the auxiliary cleaning disk 3021 to rotate and lift. The first driving structure 302 is modularized as a whole, which is convenient for the assembly and manufacture of the first driving structure 302. The first driving structure 302 can be assembled in advance and then installed in the inner cavity of the fuselage 10, which is convenient for installation in the inner cavity of the fuselage 10.

[0261] In order to minimize the volume of the water tank 501, there are multiple implementations for the arrangement of the water tank 501, specifically:

[0262] The first implementation method, such as Fig.10 As shown, the pump body 502 is still arranged in the fourth area 106, the first box body 503 is still arranged in the third area 105, the second box body 504 is connected and communicated with the first box body 503, the second box body 504 is distributed above the top of the dust exhaust channel 404, and extends toward the fourth area 106, part of the second box body 504 can be located in the fourth area 106, and the shape of the second box body 504 has changed, the thickness has been reduced, but the volume remains unchanged, so as to ensure that the water tank 501 replenishes water for the two main rags 2022 and the auxiliary rag 3022.

[0263] In the second embodiment, in order to reduce the volume of the water tank 501, the pump body 502 is still arranged in the fourth area 106, the first box body 503 is arranged in the third area 105, and the second box body 504 is distributed on the top of the shell of a second drive structure 201, for example, distributed above the shell of the second drive structure 201 on the left side, and the second box body 504 is close to the side of the second area 104, which is convenient for the connection between the water tank 501 and the pump body 502. Similarly, the shape of the second box body 504 changes, but the volume does not decrease. Furthermore, part of the second box body 504 can also cover the top of the dust exhaust channel 404 to increase the volume of the water tank 501 and facilitate the connection with the pump body 502.

[0264] Since the water replenishing mechanism not only replenishes water for the two main rags 2022 , but also needs to replenish water for the auxiliary rag 3022 , optimally, the second tank 504 is distributed above the shells of the two second driving structures 201 to increase the volume of the water tank 501 .

[0265] Furthermore, when the second drive structure 201 and the first drive structure 302 on the right share a motor drive, the shared motor can be set in the fifth area 107, and the second drive structure 201 is not provided with a motor, so that the second drive structure 201 can reserve space for the second water tank 501 to be installed, so as to increase the volume of the water tank 501. Of course, the second box 504 can be set above the first drive structure 302 on the left without setting the second box 504, and only set the second box 504 above the second drive structure 302 on the right.

[0266] In a third embodiment, the pump body 502 is disposed in the third area 105, and the water tank 501 is disposed in the fourth area 106, so as to ensure that the volume of the water tank 501 does not decrease and the water supply demand is met.

[0267] Alternatively, the second box body 504 of the water tank 501 is arranged in the fourth area 106, and the first box body 503 of the water tank 501 is arranged in the third area 105, and the volume of the first box body 503 is reduced to reserve space for the pump body 502, so that the pump body 502 is arranged in the third area 105. For example, the pump body 502 is arranged in a sub-area surrounded by the adjacent edges of the rear part of the shell of the two second drive structures 201 and the rear side wall of the fuselage 10. Along the forward direction of the fuselage 10, since this sub-area is surrounded by a recessed area at the rear of the adjacent edges of the shell of the two second drive structures 201, the space of this sub-area formed between the recessed area and the rear side wall of the fuselage 10 is large, so as to be able to accommodate a peristaltic pump with a larger volume. The first box body 503 is located on the left side of the pump body 502, and is connected and communicated with the second box body 504 in the fourth area 106, covering the dust exhaust channel 404.

[0268] If the peristaltic pump is not used, it can be replaced by other small water pumps, and the water pump can also be arranged in other sub-areas of the third area 105. For example, the pump body 502 is distributed in the sub-area between the rear side wall of the shell of the second driving structure 201 on the right and left sides of the dust exhaust channel 404 and the rear side wall of the fuselage 10; or, the pump body 502 is distributed in the sub-area between the rear side wall of the shell of the second driving structure 201 on the right and the rear side wall of the fuselage 10, and correspondingly, the first box body 503 covers the upper part of the dust exhaust channel 404 and is connected to the second box body 504.

[0269] The fourth embodiment is a replacement embodiment of the water tank 501 of the above three embodiments. The water tank 501 may not be provided with the first tank body 503, and only the second tank body 504 may be provided.

[0270] Especially when the water tank 501 is arranged in the fourth area 106, the first box body 503 is arranged in the third area 105, and the pump body 502 is arranged in the third area 105, part of the first box body 503 needs to cover the top of the dust exhaust channel 404 and be connected to the first box body 503, which is inconvenient to connect the two boxes. Since the space in the fourth area 106 is large enough, when the pump body 502 is not set, when the second box body 504 fills the fourth area 106, its volume is large enough, and the first box body 503 is not set, and only the second box body 504 is set. In addition, the pump body 502 is arranged in the third area 105, which is closer to the main rag 2022 and the auxiliary rag 3022, so that the pump body 502 can transport the solution to the liquid outlet at the bottom of the fuselage 10.

[0271] Since the main cleaning disc 2021 and the auxiliary cleaning disc 3021 are provided with a plurality of hollow areas or hollow holes along their circumferential direction, the liquid outlet on the bottom of the body 10 corresponds to the hollow area, and the main rag 2022 is provided on the bottom of the main cleaning disc 2021, and the main rag 2022 covers the bottom of the hollow hole. During the rotation of the main cleaning disc 2021 and the auxiliary cleaning disc 3021, the liquid dripping downward from the liquid outlet passes through the hollow area and drips on the main rag 2022 or the auxiliary rag 3022 to replenish the rag with water. Three liquid outlets are provided on the bottom of the body 10, namely the first liquid outlet, the second liquid outlet, and the third liquid outlet. The first liquid outlet on the left corresponds to the main cleaning disc 2021 on the left, the second liquid outlet in the middle corresponds to the main cleaning disc 2021 on the right, and the third liquid outlet on the right corresponds to the hollow area of ​​the auxiliary cleaning disc 3021.

[0272] That is, in the inner cavity of the fuselage 10, the arrangement of the dust box 401 cavity 108, the dust box 401, the dust exhaust channel 404, the main fan 402, and the two second drive structures 201 are not changed. On the basis of not reducing the volume of the water tank 501, by changing the position of the water replenishing mechanism and the shape of the water tank 501, a position is reserved for the first drive structure 302, so that the first drive structure 302 is arranged in the fifth area 107, and the water replenishing mechanism 50 can replenish water for the main rag 2022 and the auxiliary rag 3022.

[0273] In the fifth embodiment, the water replenishing mechanism shares a pump body 502, but the distribution of the first tank body 503 and the second tank body 504 in the inner cavity of the fuselage 10 is the same as the aforementioned four embodiments, but the two tank bodies are independent, the first tank body 503 replenishes water for the auxiliary rag 3022, and the second tank body 504 replenishes water for the main rag 2022.

[0274] For example, the second box body 504 is arranged in the fourth area 106, and the first box body 503 is arranged in the third area 105. The second box body 504 has a large volume and is used to replenish water for the two main rags 2022. The first box body 503 has a small volume and is used to replenish water for the auxiliary rag 3022. The pump body 502 is arranged in the third area 105, and the first box body 503 is distributed close to the first driving structure 302. The pump body 502 is located between the first box body 503 and the dust exhaust channel 404. The pump body 502 is connected and communicated with the first box body 503 and the second box body 504 through pipelines.

[0275] Alternatively, there are two pump bodies 502, namely the first pump body 502 and the second pump body 502, the second box body 504 is arranged in the fourth area 106, the first box body 503 is arranged in the third area 105, the first pump body 502 is arranged in the third area 105, and is used to connect with the first box body 503, and transport the solution in the first box body 503 to the third liquid outlet to replenish the auxiliary rag 3022. The second pump body 502 can be arranged in the third area 105, or in the fourth area 106, and connected to the second box body 504, and is used to transport the solution in the second box body 504 to the first liquid outlet and the second liquid outlet to replenish the two main rags 2022.

[0276] Another implementation manner: by changing the exhaust duct of the main fan 402, a space is reserved for the first driving structure 302 for installation of the first driving structure 302.

[0277] Specifically, the main fan 402 is located behind the dust box 401 and between the two second drive structures 201; the exhaust duct is not located behind the right drive wheel 801, but in the area between the shells of the two second drive structures 201, extending to the rear side wall of the fuselage 10, and communicating with the outside. The first drive structure 302 is arranged behind the right drive wheel 801, in the fifth area 107 between the right side wall of the shell of the right second drive structure 201 and the right side wall of the fuselage 10. The second water tank 501 of the water replenishment mechanism 50 is arranged in the fourth area 106, and the second water tank 501 and the first water tank 501 are independent. The second water tank 501 replenishes water for the two main rags 2022, and the first water tank 501 replenishes water for the auxiliary rag 3022. Due to the change in the position of the exhaust duct, the space of the fifth area 107 is increased, and at least part of the first water tank 501 is arranged in the fifth area 107, but is located behind the first drive structure 302. The pump body 502 is arranged in the third area 105, and can be one, which is used to replenish the solutions of the two tanks to the main rag 2022 and the auxiliary rag 3022 respectively. If there are two pump bodies 502, the first pump body 502 and the second pump body 502, respectively, the first pump body 502 is used to replenish the solution of the first tank 503 to the auxiliary rag 3022, and the second pump body 502 is used to replenish the solution of the second tank 504 to the auxiliary rag 3022. Optimally, the first pump body 502 and the second pump body 502 are located on both sides of the exhaust duct.

[0278] The first driving structure 302 and the second driving structure 201 may be the same structure or may not be the same structure. Preferably, the first driving structure 302 and the second driving structure 201 are the same. For ease of description, the first driving structure 302 is taken as an example below.

[0279] The first driving structure 302 includes a first motor 203 and a lifting assembly 60. The lifting assembly 60 is connected to the auxiliary cleaning disc 3021. The lifting assembly 60 drives the auxiliary cleaning disc to rise and fall, and rotates at the mopping position to mop the floor.

[0280] like Fig.11 As shown, the first driving structure 302 includes a first motor 203 and a lifting assembly 60. The lifting assembly 60 is connected to the auxiliary cleaning assembly 302. The lifting assembly 60 drives the cleaning assembly to rise and fall so as to rotate at the mopping position.

[0281] The lifting assembly 60 includes a first fixed body and a second fixed body. The first fixed body is connected to the power output shaft 2031 of the first motor 203; the second fixed body is connected to the auxiliary cleaning assembly 302, and a spiral mechanism is formed between the first fixed body and the second fixed body.

