Cleaning device

Abstract

The utility model provides cleaning equipment which comprises a machine body, a main cleaning module and an auxiliary cleaning module, and the main cleaning module is arranged on the machine body; the main cleaning module comprises a first lifting structure and at least one main cleaning assembly; the first lifting structure is used for driving the main cleaning assembly to ascend and descend. The auxiliary cleaning module comprises at least one auxiliary cleaning assembly, and the auxiliary cleaning assembly is at least provided with an initial position and an edge position relative to the machine body; at the edge position, at least part of the auxiliary cleaning assembly extends out of the edge of the machine body so as to clean along the edge; the auxiliary cleaning module is arranged on the main cleaning assembly, and under driving of the first lifting structure, the auxiliary cleaning module synchronously ascends and descends along with the main cleaning assembly. According to the cleaning equipment, the edge area can be cleaned, the sweeping missing area is reduced, meanwhile, the auxiliary cleaning assembly does not need to occupy a large space in the machine body when swinging, the structure is simple, and the cost is low.

Description

[0001] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on February 9, 2024, with application number 202410179201.6, entitled “Cleaning module, cleaning equipment and cleaning system”. The entire contents of this Chinese patent application are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of household cleaning technology, and in particular to a cleaning device. Background Art

[0003] With the development of science and technology and the improvement of living standards, household cleaning equipment has become increasingly popular, reducing the burden of housework for humans. For example, robot vacuums, robot scrubbers, and sweeping and mopping robots have become increasingly popular.

[0004] In the related art, taking a sweeping robot as an example, the sweeping robot includes a body and a main cleaning component arranged at the rear of the body. In order to expand the cleaning area of the main cleaning component, clean the edges of obstacles or walls along the edges, and reduce the missed sweeping areas, the main cleaning component is swung outward and retracted inward relative to the body as a whole in the prior art, so that part of the main cleaning component extends beyond the edge of the maximum width of the body, and extends beyond the walking range of the edge of the maximum width of the body to perform edge cleaning.

[0005] Since the main cleaning component needs to swing, a large swing space is reserved in the fuselage for the main cleaning component to swing as a whole. At the same time, the main cleaning component usually also requires a lifting structure to drive the main cleaning component to rise and fall so as to switch between the mopping position and the lifting position. The first driving structure for driving the main cleaning component to swing also needs to drive the lifting structure to swing as a whole, resulting in a complex structure and a large space required in the fuselage. Summary of the Invention

[0006] In view of the above problems, an embodiment of the present application provides a cleaning device that can clean the edge area and avoid cleaning dead corners. It has a simple structure and occupies less space on the body.

[0007] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0008] The cleaning equipment provided in this application includes:

[0009] body;

[0010] A main cleaning module is provided on the machine body; the main cleaning module comprises a first lifting structure and at least one main cleaning component; the first lifting structure is used to drive the main cleaning component to rise and fall;

[0011] An auxiliary cleaning module, the auxiliary cleaning module comprising at least one auxiliary cleaning component, the auxiliary cleaning component having at least an initial position and an edge position relative to the body;

[0012] In the edge position, at least a portion of the auxiliary cleaning assembly extends beyond the edge of the body for edge cleaning;

[0013] The auxiliary cleaning module is arranged on the main cleaning component. Under the drive of the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component.

[0014] The cleaning device provided by the embodiment of the present application is provided with an auxiliary cleaning module, which includes at least one auxiliary cleaning component, and the auxiliary cleaning component can have at least an initial position and an edge position relative to the fuselage. When the auxiliary cleaning component is in the edge position, at least part of the auxiliary cleaning component extends out of the edge of the fuselage to clean the edge area, and the auxiliary cleaning module is provided on the main cleaning module. Driven by the lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component. In this way, while cleaning the edge area and reducing the missed cleaning area, the auxiliary cleaning component does not need to occupy a large space inside the fuselage when swinging, and the structure is simple and the cost is low.

[0015] Optionally, the main cleaning component and the auxiliary cleaning component are synchronously in a mopping position and a lifting position. In the mopping position, both the main cleaning component and the auxiliary cleaning component clean the surface to be cleaned.

[0016] Optionally, the main cleaning component is arranged below the chassis of the fuselage, and the main cleaning component includes at least a mounting seat and a main cleaning part arranged at the bottom of the mounting seat; the auxiliary cleaning module is arranged on the top of the mounting seat and is located below the fuselage, and the first lifting structure drives the mounting seat to rise and fall to drive the auxiliary cleaning module to rise and fall.

[0017] Optionally, a first avoidance opening is provided on the side wall of the fuselage, and a first avoidance area is provided on the chassis of the fuselage;

[0018] At least part of the auxiliary cleaning module is located in the first avoidance area, and the auxiliary cleaning module can be swung outward toward the edge position through the first avoidance opening, and retracted toward the initial position;

[0019] When the auxiliary cleaning component is in the initial position, at least a portion of the auxiliary cleaning component is located in the first avoidance area.

[0020] Optionally, the first avoidance area is a cavity provided on the bottom of the chassis and concave upward toward the inner cavity of the fuselage.

[0021] Optionally, the auxiliary cleaning module further includes a first driving structure located in the first avoidance area;

[0022] The first driving structure includes at least a first driving motor, a first elastic member, and a swing arm, and the auxiliary cleaning assembly is provided on the swing arm; the first driving motor and the first elastic member cooperate to at least drive the swing arm to swing, thereby driving the auxiliary cleaning assembly to swing, so as to switch between the initial position and the edge position;

[0023] When the auxiliary cleaning assembly is located at the edge position, one end of the swing arm is located in the first avoidance area, and the other end of the swing arm is located outside the first avoidance area through the first avoidance opening to extend outside the edge of the fuselage.

[0024] Optionally, the first drive structure also includes a first transmission assembly, and the two ends of the first elastic member act on the first transmission assembly and the swing arm respectively, so that when the first drive motor drives the first transmission assembly to rotate, the swing arm is driven to swing through the first elastic member; when the first drive motor is not started, when the swing arm and / or the auxiliary cleaning assembly are squeezed or collided by external obstacles, the swing arm can swing toward the initial position relative to the first transmission assembly.

[0025] Optionally, the first driving structure also includes a rotation driving mechanism for driving the auxiliary cleaning component to rotate; the rotation driving mechanism includes a rotation motor provided on the swing arm, and a second transmission assembly, and the auxiliary cleaning component is provided on the swing arm by being provided on the second transmission assembly, and is located below the swing arm; the rotation motor drives the second transmission assembly to rotate, so as to drive the auxiliary cleaning component to rotate.

[0026] Optionally, the main cleaning module also includes a second driving structure, which is used to drive the main cleaning component to vibrate or twist back and forth to clean the floor; in the width direction and height direction of the fuselage, the second driving structure and the first driving structure are staggered on the mounting base.

[0027] Optionally, the second driving structure is located in the first avoidance zone.

[0028] Optionally, the cleaning device further comprises a water replenishing structure and a dry cleaning module, wherein the dry cleaning module at least comprises a dust box; and the water replenishing structure at least comprises a water tank;

[0029] The dust box is arranged in the dust box cavity in the body; the water tank is arranged in the dust box cavity or below the dust box, and the water tank is used to provide liquid to the main cleaning component and / or auxiliary cleaning component to wet the main cleaning component and / or auxiliary cleaning component.

[0030] Optionally, the fuselage includes a chassis and an upper shell provided on the chassis; an inner cavity of the fuselage is formed between the upper shell and the chassis;

[0031] The water tank is located below the chassis, and the dust box cavity is located above the chassis.

[0032] Optionally, vertical projections of the water tank and the dust box cavity on the ground at least partially overlap; and / or

[0033] The vertical projections of the water tank and the dust box on the ground at least partially overlap.

[0034] Optionally, the cleaning device further includes a water replenishing structure, which includes at least a water tank for replenishing water to the main cleaning component and / or the auxiliary cleaning component to wet the main cleaning component and / or the auxiliary cleaning component.

[0035] Optionally, the water replenishment structure further includes a water delivery mechanism connected to the water tank, and the water delivery mechanism includes a first water channel and a second water channel, which respectively replenish water to the auxiliary cleaning component and the main cleaning component;

[0036] The cleaning device further includes a first drive structure, the first drive structure including a first drive motor and a swing arm, the auxiliary cleaning assembly being disposed on the swing arm; the first drive motor is at least used to drive the swing arm to swing, thereby driving the auxiliary cleaning assembly to swing, so that the auxiliary cleaning assembly switches between the initial position and the edge position;

[0037] The first water channel is at least partially located on the swing arm and swings with the swing of the swing arm, so that the auxiliary cleaning component can be replenished with water when the auxiliary cleaning component is in the initial position, the edge position and during the swinging process; and / or, the second water channel does not swing with the swing of the swing arm.

[0038] Optionally, a first water outlet is provided on the bottom of the swing arm; the liquid outlet of the first water channel is connected to the first water outlet;

[0039] The first water outlet is located directly above the auxiliary cleaning member of the auxiliary cleaning assembly, and the solution in the first water channel drips onto the auxiliary cleaning member through the first water outlet.

[0040] Optionally, the auxiliary cleaning component includes an auxiliary cleaning plate and an auxiliary rag arranged on the bottom of the auxiliary cleaning plate; the auxiliary cleaning plate is provided with a hollow area along its circumference, and the first water outlet is connected to the hollow area, so that the solution on the first water path drips onto the auxiliary cleaning component through the first water outlet and the hollow area.

[0041] Optionally, the first driving structure further comprises a support base that can be raised and lowered relative to the fuselage, and the swing arm is swingably provided on the support base;

[0042] The first drive motor and the first transmission assembly are both arranged on the support base; the support base is provided with a pipe passage hole;

[0043] One end of the first water channel is connected to the water tank, and the other end is passed through the pipe hole and is arranged on the swing arm, so that the first water channel swings with the swing arm; and / or

[0044] One end of the second water channel is connected to the water tank, and the other end passes through the pipe hole to supply water to the main cleaning component.

[0045] Optionally, the main cleaning component includes a mounting seat, and a main cleaning part arranged at the bottom of the mounting seat, the other end of the second water channel is arranged on the top of the mounting seat, a second water outlet is provided on the mounting seat, the other end of the second water channel is connected to the second water outlet, and the solution in the second water channel drips onto the main cleaning part through the second water outlet to replenish water to the main cleaning part.

[0046] Optionally, the water replenishment structure further includes a water supply pipeline, one end of which is connected to the water tank, and the other end of which is connected to the second water channel and the first water channel respectively through a multi-way valve.

[0047] Optionally, a wiring hole is provided on the support base, and an accommodating channel connected to the wiring hole is provided in the support base; the support base also includes: one end is connected to the controller, and the other end passes through the wiring hole and is arranged in the accommodating channel. At least one control wiring harness is connected to the first drive motor.

[0048] Optionally, a first avoidance area is formed on the bottom of the chassis of the fuselage and is recessed upwards;

[0049] The first driving structure is located in the first avoidance area, and a second avoidance opening is provided on the chassis where the first avoidance area is located, so that one end of the first waterway and the second waterway is located in the inner cavity of the fuselage, and the other end passes through the second avoidance opening and is located in the first avoidance area.

[0050] Optionally, the first water channel has a redundant length so that during the swinging and / or lifting process of the auxiliary cleaning component, the first water channel remains in a relaxed state to prevent the first water channel from separating from the water tank; and / or

[0051] The second water channel has a redundant length so that when the main cleaning assembly is lifted, the second water channel remains in a relaxed state, thereby preventing the second water channel from being separated from the water tank.

[0052] Optionally, the water tank is further provided with an overflow port and an overflow pipe provided at the overflow port; the chassis is provided with a third water outlet connected to the liquid outlet pipe of the overflow pipe;

[0053] When the auxiliary cleaning member is in the initial position, the overflow liquid in the overflow pipe is directed toward the auxiliary cleaning member of the auxiliary cleaning assembly through the third water outlet to replenish water to the auxiliary cleaning member.

[0054] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the cleaning modules, cleaning equipment, and cleaning systems provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] 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 any creative work.

[0056] Figure 1 A bottom-up schematic diagram of a cleaning device provided in some embodiments of the present application with an auxiliary cleaning component disposed on a body;

[0057] Figure 2 This is a structural schematic diagram of an auxiliary component in some embodiments of the present application that is arranged on a fuselage and is located in an initial position;

[0058] Figure 3 This is a structural schematic diagram of an auxiliary component disposed on a fuselage and located along an edge in some embodiments of the present application;

[0059] Figure 4 This is a schematic diagram of the internal layout of some embodiments of the present application in which auxiliary components are arranged on the fuselage and located along the edge;

[0060] Figure 5 for Figure 4 A partial schematic diagram in ;

[0061] Figure 6 This is a partial top view schematic diagram of an auxiliary component disposed on a fuselage and located along an edge in some embodiments of the present application;

[0062] Figure 7Schematic diagrams of the auxiliary components in some embodiments of the present application being located at an edge position, an initial position, and a third position, respectively;

[0063] Figure 8 This is a partial structural diagram of the chassis in some embodiments of the present application;

[0064] Figure 9a A schematic diagram of the structure of a mounting base in some embodiments of the present application;

[0065] FIG9 b is a schematic diagram of the three-dimensional structure of the auxiliary cleaning module located on the mounting base and the auxiliary cleaning assembly in the initial position in some embodiments of the present application;

[0066] Figure 9c This is a top view of the auxiliary cleaning module located on the mounting base and the auxiliary cleaning assembly in the initial position in some embodiments of the present application;

[0067] Figure 9d This is a schematic diagram of an exploded structure of a main cleaning component in some embodiments of the present application;

[0068] Figure 9e FIG2 is a bottom view of the auxiliary cleaning assembly 510 located above the main cleaning assembly 310 and in the edgewise position C;

[0069] Figure 10 This is a partial structural diagram of the auxiliary cleaning component located along the edge in some embodiments of the present application;

[0070] Figure 11 Partial schematic diagrams of the auxiliary cleaning assembly in some embodiments of the present application, respectively located at the initial position, the edge position, and the third position;

[0071] Figure 12 This is a structural diagram of a first driving structure in some embodiments of the present application;

[0072] Figure 13 An exploded schematic diagram of the first driving structure in some embodiments of the present application;

[0073] Figure 14 This is a partial structural diagram of the first driving structure in some embodiments of the present application;

[0074] Figure 15 Another exploded schematic diagram of the first driving structure in some embodiments of the present application;

[0075] Figure 16 Schematic diagram of the structure of the first spiral portion in the first driving structure in some embodiments of the present application;

[0076] Figure 17This is a structural diagram of the first matching portion in the first driving structure in some embodiments of the present application;

[0077] Figure 18 This is another structural schematic diagram of a cleaning device in some embodiments of the present application;

[0078] Figure 19 This is a structural diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0079] Figure 20 This is a schematic diagram of the interior of a machine body in which the auxiliary cleaning component is disposed on the main cleaning component in some embodiments of the present application;

[0080] Figure 21 This is a top view of a partial structure in which the auxiliary cleaning component is disposed on the main cleaning component in some embodiments of the present application;

[0081] Figure 22 This is a partial structural diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0082] Figure 23 This is another structural schematic diagram of the chassis in some embodiments of the present application;

[0083] Figure 24 A schematic diagram showing the auxiliary cleaning assembly in some embodiments of the present application in an initial position, an edge position, and a third position, as viewed from above;

[0084] Figure 25 A schematic diagram of a top view of the auxiliary cleaning assembly in some embodiments of the present application, wherein the auxiliary cleaning assembly is located at an initial position, an edge position, and a third position;

[0085] Figure 26 This is another structural diagram of the first driving structure in some embodiments of the present application;

[0086] Figure 27 An exploded schematic diagram of an auxiliary cleaning component in some embodiments of the present application;

[0087] Figure 28 This is a partial structural diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0088] Figure 29 This is a structural diagram of the first driving structure and the auxiliary cleaning module in some embodiments of the present application;

[0089] Figure 30 Schematic diagram of an explosion of the second position-limiting member and the force-applying member in some embodiments of the present application;

[0090] Figure 31A schematic diagram of a layout of the first driving structure and the second driving structure in some embodiments of the present application;

[0091] Figure 32 This is a schematic diagram of a state of the auxiliary cleaning component in the third position in some embodiments of the present application;

[0092] Figure 33 This is a schematic diagram of a layout in which the auxiliary cleaning assembly is arranged inside the upper body of the main cleaning assembly in some embodiments of the present application;

[0093] Figure 34 This is another structural schematic diagram of the chassis in some embodiments of the present application;

[0094] Figure 35 This is a bottom view of a chassis in some embodiments of the present application;

[0095] Figure 36 A bottom view schematic diagram of the auxiliary cleaning component in some embodiments of the present application being located in the third position;

[0096] Figure 37 A cross-sectional view of a cleaning device provided for some embodiments of the present application;

[0097] Figure 38 This is a schematic diagram of a structure in which the auxiliary cleaning component is located along the edge in some embodiments of the present application;

[0098] Figure 39 This is a structural schematic diagram of the auxiliary cleaning component in some embodiments of the present application in an initial position;

[0099] Figure 40 A schematic diagram of the layout of another structure of the cleaning equipment provided in some embodiments of the present application;

[0100] Figure 41 This is a schematic structural diagram of a limiting structure in some embodiments of the present application;

[0101] Figure 42 This is a structural schematic diagram of the auxiliary cleaning component in some embodiments of the present application when it is in the initial position;

[0102] Figure 43 A schematic diagram of an auxiliary cleaning component located along an edge and preventing leakage in some embodiments of the present application;

[0103] Figure 44 This is a schematic diagram of a structure in which the auxiliary cleaning component is located in the third position and prevents leakage in some embodiments of the present application;

[0104] Figure 45 This is a schematic diagram of a structure in which the auxiliary cleaning assembly is located on the track cover in some embodiments of the present application;

[0105] Figure 46 This is a bottom-up schematic diagram of the auxiliary cleaning assembly located on the track cover in some embodiments of the present application;

[0106] Figure 47 This is a schematic diagram of the internal structure of an auxiliary cleaning assembly located on a track cover in some embodiments of the present application;

[0107] Figure 48 This is another structural schematic diagram of the chassis in some embodiments of the present application;

[0108] Figure 49 This is a schematic diagram of the internal structure of the auxiliary cleaning assembly located on the track cover in some embodiments of the present application;

[0109] Figure 50 A dynamic schematic diagram of the cleaning angle area in some embodiments of the present application;

[0110] Figure 51 Another dynamic schematic diagram of cleaning the angled area in some embodiments of the present application;

[0111] Figure 52 Schematic diagram of the distance between the auxiliary cleaning component and the center of the cleaning device when the auxiliary cleaning component is in the initial position, the edge position, and the third position, respectively, in some embodiments of the present application;

[0112] Figure 53 This is another dynamic schematic diagram of cleaning the angled area in some embodiments of the present application;

[0113] Figure 54 This is a partial schematic diagram of another structure in which the auxiliary cleaning component is disposed on the fuselage in some embodiments of the present application;

[0114] Figure 55 Schematic diagrams of the auxiliary cleaning component in some embodiments of the present application at the initial position, the edge position and the third position respectively.

[0115] Figure 56 This is another dynamic schematic diagram of the auxiliary cleaning component in some embodiments of the present application.

[0116] Figure 57a Schematic top views of the auxiliary cleaning assembly in some embodiments of the present application, respectively located at an edge position, an initial position, and a third position;

[0117] Figure 57b Schematic bottom view of the auxiliary cleaning assembly in some embodiments of the present application, respectively located at the edge position, the initial position, and the third position;

[0118] Figure 57c This is a schematic diagram of the three-dimensional structure of the cleaning component when the auxiliary cleaning component is in the initial position in some embodiments of the present application;

[0119] Figure 57d Schematic diagram of the internal structure of the cleaning device (including the chassis) when the auxiliary cleaning component is in the initial position in some embodiments of the present application;

[0120] Figure 57e This is a schematic diagram of a partial structure in which an auxiliary cleaning component is disposed on a main cleaning component in some embodiments of the present application;

[0121] Figure 57f This is a bottom view schematic diagram of a partial structure in which an auxiliary cleaning component is disposed on a main cleaning component in some embodiments of the present application;

[0122] Figure 57g This is a schematic top view of a partial structure of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0123] Figure 58 A partial schematic diagram of the internal structure of the cleaning device (excluding the chassis) when the auxiliary cleaning component is in the initial position in some embodiments of the present application;

[0124] Figure 59 for Figure 57a A schematic diagram of the three-dimensional structure of the chassis in the cleaning equipment shown;

[0125] Figure 60 for Figure 59 A schematic diagram of the bottom view of the chassis in the cleaning device shown;

[0126] Figure 61a This is one of the schematic structural diagrams of the dust box in some embodiments of the present application;

[0127] Figure 61b This is the second structural diagram of the dust box in some embodiments of the present application;

[0128] Figure 61c This is the third structural diagram of the dust box in some embodiments of the present application;

[0129] Figure 61d This is the fourth structural diagram of the dust box in some embodiments of the present application;

[0130] Figure 61f A longitudinal cross-sectional view of a dust box in some embodiments of the present application;

[0131] Figure 61g This is a schematic diagram of the top inner structure of the dust box in some embodiments of the present application;

[0132] Figure 61h This is a schematic transverse cross-sectional view of a dust box in some embodiments of the present application;

[0133] Figure 62 for Figure 57a A cross-sectional view of the cleaning apparatus shown;

[0134] Figure 63 for Figure 57a A schematic diagram of the internal structure of the cleaning device when the auxiliary cleaning component is in the initial position;

[0135] Figure 64 for Figure 63 Enlarged view at X1 in the middle;

[0136] Figure 65 for Figure 63 A partial schematic diagram of the internal structure of the intermediate cleaning device near the auxiliary cleaning module;

[0137] Figure 66a An exploded schematic diagram of an auxiliary cleaning component in some embodiments of the present application;

[0138] Figure 66b This is a schematic diagram of the three-dimensional structure of the auxiliary cleaning component in some embodiments of the present application;

[0139] Figure 66c A schematic diagram of a partial structure of the cleaning device (showing the overflow pipe) when the auxiliary cleaning component is in the initial position in some embodiments of the present application;

[0140] Figure 66d This is a partial structural cross-sectional view of an auxiliary cleaning component in some embodiments of the present application;

[0141] Figure 66e This is a partial structural exploded diagram of the connection structure between the auxiliary cleaning disk and the swing arm in some embodiments of the present application;

[0142] Figure 66f A schematic structural diagram of a floating sleeve in an auxiliary cleaning module provided in some embodiments of the present application;

[0143] Figure 66g This is a partial structural cross-sectional view of the auxiliary cleaning disc and the connection between the auxiliary cleaning disc and the swing arm in some embodiments of the present application;

[0144] Figure 67a A top view of an auxiliary cleaning module provided in some embodiments of the present application;

[0145] Figure 67b A partial structural diagram of an auxiliary cleaning module provided in some embodiments of the present application, wherein the partial structural diagram includes an auxiliary cleaning disk;

[0146] Figure 67c A schematic diagram of the structure of the auxiliary cleaning disk provided in some embodiments of the present application;

[0147] Figure 68a This is one of the internal structure diagrams of the auxiliary cleaning module of some embodiments of the present application;

[0148] FIG68 b is a second schematic diagram of the internal structure of the auxiliary cleaning module according to some embodiments of the present application;

[0149] FIG68c is a schematic diagram of a partial structure of the auxiliary cleaning module in some embodiments of the present application, wherein the limiting protruding tooth abuts against the first end wall of the second limiting groove;

[0150] FIG68 d is a schematic diagram of a partial structure of the auxiliary cleaning module in some embodiments of the present application, wherein the limiting protruding tooth abuts against the second end wall of the second limiting groove;

[0151] FIG68e is a cross-sectional view of the overall structure of the auxiliary cleaning module in some embodiments of the present application;

[0152] Figure 68f is an enlarged view of X2 in Figure 68e;

[0153] Figure 68g This is a cross-sectional view of the structure after the first rotating shaft, the output gear, and the first elastic member are assembled in some embodiments of the present application;

[0154] Figure 68h An exploded view of the auxiliary cleaning module of some embodiments of the present application (showing the upper swing arm and the lower swing arm);

[0155] Figure 68i An exploded view of the auxiliary cleaning module of some embodiments of the present application (showing the connecting column);

[0156] Figure 68j This is a schematic diagram of the upper swing arm structure in some embodiments of the present application;

[0157] Figure 68k for Figure 68j Schematic diagram of the structure of the middle and upper swing arm from another perspective;

[0158] Figure 68l This is a schematic structural diagram of the first rotating shaft in some embodiments of the present application;

[0159] Figure 68m This is a schematic diagram of the structure of the output gear in some embodiments of the present application;

[0160] Figure 68n This is an exploded view of a partial structure consisting of an output gear, a torsion spring, a first rotating shaft, and a self-rotating motor in some embodiments of the present application;

[0161] Figure 69a This is the third schematic diagram of the internal structure of the auxiliary cleaning module of some embodiments of the present application;

[0162] Figure 69b A top view of a portion of the internal structure of the auxiliary cleaning module according to some embodiments of the present application;

[0163] Figure 69cThis is a schematic diagram of the appearance and structure of the auxiliary cleaning module of some embodiments of the present application;

[0164] Figure 69d A schematic diagram showing the relative positional relationship between a portion of the first water channel of the auxiliary cleaning module and the auxiliary cleaning component in some embodiments of the present application;

[0165] Figure 69e A partial structural cross-sectional view of the auxiliary cleaning module in some embodiments of the present application (showing the relative positional relationship between a portion of the first water channel and the auxiliary cleaning component);

[0166] Figure 69f Schematic diagram of the relative positional relationship between a portion of the first water channel and the auxiliary cleaning components of the auxiliary cleaning module in other embodiments of the present application;

[0167] Figure 69g A partial structural cross-sectional view of the auxiliary cleaning module in some other embodiments of the present application (showing the relative positional relationship between a portion of the first water channel and the auxiliary cleaning component);

[0168] Figure 69h This is an exploded view of the connection position between the second water channel and the sealing plug in some embodiments of the present application;

[0169] Figure 69i This is a cross-sectional view of the assembled swing arm and sealing plug in some embodiments of the present application;

[0170] Figure 70 This is a structural diagram of the auxiliary cleaning module from another perspective in some embodiments of the present application (showing the auxiliary cleaning disk);

[0171] Figure 71 This is a schematic top view of the auxiliary cleaning module in some embodiments of the present application;

[0172] Figure 72a This is an exploded view of the local structure of the roller brush chamber in the cleaning device of some embodiments of the present application;

[0173] Figure 72b This is a schematic structural diagram of the lower cover of the roller brush in some embodiments of the present application;

[0174] Figure 72c This is a structural diagram of the roller brush when it is installed on the roller brush cover in some embodiments of the present application;

[0175] Figure 73a This is a schematic diagram of the bottom structure of the roller brush cover in some cleaning devices implemented in this application;

[0176] Figure 73b This is a schematic structural diagram of a sealing connector in some embodiments of the present application;

[0177] Figure 73cThis is a schematic diagram of a partial structure of the cleaning device after the sealing connector, chassis and roller brush are assembled in some embodiments of the present application;

[0178] Figure 73d A partial structural cross-sectional view of the location of a sealing connector in a cleaning device according to some embodiments of the present application;

[0179] Figure 74 This is a schematic diagram of the top structure of the roller brush upper cover in the cleaning equipment of some embodiments of the present application;

[0180] Figure 75 Schematic diagram of the internal structure of the cleaning device according to some embodiments of the present application (showing the top structure of the roller brush cover);

[0181] Figure 76 An exploded view of a main cleaning component in a cleaning device according to some embodiments of the present application;

[0182] Figure 77 This is a schematic diagram of the top surface structure of the mounting base in the cleaning equipment of some embodiments of the present application;

[0183] Figure 78 This is a schematic structural diagram of the cleaning device in some embodiments of the present application, in which the auxiliary cleaning module is in an initial position and is mounted on a mounting base;

[0184] Figure 79 This is a schematic diagram of a partial structure of the second bracket and the guide hole of the first lifting structure in the cleaning device of some embodiments of the present application;

[0185] Figure 80 This is a schematic diagram of a partial structure of the second bracket, the first bracket, and the connecting rod of the first lifting structure in the cleaning device of some embodiments of the present application;

[0186] Figure 81 This is a schematic structural diagram of a mounting base and a second bracket in a cleaning device according to some embodiments of the present application;

[0187] Figure 82 This is another dynamic schematic diagram of the cleaning angle area of the cleaning device in some embodiments of the present application.

