Cleaning robot

Abstract

The utility model discloses a cleaning robot, and relates to the technical field of cleaning robots. The cleaning robot comprises a robot body, a mop device, a first mop bin, a second mop bin and a mop replacing device. The first mop bin is used for storing used old mops or damaged mops; the second mop bin is used for storing new mop; the mop replacing device is provided with a moving assembly and a clamping jaw driven by the moving assembly to move, and the clamping jaw can move to a first position, a second position and a third position; when the clamping jaw moves to the first position, the clamping jaw is used for obtaining mop cloth on the mop cloth device or installing new mop cloth to the mop cloth device; when the clamping jaw moves to the second position, the clamping jaw is used for placing the mop into the first mop bin; when the clamping jaw moves to the third position, the clamping jaw is used for taking out the mop from the second mop bin. According to the cleaning robot, the mop can be automatically replaced, the manual operation process is avoided, and the cleaning efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, and more particularly to a cleaning robot. Background Art

[0002] During the use of existing cleaning robots, the mop needs to be cleaned after use, but the mop is severely worn after repeated use. When a new mop needs to be replaced, it needs to be manually operated, which is cumbersome and requires the original old mop to be removed, which is not easy to do.

[0003] Even the mops of some cleaning robots are not replaceable. When the mop is damaged, the entire cleaning part needs to be replaced, which is very costly.

[0004] In summary, how to provide a cleaning robot that can automatically replace a mop is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of the present invention is to provide a cleaning robot that can realize automatic replacement of mops, simplify the mop replacement process, and help improve cleaning efficiency.

[0006] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0007] A cleaning robot, characterized by comprising:

[0008] Robot body;

[0009] A mop device, fixedly mounted with a mop;

[0010] The first mop compartment is used to store used old mops or damaged mops;

[0011] The second mop compartment is used to store new mops;

[0012] The mop cloth changing device is provided with a moving component and a clamping claw driven by the moving component, and the clamping claw can be moved to a first position, a second position and a third position;

[0013] When the clamp moves to the first position, the clamp is used to obtain the mop on the mop device or install a new mop on the mop device; when the clamp moves to the second position, the clamp is used to place the mop into the first mop compartment; when the clamp moves to the third position, the clamp is used to take the mop out of the second mop compartment;

[0014] The mop device, the first mop bin, the second mop bin and the mop changing device are all mounted on the robot body.

[0015] Optionally, the moving assembly includes a mop lifting mechanism and a mop transverse movement mechanism, the mop lifting mechanism drives the clamping claw to move along a first direction, and the mop transverse movement mechanism drives the clamping claw to move along a second direction, the first direction being perpendicular to the second direction;

[0016] The mopping device can be raised and lowered in a vertical direction relative to the robot body.

[0017] Optionally, it also includes a water supply pump installed on the robot body, a liquid tank for holding liquid, a wetting pipeline with an outlet facing the mop in the mopping device, and a first controller. The water supply pump is used to pump the liquid in the liquid tank into the wetting pipeline, and the liquid flows out from the outlet of the wetting pipeline to the mop. The water supply pump is connected to the first controller, and the first controller is used to control the operation of the water supply pump.

[0018] Optionally, a lifting mechanism is further included, the lifting mechanism being installed on the robot body, and the lifting mechanism comprising:

[0019] A lifting power member is installed on the robot body; the lifting power member has an output end that is retractable in the vertical direction; the output end is connected to the mopping device;

[0020] A pressure sensor is provided at the connection between the output end and the mopping device; when the pressure information detected by the pressure sensor is greater than the maximum value of a preset pressure range, the output end of the lifting power component is controlled to drive the mopping device to rise; when the pressure information detected by the pressure sensor is less than the minimum value of the preset pressure range, the output end of the lifting power component is controlled to drive the mopping device to descend; when the pressure information detected by the pressure sensor is within the preset pressure range, the lifting power component is controlled to maintain the current state.