[0282] In a first embodiment of the lifting assembly 60, the power output shaft 2031 rotates along the first direction, and the second fixed body is caused to descend relative to the first fixed body through the spiral mechanism. During the descending process, the auxiliary cleaning disc 3021 rotates; in the mopping position, the power output shaft 2031 continues to rotate along the first direction, and the second fixed body does not continue to descend relative to the first fixed body. The second fixed body rotates to drive the cleaning assembly to rotate and clean the surface to be cleaned; the power output shaft 2031 rotates along the second direction, and the second fixed body is caused to ascend relative to the first fixed body through the spiral mechanism to drive the auxiliary cleaning assembly 302 to ascend.

[0283] That is, in the first embodiment, the descent, lifting and rotation of the auxiliary cleaning disc 3021 are all driven by the first motor 203 .

[0284] For example, Fig.11 , Fig.12 , Fig.13 , Fig. 27 As shown, the first fixed body includes a first sleeve 6011, the bottom of the first sleeve 6011 is provided with a first installation cavity which is recessed upward, and the top of the first sleeve 6011 is drivingly connected to the power output shaft 2031 of the first motor 203; the second fixed body includes a second sleeve 6012 and a shell 6017, the top of the second sleeve 6012 is provided with a first annular cavity 60122 which is recessed downward, and the bottom of the second sleeve 6012 is provided with a second installation cavity 60122 which is recessed upward; the installation protrusion 3023 on the top of the auxiliary cleaning disc 3021 is detachably installed in the second installation cavity 60122; the first sleeve 6011 is embedded in the first annular cavity 60122 through the first installation cavity. The outer shell 6017 is sleeved on the outside of the second sleeve 6012 and fixed relative to the fuselage 10; a damping member is provided between the inner wall of the outer shell 6017 and the outer wall of the second sleeve 6012, so that the second sleeve 6012 can rotate relative to the first sleeve 6011 to rise and fall; at least one rib 6014 is provided on the outer wall of the first sleeve 6011, and at least one thread groove 6013 cooperating with the rib 6014 is provided on the inner wall of the second sleeve 6012, and the rib 6014 and the thread groove 6013 form a spiral mechanism; a first limiting portion 6015 is provided at the top of the thread groove 6013, and in the mopping position, along the spiral direction of the thread groove 6013, the rib 6014 abuts against the side wall of the first limiting portion 6015 to limit the second sleeve 6012 from continuing to descend relative to the first sleeve 6011. The first motor 203 can be arranged on the housing 6017 and fixed relative to the body 10; or the first motor 203 can be arranged on the housing 6017, and the housing 6017 is fixed relative to the body 10.

[0285] In the lifting assembly 60 of this embodiment, when the power output shaft 2031 of the first motor 203 rotates in the first direction, the first sleeve 6011 is driven to rotate, and the ribs 6014 on the outer wall of the first sleeve 6011 rotate in the threaded groove 6013 on the inner wall of the second sleeve 6012. Since a damping member is provided between the outer shell 6017 and the second sleeve 6012, under the action of the damping member, the rotation speeds of the second sleeve 6012 and the first sleeve 6011 are different, and the second sleeve 6012 can move downward relative to the first sleeve 6011, thereby driving the auxiliary cleaning disc 3021 to move downward. When the ribs When 6014 abuts against the first limiting portion 6015 on the top of the threaded groove 6013, the first limiting portion 6015 limits the rib 6014 from continuing to rotate relative to the second sleeve 6012, and the second sleeve 6012 no longer continues to move downward and reaches the mopping position. At this time, the power output shaft 2031 of the first motor 203 continues to rotate in the first direction, and there is no relative movement between the second sleeve 6012 and the first sleeve 6011. The first sleeve 6011 and the second sleeve 6012 rotate synchronously, and the second sleeve 6012 drives the auxiliary cleaning disc 3021 to continue to rotate, so that the auxiliary rag 3022 rotates to mop the floor.

[0286] On the contrary, the first motor 203 rotates in the second direction, driving the first sleeve 6011 to rotate in the opposite direction, and the ribs 6014 on the outer wall of the first sleeve 6011 rotate in the thread groove 6013 of the second sleeve 6012. Due to the effect of the damping member, the second sleeve 6012 moves upward relative to the first sleeve 6011, driving the auxiliary cleaning disc 3021 to move upward. In addition, a second limiting portion 6016 is provided at the bottom of the thread groove 6013. Along the spiral direction of the thread groove 6013, the ribs 6014 abut against the side wall of the second limiting portion 6016, thereby limiting the rising position of the second sleeve 6012, thereby realizing the use of a first motor 203 to drive the auxiliary cleaning disc 3021 to rise, fall and rotate.

[0287] This embodiment adopts a second sleeve 6012, and the first annular cavity 60122 at the top of the second sleeve 6012 is connected with the first sleeve 6011 to form a spiral mechanism to realize lifting and rotation movements. The second installation cavity 60122 at the bottom of the second sleeve 6012 is connected with the auxiliary cleaning disk 3021, and the first annular cavity 60122 is located at the outer periphery of the second installation cavity 60122, so as not to increase the height of the lifting assembly 60. At the same time, the installation protrusion 3023 on the top of the auxiliary cleaning disk 3021 is arranged in the second installation cavity 60122, so that the entire lifting assembly 60 has a simple and compact structure, and a modular structure is formed as a whole, thereby reducing the space occupied in the inner cavity of the fuselage 10.

[0288] The auxiliary cleaning plate 3021 is located below the chassis 101 of the body 10, a first avoidance hole is provided on the chassis 101, the first sleeve 6011 and the first motor 203 are both located in the inner cavity of the body 10, the bottom of the second sleeve 6012 passes through the first avoidance hole, so that the second installation cavity 60122 is connected with the outside, so that the installation protrusion 3023 of the auxiliary cleaning plate 3021 is installed in the second installation cavity 60122 outside the body 10. The installation protrusion 3023 can be installed in the second installation cavity 60122 by magnetic attraction, or by snap-fit, spring column and groove clamping, or other detachable fixing methods.

[0289] There are at least three implementations of the damping element. In the first implementation of the damping element, at least one clearance hole 60171 is provided on the outer shell 6017. For example, at least two clearance holes 60171 are evenly arranged along the circumference of the outer shell 6017, and at least one first protrusion is provided in each clearance hole 60171. The first protrusion protrudes toward the second sleeve 6012 to be in interference fit with the outer wall of the second sleeve 6012; for example, the first protrusion is wavy.

[0290] This damping member is a first protrusion, and an interference fit is formed between the first protrusion and the second cylinder 6023. When the second sleeve 6012 is raised or lowered, the damping member blocks the friction force generated on the second sleeve 6012, so that the rotation speed of the second sleeve 6012 is different from that of the first sleeve 6011, so that the second sleeve 6012 can be raised or lowered relative to the first sleeve 6011.

[0291] A second embodiment of the damping element, such as Fig.11 As shown, at least one clearance hole 60171 is provided on the outer shell 6017, and a rotatable first rotating body is provided in the clearance hole 60171, and an interference fit is formed between the first rotating body and the outer wall of the second sleeve 6012; during the lifting and lowering process of the auxiliary cleaning plate 3021, the first rotating body does not rotate; when in the mopping position, rolling friction is formed between the first rotating body and the second sleeve 6012, and the first rotating body serves as a damping member.

[0292] The damping member of this embodiment is a first rotating body. During the lifting and lowering process of the second sleeve 6012, the first rotating body does not rotate, and the second sleeve 6012 forms sliding friction with the first rotating body. When the second sleeve 6012 drives the auxiliary cleaning disc 3021 to rotate and mop the floor, the second sleeve 6012 rotates to drive the first rotating body to rotate, so that rolling friction is formed between the second sleeve 6012 and the first rotating body. Compared with Example 1, when the second sleeve 6012 drives the auxiliary cleaning disc 3021 to rotate, the friction between the first protrusion 60181 and the second sleeve 6012 is reduced, thereby reducing the wear on the damping member and the second sleeve 6012 and extending the life of the lifting assembly 60.

[0293] The third embodiment of the damping member is that the damping member is a wool strip, one end of which is fixed on the inner wall of the housing 6017, and the other end is interference-contacted on the outer wall of the second sleeve 6012 to form a flexible contact. The wool strip implanted or bonded in a circle on the inner circumferential wall of the housing 6017 is used as the damping member, so that when the second sleeve 6012 drives the auxiliary cleaning disc 3021 to move up and down and rotate, a flexible friction force is formed between the second sleeve 6012 and the damping member. Compared with the hard friction force between the damping member and the second sleeve 6012 in the first two embodiments, the wear between the second sleeve 6012 and the wool strip is reduced, and the wool strip and the second sleeve 6012 are protected. While the damping member plays a damping role, the service life of the second sleeve 6012 is extended, ensuring that under the drive of the first motor 203, the lifting assembly 60 can drive the auxiliary cleaning disc 3021 to move up and down and rotate. In addition, since the first driving structure 302 is arranged in the inner cavity of the fuselage 10, the replacement or maintenance of the lifting assembly 60 requires opening the upper shell 102 of the fuselage 10, which makes the replacement and maintenance of the lifting assembly 60 inconvenient. The use of wool strips as damping parts can extend the life of the lifting assembly 60 and reduce the frequency of maintenance.

[0294] In the second embodiment of the lifting assembly 60, the descent of the auxiliary cleaning plate 3021 is driven by the gravity of the second fixed body, the auxiliary cleaning plate 3021 and the auxiliary rag 3022, and the rotation of the auxiliary cleaning plate 3021 is driven by the first motor 203 along the first direction; the auxiliary cleaning plate 3021 rises and rotates in the second direction by the first motor 203 to drive the first fixed body to rotate, so that the second fixed body drives the auxiliary cleaning plate 3021 to rise.

[0295] Specifically, Fig.18 As shown, the first fixed body includes a first cylinder 6021, which is outside the power output shaft 2031 of the first motor 203 through a first one-way bearing sleeve 6024; the first one-way bearing 6024 has a transmission state of transmitting the force of the power output shaft 2031 to the first cylinder 6021, and a disconnection state of disconnecting the force of the power output shaft 2031 from being transmitted to the first cylinder 6021;

[0296] The second fixed body includes a floating shaft 6022 and a second cylinder 6023, and the second cylinder 6023 is rotatably sleeved on the outer wall of the floating shaft 6022; the top of the floating shaft 6022 is connected to the power output shaft 2031, and the bottom thereof is connected to the mounting protrusion 3023 on the top of the auxiliary cleaning disc 3021. A spiral mechanism is formed between the second cylinder 6023 and the first cylinder 6021.