[0188] Description of reference numerals:

[0189] 10. Cleaning equipment; 20. Control harness; 30. Accommodation channel; 40. Fluid refill tube; 100. Body; 101. Chassis; 1011. Notch area; 1012. First mounting slot; 1013. Fluid refill port; 1014. Second avoidance area; 1015. Second avoidance port; 1016. Third water outlet;

[0190] 102, upper shell; 1021, top decorative cover; 1022, front top decorative cover; 1023, rear top decorative cover; 1024, bottom decorative cover; 103, dust suction port; 104, first avoidance port; 105, boss; 106, cavity;

[0191] 107. Dust exhaust channel; 109. First avoidance area; 115. Water tank installation area;

[0192] 200, dry cleaning module; 201, roller brush; 202, dust box; 2021, dust inlet; 2022, dust outlet; 2023, air outlet; 203, main fan;

[0193] 204, dust box cavity; 205, roller brush cavity; 206, roller brush upper cover; 2061, third avoidance opening; 2062, limit groove; 207, roller brush lower cover;

[0194] 300, main cleaning module; 310, main cleaning assembly; 311, main cleaning part; 3111, second part;

[0195] 312, mounting seat; 3121, second notch; 3123, second water outlet; 313, vibration plate; 314, top plate; 3141, recessed area;

[0196] 315, bottom plate; 3151, mounting opening on bottom plate; 330, first lifting structure; 331, lifting assembly; 332, first bracket; 333, guide hole; 334, second bracket; 335, connecting rod;

[0197] 340, second drive structure;

[0198] 316. Filter assembly; 317. Counterweight;

[0199] 400, side brush;

[0200] 500, auxiliary cleaning module; 501, hollow area; 502, second connecting portion; 5021, first drainage surface; 5022, drainage area; 503, second drainage surface; 504, third drainage surface; 505, annular area; 5051, drainage hole; 510, auxiliary cleaning assembly; 511, auxiliary cleaning member; 5111, first portion; 5112, closing flange;

[0201] 512, auxiliary cleaning disc; 5121, first water outlet; 5122, second clearance hole; 5123, stepped hole; 5124, sealing plug; 5125, first clearance hole; 513, deformation portion; 514, hollow structure; 515-deformation hole; 516, disc body; 5161, mounting protrusion; 5162, second flange; 5163, mounting groove; 5164, boss on disc body; 5165, annular protrusion;

[0202] 520, first driving structure; 521, first driving motor; 522, first elastic member;

[0203] 523, first one-way transmission mechanism; 524, swing arm; 5241, upper swing arm; 5242, lower swing arm; 5243, third clearance hole; 5244, sealing groove;

[0204] 525, output shaft; 526, sun gear; 527, planet gear; 528, planet carrier;

[0205] 529, second one-way transmission mechanism; 540, ring gear; 550, second elastic member; 560, transmission gear;

[0206] 570, support shell; 580, support seat; 581, pipe hole; 582, wire hole; 583, soft rubber structure; 590, first roller;

[0207] 530, lifting mechanism; 531, first spiral portion; 5311, first thread surface; 5312, first horizontal section;

[0208] 5313, third horizontal segment; 532, first matching portion; 5321, second helical surface;

[0209] 5322, second horizontal segment; H, overlapping area;

[0210] 600, water tank; 601, liquid inlet of water tank; 602, liquid outlet of water tank; 603, overflow port; 610, first waterway; 611, first section of first waterway; 612, second section of first waterway; 6121, horizontal portion; 6122, first connecting portion; 613, boss; 6131, first annular groove; 6132, first flange; 614, sealing member; 620, second waterway; 630, water delivery pipeline; 640, overflow pipe; 660, multi-way valve;

[0211] 650, first water pump; 670, second water pump;

[0212] 700, driving wheel; 710, supporting wheel;

[0213] 810, fourth drive motor; 820, second traction member; 830, third drive motor; 840, rotation drive mechanism; 8411, gear assembly; 850, connecting assembly; 8501, iron block; 8502, magnet; 851, fixed sleeve; 8511, sealing flange; 8512, first accommodating chamber; 852, floating sleeve; 8521, annular cylinder; 8522, inner groove; 8523, outer groove; 8524, opening of inner groove; 853, fourth elastic member; 854, floating chamber;

[0214] 900, limiting structure; 910, first limiting member; 920, second limiting member; 930, force applying member;

[0215] 960, position detection member; 970, third elastic member; 980, fixed shaft; 990, fourth position limiting member;

[0216] A. Initial position; B. Edge position; C. Third position. DETAILED DESCRIPTION

[0217] The inventive concept of the present application is as follows: a cleaning device 10 includes a main cleaning module 300 and an auxiliary cleaning module 500, which are mounted on a main body 100. The main cleaning module 300 includes at least one main cleaning assembly 310 (e.g., a cleaning tray or a flat mop) or two main cleaning assemblies 310 (e.g., two cleaning trays). The main cleaning assembly 310 does not swing relative to the main body 100, and no swinging structure is required within the main body 100 to drive the main cleaning assembly 310 to swing. Thus, the driving structure of the main cleaning assembly 310 only needs to include a first lifting structure 330 for driving the main cleaning assembly 310 to move upward and downward, and a second driving structure 340 for mopping. For example, the mopping motion can be the rotation of the main cleaning tray or the reciprocating vibration or twisting of the flat mop.

[0218] The auxiliary cleaning module 500 includes at least one auxiliary cleaning assembly 510. The auxiliary cleaning assembly 510 can swing relative to the main body 100 to switch between an initial position A and an edge position C. In the edge position C, at least a portion of the auxiliary cleaning assembly 510 extends beyond the edge of the main body 100 to perform edge cleaning on obstacles, walls, and other edges. In the initial position A, the auxiliary cleaning assembly 510 can be located within the maximum projection of the edge of the main body 100, or at least a portion of the auxiliary cleaning assembly 510 can be located outside the edge of the main body 100.

[0219] The area of the auxiliary cleaning assembly 510 is smaller than that of the main cleaning assembly 310. For example, the area of the auxiliary cleaning assembly 510 is smaller than three-quarters of the area of the main cleaning assembly 310, or smaller than one-half of the area of the main cleaning assembly 310; or smaller than one-third, one-quarter, one-fifth of the area of the main cleaning assembly 310, etc. The size relationship between the two areas can be selected according to needs, thereby driving the swing, lifting and mopping motions of the auxiliary cleaning assembly 510, requiring a small swing space, and being applicable to all models currently on the market, such as round cleaning disc mopping and flat mopping.

[0220] For example, the auxiliary cleaning component 510 includes an auxiliary cleaning disc 512 and an auxiliary cleaning member 511, and the main cleaning component 310 includes a mounting base 312 and a main cleaning member 311. The above-mentioned area size relationship. In one embodiment, the area of the auxiliary cleaning disc 512 and the mounting base 312 can be compared, for example, the area of the auxiliary cleaning disc 512 is smaller than the area of the mounting base 312; another embodiment can be compared, for example, the area of the auxiliary cleaning member 511 and the main cleaning member 311 is smaller than the area of the main cleaning member 311. That is, when the main cleaning member 311 and the auxiliary cleaning member 511 are both rags, the main cleaning member 311 forms a large rag for cleaning, and the auxiliary cleaning member 511 forms a small rag for cleaning. In the non-edge mode, the large rag is mainly used for cleaning; in the edge position C, the small rag is used for cleaning, and the main cleaning member 311 and the auxiliary cleaning member 511 cooperate to achieve the function of cleaning the floor.

[0221] By retracting and swinging the auxiliary cleaning component 510 inward and outward, it is possible to switch between the edge position C and the initial position A, and perform edge cleaning at the edge position C; at the same time, there is no need for the main cleaning component 310 to swing as a whole, so that the structure of the entire cleaning module is simple and compact, and the space occupied is small, which facilitates the miniaturization of the robot.

[0222] Another concept of the present invention is that the auxiliary cleaning assembly 510 does not swing relative to the body 100, and a portion of the auxiliary cleaning assembly 510 always extends outside the edge of the body 100 to achieve edge cleaning.

[0223] The cleaning device 10 can be a self-propelled cleaning robot or a handheld floor scrubber. The cleaning robot can be a dual-purpose cleaning robot for wet and dry use. For example, the cleaning robot can be a mopping robot or a sweeping and mopping robot. The following description will take a sweeping and mopping robot as an example.

[0224] Please refer to Figures 1 to 3 As shown, in addition to the aforementioned main cleaning module 300 and auxiliary cleaning module 500, the cleaning robot also includes a dry cleaning mode, wherein the robot moves along the forward direction of the body 100 (such as along the Figure 1 ), the dry cleaning module 200 is located in front of the main cleaning module 300; the dry cleaning module 200 is used to clean the floor; the main cleaning module 300 is used to wet mop the cleaned floor, that is, a wet cleaning module, thereby forming a sweep-first-then-mop mode to clean the floor.

[0225] In some embodiments, please refer to Figure 2 and Figure 3As shown, the cleaning robot also includes a side brush 400. Along the forward direction of the body 100, the side brush 400 is arranged in front of the dry cleaning module 200, and the side brush 400 can rotate to gather the garbage on the ground to the inside of the cleaning robot. In this way, the dry cleaning module 200 can collect the garbage gathered to the inside of the cleaning robot into the dust box 202 in the body 100 by suction or other means.

[0226] For example, the side brush 400 can be located in front of the dry cleaning module 200 and near the edge of the body 100. For example, the side brush 400 can be located at the edge of a position including but not limited to the left front or right front of the dry cleaning module 200. When the side brush 400 rotates, at least a portion of the side brush 400 is located outside the outline of the body 100. In this way, the side brush 400 can gather garbage outside the outline of the body 100 to the inside of the cleaning robot, thereby increasing the cleaning range. The side brush 400 can be a rubber strip or a bristle brush, etc., as long as it can clean the floor, and there is no limitation here.

[0227] The fuselage 100 is generally formed in a circular, D-shaped, rectangular or other shape. The outline of the fuselage 100 refers to the circular outline, D-shaped outline or rectangular outline of the fuselage 100. For example, Figure 1 and Figure 2 In the figure, the outline of the fuselage 100 is a circular structure; illustratively, the range of the outline of the fuselage 100 can be determined according to the projection of the fuselage 100 on the horizontal plane.

[0228] As for the fuselage 100 , the fuselage 100 generally includes at least a chassis 101 and an upper shell connected to the chassis 101 . The chassis 101 and the upper shell form an inner cavity of the fuselage 100 to form a receiving cavity.

[0229] In some embodiments, please refer to Figures 1 to 3As shown, the dry cleaning module 200 includes at least a roller brush 201, a dust box 202, and a main fan 203. The roller brush 201 is rotatable within a roller brush chamber 205 located at the bottom of the chassis 101, allowing the cleaning robot to clean garbage on the ground in the direction of travel. The roller brush 201 can be one or two roller brushes 201. The dust box 202 and the main fan 203 are respectively disposed in the inner cavity of the body 100. The main fan 203 is configured to provide negative pressure wind force into the dust box 202. The body 100 is provided with a dust suction port 103 connected to the dust box 202. For example, the dust suction port 103 is disposed at the bottom of the body 100. The dust suction port 103 is connected to the roller brush chamber 205. In this way, the roller brush 201 is used to collect garbage on the ground into the dust suction port 103. The negative pressure suction force can collect garbage and dust particles through the dust suction port 103 into the dust box 202, thereby achieving the purpose of cleaning the ground. The main fan 203 includes, but is not limited to, a negative pressure fan and can also be replaced with other negative pressure generating devices, such as a vacuum pump.

[0230] The robot also includes a walking system for driving the body 100 to move and realize the self-moving walking function on the surface to be cleaned. The walking system includes at least a driver and a driving wheel 700, and the driver drives the driving wheel 700 to move. There can generally be two driving wheels 700, and the two driving wheels 700 are symmetrically arranged on the bottom of the body 100. In addition, the walking system can be swingably arranged on the body 100 so that the cleaning device 10 has the function of overcoming obstacles during the walking process. Among them, the surface to be cleaned can 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.

[0231] The perception system includes a light distribution device (LDS) located above the body 100, a bumper and visual sensor located at the front of the body 100, edge sensors located on the front sidewalls of the body 100, and ultrasonic sensors and downward-looking sensors located at the bottom of the body 100. The LDS, bumper, and edge sensors all measure distance to determine the distance between the edge of the body 100 and obstacles. The control system uses this distance to control the cleaning device 10 to perform corresponding actions, such as obstacle avoidance and edge cleaning. The ultrasonic sensor is used to identify carpet signals. Based on these signals, the control system controls the main cleaning component 310 and auxiliary cleaning component 510 of the cleaning device 10 to lift, or to control the cleaning device 10 to return to the base station for charging, dust collection, cleaning of the main cleaning component 311, and removal and installation of the main cleaning component 310. The visual sensor is used to image the environment in which the cleaning device 10 is located to obtain obstacle information. Based on this information, the control system controls the cleaning device 10 to perform actions, such as obstacle avoidance, obstacle traversal, and edge cleaning.

[0232] In this embodiment, along the forward direction of the body 100, the body 100 has a front portion, a rear portion, and a connecting portion or a middle portion connecting the front and rear portions of the body 100, with the dust box 202, the roller brush 201, or the drive wheel 700 as the boundary. The dust box 202, the roller brush 201, or the drive wheel 700 is disposed in the connecting portion or the middle portion.

[0233] For example, taking the roller brush 201 or the dust box 202 as an example, the portion of the body 100 located in front of the roller brush 201 or the dust box 202 is referred to as the front portion of the body 100, and the portion located behind the roller brush 201 or the dust box 202 is referred to as the rear portion of the body 100. Typically, the roller brush 201 is located in the area between the two driving wheels 700.

[0234] In one embodiment, the main cleaning module 300 and the auxiliary cleaning module 500 are both located at the rear of the main body 100, and the side brush 400 is located at the front of the main body 100. In the forward direction of the main body 100, the side brush 400 and the auxiliary cleaning module 500 are both located on the same side of the main body 100. For example, they are both located on the right side of the main body 100 to form a right edge, or they are both located on the left side of the main body 100 to form a left edge.

[0235] Along the forward direction of the fuselage 100 , the main cleaning assembly 310 and the auxiliary cleaning assembly 510 are located behind the roller brush 201 , which facilitates the cleaning robot's cleaning operation of first dry sweeping and then wet mopping, and also facilitates the layout of the internal space of the fuselage 100 .

[0236] The cleaning device 10 also includes a second drive structure 340, which is provided on the body 100 and is used to drive the main cleaning component 310 to move to mop the floor; and also includes a first lifting structure 330, which is used to drive the cleaning component to perform lifting and lowering movements so that the main cleaning component 310 is in a mopping position or a raised position.

[0237] The cleaning device 10 also includes at least a water replenishment mechanism for replenishing water to the main cleaning member 311 of the main cleaning assembly 310, thereby moistening the main cleaning member 311, so that the rag is moistened or dampened when mopping the floor, thereby achieving wet cleaning and improving the cleaning effect. The water replenishment mechanism includes at least a water tank 600, which transports water in the water tank 600 to a delivery mechanism on the main cleaning member 311.

[0238] Optimally, the auxiliary cleaning member 511 of the auxiliary cleaning assembly 510 can also be replenished with water, so that the auxiliary cleaning member 511 is in a wet state and performs wet cleaning of the floor. Alternatively, water can be replenished so that the auxiliary cleaning member 511 is in a dry state and cleans the floor, but the cleaning effect is weaker than wet mopping.

[0239] In some scenarios, the main cleaning assembly 310 needs to be raised. For example, when the main cleaning assembly 310 is placed on a carpet, the main cleaning assembly 310 needs to be in a raised position to avoid wetting the carpet. Alternatively, when the main cleaning assembly 310 needs to be raised to avoid being stuck on an obstacle or returning to the base station, the main cleaning assembly 310 needs to be in a raised position to prevent it from being detached from the main cleaning assembly 100. Therefore, the cleaning device 10 also includes a first lifting structure 330, which is disposed within the main cleaning assembly 100 and is used to drive the main cleaning assembly 310 to be raised to switch between the mopping position and the raised position.

[0240] There are many ways to configure the main cleaning assembly 310. For example, in some embodiments, the main cleaning assembly 310 includes a mounting base 312 and a main cleaning member 311 disposed at the bottom of the mounting base 312.

[0241] For example, please refer to Figure 1 As shown, the mounting base 312 can be a main cleaning disc. In this case, for example, the main cleaning member 311 is a main rag installed on the bottom of the cleaning disc, and the second driving mechanism drives the main cleaning disc to rotate, so as to cause the main rag to rotate and clean the floor. Under the action of the driving force, the main cleaning disc can drive the main cleaning member 311 to rotate relative to the body 100, so that the main cleaning member 311 performs the cleaning operation; or the main cleaning disc can also be fixed relative to the body 100, so that when the cleaning robot moves along the travel direction, the main cleaning member 311 moves relative to the ground to clean the ground; wherein, the main cleaning disc can be one, two or more, for example, in Figure 1 In the embodiment, there are two main cleaning discs, each of which is provided with a main cleaning member 311. The two main cleaning discs drive the main cleaning member 311 to rotate to clean the floor.

[0242] In another exemplary embodiment, the mounting base 312 can be a flat mop, and the main cleaning element 311 is a main cleaning cloth mounted on the flat mop. Specifically, a vibration plate 313 can be provided in the flat mop. Driven by a second drive mechanism, the vibration plate 313 can reciprocate or swing in at least one direction, thereby driving the main cleaning cloth to vibrate or twist back and forth, thereby creating friction between the main cleaning element 311 and the floor, thereby improving cleaning effectiveness. The vibration plate 313 can move in a horizontal plane.

[0243] Please refer to Figures 2 to 5 As shown, in the embodiment of the present application, the auxiliary cleaning module 500 is primarily used to cooperate with the main cleaning module 300 to assist in cleaning areas that are difficult to clean and are missed by the main cleaning assembly 310. For example, it can clean along the edges, or, based on achieving edge cleaning, further clean the corner areas (described in detail below) to improve cleaning efficiency and reduce missed areas.

[0244] In order to clean the missed areas of the main cleaning component 310, the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510. The auxiliary cleaning component 510 has at least an initial position A and an edge position C relative to the body 100. In the edge position C, at least a portion of the auxiliary cleaning component 510 extends out of the edge of the body 100 to clean along the edge. When the auxiliary cleaning component 510 is in the initial position A, an embodiment, such as Figure 2 、 Figure 20 As shown, at the initial position A, the auxiliary cleaning module 500 will be completely retracted within the projection range of the maximum edge of the fuselage 100, and the auxiliary cleaning module 500 will not be exposed outside the fuselage 100 when viewed from above; or the auxiliary cleaning module 500 will be partially retracted within the projection range of the maximum edge of the fuselage 100 and partially extended outside the edge of the fuselage 100. For the initial position A and the edge position C, it can be a fixed point position or an interval position. In particular, at the edge position C, when the first driving structure 520 that drives the auxiliary cleaning component 510 to swing uses an elastic member, when the auxiliary cleaning component 510 is subjected to the force of an obstacle at the edge position C, under the buffering action of the elastic member, the auxiliary cleaning module 500 will passively retract to buffer the collision with the obstacle. Therefore, the edge position C can be a dynamically changing position rather than a fixed point position.

[0245] In addition, if the auxiliary cleaning component 510 is in the initial position A, part of the auxiliary cleaning component 510 extends out of the fuselage 100. At the edge position C, the part of the auxiliary cleaning component 510 extending out of the fuselage 100 is larger than the part of the auxiliary cleaning component 510 extending out of the fuselage 100 at the initial position A, so as to achieve edge cleaning.

[0246] It should be noted that the initial position A and the edge position C are not limited to the auxiliary cleaning assembly 510 , but may also be any component in the auxiliary cleaning module 500 that swings synchronously with the auxiliary cleaning assembly 510 .

[0247] The auxiliary cleaning module 500 further includes a first driving structure 520 for driving the auxiliary cleaning assembly 510 to swing so as to switch between an initial position A and an edge position C.

[0248] For example, the first driving structure 520 includes a first motor, a swing arm 524, and at least one first elastic member 522. Under the cooperation of the first driving motor 521 and the first elastic member 522, the swing arm 524 is driven to swing, thereby driving the auxiliary cleaning assembly 510 to swing, so as to switch between the edge position C and the initial position A.

[0249] Since the swing arm 524 and the auxiliary cleaning assembly 510 swing synchronously, the aforementioned initial position A and edge position C can also be said to have the initial position A and edge position C of the swing arm 524 .

[0250] In some embodiments, the auxiliary cleaning assembly 510 includes an auxiliary cleaning plate 512 and an auxiliary cleaning member 511 provided on the bottom of the auxiliary cleaning plate 512. The aforementioned initial position A and edge position C may be for the auxiliary cleaning plate 512 or for the auxiliary cleaning member 511. The auxiliary cleaning member 511 may be a rag, a wiper, etc. Figure 7 As shown, the auxiliary cleaning assembly 510 is in the edge position C, and at least part of the auxiliary cleaning disc 512 extends out of the body 100. Figure 2 As shown, the auxiliary cleaning plate 512 is located within the projection range of the maximum edge of the body 100 , so that the overall outline size of the cleaning robot is not increased.

[0251] In some embodiments, as Figure 58 As shown, along the moving direction of the cleaning robot, the auxiliary cleaning module 500 is arranged behind the dry cleaning module 200 and is arranged near the edge of the main body 100. In this way, when the cleaning robot is running, the auxiliary cleaning module 500 can clean the areas such as the edges that are difficult for the main cleaning module 300 to clean, and since the auxiliary cleaning module 500 is arranged near the edge of the main body 100, the auxiliary cleaning module 500 will not occupy much space inside the main body 100 when it is swung outward or retracted.

[0252] In some embodiments, the auxiliary cleaning disc 512 is, for example, a plate-shaped or disc-shaped structure; the auxiliary cleaning member 511 is, for example, a cleaning cloth. Figures 2 to 5 In the figure, the auxiliary cleaning plate 512 is a circular plate, and the auxiliary cleaning member 511 is a circular cleaning cloth that matches the auxiliary cleaning plate 512 and is fixed to the bottom of the auxiliary cleaning plate 512 by gluing or other methods. The auxiliary cleaning plate 512 can also be a triangle, a Leroy triangle, a square, or other irregular shapes.

[0253] The auxiliary cleaning module 500 further includes a second lifting mechanism 530, which is at least used to drive the auxiliary cleaning assembly 510 to lift and lower, so that the auxiliary cleaning assembly 510 is in a lifted position to leave the ground; or in a mopping position to perform edge cleaning.

[0254] As an optional embodiment, in some embodiments, the first drive mechanism can also drive the auxiliary cleaning disc 512 to rotate, thereby driving the auxiliary cleaning member 511 to rotate, thereby increasing the friction between the auxiliary cleaning member 511 and the floor, and improving the cleaning effect along the edge. That is, a motor in the first drive structure 520 can drive the swing arm 524 to swing the auxiliary cleaning assembly 510 to switch between the initial position A and the edge position C; it can also drive the auxiliary cleaning assembly 510 to rotate to mop the floor, thereby making the drive structure compact and eliminating the need for a separate drive structure to drive the auxiliary cleaning assembly 510 to rotate.

[0255] Furthermore, the second lifting mechanism 530 is combined with the rotational movement of the swing arm 524, and the second lifting mechanism 530 is driven to perform lifting movement through the swinging rotation, and the swing arm 524 is driven to perform lifting movement in the opposite direction, thereby driving the entire auxiliary cleaning module 500 to perform lifting movement, so that the auxiliary cleaning component 510 is between the lifting position and the mopping position, so that only one motor is needed to drive the swinging, rotation, and lifting functions of the auxiliary cleaning component 510, further making the driving structure more compact and occupying less space. The entire auxiliary cleaning module 500 can occupy a small space as a single module.

[0256] The swing of the auxiliary cleaning component 510 relative to the main body 100 can be a linear swing or an arc-shaped swing. It is preferred to adopt an arc-shaped swing. When achieving the same swing distance, the arc-shaped swing requires a smaller swing space than the linear swing, so that the space required for the auxiliary cleaning module 500 to be arranged in the main body 100 is smaller.

[0257] Since the auxiliary cleaning component 510 can swing relative to the body 100, there are many ways to set the auxiliary cleaning component 510 on the robot. There are mainly two technical routes, specifically:

[0258] The first technical approach involves the auxiliary cleaning assembly 510 being mounted on the machine body 100. The auxiliary cleaning assembly 510 needs to be both oscillating and raised / lowered. Furthermore, to achieve effective edge cleaning, the auxiliary cleaning assembly 510 needs to rotate. Consequently, the aforementioned first drive structure 520 drives the auxiliary cleaning assembly 510 to swing between the initial position A and the edge position C, at least to rotate and mop the floor in the edge position C, and to raise and lower the auxiliary cleaning assembly 510 to switch between the raised position and the mopping position.

[0259] The second technical route is: the auxiliary cleaning module 500 is arranged as a whole on the main cleaning component 310, and the main cleaning module 300 itself is provided with a first lifting structure 330 for driving the main cleaning component 310 to perform lifting movements. Then, while the first lifting structure 330 drives the main cleaning component 310 to lift and lower, it also drives the auxiliary cleaning module 500 to lift and lower synchronously, so that the main cleaning component 310 and the auxiliary cleaning component 510 are synchronously in the mopping position and the lifting position. For the auxiliary cleaning component 510, only the first driving structure 520 is needed to drive the auxiliary cleaning component 510 to swing to switch between the edge position C and the initial position A. Furthermore, it can rotate at the edge position C. Compared with the first technical route, the first driving structure 520 in the second technical route does not need to realize the lifting function, so that the structure of the first driving structure 520 is simplified and the space occupied is small.

[0260] Under the above two technical routes, for different main cleaning modules 300, the arrangement of the structure inside the fuselage 100 is different, especially the fuselage 100 needs to provide avoidance space for the swing of the auxiliary cleaning component 510. In the limited space of the fuselage 100, the arrangement of some structures will be deformed, which will be expanded later using a specific implementation method as an example.

[0261] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Example 1

[0262] This embodiment is a specific embodiment of the auxiliary cleaning component 510 being arranged on the fuselage 100 under the aforementioned first technical route. For the convenience of description, this embodiment takes the main cleaning component 310 as a flat mop as an example. On the basis of the above content, combined with Figures 1 to 18 ,as well as Figure 54 and Figure 55 , give a detailed introduction to the cleaning robot.

[0263] like Figures 1 to 7 As shown, the cleaning robot includes a body 100, a main cleaning module 300 and an auxiliary cleaning module 500. The main cleaning module 300 is arranged on the body 100 and has at least one main cleaning component 310. The main cleaning component 310 has a lifting position and a mopping position. The auxiliary cleaning module 500 is arranged on the body 100. The auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510. The auxiliary cleaning component 510 has at least an initial position A and an edge position C relative to the body 100. In the edge position C, at least part of the auxiliary cleaning component 510 extends out of the edge of the body 100 for edge cleaning. When the auxiliary cleaning component 510 is in the initial position A, at least the auxiliary cleaning component 510 is located above the main cleaning component 310.

[0264] In this embodiment, the main cleaning component 310 is a flat mop, which includes a mounting base 312 and a vibration plate 313 provided on the mounting base 312 , and the main cleaning cloth is at least installed on the bottom of the vibration plate 313 .

[0265] The main cleaning component 310 also includes a main cleaning part 311 arranged on a mounting seat 312. For example, the main cleaning part 311 is, for example, a cleaning cloth. The cleaning device 10 drives the main cleaning part 311 along its travel direction through the mounting seat 312 to perform dry mopping, wet mopping and other cleaning operations on the surface to be cleaned; for example, the surface to be cleaned is, for example, the ground.

[0266] In some embodiments, please refer to Figure 2 and Figure 3 As shown, a first avoidance opening 104 is provided on the side wall of the fuselage 100 at a position corresponding to the initial position A of the auxiliary cleaning module 500, and a first avoidance area 109 connected to the first avoidance opening 104 is provided in the fuselage 100 for the auxiliary cleaning module 500 to swing between the outward swing position and the initial position A. When the auxiliary cleaning module 500 is in the initial position A, the auxiliary cleaning module 500 is stored in the first avoidance area 109, and the auxiliary cleaning module 500 is located above the mounting seat 312.

[0267] In this way, at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning module 500 can swing outward toward the edge position C through the first avoidance opening 104, or retract toward the initial position A. When in the non-edge cleaning mode, the auxiliary cleaning module 500 shrinks into the body 100, so that the overall structure of the cleaning device 10 is more compact, and the overall appearance of the cleaning device 10 is maintained, reducing the overall size of the cleaning device 10.

[0268] In some embodiments, the fuselage 100 includes a chassis 101 and an upper shell cover 102 , which together enclose an inner cavity of the fuselage 100 ; the first avoidance opening 104 is provided on the upper shell cover 102 , and the first avoidance area 109 is mainly formed by the chassis 101 .

[0269] In some optional structures, the first avoidance area 109 is located below the bottom plate 101, and the first avoidance area 109 includes at least a concave cavity 106 provided on the bottom plate 101 and concave upward toward the inner cavity of the body 100. In this way, the first avoidance area 109 has a relatively simple external structure and is convenient for storing the auxiliary cleaning module 500.

[0270] It can be understood that when the auxiliary cleaning module 500 is in the retracted and raised position, the auxiliary cleaning module 500 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of the fuselage 100, and is not housed in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning module 500 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the outward swing position.

[0271] In some embodiments, the auxiliary cleaning component 510 can only switch between the initial position A and the edge position C when the main cleaning component 310 is in the mopping position. In this way, interference between the auxiliary cleaning component 510 and the main cleaning component 310 during the switching process can be avoided, thereby improving the reliability of the auxiliary cleaning component 510 switching between the initial position A and the edge position C.

[0272] In some embodiments, the auxiliary cleaning component 510 has a lifting position and a mopping position. When the auxiliary cleaning component 510 is in the edge position C, it is also in the mopping position; when the auxiliary cleaning component 510 is in the initial position A, it is also in the lifting position, that is, when the cleaning device 10 is cleaning in a non-edge mode, the auxiliary cleaning module 500 is in a non-working state; the auxiliary cleaning component 510 can only be raised and lowered when the main cleaning component 310 is in the mopping position to switch between the lifting position and the mopping position, so that the auxiliary cleaning component 510 has sufficient lifting space in the lifting direction.

[0273] In some embodiments, when the auxiliary cleaning assembly 510 swings outward toward the edge position C, the auxiliary cleaning assembly 510 moves downward; when the auxiliary cleaning assembly 510 swings inward toward the initial position A, the auxiliary cleaning assembly 510 moves upward.