[0021] Optionally, the mopping device includes:

[0022] A mop lifting plate, used to connect to the output end of the lifting power component;

[0023] A mop bracket, used to fix the mop; the mop bracket is located on the lower side of the mop lifting plate;

[0024] an elastic member, one end of which abuts against the mop lifting plate, and the other end of which abuts against the mop bracket;

[0025] One of the mop lifting plate and the mop bracket is provided with a guide column, and the other is provided with a guide hole for cooperating with the guide column. When the elastic member is compressed, the mop bracket moves towards the direction close to the mop lifting plate.

[0026] Optionally, one of the mop bracket and the mop is provided with a first magnetic component, and the other is provided with a second magnetic component or a magnetic metal component that is attracted to the first magnetic component.

[0027] Optionally, it also includes:

[0028] A trash box is provided at the lower part of the robot body;

[0029] a side brush assembly rotatably mounted on the robot body, wherein the rotation axis of the side brush assembly is perpendicular to the ground on which it is located; the side brush assembly is used to gather garbage to a middle position below the robot body;

[0030] A roller brush assembly is rotatably arranged on the robot body, and the rotation axis of the roller brush assembly is parallel to the ground on which it is located; the roller brush assembly is used to sweep the garbage gathered by the side brush assembly into the garbage box.

[0031] Optionally, it further comprises a suction scraper and a dust box communicated with the suction scraper, wherein a fan for vacuuming is provided in the dust box.

[0032] Optionally, the side brush assembly, the roller brush assembly, and the suction scraper are arranged in sequence from front to back along the moving direction of the robot body.

[0033] Optionally, it also includes a forward-looking camera, an ultrasonic radar and a navigation radar, wherein the forward-looking camera is installed on the front side of the robot body in the direction of travel, the ultrasonic radar is installed on the outer peripheral side of the robot body; and the navigation radar is installed on the robot body.

[0034] The cleaning robot provided by the utility model includes a robot body, a mop device, a first mop bin, a second mop bin 4, and a mop changing device. The mop device is fixedly mounted with a mop; the first mop bin is used to store used or damaged mops; the second mop bin is used to store new mops; the mop changing device is provided with a moving assembly and a clamping claw driven by the moving assembly, and the clamping claw can be moved to a first position, a second position, and a third position; when the clamping claw moves to the first position, the clamping claw is used to remove the mop from the mop device or install a new mop on the mop device; when the clamping claw moves to the second position, the clamping claw is used to place the mop into the first mop bin; when the clamping claw moves to the third position, the clamping claw is used to remove the mop from the second mop bin; the mop device, the first mop bin, the second mop bin, and the mop changing device are all mounted to the robot body.

[0035] During actual use, when the mop needs to be replaced, the moving component first drives the clamping claw to move to the first position, the clamping claw clamps the mop on the mop device and separates the mop from the mop device; then the moving component drives the clamping claw clamping the old mop to move to the second position, the clamping claw places the old mop in the first mop compartment; then the moving component drives the clamping claw to move to the third position, the clamping claw clamps the new mop in the second mop compartment, the moving component drives the clamping claw clamping the new mop to move to the first position, the clamping claw installs the new mop to the mop device, and the mop is replaced.

[0036] The cleaning robot provided by the present invention can realize automatic replacement of mops, avoids the process of manual operation, simplifies the process of replacing mops, and is conducive to improving cleaning efficiency. In addition, by providing a first mop compartment and a second mop compartment, old mops and new mops can be stored, avoiding the process of frequently adding or taking out mops. Replacing the mop once can maintain the use of the cleaning robot for a longer time, further improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0038] Figure 1 A schematic structural diagram of a specific embodiment of the cleaning robot provided by the utility model

[0039] Figure 2 for Figure 1 A schematic structural diagram of the cleaning robot from another angle;

[0040] Figure 3 It is a structural diagram of the mop lifting mechanism;

[0041] Figure 4 It is a structural diagram of the mopping device;

[0042] Figure 5 It is a structural diagram of the mopping device from another angle;

[0043] Figure 6 This is a schematic diagram of the structure of the sweeping and vacuuming parts of the cleaning robot;

[0044] Figure 7 for Figure 6 A schematic diagram of the structure of the sweeping and vacuuming parts of the cleaning robot from another angle.