[0297] The top of the second cylinder 6023 is provided with a second annular cavity 60231 which is concave downwards, the lower part of the first cylinder 6021 is embedded in the second annular cavity 60231, the upper part is located outside the second annular cavity 60231 and is sleeved outside the one-way bearing, at least one first spiral surface 6025 is provided on the outer wall surface of the lower part of the first cylinder 6021, at least one first roller 6026 is provided on the inner wall of the second annular cavity 60231 of the second cylinder 6023, the first roller 6026 corresponds to the first spiral surface 6025 one by one, the first roller 6026 abuts against the first spiral surface 6025, and the first spiral surface 6025 and the first roller 6026 form the aforementioned spiral mechanism. The bottom of the first spiral surface 6025 is provided with a third limiter, and the top of the first spiral surface 6025 is provided with a fourth limiter.

[0298] When the power output shaft 2031 of the first motor 203 rotates in the first direction, under the action of the one-way bearing, the first cylinder 6021 is in a disconnected state; the power output shaft 2031 drives the floating shaft 6022 to rotate, and since the floating shaft 6022 is rotatably connected to the second cylinder 6023, for example, through a bearing, the floating shaft 6022 rotates, and the second cylinder 6023 does not rotate, so as to drive the auxiliary cleaning disc 3021 to rotate; at the same time, under the gravity of the second cylinder 6023, the floating shaft 6022, the auxiliary cleaning disc 3021, and the auxiliary rag 3022, the second cylinder 6023 rotates. The first roller 6026 on the cylinder 6023 moves downward along the first spiral surface 6025 to drive the second cylinder 6023, the floating shaft 6022, and the auxiliary cleaning disc 3021 to move downward as a whole. When the first roller 6026 abuts against the third limiting portion, the third limiting portion blocks the first roller 6026 from continuing to move downward to reach the mopping position. In the mopping position, the power output shaft 2031 of the first motor 203 continues to rotate in the first direction, driving the floating shaft 6022, the auxiliary cleaning disc 3021, and the auxiliary rag 3022 to rotate to achieve mopping.

[0299] When the power output shaft 2031 of the first motor 203 rotates along the second direction, under the action of the one-way bearing, the force of the power output shaft 2031 is transmitted to the first cylinder 6021, and the first cylinder 6021 is in a transmission state. The power output shaft 2031 drives the first cylinder 6021 to rotate, and at the same time drives the floating shaft 6022 to rotate. When the first cylinder 6021 rotates, the first roller 6026 of the second cylinder 6023 rotates on the first spiral surface 6025, and the second cylinder 6023 drives the floating shaft 6022 and the auxiliary cleaning disc 3021 to do an upward movement. When the first roller 6026 abuts against the fourth limiting portion, the first roller 6026 no longer continues to rise, and the auxiliary cleaning disc 3021 is at the bottom lifting position, thereby realizing the use of a first motor 203 and a spiral mechanism of the lifting assembly 60 to realize the lifting and rotation of the auxiliary cleaning disc 3021.

[0300] As an alternative embodiment, the positions of the aforementioned first threaded surface and the first roller 6026 can be swapped, or the first roller 6026 can be replaced by the second spiral surface.

[0301] Furthermore, the lifting assembly 60 also includes a first reset member 6027, which is arranged between the floating shaft 6022 and the power output shaft 2031, and is used to apply a downward reset force to the floating shaft 6022 and the cleaning assembly, so that the auxiliary rag 3022 of the auxiliary cleaning plate 3021 can always maintain contact with the ground, thereby increasing friction and facilitating the auxiliary rag 3022 to clean the ground.

[0302] The first return member 6027 may be a compression spring, and is disposed between the third mounting cavity 20311 of the power output shaft 2031 and the top of the floating shaft 6022 .

[0303] To facilitate the installation of the compression spring, there are two ways to connect the floating shaft 6022 and the power output shaft 2031. The first way is as follows: Fig.18 As shown, a third mounting cavity 20311 is provided at the bottom of the power output shaft 2031, the inner hole of the floating shaft 6022 forms a fourth mounting cavity 60221, and the floating shaft 6022 is provided in the third mounting cavity 20311; the mounting protrusion 3023 at the top of the auxiliary cleaning disk 3021 is detachably provided in the fourth mounting cavity 60221, and an annular step surface can be provided in the fourth mounting cavity 60221, one end of the compression spring abuts against the top of the third mounting cavity 20311 of the power output shaft 2031, and the other end abuts against this step surface.

[0304] In the second embodiment, when the floating shaft 6022 is not arranged in the third installation cavity 20311 of the power output shaft 2031, the floating shaft 6022 is sleeved on the outer periphery of the power output shaft 2031, and the fourth installation cavity 60221 is located on the outer periphery of the third installation cavity 20311. The compression spring is sleeved on the outer periphery of the floating shaft 6022, and the top of the compression spring is arranged on the power output shaft 2031, and the other end is arranged on the floating shaft 6022 sleeve, so as to apply a downward force to the floating shaft 6022 sleeve. For example, the outer wall of the power output shaft 2031 is provided with an annular step surface, and the top of the compression spring abuts on this annular step surface. The bottom of the mounting protrusion 3023 is arranged on the bottom inner wall of the fourth installation cavity 60221 to realize the connection between the auxiliary cleaning disc 3021 and the floating shaft 6022.

[0305] In the mopping position, the mounting protrusion 3023 of the auxiliary cleaning plate 3021 is located in the fourth mounting cavity 60221 and can partially extend into the third mounting cavity 20311, or not extend into the third mounting cavity 20311, that is, the fourth mounting cavity 60221 is located below the third mounting cavity 20311; in the lifting position, the fourth mounting cavity 60221 is located at the outer periphery of the third mounting cavity 20311, the compression spring is in a compressed state, and the mounting protrusion 3023 of the auxiliary cleaning plate 3021 extends into the third mounting cavity 20311, thereby making the structure of the floating shaft 6022, the power output shaft 2031, and the compression spring compact and occupying a small space. Compared with the first embodiment of the connection between the floating shaft 6022 and the power output shaft 2031, the lifting height of the auxiliary cleaning plate 3021 in this embodiment is higher.

[0306] Another implementation of the first driving structure 302 is as follows: Figures 14 to 16 As shown, the lifting assembly 60 includes a third cylinder 6031, which is sleeved on the power output shaft 2031 of the first motor 203 through a second one-way bearing; the second one-way bearing has a transmission state of transmitting the force of the power output shaft 2031 to the third cylinder 6031, and a disconnection state of disconnecting the force of the power output shaft 2031 from being transmitted to the third cylinder 6031; the bottom of the power output shaft 2031 is connected to the cleaning assembly;

[0307] The support body 6032 is fixedly arranged relative to the fuselage 10 . The support body 6032 is located outside the third cylinder 6031 . A spiral mechanism is formed between the support body 6032 and the third cylinder 6031 .

[0308] For example, the spiral mechanism includes a third spiral surface 6034, and a second matching piece matched with the third threaded surface, wherein the second matching piece is a fourth threaded surface or a second roller. Taking the fourth spiral surface 60351 as an example, one of the third threaded surface and the fourth spiral surface 60351 is arranged on the support body 6032, and the other is arranged on the outside of the third cylinder 6031. For example, the fourth spiral surface 60351 is arranged on the outer wall surface of the third cylinder 6031, and a protrusion 6035 is protruding on the outer wall of the third cylinder 6031, and the fourth spiral surface 60351 is arranged on the bottom of the protrusion 6035, and the third spiral surface 6034 is arranged on the support body 6032, and the third spiral surface 6034 and the fourth spiral surface 60351 are in contact.

[0309] When the power output shaft 2031 of the first motor 203 rotates along the first direction, since the auxiliary cleaning disc 3021 is connected to the power output shaft 2031, the power output shaft 2031 drives the auxiliary cleaning disc 3021 to rotate. Under the action of the one-way bearing, the third cylinder 6031 is in a disconnected state. Under the gravity of the third cylinder 6031, the auxiliary cleaning disc 3021 and the auxiliary rag 3022, the third spiral surface 6034 of the third cylinder 6031 rotates on the fourth spiral surface 60351 and performs a downward motion to drive the auxiliary cleaning disc 3021 to perform a downward motion. When it descends to the mopping position, in the mopping position, the power output shaft 2031 of the first motor 203 continues to rotate along the first direction, the third cylinder 6031 does not continue to descend relative to the support body 6032, and the power output shaft 2031 drives the cleaning component to rotate.

[0310] When the power output shaft 2031 of the first motor 203 rotates in the second direction, the third cylinder 6031 is in a transmission state, the third cylinder 6031 and the auxiliary cleaning disc 3021 both rotate, and the third spiral surface 6034 on the third cylinder 6031 rotates on the fourth spiral bottom surface of the support body 6032, so as to drive the third cylinder 6031 and the auxiliary cleaning disc 3021 to make an upward movement relative to the support body 6032, so as to drive the auxiliary cleaning disc 3021 to rise.

[0311] Since the support body 6032 is fixed relative to the body 10, the bottom of the power output shaft 2031 is connected to the auxiliary cleaning disc 3021, and the third cylinder 6031 is arranged outside the power output shaft 2031 through the second one-way bearing, when the third cylinder 6031 drives the auxiliary cleaning disc 3021 to rise and fall, the lifting assembly 60 as a whole moves up and down relative to the support body 6032. The first motor 203 and the lifting assembly 60 are both arranged on the housing, so the first motor 203 and the housing are both raised and lowered synchronously.

[0312] In the first and second embodiments of the aforementioned lifting assembly 60, the first motor 203, the shell on which the first motor 203 is installed, and the third cylinder 6031 or the first sleeve 6011 of the lifting assembly 60 do not rise or fall, and the second cylinder 6023 or the second sleeve 6012 connected to the auxiliary cleaning disc 3021 performs the lifting movement.

[0313] In order to limit the further descent of the third cylinder 6031 in the mopping position, the third threaded surface is provided on the support body 6032, and a third limiting portion is provided at the bottom of the third spiral surface 6034; along the spiral direction of the third threaded surface, the second matching portion abuts against the side wall of the third limiting portion to limit the further descent of the third cylinder 6031 relative to the support body 6032 in the mopping position.