[0274] Illustratively, when the auxiliary cleaning component 510 switches between the outward swing position and the initial position A, it can be synchronously raised and lowered along the height direction of the fuselage 100. For example, while the auxiliary cleaning component 510 moves from the initial position A to the outward swing position, the auxiliary cleaning component 510 is synchronously moved from the raised position to the mopping position; conversely, while the auxiliary cleaning component 510 moves from the outward swing position to the initial position A, the auxiliary cleaning component 510 is synchronously moved from the mopping position to the raised position. In this way, the movement efficiency of the auxiliary cleaning module 500 can be improved.

[0275] In addition, when the auxiliary cleaning assembly 510 is switched to the edge position C, the auxiliary cleaning assembly 510 can also rotate to clean the floor. This can increase the friction frequency between the auxiliary cleaning assembly 510 and the floor, thereby improving the cleaning effect and efficiency.

[0276] In some embodiments, the auxiliary cleaning module 500 also includes a first driving structure 520 and a lifting mechanism 530. The first driving structure 520 is at least used to drive the auxiliary cleaning component 510 to swing between the initial position A and the edge position C, so that the auxiliary cleaning component 510 switches between the initial position A and the edge position C; and during this swinging process, with the cooperation of the first driving structure 520 and the lifting mechanism 530, at least the auxiliary cleaning component 510 is made to rise or fall. In this way, while the first driving structure 520 drives the auxiliary cleaning component 510 to switch between the initial position A and the edge position C, the auxiliary cleaning component 510 is made to rise or fall with the cooperation of the lifting mechanism 530, thereby improving the switching efficiency of the auxiliary cleaning component 510 between the initial position A, the edge position C, the lifting position and the mopping position, saving switching time and improving the user experience.

[0277] In some embodiments, the first driving structure 520 includes a first driving motor 521, at least one first elastic member 522 and a swing arm 524. In cooperation with the first driving motor 521 and the first elastic member 522, the swing arm 524 is driven to swing, so as to drive the swing arm 524 of the auxiliary cleaning component 510 to switch between the initial position A and the edge position C. During this swinging process, the swing arm 524 drives the lifting mechanism 530 to act, so that the swing arm 524 drives the auxiliary cleaning component 510 to descend or lift. In this way, the auxiliary cleaning component 510 can be switched between the initial position A, the edge position C, the lifting position and the mopping position through a simple structure, which has a simple structure and low cost.

[0278] In some embodiments, the first drive structure 520 also includes a first one-way transmission mechanism 523; the auxiliary cleaning component 510 can be rotatably arranged on the swing arm 524; the first drive motor 521 is connected to the swing arm 524 through the first one-way transmission mechanism 523, and the first drive motor 521 is connected to the auxiliary cleaning component 510 in a transmission connection; the first elastic member 522 is used to drive the swing arm 524 to swing outward toward the edge position C, so as to drive the auxiliary cleaning component 510 to swing outward; the first drive motor 521 is at least used to drive the swing arm 524 to swing inward toward the retracted position , to drive the auxiliary cleaning component 510 to retract. During the outward swing and inward retraction process, the first drive motor 521 and the swing arm 524 remain relatively stationary through the first one-way transmission mechanism 523; when in the edge position C, the first drive motor 521 can rotate unidirectionally in the first direction through the first one-way transmission mechanism 523 and the swing arm 524, so that the first drive motor 521 drives the auxiliary cleaning component 510 to rotate. In this way, while realizing the swinging, lifting and rotation functions of the auxiliary cleaning component 510, the structure is simple, compact and low in cost.

[0279] In some embodiments, the first one-way transmission mechanism 523 includes but is not limited to a one-way bearing or a ratchet.

[0280] In some embodiments, please refer to Figure 8 、 Figure 13 、 Figure 16 and Figure 17 As shown, the lifting mechanism 530 includes a first spiral portion 531 and a first matching portion 532, one of which is arranged on the swing arm 524 and the other is arranged on the body 100. During the swinging process of the swing arm 524, the first matching portion 532 spirally rises or descends on the first spiral portion 531 to drive the swing arm 524 to rise or fall, and then drive the auxiliary cleaning module 500 to rise or fall as a whole. The lifting structure is simple.

[0281] In some embodiments, a first avoidance opening 104 is provided on the side wall of the fuselage 100, and a first avoidance area 109 is provided on the fuselage 100, at least for the installation of the auxiliary cleaning module 500; the first avoidance area 109 connects the inner cavity of the fuselage 100 with the outside world; the auxiliary cleaning module 500 also includes a swing arm 524, and the auxiliary cleaning component 510 is provided on the swing arm 524. The swing arm 524 swings at least within the first avoidance area 109, and swings toward the edge position C or the retracted position through the first avoidance opening 104. One end of the swing arm 524 is located in the first avoidance area 109, and the other end extends out of the first avoidance area 109 and is located below the chassis 101 of the fuselage 100.

[0282] In some embodiments, please refer to Figure 1 As shown, it also includes a dry cleaning module 200, which includes a roller brush 201 arranged at the bottom of the fuselage 100, a dust box 202 arranged in the fuselage 100, and a main fan 203; the main fan 203 is used to suck the garbage cleaned by the roller brush 201 into the dust box 202; under the action of the dust collecting fan on the base station, the garbage in the dust box 202 is collected into the base station through the dust exhaust channel; along the width direction of the fuselage 100, the dust exhaust channel 107 and the auxiliary cleaning module 500 are distributed on both sides of the main fan 203, and along the forward direction of the fuselage 100, the auxiliary cleaning module 500 is located behind the roller brush 201 or the dust box 202.

[0283] Because the roller brush 201 occupies the space in front of the body 100, in some embodiments, the main cleaning module 300 and the auxiliary cleaning module 500 are both located at the rear of the body 100. In the forward direction of the body 100, the main cleaning module 300 is located behind the roller brush 201. This allows the main cleaning module 300 and the auxiliary cleaning module 500 to be located behind the roller brush 201, facilitating the dry sweeping followed by wet mopping cleaning operation of the cleaning device 10 and facilitating the layout of the interior space of the body 100.

[0284] In some embodiments, a side brush 400 is provided on the bottom of the front of the fuselage 100, and the main cleaning module 300 and the auxiliary cleaning module 500 are provided at the rear of the fuselage 100, which can gather garbage outside the outline of the fuselage 100 to the bottom of the fuselage 100, thereby cooperating with the roller brush 201 to achieve dry sweeping operations.

[0285] In some embodiments, please refer to Figure 5 As shown, it also includes a lifting structure, which is arranged in the body 100; the main cleaning component 310 is located below the bottom of the body 100; the lifting structure is used to drive the main cleaning component 310 to lift and lower, and the lifting structure is distributed in the area enclosed by the dust box 202, the main fan 203 and the auxiliary cleaning module 500.

[0286] In some embodiments, the lifting structure includes a traction member. For example, the traction member is a traction rope. The lifting structure is connected to the main cleaning component 310 through the traction member to drive the cleaning component to move along the first direction through the traction member.

[0287] Exemplarily, the lifting structure includes a lifting motor, a rotating member and a traction member. The output shaft 525 of the lifting motor is connected to the rotating member. One end of the traction member is connected to the rotating member and is at least partially wound on the rotating member. The other end of the traction member is connected to the main cleaning module 300. When the output shaft 525 of the lifting motor drives the rotating member to rotate, the traction member can be wound onto or released from the rotating member, so that the traction member drives the main cleaning module 300 to move along the first direction. The lifting method is simple and the cost is low.

[0288] In some embodiments, a second driving structure 340 is further included. The second driving structure 340 and the main cleaning component 310 are distributed below the bottom of the fuselage 100. The second driving structure 340 is used to drive the main cleaning component 310 to move back and forth, twist, or rotate to clean the floor; the lifting structure is used to drive the second driving structure 340 and the active cleaning component to rise and fall synchronously.

[0289] In some embodiments, the second driving structure 340 includes, for example, a second driving motor 341 and an eccentric structure. The second driving motor 341 drives the vibration plate 313 to swing back and forth through the eccentric structure, so that the main cleaning component 310 is subjected to friction force with the ground, thereby improving the cleaning effect.

[0290] Furthermore, to arrange the first drive motor 521 and the second drive motor 341, in some optional configurations, the second drive motor 341 is correspondingly located within the concave cavity 106 and below the first drive motor 521. In one exemplary embodiment, the first drive motor 521 and the second drive motor 341 are stacked one above the other within the first avoidance zone 109, resulting in a more compact drive mechanism and a smaller footprint. In other exemplary embodiments, the second drive motor 341 is located within the concave cavity 106, while the first drive motor 521 is located on the chassis 101, offset from the projection of the second drive motor 341 on the chassis 101.

[0291] It can be understood that when the auxiliary cleaning component 510 is in the retracted and raised position, the auxiliary cleaning component 510 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of the fuselage 100, and is not housed in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning component 510 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the outward swing position.

[0292] In order to form the first avoidance area 109, as an optional implementation method, a notch area 1011 can be provided on the chassis 101, and the notch area 1011 is connected to the inner cavity of the fuselage 100 and the first avoidance opening 104. The first avoidance area 109 includes at least the notch area 1011 and part of the inner cavity of the fuselage 100.

[0293] In some embodiments, the auxiliary cleaning assembly 510 includes an auxiliary cleaning tray 512 and an auxiliary cleaning member 511 provided on the bottom of the auxiliary cleaning tray 512. Exemplarily, the auxiliary cleaning member 511 is, for example, a cleaning cloth, etc. In the retracted position, the edge of the auxiliary cleaning tray 512 is located inside the edge of the body 100; in the edge position C, at least part of the edge of the auxiliary cleaning tray 512 is located outside the edge of the body 100.

[0294] When the auxiliary cleaning component 510 and the main cleaning component 310 are both in the mopping position, in order to avoid a gap between the main cleaning component 310 and the auxiliary cleaning component 510 that is not swept, in an embodiment of the present application, when the main cleaning component 310 is in the mopping position and the auxiliary cleaning component 510 is in the outward swing and mopping position, there is an overlapping area H between the main cleaning component 310 and the auxiliary cleaning component 510 along the travel direction of the cleaning device 10, that is, along the travel direction of the cleaning device 10, the cleaning areas between the main cleaning component 310 and the auxiliary cleaning component 510 in the width direction of the body 100 partially overlap, so as to avoid a gap between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience.

[0295] In some embodiments, please refer to FIG. 9 and Figure 10 As shown, the mounting base 312 has a second notch 3121, which provides an avoidance space for the auxiliary cleaning disc 512. When the auxiliary cleaning disc 512 is located at the edge position C (i.e., the outward swing position), the auxiliary cleaning disc 512 is partially located in the second notch 3121; illustratively, the second notch 3121 can match part of the outer contour of the auxiliary cleaning disc 512. When cleaning along the edge, the main cleaning component 310 and the auxiliary cleaning component 510 are both located in the mopping position, and at least part of the auxiliary cleaning disc 512 is embedded in the second notch 3121, so that the main cleaning component 310 and the auxiliary cleaning component 510 have an overlapping area H in the direction of travel of the cleaning device 10, so as to avoid the problem of missed sweeping areas due to gaps between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience.

[0296] It should be noted that the overlapping area H refers to the area in the moving direction of the cleaning device 10, wherein the areas cleaned by the main cleaning member 311 and the auxiliary cleaning member 511 overlap, so as to avoid the problem of missing areas.

[0297] For example, please refer to Figure 15As shown, the auxiliary cleaning plate 512 is a circular rag plate, and the partial contour of the second notch 3121 close to the rear of the fuselage 100 is an arc-shaped structure that matches the contour of the rag plate, so that the partial contour of the second notch 3121 close to the rear of the fuselage 100 forms a state of covering the partial contour of the auxiliary cleaning plate 512, so that the main cleaning part 311 and the auxiliary cleaning part 511 have an overlapping area H in the direction of travel along the fuselage 100, so as to avoid missed cleaning between the main cleaning part 311 and the auxiliary cleaning part 511.

[0298] In other embodiments, at least one of the main cleaning member 311 and the auxiliary cleaning member 511 has a certain deformation along the width direction of the fuselage 100 (perpendicular to the direction of travel of the fuselage 100). When the auxiliary cleaning plate 512 moves to the outward swing position and both the main cleaning member 311 and the auxiliary cleaning member 511 are in the mopping position, there is a gap between the auxiliary cleaning plate 512 and the top plate 314, and the main cleaning member 311 and the auxiliary cleaning member 511 are in a state of mutual extrusion, so that there is no gap between the main cleaning member 311 and the auxiliary cleaning member 511, so as to avoid the problem of missed cleaning areas between the main cleaning member 311 and the auxiliary cleaning member 511. In this way, there is no need to set the second notch 3121 on the mounting seat 312, and the implementation method and structure are simple and the cost is low.

[0299] In some embodiments, please refer to Figure 55 As shown, the auxiliary cleaning disc 512 is provided with a deformable portion 513 on at least one side near the mounting seat 312. Exemplarily, the deformable portion 513 is an elastic rubber ring. The elastic rubber ring and the auxiliary cleaning disc 512 together serve as a support base for the auxiliary cleaning member 511. The auxiliary cleaning member 511, perpendicular to the thickness direction of the body 100, covers the auxiliary cleaning disc 512 and the elastic rubber ring. The provision of the elastic rubber ring allows the edge of the auxiliary cleaning member 511 near the mounting seat 312 to have a certain amount of deformation.

[0300] Alternatively, a deformation portion may be provided on one side edge of the mounting seat 312 close to the auxiliary cleaning disk 512, that is, the deformation portion and the mounting seat 312 together serve as a support base for the main cleaning component 311, and the main cleaning component 311 covers the mounting seat 312 and the deformation portion, so that the side of the main cleaning component 310 close to the auxiliary cleaning disk 512 has a certain deformation amount.

[0301] Alternatively, the auxiliary cleaning disc 512 can be provided with an elastic rubber ring on at least one side close to the mounting seat 312, and the edge of the mounting seat 312 close to the auxiliary cleaning disc 512 has a deformation portion, so that the main cleaning member 311 and the auxiliary cleaning member 511 have a certain deformation amount on the side close to each other. In this way, when the auxiliary cleaning disc 512 moves to the outward swing position and the main cleaning member 311 and the auxiliary cleaning member 511 are both in the mopping position, the main cleaning member 311 and the auxiliary cleaning member 511 can elastically squeeze each other so that there is no gap between the main cleaning member 311 and the auxiliary cleaning member 511, thereby avoiding missed cleaning areas.

[0302] In some embodiments, please refer to Figure 38 As shown, the elastic rubber ring is sleeved on the outer periphery of the auxiliary cleaning disc 512 so that the edge of the auxiliary cleaning member 511 has a certain amount of deformation.

[0303] In some embodiments, please refer to Figure 38 As shown, the elastic rubber ring can be provided with a deformation hole 515, which can be located at the edge of the elastic rubber ring. Specifically, there can be multiple deformation holes 515, which are spaced apart around the circumference of the elastic rubber ring to increase the deformation of the elastic rubber ring, thereby ensuring that the edge of the auxiliary cleaning member 511 has sufficient elastic compression. In addition, by providing the deformation holes 515 around the circumference of the elastic rubber ring, the surface flatness of the elastic rubber ring can be maintained when it is squeezed, avoiding the problem of local protrusions causing poor flatness of the auxiliary cleaning member 511. The cross-sectional shape of the deformation hole 515 can be a parallelogram or other shape that facilitates deformation and compression.

[0304] It should be noted that when the cross section of the deformation hole 515 is a parallelogram, the edges of each deformation hole 515 are inclined toward the same side in the circumferential direction of the elastic rubber ring, so that the deformation holes 515 have a consistent deformation direction.

[0305] For example, the spatial layout of the cleaning device 10 inside the body 100 will be described below with reference to the structural drawings.

[0306] Please refer to Figure 7 As shown, in the cleaning device 10 provided in the embodiment of the present application, the main cleaning module 300 is arranged on the lower side of the chassis 101, and the second driving structure 340 for driving the mounting seat 312 in the main cleaning module 300 to reciprocate in the horizontal plane is located on the mounting seat 312 and located on the lower side of the chassis 101. The lifting structure for driving the main cleaning module 300 is located on the upper side of the chassis 101, so that the mounting seat 312 can be driven to move in the first direction by the lifting structure, and the mounting seat 312 can synchronously drive the second driving structure 340 to move in the first direction.

[0307] In order to ensure that the main cleaning component 310 and the second driving structure 340 have sufficient lifting space in the first direction, in the embodiment of the present application, please refer to Figure 44 As shown, the boss 105 on the chassis 101 is hollow inside to form a cavity 106, and the cavity 106 is used to accommodate the second drive structure 340 and the main cleaning component 310. In this way, the main cleaning component 310 and the second drive structure 340 can have sufficient lifting space in the first direction, and the boss 105 protrudes toward the inner cavity of the fuselage 100. In this way, the thickness of the cleaning device 10 in the first direction will not be increased, thereby improving the structural compactness of the cleaning device 10.

[0308] In some embodiments, at least part of the structure of the lifting structure is located above the boss 105, and the projections of the lifting structure and the boss 105 in the first direction at least partially overlap. In this way, the space between the boss 105 and the top of the inner cavity of the fuselage 100 can be further utilized to improve space utilization and reduce the overall outline size of the cleaning equipment 10.

[0309] In addition, a dust box 202 is provided in the body 100. For example, please refer to Figure 4 As shown, the length dimension of the dust box 202 is greater than the width dimension, wherein the length direction of the dust box 202 is consistent with the width direction of the body 100, so that at least part of the dust box 202 is located above the roller brush 201. In this way, the space for storing garbage in the dust box 202 is guaranteed without increasing the outline size of the cleaning device 10.

[0310] In some embodiments, please refer to Figure 18 As shown, the cleaning device 10 is provided with a dust exhaust channel 107 connected to the dust box 202. For example, the dust exhaust channel 107 is arranged behind the dust box 202. Under the action of the dust collecting fan on the base station, the garbage in the dust box 202 is collected into the base station through the dust exhaust channel.

[0311] Specifically, when the cleaning device 10 returns to the base station, the dust exhaust channel 107 can be connected to the dust collecting fan in the base station. When the main fan 203 is running, negative pressure adsorption wind can be provided to the dust box 202 through the dust exhaust channel 107, so that the garbage in the dust box 202 is discharged through the dust exhaust channel 107 by the negative pressure adsorption wind, thereby achieving the purpose of automatically cleaning the dust box 202, without the need for manual cleaning of the dust box 202, thereby improving the user experience.

[0312] To facilitate utilization of the internal space of the cleaning apparatus 10, the driving devices, such as the lifting structure, can be positioned on different sides of the dust exhaust duct 107 and the main fan 203. Optionally, the lifting structure includes a lifting drive assembly, with at least the components of the lifting drive assembly and the main fan 203 positioned on either side of the dust exhaust duct 107, while the auxiliary cleaning module 500 and the dust exhaust duct 107 are positioned on either side of the main fan 203. This arrangement allows the auxiliary cleaning module 500 and the dust exhaust duct 107 to be symmetrically positioned relative to the main fan 203, facilitating utilization of the space to the sides of the main fan 203. Furthermore, it also allows for more efficient use of the remaining space to the sides of the dust exhaust duct 107.

[0313] In order to further improve the efficiency and cleaning effect of cleaning the garbage in the dust box 202, an air inlet channel 111 is also provided in the cleaning device 10. The air inlet channel 111 is connected to the dust box 202. When the cleaning device 10 returns to the base station, the air inlet channel 111 can be connected to the fan in the base station to supply air to the dust box 202 through the fan to accelerate the garbage in the dust box 202 to move toward the side of the dust exhaust channel 107. In this way, the garbage in the dust box 202 can be quickly discharged, thereby improving the efficiency and cleaning effect of cleaning the dust box 202.

[0314] In some embodiments, the body 100 is provided with a connecting channel connecting the side wall of the body 100 and the dust box 202. The connecting channel may include at least one of the air inlet channel 111 and the dust exhaust channel 107. That is, at least one of the air inlet channel 111 and the dust exhaust channel 107 is connected between the side wall of the body 100 and the dust box 202, so as to facilitate further optimization and arrangement of the space of the body 100.

[0315] In some embodiments, the connecting channel includes a dust exhaust channel 107 , that is, the dust exhaust channel 107 connects the side wall of the fuselage 100 and the dust box 202 , so that the garbage in the dust box 202 is discharged through the side wall of the fuselage 100 under the action of negative pressure wind.

[0316] In some embodiments, the communication channel further includes an air inlet channel 111 connected between the side wall of the body 100 and the dust box 202 , so that air is supplied to the dust box 202 through the air inlet channel 111 to accelerate the discharge of garbage in the dust box 202 .

[0317] It can be understood that by respectively providing an air inlet channel 111 and a dust exhaust channel 107 in the body 100 that connect the side wall of the body 100 and the dust box 202, an air duct structure with one channel for blowing air and the other channel for sucking air is formed in the body 100.

[0318] In some embodiments, the air inlet channel 111 and the dust exhaust channel 107 are respectively disposed at opposite ends of the dust box 202 along the width direction of the housing 100 and are located at the rear of the housing 100 (e.g., along the direction of travel of the housing 100). That is, the air inlet channel 111 is connected to one end of the dust box 202, and the dust exhaust channel 107 is connected to the other end of the dust box 202. In this case, the air inlet channel 111 and the dust exhaust channel 107 are disposed opposite each other, thereby allowing the opposite ends of the dust box 202 to be connected. Therefore, the airflow provided by the air inlet channel 111 and the dust exhaust channel 107 can flow through the dust box 202 unimpeded, thereby cleaning the dust and debris in the dust box 202, leaving no dead corners in the dust box 202, and improving the cleaning effect of the dust box 202. In addition, the dust box 202 is generally provided with other structures such as a filter element. The relative arrangement of the air inlet channel 111 and the dust exhaust channel 107 allows the clean air flow in and out of the dust box 202 to blow the outer surface of the filter element (generally parallel to the direction of the line connecting the opposite ends of the dust box 202), thereby cleaning the surface of the filter element.

[0319] In some embodiments, please refer to Figure 18 As shown, along the moving direction of the fuselage 100, the lifting structure and the second drive structure 340 are arranged behind the dust box 202, and the lifting structure and the second drive structure 340 are close to one side of the air inlet channel 111, and the second drive structure 340 is arranged at a position relative to the lifting structure at the rear of the fuselage 100, so as to optimize the layout of various structures in the fuselage 100 and improve the compactness of the structure in the fuselage 100.

[0320] In some embodiments, along the moving direction of the fuselage 100 , the main fan 203 is arranged behind the dust box 202 and between the air inlet channel 111 and the dust exhaust channel 107 , and the lifting structure and the second drive structure 340 are arranged between the main fan 203 and the air inlet channel 111 .

[0321] In some embodiments, the water replenishing mechanism for replenishing water to the main cleaning part 311 includes a water tank 600. The water tank 600 can be arranged on the side of the dust exhaust channel 107 away from the air inlet channel 111. Exemplarily, the water tank 600 is arranged on the chassis 101 and close to the side wall edge of the fuselage 100 to improve the structural compactness of the internal body 100 and improve space utilization. While meeting the functions of the cleaning device 10, it avoids the problem of the overall volume of the cleaning device 10 being too large.

[0322] In some embodiments, the water tank 600 is located below the chassis 101, and the dust box cavity 204 is located above the chassis 101. In this way, the dust box 202 is disposed in the dust box cavity 204, and the water tank 600 and the dust box 202 are disposed one above the other relative to the chassis 101, which can save lateral space occupied by the cleaning device 10 and facilitate a compact structure of the cleaning device 10.

[0323] As an optional configuration, the projections of the water tank 600 and the dust box cavity 204 on a first plane at least partially overlap, where the first plane is a plane perpendicular to the height direction of the body 100, such as a horizontal plane. In this way, the water tank 600 and the dust box cavity 204 can share a portion of the horizontal space, further improving the internal space utilization of the cleaning device 10.

[0324] The cleaning module is disposed on the lower side of the chassis 101 . In order to improve the structural compactness of the cleaning device 10 , the first driving mechanism may be disposed in the inner cavity of the body 100 .

[0325] In some embodiments, please refer to Figure 4 As shown, the air inlet channel 111 may not be provided in the fuselage 100, so that the position of the air inlet channel 111 provided in the fuselage 100 in the above embodiment forms an avoidance gap. In this way, the first protrusion on the chassis 101 protruding toward the inner cavity can be closer to the dust box 202, so that the second driving structure 340 can be replaced close to the front of the fuselage 100, the lifting structure is provided above the first protrusion, and the first driving mechanism is provided behind the lifting structure, that is, at least partially located in the avoidance gap and at least partially located above the first protrusion, so as to improve the compactness of the structure of the fuselage 100 and improve space utilization.

[0326] In addition, the gap between the first drive mechanism and the lifting structure and other structures can be formed into an air inlet channel 111 connected to the dust box 202. That is to say, the air inlet channel 111 is not additionally provided, but the air inlet channel 111 is formed by the gap between the first drive mechanism and the lifting structure and other structures to improve the compactness of the structure in the fuselage 100 and improve the utilization rate of the space in the fuselage 100. It can be understood that an air inlet or an air inlet grid connected to the air inlet channel 111 is provided on the side wall of the upper shell cover 102, and no restriction is made here.

[0327] It can be understood that the first driving mechanism is arranged on a side of the main fan 203 close to the lifting structure and is located behind the lifting structure.

[0328] In some embodiments, please refer to Figure 5 As shown, a first water pump 650 is also provided in the fuselage 100, and the first water pump 650 is used to inject water from the base station into the clean water tank; wherein, the first water pump 650 can be arranged on one side of the inner cavity close to the first driving mechanism. For example, the water pump is arranged above the first avoidance area 109.

[0329] In some embodiments, the mounting base 312 includes a top plate 314, a vibration plate 313 and a bottom plate 315, and the vibration plate 313 is movably arranged between the top plate 314 and the bottom plate 315, wherein a avoidance opening is provided in the bottom plate 315, and the vibration plate 313 is located in the avoidance opening, so that the bottom plate 315 surrounds the outer periphery of the vibration plate 313 and is fixedly connected to the top plate 314, so that the avoidance opening is used to avoid the movement trajectory of the vibration plate 313. Exemplarily, the vibration plate 313 is located in the avoidance opening, and there is a gap between the avoidance opening and the edge of the vibration plate 313; in addition, the surfaces of the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush, so that the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 can be fixed with the main cleaning member 311 by gluing or the like to ensure the flatness of the main cleaning member 311 and increase the area of the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0330] Specifically, the mounting base 312 is a flat drag, which includes a top plate 314, a vibration plate 313 and a bottom plate 315. The vibration plate 313 is movably arranged between the top plate 314 and the bottom plate 315, and the main cleaning component 311 is arranged on the bottom of the bottom plate 315 and the vibration plate 313. Among them, a third avoidance opening 2061 or a mounting opening is provided in the bottom plate 315. The vibration plate 313 twists or reciprocates in the third avoidance opening 2061 or the mounting opening to drive the main cleaning component 311 to twist or reciprocate. Here, the third avoidance opening 2061 can refer to a notch, and the mounting opening can be a closed annular hole. For the convenience of description, in this embodiment, Figure 9b The third avoidance opening 2061 shown is used as an example for explanation.

[0331] The vibration plate 313 is located in the third avoidance opening 2061, so that the bottom plate 315 surrounds the outer periphery of the vibration plate 313 and is fixedly connected to the top plate 314, so that the third avoidance opening 2061 is used to avoid the movement trajectory of the vibration plate 313. Exemplarily, the vibration plate 313 is located in the third avoidance opening 2061, and there is a gap between the third avoidance opening 2061 and the edge of the vibration plate 313; in addition, the surfaces of the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush, so that the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 can be fixed with the main cleaning member 311 by gluing or the like to ensure the flatness of the main cleaning member 311 and increase the area of the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0332] In some embodiments, please refer to Figure 2As shown, the side of the chassis 101 facing the ground has a first avoidance area 109 connected to the first avoidance opening 104, and the top plate 314 of the mounting seat 312 facing the top of the chassis 101 is provided with a recessed area 3141 recessed toward the ground side, and the avoidance space is located above the recessed area 3141, so that the recessed area 3141 and the avoidance space on the chassis 101 together form the first avoidance area 109 for accommodating the auxiliary cleaning module 500.

[0333] It can be understood that by providing a recessed area 3141 on the top plate 314 that is recessed toward the ground (i.e., the bottom plate 315), the height dimension of the first avoidance area 109 in the first direction can be increased without increasing the thickness dimension of the fuselage 100, so that the first avoidance area 109 has sufficient space in the first direction to accommodate the auxiliary cleaning module 500.

[0334] In some embodiments, please refer to Figure 9a 、 Figure 9b 、 Figure 9c and Figure 9d As shown, the side of the top plate 314 facing the bottom plate 315 may have a protrusion protruding toward the side of the bottom plate 315, and the protrusion is a hollow structure to form a recessed area 3141. The recessed area 3141 is formed on the upper surface of the top plate 314. In this way, the size of the first avoidance area 109 in the first direction can be further increased.

[0335] Figure 9e (Looking up) exemplarily shows the structural diagram of the cleaning structure when the auxiliary cleaning component 510 is in the edge position C. Figure 9b and Figure 9c (Top view) exemplarily shows the structural diagram of the cleaning structure when the auxiliary cleaning component 510 is in the initial position A; Figure 11 (looking up and removing the tablet drag) and Figure 55 (Top view) shows a schematic diagram of the auxiliary cleaning component in the initial position A, the third position B and the edge position C.

[0336] Reference Figure 11 As shown, the swing arm 524 swings counterclockwise to drive the auxiliary cleaning assembly 511 to switch from the initial position A to the edge position C. Along the forward direction of the machine body, the rotation center of the auxiliary cleaning assembly 511 in the initial position A is located behind the rotation center of the auxiliary cleaning assembly 511 in the edge position C. Because the upper surface of the top plate 315 forms a recessed area 3141, when the auxiliary cleaning assembly 511 is in the initial position A, at least a portion of the auxiliary cleaning assembly 511 can be located within the recessed area 3141, thereby separating the auxiliary cleaning assembly 511 from the ground.