[0045] Figure 1-Figure 7 middle:

[0046] 1-Robot body;

[0047] 110-safety edge; 120-driving wheel; 130-lifting motor; 140-connecting rod;

[0048] 2- mopping device;

[0049] 210-Mop lifting plate; 220-Mop bracket; 230-Elastic member; 240-Step screw;

[0050] 3-the first mop compartment;

[0051] 4- Second mop compartment;

[0052] 5-Mop cloth replacement device;

[0053] 510- mop lifting mechanism; 520- mop transverse movement mechanism; 530- clamping claw;

[0054] 6-water supply pump;

[0055] 7-Liquid tank;

[0056] 8-front view camera;

[0057] 9-Ultrasonic radar;

[0058] 10-Navigation radar;

[0059] 11-side brush assembly;

[0060] 12-roller brush assembly;

[0061] 13- Trash box;

[0062] 14- Operation panel;

[0063] 15-Dust collection component;

[0064] 1510-suction scraper; 1520-dust box; 1530-blower; DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0066] The core of the utility model is to provide a cleaning robot, which can realize automatic replacement of mops, simplify the replacement process of mops, and help improve cleaning efficiency.

[0067] This embodiment provides a cleaning robot comprising a robot body 1, a mop device 2, a first mop bin 3, a second mop bin 4, and a mop changing device 5. The mop device 2 is fixedly mounted with a mop; the first mop bin 3 is used to store used or damaged mops; the second mop bin 4 is used to store new mops; and the mop changing device 5 comprises a moving assembly and a clamping jaw 530 driven by the moving assembly. The clamping jaw 530 is movable to a first position, a second position, and a third position. When the clamping jaw 530 is moved to the first position, the clamping jaw 530 is used to remove a mop from the mop device 2 or to install a new mop on the mop device 2; when the clamping jaw 530 is moved to the second position, the clamping jaw 530 is used to place a mop into the first mop bin 3; and when the clamping jaw 530 is moved to the third position, the clamping jaw 530 is used to remove a mop from the second mop bin 4. The mop device 2, the first mop bin 3, the second mop bin 4, and the mop changing device 5 are all mounted to the robot body 1.

[0068] It should be noted that an opening can be provided in the first mop compartment 3 to facilitate taking out the mop in the first mop compartment 3; and an opening can be provided in the second mop compartment 4 to facilitate adding new mop.

[0069] During actual use, when the mop needs to be replaced, the moving component first drives the clamping claw 530 to move to the first position, the clamping claw 530 clamps the mop on the mop device 2, and separates the mop from the mop device 2; then the moving component drives the clamping claw 530 clamping the old mop to move to the second position, the clamping claw 530 places the old mop in the first mop bin 3; then the moving component drives the clamping claw 530 to move to the third position, the clamping claw 530 clamps the new mop in the second mop bin 4, the moving component drives the clamping claw 530 clamping the new mop to move to the first position, the clamping claw 530 installs the new mop to the mop device 2, and the mop is replaced.

[0070] The cleaning robot provided in this specific embodiment can realize automatic replacement of mops, avoid the process of manual operation, simplify the mop replacement process, and is conducive to improving cleaning efficiency; in addition, by providing the first mop bin 3 and the second mop bin 4, it is possible to store old and new mops, avoiding the process of frequently adding or removing mops. Replacing the mop once can maintain the use of the cleaning robot for a longer time, further improving cleaning efficiency.

[0071] On the basis of the above embodiment, the moving component can include a mop lifting mechanism 510 and a mop transverse movement mechanism 520. The mop lifting mechanism 510 drives the clamping claw 530 to move along a first direction, and the mop transverse movement mechanism 520 drives the clamping claw 530 to move along a second direction. The first direction is perpendicular to the second direction. The mop device 2 can be raised and lowered in the vertical direction relative to the robot body 1.