[0314] Similar to the second embodiment, it also includes a first shell 6037 and a second reset member 6036; the first motor 203, the power output shaft 2031 and the third cylinder 6031 are all arranged on the first shell 6037, and the first shell 6037 is slidably arranged on the support body 6032 along the vertical direction; the second reset member 6036 is arranged between the first shell 6037 and the support body 6032; the second reset member 6036 is used to apply a second reset force downward to the first shell 6037, and the second reset member 6036 is used to apply a second reset force downward to the first shell 6037. The reset force is applied to the shell and then acts on the auxiliary cleaning disc 3021, so that the auxiliary rag 3022 on the bottom of the auxiliary cleaning disc 3021 remains in contact with the ground; at the same time, since the shell, the first motor 203, and the lifting assembly 60 are lifted as a whole, when the first motor 203 rotates along the first direction, under the combined action of the gravity of the third cylinder 6031, the shell, and the cleaning assembly and the second reset force, the shell as a whole is driven to descend relative to the support body 6032, thereby increasing the driving force for the auxiliary cleaning disc 3021 to descend.

[0315] like Fig.16 As shown, it also includes a torsion component, for example, the torsion component is a torsion spring 6038, which is sleeved outside the third cylinder 6031, one end of which is connected to the support body 6032, and the other end abuts against the third cylinder 6031; it is used to apply torque to the third cylinder 6031 so that the third cylinder 6031 rotates downward relative to the support body 6032. During the descent, the torque generated by the torsion spring 6038 prompts the third spiral surface 6034 or the second roller on the third cylinder 6031 to rotate so as to rotate on the fourth spiral surface 60351 on the outer wall of the support body 6032. Furthermore, one of the third helical surface 6034 and the second mating part can be replaced by the thread groove 6013, and the other can be replaced by the screw thread or rib 6014. When the protrusion 6035 of the third cylinder 6031 rotates downward in the thread groove 6013, the top of the thread groove 6013 exerts a force on the rib 6014, so that the rib 6014 has a tendency to rotate in a spiral direction, and the aforementioned torsion spring 6038 may not be provided.

[0316] like Fig.17As shown, a reduction box is usually arranged between the first motor 203 and the power output shaft 2031. In order to change the speed ratio of the power output shaft 2031 driving the auxiliary cleaning disc 3021, a sun gear 60391, a planetary gear 60393, a ring gear 60392 and a planetary bracket 60394 are arranged on the power output shaft 2031, wherein the sun gear 60391 is sleeved on the power output shaft 2031 through a one-way bearing, and the planetary bracket serves as the third cylinder 6031, and a convex block 6035 is arranged on the outside thereof, and a fourth helical surface 60351 or a second roller is arranged. The ring gear 60392 serves as the first housing 6037, and an extension portion 603941 is arranged on the outer wall thereof, and the extension portion 603941 is slidably arranged on the support body 6032.

[0317] Optionally, the second drive structure 201 of the main cleaning disk 2021 on the right side and the first drive structure 302 of the auxiliary cleaning disk 3021 have the same structure and share a first motor 203 to reduce costs and reduce the space occupied by the two drive structures in the inner cavity of the fuselage 10.

[0318] Specifically, a first transmission mechanism, one end of which is connected to the power output shaft 2031 of the first motor 203, and the other end of which has a first output end and a second output end;

[0319] The first output end is connected to the lifting component 60 of the first driving structure 302, and the second output end is connected to the lifting component 60 of the second driving structure 201, so that the first motor 203 can synchronously drive the main cleaning component 202 and the auxiliary cleaning component 302 to rise and fall and rotate.

[0320] For example, when the lifting assembly 60 is in the first embodiment, the first output end is connected to the first sleeve 6011 of the lifting assembly 60 of the first driving structure 302, and the second output end is connected to the first sleeve 6011 of the lifting assembly 60 of the second driving structure 201, so that the first motor 203 rotates in the first direction, the first sleeves 6011 of the two lifting assemblies 60 rotate, and the second sleeve 6012 performs lifting motion, so as to realize the synchronous lifting and synchronous mopping functions, and also control the first motor 203. The first transmission mechanism can be belt transmission, gear group transmission, etc.

[0321] When the lifting assembly 60 is the second embodiment or the third embodiment, in the two lifting assemblies 60, one third cylinder 6031 is mounted on the first output end through a one-way bearing sleeve, and the other third cylinder 6031 is mounted on the second output end through a one-way bearing sleeve.

[0322] Based on the rotation directions of the two main cleaning discs 2021 and the auxiliary cleaning disc 3021 , when driven by a first motor 203 , the auxiliary cleaning disc 3021 and the main cleaning disc 2021 can rotate in the same direction or in opposite directions, and there are at least two corresponding implementation methods.

[0323] Taking the auxiliary cleaning disc 3021 and the right main cleaning disc 2021 as an example, the first embodiment is as follows: the spiral directions of the spiral mechanisms of the two lifting assemblies 60 are the same, and the first output end and the second output end rotate in opposite directions. For example, the transmission mechanism sets different numbers of gears to make the first output end and the second output end rotate in different directions. In the second embodiment, the spiral directions of the spiral mechanisms of the two lifting assemblies 60 are opposite, and the first output end and the second output end rotate in the same direction.

[0324] Similarly, when the auxiliary cleaning disk 3021 and the right main cleaning disk 2021 have the same direction of rotation, the aforementioned first output end and second output end have the same direction of rotation, and the spiral directions of the spiral mechanisms of the two lifting assemblies 60 are also the same.

[0325] For example, Figure 6 and Figure 7 As shown, Figure 6 and Figure 7 The diagram shows a circular machine, but the first drive structure and the second drive structure themselves can be the same, the transmission mechanism is a gear set, for example, the gear set includes a main gear 604 and four transmission gears 605, the main gear is on the power output shaft 2031, wherein a transmission gear is meshed with the main gear, the inner hole of the transmission gear has a first output shaft, and the first output shaft has a first output end; three transmission gears are meshed with the main gear, and the inner hole of the last transmission gear is fixed with the second output shaft, and the second output shaft has a second output end, so that the first output end and the second output end have the same direction.

[0326] If the second output end and the first output end are to have different directions of rotation, the number of transmission gears between the main gear and the final gear of the first output end or the second output end is changed.

[0327] Alternatively, the first output end and the second output end have opposite directions of rotation, and at the same time, the spiral directions of the spiral mechanisms of the two lifting assemblies 60 are opposite.

[0328] The power output shaft 2031 of the first motor 203 rotates in a first direction and a second direction, one of which is a clockwise direction and the other is a counterclockwise direction.

[0329] In addition, in the existing cleaning robot in the background technology, when the robot is moving forward, the buffer 70 located in front of the machine body first encounters an obstacle and is hit by the obstacle. The controller controls the robot's drive system to act according to the signal of the buffer 70 or the corresponding signal triggered by the buffer 70 to achieve actions such as obstacle avoidance, edge cleaning, and obstacle crossing. Since part of the auxiliary cleaning head exceeds the buffer 70 and is located at the corner of the machine body, the auxiliary cleaning head partially exceeds the buffer 70 in the forward direction and width direction of the machine body. Therefore, when the robot encounters an obstacle, the auxiliary cleaning head hits the obstacle earlier than the buffer 70. After the auxiliary cleaning head is hit, it is easy to be damaged, affecting the effect of edge cleaning; it may even happen that the auxiliary cleaning head is stuck by the obstacle, so that the buffer 70 cannot hit the obstacle and cannot detect the existence of the obstacle, affecting the planning of the robot's cleaning path.

[0330] The cleaning robot in this embodiment has a body 10 with a rear portion and a front portion located in front of the rear portion along the forward direction of the body 10; a buffer 70 is provided on the front portion of the body 10 to detect obstacles by colliding with the obstacles; the auxiliary cleaning tray 3021 and the two main cleaning trays 2021 are all provided at the rear portion of the body 10.

[0331] Since the auxiliary cleaning disc 3021 is arranged at the rear of the fuselage 10 and the buffer 70 is arranged at the front of the fuselage 10, during the forward movement of the fuselage 10, the buffer 70 encounters an obstacle earlier than the auxiliary cleaning disc 3021 and detects the obstacle. Therefore, the auxiliary cleaning module 30 is arranged without affecting the function of the buffer 70 to detect obstacles, so as to ensure the cleaning effect along the edge while not affecting the detection of obstacles by the buffer 70.

[0332] As an alternative implementation of Example 1, the vertical projection of the fuselage 10 on the ground is a circle, that is, a circular machine. Since the edge of the fuselage 10 of the square machine in Example 1 is a straight line, the auxiliary cleaning disc 3021 partially extends beyond the edge of the fuselage 10, and edge cleaning can be achieved. For a circular machine, since the maximum width of the fuselage 10 is the diameter of the fuselage 10 in the width direction of the fuselage 10, when the fuselage 10 is a circular machine, in order to further improve the edge effect, the edge of the auxiliary cleaning disc 3021 is preferably extended beyond the edge of the maximum width of the fuselage 10 to achieve edge cleaning; of course, the edge of the auxiliary cleaning disc 3021 extends outside the fuselage 10 but does not exceed the edge of the maximum width of the fuselage 10. Although edge cleaning can also be achieved, the area of ​​edge cleaning is relatively small.

[0333] like Figure 4-Figure 7As shown, since the width of the square machine is smaller than the length of the body 10 in the forward direction, in the forward direction of the body 10, the roller brush 403 of the dry cleaning module 40 is located in front of the driving wheel 801; and when the body 10 is a circular machine, the maximum width of the body 10 of the circular machine is greater than the maximum width of the body 10 of the square machine, and the space between the two driving wheels 801 can accommodate the roller brush 403, so at least part of the roller brush 403 is arranged in the area between the two driving wheels 801, and the dust box 401 is arranged behind the roller brush 403. In addition, the arrangement of the exhaust duct of the main fan 402 is preferably arranged between the shells of the two second area 104 structures, and other structures (such as side brushes, second driving structure 201, water replenishment mechanism 50, buffer 70, driving wheel 801, dust exhaust channel 404) are the same as those of the square machine, and refer to the description of Example 1, which will not be repeated here.

[0334] Example 2

[0335] The present embodiment provides a cleaning robot, which includes the aforementioned body 10, dry cleaning module 40, main cleaning module 20, auxiliary cleaning module 30, side brush, water replenishing mechanism 50, sensing system, walking system 80, buffer 70 and the like.