[0337] To avoid interference between the vibration plate 313 and the bottom plate 315 and the protrusions, please continue to refer to Figure 9bAs shown, in the embodiment of the present application, a third notch 3131 is provided at a position corresponding to the protrusion on the vibration plate 313, and the third notch 3131 is in the form of a notch. A second notch 3121 is also provided at a position corresponding to the protrusion on the bottom plate 315. When the top plate 314, the vibration plate 313, and the bottom plate 315 are connected together, the protrusion is located in the third notch 3131 and the second notch 3121, and the outer bottom wall of the protrusion is flush with the outer bottom wall surfaces of the vibration plate 313 and the bottom plate 315, so that the vibration plate 313, the bottom plate 315, and the outer bottom wall of the protrusion remain on the same plane, and the main cleaning member 311 covers the plane formed by the vibration plate 313, the bottom plate 315, and the outer bottom wall of the recessed area 3141. Here, the second notch 3121 of the bottom plate 315 can be understood as a part of the third avoidance opening 2061, so that the third avoidance opening 2061 is a notch. In this way, the third avoidance opening 2061 of the bottom plate 315 can not only avoid the movement trajectory of the vibration plate 313, but also avoid the protrusion of the top plate 314.

[0338] like Figures 9a to 9d As shown, in some embodiments, the front edge of the mounting base 312 has a second notch 3121; the main cleaning member 311 has a first notch 3122 corresponding to the second notch 3121; when the auxiliary cleaning assembly 511 is located at the edge position A, a portion of the auxiliary cleaning assembly 510 is embedded in the second notch 3121, so that the second portion 5111 is located in front of the first portion 3111, and the cleaning areas of the first portion 3111 and the second portion 511 have the overlapping area. Figure 9d It can be seen that since the mounting seat 312 includes a top plate 314 and a bottom plate 315, and the top plate 314 and the bottom plate 315 together form the front edge of the mounting seat 312, a second notch 3121 is provided on the top plate 314 and the bottom plate 315. When the auxiliary cleaning component 510 is in the edge position, part of the auxiliary cleaning component 510 is embedded in the second notch 3121 and the first notch 3122.

[0339] Regarding the top plate 314, the second notch 3121 on the top plate 314 not only prevents interference between the bottom plate 315 and the protrusion on the top plate 314, but also allows the auxiliary cleaning assembly 511 to at least partially fit in when the auxiliary cleaning assembly 511 is in the edge position C, thereby forming the overlapping area. Furthermore, based on the aforementioned, the third avoidance opening 2061 on the bottom plate 315 can also allow the auxiliary cleaning member 511 to partially fit in when in the edge position C, thereby forming the overlapping area.

[0340] In some embodiments, please refer to Figure 2As shown, the side of the chassis 101 facing the ground has a first avoidance area 109 connected to the first avoidance opening 104, and the top plate 314 of the mounting seat 312 facing the top of the chassis 101 is provided with a recessed area 3141 recessed toward the ground side, and the avoidance space is located above the recessed area 3141, so that the recessed area 3141 and the avoidance space on the chassis 101 together form the first avoidance area 109 for accommodating the auxiliary cleaning module 500.

[0341] It can be understood that by providing a recessed area 3141 on the top plate 314 that is recessed toward the ground (i.e., the bottom plate 315), the height dimension of the first avoidance area 109 in the first direction can be increased without increasing the thickness dimension of the fuselage 100, so that the first avoidance area 109 has sufficient space in the first direction to accommodate the auxiliary cleaning module 500.

[0342] In some embodiments, please refer to Figure 9a and Figure 10 As shown, the side of the top plate 314 facing the bottom plate 315 may have a protrusion protruding toward the side of the bottom plate 315, and the protrusion is a hollow structure to form a recessed area 3141, so that the size of the first avoidance area 109 in the first direction can be further increased.

[0343] To avoid interference between the vibration plate 313 and the bottom plate 315 and the protrusions, please continue to refer to Figure 14 As shown, in an embodiment of the present application, a third notch is provided at a position corresponding to the protrusion on the vibration plate 313, and a second notch 3121 is provided at a position corresponding to the protrusion on the bottom plate 315. When the top plate 314, the vibration plate 313 and the bottom plate 315 are connected together, the protrusion is located in the third notch and the second notch 3121, and the outer bottom wall of the protrusion is flush with the outer bottom wall surface of the vibration plate 313 and the bottom plate 315, so that the vibration plate 313, the bottom plate 315 and the outer bottom wall of the protrusion remain on the same plane, and the main cleaning part 311 covers the plane formed by the vibration plate 313, the bottom plate 315 and the outer bottom wall of the recessed area 3141.

[0344] In the embodiment of the present application, by ensuring that the first avoidance zone 109 has sufficient height space in the first direction, when the first drive mechanism drives the auxiliary cleaning module 500 from the initial position A to the outward swing position, while simultaneously driving the auxiliary cleaning module 500 to descend from the raised position to the mopping position, the first avoidance zone 109 has sufficient space in the first direction for the auxiliary cleaning module 500 to be raised and lowered. In some optional structures, the first avoidance zone 109 is located below the chassis 101 and includes at least a concave cavity 106 provided on the chassis 101 and concave upward toward the interior of the body 100. In this way, the first avoidance zone 109 has a relatively simple external structure and facilitates the storage of the auxiliary cleaning module 500.

[0345] It can be understood that when the auxiliary cleaning module 500 is in the retracted and raised position, the auxiliary cleaning module 500 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of the fuselage 100, and is not housed in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning module 500 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the edge position.

[0346] Only when the main cleaning component 310 is in the mopping position can the auxiliary cleaning component 510 switch between the initial position A and the edge position C. In this way, the auxiliary cleaning component 510 can avoid interference with the main cleaning component 310 during the switching process, thereby improving the reliability of the auxiliary cleaning component 510 switching between the initial position A and the edge position C.

[0347] The auxiliary cleaning component 510 has a lifting position and a mopping position. When the auxiliary cleaning component 510 is in the edge position C, it is also in the mopping position; when the auxiliary cleaning component 510 is in the initial position A, it is also in the lifting position, that is, when the cleaning device 10 is cleaning in a non-edge mode, the auxiliary cleaning module 500 is in a non-working state; the auxiliary cleaning component 510 can only be raised and lowered when the main cleaning component 310 is in the mopping position to switch between the lifting position and the mopping position, so that the auxiliary cleaning component 510 has sufficient lifting space in the lifting direction.

[0348] In some embodiments, when the auxiliary cleaning assembly 510 swings outward toward the edge position C, the auxiliary cleaning assembly 510 moves downward; when the auxiliary cleaning assembly 510 swings inward toward the initial position A, the auxiliary cleaning assembly 510 moves upward.

[0349] Illustratively, when the auxiliary cleaning component 510 switches between the edge position and the initial position A, it can be synchronously raised and lowered along the height direction of the fuselage 100. For example, while the auxiliary cleaning component 510 moves from the initial position A to the edge position, the auxiliary cleaning component 510 synchronously moves from the raised position to the mopping position; conversely, while the auxiliary cleaning component 510 moves from the edge position to the initial position A, the auxiliary cleaning component 510 synchronously moves from the mopping position to the raised position. In this way, the movement efficiency of the auxiliary cleaning module 500 can be improved.

[0350] In addition, when the auxiliary cleaning assembly 510 is switched to the edge position C, the auxiliary cleaning assembly 510 can also rotate to clean the floor. This can increase the friction frequency between the auxiliary cleaning assembly 510 and the floor, thereby improving the cleaning effect and efficiency.

[0351] In some embodiments, the auxiliary cleaning module 500 also includes a first driving structure 520 and a lifting mechanism 530, or the first driving structure itself includes a lifting mechanism 530. The first driving structure 520 is at least used to drive the auxiliary cleaning component 510 to swing between the initial position A and the edge position C, so that the auxiliary cleaning component 510 switches between the initial position A and the edge position C; and during this swinging process, with the cooperation of the first driving structure 520 and the lifting mechanism 530, at least the auxiliary cleaning component 510 is made to rise or fall. In this way, while the first driving structure 520 drives the auxiliary cleaning component 510 to switch between the initial position A and the edge position C, the auxiliary cleaning component 510 is made to rise or fall with the cooperation of the lifting mechanism 530, thereby improving the switching efficiency of the auxiliary cleaning component 510 between the initial position A, the edge position C, the lifting position and the mopping position, saving switching time and improving the user experience.

[0352] In some embodiments, the first driving structure 520 includes a first driving motor 521, at least one first elastic member 522 and a swing arm 524. In cooperation with the first driving motor 521 and the first elastic member 522, the swing arm 524 is driven to swing, so as to drive the swing arm 524 of the auxiliary cleaning component 510 to switch between the initial position A and the edge position C. During this swinging process, the swing arm 524 drives the lifting mechanism 530 to act, so that the swing arm 524 drives the auxiliary cleaning component 510 to descend or lift. In this way, the auxiliary cleaning component 510 can be switched between the initial position A, the edge position C, the lifting position and the mopping position through a simple structure, which has a simple structure and low cost.

[0353] In some embodiments, a first avoidance opening 104 is provided on the side wall of the fuselage 100, and a first avoidance area 109 is provided on the fuselage 100, at least for the installation of the auxiliary cleaning module 500; the first avoidance area 109 connects the inner cavity of the fuselage 100 with the outside world; the auxiliary cleaning module 500 also includes a swing arm 524, and the auxiliary cleaning component 510 is provided on the swing arm 524. The swing arm 524 swings at least within the first avoidance area 109, and swings toward the edge position C or the initial position through the first avoidance opening 104. One end of the swing arm 524 is located in the first avoidance area 109, and the other end extends out of the first avoidance area 109 and is located below the chassis 101 of the fuselage 100.

[0354] The following is a detailed introduction to a preferred embodiment of the first driving structure 520. The auxiliary cleaning component 510 includes an auxiliary cleaning disc 512 and an auxiliary cleaning member 511 provided on the auxiliary cleaning bottom. For ease of expression, the auxiliary cleaning disc 512 is used as the introduction point when introducing the first driving structure 520.

[0355] In this embodiment, the first driving structure 520 is driven by a motor to realize the swing, rotation and lifting functions of the auxiliary cleaning disc 512, thereby making the first driving structure 520 simple and compact. Specifically:

[0356] The first driving structure 520 includes a first driving motor 521, a swing arm 524, a first one-way transmission mechanism 523 and a first elastic member 522; the auxiliary cleaning disc 512 is rotatably provided on the swing arm 524, one end of the first elastic member 522 is fixed relative to the fuselage 100, and the other end is connected to the swing arm 524 or the auxiliary cleaning disc 512, and the auxiliary cleaning disc 512 is transmission-connected to the power output member of the first driving motor 521, for example, the power output member is a power output shaft 525. When the power output shaft 525 rotates, it drives the auxiliary cleaning disc 512 to rotate.

[0357] The first one-way transmission mechanism 523 is arranged between the power output member of the first drive motor 521 and the swing arm 524, and the first one-way transmission mechanism 523 has a first state and a second state; in the first state, the power output member and the swing arm 524 remain relatively stationary; in the second state, the power output member can rotate unidirectionally along the first direction relative to the swing arm 524, and the driving force of the first drive motor 521 is not transmitted to the swing arm 524; when the auxiliary cleaning disc 512 is in the edge position C, the first one-way transmission mechanism 523 is in the second state, and the first drive motor 521 drives the auxiliary cleaning disc 512 to rotate; when the auxiliary cleaning disc 512 swings between the initial position A and the edge position C, the first one-way transmission mechanism 523 is in the first state.

[0358] Among them, the first elastic member 522 is used to drive the swing arm 524 to swing outward toward the edge position C, so as to drive the auxiliary cleaning disc 512 to swing outward; the first drive motor 521 is used to drive the swing arm 524 to swing inward toward the initial position A, so as to drive the auxiliary cleaning disc 512 to retract. During the outward swing and inward retraction process, the first drive motor 521 and the swing arm 524 remain relatively stationary through the first one-way transmission mechanism 523; when at the edge position C, the first drive motor 521 can rotate unidirectionally with the swing arm 524 through the first one-way transmission mechanism 523, so that the first drive motor 521 drives the auxiliary cleaning disc 512 to rotate; under the rotation of the outward swing or inward retraction of the swing arm 524, the second lifting structure is driven to cause the swing arm 524 to descend or rise.

[0359] When the swing arm 524 and the power output member connected to the first one-way transmission mechanism 523 rotate relative to each other in one direction, the first one-way transmission mechanism 523 can rotate smoothly, but in the other direction, the two cannot rotate relative to each other. In this way, at the edge position C, the first drive motor 521 can drive the auxiliary cleaning disc 512 to rotate unidirectionally without acting on the swing arm 524.

[0360] During the outward swing, under the action of the first elastic member 522, since the driving force of the first elastic member 522 is much greater than the driving force of the first drive motor 521, the first one-way transmission mechanism 523 is forced to be in the first state. Therefore, during the outward swing, the swing of the swing arm 524 mainly relies on the action of the first elastic member 522 to swing outward.

[0361] In the edgewise position C, the first drive motor 521 forces the first one-way transmission mechanism 523 into the second state. At this point, the power output member cannot transmit power to the swing arm 524. Because the first elastic member 522 exerts a force on the swing arm 524 in the edgewise position C but does not continue to drive the swing arm 524 to swing outward, the first drive motor 521 continues to rotate, causing the power output shaft 525 to rotate relative to the swing arm 524. This prevents the power output shaft 525 from transmitting force to the swing arm 524, thereby driving the auxiliary cleaning disc 512 to rotate.

[0362] The first drive motor 521 is used to drive the swing arm 524 to swing inward, thereby retracting the cleaning assembly toward the initial position A. During the retraction process, the first drive motor 521 forces the first one-way transmission mechanism 523 into the first state. During this state, the elastic member deforms and stores elastic potential energy, which is released during the outward swing. Since the first elastic member 522 is not active during the retraction process, the retraction of the swing arm 524 relies on the action of the first drive motor 521.

[0363] For example, during the outward swing process and along the edge, the first drive motor 521 drives the power output shaft 525 to rotate always in the first direction; during the inward retraction process, the first drive motor 521 drives the power output shaft 525 to rotate in the second direction, one of the first direction and the second direction is clockwise and the other is counterclockwise; under the action of the first one-way transmission mechanism 523, the power output shaft 525 can rotate in the first direction relative to the swing arm 524, so that the power output shaft 525 and the swing arm 524 remain relatively stationary in the second direction, and the force is transmitted in one direction.

[0364] Correspondingly, during the outward swing process, the first elastic member 522 drives the swing arm 524 to rotate in the first direction. Due to the action of the first elastic member 522, the speed of the swing arm 524 along the first direction is much greater than the speed of the power output shaft 525, which is equivalent to the power output shaft 525 having a movement tendency in the second direction relative to the swing arm 524, thereby keeping the power output shaft 525 and the swing arm 524 in a relatively static state, thereby realizing the swinging and rotation of the auxiliary cleaning disc 512 under the cooperation of a motor and the first elastic member 522.

[0365] In some embodiments, the first one-way transmission mechanism 523 includes a first inner connecting member and a first outer connecting member, the first inner connecting member is connected to the power output member, and the first outer connecting member is connected to the swing arm 524; in this way, in the first state, the first inner connecting member and the first outer connecting member remain relatively stationary and transmit power and torque, and in the second state, the first inner connecting member can rotate unidirectionally in the first direction relative to the first outer connecting member, thereby not transmitting driving force.

[0366] In some embodiments, the first inner connecting piece is sleeved on the outside of the power output piece, and the first outer connecting piece is sleeved on the first inner connecting piece.

[0367] During the outward swing process, the first elastic member 522 releases energy to drive the swing arm 524 to rotate in the first direction. At the same time, the first drive motor 521 also drives the output shaft 525 to rotate in the first direction. The first inner connecting member remains stationary relative to the first outer connecting member. At the edge position C, the first drive motor 521 drives the power output member to continue to rotate in the first direction, and the first inner connecting member rotates in the first direction relative to the first outer connecting member. During the inward retraction process, the first drive motor 521 drives the power output member to rotate in the second direction, the first inner connecting member remains stationary relative to the first outer connection, and the elastic member deforms to store energy. One of the first direction and the second direction is a clockwise direction, and the other is a counterclockwise direction.

[0368] It is understood that the first one-way transmission mechanism 523 can be a one-way bearing or ratchet, with its inner ring serving as the first inner connecting member and its outer ring serving as the first outer connecting member. Alternatively, other one-way transmission structures known in the art only require that the power output member be rotatable relative to the swing arm 524 in a first direction and that the power output member be non-rotatable relative to the swing arm 524 in a second direction.

[0369] Specifically, taking the first one-way transmission mechanism 523 as a one-way bearing as an example, it can include a first inner ring and a first outer ring, wherein the first outer ring is sleeved on the outer periphery of the first inner ring, wherein the first inner ring is sleeved on the output shaft 525, and the first outer ring is connected to the swing arm 524, wherein the first inner ring can only rotate relative to the first outer ring in one direction along the first direction, and if the first inner ring has a movement tendency in the second direction relative to the second inner ring, the first inner ring and the first outer ring remain relatively stationary.

[0370] If the first direction is counterclockwise and the second direction is clockwise, the swing arm 524 is in the three states of the outward swing process, the inward retraction process, and the initial position A. The first inner ring tends to move clockwise relative to the first outer ring, that is, the first inner ring and the first outer ring remain stationary, and the power between the two can be transmitted, that is, the power is transmitted from the output shaft 525 to the swing arm 524, which can apply a force to the swing arm 524; in the outward swing process and the inward retraction process, since the first drive motor 521 is constantly rotating, the auxiliary cleaning disc 512 is constantly rotating while swinging between the initial position A and the edge position C.

[0371] Specifically, when the swing arm 524 needs to swing outward, if the first drive motor 521 drives the output shaft 525 to rotate forward (for example, counterclockwise), the first drive motor 521 drives the first inner ring to have a counterclockwise movement trend, so that the first inner ring has a rotation speed V1, and the first elastic member 522 drives the swing arm 524 to rotate counterclockwise, so that the first outer ring has a counterclockwise movement trend. If the rotation speed of the first outer ring is V2, since V2 is much greater than V1, the first inner ring has a clockwise movement trend relative to the first outer ring, then the first inner ring and the first outer ring are relatively stationary. Under the action of the first elastic member 522, the swing arm 524 is driven to swing outward, so that the auxiliary cleaning disc 512 swings outward with the swing arm 524 and can rotate on its own.

[0372] When the auxiliary cleaning disc 512 reaches the edge position C, the speed of the first elastic member 522 acting on the swing arm 524 is 0. At this time, the first drive motor 521 drives the output shaft 525 to continue to rotate counterclockwise, and the first inner ring has a counterclockwise movement trend relative to the first outer ring. The first inner ring and the first outer ring remain relatively stationary, and there is no power transmission; when the first drive motor 521 continues to drive the output shaft 525 to rotate counterclockwise, the output shaft 525 continues to drive the auxiliary cleaning disc 512 to rotate for cleaning along the edge.

[0373] When the swing arm 524 needs to retract, the first drive motor 521 rotates in the opposite direction (for example, clockwise), driving the output shaft 525 to rotate clockwise, and the first elastic member 522 deforms to store energy, so that the first inner ring has a clockwise movement trend relative to the first outer ring, and the first inner ring and the first outer ring remain relatively stationary, and there is power transmission. Under the action of the first drive motor 521, the swing arm 524 is driven to retract, thereby driving the auxiliary cleaning disc 512 to retract; and during the retraction process, the auxiliary cleaning disc 512 is driven to rotate.

[0374] In addition, in some embodiments, the first driving mechanism may further include a transmission mechanism, which includes a first transmission mechanism, a second transmission mechanism and a third transmission mechanism. The first transmission mechanism is connected between the first driving motor 521 (i.e., the power output member) and the output shaft 525, the second transmission mechanism is connected between the output shaft 525 and the swing arm 524, and the third transmission mechanism is connected between the output shaft 525 and the auxiliary cleaning disk 512. In this way, the first driving motor 521 transmits power to the output shaft 525 through the first transmission assembly, and the output shaft 525 transmits power to the swing arm 524 and the auxiliary cleaning disk 512 respectively through the second transmission mechanism and the third transmission mechanism, so that the second transmission mechanism is used to drive the swing arm 524 to move between the edge position C and the initial position A, and the third transmission mechanism drives the auxiliary cleaning disk 512 to drive the auxiliary cleaning member 511 to rotate, so as to perform cleaning operations.

[0375] In some embodiments, the first transmission mechanism includes a worm gear unit and a transmission gear 560 group, the worm gear unit includes a worm wheel and a worm that are meshed with each other, one of the worm wheel and the worm is connected to the motor shaft of the first drive motor 521, and the other is connected to the transmission gear 560 group, and the rotation axes of the worm wheel and the worm are intersected with each other; and the transmission gear 560 group includes a plurality of gears that are meshed with each other, so that the first drive motor 521 changes the output direction of its power through the worm gear unit, and further transmits the power to the output shaft 525 through the transmission gear 560 group with a suitable transmission ratio or torque to drive the output shaft 525 to rotate around its own axis; wherein, the axial direction of the output shaft 525 has an angle with the ground, and the angle is, for example, a right angle or approximately a right angle.

[0376] In some embodiments, as Figure 13 、 Figure 14 and Figure 15As shown, the second transmission assembly can have a planetary gear system to achieve a change in the transmission ratio through the planetary gear system. Specifically, the second transmission assembly includes a ring gear 540, a sun gear 526, a planet carrier 528, and a planet gear 527. The ring gear 540, the sun gear 526, the planet carrier 528, and the swing arm 524 are all sleeved on the output shaft 525. The ring gear 540 is sleeved on the output shaft 525 and fixed relative to the fuselage 100. The inner wall of the ring gear 540 has internal teeth. The planet gear 527 is fixed to the planet carrier 528 and is arranged around the circumference of the sun gear 526. The planet gear 527 is meshed with the sun gear 526 and the internal teeth of the ring gear 540 at the same time. The planet carrier 528 is fixedly connected to the swing arm 524. In this way, through the mutual engagement of the sun gear 526 and the planetary gear 527, the sun gear 526 and the planetary bracket 528 can rotate around the output shaft 525 at different rotation rates. The rotation rate of the planetary bracket 528 is lower than the rotation rate of the sun gear 526, and the output torque of the second transmission mechanism is increased accordingly. Therefore, it can drive the swing arm 524 to swing outward or retract with sufficient torque.

[0377] Exemplarily, there may be at least two planetary gears 527 , which are spaced apart along the circumference of the sun gear 526 and mesh with the outside of the sun gear 526 , and each planetary gear 527 meshes with the internal teeth of the ring gear 540 .

[0378] The first one-way transmission mechanism 523 is disposed between the sun gear 526 and the output shaft 525. When the sun gear 526 and the output shaft 525 connected to the first one-way transmission mechanism 523 rotate relative to each other in one direction, the sun gear 526 and the output shaft 525 cannot rotate relative to each other in the other direction.

[0379] In some embodiments, as Figure 15 As shown, the swing arm 524 includes an upper swing arm 5241 and a lower swing arm 5242, which are jointly arranged to form an inner cavity, the planetary bracket 528 is fixedly connected to the upper swing arm 5241, and the lower swing arm 5242 is fixedly connected to each other by buckling, clamping or threaded connectors.

[0380] In order to drive the auxiliary cleaning disc 512 to rotate and perform the cleaning operation, the third transmission mechanism can also have a variety of different implementation methods. In some embodiments, such as Figure 14 As shown, the third transmission mechanism includes a transmission gear 560 and a driven gear set. The transmission gear 560 is sleeved on the output shaft 525 and meshes with the input end gear of the driven gear set. The output end of the driven gear set is connected to the auxiliary cleaning disk 512; wherein, the transmission gear 560 and the driven gear set are arranged in the inner cavity of the swing arm 524 to improve the compactness of the structure.

[0381] In some embodiments, as Figure 13 As shown, the transmission mechanism also includes a support shell 570, which is fixedly connected to the ring gear 540 and fixed relative to the fuselage 100 to provide a support base for the ring gear 540 through the support shell 570; wherein, the support shell 570 can be sleeved on the output shaft 525 through the first transmission bearing, so that when the output shaft 525 rotates relative to the support shell 570, the friction between the output shaft 525 and the first transmission bearing is reduced.

[0382] In order to reduce the wear between the planetary bracket 528 and the output shaft 525, in an embodiment of the present application, a second transmission bearing is provided between the planetary bracket 528 and the output shaft 525, that is, the planetary bracket 528 is sleeved on the outside of the output shaft 525 through the second transmission bearing to reduce the wear between the planetary bracket 528 and the output shaft 525.

[0383] In addition, the lower swing arm 5242 can be mounted on the outside of the output shaft 525 through a third transmission bearing, so that when the output shaft 525 rotates relative to the lower swing arm 5242, the wear between the output shaft 525 and the lower swing arm 5242 can be reduced.

[0384] The swing arm 524 drives the auxiliary cleaning disc 512 to swing outward and inward. The swing arm 524 cooperates with the second lifting structure to make the auxiliary cleaning module 500 rise or fall as a whole.

[0385] Specifically, the second lifting structure may include a structure having a threaded surface, and by relying on the mutual cooperation of the threaded surfaces, the auxiliary cleaning module 500 is lifted or lowered simultaneously when it moves between the initial position A and the edge position C.

[0386] As an optional implementation, Figure 15 and Figure 16 As shown, the second lifting structure includes a first spiral portion 531 and a first mating portion 532. One of the first spiral portion 531 and the first mating portion 532 is located on the swing arm 524, and the other is located on the body 100. During the swing arm 524's swinging process, the first mating portion 532 spirally rises or descends on the first spiral portion 531, thereby driving the swing arm 524 to rise or fall, and in turn driving the auxiliary cleaning module 500 to rise or fall as a whole. For example, the first spiral portion 531 is located on the chassis 101, and the first mating portion 532 is located on the bottom of the swing arm 524. The positions of the first spiral portion 531 and the first mating portion 532 can be interchanged.

[0387] Furthermore, in some embodiments, when the swing arm 524 swings outward toward the edge position C, the first engaging portion 532 spirally descends under the first spiral portion 531. When the auxiliary cleaning disc 512 is at the edge position C, the auxiliary cleaning disc 512 is at the mopping position. When the swing arm 524 retracts toward the initial position A, the first engaging portion 532 spirally ascends on the first spiral portion 531. When the auxiliary cleaning disc 512 is at the initial position A, the auxiliary cleaning disc is also at the raised position.

[0388] For example, in some optional structures, such as Figure 15 As shown, the first driving mechanism also includes a bottom shell, which is fixed on the chassis 101. The inner cavity of the bottom shell is provided with a first spiral portion 531, and the bottom of the lower swing arm 5242 is provided with a first matching portion 532 that matches the first spiral portion 531. The first matching portion 532 and the first spiral portion 531 are constructed to be spirally abutted.

[0389] Since the first spiral portion 531 and the first matching portion 532 cooperate with each other through the spiral surface, during the outward swing of the swing arm 524, when the lower swing arm 5242 rotates relative to the body 100, the first matching portion 532 will abut against the first spiral portion 531 and spirally descend under the guidance of the spiral surface of the first spiral portion 531, thereby allowing the auxiliary cleaning disc 512 to descend from the raised position to the mopping position; on the contrary, during the inward retraction of the swing arm 524, the lower swing arm 5242 rotates, causing the first matching portion 532 to spirally ascend along the spiral surface of the first spiral portion 531, driving the auxiliary cleaning member 511 to rise from the mopping position to the raised position, thereby the first driving structure 520 realizes the swinging, lifting and rotation functions of the auxiliary cleaning disc 512.

[0390] In addition, if Figure 15 、 Figure 16 As shown, when the first spiral portion 531 is provided on the bottom shell, a plane is provided at the bottom of the spiral surface of the first spiral portion 531, such as the first horizontal section 5312. During the outward swing or inward retraction process, the first matching portion 532 abuts against the first threaded surface 5311 to spirally descend or ascend; when in the edge position C, the first matching portion 532 abuts against the first horizontal section 5312, so that the cleaning component remains in the mopping position.

[0391] Specifically, such as Figure 17As shown, the first mating portion 532 may also be provided with a second spiral segment and a second horizontal segment 5322 connected to the bottom of the second spiral segment. The second horizontal segment 5322 is a horizontal surface. During the swing arm 524's outward or inward swinging, the second spiral segment abuts against the first spiral segment to achieve descent or ascent. In the mopping position, the bottom or lower portion of the second spiral segment abuts against the first horizontal segment 5312 to maintain the auxiliary cleaning disc 512 in the mopping position. In the raised position, the top or upper portion of the first spiral segment abuts against the second horizontal segment 5322 to maintain the cleaning assembly in the raised position.

[0392] In some embodiments, the first mating portion 532 of the lower swing arm 5242 can be in various forms. For example, as shown in Figure 66, the first mating portion 532 is a first roller 590 protruding from the outer wall of the swing arm 524, and a spiral slope is provided on the bottom shell. It can be understood that the spiral slope extends spirally in the direction of the fuselage 100; when the swing arm 524 swings outward, the rolling element rolls down along the spiral slope; when the swing arm 524 retracts inward, the roller rolls up along the spiral slope, so that the swing arm 524 rises and falls in the height direction of the fuselage 100, so that the auxiliary cleaning disc 512 switches between the raised position and the mopping position.