[0072] In actual use, when the mop needs to be replaced, the steps are as follows:

[0073] The first step is to control the mop device 2 to drive the old mop to rise to the replacement position;

[0074] In the second step, the mop cloth transverse movement mechanism 520 drives the clamping claw 530 to move to the bottom of the mop cloth device 2, and the mop cloth lifting mechanism 510 drives the clamping claw 530 to rise to the first position, and the clamping claw 530 clamps the mop cloth on the mop cloth device 2;

[0075] In the third step, the mop lifting mechanism 510 drives the clamping claw 530 to descend. During the descent, the mop on the mop device 2 is torn off by the clamping claw 530.

[0076] In the fourth step, the mop lateral movement mechanism 520 drives the clamping claw 530 to move to the bottom of the first mop compartment 3, and the mop lifting mechanism 510 drives the clamping claw 530 to rise to the second position, pushing the old mop into the first mop compartment 3, and the clamping claw 530 releases the old mop;

[0077] Step 5: The mop lifting mechanism 510 drives the clamping claw 530 to descend, and the mop transverse movement mechanism 520 drives the clamping claw 530 to move to the bottom of the second mop compartment 4. The mop lifting mechanism 510 drives the clamping claw 530 to rise to the third position, and the clamping claw 530 clamps the new mop in the second mop compartment 4.

[0078] In the sixth step, the mop lifting mechanism 510 drives the clamping claw 530 downward, and the clamping claw 530 carries the new mop cloth and extends from the second mop compartment 4. The mop transverse movement mechanism 520 drives the clamping claw 530 to move to the bottom of the mop device 2. The mop lifting mechanism 510 drives the clamping claw 530 upward to the first position, and the clamping claw 530 pushes the new mop cloth onto the mop device 2. Under the action of the magnetic attraction structure, the mop cloth is attracted to the mop device 2, and the clamping claw 530 releases the mop cloth.

[0079] In the seventh step, the mop lifting mechanism 510 drives the clamping claw 530 to descend, and the mop transverse movement mechanism 520 drives the clamping claw 530 to move to the initial position, completing the replacement of the mop.

[0080] In this specific embodiment, the transfer of the clamping claw 530 is achieved by providing a mop lifting mechanism 510 and a mop transverse movement mechanism 520, which can effectively improve the efficiency of the transfer of the clamping claw 530.

[0081] In a specific embodiment, the cleaning robot also includes a water supply pump 6 installed on the robot body 1, a liquid tank 7 for holding liquid, a wetting pipeline with an outlet facing the mop in the mop device 2, and a first controller. The water supply pump 6 is used to pump the liquid in the liquid tank 7 into the wetting pipeline, and the liquid flows out from the outlet of the wetting pipeline to the mop. The water supply pump 6 is connected to the first controller, and the first controller is used to control the operation of the water supply pump 6. Specifically, the first controller can control the water supply interval time, water supply flow control and water supply duration of the water supply pump 6, which is determined according to actual conditions.

[0082] During actual use, the liquid tank 7 can be set as a disinfection tank for holding disinfectant. The water supply pump 6 pumps the disinfectant in the disinfectant tank into the back of the mop through the wetting pipeline, and evenly soaks the mop to keep it moist, thereby realizing the constant humidity mopping function. In addition, the water supply pump 6 can change the flow rate to adapt to different humidity requirements.

[0083] Specifically, a humidity detection component can be set up to obtain the humidity information of the mop in real time through the humidity detection component. When the humidity information is within the preset humidity range, the current working state of the water supply pump 6 is maintained; when the humidity information is less than the minimum value of the preset humidity range, the water supply pump 6 is controlled to increase the flow rate or extend the continuous water supply time of the water supply pump 6; when the humidity information is greater than the maximum value of the preset humidity range, the water supply pump 6 is controlled to reduce the flow rate or shorten the continuous water supply time of the water supply pump 6.