[0336] The body 10 is a circular machine, and the main cleaning module 20 includes a second driving structure 201, a first lifting structure and a main cleaning component 202. The first lifting structure drives the main cleaning component 202 to lift and lower, and the second driving structure 201 is used to drive the main cleaning component 202 to reciprocate or twist, so that the main cleaning component 202 mops the floor. The second driving structure 201 and the first lifting structure can be driven by one motor or two motors, one motor drives the main cleaning component 202 to lift and lower, and the other motor drives the main cleaning component 202 to reciprocate or twist.

[0337] like Fig.29 As shown, the first lifting structure 303 can be a pull rope structure, and both ends of the pull rope are connected to the mounting seat, and the mounting seat is driven to perform lifting movement by winding and relaxing.

[0338] like Fig.23 , Fig.24 , Fig.25 and Fig.29 As shown, the main cleaning component 202 is a flat mop, which includes a mounting seat 2023, a vibration plate 20232 disposed on the mounting seat 2023, and at least a main cleaning member disposed on the bottom of the vibration plate 20232, for example, the main cleaning member is a main rag 2022. The second driving structure 201 is disposed on the mounting seat 2023 or the body 10, and is used to drive the vibration plate 20232 to reciprocate or twist, so that the friction between the main cleaning member and the ground is exerted to improve the cleaning effect. The first lifting structure drives the mounting seat 2023 to rise and fall, so as to drive the entire flat mop to rise and fall. The vibration plate 20232

[0339] The auxiliary cleaning module 30 is integrally arranged on the mounting seat 2023. When the first lifting structure drives the mounting seat 2023 to rise and fall, the auxiliary cleaning module 30 rises and falls synchronously with the flat mop as a whole, so as to be in the lifting position and the mopping position synchronously, and in the mopping position, the main rag 2022 and the auxiliary rag 3022 of the auxiliary cleaning assembly 302 mop the floor synchronously. Since the auxiliary cleaning module 30 rises and falls as a whole with the flat mop, the auxiliary cleaning module 30 does not need to be provided with the aforementioned second lifting mechanism to drive the auxiliary cleaning disc 3021 to rise and fall, and only needs to be provided with the first driving structure 302 to drive the auxiliary cleaning disc 3021 to rotate and mop the floor. That is, the auxiliary cleaning module 30 includes the first driving structure 302 and the auxiliary cleaning assembly 302, and the first driving structure 302 drives the auxiliary cleaning assembly 302 to rotate and mop the floor. The auxiliary cleaning assembly 302 is the same as the auxiliary cleaning assembly 302 in Example 1, and includes a circular auxiliary cleaning disc 3021 and an auxiliary rag 3022 arranged on the bottom of the auxiliary cleaning disc 3021.

[0340] Regarding the setting method of the mounting base 2023 and the vibration plate 20232, preferably, the mounting base 2023 includes a top plate 20231, on the bottom of which a bottom plate 20233 is fixed, the bottom plate 20233 is provided with a mounting hole, and the vibration plate 20232 is embedded in the mounting hole; the main rag 2022 is bonded to the vibration plate 20232 and the bottom plate 20233, and the main rag 2022 covers the bottom surface of the vibration plate 20232 and the bottom plate 20233, so that the main rag 2022 includes a main part corresponding to the vibration plate 20232, and an auxiliary part corresponding to the bottom plate 20233, and the auxiliary part is surrounded on the outer circumference of the main part. The second driving structure 201 is arranged on the body 10 or the top plate 20231, driving the vibration plate 20232 to vibrate or twist reciprocatingly. The vibration plate 20232 drives the main part on the main rag 2022 to vibrate or twist reciprocatingly, thereby increasing the friction between the main part and the ground. Under the action of the reciprocating vibration or twisting of the main part, the auxiliary part of the main rag 2022 is subjected to a part of the force, but the auxiliary part is maintained on the bottom plate 20233 relative to the main part. Since the auxiliary part and the main part are on the same plane, they can mop the floor synchronously with the main part.

[0341] In this embodiment, preferably, the second driving structure 201 is arranged on the top plate 20231, which is located below the chassis 101 of the fuselage 10, or in an avoidance recessed area on the chassis 101 that is recessed upward toward the inner cavity of the fuselage 10, and the first lifting structure is located in the avoidance recessed area, so that when in the raised position, the top surface of the top plate 20231 is flush with or close to the bottom surface of the chassis 101, and the first lifting structure does not occupy the height space, so that the flatbed tow vehicle can be lifted to a higher height; correspondingly, the first lifting structure is arranged in the inner cavity of the fuselage 10, and drives the entire mounting base 2023 to rise and fall, thereby driving the second driving structure 201 to rise and fall.

[0342] Alternatively, the mounting base 2023 is not provided with a bottom plate 20233, but only with a top plate 20231, a mounting hole is provided inside the top plate 20231, and the vibration plate 20232 is embedded in the mounting hole, and similarly, the main rag 2022 has a main part corresponding to the vibration plate 20232, and an auxiliary part corresponding to the bottom surface of the top plate 20231. Since the mounting hole is provided on the top plate 20231 for the vibration plate 20232 to be installed, the second driving structure 201 and the first lifting structure are both provided in the inner cavity of the fuselage 10, and the two are the same set of structures and share a motor.

[0343] In order to ensure that there is no missed cleaning between the cleaning areas of the main rag 2022 and the auxiliary rag 3022, the second implementation method of no missed cleaning in Example 1 is adopted, and the mounting seat 2023 has a first part 901, and the auxiliary cleaning plate 3021 has a second part 902. Along the forward direction of the fuselage 10, the cleaning areas of the first part 901 and the second part 902 have an overlapping area 903H.

[0344] In the forward direction of the fuselage 10, since the main rag 2022 occupies the rear part of the fuselage 10, there is no space reserved for the auxiliary cleaning plate 3021 in the rear part of the fuselage 10. In order not to affect the cleaning area and cleaning effect of the main rag 2022, in the forward direction of the fuselage 10, the auxiliary cleaning plate 3021 is located in front of the mounting seat 2023. The auxiliary rag 3022 on the auxiliary cleaning plate 3021 is cleaned first, and the main rag 2022 is cleaned later. Since the second part 902 of the auxiliary cleaning plate 3021 is in front and the first part 901 of the mounting seat 2023 is in the back, the main rag 2022 on the second part 902 is cleaned first, and the auxiliary rag 3022 on the first part 901 is cleaned later. The cleaning areas of the two successively have the overlapping area 903 to avoid missed sweeping.

[0345] Preferably, since the reciprocating twisting or vibration of the vibration plate 20232 on the flat drag is different from the rotation of the auxiliary cleaning plate 3021, in order not to affect the reciprocating twisting or vibration of the vibration plate 20232, in this embodiment, there is a gap between the auxiliary cleaning plate 3021 and the mounting seat 2023 along the forward direction of the fuselage 10, and the rotation of the auxiliary cleaning plate 3021 and the reciprocating vibration or twisting of the vibration plate 20232 on the mounting seat 2023 move independently without affecting each other. Alternatively, the auxiliary cleaning plate 3021 and the mounting seat 2023 are adjacent or close to each other, but they move independently without affecting each other.

[0346] The side brush and the buffer 70 are both arranged on the bottom of the front part of the fuselage 10; along the width direction of the fuselage 10, the auxiliary cleaning plate 3021 and the side brush are both located on the right side of the fuselage 10 to form a right edge; the two driving wheels 801 of the walking system 80 are symmetrically arranged on the bottom of the fuselage 10.

[0347] Along the forward direction of the fuselage 10, the flatbed mop is located behind the driving wheel 801, and the auxiliary cleaning plate 3021 is located in front of the flatbed mop; along the width direction of the fuselage 10, at least part of the auxiliary cleaning plate 3021 is located in the area outside the driving wheel 801 on the right side, so that part of the auxiliary cleaning plate 3021 extends out of the edge of the maximum width of the fuselage 10 to achieve edge cleaning.

[0348] Since the main rag 2022 of the flat mop covers the rear part of the body 10, in order not to affect the normal cleaning of the flat mop, the auxiliary cleaning plate 3021 is arranged on the outside of the right driving wheel 801. While the auxiliary rag 3022 realizes edge cleaning, it will not affect the operation of the right driving wheel 801. The outer area of ​​the right driving wheel 801 on the chassis 101 is usually not provided with other structures. Therefore, the auxiliary cleaning plate 3021 is arranged in the outer area of ​​the right driving wheel 801, which will not affect the arrangement of other structures and the functions realized.

[0349] Even if a downward-looking sensor is provided on the area outside the right-side driving wheel 801 on the chassis 101, in order to provide the auxiliary cleaning plate 3021, the downward-looking sensor here can be provided in the area on the chassis 101 between the right-side driving wheel 801 and the flatbed mop, and the function of the downward-looking sensor will not be affected. That is, without changing the arrangement of the driving wheel 801, the flatbed mop, the roller brush 403 (part or all of the roller brush 403 is located between the two driving wheels 801), and the side brush on the chassis 101, the auxiliary cleaning plate 3021 can be provided to achieve the cleaning effect along the edge, so that the structure arrangement on the entire chassis 101 is compact.

[0350] Furthermore, along the forward direction of the fuselage 10, the roller brush 403 is located in front of the auxiliary cleaning plate 3021 to ensure that the roller brush 403 and the side brush of the dry cleaning module 40 are first dry-cleaned, and then wet-mopped with a flat mop and the auxiliary cleaning plate 3021.

[0351] Since the auxiliary cleaning module 30 is arranged on the mounting seat 2023, there is no need to set up a second lifting structure for lifting. The mounting seat 2023 is located below the chassis 101, and a first avoidance area is provided on the chassis 101, so that the first driving structure 302 is installed on the top of the mounting seat 2023 and extends into the inner cavity of the fuselage 10 through the first avoidance area.

[0352] like Fig.30 As shown, the first driving structure 302 includes a second motor and a second transmission mechanism 204 that transmits the driving force of the second motor to the auxiliary cleaning disc 3021 to drive the auxiliary cleaning disc 3021 to rotate.