[0393] When the first matching portion 532 is a roller, as shown in FIG. Figure 8 As shown, correspondingly, the first spiral portion 531 includes a first spiral segment, a first horizontal segment 5312 provided at the bottom of the first spiral segment, and a third horizontal segment 5313 provided on the top of the first spiral segment; in the mopping position, the first roller 590 is rotatably abutted against the first horizontal segment 5312, and in the raised position, the first roller 590 abuts against the third horizontal plane.

[0394] In some embodiments, the bottom shell can be provided as an integral structure with the chassis 101; or, the first driving mechanism does not have a bottom shell, but the spiral slope is directly provided on the chassis 101, which is simple in structure and low in cost. Figure 8 In the embodiment, no bottom shell is provided, and the first spiral portion 531 is directly provided on the chassis 101 .

[0395] Please refer to Figure 13 As shown, in order to prevent the first driving mechanism from affecting the normal cleaning operation of the auxiliary cleaning member 511, in some optional embodiments, the first driving mechanism also includes a fourth elastic member and a second mounting seat, the second mounting seat is connected to the support shell 570, and the fourth elastic member is connected between the second mounting seat and the fuselage 100.

[0396] For example, the second mounting seat can be in the shape of a positioning column, with one end of the fourth elastic member being sleeved on the second mounting seat and the other end being in contact with the body 100. When the fourth elastic member is in a compressed state, on the one hand, the first matching portion 532 and the first spiral portion 531 can be kept in spiral contact; on the other hand, when the auxiliary cleaning disc 512 is in the mopping position for cleaning, the elastic force of the fourth elastic member can enable the auxiliary cleaning member 511 to float and contact the ground. In other words, at this time, the auxiliary cleaning member 511 is in contact with the ground, but can overcome the elastic force of the fourth elastic member and move upward, thereby preventing the auxiliary cleaning member 511 from affecting the mopping effect due to excessive contact force between the auxiliary cleaning member 511 and the ground.

[0397] Illustratively, in this embodiment, the second mounting seat is disposed above the supporting shell 570 , and the bottom end of the fourth elastic member is disposed on the second mounting seat, and the top end abuts against the body 100 .

[0398] In one embodiment, the first driving mechanism further includes a connecting shaft, the top of the connecting shaft is arranged on the mounting seat 312, and the bottom is arranged on the chassis 101, the mounting seat 312 remains stationary relative to the fuselage 100, and the fourth elastic member is sleeved on the connecting shaft.

[0399] In some embodiments, the connecting shaft is passed through the support seat 580 and the support shell 570, and the fourth elastic member is sleeved on the connecting shaft, and its two ends can respectively abut against the mounting seat 312 and the top of the support shell 570 to apply a force to the support shell 570, the support seat 580, and the swing arm 524 as a whole, so that the first spiral portion 531 and the first matching portion 532 can abut reliably, or the roller can abut reliably on the spiral slope, thereby improving the lifting reliability of the swing arm 524.

[0400] It should be noted that when the auxiliary cleaning member 511 rises, the deformation (compression) generated by the fourth elastic member is greater than the deformation generated when the auxiliary cleaning member 511 descends. That is, the fourth elastic member is always in a certain compressed position, thereby ensuring the reliability of the connection between the first matching portion 532 and the first spiral portion 531 while improving the cleaning effect of the auxiliary cleaning member 511. For example, the fourth elastic member is a compression spring or other structure.

[0401] In some embodiments, please refer to Figure 13 As shown, the first driving structure 520 also includes a second elastic member 550, one end of which is stationary relative to the body 100, and the other end acts on the cleaning module to at least apply biasing force to any component in the cleaning module so that the first mating portion 532 and the first spiral portion 531 remain in contact.

[0402] In some embodiments, the first driving mechanism also includes a third support seat 580, the third support seat 580 is fixedly connected to the support shell 570, the end of the output shaft 525 is rotatably connected to the third support seat 580, and the swing arm 524 is located between the third support seat 580 and the support shell 570, so that the third support seat 580 can provide a support base for the support shell 570 and the output shaft 525.

[0403] Furthermore, to improve the accuracy of the swing position of the swing arm 524, when the swing arm 524 is in the outward swing position, the side wall of the swing arm 524 can abut against a stopper to limit the swing arm 524 and keep the auxiliary main cleaning disk in the outward swing position. The specific structure and implementation of the stopper have been described in detail in the previous embodiment and will not be repeated here.

[0404] Regarding the first drive structure 520, the aforementioned first elastic member 522 may be a tension spring connected between the swing arm 524 and the body 100. It will be appreciated that when the swing arm 524 swings outward, the first drive motor 521 releases the restriction on the swing arm 524's freedom of movement. Thus, under the elastic force of the tension spring itself, the swing arm 524 moves toward the outward swing position. Specifically, during outward swing, the first drive motor 521 rotates in the first direction primarily to release any self-locking or limiting forces existing between the transmission components of the transmission mechanism. For example, the worm gear described above has a self-locking function, and the first drive motor 521 itself also has a self-locking function. During the outward swing process, the first drive motor 521 rotates in the first direction primarily to release any self-locking or limiting forces existing between the drive structure in the initial position A, facilitating the outward swing of the swing arm 524.

[0405] In other embodiments, the first elastic member 522 may also be a torsion spring. For example, the torsion spring may be arranged at the rotation axis of the swing arm 524, for example, it may be mounted outside the ring gear 540 or the support shell 570. One end of the torsion spring is connected to the swing arm 524, and the other end is connected to the fuselage 100, or the support shell 570, or other components that remain relatively stationary with the fuselage 100.

[0406] In this manner, a torsion spring is used instead of a tension spring to drive the swing arm 524. The outward swing is driven by the torsion force of the torsion spring. As the swing arm 524 moves toward the initial position A, the torsion spring stores energy. During the outward swing, the torsion spring's own elastic force drives the swing arm 524 to swing outward. The torsion spring can be located outside or inside the support housing 570.

[0407] In another embodiment, the first drive structure 520 includes a second one-way transmission mechanism 529 between the power output member and the auxiliary cleaning disc 512, and the second one-way transmission mechanism 529 has a third state and a fourth state; in the third state, the power output member and the auxiliary cleaning disc 512 remain stationary; and in the fourth state, the power output assembly can rotate relative to the auxiliary cleaning disc 512 in the second direction, and the driving force of the first drive motor 521 is not transmitted to the auxiliary cleaning disc 512; when the auxiliary cleaning disc 512 is swinging outward toward the edge position C and at the edge position C, the second one-way transmission mechanism 529 is in the third state, and the first drive motor 521 drives the auxiliary cleaning disc 512 to rotate; when the auxiliary cleaning disc 512 is swinging inward toward the initial position A, the second one-way transmission mechanism 529 is in the fourth state, and the auxiliary cleaning disc 512 does not rotate. It can be understood that one of the first direction and the second direction is clockwise and the other is counterclockwise.

[0408] Specifically, the second one-way transmission mechanism 529 is the same as the first one-way transmission mechanism 523, and the working principle is also the same. Similarly, the second one-way transmission mechanism 529 may include a second inner connecting member and a second outer connecting member, the second inner connecting member is connected to the power output member, and the second outer connecting member is connected to the auxiliary cleaning disc 512; in the third state, the second inner connecting member and the second outer connecting member remain relatively stationary; in the fourth state, the second inner connecting member can rotate unidirectionally along the second direction relative to the second outer connecting member.

[0409] The following description is made by taking the second one-way transmission mechanism 529 as an example of a one-way bearing: In some embodiments, please refer to Figure 32 As shown, a second one-way transmission mechanism 529 is disposed between the transmission gear 560 and the output shaft 525. The specific structure and function of the second one-way transmission mechanism 529 are similar to those of the first one-way transmission mechanism 523. For example, the second one-way transmission mechanism 529 includes a second inner ring and a second outer ring. The second outer ring is sleeved on the outer periphery of the second inner ring. The second inner ring has a tendency to move in a first direction relative to the second outer periphery. When the two remain stationary, the driving force of the power output element is transmitted to the auxiliary cleaning disc 512, driving the auxiliary cleaning disc 512 to rotate. Conversely, when the second inner ring rotates in the second direction relative to the second outer ring, the driving force of the power output element is not transmitted to the auxiliary cleaning disc 512, and the auxiliary cleaning disc 512 will not be driven to rotate. The two states of the second one-way transmission mechanism 529 are independent of the force exerted by the first elastic member 522 on the swing arm 524 and are only related to the rotation direction of the driving power output element of the first drive motor 521.

[0410] It should be noted that the directions of the unidirectional transmission forces of the second unidirectional transmission mechanism 529 and the first unidirectional transmission mechanism 523 are opposite, one of the first direction and the second direction is clockwise, and the other is counterclockwise.

[0411] During the outward swing, the first drive motor 521 drives the power output member to rotate in a first direction, for example, counterclockwise. The first inner ring and the first outer ring of the first one-way transmission mechanism 523 remain relatively stationary. The second inner ring of the second one-way transmission mechanism 529 moves counterclockwise relative to the second outer ring, and the two remain relatively stationary. The second inner ring and the second outer ring transmit power, and the power output member drives the auxiliary cleaning disc 512 to rotate. That is, during the outward swing, the auxiliary cleaning disc 512 rotates and revolves with the swing arm 524. The second one-way bearing is located between the transmission gear 560 of the aforementioned third transmission mechanism and the power output shaft 525.

[0412] When reaching the edge position C, the first driving motor 521 drives the power output member to continue to rotate counterclockwise, the second inner ring and the second outer ring remain relatively stationary, and the auxiliary cleaning disc 512 drives the auxiliary cleaning member 511 to rotate.

[0413] During the retraction process, the first drive motor 521 drives the output member in the second direction, for example, the second direction is clockwise rotation, and the second inner ring moves clockwise relative to the second outer ring. The driving force of the power output member is not transmitted to the auxiliary cleaning disc 512, and the auxiliary cleaning disc 512 revolves with the swing arm 524, but does not rotate on its own.

[0414] That is, if only the first one-way transmission mechanism 523 is provided in the first drive structure 520, then during the outward swinging of the auxiliary cleaning disc 512, the auxiliary cleaning disc 512 swings outward along with the swing arm 524, rotates, and descends, switching from the raised initial position A to the edge mopping position C. At the edge mopping position C, the auxiliary cleaning disc 512 rotates. During the retraction process, the auxiliary cleaning disc 512 swings inward along with the swing arm 524, rotates, and ascends, switching from the edge mopping position C to the raised initial position A.

[0415] If the first drive structure 520 is provided with a first one-way transmission mechanism 523 and a second one-way transmission mechanism 529, then during the outward swing of the auxiliary cleaning disc 512, the auxiliary cleaning disc 512 swings outward with the swing arm 524, rotates, and descends, switching from its raised initial position A to its mopping edge position C. In position C, the auxiliary cleaning disc 512 rotates. During the retraction process, the auxiliary cleaning disc 512 swings inward with the swing arm 524, ascending but not rotating, switching from its mopping edge position C to its raised initial position A. Since the auxiliary cleaning disc 512 is off the ground during the retraction process, mopping is not required, and the auxiliary cleaning disc 512 does not need to rotate, thus protecting the auxiliary cleaning disc 512 and the third transmission mechanism.

[0416] Since the auxiliary cleaning plate 512 moves upward synchronously during the retraction process, and when it is in the initial position A, the auxiliary cleaning plate 512 is located above the flat mop, when the auxiliary cleaning plate 512 switches between the initial position A and the edge position C, or when it switches between the raised position and the initial position A, the main cleaning component 310 needs to be in the mopping position first, which can change the position of the auxiliary cleaning plate 512.

[0417] like Figure 7 As shown, when the swing arm 524 rotates from the initial position A toward the edge position C, the swing arm 524 rotates counterclockwise, thereby driving the auxiliary cleaning disc 512 to rotate counterclockwise, switching from the initial position A to the edge position C. Correspondingly, the first inner ring of the first one-way transmission mechanism 523 can rotate unidirectionally in a first direction relative to the first outer ring, and the second inner ring of the second one-way transmission mechanism 529 can rotate unidirectionally in a second direction relative to the second outer ring. In other embodiments, the relative positions of the initial position A and the edge position C of the swing arm 524 can also be swapped, such as Figure 36 As shown, when the swing arm 524 rotates from the initial position A toward the edge position C, the swing arm 524 rotates clockwise, thereby driving the auxiliary cleaning disc 512 to rotate clockwise. Correspondingly, the first inner ring of the first one-way transmission mechanism 523 can rotate unidirectionally in the second direction relative to the first outer ring, and the second inner ring of the second one-way transmission mechanism 529 can rotate unidirectionally in the first direction relative to the second outer ring.

[0418] The above is a preferred embodiment of the first drive structure 520. As an alternative embodiment, the first drive structure 520 further includes two first motors. Unlike the aforementioned first drive structure 520, one first motor is used to raise and lower the auxiliary cleaning disc 512, while another first motor is provided on the swing arm 524. This first motor alone drives the auxiliary cleaning disc 512 to rotate, eliminating the need for the aforementioned first one-way transmission mechanism 523 and second one-way transmission mechanism 529. Relatively speaking, the first drive structure 520 with two first motors occupies a large space and is costly.

[0419] For the replacement of the first one-way transmission mechanism 523 and the second one-way transmission mechanism 529, a shifting structure can also be provided. For example, a shifting structure is provided between the power output member and the swing arm 524, and two gears are provided. The first gear connects the power output member to the swing arm 524, and the second gear connects the power output member to the auxiliary cleaning disk 512. It is also possible to use a motor to drive the swing and rotation of the auxiliary cleaning disk 512.

[0420] As an alternative, the first drive structure 520 may not be provided with the first elastic member 522, and the outward swing and inward retraction of the swing arm 524 may be driven by the first drive motor 521, but the motor is used for driving during the outward swing process. When the auxiliary cleaning disc 512 encounters an obstacle, hard contact will be formed, which may easily impact the auxiliary cleaning disc 512, and the auxiliary cleaning disc 512 may be easily damaged. The first elastic member 522 is usually used to drive the auxiliary cleaning disc 512 to swing outward.

[0421] The first motor is used to drive the swing arm 524 to swing outward and retract inward, and the auxiliary cleaning disc 512 to rotate at the edge position C. The aforementioned first one-way transmission mechanism 523 and second one-way transmission mechanism 529 can also be set, but a limiting structure 900 must be set for the swing arm 524 at the edge position C. For example, at the edge position C, when the swing arm 524 is blocked by the limiting structure 900, the first drive motor 521 continues to rotate in the direction of the outward swing. At this time, the swing arm 524 does not rotate, and the auxiliary cleaning disc 512 rotates.

[0422] The first driving structure 520 involved in all the following embodiments can adopt the aforementioned first driving mechanism and has universality. Example 2

[0423] This embodiment is based on the above content, under the second technical route, with the auxiliary cleaning component 510 being arranged on the main cleaning component 310. For the convenience of description, this embodiment takes the main cleaning component 310 as a flat mop as an example. Figures 19 to 31 As shown, a detailed introduction to the cleaning robot is given.

[0424] like Figures 19 to 31 The robot shown in the figure has a main cleaning module 300 including a first lifting structure 330, a second driving structure 340, and at least one main cleaning component 310; the first lifting structure 330 is used to drive the main cleaning component 310 to move up and down. The main cleaning component 310 is a flat mop, which includes a mounting seat 312, a vibration plate 313 provided on the mounting seat 312, and at least a main cleaning member 311 provided on the bottom of the vibration plate 313; the second driving structure 340 is provided on the mounting seat 312 or the body 100, and is used to drive the vibration plate 313 to vibrate back and forth relative to the mounting seat 312, or to twist back and forth, so that the main rag installed on the bottom of the vibration plate 313 can mop the floor. Figure 20 、 Figure 21 and Figure 22 As shown, the main cleaning component 310 is located below the chassis 101 of the body 100. Compared with Example 1, the structural arrangement inside the body 100 is the same, refer to the inner cavity of Example 1, which will not be repeated here, but the arrangement position of the auxiliary cleaning module 500 is different.

[0425] Among them, the first lifting structure 330 and the second driving structure 340 can both adopt the first lifting structure 330 and the second driving structure 340 of the aforementioned embodiment 1, which will not be repeated here. For the first lifting structure 330 and the second driving structure 340, other structures can also be adopted as long as they can drive the flatbed tow truck to lift and lower as a whole, such as a gear and rack structure, a cylinder structure, a four-bar structure, etc. The second driving structure 340 can be a cam structure, or other structure, which only needs to drive the vibration plate 313 to perform reciprocating motion. The first lifting structure 330 and the second driving structure 340 can be driven by a single motor, or can be driven by a single motor separately.

[0426] Because the auxiliary cleaning module 500 is disposed on top of the mounting base 312, when the first lifting structure 330 drives the mounting base 312 to rise and fall, the auxiliary cleaning module 500 is simultaneously driven to rise and fall along with the flat mop, and the main cleaning member 311 and the auxiliary cleaning member 511 are simultaneously in the raised position and the mopping position. Compared with Example 1, the second lifting structure 330 is not required. The first driving structure 520 only drives the auxiliary cleaning disc 512 to swing and rotate, and the first spiral portion 531 and the first mating portion 532 of the aforementioned second lifting structure are not required. As a result, the structure of the first driving structure 520 in the height direction of the machine body 100 is simpler and more compact, requiring less avoidance space within the machine body 100, and the structure is more compact. Please refer to the content of Example 1 for the first driving structure 520, which will not be repeated here.

[0427] Since the auxiliary cleaning module 500 rises and falls synchronously with the flat mop, the main cleaning member 311 and the auxiliary cleaning member 511 are synchronously in the mopping position and the lifting position. When in the mopping position, the main cleaning member 311 and the auxiliary cleaning member 511 both clean the surface to be cleaned.

[0428] The auxiliary cleaning disc 512 has the aforementioned initial position A and edge position C. Regardless of whether the flat mop is in the raised position or the mopping position, the auxiliary cleaning disc 512 can switch between the initial position A and the edge position C under the drive of the first drive structure 520. When in the mopping position, the auxiliary cleaning disc 512 is in both the initial position A and the edge position C, and can mop the floor. In the edge position C, the first drive structure 520 similarly drives the auxiliary cleaning disc 512 to rotate; in the initial position A, the first drive structure 520 can drive the auxiliary cleaning disc 512 to rotate and mop the floor; or in the initial position A, the first drive motor 521 is stopped, the auxiliary cleaning disc 512 remains in the initial position A and does not rotate. As the body 100 moves, the auxiliary cleaning member 511 on the bottom of the auxiliary cleaning disc 512 mops the floor (does not rotate).

[0429] like Figure 24 and Figure 25As shown, the auxiliary cleaning plate 512 is in the initial position A and the edge position C. When the auxiliary cleaning plate 512 swings from the initial position A toward the edge position C, the swing arm 524 swings clockwise. Along the forward direction of the fuselage 100, the auxiliary cleaning plate 512 in the initial position A is closer to the front of the mounting base 312 of the flatbed mop.

[0430] Specifically, continue to refer to Figure 16 and Figure 17 , the swing arm 524 swings clockwise to drive the auxiliary cleaning assembly 511 to switch from the initial position A to the edge position C; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly 511 at the initial position A is located in front of the rotation center of the auxiliary cleaning assembly 511 at the edge position C.

[0431] When the auxiliary cleaning disc 512 in the first embodiment swings from the initial position A toward the edge position C, as shown in FIG. Figure 7 As shown, the swing arm 524 swings counterclockwise, along the forward direction of the fuselage 100, and the auxiliary cleaning plate 512 in the initial position A is closer to the rear of the flat mop, as shown in FIG. Figure 10 As shown, in order to reserve space for the auxiliary cleaning module 500 in the initial position A, the mounting plate of the mounting base 312 of the flat mop needs to have a first recessed area 3141 protruding downwards, so that the vibration plate 313, the bottom plate 315 and the bottom of the first recessed area 3141 are flush, which is convenient for installing the main mop. In order to avoid the first recessed area 3141, the vibration plate 313 and the bottom plate 315 need to be provided with a avoidance portion or a avoidance opening. The auxiliary cleaning module will have a great impact on the structure of the flat mop. Figure 24 and Figure 25 As shown, along the forward direction of the fuselage 100, the auxiliary cleaning plate 512 in the initial position A is closer to the front of the mounting base 312 of the flatbed mop. The vibration plate 313 and the bottom plate 315 of the flatbed mop do not need to provide a retraction avoidance space for the auxiliary cleaning module 500, and the aforementioned first recessed area 3141 and avoidance opening are not required.

[0432] Specifically, such as Figure 22In this embodiment, the main cleaning assembly 310 includes a mounting base 312 and a main cleaning member fixed to the bottom of the mounting base 312. The mounting base 312 is a flat drag, which includes a top plate 314, a vibration plate 313, and a bottom plate 315. The vibration plate 313 is movably disposed between the top plate 314 and the bottom plate 315. The main cleaning member 311 is disposed on the bottom of the bottom plate 315 and the vibration plate 313. The side of the top plate 314 facing the bottom plate 315 no longer has a protrusion protruding toward the bottom plate 315, that is, the upper surface of the top plate 314 no longer has a recess 3141. Furthermore, the vibration plate 313 does not need to be provided with the aforementioned third notch 3131. In this embodiment, the mounting opening 3151 provided on the bottom plate 315 is a closed annular hole. The mounting opening 3151 is used to avoid the vibration trajectory of the vibration plate 313. In other words, the vibration plate 313 is located in the mounting opening 3151, so that the bottom plate 315 surrounds the outer periphery of the vibration plate 313 and is fixedly connected to the top plate 314, so that the mounting opening 3151 is used to avoid the movement trajectory of the vibration plate 313. The front edge of the bottom plate 315 is provided with a second notch 3121. The second notch 3121 is used to avoid the auxiliary cleaning assembly 510 when it is in the initial position A. The second notch 3121 is not connected to the mounting opening 3151.

[0433] The structure of the auxiliary cleaning module 500 is the same as that of Example 1, comprising an auxiliary cleaning assembly 510 and a first drive structure 520. The first drive structure 520 comprises a first drive motor 521, a swing arm 524, and a first elastic member 522. The auxiliary cleaning assembly 510 is mounted on the swing arm 524. The first drive motor 521 and the first elastic member 522 cooperate to at least drive the swing arm 524 to swing, thereby driving the auxiliary cleaning disc 512 to swing and switch between the initial position A and the edge position C. Furthermore, in the edge position C, the first drive motor 521 drives the auxiliary cleaning disc 512 to rotate and mop the floor, but the first lifting mechanism 530 is not provided.

[0434] In order to allow the auxiliary cleaning assembly 510 to swing, as shown in FIG. Figure 19 As shown, the side wall of the fuselage 100 is provided with a first avoidance opening 104, as shown in FIG. Figure 23 As shown, a first avoidance area 109 is provided on the chassis 101 of the fuselage 100; at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning disc 512 can swing outward toward the edge position C through the first avoidance opening 104, and retract inward toward the initial position A; when the auxiliary cleaning component 510 is in the initial position A, at least part of the auxiliary cleaning component 510 is located in the first avoidance area 109.

[0435] like Figure 23As shown, a notch area 1011 is provided on the chassis 101 , and the notch area 1011 is connected to the inner cavity of the fuselage 100 and the first avoidance opening 104 . The notch area 1011 and part of the inner cavity of the fuselage 100 form a first avoidance area 109 .

[0436] like Figure 20 and Figure 22 As shown, in the aforementioned first driving structure 520, the first driving motor 521 is located in the fuselage 100, and the swing arm 524 is located in the notch area 1011 (the aforementioned support shell 570 and the second transmission assembly are also located in this notch area 1011). One end of the swing arm 524 is provided on the mounting seat 312 of the flatbed mop, and the other end is located below the chassis 101. Since the auxiliary cleaning module 500 as a whole rises and falls with the flatbed mop as a whole, at least the first driving motor 521 in the first driving structure 520 is lifted and lowered in the fuselage 100, and the swing arm 524 is lifted and lowered below the chassis 101.

[0437] like Figure 20 As shown, the chassis 101 is provided with a first boss 105 that is recessed into the inner cavity of the body 100 and extends into the inner cavity of the body 100. The first boss 105 forms a first cavity 106 ( Figure 22 ), the first boss 105 and the notch area 1011 on the aforementioned chassis 101 are adjacent to and connected to each other.

[0438] Preferably, at least a portion of the second drive structure 340 on the aforementioned flatbed mop is disposed within the first concave cavity 106. The second drive structure 340 and the first drive structure 520 are staggered on the flatbed mop's mounting base 312 in both the width and height directions of the body 100. When the flatbed mop and the auxiliary cleaning module 500 are synchronously raised and lowered, the staggered height of the first and second drive structures 520 and 340 in the body 100 reduces the required height space within the body 100 for raising the first and second drive structures 520 and 340. Accordingly, the first lifting structure 330 can also be disposed within the body 100 in the area between the first boss 105 and the dust box cavity 204.

[0439] like Figure 20 and Figure 21As shown, the dry cleaning module 200 of the cleaning device also includes a dust exhaust channel 107 provided in the body 100. Under the action of the dust collecting fan or vacuum pump on the base station, the garbage in the dust box 202 is sucked out through the dust exhaust channel 107 and the dust is collected in the dust collection bin of the base station. If the auxiliary cleaning module 500 is not provided, the dry cleaning module 200 also includes an air inlet channel 111 provided in the body 100. The air outlet end of the dust collecting fan or vacuum pump on the base station is connected to the inner cavity of the dust box 202 through the air inlet channel 111. When collecting dust, the dust collecting fan blows air into the dust box 202 through the air inlet channel 111. The negative pressure generated by the dust collecting fan sucks the garbage in the dust box 202 into the dust collection bin through the dust exhaust channel, thereby forming a blowing and sucking process, and a closed-loop airflow direction is formed between the suction end and the blowing end of the dust collecting fan and the inner cavity of the dust box 202. The aforementioned main fan 203 is distributed between the dust exhaust duct and the air inlet duct 111, both located on the rear portion of the body 100. However, when the cleaning robot includes the aforementioned auxiliary cleaning module 500, in order to reserve space for the auxiliary cleaning module 500 to rise, fall, and swing, the dry cleaning module 200 is not provided with an air inlet duct 111. Since the air inlet duct 111 is not provided, the air inlet on the side wall of the body 100 is directly connected to the inner cavity of the body 100. Therefore, the area within the body 100 that is connected to the air inlet of the dust box 202 serves as the air inlet area.

[0440] Therefore, the auxiliary cleaning module 500 and the dust exhaust ventilation are distributed on both sides of the main fan 203. Since the dust exhaust channel 107 needs to discharge garbage, the longitudinal cross-section area of the dust exhaust channel 107 is large and the space occupied is large, so the auxiliary cleaning module 500 can only be set in the area where the air inlet channel 111 was previously set. The auxiliary cleaning module 500 and the side brush 400 are located on the same side of the forward direction of the fuselage 100.

[0441] In addition, since the main rag on the flat mop is replenished with water, a water replenishing structure is provided as in the aforementioned embodiment. The water replenishing structure includes at least a water tank 600, a water delivery mechanism connected to the water tank 600, and a first liquid port provided on the chassis 101. The water delivery mechanism delivers the liquid in the water tank 600 to the first liquid port on the chassis 101. A second liquid port is provided on both the mounting plate and the vibration plate 313. The liquid drips onto the main rag through the first liquid port and the second liquid port.

[0442] like Figure 10 As shown, the flatbed mop also includes a bottom plate 315, which is disposed on the bottom of the mounting plate. The bottom plate 315 has a mounting cavity, and the vibration plate 313 is embedded in the mounting cavity. The bottom of the vibration plate 313 and the bottom of the bottom plate 315 are on the same flat surface, and the main cleaning cloth is attached to the bottom of the bottom plate 315 and the vibration plate 313 by gluing.

[0443] Continue to refer Figure 76The mounting base 312 is a flat mop, and the front edge of the mounting base 312 has a second notch 3121; the main cleaning member 311 is provided with a first notch 3122 corresponding to the second notch 3121; when the auxiliary cleaning component 511 is located at the edge position C, part of the auxiliary cleaning component 310 is embedded in the second notch 3121, so that the second part 5111 is located in front of the first part 3111, and the cleaning areas of the first part 3111 and the second part 5111 have the overlapping area.

[0444] Different from Example 1, when the auxiliary cleaning component 511 is in the initial position A, the auxiliary cleaning component 310 is also partially embedded in the second notch 3121 on the front edge of the mounting seat 312, so that the second part 5111 is located in front of the first part 3111, and the cleaning areas of the first part 3111 and the second part 5111 have the overlapping area.

[0445] Specifically, the flat mop includes a top plate 314, a vibration plate 313, and a bottom plate 315. The bottom plate 315 is provided with a mounting opening 3151. The bottom plate 315 and the top plate 314 are fixedly connected, and the vibration plate 313 is embedded in the mounting opening 3151. The main cleaning member 311 is provided on the bottom of the bottom plate 315 and the vibration plate 313. The vibration plate twists or reciprocates in the third avoidance opening or the mounting opening to drive the main cleaning member to twist or reciprocate. The second notch is provided on the top plate and the bottom plate. Specifically, the surfaces of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush. In this way, the main cleaning member 311 can be fixed to the sides of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 by gluing or other means to ensure the flatness of the main cleaning member 311 and increase the area of the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0446] Unlike Example 1, since the top plate 314 no longer has a protrusion, the second notch 3121 on the top plate 315 does not need to avoid the protrusion. As a result, the second notch 3121 of the bottom plate 315 of this embodiment has a smaller space and can only avoid the auxiliary cleaning assembly 510 in the initial position A. After the top plate 314, the vibration plate 313, the bottom plate 315 and the main cleaning member 311 are assembled, the second notches 3121 on the top plate 314 and the bottom plate 315 and the first notch 3122 of the main cleaning member 311 are aligned.