[0084] In this specific embodiment, the mop is replenished with water by the water replenishment pump 6, so that a constant humidity operation can be achieved, which is beneficial to improving the cleaning effect and avoiding water spraying onto the ground.

[0085] In a specific embodiment, the cleaning robot may further include a lifting mechanism, which is installed on the robot body 1. The lifting mechanism includes a lifting power component and a pressure sensor, wherein the lifting power component is installed on the robot body 1; the lifting power component has an output end that is retractable in the vertical direction; the output end is connected to the mopping device 2; the pressure sensor is arranged at the connection between the output end and the mopping device 2; when the pressure information detected by the pressure sensor is greater than the maximum value of the preset pressure range, the output end of the lifting power component is controlled to drive the mopping device 2 to rise; when the pressure information detected by the pressure sensor is less than the minimum value of the preset pressure range, the output end of the lifting power component is controlled to drive the mopping device 2 to descend; when the pressure information detected by the pressure sensor is within the preset pressure range, the lifting power component is controlled to maintain the current state.

[0086] The lifting power member in this specific embodiment can be configured as a lifting motor 130 .

[0087] In this specific embodiment, the lifting of the mop device 2 is adjusted by the lifting power part. Compared with the elastic extension range in the prior art, the adjustable space of the mop device 2 by the lifting power part in this specific embodiment is larger, which can be applied to the situation where the height of the ground protrusion is larger, and is conducive to achieving cleaning that adapts to different ground surfaces.

[0088] In a specific embodiment, the mop device 2 can include a mop lifting plate 210, a mop bracket 220 and an elastic member 230. The mop lifting plate 210 is used to connect to the output end of the lifting power member; the mop bracket 220 is used to fix the mop; the mop bracket 220 is located on the lower side of the mop lifting plate 210; one end of the elastic member 230 abuts against the mop lifting plate 210, and the other end abuts against the mop bracket 220; one of the mop lifting plate 210 and the mop bracket 220 is provided with a guide column, and the other is provided with a guide hole for cooperating with the guide column. When the elastic member 230 is compressed, the mop bracket 220 moves toward the direction close to the mop lifting plate 210.

[0089] One of the mop bracket 220 and the mop is provided with a first magnetic part, and the other is provided with a second magnetic part or a magnetic metal part that is attracted to the first magnetic part. During actual use, the magnetic connection method facilitates the clamping claw 530 of the mop changing device 5 to separate the mop from the mop device 2, and also facilitates the installation of a new mop to the mop device 2, which is conducive to realizing the automation of the mop replacement process.

[0090] like Figure 4 、 Figure 5 As shown, the guide column in this specific embodiment can be set as a step screw 240, the step end of the step screw 240 is located on the outside of the mop lifting plate 210, and the other end of the step screw 240 is connected to the mop bracket 220 through the guide hole of the mop lifting plate 210. The step end of the step screw 240 can limit the movement of the mop bracket 220 relative to the mop lifting plate 210 to prevent the mop bracket 220 from separating from the mop lifting plate 210.

[0091] In this embodiment, when the ground has only small undulations, the mop holder 220 squeezes the elastic member 230, compressing the elastic member 230 and causing the guide post to move along the guide hole, moving the mop holder 220 toward the mop lift plate 210 to accommodate the undulations. If the ground has larger undulations or obstacles, the lifting power member can be used to drive the mop lift plate 210 up and down, allowing the mop device 2 to adapt to even larger undulations.

[0092] In a specific embodiment, if Figure 6 、 Figure 7As shown, the cleaning robot also includes a trash box 13, a side brush assembly 11, and a roller brush assembly 12; the trash box 13 is arranged at the lower part of the robot body 1; the side brush assembly 11 is rotatably arranged on the robot body 1, and the rotation axis of the side brush assembly 11 is perpendicular to the ground on which it is located; the side brush assembly 11 is used to gather garbage to the middle position of the lower part of the robot body 1; the roller brush assembly 12 is rotatably arranged on the robot body 1, and the rotation axis of the roller brush assembly 12 is parallel to the ground on which it is located; the roller brush assembly 12 is used to sweep the garbage gathered by the side brush assembly 11 into the trash box 13.