[0353] Preferably, a first avoidance hole is provided on the chassis 101, and the output end of the second transmission mechanism has a fifth installation cavity that is recessed upward. The output end passes through the first avoidance hole and is connected to the mounting protrusion 3023 of the auxiliary cleaning disc 3021, so that the auxiliary cleaning disc 3021 is located below the chassis 101. The mounting protrusion 3023 of the auxiliary cleaning disc 3021 is detachably mounted in the fifth installation cavity by magnetic attraction or snap-on. One end of the output shaft of the second transmission mechanism away from the second motor extends toward the driving wheel 801 on the right side and avoids the driving wheel 801, so that the auxiliary cleaning disc 3021 is located in the area outside the driving wheel 801 on the right side, and the second transmission mechanism can be a gear transmission to reduce the rotation speed of the auxiliary cleaning disc 3021. Similar to Example 1, the area of ​​the auxiliary cleaning disc 3021 is smaller than the area of ​​the mounting seat 2023, so that the auxiliary rag 3022 forms a small rag and the main rag 2022 forms a large rag for cleaning.

[0354] The arrangement of other structures in the inner cavity of the body 10, the main fan 402 of the dry cleaning module 40 is distributed behind the cavity 108 of the dust box 401, the dust exhaust channel 404 is distributed in the left corner or left side of the dust box 401, and the second driving structure 201 is located in the avoidance recessed area of ​​the chassis 101 (that is, there is a corresponding avoidance boss 304 in the inner cavity of the body 10), such as Fig.29 As shown, the exhaust channel of the main fan 402 is distributed close to the dust exhaust channel 404 , the avoidance boss is distributed on the right side of the main fan 402 , and the first lifting structure is distributed on the left side of the main fan 402 .

[0355] When the auxiliary cleaning module 30 is not used, the air inlet channel on the right side of the main fan 402 in the body 10 is connected to the air inlet of the dust box 401, the blowing end of the dust suction fan on the base station is connected to the air inlet channel, and the suction end is connected to the dust exhaust channel 404 to form a dust collection mode of blowing and sucking.

[0356] When the auxiliary cleaning module 30 is provided, in order to make room for the first driving structure 302 to avoid, the air inlet channel may not be provided, so that the second transmission mechanism of the first driving structure 302 can extend toward the outside of the right driving wheel 801. When the fuselage 10 is connected to the outside, the area connected to the air inlet can be used as the air inlet area.

[0357] As an alternative implementation of Example 2, the main cleaning component 202 is not a flatbed drag but a track, the mounting seat 2023 is a track cover, the main cleaning member is a track rotatably mounted on the track cover and located below the track cover, the second driving mechanism drives the track to move to clean the ground waiting to be cleaned surface, and the auxiliary cleaning disc 3021 is also arranged on the outside of the right driving wheel 801 and is located on the same side as the side brush to form a right edge mode.

[0358] The auxiliary cleaning module 30 is integrally arranged on the track cover, and the first lifting structure drives the track cover to rise and fall, thereby driving the auxiliary cleaning module 30, the track cover and the track to rise and fall synchronously.

[0359] In short, the auxiliary cleaning assembly 302 does not swing, the auxiliary cleaning assembly 302 is fixed to the body 10 or the main cleaning assembly 202, and at least part of the auxiliary cleaning assembly 302 is always located outside the edge of the body 10 to achieve edge cleaning. The main cleaning assembly 202 and the auxiliary cleaning assembly 30210 achieve a zero-missing sweeping function, without changing or only changing the arrangement of the water replenishment mechanism 50 to provide installation avoidance space for the auxiliary cleaning module 30, so that the auxiliary cleaning parts on the auxiliary cleaning disk 3021 can be achieved along the edge, while having little or no impact on other structures on the body 10.

[0360] As an alternative implementation of Example 2, the auxiliary cleaning module 30 (flat mop or crawler) may also be arranged on the fuselage 10 instead of on the mounting seat 2023. The first driving structure 302 adopts the first driving structure 302 of Example 1 to drive the auxiliary cleaning disc 3021 to rotate and lift to mop the floor.

[0361] As an alternative implementation of any of the aforementioned embodiments, the auxiliary cleaning disc 3021 may not rotate, and the first driving structure 302 is not provided. A second lifting mechanism is provided to drive the auxiliary cleaning disc 3021 to rise and fall. When mopping the floor, the auxiliary cleaning disc 3021 does not rotate, and edge cleaning can also be achieved.

[0362] Example 3

[0363] This embodiment provides a base station, characterized in that it includes

[0364] The main body has a cleaning chamber, and the cleaning chamber is provided with at least one main cleaning area and an auxiliary cleaning area;

[0365] When any one of the cleaning devices of Embodiment 1 or Embodiment 2 returns to the base station,

[0366] The main cleaning area and the auxiliary cleaning area are used to clean the main rag 2022 of the main cleaning component 202 and the auxiliary rag 3022 of the auxiliary cleaning component 302 on the cleaning device, respectively.

[0367] The base station of this embodiment corresponds to the two main cleaning plates 2021 and the auxiliary cleaning plates 3021 of Example 1, and two main cleaning areas and an auxiliary cleaning area are provided on the body. When the main rag 2022 and / or the auxiliary rag 3022 need to be cleaned, the robot returns to the basic accommodation cavity of the base station, and a cleaning cavity is provided at the bottom of the accommodation cavity. Each main cleaning area corresponds to a main rag 2022, and the auxiliary cleaning area corresponds to the auxiliary rag 3022, so as to clean the two main rags 2022 and the auxiliary rag 3022. The arrangement of the main cleaning area and the auxiliary cleaning area corresponds to the arrangement of the two main rags 2022 and the auxiliary rag 3022 of Example 1.

[0368] Specifically, each main cleaning area is provided with at least one main convex rib protruding upward, and the main rag 2022 is cleaned by friction between the main convex rib and the main rag 2022; the auxiliary cleaning area is provided with at least one auxiliary convex rib protruding upward, and the auxiliary rag 3022 is cleaned by friction between the auxiliary convex rib and the auxiliary rag 3022.

[0369] Alternatively, a cleaning tray is provided at the bottom of the receiving cavity of the body 10, and a main cleaning area and an auxiliary cleaning area are provided on the cleaning tray. In each main cleaning area, at least one main convex rib protruding upward is provided, and the main rag 2022 is cleaned by friction between the main convex rib and the main rag 2022; in the auxiliary cleaning area, at least one auxiliary convex rib protruding upward is provided, and the auxiliary rag 3022 is cleaned by friction between the auxiliary convex rib and the auxiliary rag 3022. The main convex ribs and the auxiliary convex ribs are provided on the cleaning tray, so that the cleaning tray can be easily taken out of the receiving cavity of the base station and cleaned.

[0370] In order to improve the cleaning effect, during the cleaning process, the main cleaning disc 2021 drives the main rag 2022 to rotate, so that the main rag 2022 and the main ribs form a rotational friction, thereby increasing the friction cleaning effect. Alternatively, the main cleaning disc does not rotate, but the main ribs rotate, so that the main ribs and the main rag 2022 form a rotational friction.

[0371] Similarly, during the cleaning process, the auxiliary cleaning disc 3021 drives the auxiliary rag 3022 to rotate, so that the auxiliary rag 3022 forms a rotational friction with the auxiliary ribs, thereby increasing the effect of friction cleaning. Alternatively, the auxiliary cleaning disc does not rotate, but the auxiliary ribs rotate, so that the auxiliary ribs and the auxiliary rag 3022 form a rotational friction.

[0372] The base station of this embodiment corresponds to the flat mop and auxiliary cleaning plate 3021 of Example 2, and a main cleaning area and an auxiliary cleaning area are set on the body. When the main rag 2022 and / or the auxiliary rag 3022 need to be cleaned, the robot returns to the basic accommodation cavity of the base station, and a cleaning cavity is set at the bottom of the accommodation cavity. The main cleaning area corresponds to the main rag 2022, and the auxiliary cleaning area corresponds to the auxiliary rag 3022, so as to realize the cleaning of the main rag 2022 and the auxiliary rag 3022 respectively. The arrangement of the main cleaning area and the auxiliary cleaning area is the same as the arrangement of the main rag 2022 and the auxiliary rag 3022 of Example 2.

[0373] Specifically, each main cleaning area is provided with at least one main convex rib protruding upward, and the main rag 2022 is cleaned by friction between the main convex rib and the main rag 2022; the auxiliary cleaning area is provided with at least one auxiliary convex rib protruding upward, and the auxiliary rag 3022 is cleaned by friction between the auxiliary convex rib and the auxiliary rag 3022.

[0374] Alternatively, a cleaning tray is provided at the bottom of the receiving cavity of the body 10, and a main cleaning area and an auxiliary cleaning area are provided on the cleaning tray. At least one main convex rib protruding upward is provided in the main cleaning area, and the main rag 2022 is cleaned by friction between the main convex rib and the main rag 2022; at least one auxiliary convex rib protruding upward is provided in the auxiliary cleaning area, and the auxiliary rag 3022 is cleaned by friction between the auxiliary convex rib and the auxiliary rag 3022. The main convex rib and the auxiliary convex rib are provided on the cleaning tray, so that the cleaning tray can be taken out of the receiving cavity of the base station and cleaned.

[0375] In order to improve the cleaning effect, during the cleaning process, the vibration plate 20232 reciprocates or twists to drive the main rag 2022 to reciprocate or twist, so that the main rag 2022 and the main convex ribs form sliding friction, thereby increasing the friction cleaning effect. Alternatively, the vibration plate 20232 does not drive the main rag 2022 to reciprocate or twist, and the main convex ribs reciprocate to form sliding friction between the main convex ribs and the main rag 2022, thereby scraping off the dirt on the main rag 2022 dragged on the flat plate.

[0376] Similarly, during the cleaning process, the auxiliary cleaning disc 3021 drives the auxiliary rag 3022 to rotate, so that the auxiliary rag 3022 forms a rotational friction with the auxiliary ribs, thereby increasing the effect of friction cleaning. Alternatively, the auxiliary cleaning disc does not rotate, but the auxiliary ribs rotate, so that the auxiliary ribs and the auxiliary rag 3022 form a rotational friction.

[0377] Example 4

[0378] This embodiment provides a cleaning system, including a cleaning device according to any one of Embodiment 1 or Embodiment 2, and any one of the base stations according to Embodiment 3.

[0379] The cleaning system of this embodiment includes the cleaning device of Example 1 or Example 2, and the base station of Example 3. The cleaning system always extends out of the edge of the fuselage 10 through the auxiliary cleaning plate 3021, so that cleaning along the edge can be achieved. At the same time, the cleaning device can return to the base station to self-clean the main rag 2022 and the auxiliary rag 3022.