[0447] In this embodiment, the area of the auxiliary cleaning member is smaller than the area of the main cleaning member; the main cleaning member has a first portion, and the auxiliary cleaning member has the second portion.

[0448] like Figure 20 As shown, a water tank installation area 115 is provided in the body 100 , and the water tank 600 is provided in the installation area, adjacent to or close to the dust exhaust channel 107 , so that the water tank 600 and the main fan 203 are distributed on both sides of the dust exhaust channel 107 .

[0449] Same as Example 1, Figure 24 As shown, regardless of whether the auxiliary cleaning module 500 is in the initial position A, the edge position C, or the third position B (mentioned below), the main cleaning component 310 and the auxiliary cleaning component 510 respectively have a first part 3111 and a second part 5111. In the direction of forward movement of the fuselage 100, the cleaning areas of the first part 3111 and the second part 5111 overlap to avoid missed scanning.

[0450] like Figure 25 As shown, in the forward direction of the fuselage 100, since the initial position A of the auxiliary cleaning disc 512 is located in front of the edge position C of the auxiliary cleaning disc 512, the aforementioned second part 5111 is located in front of the first part 3111, the second part 5111 is cleaned first, and the first part 3111 is cleaned later, and the cleaning areas of the two have an overlapping area H.

[0451] In addition to the above-mentioned contents, other contents not mentioned in this embodiment are the same as those in the aforementioned embodiment 1 and are not described here in detail. Please refer to the aforementioned contents. Example 3

[0452] This embodiment is the same as the second embodiment, which is the second technical route, in which the auxiliary cleaning component 510 is set on the main cleaning component 310. Under the drive of the first lifting structure 330, the auxiliary cleaning module 500 rises and falls synchronously with the main cleaning component 310. The main cleaning module 300 of this embodiment is still a flat mop structure, such as Figures 32 to 44 As shown, the difference between it and Example 3 is mainly that:

[0453] like Figure 34 As shown, the chassis 101 is not provided with a notch area 1011, the first avoidance area 109 is located below the chassis 101, the first protrusion 105 of the chassis 101 is directed upward toward the first concave cavity 106 of the inner cavity of the fuselage 100, and the first concave area 3141 forms the first avoidance area 109. Figure 35 As shown, the first concave cavity 106 and the roller brush cavity 205 for installing the roller brush 201 are schematically shown from the bottom view. Figure 34 As shown, the first boss 105 and the dust box cavity 204 in which the dust supply box 202 is installed are shown from a top view.

[0454] As in Example 2, the first driving structure 520 includes a first driving motor 521, a first elastic member 522 and a swing arm 524, and the auxiliary cleaning assembly 510 is disposed on the swing arm 524. Figure 33As shown, at least the first driving motor 521 of the first driving structure 520 is located in the first concave cavity 106, one end of the swing arm 524 is located in the first concave cavity 106, and the other end of the swing arm 524 is located outside the first concave cavity 106 and below the chassis 101. When the flatbed drags the auxiliary cleaning module 500 to rise and fall synchronously, the first driving structure 520 rises and falls in the first boss 105. The first boss 105 protects and limits the first driving structure 520. Since the first driving structure 520 rises and falls below the chassis 101, it will not affect other structures in the fuselage 100 during the movement. At the same time, Figure 33 A first opening is provided on the left side of the first boss 105. This opening primarily allows for the passage of electrical wires connecting the first drive motor 521 of the first drive structure 520, the second drive motor 341 of the second drive structure 340, the sensors on the auxiliary cleaning module 500 and the main cleaning assembly 310, and the control panel at the front of the body 100. This allows for more streamlined wiring. During installation, the auxiliary cleaning module 500 and the flatbed mop are first assembled as a cleaning module. With the bottom of the cleaning module body 100 facing upward, a portion of the first drive structure 520 is directly embedded within the first cavity 106. The first boss 105 guides and positions the module for installation.

[0455] The first boss 105 is connected to the inner cavity of the fuselage 100 in areas other than the first opening for wiring, while other areas are not connected to the inner cavity of the fuselage 100, which plays a role in waterproofing and protection. It also allows the robot to achieve an avoidance area on the chassis 101 while maintaining the structural integrity of the chassis 101 as much as possible, thereby facilitating the processing and manufacturing of the chassis 101.

[0456] The second driving structure 340 of the main cleaning module 300 is used to drive the flat plate to vibrate or twist back and forth to clean the floor; the second driving structure 340 includes at least a second driving motor, which is located in the first concave cavity 106 and below the first driving motor 521. Figure 40 shown.

[0457] like Figure 41 As shown, at least the first drive motor 521 of the first drive structure 520 is installed on the top of the shell of the second drive structure 340, and the other structures of the first drive structure 520 are staggered with the second drive structure 340 in the height direction and horizontal direction of the fuselage 100.

[0458] Furthermore, the second driving structure 340 can be entirely located in the first concave cavity 106 , so that the first driving structure 520 and the second driving structure 340 can be arranged more compactly when the tablet is dragged thereon.

[0459] Since at least the first drive motor 521 of the first drive structure 520 is located above the top of the shell of the second drive structure 340 (i.e., stacked and distributed in the height direction) and are both embedded in the first concave cavity 106, when the flat mop and the auxiliary cleaning module 500 rise synchronously, the height of the first concave cavity 106 needs to be higher than the height of the first concave cavity 106 in Example 2, so that the first boss 105 is further recessed toward the inner cavity of the fuselage 100, and there is no space in the fuselage 100 to set the first lifting structure 330. In order to set the first lifting structure 330 in the fuselage 100, in this embodiment, the position where the water tank 600 was originally set in Example 2 is vacated for the installation of the lifting drive assembly of the first lifting structure 330.

[0460] The water tank 600 of the water replenishment mechanism has also been relocated, now below the dust box cavity 204. The main body 100 includes a chassis 101 and an upper cover 102 mounted on the chassis 101. The upper cover 102 and the chassis 101 define the interior of the main body 100. The water tank 600 is located below the chassis 101, while the dust box cavity 204 is located above it. Consequently, the water tank 600 and the dust box cavity 204 are located on either side of the chassis 101.

[0461] Further, if Figure 35 As shown, a first mounting groove 1012 is provided on the bottom of the chassis 101, and the water tank 600 is installed in the first mounting groove 1012. In the height direction of the body 100, the dust box 202 and / or the dust box cavity 204 are located above the water tank 600, and the projections of the water tank 600 and the dust box cavity 204 on a first plane at least partially overlap, wherein the first plane is a plane perpendicular to the height direction of the body 100. In other words, in the height direction of the body 100, the thickness of the dust box 202 is thinner than that of the dust box 202 in Example 2. In order not to affect the volume of the dust box 202, as shown in FIG. Figure 33 , the width of the dust box 202 is increased along the forward direction of the fuselage 100 to ensure the volume of the dust box 202. The dust box 202 as a whole occupies more space toward the rear of the fuselage 100. In addition to the aforementioned first boss 105, the first driving component of the first lifting structure 330 has no space at all to be arranged in the area between the rear of the dust box 202 and the first boss 105.

[0462] like Figure 35 The roller brush chamber 205 of the dry cleaning module 200 is shown schematically. The water tank 600 is located behind the roller brush chamber 205 in the forward direction of the main body 100, so that the placement of the water tank 600 does not affect the position of the roller brush chamber 205. Preferably, dual roller brushes 201 are provided within the roller brush chamber 205, thereby maintaining a compact internal structure without increasing the size of the main body 100.

[0463] In addition, the auxiliary cleaning component 510 can also be provided with a water replenishing structure to moisten the auxiliary cleaning part 511. The water tank 600 with the aforementioned water replenishing structure can be used to output the water in the water tank 600 to the hollow area of the auxiliary cleaning disc 512 (mentioned below), and the solution drips onto the auxiliary cleaning part 511 through the hollow area.

[0464] Same as Example 2, Figure 24 and Figure 25 As shown, in the forward direction of the fuselage 100, since the initial position A of the auxiliary cleaning disc 512 is located in front of the edge position C of the auxiliary cleaning disc 512, the aforementioned second part 3111 is located in front of the first part 5111, the second part 3111 is cleaned first, and the first part 5111 is cleaned later, and the cleaning areas of the two have an overlapping area H.

[0465] The main cleaning component 310 of this embodiment can be used in conjunction with the main cleaning component 311 of embodiment 2. Figure 22 The main cleaning assembly 310 shown is of the same structure.

[0466] like Figure 33 As shown, the other structures of this embodiment are the same as those in embodiment 2, and will not be described in detail here. Figure 42 、 Figure 43 and Figure 44 As shown, the auxiliary cleaning tray 512 is in the initial position A and the edge position C. The auxiliary cleaning tray 512 and the mounting base 312 of the flat mop have the aforementioned second portion 5111 and first portion 3111, respectively, to avoid missing areas. Furthermore, any structures and contents not mentioned above may be arranged in the same manner as in Example 2, and reference is made to the aforementioned contents. Example 4

[0467] This embodiment is the same as the embodiment 3, which is the second technical route, in which the auxiliary cleaning component 510 is set on the main cleaning component 310. Under the drive of the first lifting structure 330, the auxiliary cleaning module 500 rises and falls synchronously with the main cleaning component 310. The main cleaning module 300 of this embodiment is still a flat mop structure, such as Figures 57a to 81 As shown, the main differences from Example 3 are: the layout and structure of the auxiliary cleaning module 500 are different, and the first drive structure is different. In addition, based on the aforementioned Example 3, this embodiment further refines the water replenishment structure, auxiliary cleaning components, and dry cleaning module. These differences and refinements are described in detail below.

[0468] In this embodiment, at the edge position C, at least part of the auxiliary cleaning assembly 510 extends beyond the edge of the fuselage 100, that is, the auxiliary cleaning assembly 510 extends beyond the edge of the maximum width of the fuselage 100 and is located outside the moving range of the fuselage 100 to achieve edge cleaning.

[0469] The auxiliary cleaning module 500 is disposed on the main cleaning assembly 310 . Driven by the first lifting structure 330 , the auxiliary cleaning module 500 rises and falls synchronously with the main cleaning assembly 310 .

[0470] The first lifting structure 330 of this embodiment may be the same as that of the third embodiment.

[0471] In some embodiments, the main cleaning component 310 and the auxiliary cleaning component 510 are simultaneously in the mopping position and the lifting position. When in the mopping position, the main cleaning component 310 and the auxiliary cleaning component 510 both clean the surface to be cleaned.

[0472] In some embodiments, as Figures 57a to 57c As shown, the main cleaning component 310 is arranged below the chassis 101 of the fuselage 100, and the auxiliary cleaning module 500 is arranged on the top of the mounting seat 312 of the main cleaning module 300 and is located below the chassis 101 of the fuselage 100. The first lifting structure 330 drives the mounting seat 312 to rise and fall to drive the auxiliary cleaning module 500 to rise and fall.

[0473] Since the auxiliary cleaning module 500 is arranged on the top of the mounting seat 312, when the first lifting structure 330 drives the mounting seat 312 to rise and fall, the mounting seat 312 drives the auxiliary cleaning module 500 and the main cleaning component 311 to rise and fall synchronously. In this case, the mounting seat 312 serves as an installation carrier for the main cleaning component 311 and is also used to drive the auxiliary cleaning module 500 to rise and fall. One component has multiple uses, which is conducive to simplifying the structural design and realizing the structural compactness of the fuselage 100 in the height direction.

[0474] Figure 59 Schematic diagram of the three-dimensional structure of the chassis 101 in this embodiment; Figure 60 1 is a schematic diagram of the chassis 101 structure from an upward perspective. As can be seen from the figure, the chassis 101 structure of this embodiment is the same as that of the chassis in Example 3.

[0475] In some embodiments, as Figure 57c As shown, the side wall of the fuselage 100 is provided with a first avoidance opening 104, as shown in FIG. Figure 59 and Figure 60 As shown, a first avoidance area 109 that is concave upward toward the inner cavity of the fuselage 100 is provided on the bottom of the fuselage 100 , and the aforementioned first driving structure 520 is located in the first avoidance area 109 .

[0476] Exemplarily, a first avoidance area 109 is provided on the chassis 101 of the fuselage 100; at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning component 510 can swing outward toward the edge position C through the first avoidance opening 104, and retract inward toward the initial position; when the auxiliary cleaning component 510 is in the initial position, at least part of the auxiliary cleaning component 510 is located in the first avoidance area 109.

[0477] The first avoidance area 109 is located below the bottom plate 101 , and the first avoidance area 109 is connected to the first avoidance opening 104 , so that the auxiliary cleaning module 500 can swing between the edge position C and the initial position A.

[0478] When the auxiliary cleaning module 500 is in the initial position A, the auxiliary cleaning module 500 is at least partially housed in the first avoidance area 109. For example, when the auxiliary cleaning assembly 510 is in the initial position A, the auxiliary cleaning disc 512 and the swing arm 524 are both located in the first avoidance area 109, and at least a portion of the auxiliary cleaning cloth is located in the first avoidance area 109. At least a portion of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning module 500 can swing outward toward the edge position C through the first avoidance opening 104, or retract toward the initial position A.

[0479] In this way, when in the non-edge cleaning mode, the auxiliary cleaning module 500 is retracted to the bottom of the body 100, so that the overall structure of the cleaning device 10 is more compact, and the overall appearance of the cleaning device 10 is maintained, reducing the overall size of the cleaning device 10.

[0480] In some embodiments, when the auxiliary cleaning cloth is in the initial position A, the auxiliary cleaning module 500 is partially retracted within the projection of the maximum edge of the main body 100. The portion of the auxiliary cleaning cloth that extends beyond the maximum width edge of the main body 100 when in the edge position B is greater than the portion of the auxiliary cleaning cloth that extends beyond the maximum width edge of the main body 100 when in the initial position A.

[0481] In some embodiments, as Figure 59 As shown, the first avoidance area 109 is a concave cavity 106 provided on the bottom of the chassis 101 and concave upward toward the inner cavity of the fuselage 100 .

[0482] The first avoidance zone 109 is disposed at an edge region of the fuselage 100 .

[0483] It can be understood that when the auxiliary cleaning module 500 is in the initial position A and the raised position, the auxiliary cleaning module 500 is stored in the first avoidance area 109, and is not housed in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning module 500 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the outward swing position.

[0484] In some embodiments, as Figure 57g and Figure 77 As shown, the main cleaning assembly 310 includes a mounting base 312 and a vibration plate 313 ( Figure 76 ), the vibration plate 313 is arranged on the mounting base 312, and a second notch 3121 is provided at the edge of the mounting base 312. In the initial position A, at least part of the edge of the auxiliary cleaning disc 512 can be embedded in the second notch 3121.

[0485] The second notch 3121 provides an escape space for the auxiliary cleaning plate 512 , and the escape space is mainly used to escape the edge portion of the auxiliary cleaning plate 512 .

[0486] like Figure 76 As shown, since the vibration plate 313 is relatively small and is relatively far from the auxiliary cleaning assembly 510 , the vibration plate 313 may not be provided with a gap for avoiding the auxiliary cleaning disc 512 .

[0487] For example, the auxiliary cleaning disc 512 is a circular rag disc, see Figure 57g As shown, the contour of the portion of the second notch 3121 close to the front of the body 100 is an arc-shaped structure that matches the contour of the auxiliary cleaning plate 512 .

[0488] The second notch 3121 may match a portion of the outer contour of the auxiliary cleaning plate 512 .

[0489] Exemplarily, the auxiliary cleaning plate 512 is a circular rag plate, and the partial contour of the second notch 3121 close to the rear of the fuselage 100 is an arc-shaped structure that matches the contour of the rag plate, so that the partial contour of the second notch 3121 close to the rear of the fuselage 100 forms a state of covering the partial contour of the auxiliary cleaning plate 512, so that the main cleaning part 311 and the auxiliary cleaning part 511 have an overlapping area H in the direction of travel along the fuselage 100, so as to avoid missed cleaning between the main cleaning part 311 and the auxiliary cleaning part 511.

[0490] Similar to Example 3, in the forward direction of the body 100, since the initial position A of the auxiliary cleaning disk 512 is located in front of the edge position C of the auxiliary cleaning disk 512, the aforementioned second part 5111 is located in front of the first part 3111, the second part 5111 is cleaned first, and the first part 3111 is cleaned later, and the cleaning areas of the two have an overlapping area H to avoid the problem of missed cleaning areas due to the presence of a gap between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience.

[0491] Figure 76 The main cleaning assembly 310 of this embodiment is shown as an exploded view of the structure. The main cleaning assembly 310 of this embodiment has universal structure and can also be used in Embodiment 2 and Embodiment 3.

[0492] like Figure 76 As shown, the mounting base 312 includes a top plate 314 and a bottom plate 315 arranged on the bottom of the top plate 314, the bottom plate 315 is provided with a mounting opening 3151, and the vibration plate 313 is embedded in the mounting opening 3151; the main rag is arranged on the bottom of the vibration plate 313 and the bottom plate 315; the auxiliary cleaning module 500 is arranged on the top plate 314; the vibration plate 313 vibrates or twists back and forth to drive the main rag to move to clean the surface to be cleaned.

[0493] Figure 76 In the embodiment, the installation opening 3151 of the bottom plate 314 is a closed annular opening.

[0494] The main cleaning member 311 can be fixed on the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 by gluing or the like. In addition, the surfaces of the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush to ensure the flatness of the main cleaning member 311 and increase the area of the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0495] like Figure 76 As shown, in order to avoid the auxiliary cleaning disc 512 , the top plate 314 , the bottom plate 315 and the main cleaning member 311 all have a second notch 3121 .

[0496] Without limitation, Figure 57f As shown, when the auxiliary cleaning plate 512 swings from the initial position A toward the edge position C, the swing arm 524 drives the auxiliary cleaning assembly 510 to swing clockwise. Along the forward direction of the fuselage 100, the auxiliary cleaning plate 512 at the initial position A is closer to the front of the mounting seat 312 of the flatbed drag. Therefore, in addition to the second notch 3121, the top plate 314 and the bottom plate 315 of the flatbed drag do not need to further set a larger recessed area 3141 for the retraction of the auxiliary cleaning module 500, which can ensure that the main cleaning assembly 310 has a larger cleaning area.

[0497] In some embodiments, as Figure 57c As shown, the auxiliary cleaning module 500 also includes a first driving structure 520 located in the first avoidance area 109; the first driving structure 520 includes at least a first driving motor 521, a first elastic member 522 and a swing arm 524, and the auxiliary cleaning assembly 510 is arranged on the swing arm 524; the first driving motor 521 and the first elastic member 522 cooperate to at least drive the swing arm 524 to swing, so as to drive the auxiliary cleaning assembly 510 to swing, so as to switch between the initial position A and the edge position C.

[0498] like Figure 57a and Figure 57c As shown, when the auxiliary cleaning assembly 510 is located at the edge position A, one end of the swing arm 524 is located in the first avoidance area 109, and the other end of the swing arm 524 is located outside the first avoidance area 109 through the first avoidance opening 104 to extend outside the edge of the fuselage 100.

[0499] When the auxiliary cleaning assembly 510 is subjected to the force of an obstacle at the edge position C, the auxiliary cleaning module 500 will passively retract under the buffering action of the first elastic member 522 to buffer the collision with the obstacle. Therefore, the edge position C can be a dynamically changing position rather than a fixed point position.

[0500] Figure 58 For Figure 57d FIG. 1 is a schematic diagram of a portion of the structure of the cleaning device 10 after the chassis 101 is removed.

[0501] In some embodiments, as Figure 58 As shown, the second drive structure 340 and the first drive structure 520 are staggered on the mounting base 312 in both the width and height directions of the fuselage 100. The layout of the second drive structure 340 and the first drive structure 520 differs from that of Example 3 in that the first drive motor 521 of the first drive structure 520 is no longer mounted on the top of the housing of the second drive structure 340. The width direction here can be understood to be the same as the horizontal direction described in Example 3.

[0502] In some embodiments, the second driving structure 340 is located within the first avoidance zone 109 .

[0503] The second driving structure 340 can be entirely located in the concave cavity 106 below the chassis 101 , so that the first driving structure 520 and the second driving structure 340 can be arranged more compactly when the tablet is dragged onto the first driving structure 520 .

[0504] In some embodiments, the cleaning device 10 further includes a water replenishing structure and a dry cleaning module 200 . The dry cleaning module 200 includes at least a dust box 202 ; the water replenishing structure includes at least a water tank 600 .

[0505] Same as Example 3, Figure 7 As shown, the dust box 202 is disposed in the dust box cavity 204 in the body 100; Figure 62 As shown, the water tank 600 is provided below the dust box cavity 204 or the dust box 202. The water tank 600 is used to provide liquid to the main cleaning assembly 310 and the auxiliary cleaning assembly 510 to wet the main cleaning assembly 310 and the auxiliary cleaning assembly 510. Alternatively, in other embodiments, the water tank 600 provides liquid to one of the main cleaning assembly 310 and the auxiliary cleaning assembly 510 to wet the main cleaning assembly 310 or the auxiliary cleaning assembly 510.

[0506] like Figure 63 As shown, water tank 600 is arranged along the width of cleaning device 10 and is generally rectangular. In other words, the length of water tank 600 along the width of cleaning device 10 is greater than its width along the travel direction. This arrangement ensures that the volume of water tank 600 and the amount of liquid stored in water tank 600 are both sufficient while fully utilizing the space within the cleaning device.

[0507] In some embodiments, the water tank 600 is located below the chassis 101 and the dust box cavity 204 is located above the chassis 101 , so that the water tank 600 and the dust box cavity 204 are distributed on the upper and lower sides of the chassis 101 , making full use of the space of the chassis 101 .

[0508] In some embodiments, the vertical projections of the water tank 600 and the dust box cavity 204 on the ground at least partially overlap. In some embodiments, the vertical projections of the water tank 600 and the dust box 202 on the ground at least partially overlap. The ground is a plane perpendicular to the height direction of the body 100100, such as a horizontal plane.

[0509] The projections of the water tank 600 and the dust box cavity 204 (or dust box 202) on the ground at least partially overlap, so that the water tank 600 and the dust box cavity 204 (or dust box 202) can jointly occupy a portion of the horizontal space, further improving the internal space utilization of the cleaning device 10.

[0510] For the dry cleaning module 200, in some embodiments, such as Figure 57d As shown, the dust exhaust channel 107 and the first avoidance area 109 are distributed on both sides of the main fan 203; along the forward direction of the fuselage 100, the main fan 203 is distributed behind the dust box 202.

[0511] Along the width of the machine body 100, the dust exhaust duct 107 and the auxiliary cleaning module 500 are arranged on both sides of the main fan 203. In the forward direction of the machine body 100, the auxiliary cleaning module 500 is located behind the roller brush 201 or the dust box 202. This arrangement of the auxiliary cleaning module 500 and the dust exhaust duct 107 symmetrically relative to the main fan 203 facilitates the use of the space to the sides of the main fan 203. Furthermore, it also makes more effective use of the remaining space to the sides of the dust exhaust duct 107.

[0512] Because the roller brush 201 occupies the space in front of the body 100, in some embodiments, the main cleaning module 300 and the auxiliary cleaning module 500 are both located at the rear of the body 100. In the forward direction of the body 100, the main cleaning module 300 is located behind the roller brush 201. This allows the main cleaning module 300 and the auxiliary cleaning module 500 to be located behind the roller brush 201, facilitating the dry sweeping followed by wet mopping cleaning operation of the cleaning device 10 and facilitating the layout of the interior space of the body 100.

[0513] The side brush 400 in the dry cleaning module 200 is arranged on the bottom of the front of the fuselage 100, and the main cleaning module 300 and the auxiliary cleaning module 500 are arranged at the rear of the fuselage 100. They can gather garbage outside the outline of the fuselage 100 to the bottom of the fuselage 100, thereby cooperating with the roller brush 201 to realize dry sweeping operations.

[0514] In order to facilitate the use of the internal space of the cleaning device 10 , the first lifting structure 330 , the first driving structure 520 and other driving devices can be respectively arranged on different sides of the dust exhaust channel 107 and the main fan 203 .

[0515] like Figure 58As shown, but not limited to, the cleaning device 10 further includes a counterweight 317, which is located in the inner cavity of the body above the chassis 101 of the body 100 and behind the roller brush 201. Moreover, the counterweight 317 is located between the main fan 203 and the auxiliary cleaning module 500. The counterweight 317 is disposed adjacent to the auxiliary cleaning module 500 to help reduce vibration of the body 100 caused by the swinging of the auxiliary cleaning assembly 510.

[0516] In some embodiments, the water tank 600 is disposed below the dust box cavity 204 or the dust box 202, and is located behind the roller brush 201 along the forward direction of the body 100. This facilitates the cleaning robot's dry sweeping followed by wet mopping cleaning operation, and also facilitates the layout of the interior space of the body 100.

[0517] In some embodiments, the first lifting structure 330 includes at least a lifting motor, a third transmission assembly, and at least one lifting assembly 331 ( Figure 58 and Figure 78 As shown); the lifting motor is disposed in the inner cavity of the fuselage 100; the lifting assembly 331 is disposed on the mounting base 312 and is located below the chassis 101 of the fuselage 100; one end of the third transmission assembly is drive-connected to the lifting motor, and the other end passes through the chassis 101 and is connected to the lifting assembly 331, so that the lifting motor drives the lifting assembly 331 to move up and down through the third transmission assembly, thereby driving the mounting base 312 to move up and down.

[0518] During the lifting process, the lifting assembly 331 and the mounting base 312 rise and fall synchronously, and at least part of the third transmission assembly also rises and falls synchronously with the mounting base 312 . The lifting motor can be located above the chassis 101 , and the lifting motor does not rise and fall synchronously with the mounting base 312 .

[0519] Exemplarily, the third transmission assembly includes a first rotating member and a first traction member. The first rotating member is connected to the output shaft of the lifting motor. Under the rotation of the lifting motor, the first traction member can be wound onto or released from the first rotating member. One end of the first traction member is connected to the first rotating member, and the other end is connected to the lifting assembly 331. Since the lifting assembly 331 is relatively fixed to the mounting seat 312, when the output shaft of the lifting motor drives the first rotating member to rotate, the first traction member can be wound onto or released from the first rotating member, so that the first traction member drives the main cleaning module 300 and the auxiliary cleaning assembly 510 to lift and lower synchronously. This lifting method has a simple structure and low cost.

[0520] like Figure 58 As shown, two lifting assemblies 331 are located on both sides of the main fan 203, and at least the second drive motor in the second drive structure 340 is located between the right lifting assembly 331 and the swing arm 524. This layout structure is more compact.

[0521] In some embodiments, as Figures 79 to 81 As shown, the lifting assembly 331 includes a first bracket 332, a second bracket 334, and a connecting rod 335. The first bracket 332 is fixed to the chassis 101, and the second bracket 334 can be formed by a protruding structure protruding upward from the mounting base 312. The first bracket 332 has a guide hole 333. The second bracket 334 is connected to the third transmission assembly and partially inserted into the guide hole 333. The ends of the connecting rod 335 are respectively hinged to the first bracket 332 and the second bracket 334. Driven by the lifting motor, the third transmission assembly drives the mounting base 312 to rise and fall through the second bracket 334. During the lifting process of the second bracket 334, the guide hole 333 guides its lifting, and the connecting rod 335 also moves synchronously. The cooperation between the guide hole 333 and the connecting rod 335 can improve the reliability of the lifting process of the mounting base 312.

[0522] In some embodiments, as Figure 58 As shown, there are two lifting assemblies 331, one of which is located in the first avoidance area 109 and is distributed between the main fan 203 and the first driving structure 520; Figure 60 As shown, a second avoidance area 1014 that is recessed upward is provided on the bottom of the chassis 101 , and another lifting assembly 331 is located in the second avoidance area 1014 and is distributed between the main fan 203 and the dust exhaust channel 107 .

[0523] The two lifting assemblies 331 are arranged side by side along the width direction of the cleaning device 10. A lifting motor drives the two lifting assemblies 331 to rise and fall at the same time through the third transmission assembly. The two lifting assemblies 331 are installed at different positions of the mounting base 312, which can make the mounting base 312 as a whole rise and fall more smoothly and reliably.

[0524] In some embodiments, as shown in Figure 68b, the first drive structure 520 also includes a first transmission assembly 720, and the two ends of the first elastic member 522 act on the first transmission assembly 720 and the swing arm 524 respectively, so that when the first drive motor drives the first transmission assembly 720 to rotate, the swing arm 524 is driven to swing through the first elastic member 522; when the first drive motor is not started, when at least one of the swing arm and the auxiliary cleaning assembly is squeezed or collided with external obstacles, the swing arm 524 can swing toward the initial position relative to the first transmission assembly 720.

[0525] In some embodiments, as Figure 68hAs shown, the first driving structure 520 also includes a rotation driving mechanism 840 for driving the auxiliary cleaning component 510 to rotate; the rotation driving mechanism 840 includes a rotation motor 841 provided on the swing arm 524, and a second transmission component 842. The auxiliary cleaning component is provided on the swing arm 524 by being provided on the second transmission component 842, and is located below the swing arm 524; the second transmission component 842 driven by the rotation motor 841 rotates to drive the auxiliary cleaning component 510 to rotate.

[0526] For example, the following will be combined with the Figure 66b 、 Figures 68a to 68m The first driving structure 520 is introduced in more detail.

[0527] As shown in Figure 68e , the first drive structure 520 in this embodiment includes a support base 580, a swing motor (shown in Figure 68e as the aforementioned first drive motor 521), a swing arm 524, and a rotation motor 841. The swing motor is mounted on the support base 580; one end of the swing arm 524 is swingably mounted on the support base 580 via a first rotating shaft 680, and the other end is connected to an auxiliary cleaning assembly. The auxiliary cleaning assembly has at least an initial position A and an edge position C.