[0093] The cleaning robot also includes a dust suction component 15, which includes a suction scraper 1510 and a dust box 1520 connected to the suction scraper 1510, and a fan 1530 for vacuuming is provided in the dust box 1520; the side brush assembly 11, the roller brush assembly 12, and the suction scraper 1510 are arranged in sequence from front to back along the moving direction of the robot body 1.

[0094] Specifically, a lifting motor 130 and a connecting rod 140 can also be set. The side brush assembly 11, the roller brush assembly 12, and the suction pick 1510 are all installed on the mounting frame of the robot body 1. The lifting motor 130 is connected to the mounting frame through the connecting rod 140, thereby driving the mounting frame to rise and fall.

[0095] During actual use, the lifting motor 130 first drives the side brush assembly 11, the roller brush assembly 12, and the suction bar 1510 down to a working height where they touch the ground. The side brush assembly 11 gathers trash to the middle of the lower portion of the robot body 1. The roller brush assembly 12 sweeps the trash gathered by the side brush assembly 11 into the trash bin 13. The fan 1530 in the dust box 1520 is turned on to remove the air from the dust box 1520 through vacuuming, creating negative pressure. The dust box 1520 is connected to the suction bar 1510 via a pipe, and the suction bar 1510 draws fine particles of trash and dust from the ground into the dust box 1520. When cleaning and vacuuming are not required, the lifting motor 130 can be controlled to drive the side brush assembly 11, the roller brush assembly 12, and the suction bar 1510 up to a height clear of the ground. When only cleaning is required, the fan 1530 can be turned off.

[0096] Based on the above embodiment, the cleaning robot also includes a forward-looking camera 8, an ultrasonic radar 9 and a navigation radar 10. The forward-looking camera 8 is installed on the front side of the robot body 1 in the direction of travel, and the ultrasonic radar 9 is installed on the outer peripheral side of the robot body 1; the navigation radar 10 is installed on the robot body 1, and the navigation radar 10 is used to plan the walking path of the cleaning robot.

[0097] On the other hand, Figure 6 、 Figure 7As shown, a safety touch edge 110 can also be provided. The safety touch edge 110 can be provided with a soft material to avoid injury even when the cleaning robot collides. The robot body 1 is provided with a driving wheel 120, which drives the robot body 1 to walk.

[0098] In addition, if Figure 2 As shown, an operation panel 14 can also be provided on the robot body 1 to facilitate the control of the operation of the cleaning robot.

[0099] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. Any combination of all the embodiments provided by this utility model is within the scope of protection of this utility model and will not be described in detail here.

[0100] The above is a detailed introduction to the cleaning robot provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be noted that, for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A cleaning robot, characterized in that: include: Robot body (1); A mop device (2) is fixedly mounted with a mop; A first mop bin (3) for storing used or damaged mops; A second mop compartment (4) for storing new mops; A mop cloth replacement device (5) is provided with a moving component and a clamping claw (530) driven to move by the moving component, wherein the clamping claw (530) can be moved to a first position, a second position, and a third position; When the clamping claw (530) moves to the first position, the clamping claw (530) is used to obtain the mop on the mopping device (2) or install a new mop on the mopping device (2); when the clamping claw (530) moves to the second position, the clamping claw (530) is used to place the mop into the first mop bin (3); When the clamping claw (530) moves to the third position, the clamping claw (530) is used to take the mop out of the second mop bin (4); The mop device (2), the first mop bin (3), the second mop bin (4) and the mop replacement device (5) are all mounted on the robot body (1).