[0380] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0381] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning device, characterized in that: It comprises a body, a dry cleaning module arranged on the body, and a main cleaning module and an auxiliary cleaning module for wet cleaning; The dry cleaning module includes at least one roller brush; The main cleaning module includes at least one main cleaning component; The auxiliary cleaning module comprises at least one auxiliary cleaning component, at least part of which extends out of the edge of the body to clean along the edge; Along the forward direction of the fuselage, the main cleaning assembly and the auxiliary cleaning assembly are both located behind the roller brush; Along the width direction of the fuselage, there is no missed cleaning area between the cleaning area of ​​the main cleaning component and the cleaning area of ​​the auxiliary cleaning component; wherein the width direction of the fuselage is perpendicular to the forward direction of the fuselage.

2. The cleaning device according to claim 1, characterized in that It also includes a walking system, which includes at least two driving wheels, and the two driving wheels are symmetrically arranged on the bottom of the fuselage; along the forward direction of the fuselage, the main cleaning component and / or the auxiliary cleaning component are located behind the driving wheels.

3. The cleaning device according to claim 2, characterized in that: The main cleaning assembly includes a main cleaning plate and a main cleaning member arranged on the bottom of the main cleaning plate; The auxiliary cleaning assembly includes an auxiliary cleaning plate and an auxiliary cleaning member arranged on the bottom of the auxiliary cleaning plate; The auxiliary cleaning disc and the main cleaning disc are both circular discs, and the diameter of the auxiliary cleaning disc is smaller than that of the main cleaning disc; the auxiliary cleaning disc is distributed in a first area surrounded by the adjacent or close driving wheel, the main cleaning disc and the bottom of the body.

4. The cleaning device according to claim 3, characterized in that: The diameter of the main cleaning disk is 2 to 4 times the diameter of the auxiliary cleaning disk.

5. The cleaning device according to claim 3, characterized in that: Also included is a side brush provided on the bottom of the front part of the fuselage along the forward direction of the fuselage, the side brush being located in front of the roller brush; Along the width direction of the fuselage, the side brush and the auxiliary cleaning disk are both located on the right side of the fuselage to form right edge cleaning; the auxiliary cleaning disk is distributed in the first area enclosed by the driving wheel located on the right side of the fuselage, the main cleaning disk and the bottom of the fuselage.

6. The cleaning device according to claim 5, characterized in that Along the forward direction of the fuselage, the rotation center of the auxiliary cleaning disc is located in front of the rotation center of the main cleaning disc, so that the auxiliary cleaning disc is distributed in the first area behind the driving wheel on the upper right and right side of the adjacent main cleaning disc; the main cleaning disc and the auxiliary cleaning disc are both located behind the driving wheel.

7. The cleaning device according to any one of claims 3 to 6, characterized in that: There is a gap between the main cleaning disc and the auxiliary cleaning disc; the adjacent edges of the auxiliary cleaning member and the main cleaning member are tangent to each other, or are squeezed against each other, so that there is no gap between the adjacent edges of the main cleaning member and the auxiliary cleaning member without affecting the rotation of the main cleaning disc and the auxiliary cleaning disc.

8. The cleaning device according to claim 7, characterized in that The main cleaning member and the auxiliary cleaning member are both rags, and the main cleaning member and the auxiliary cleaning member are pressed against each other to form a second interference zone. Along a second connecting line of the rotation centers of the main cleaning member and the auxiliary cleaning member, the maximum width of the second interference zone is less than 5 mm.

9. The cleaning device according to any one of claims 1 to 6, characterized in that: The main cleaning component has at least a first part; the auxiliary cleaning component has at least a second part, and in the forward direction of the fuselage, the cleaning areas of the first part and the second part have an overlapping area.

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

11. The cleaning device according to claim 10, characterized in that The main cleaning assembly includes a main cleaning disc and a main cleaning member arranged on the bottom of the main cleaning disc; the auxiliary cleaning assembly includes an auxiliary cleaning disc and an auxiliary cleaning member arranged on the auxiliary cleaning disc; There is a gap between the main cleaning disc and the auxiliary cleaning disc, and the adjacent edges of the auxiliary cleaning member and the main cleaning member are tangent to each other or squeezed against each other so that there is no gap between the adjacent edges of the main cleaning member and the auxiliary cleaning member without affecting the respective rotations of the main cleaning disc and the auxiliary cleaning disc.

12. The cleaning device according to claim 11, characterized in that The main cleaning member is a main rag, the auxiliary cleaning member is an auxiliary rag, the auxiliary cleaning plate has the second part, and the main cleaning plate has the first part, so that the main rag on the second part is cleaned first and the auxiliary rag on the first part is cleaned later.

13. The cleaning device according to any one of claims 3 to 6, characterized in that: The auxiliary cleaning module also includes a first driving structure for driving the auxiliary cleaning component to rise and fall and rotate; The main cleaning module also includes a second driving structure for driving the main cleaning component to rise and fall and rotate; There are two main cleaning components and two second driving structures, and one second driving structure drives one main cleaning component; The first driving structure and the second driving structure are arranged in the inner cavity of the fuselage, and the first driving structure passes through the bottom of the fuselage and is connected to the auxiliary cleaning assembly so that the auxiliary cleaning assembly is located at the bottom of the fuselage; The second driving structure passes through the bottom of the body and is connected to the main cleaning assembly so that the main cleaning assembly is located below the bottom of the body.

14. The cleaning device according to claim 13, characterized in that The dry cleaning module further includes a dust box and a main fan, wherein the main fan is used to suck the garbage into the dust box; a dust box cavity for installing the dust box is provided in the body; a dust exhaust channel connected to the dust box is also provided in the body, which is used to suck the garbage in the dust box into the base station under the action of the dust collecting fan of the base station; The main fan is arranged in the inner cavity of the fuselage, and is distributed in the second area surrounded by the dust exhaust channel, the dust box cavity, and the two second driving structures; the first driving structure is distributed outside the second area, and is away from one side of the dust exhaust channel, and is located behind the driving wheel adjacent to or close to it.

15. The cleaning device according to claim 14, characterized in that It also includes a water replenishing mechanism disposed in the inner cavity of the body, for replenishing water to the main cleaning element and / or the auxiliary cleaning element to perform wet cleaning; The water replenishment mechanism is arranged on the fuselage avoiding the first driving structure and is located outside the second area.

16. The cleaning device according to claim 15, characterized in that The water replenishment mechanism includes a water tank and a pump body. A third area is formed between the two second drive structures and the rear side wall of the fuselage. At least one of the water tank and the pump body is arranged in the third area.

17. The cleaning device according to claim 16, characterized in that A fourth area is formed between another driving wheel away from the auxiliary cleaning component, the dust exhaust passage, and the side wall of the machine body; the water tank is arranged in the third area, and the pump body is arranged in the fourth area.

18. The cleaning device according to claim 11, characterized in that In the forward direction of the fuselage, the first portion is located behind a position where adjacent edges of the auxiliary cleaning member and the main cleaning member are tangent to or squeezed against each other.

19. The cleaning device according to claim 14, characterized in that Also included is an exhaust duct connected to the exhaust port of the main fan; The exhaust duct extends out of the second area and toward the side wall of the fuselage adjacent thereto so as to communicate with the outside world; along the forward direction of the fuselage, the first driving structure is located behind the exhaust duct.

20. The cleaning device according to claim 14, characterized in that The vertical projection of the body on the surface to be cleaned is a rectangle, the long side of the rectangle is located in the forward direction of the body, the short side of the rectangle is located in the width direction of the body, the dust box cavity is distributed between the two driving wheels, and along the forward direction of the body, the roller brush is located in front of the driving wheel and the dust box cavity; or The vertical projection of the body on the surface to be cleaned is circular, and at least part of the roller brush is located between the two driving wheels; along the forward direction of the body, the dust box is located behind the roller brush.

21. The cleaning device according to any one of claims 1 to 6, characterized in that: Along the forward direction of the fuselage, the fuselage has a rear part and a front part located in front of the rear part; a buffer is arranged on the front part, and the buffer detects obstacles by colliding with the obstacles; the auxiliary cleaning component and the main cleaning component are arranged at the rear part of the fuselage.

22. The cleaning device according to any one of claims 3 to 6, characterized in that: The main cleaning module further includes a second driving structure, which is a first lifting structure, and is at least used to drive the main cleaning component to lift and descend, so that the main cleaning component can switch between a mopping position and a lifting position; The auxiliary cleaning module also includes a first driving structure, which is a second lifting mechanism, at least used to drive the auxiliary cleaning component to lift and descend, so that the auxiliary cleaning component can switch between a mopping position and a lifting position.

23. The cleaning device according to claim 22, characterized in that The main cleaning component and the auxiliary cleaning component are synchronously in a lifting position or a mopping position.

24. The cleaning device according to claim 22, characterized in that The second driving structure is also used to drive the main cleaning assembly to rotate when in the mopping position to clean the surface to be cleaned; The first driving structure is also used to drive the auxiliary cleaning component to rotate when in the mopping position to clean the surface to be cleaned; When in the mopping position, the adjacent auxiliary cleaning disc and the main cleaning disc rotate in opposite directions.

25. The cleaning device according to claim 22, characterized in that There are two main cleaning assemblies, which are symmetrically arranged on the bottom of the fuselage; along the width direction of the fuselage, there is no gap between the main cleaning parts of the two main cleaning assemblies; the auxiliary cleaning disk is arranged on the right side of the bottom of the fuselage to form a right edge; the auxiliary cleaning disk is adjacent to the main cleaning disk located on the right side of the fuselage; In the mopping position, the two adjacent main cleaning discs rotate in opposite directions, and the auxiliary cleaning disc rotates counterclockwise.

26. The cleaning device according to claim 22, characterized in that The first driving structure and / or the second driving structure include a first motor and a lifting assembly, the lifting assembly is connected to a cleaning assembly, the cleaning assembly is a main cleaning assembly or an auxiliary cleaning assembly, and the lifting assembly drives the cleaning assembly to rise and fall, and rotate in the mopping position.

27. The cleaning device according to claim 22, characterized in that In the non-edge cleaning mode, the auxiliary cleaning plate is in a raised position, and the main cleaning plate is in a mopping position; or During edge cleaning, the auxiliary cleaning plate is in a mopping position, and during non-edge cleaning, the auxiliary cleaning plate is in a raised position.

28. The cleaning device according to claim 25, characterized in that The rotation center of the auxiliary cleaning disk is located in front of the rotation center of the main cleaning disk, and a first connecting line between the rotation centers of the auxiliary cleaning disk and the main cleaning disk intersects with a second connecting line between the rotation centers of the two main cleaning disks.