[0528] The top of the first rotating shaft 680 is rotatably disposed on the support seat 580, and the bottom of the first rotating shaft 680 is connected to the upper part of the swing arm 524; the swing motor is used to drive the swing arm 524 to swing on the support seat 580 with the first rotating shaft 680 as the swing axis, so that the auxiliary cleaning component can switch between the initial position A and the edge position C; the self-rotation motor 841 is disposed on the swing arm 524, and the self-rotation motor 841 is used to drive the auxiliary cleaning component to rotate; in the height direction of the support seat 580, at least part of the self-rotation motor 841 is distributed directly below the first rotating shaft 680.

[0529] The top of the first rotating shaft 680 is rotatably mounted on the support base 580, and the bottom of the first rotating shaft 680 is connected to the upper portion of the swing arm 524. This eliminates the need for the first rotating shaft 680 to pass through the swing arm 524, and allows for a portion of space to be reserved below the first rotating shaft 680. This space is used to accommodate the self-rotating motor 841, so that the self-rotating motor 841 does not need to completely avoid the space provided by the first rotating shaft 680 on the swing arm 524. The self-rotating motor 841 is at least partially located directly below the first rotating shaft 680. In other words, the projections of the self-rotating motor 841 and the first rotating shaft 680 along the height of the support base 580 at least partially overlap, resulting in a compact structure that helps reduce space occupied within the cleaning device.

[0530] In an embodiment not shown in the drawings of the present application, in the height direction of the support base 580, a portion of the rotation motor 841 is distributed directly below the first rotating shaft 680, and another portion is distributed directly above the first rotating shaft.

[0531] In other embodiments, Figure 68a As shown, in the height direction of the support base 580, the entire, majority, or entirety of the self-rotating motor 841 is located directly below the first rotating shaft 680. This further allows the self-rotating motor 841 to occupy no additional space in the horizontal direction, making the first drive structure compact in the horizontal direction and occupying less space. In this implementation, the self-rotating motor 841 can be coaxial with the first rotating shaft 680, or it can be eccentrically arranged relative to the first rotating shaft 680.

[0532] When the first driving structure is applied to the aforementioned cleaning device 10 , the height direction of the support base 580 generally refers to the height direction of the body 100 of the cleaning device 10 , which is approximately perpendicular to the horizontal plane (or the ground).

[0533] In some embodiments, as shown in FIG68e , the self-rotating motor 841 is installed in the swing arm cavity 5203 of the swing arm 524. The vertical projections of the first rotating shaft 680 and the self-rotating motor 841 on the ground overlap. This provides space for the self-rotating motor 841 while also preventing moisture from entering the cavity 5203 and potentially affecting the self-rotating motor 841, providing a degree of protection for the motor.

[0534] In an embodiment not shown in the drawings of the present application, the rotation motor 841 may also be arranged outside the swing arm 524 .

[0535] In some embodiments, as shown in Figures 68e and 68f, in the height direction of the support seat 580, the bottom of the first rotating shaft 680 is connected to the swing arm cavity 5203, and an installation space is enclosed between the bottom of the first rotating shaft 680 and the swing arm cavity 5203, and the self-rotating motor 841 is arranged in the installation space.

[0536] In this embodiment, the installation space is part of the space of the swing arm cavity 5203.

[0537] In some embodiments, as Figure 68h As shown, the upper swing arm 5241 and the lower swing arm 5242 define a first cavity 5246. The top of the upper swing arm 5241 has a downwardly recessed second cavity 5245. The first cavity 5246 and the second cavity 5245 together form the swing arm cavity 5203. The bottom of the first rotating shaft 680 is connected to the upper swing arm 5241, and the bottom of the first rotating shaft 680 and the second cavity 5245 define an installation space. The self-rotating motor 841 is disposed within the second cavity 5245. The output shaft of the self-rotating motor 841 extends into the first cavity 5246 and, through a second transmission assembly (described below), is used to drive the auxiliary cleaning assembly to rotate.

[0538] On the one hand, the setting of the upper swing arm 5241 facilitates the connection between the bottom of the first rotating shaft 680 and the upper swing arm 5241; on the other hand, it facilitates the setting of the self-rotating motor 841 in the second cavity 5245 of the upper swing arm 5241. The upper swing arm 5241 supports the self-rotating motor 841. After the output shaft of the self-rotating motor 841 extends into the first cavity 5246, it is connected to the auxiliary cleaning component 510 through the second transmission component provided in the first cavity 5246. The swing arms 524 stacked up and down ensure that the self-rotating motor 841 is located directly below the first rotating shaft 680 while ensuring the power transmission of the self-rotating motor 841. Part of the structure of the second transmission component is also located directly below the self-rotating motor 841 (except the output shaft). Therefore, in the height direction of the swing arm 524, the structure is more compact and the space occupied in the horizontal direction is smaller. Since the self-rotating motor 841 is fixed on the upper swing arm 8241, the self-rotating motor 841 will not shake during the swinging process of the swing arm 524, ensuring that the automatic rotation can normally drive the auxiliary cleaning component to rotate.

[0539] In some embodiments, as Figure 68k As shown, the upper swing arm 5241 includes an arm body 5201 and an annular sleeve 5202 protruding from the top of the arm body 5201, and the inner cavity of the annular sleeve 5202 serves as the second cavity 5245; the bottom of the first rotating shaft 680 is connected to the annular sleeve 5202.

[0540] The arm body 5201 and the lower swing arm 5242 together form a first cavity 5246 .

[0541] Combine Figure 68k As shown, the arm body 5201 is provided with a first clearance hole 5125, which is communicated with the first cavity 5246. The first water channel 610 passes through the first clearance hole 5125 and enters the first cavity 5246 to communicate with the aforementioned first water outlet.

[0542] like Figure 68k As shown, the arm body 5201 is further provided with a fourth clearance hole 743 , which is connected to the second cavity 5245 so that the aforementioned control harness 20 can enter the second cavity 5245 through the fourth clearance hole 743 and be electrically connected to the rotation motor 841 in the second cavity 5245 .

[0543] In some embodiments, in combination with FIG. 68d and Figure 68h As shown, the bottom of the first rotating shaft 680 is embedded in the second cavity 5245 and connected to the inner wall of the annular sleeve 5202. As can be seen in Figure 68f, the outer diameter of the bottom of the first rotating shaft 680 is slightly different from the inner diameter of the annular sleeve 5202, and the two are approximately equal. The bottom of the first rotating shaft 680 is at least partially located within the second cavity 5245 and is fixed to the inner wall of the annular sleeve 5202. This distribution arrangement makes the structure more compact.

[0544] In this embodiment, a swing arm cavity 5203 is defined inside the swing arm 524 , and at least a portion of the first rotating shaft 680 may be located in the swing arm cavity 5203 .

[0545] like Figure 68k As shown, the bottom of the first rotating shaft 680 is embedded in the inner cavity of the annular sleeve 5202. The outer wall of the first rotating shaft 680 is connected to the inner wall of the annular sleeve 5202. The bottom of the annular sleeve 5202 includes an installation inner wall 5204. The installation inner wall 5204 is located at the connection between the second cavity 5245 and the first cavity 5246. The installation inner wall 5204 is roughly parallel to the horizontal plane and can serve as a mounting support for the self-rotating motor 841. In the height direction of the support base 580, the self-rotating motor 841 is located between the bottom of the first rotating shaft 680 and the installation inner wall 5204, and the output shaft of the self-rotating motor 841 can pass through the installation inner wall 5204 to communicate with the first cavity 5246.

[0546] In the embodiment shown in FIG. 68F , the annular sleeve 5202 is at least sleeved on the outside of the bottom of the first rotating shaft 680 .

[0547] In some embodiments, a limiting protrusion 740 (Figure 68K) is provided on one of the outer wall of the bottom of the first rotating shaft 680 and the inner wall of the annular sleeve 5202, and a first limiting groove 741 (Figure 68L) that cooperates with the limiting protrusion 740 is provided on the other. The limiting protrusion 740 and the first limiting groove 741 extend axially along the annular sleeve 5202, and the bottom of the first rotating shaft 680 and the annular sleeve 5202 are connected through the cooperation of the limiting protrusion 740 and the first limiting groove 741.

[0548] For example, as shown in Figures 68K and 68L , a first limiting groove 741 is provided at the bottom of the first rotating shaft 680, and a limiting protrusion 740 is provided on the annular sleeve 5202. The limiting protrusion 740 is embedded in the first limiting groove 741 to prevent relative rotation between the annular sleeve 5202 and the first rotating shaft 680. When the swing arm 524 rotates, the first rotating shaft 680 can rotate synchronously.

[0549] The number of the limiting protrusions 740 is at least two, and the number of the first limiting grooves 741 is also at least two.

[0550] In some embodiments, as shown in FIG68K , an annular step 742 is further provided on the inner wall of the annular sleeve 5202. The bottom of the first rotating shaft 680 is embedded in the annular sleeve 5202 and abuts against the step surface of the annular step 742, thereby connecting the first rotating shaft 680 to the annular step 742. The support provided by the annular step 742 on the bottom of the first rotating shaft 680 prevents the first rotating shaft 680 from moving downward along its axial direction, while the top of the first rotating shaft 680 can be limited by the support seat 580, thereby achieving axial and circumferential fixation of the first rotating shaft 680, resulting in a compact structure and improved stability.

[0551] In some embodiments, as shown in FIG. 68K, Figure 68j and Figure 68i As shown, a downwardly protruding connecting column 5248 is provided at the bottom of the upper swing arm 5241 ; the connecting column 5248 passes through the lower swing arm 5242 and is rotatably provided on the support seat 580 .

[0552] During the swinging process of the swing arm 524, the first rotating shaft 680 is used as the swinging axis at the upper part, and the connecting column 5248 is used as the swinging axis at the bottom part. These two swinging axes support the swinging of the swing arm 524 at different positions in the height direction of the support seat 580, thereby improving the stability of the swinging process of the swing arm 524.

[0553] like Figure 68i As shown, the bottom of the support base 580 has a connecting groove 5802, and the bottom of the connecting column 5248 is embedded in the connecting groove 5802. In order to make the connecting column 5248 rotate more smoothly relative to the support base 580, the outer shell of the connecting column 5248 is connected to the first bearing 730, and the first bearing 730 is located between the connecting column 5248 and the inner wall of the connecting groove 5802.

[0554] Similarly, as shown in FIG. 68 f , a second bearing 684 may be provided between the top of the first rotating shaft 680 and the support base 580 to enable the top of the first rotating shaft 680 to rotate more smoothly relative to the support base 580 .

[0555] In some embodiments, the axis of the first rotating shaft 680 is parallel to or coincides with the axis of the connecting column 5248 .

[0556] In some embodiments, the axis of the output shaft of the rotation motor 841 is parallel to or coincides with the axis of the first rotation shaft 680 .

[0557] In the implementation of this embodiment, the axis of the output shaft of the self-rotating motor 841 coincides with the axis of the first rotating shaft 680, and the axis of the connecting column 5248 coincides with the axis of the first rotating shaft 680. In this way, when the self-rotating motor 841 rotates and the self-rotating motor swings with the swing arm 524, the axes of rotation and swing are coaxial, and there is no eccentricity, which makes it convenient for the self-rotating motor 841 to drive the auxiliary cleaning component 510 to rotate and swing simultaneously and stably.

[0558] In some embodiments, as shown in Figure 68L, the first rotating shaft 680 includes a shaft body 682 and a disk body 681 horizontally protruding from the bottom of the shaft body 682, and the disk body 681 is connected to the upper part of the swing arm; the top of the shaft body 682 is rotatably connected to the support seat 580; the swing motor is used to drive the swing arm to drive the disk body 681 to rotate, so that the disk body 681 drives the shaft body 682 to rotate.

[0559] The disc body 681 cannot rotate relative to the swing arm. When the swing arm rotates, the disc body 681 drives the shaft body 682 to rotate synchronously.

[0560] The disk body 681 and the shaft body 682 are coaxially distributed, or the axis of the disk body 681 is parallel to the axis of the shaft body 682 .

[0561] In some embodiments not shown in the figures of the present application, the swing motor can drive one of the shaft 682 or the disk 681 to rotate, and then the other one drives the swing arm to rotate.

[0562] In some embodiments, as Figures 12 to 14 As shown, the first drive structure also includes an output gear 584 and at least one first elastic member 522. The output gear 584 is rotatably mounted on the first rotating shaft 680. One end of the first elastic member 522 is connected to the swing arm, and the other end is connected to the output gear 584. One of the output gear 584 and the swing arm is provided with a second limiting groove 5843 extending in the swing direction of the swing arm, and the other is provided with a limiting tooth 5247. The limiting tooth 5247 extends into the second limiting groove 5843. Along the swing direction of the swing arm, the second limiting groove 5843 has a first end wall 5844 and a second end wall 5845.

[0563] When the auxiliary cleaning assembly is not subjected to the squeezing force or collision force of an obstacle, under the action of the first elastic member 522 , the limiting protruding tooth 5247 maintains contact with the first end wall 5844 and a gap is reserved between the limiting tooth 5247 and the second end wall 5845 .

[0564] The swing motor drives the output gear 584 to rotate forward, forcing the action of the first elastic member 522 to increase, and the limiting protrusion 5247 maintains contact with the first end wall 5844, driving the swing arm to swing outward through the first elastic member 522; the swing motor drives the output gear 584 to rotate reversely, and the action of the first elastic member 522 is reduced, and the limiting protrusion 5247 moves the second end wall 5845, driving the swing arm to actively retract and swing inward.

[0565] The first elastic member 522 can buffer external forces such as squeezing force or collision force from obstacles, thereby reducing damage to the rotating motor 841 caused by the external force.

[0566] In some embodiments, when the auxiliary cleaning assembly is in the edge position C, under the cooperation of the first elastic member 522, the second limiting groove 5843 and the limiting protruding tooth 5247, the swing arm 524 has a passive retraction process and an active retraction process.

[0567] Through the passive retraction and active retraction of the swing arm, the obstacle avoidance capability of the auxiliary cleaning component can be improved.

[0568] Figures 68b and 68c exemplarily show a schematic diagram of the partial structure of the auxiliary cleaning module 500 when the limiting protrusion 5247 abuts against the first end wall 5844; Figure 68d exemplarily shows a schematic diagram of the partial structure of the auxiliary cleaning module 500 when the limiting protrusion 5247 abuts against the second end wall 5845.

[0569] The following describes the driving principle of the first driving structure in two scenarios, respectively, with reference to Figures 68c and 68d. The first scenario is when the swing arm 524 does not encounter any obstacles during its swinging process; the second scenario is when the swing arm 524 encounters an obstacle during its swinging process.

[0570] Scenario 1: When the cleaning device 10 needs to clean along an edge, the swing motor rotates forward (for example, clockwise in FIG. 68b ), and the swing motor drives the output gear 584 to rotate forward via the first transmission assembly 720. Because the two ends of the first elastic member 522 are respectively connected to the swing arm 524 and the output gear 584, the first elastic member 522 can drive the swing arm 524 to swing outward, and the swing arm 524 can swing outward from the initial position A to the edge position C. At the edge position C, the self-rotating motor 841 drives the auxiliary cleaning assembly 510 to rotate and mop the floor. During the swing-out process, the deformation of the first elastic member causes the limiting protruding tooth 5247 to always maintain contact with the first end wall 5844.

[0571] In one embodiment, in the initial position, before the swinging movement begins, the first elastic member may be deformed to a certain extent, causing the limiting protruding tooth 5247 to abut against the first end wall 5844. During the swinging movement, the deformation of the first elastic member continuously increases, causing the limiting protruding tooth 5247 to maintain abutment against the first end wall 5844. Alternatively, in another embodiment, in the initial position, before the swinging movement begins, the first elastic member may be undeformed. During the swinging movement, the first elastic member may be deformed, causing the limiting protruding tooth 5247 to maintain abutment against the first end wall 5844.

[0572] When it is necessary to retract from the edge position C to the initial position A, the swing motor actively retracts. During the active retraction process, the swing motor reverses (e.g., counterclockwise in FIG. 68 b ), driving the output gear 584 to rotate in the opposite direction via the first transmission assembly 720. Since the first end wall 5844 of the second limiting groove 5843 maintains contact with the limiting protruding tooth 5247 (as shown in FIG. 68 c ), the output gear 584 rotates in the opposite direction, causing the limiting protruding tooth 5247 to rotate in the opposite direction via the first end wall 5844. The limiting protruding tooth 5247 then drives the entire swing arm 524 to retract and swing inward, ultimately retracting to the initial position A.

[0573] In the second scenario, when edge cleaning is required, the swing motor rotates forward, driving the output gear 584 in the forward direction via the first transmission assembly 720. Because the first elastic member 522 is connected at both ends to the swing arm 524 and the output gear 584, respectively, the first elastic member 522 can drive the swing arm 524 to swing outward, switching from the initial position A to the edge position C. During the outward swing, the first elastic member 522 deforms further, causing the limiting protrusion 5247 of the swing arm 524 to abut against the first end wall 5844 of the second limiting groove 5843 on the output gear 584.

[0574] During the outward swing process, or during the edge cleaning process at the edge position C, when the swing arm or the auxiliary cleaning component is subjected to the squeezing force or collision force of an obstacle, since the limiting protrusion 5247 of the swing arm 524 abuts against the first end wall 5844 of the second limiting groove 5843 on the output gear 584, there is a gap between the limiting protrusion 5247 and the second end wall 5845 of the second limiting groove 5843 (as shown in Figure 68c), the squeezing force or collision force overcomes the action force of the first elastic member, driving the swing arm relative to the output gear to swing toward the second end wall, so that the limiting protrusion 5247 separates from the first end wall 5844 and moves toward the second end wall 5845, and the swing arm 524 passively retracts to prevent the auxiliary cleaning component or the swing arm from colliding hard with the obstacle and damaging the auxiliary cleaning component or the swing arm.

[0575] Because the swing arm 524 passively retracts, the auxiliary cleaning assembly 510, while in its self-rotating state, is virtually prevented from getting stuck. When the squeezing or collision force drives the limiting tooth 5247 to abut against the second end wall 5845 (as shown in Figure 68d), the swing arm 524's passive retraction is complete. If the limiting tooth 5247 just abuts the second end wall 5845, or is located between the first end wall 5844 and the second end wall 5845, the obstacle can be avoided or cleaning can proceed along the edge of the obstacle. When the squeezing or collision force of the obstacle is removed, the elastic force of the first elastic member 522 causes the limiting tooth 5247 to move toward the first end wall 5844 and return to abutment with the first end wall 5844, thereby resetting the swing arm. After resetting, the swing arm 524, driven by the swing motor, swings outward to the edge position C. If the obstacle still exists after the swing arm 524 has fully retracted, the squeezing or collision force could jam the auxiliary cleaning assembly 510, hindering its rotation and causing the current in the rotation motor 841 to increase. Based on the increased current in the rotation motor 841, the swing motor can be controlled to reverse, driving the output gear 584 to rotate in the opposite direction. Since the limiting tooth 5247 is now in contact with the second end wall 5855, there is a gap between the first end wall 5844 and the limiting tooth 5247 (as shown in FIG68d ). The swing motor 1 first drives the output gear 584 to rotate in the opposite direction for a certain distance (as shown in FIG68d , the distance is the gap between the first end wall 5844 and the limiting tooth 5247). After the output gear 584 rotates in the opposite direction until the first end wall 5844 abuts the limiting tooth 5247, the swing motor then drives the swing arm 524 to actively retract by shifting the limiting tooth 5247.

[0576] In the above example, forward rotation is clockwise rotation and reverse rotation is counterclockwise rotation. As a variation, forward rotation can be counterclockwise rotation and reverse rotation can be clockwise rotation. Correspondingly, the positions of the first end wall and the second end wall need to be swapped.

[0577] In some embodiments, as shown in FIG68b , the first drive structure further includes a position detection member 960. When the swing arm retracts and swings inward, the position detection member 960 can detect whether the auxiliary cleaning assembly has reached the initial position, thereby limiting the retracted swing of the swing arm. For example, as shown in FIG68b , the output gear 584 has a position-reaching convex tooth 5846. When the output gear 584 drives the swing arm to retract and swing inward, if the position-reaching convex tooth 5846 contacts the position detection member, the position detection member generates a position-reaching signal, indicating that the auxiliary cleaning assembly has retracted to the initial position A. At this time, the swing motor is controlled to stop operation to prevent the auxiliary cleaning assembly from continuing to retract and swing inward.

[0578] In some embodiments, as Figure 68nAs shown, the first elastic member 522 is a torsion spring, which is sleeved on the output gear 584, and the two ends of the torsion spring are respectively connected to the swing arm and the output gear 584. Figure 68g As can be seen from the illustrated implementation, the torsion spring is sleeved outside a portion of the structure of the output gear 584 .

[0579] In some embodiments, the output gear 584 and the swing arm may be provided with openings respectively, one end of the torsion spring is inserted into the opening of the output gear 584, and the other end is inserted into the opening of the swing arm. Figure 12 and Figure 25 As shown, the opening on the output gear 584 can be a through hole 5847 that passes through the output gear 584, and the opening on the swing arm can be a notch. In an embodiment not shown in the drawings of this application, the openings on the output gear 584 and the swing arm can both be holes.

[0580] The number of the openings on the output gear 584 and the swing arm can be equal to the number of torsion springs. In addition, the number of the openings, the shape of the openings and the depth are not intended to limit the present application.

[0581] exist Figure 68n In the illustrated embodiment, there are two first elastic members 522. It is understood that the number of the first elastic members 522 may also be one, three, or more.

[0582] In some embodiments, as described above, the disc 681 of the first rotating shaft 680 is fixed to the bottom of the shaft 682 and extends outward; the disc 681 is connected to the upper part of the swing arm 524; the top of the shaft 682 is rotatably connected to the support base 580; the swing motor drives the output gear 584 to rotate, and the torsion spring causes the swing arm to swing, so that the swing arm 524 drives the disc 681 and the shaft 682 of the first rotating shaft 680 to rotate. Figure 15 As shown, the output gear 584 is rotatably arranged outside the shaft body 682, and a receiving groove is formed between the disc body 681 and the output gear 584, and the torsion spring is arranged in the receiving groove. This layout structure is more compact and is conducive to saving the internal space of the swing arm cavity 5203.

[0583] In some embodiments, as Figure 16 and Figure 27 As shown, the bottom of the output gear 584 is provided with a first groove 588 which is recessed upwards; Figure 16 and Figure 26 As shown, the edge of the disk body 681 has an upwardly bent outer edge 6811, and a second groove 683 with an upward opening is formed between the outer edge 6811, the disk body 681 and the shaft body 682. A receiving groove is formed between the first groove 588 and the first groove 588. The upper part of the torsion spring is located in the first groove 588, and the lower part of the torsion spring is located in the second groove 683.

[0584] Without limitation, Figure 68land Figure 68m As shown, the first groove 588 and the second groove 683 may both be annular grooves, and the torsion spring, the first groove 588 and the second groove 683 may be coaxially distributed.

[0585] In some embodiments, as Figure 68g and Figure 68m As shown, along the radial direction of the output gear 584, an extension portion 589 extending downward is provided on the end portion of the inner groove wall of the first groove 588; a first gap 685 exists between the end portion of the outer groove wall of the first groove 588 and the outer edge 6811; the extension portion 589 is embedded in the second groove 683, and a second gap 686 exists between the extension portion 589 and the top surface of the disk body 681; at least part of the torsion spring is sheathed outside the extension portion.

[0586] By providing the first gap 685, when the first rotating shaft 680 rotates with the swing arm, there is no rotational friction between the end face of the output gear 584 and the outer edge 6811, thereby avoiding wear of the outer end face of the first groove 588 and the outer edge 6811 opposite to the outer end face of the first groove 588 due to rotational friction between the first rotating shaft 680 and the output gear 584, thereby ensuring the normal rotation of the swing arm relative to the output gear 584.

[0587] By providing the second gap 686, there is no rotational friction between the end face of the output gear 584 and the bottom of the second groove 683, thereby avoiding wear between the bottom end of the extension part and the bottom of the second groove 683 due to rotational friction between the first rotating shaft 680 and the output gear 584, thereby ensuring the normal rotation of the swing arm relative to the output gear 584.

[0588] In addition, the extension portion is sleeved outside the shaft body 682 and located inside the torsion spring. The extension portion has a limiting effect on the torsion spring, preventing the torsion spring from contacting the shaft after being deformed by force, thereby reducing or even preventing the torsion spring from affecting the rotation of the first rotating shaft 680 and the swing arm.

[0589] For example, Figure 68m As shown, the extension portion 589 is formed as a downwardly protruding annular inner cylinder, with an outer edge 6811 surrounding the outer portion of the annular inner cylinder. The interior of the annular inner cylinder defines a through hole 5847 that extends through the output gear 584. The shaft 682 extends upward through the through hole 5847 of the annular inner cylinder to be rotatably connected to the support base 580. The shaft 682 can be rotatably connected to the support base 580 directly or indirectly.

[0590] In some embodiments, as Figure 66bAs shown, the support seat 580 includes a base 587 and an upper cover shell 585 provided on the base 587; the bottom of the base 587 has a horizontally outward extension seat 586; one end of the upper cover shell 585 is fixed to the top of the base 587, and the other end is suspended above the extension seat 586, and an open cavity 5801 is formed between the upper cover shell 585 and the extension seat 586; a first accommodating cavity is formed between the base 587 and the upper cover shell 585; as shown in Figure 68b, the first driving structure also includes a first transmission assembly 720 that transmits the swing motor to the output gear 584, and the first transmission assembly 720 is located in the first accommodating cavity; one end of the swing arm 524 is installed in the open cavity 5801, and the other end extends out of the open cavity 5801.

[0591] The opening cavity 5801 has an opening at least in the direction of the swing arm's outward swing or retraction to ensure that the swinging process of the swing arm is not hindered.

[0592] Compared with the open cavity 5801 , the first accommodating cavity is relatively closed, so as to reduce the influence of impurities such as dust and water vapor on the second transmission component 842 , thereby protecting the second transmission component 842 .

[0593] The top of the first rotating shaft 680 is rotatably connected to the upper cover 585 , and the connecting groove 5802 matching the connecting column 5248 is provided on the extension seat 586 .

[0594] In some embodiments, as shown in FIG. 68 e , the base 587 has a hollow portion, the swing motor 521 is disposed in the hollow portion, and the output shaft of the swing motor extends into the first accommodating cavity to be connected to the first transmission assembly 720 .

[0595] As shown in Figure 68e, the axis of the swing motor is parallel to the height of the support base 580. The first transmission assembly 720 includes multiple intermeshing gears, which are arranged generally horizontally. The first transmission assembly 720 and the ground projection of the swing motor at least partially overlap. This layout creates a compact structure and fully utilizes the internal space of the support base 580.

[0596] The aforementioned installation space for accommodating the rotating motor 841 is part of the second cavity 5245 and is connected to the first cavity 5246, so that the remaining parts of the rotating motor 841 except the output shaft are located in the second cavity 5245, and the output shaft extends into the first cavity 5246.

[0597] In some embodiments, as Figure 68h As shown, the first driving structure also includes a second transmission assembly 842 arranged in the first cavity 5246. The output shaft of the rotating motor 841 is connected to the auxiliary cleaning assembly 510 through the second transmission assembly 842, so that the auxiliary cleaning assembly is located below the swing arm 524.

[0598] The first driving structure 520 of this embodiment is universal. For example, the first driving structure 520 of this embodiment can also be adopted in the aforementioned embodiment 2 and embodiment 3.

[0599] For example, the water replenishment structure of this embodiment will be introduced below with reference to the accompanying drawings.

[0600] In this embodiment, Figure 66b As shown, the auxiliary cleaning module 500 at least includes a support base 580 , an auxiliary cleaning assembly 510 and a first driving structure 520 . The number of the auxiliary cleaning assembly 510 can be one, two or more.

[0601] The first driving structure 520 includes a first driving motor 521 and a swing arm 524, and the auxiliary cleaning assembly 510 is arranged on the swing arm 524; the first driving motor 521 is at least used to drive the swing arm 524 to swing, so as to drive the auxiliary cleaning assembly 510 to swing, so that the auxiliary cleaning assembly switches between the initial position A and the edge position C.

[0602] The support seat 580 is installed on the mounting seat of the main cleaning component 310, and the first drive structure 520 is connected to the support seat 580. Therefore, when the main cleaning component 310 is raised or lowered relative to the body 100 of the cleaning device 10, the support seat 580 and the first drive structure 520 are raised or lowered synchronously with the main cleaning component 310.

[0603] When the swing arm 524 swings, the swing arm 524 swings relative to the support base 580 .

[0604] The water supply structure includes a water tank 600 and a water delivery mechanism connected to the water tank 600. The water delivery mechanism includes a first water channel 610 (Figure 68b and Figure 69a As shown in FIG5 , the first water channel 610 is used to supply liquid to the auxiliary cleaning assembly 510 to moisten the auxiliary cleaning assembly 510. At least a portion of the first water channel 610 is located on the swing arm 524 and swings with the swing arm 524. The first water channel 610 can replenish water to the auxiliary cleaning assembly 510 when the auxiliary cleaning assembly 510 is in the initial position, the edge position, and a swing position between the initial position and the edge position.

[0605] During the outward swing of the swing arm 524 , at least a portion of the first water channel 610 swings outward synchronously with the swing arm 524 ; during the retraction of the swing arm 524 , at least a portion of the first water channel 610 also retracts synchronously with the swing arm 524 .

[0606] The first water channel 610 swings along with the swing arm 524 , so that the first water channel 610 can better adapt to the position change of the auxiliary cleaning member 511 , replenish water for the auxiliary cleaning member 511 in time, and ensure the cleaning effect of the auxiliary cleaning member 511 .