2. The cleaning robot according to claim 1, characterized in that: The moving assembly comprises a mop lifting mechanism (510) and a mop transverse movement mechanism (520), wherein the mop lifting mechanism (510) drives the clamping claw (530) to move along a first direction, and the mop transverse movement mechanism (520) drives the clamping claw (530) to move along a second direction, wherein the first direction is perpendicular to the second direction; The mopping device (2) is arranged to be raised and lowered in a vertical direction relative to the robot body (1).

3. The cleaning robot according to claim 1, characterized in that: The robot also includes a water supply pump (6) installed on the robot body (1), a liquid tank (7) for containing liquid, a wetting pipeline with an outlet facing the mop in the mopping device (2), and a first controller. The water supply pump (6) is used to pump the liquid in the liquid tank (7) into the wetting pipeline, and the liquid flows out from the outlet of the wetting pipeline to the mop. The water supply pump (6) is connected to the first controller, and the first controller is used to control the operation of the water supply pump (6).

4. The cleaning robot according to claim 1, characterized in that: It also includes a lifting mechanism, which is installed on the robot body (1), and the lifting mechanism includes: A lifting power member is mounted on the robot body (1); the lifting power member has an output end that is retractable in a vertical direction; the output end is connected to the mopping device (2); A pressure sensor is provided at the connection between the output end and the mopping device (2); when the pressure information detected by the pressure sensor is greater than the maximum value of a preset pressure range, the output end of the lifting power component is controlled to drive the mopping device (2) to rise; when the pressure information detected by the pressure sensor is less than the minimum value of the preset pressure range, the output end of the lifting power component is controlled to drive the mopping device (2) to descend; when the pressure information detected by the pressure sensor is within the preset pressure range, the lifting power component is controlled to maintain the current state.

5. The cleaning robot according to claim 4, characterized in that: The mopping device (2) comprises: A mop lifting plate (210) is used to be connected to the output end of the lifting power member; A mop bracket (220) is used to fix the mop; the mop bracket (220) is located on the lower side of the mop lifting plate (210); An elastic member (230), one end of which abuts against the mop lifting plate (210), and the other end of which abuts against the mop bracket (220); One of the mop lifting plate (210) and the mop bracket (220) is provided with a guide column, and the other is provided with a guide hole for cooperating with the guide column. When the elastic member (230) is compressed, the mop bracket (220) moves in a direction close to the mop lifting plate (210).

6. The cleaning robot according to claim 5, characterized in that: One of the mop bracket (220) and the mop is provided with a first magnetic component, and the other is provided with a second magnetic component or a magnetic metal component that is attracted to the first magnetic component.

7. The cleaning robot according to any one of claims 1 to 6, characterized in that: Also includes: A trash box (13) is provided at the lower part of the robot body (1); A side brush assembly (11) is rotatably mounted on the robot body (1), wherein the rotation axis of the side brush assembly (11) is perpendicular to the ground on which the side brush assembly (11) is located; the side brush assembly (11) is used to gather garbage to a middle position at the bottom of the robot body (1); A roller brush assembly (12) is rotatably mounted on the robot body (1), with the rotation axis of the roller brush assembly (12) being parallel to the ground on which it is located; the roller brush assembly (12) is used to sweep the garbage gathered by the side brush assembly (11) into the garbage box (13).

8. The cleaning robot according to claim 7, characterized in that: It also includes a suction scraper (1510) and a dust box (1520) connected to the suction scraper (1510), and a fan (1530) for vacuuming is provided in the dust box (1520).

9. The cleaning robot according to claim 8, characterized in that: The side brush assembly (11), the roller brush assembly (12), and the suction scraper (1510) are arranged in sequence from front to back along the direction of travel of the robot body (1).

10. The cleaning robot according to any one of claims 1 to 6, characterized in that: The robot body (1) further comprises a forward-looking camera (8), an ultrasonic radar (9) and a navigation radar (10), wherein the forward-looking camera (8) is mounted on the front side of the robot body (1) in the direction of travel, the ultrasonic radar (9) is mounted on the outer peripheral side of the robot body (1), and the navigation radar (10) is mounted on the robot body (1).

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