29. The cleaning device according to claim 26, characterized in that The lifting assembly comprises A first fixed body connected to a power output shaft of the first motor; A second fixed body is connected to a cleaning component, the cleaning component being a main cleaning component or an auxiliary cleaning component; a spiral mechanism is formed between the first fixed body and the second fixed body; The power output shaft rotates in the first direction, and under the action of the power output shaft or at least under the gravity of the second fixed body and the cleaning component, the second fixed body is caused to move downward relative to the first fixed body through the spiral mechanism; in the mopping position, the power output shaft continues to rotate in the first direction, the second fixed body does not continue to move downward relative to the first fixed body, and the second fixed body rotates to drive the cleaning component to rotate and clean the surface to be cleaned; The power output shaft rotates along the second direction. Under the action of the power output shaft, the second fixed body is caused to move upward relative to the first fixed body through the screw mechanism, so as to drive the cleaning component to move upward.

30. The cleaning device according to claim 29, characterized in that The first fixed body comprises a first cylinder, which is sleeved on the power output shaft of the first motor through a first one-way bearing; the one-way bearing has a transmission state for transmitting the force of the power output shaft to the first cylinder, and a disconnection state for disconnecting the force of the power output shaft from being transmitted to the first cylinder; The second fixed body comprises a floating shaft and a second cylinder, wherein the second cylinder is rotatably arranged on the outer wall of the floating shaft; the top of the floating shaft is connected to the power output shaft, and the bottom thereof is connected to the top of the cleaning assembly; A spiral mechanism is formed between the second cylinder and the first cylinder; The power output shaft rotates in a first direction, and the first cylinder is in a disconnected state; the power output shaft drives the floating shaft to rotate, so as to drive the cleaning assembly to rotate, and under the gravity of the second fixed body and the cleaning assembly, the second cylinder moves downward relative to the first cylinder; The power output shaft rotates in the second direction, the first cylinder is in a transmission state, and the power output shaft drives the first cylinder to rotate, so that the second cylinder rises relative to the first cylinder, thereby driving the floating shaft and the cleaning assembly to rise.

31. The cleaning device according to claim 1, characterized in that The main cleaning module further comprises a first lifting structure, and the first lifting structure is used to drive the main cleaning component to rise and fall; The auxiliary cleaning module is arranged on the main cleaning component and cannot swing relative to the body. Under the drive of the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component, so that the main cleaning component and the auxiliary cleaning component are synchronously in the lifting position and the mopping position.

32. The cleaning device according to claim 31, characterized in that The main cleaning component includes a mounting seat and a main rag arranged on the bottom of the mounting seat; the auxiliary cleaning module is arranged on the mounting seat, and the first lifting structure drives the mounting seat to rise and fall, thereby driving the main cleaning component and the auxiliary cleaning component to rise and fall synchronously.

33. The cleaning device according to claim 32, characterized in that The mounting base is a flatbed trailer, which includes a top plate, a bottom plate arranged on the bottom of the top plate, the bottom plate is provided with a mounting hole or an escape hole, and a vibration plate embedded in the mounting hole or the escape hole; The main rag is arranged on the bottom of the vibration plate and the bottom plate, and the vibration plate reciprocates and vibrates or twists to drive the main rag to move so as to clean the surface to be cleaned.

34. The cleaning device according to claim 33, characterized in that The auxiliary cleaning module is arranged on the top plate.

35. The cleaning device according to claim 33, characterized in that The main cleaning assembly has at least a first part and the auxiliary cleaning assembly has at least a second part. In the forward direction of the fuselage, the cleaning areas of the first part and the second part have an overlapping area.

36. The cleaning device according to claim 35, characterized in that In the forward direction of the fuselage, the first part is located behind the second part, so that the second part of the auxiliary cleaning component is cleaned first and the first part is cleaned later, and the cleaning areas of the two successively have the overlapping area.

37. The cleaning device according to claim 36, characterized in that The auxiliary cleaning component comprises an auxiliary rag, and along the width direction of the fuselage, there is no missed cleaning area between the cleaning area of ​​the main rag and the cleaning area of ​​the auxiliary rag.

38. The cleaning device according to claim 37, characterized in that The area of ​​the main rag is larger than the area of ​​the auxiliary rag; and / or The auxiliary cleaning component also includes an auxiliary cleaning plate, the auxiliary rag is arranged on the bottom of the auxiliary cleaning plate, the mounting seat has the first part, and the auxiliary cleaning plate has the second part, so that the auxiliary rag on the second part is cleaned first, and the main rag on the first part is cleaned later, and the area of ​​the auxiliary cleaning plate is smaller than the area of ​​the mounting seat.

39. A cleaning device according to any one of claims 32 to 36, characterized in that The auxiliary cleaning assembly includes an auxiliary cleaning plate and an auxiliary rag disposed on the bottom of the auxiliary cleaning plate; The auxiliary cleaning module further comprises a first driving structure for driving the auxiliary cleaning disc to rotate, and the first driving structure is arranged on the mounting seat; the area of ​​the auxiliary cleaning disc is smaller than the area of ​​the mounting seat.

40. The cleaning device according to any one of claims 32 to 36, characterized in that It also includes a side brush and a walking system, wherein the side brush is arranged on the bottom of the front part of the machine body; the auxiliary cleaning assembly includes an auxiliary cleaning plate and an auxiliary rag arranged on the bottom of the auxiliary cleaning plate; along the width direction of the machine body, the auxiliary cleaning plate and the side brush are both located on the right side of the machine body to form a right edge; The walking system comprises at least two driving wheels, and the two driving wheels are symmetrically arranged on the bottom of the fuselage; Along the forward direction of the fuselage, the main cleaning assembly is located behind the driving wheel, and the auxiliary cleaning disc is located in front of the main cleaning assembly; At least a portion of the auxiliary cleaning disc is located in an area outside the right driving wheel along the width direction of the machine body.

41. The cleaning device according to claim 39, characterized in that The first driving structure includes a second motor and a second transmission mechanism for transmitting the driving force of the second motor to the auxiliary cleaning disc; The second motor is arranged on the mounting seat, and one end of the output shaft of the second transmission mechanism away from the second motor extends toward the right driving wheel and avoids the driving wheel so that the auxiliary cleaning disc is located in the area outside the right driving wheel.

42. The cleaning device according to claim 40, characterized in that The auxiliary cleaning plate is located in front of the mounting seat so that the auxiliary rag cleans first and the main rag cleans later.

43. A cleaning device according to any one of claims 32 to 36, characterized in that It also includes a side brush and a walking system, wherein the side brush is arranged on the bottom of the front part of the fuselage; the auxiliary cleaning assembly includes an auxiliary rag; along the width direction of the fuselage, the auxiliary rag and the side brush are both located on the right side of the fuselage to form a right edge; The walking system comprises at least two driving wheels, and the two driving wheels are symmetrically arranged on the bottom of the fuselage; Along the forward direction of the fuselage, the main cleaning assembly is located behind the driving wheel, and the auxiliary cleaning cloth is located in front of the main cleaning assembly; At least a portion of the auxiliary cleaning cloth is located in an area outside the right driving wheel along the width direction of the fuselage.

44. The cleaning device according to claim 43, characterized in that The auxiliary cleaning module further comprises a first driving structure for driving the auxiliary rag to rotate to mop the floor; The first driving structure includes a second motor and a second transmission mechanism for transmitting the driving force of the second motor to the auxiliary rag; The second motor is arranged on the mounting seat, and one end of the output shaft of the second transmission mechanism away from the second motor extends toward the right driving wheel and avoids the driving wheel so that the auxiliary rag is located in the area outside the right driving wheel.

45. The cleaning device according to claim 44, characterized in that The auxiliary cleaning assembly further comprises an auxiliary cleaning plate, the auxiliary rag being arranged on the bottom of the auxiliary cleaning plate; the auxiliary cleaning plate being located in front of the mounting seat so that the rag cleans first and the main rag cleans later; The second transmission mechanism drives the auxiliary cleaning disc to rotate, so as to drive the auxiliary rag to rotate. The auxiliary cleaning disc is located in the area outside the right driving wheel, so that the auxiliary rag is located in the area outside the right driving wheel.

46. ​​The cleaning device according to claim 40, characterized in that It also includes at least one downward-looking sensor, one of which is arranged on the bottom of the chassis of the fuselage, and along the forward direction of the fuselage, the downward-looking sensor is located between the driving wheel on the right side and the mounting seat.

47. The cleaning device according to claim 40, characterized in that It also includes a water replenishing mechanism, which is used to replenish water to the main rag and the auxiliary rag so that the main rag and the auxiliary rag can perform wet cleaning; Along the forward direction of the fuselage, the side brush in front is used for dry cleaning, and the auxiliary cloth in the back is used for wet cleaning.

48. The cleaning device according to any one of claims 1 to 6, characterized in that The auxiliary cleaning assembly includes an auxiliary cleaning plate and an auxiliary cleaning member arranged on the bottom of the auxiliary cleaning plate; When the auxiliary cleaning member cleans the surface to be cleaned, the pressure applied to the auxiliary cleaning disk is 900-1500Pa.

49. A base station, characterized in that: include A main body having a cleaning chamber, wherein the cleaning chamber is provided with at least one main cleaning area and an auxiliary cleaning area; When the cleaning device according to any one of claims 1 to 48 returns to the base station, The main cleaning area and the auxiliary cleaning area are used for cleaning the main cleaning parts of the main cleaning assembly on the cleaning device and the auxiliary cleaning parts of the auxiliary cleaning assembly, respectively.

50. The base station according to claim 49, characterized in that At least one main convex rib protruding upward is provided in the main cleaning area, and the main cleaning member is cleaned by friction between the main convex rib and the main cleaning member; At least one auxiliary convex rib protruding upward is arranged in the auxiliary cleaning area, and the auxiliary cleaning member is cleaned by friction between the auxiliary convex rib and the auxiliary cleaning member.

51. The base station according to claim 50, characterized in that During the cleaning process, one of the main cleaning member and the main convex rib rotates or reciprocates, so that rotational friction or sliding friction is formed between the main convex rib and the main cleaning member; and / or During the cleaning process, one of the auxiliary cleaning member and the auxiliary rib rotates or reciprocates, so that rotational friction or sliding friction is formed between the auxiliary rib and the auxiliary cleaning member.

52. A cleaning system, characterized in that: It comprises the cleaning device described in any one of claims 1-48, and the base station described in any one of claims 49-51.

Images