[0607] In some embodiments, the water tank 600 is fixed relative to the body 100. One end of the first water channel 610 is connected to the water tank 600, so that at least one end of the first water channel 610 does not swing with the swing of the swing arm 524.

[0608] For example, Figure 62 As shown, along the height direction of the cleaning device 10 , the cleaning device 10 is further provided with a bottom decorative cover 1024 below the chassis 101 , and the water tank 600 can be installed between the chassis 101 and the bottom decorative cover 1024 to achieve the fixation of the water tank 600 relative to the body 100 .

[0609] In some embodiments, as Figures 63 to 65 As shown, the water delivery mechanism of the water replenishment structure further includes a second water channel 620 , which is connected to the water tank 600 and is used to replenish water to the main cleaning component 310 .

[0610] Using two water channels to wet the auxiliary cleaning component 510 and the main cleaning component 310 respectively can effectively reduce the mutual interference of the wetting process of the auxiliary cleaning component 511 and the main cleaning component 311, thereby ensuring the wetting effect.

[0611] The second water channel 620 can be directly connected to the water tank 600 or indirectly connected to the water tank 600 through a pipeline. Similarly, the first water channel 610 can be directly connected to the water tank 600 or indirectly connected to the water tank 600 through a pipeline.

[0612] In some embodiments, the second water channel 620 does not swing along with the swing of the swing arm 524 .

[0613] The swing of the first water channel 610 and the swing arm 524 will not affect the water replenishment of the second water channel 620. This is also the layout flexibility brought about by using two water channels to wet the auxiliary cleaning component 510 and the main cleaning component 310 respectively.

[0614] The first water channel 610 can be formed by at least one of a hose, a hard pipe, and a box body with a flow channel. The structure of the second water channel 620 is similar and will not be described again.

[0615] In some embodiments, as Figure 66a As shown, a first water outlet 5121 is provided on the bottom of the swing arm 524; Figure 69b As shown, the liquid outlet of the first water channel 610 is connected to the first water outlet 5121; the first water outlet 5121 is located directly above the auxiliary cleaning member 511 of the auxiliary cleaning assembly 510. The solution in the first water channel 610 drips onto the auxiliary cleaning member 511 through the first water outlet 5121. This method utilizes the structure of the swing arm 524 to form the first water outlet 5121 to form a partial liquid channel for wetting the auxiliary cleaning member 511. The structure is simple and can improve the compactness of the structure.

[0616] For example, the liquid outlet of the first water channel 610, the first water outlet 5121, and the auxiliary cleaning member 511 are arranged sequentially from top to bottom along the height direction of the cleaning device 10. Thus, the liquid in the water tank 600 flows out of the liquid outlet of the first water channel 610, enters the first water outlet 5121, and then drips downward from the first water outlet 5121 onto the auxiliary cleaning member 511 to lubricate the auxiliary cleaning member 511.

[0617] In some embodiments, as Figures 67a to 67c As shown, the auxiliary cleaning assembly 510 includes an auxiliary cleaning tray 512 and an auxiliary cleaning cloth (i.e., auxiliary cleaning member 511) disposed at the bottom of the auxiliary cleaning tray 512. The auxiliary cleaning tray 512 has hollow areas 501 distributed along its circumference. The first water outlet 5121 is at least partially connected to the hollow areas 501, so that the solution in the first water channel 610 drips sequentially through the first water outlet 5121 and the hollow areas 501 onto the auxiliary cleaning member 511. If the solution dripping from the first water outlet 5121 falls onto the second connecting portion 502 (described below) between two adjacent hollow areas 501, it can be guided by the first drainage surface 5021 and then drip downward through the drainage holes 5051 onto the auxiliary cleaning cloth.

[0618] Hollow area 501 is a through hole that extends through auxiliary cleaning disc 512. Auxiliary cleaning member 511 is located below hollow area 501. Liquid flowing out of first water outlet 5121 enters hollow area 501. Liquid applied through hollow area 501 first wets the portion of auxiliary cleaning member 511 covering hollow area 501. Then, the liquid flows further to other areas of auxiliary cleaning member 511, ultimately wetting the entire auxiliary cleaning member 511.

[0619] This embodiment makes full use of the structure of the auxiliary cleaning disc 512, and sets a hollow area 501 on the auxiliary cleaning disc 512. The hollow area 501 is used to replenish water to the auxiliary cleaning part 511. There is no need to set up additional pipelines to connect the first water channel 610 and the auxiliary cleaning part 511. The structure of the whole machine is more compact and will not interfere with the rotation of the auxiliary cleaning disc 512.

[0620] Figure 66a and Figure 67a Exemplarily, one first water outlet 5121 is shown. It is understandable that the number of the first water outlets 5121 may be two, three, or more.

[0621] In some embodiments, one end of the first water channel 610 is connected to the water tank 600 , and the other end is provided on the swing arm 524 and serves as a liquid outlet, and is connected to the first water outlet 5121 so that the other end of the first water channel 610 swings with the swing arm 524 .

[0622] One end of the first water channel 610 connected to the water tank 600 is fixed relative to the body 100. Figure 66b 、 Figure 69a As shown, the other end of the first water channel 610 is provided on the swing arm 524. When the swing arm 524 swings, the other end of the first water channel 610 swings. The structure of the first water channel 610 is simple and compact.

[0623] Combine Figure 63 and Figure 64 As shown, the water tank 600 is an elongated structure, and the longer direction of the water tank 600 extends along the width direction of the cleaning device 10. In this layout of the water tank 600, a liquid outlet 602 is provided at the right end of the water tank 600, and a liquid inlet 601 is provided at the left end of the water tank 600. At least one of the first water channel 610 and the second water channel 620 is connected to the liquid outlet 602 at the right end of the water tank 600. The liquid inlet 601 at the left end of the water tank 600 is connected to the liquid inlet 601 through the liquid infusion pipe 40 ( Figure 63 and Figure 57d ) and the liquid filling port 1013 (such as Figure 57c This layout allows the water supply structure to avoid bypassing the width of the fuselage 100, making the layout more compact and improving space utilization.

[0624] When the cleaning device 10 is performing cleaning work, the liquid in the water tank 600 flows to the first water channel 610 through the liquid outlet 602, and the liquid flowing out of the first water channel 610 then passes through the first water outlet 5121 and the hollow area 501 in sequence and drips onto the auxiliary cleaning member 511. Figure 64 As shown, a second water pump 670 is further provided on the top of the water tank 600 , and the second water pump 670 more effectively pumps the liquid in the water tank 600 into at least one of the first water channel 610 and the second water channel 620 .

[0625] After the cleaning device 10 returns to the base station, the base station replenishes water to the water tank 600 through the liquid replenishment port 1013. Figure 63 As shown, a first water pump 650 is further provided on the left side of the water tank 600. The first water pump 650 more effectively pumps the liquid in the base station into the water tank 600. The aforementioned lifting motor can be provided below the first water pump 650.

[0626] In some embodiments, as Figure 69a As shown, the first water channel 610 includes a first section 611 and a second section 612; one end of the first section 611 is connected to the water tank 600, and the other end is connected to one end of the second section 612, at least one end of the first section 611 is located outside the swing arm 524; at least the other end of the second section 612 is arranged in the swing arm 524, serving as the liquid outlet of the first water channel 610.

[0627] Arranging the first water channel 610 into a first section 611 and a second section 612 can better accommodate the required orientation or movement of the first water channel 610 at different locations on the cleaning device 10. For example, the first section 611 can be at least partially configured as a hose, which can better accommodate angled orientations. Another example is that the second section 612 can be constructed from a hard material, which can better secure it to the swing arm 524, increasing the reliability of the connection between the first water channel 610 and the swing arm 524 and reducing the risk of the first water channel 610 becoming detached from the swing arm 524 during the swinging motion of the swing arm 524.

[0628] In some embodiments, the second section 612 is located within the inner cavity of the swing arm 524, and the other end of the first section 611 extends into the inner cavity of the swing arm 524 and connects to the second section 612. In other words, the second section 612 is entirely located within the inner cavity of the swing arm 524, while a portion of the first section 611 is located outside the swing arm 524 and another portion extends into the swing arm 524 and connects to the second section 612.

[0629] Alternatively, in the embodiment shown in the drawings of the present application, as shown in FIG. 68d and FIG. Figure 69a As shown, the first section 611 is located outside the swing arm 524, and one end of the second section 612 extends outside the swing arm 524 and connects to the other end of the first section 611 (as shown in FIG68d). In this case, when the first section 611 and the second section 612 are connected, they do not need to extend into the inner cavity of the swing arm 524, which makes the assembly of the first section 611 and the second section 612 more convenient.

[0630] In some embodiments, as shown in FIG. 68d and Figure 68k As shown, the swing arm 524 is provided with a first clearance hole 5125, and the other end of the first section 611 and one end of the second section 612 are connected at the first clearance hole 5125. As can be seen from the figure, the first clearance hole 5125 is connected to the inner cavity of the swing arm 524, and one end of the second section 612 extends out of the inner cavity of the swing arm 524 through the first clearance hole 5125.

[0631] Only the smaller end portion of the second section 612 extends out of the swing arm 524 , so that it is convenient to connect the first section 611 and the second section 612 while also reducing the space occupied in the height direction of the fuselage 100 .

[0632] In some embodiments, combined Figure 69a As shown, the first waterway 610 satisfies at least one of the following conditions:

[0633] The first section 611 is a water pipe;

[0634] The second section 612 is a sealed box;

[0635] The second section 612 includes a horizontal portion 6121 and a first connecting portion 6122 intersecting with the horizontal portion 6121. The horizontal portion 6121 is fixed in the inner cavity of the swing arm 524 and has a liquid outlet. One end of the first connecting portion 6122 is connected to the horizontal portion 6121, and the other end is connected to the other end of the first section 611.

[0636] The sealed box contains a water channel connected to the first section 611. The outlet of this water channel serves as the liquid outlet for the first water channel 610. The sealed box can be formed ultrasonically, resulting in a one-piece structure for the second section 612. This eliminates gaps formed by assembling multiple components, thereby improving the sealing performance of the sealed box. When liquid flows through the water channel within the sealed box, the well-sealed sealed box prevents leakage, thereby preventing any impact on metal components (such as the gear assembly of the second transmission assembly 842) or electronic components (if any) within the sealed box. The second transmission assembly 842 is at least partially located within the inner cavity of the swing arm 524, with the second section 612 at least partially located below the second transmission assembly 842.

[0637] exist Figure 69a In the illustrated implementation, the first connecting portion 6122 is substantially perpendicular to the horizontal portion 6121 , and the first connecting portion 6122 is substantially a tubular structure to facilitate connection with the tubular first section 611 .

[0638] The horizontal portion 6121 has a water channel therein. Liquid enters the horizontal portion 6121 from the first section 611 and the first connecting portion 6122 in sequence, and then drips from the liquid outlet to the hollow area 501 of the auxiliary cleaning component 510 .

[0639] In some embodiments, as Figure 69d 、 Figure 69e 、 Figure 69g and Figure 69h As shown, the other end of the second section 612 has a boss 613, and the boss 613 is provided with a liquid outlet; the boss 613 is inserted into the first water outlet 5121 (see Figure 69e and Figure 69g ), so that the liquid outlet is connected to the first water outlet 5121. In this way, all the liquid flowing out of the liquid outlet can enter the first water outlet 5121, reducing the liquid flowing to the area outside the first water outlet 5121, and the liquid can be fully utilized.

[0640] In addition, the boss 613 also makes it easier to connect with the first water outlet 5121, which facilitates assembly.

[0641] In some embodiments, as Figure 69d and Figure 69eAs shown, a seal 614 is further provided between the boss 613 and the first water outlet 5121 to seal the gap between the boss 613 and the first water outlet 5121. The seal 614 at least prevents moisture from the external environment from entering the inner cavity of the swing arm 524 and affecting the rotation drive mechanism 840 within the inner cavity of the swing arm 524. In this implementation, the first water outlet 5121 is located on the swing arm 524. Liquid flowing out of the liquid outlet at the bottom of the boss 613 passes through the first water outlet 5121, through the swing arm 524, and then flows to the auxiliary cleaning member 511.

[0642] Figure 69e The seal 614 is shown as an annular sealing ring, which can be fitted onto the outside of the boss 613 and have an interference fit with the inner wall of the first water outlet 5121 to achieve a liquid-tight seal. Figure 69e As can be seen in the figure, a first annular groove 6131 is provided around the boss 613. The sealing ring is located in the first annular groove 6131. The top and bottom walls of the first annular groove 6131 can prevent the sealing ring from moving axially along the boss 613. The first annular groove 6131 facilitates the fixing of the sealing ring.

[0643] In order to prevent the water vapor from the external environment from entering the inner cavity of the swing arm 524, another implementation method can be adopted: combining Figure 66a 、 Figures 69f to 69i As shown, the bottom of the swing arm 524 is provided with a second clearance hole 5122 ( Figure 69i ), and a sealing plug 5124 sealingly secured to the second clearance hole 5122. The sealing plug 5124 is provided with a first water outlet 5121, and the bottom of the protrusion 613 is sealingly inserted into the first water outlet 5121 of the sealing plug 5124. In this embodiment, the first water outlet 5121 is formed on the sealing plug 5124, which seals against the inner wall of the second clearance hole 5122 and the outer wall of the protrusion 613, respectively. The sealing plug 5124 serves both as a liquid seal and as a liquid channel.

[0644] The liquid flowing out of the bottom outlet of the boss 613 first flows to the first outlet 5121 and then flows to the auxiliary cleaning assembly 510 from the first outlet 5121. The second clearance hole 5122 passes through the swing arm 524 in the height direction to ensure that the liquid falls to the auxiliary cleaning assembly 510.

[0645] Compared with a sealing ring, the sealing plug 5124 can provide a larger contact area, a better sealing effect, and is less likely to fall off due to vibrations generated by the swinging, lifting, and other movements of the swing arm 524.

[0646] For example, Figure 69hAs shown, part of the inner wall of the first water outlet 5121 in the sealing plug 5124 is recessed outward to form a stepped hole 5123, and the bottom of the boss 613 has a first flange 6132 arranged along its circumference. After the boss 613 is inserted into the sealing plug 5124, the first flange 6132 is embedded in the stepped hole 5123. The hole wall of the stepped hole 5123 limits the axial movement of the boss 613, fixes the boss 613, and improves the reliability of the boss 613 after being inserted into the sealing plug 5124.

[0647] In some embodiments, as Figure 66b As shown in FIG68b , the swing arm 524 is swingably mounted on the support base 580 of the first drive structure 520; the first drive motor 521 and the first transmission assembly 720 are both mounted on the support base 580. In conjunction with the aforementioned arrangement of the support base 580 on the mounting base 312, it can be seen that although the support base 580 can be raised and lowered relative to the body 100, it does not swing synchronously with the swing arm 524.

[0648] The support seat 580 is located below the chassis 101 and is installed above the mounting seat 312 of the main cleaning device 10. When the first lifting structure 330 drives the mounting seat 312 to rise and fall, the support seat 580 drives the first drive motor 521 and the first transmission assembly to rise and fall synchronously to achieve synchronous lifting of the auxiliary cleaning module 500 and the main cleaning component 311.

[0649] like Figure 70 As shown, the support base 580 is provided with a pipe hole 581. One end of the first water channel 610 is connected to the water tank 600, and the other end is passed through the pipe hole 581 and is arranged on the swing arm 524 so that the first water channel 610 swings with the swing arm 524.

[0650] In some embodiments, one end of the second water channel 620 is connected to the water tank 600 , and the other end passes through the pipe hole 581 to replenish water to the main cleaning component 311 .

[0651] After passing through the pipe hole 581 of the support seat 580 , the first water channel 610 continues to extend toward the first clearance hole 5125 on the swing arm 524 , and then passes through the first clearance hole 5125 into the inner cavity of the swing arm 524 .

[0652] The second water channel 620 passes through the pipe hole 581 and is installed on the top of the mounting seat 312 ( Figure 71 As shown), the second water channel 620 extends toward the main cleaning member 311. There is no connection point between the second water channel 620 and the swing arm 524. Therefore, the second water channel 620 does not swing as the swing arm 524 swings.

[0653] like Figure 70As shown, the pipe hole 581 is located on the support base 580. In the support base 580, at least the portion where the pipe hole 581 is located is a soft rubber structure 583, which can reduce the wear of the first water channel 610 caused by the movement of the first water channel 610 relative to the support base 580 during the swinging of the swing arm 524.

[0654] In some embodiments, as Figure 71 As shown, the support base 580 is provided with an accommodating channel 30. The first water channel 610 passes through the pipe hole 581, then through the accommodating channel 30, and is then provided on the swing arm 524. The second water channel 620 passes through the pipe hole 581, then through the accommodating channel 30, and is then provided on the mounting base 312. The accommodating channel 30 includes at least one of a wiring groove 31 and an accommodating cavity 32. Figure 21 In the illustrated embodiment, the accommodating channel 30 within the support base 580 includes both an accommodating cavity 32 and a wiring groove 31. The accommodating cavity 32 communicates with the first clearance hole 5125. The first waterway 610 enters the accommodating cavity 32 and then flows through the first clearance hole 5125 into the inner cavity of the swing arm 524. The second waterway 620 enters the accommodating cavity 32, passes through the wiring groove 31, and then extends toward the mounting base 312 of the main cleaning assembly 310.

[0655] Without limitation, Figure 13 and Figure 14 As shown, a groove-shaped receiving channel 30 is formed above the second drive structure 340, and a groove-shaped receiving channel 30 is also formed on the mounting base 312. The end of the receiving channel 30 of the mounting base 312 forms a second water outlet 3123. The second waterway 620 is led out from the support base 580, passes through the receiving channel 30 above the second drive motor, and then extends to the receiving channel 30 at the top of the mounting base 312.

[0656] The above-mentioned layout of this embodiment makes the entire structure more compact.

[0657] In some embodiments, as Figure 77 As shown, the other end of the second water channel 620 is arranged on the top of the mounting seat 312, and the mounting seat 312 is provided with a second water outlet 3123. The other end of the second water channel 620 is connected to the second water outlet 3123. The solution in the second water channel 620 drips onto the main cleaning part 311 through the second water outlet 3123 to replenish water to the main cleaning part 311.

[0658] The second water outlet 3123 is located above the main cleaning member 311 and aligned with the main cleaning member 311 . Liquid dripping from the second water outlet 3123 falls on the main cleaning member 311 , thereby wetting the main cleaning member 311 .

[0659] In some embodiments, as Figure 70As shown, the support base 580 is provided with a wiring hole 582, which is connected to the aforementioned accommodating channel 30. The cleaning device 10 also includes at least one control harness 20, one end of which is connected to the controller, and the other end of which passes through the wiring hole 582. Moreover, among the at least one control harness 20 arranged in the accommodating channel 30, one control harness 20 is connected to the first drive motor 521.

[0660] from Figure 70 It can be seen in the figure that the wiring hole 582 is adjacent to the pipe routing hole 581, and the two are spaced apart.

[0661] In some embodiments, there are three control harnesses 20. One control harness 20 is connected to the first drive motor 521, another control harness 20 is connected to the aforementioned rotation motor, and the third control harness 20 is connected to the aforementioned second drive motor. Because the rotation motor is mounted on the swing arm 524, the rotation motor swings synchronously with the swing arm 524, and thus, at least a portion of the control harness 20 swings with the swing arm 524.

[0662] The wiring hole 582 is also formed on the soft rubber structure 583 to reduce the wear of the control harness 20 during the swinging process.

[0663] Exemplarily, the controller is fixed relative to the body 100 , and the controller has at least one of the following functions: controlling the rotation of the first drive motor 521 ; controlling the rotation of the rotation motor 841 ; and controlling the rotation of the second drive motor 521 .

[0664] In some embodiments, combined Figure 76 As shown, when the main cleaning component 310 is flat-bed mopping, the second water channel 620 is provided on the top of the mounting seat 312 ( Figure 77 the top plate 314 of the mounting base 312 and the vibration plate 313 are respectively provided with openings, the two openings forming the aforementioned second water outlet 3123.

[0665] Continue to refer Figure 76 , along the height direction of the cleaning device 10 , the top plate 314 is located between the bottom plate 315 and the chassis 101 , and the vibration plate 313 is located between the top plate 314 and the bottom plate 315 .

[0666] In some embodiments, as Figure 64 and Figure 65As shown, the water replenishment structure also includes a water supply line 630, one end of which is connected to the water tank 600, and the other end of which is connected to the second water channel 620 and the first water channel 610 respectively through a multi-way valve 660. In this way, the water tank 600 only needs to have a single liquid outlet 602. With the cooperation of the water supply line 630 and the multi-way valve 660, this single liquid outlet 602 can simultaneously replenish water for the main cleaning element 311 and the auxiliary cleaning element 511, which helps to improve the space utilization of the entire machine.

[0667] Figure 64 The multi-way valve 660 is exemplarily shown as a three-way valve, the inlet of which is connected to the water tank 600, and the two outlets of which are respectively connected to one end of the first waterway 610 and one end of the second waterway 620. It is understood that the multi-way valve 660 can also be a four-way valve or other types of valves.

[0668] In some embodiments, as Figure 65 As shown, the first drive structure 520 is located in the aforementioned first avoidance area 109, and a second avoidance opening 1015 is provided on the chassis 101 where the first avoidance area 109 is located, so that one end of the first waterway 610 and the second waterway 620 are located in the inner cavity of the fuselage 100, and the other end passes through the second avoidance opening 1015 and is located in the first avoidance area 109.

[0669] The first avoidance opening 104 connects the space below the chassis 101 with the inner cavity of the fuselage 100 above the chassis 101 , which at least facilitates the layout of the entire machine water channel and the control harness 20 .

[0670] The second avoidance opening 1015 is connected to the first avoidance area 109 .

[0671] For example, one end of the first water channel 610 is located in the inner cavity of the fuselage 100, and the other end passes through the second avoidance opening 1015, extends into the first avoidance area 109, and is connected to the swing arm 524.

[0672] In some embodiments, one end of the second water channel 620 is located in the inner cavity of the fuselage 100 , and the other end passes through the second avoidance opening 1015 and the first avoidance area 109 and is then located on the top of the mounting seat 312 .

[0673] Specifically, combined Figure 64 、 Figure 65 、 Figure 69a and Figure 71As shown, one end of the first water channel 610 is located in the inner cavity of the body 100, and the other end of the first water channel 610 sequentially passes through the second avoidance opening 1015, the pipe hole 581, the accommodating channel 30 of the support seat 580, and the first clearance hole 5125 of the swing arm 524 to enter the inner cavity of the swing arm 524, thereby communicating with the first water outlet 5121 at the bottom of the swing arm 524 to replenish water for the auxiliary cleaning element 511. One end of the second water channel 620 is located in the inner cavity of the body 100, and the other end of the second water channel 620 sequentially passes through the second avoidance opening 1015, the pipe hole 581, the accommodating channel 30 of the support seat 580, and the accommodating channel 30 on the second drive motor to enter the accommodating channel 30 of the mounting seat 312, thereby communicating with the second water outlet 3123 of the mounting seat 312 to replenish water for the main cleaning element 311.

[0674] The second avoidance opening 1015 can also allow the aforementioned control harness 20 to pass through, so that one end of the control harness 20 is fixed relative to the fuselage 100 and the other end passes through the second avoidance opening 1015 and enters the first avoidance area 109.

[0675] like Figure 64 As shown, the aforementioned multi-way valve 660 is located in the inner cavity of the fuselage 100 above the chassis 101.

[0676] In some embodiments, the first water channel 610 has a redundant length so that the first water channel 610 remains relaxed during the swinging or lifting of the auxiliary cleaning assembly 510 , or during the swinging and lifting of the auxiliary cleaning assembly 510 , thereby preventing the first water channel 610 from separating from the water tank 600 .

[0677] Similarly, in some embodiments, the second water channel 620 has a redundant length so that when the main cleaning component 310 is lifted, the second water channel 620 remains in a relaxed state, thereby preventing the second water channel 620 from separating from the water tank 600 .

[0678] If the first water channel 610 is directly connected to the water tank 600, the redundant length of the first water channel 610 can be used to prevent one end of the first water channel 610 from separating from the water tank 600 and to prevent the first section 611 and the second section 612 of the first water from separating at least during the swinging or lifting process of the auxiliary cleaning component 510. Figure 64 As shown, if the first water channel 610 is indirectly connected to the water tank 600 through the multi-way valve 660 and the water supply pipeline 630, the redundant length of the first water channel 610 can be utilized to prevent one end of the first water channel from separating from the multi-way valve 660 at least during the swinging or lifting process of the auxiliary cleaning component 510.

[0679] Similarly, if the second water channel 620 is directly connected to the water tank 600, the redundant length of the second water channel 620 can be used to prevent one end of the second water channel 620 from being separated from the water tank 600 and the other end of the second water channel 620 from being separated from the mounting base 312 at least during the lifting process of the main cleaning component 310. Figure 64 As shown, if the second water channel is indirectly connected to the water tank 600 through the multi-way valve 660 and the water supply pipeline 630, the redundant length of the second water channel 620 can be utilized to prevent one end of the second water channel from separating from the multi-way valve 660 at least during the lifting process of the main cleaning component 310.

[0680] In some embodiments, as Figure 64 and Figure 65 As shown, the water tank 600 is further provided with an overflow port 603 and an overflow pipe 640 provided at the overflow port 603; Figure 65 As shown, a third water outlet 1016 connected to the liquid outlet pipe of the overflow pipe 640 is provided on the chassis 101; when the auxiliary cleaning part 511 is in the initial position A, the overflow liquid in the overflow pipe 640 is opposite to the auxiliary cleaning part 511 of the auxiliary cleaning assembly 510 through the third water outlet 1016 to replenish water to the auxiliary cleaning part 511.

[0681] Since the overflow pipe 640 does not swing along with the swing arm 524, when the auxiliary cleaning member 511 is at the edge position C, the overflow hole does not replenish water to the auxiliary rag.

[0682] The scenario of replenishing water to the auxiliary cleaning member 511 through the overflow pipe 640 includes at least the following: when the cleaning device 10 returns to the base station and the base station replenishes water in the water tank 600 of the cleaning device 10, the water tank 600 overflows. Since the cleaning device 10 is on the base station and the auxiliary cleaning member 511 is in the initial position, the liquid flowing out of the overflow pipe 640 replenishes water to the auxiliary cleaning cloth in the initial position.

[0683] During the cleaning process of the cleaning device 10, when the cleaning device 10 crosses an obstacle or the ground is uneven, the body 100 will bump, and the water tank 600 will bump along with it. The water in the water tank 600 will occasionally overflow from the overflow port 603. In this case, the liquid flowing out of the overflow pipe 640 can also replenish water to the auxiliary cloth in the initial position.

[0684] Exemplarily, when the auxiliary cleaning member 511 is in the initial position A, the third water outlet 1016 may be located directly above the hollow area 501 .

[0685] In some embodiments, as Figure 67a and Figure 67b As shown, the outer periphery of the auxiliary cleaning plate 512 is provided with a deformation portion 513, and the deformation portion 513 is provided with a deformation hole 515. When the auxil...

Claims

1. A cleaning device, characterized in that: include body; A main cleaning module is provided on the machine body; the main cleaning module comprises a first lifting structure and at least one main cleaning component; the first lifting structure is used to drive the main cleaning component to rise and fall; An auxiliary cleaning module, the auxiliary cleaning module comprising at least one auxiliary cleaning component, the auxiliary cleaning component having at least an initial position and an edge position relative to the body; In the edge position, at least a portion of the auxiliary cleaning assembly extends beyond the edge of the body for edge cleaning; The auxiliary cleaning module is arranged on the main cleaning component. Under the drive of the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component.

2. The cleaning device according to claim 1, characterized in that The main cleaning component and the auxiliary cleaning component are synchronously in a mopping position and a lifting position. When in the mopping position, both the main cleaning component and the auxiliary cleaning component clean the surface to be cleaned.

3. The cleaning device according to claim 1, characterized in that The main cleaning component is arranged below the chassis of the fuselage, and the main cleaning component includes at least a mounting seat and a main cleaning part arranged at the bottom of the mounting seat; the auxiliary cleaning module is arranged on the top of the mounting seat and is located below the fuselage, and the first lifting structure drives the mounting seat to rise and fall, thereby driving the auxiliary cleaning module to rise and fall.

4. The cleaning device according to claim 3, characterized in that The side wall of the fuselage is provided with a first avoidance opening, and the chassis of the fuselage is provided with a first avoidance area; At least part of the auxiliary cleaning module is located in the first avoidance area, and the auxiliary cleaning module can be swung outward toward the edge position through the first avoidance opening, and retracted toward the initial position; When the auxiliary cleaning component is in the initial position, at least a portion of the auxiliary cleaning component is located in the first avoidance area.

5. The cleaning device according to claim 4, characterized in that The first avoidance area is a concave cavity provided on the bottom of the chassis and concave upward toward the inner cavity of the fuselage.

6. The cleaning device according to claim 4, characterized in that The auxiliary cleaning module further includes a first driving structure located in the first avoidance area; The first driving structure includes at least a first driving motor, a first elastic member, and a swing arm, and the auxiliary cleaning assembly is provided on the swing arm; the first driving motor and the first elastic member cooperate to at least drive the swing arm to swing, thereby driving the auxiliary cleaning assembly to swing, so as to switch between the initial position and the edge position; When the auxiliary cleaning assembly is located at the edge position, one end of the swing arm is located in the first avoidance area, and the other end of the swing arm is located outside the first avoidance area through the first avoidance opening to extend outside the edge of the fuselage.

7. The cleaning device according to claim 6, characterized in that The first driving structure also includes a first transmission assembly, and the two ends of the first elastic member act on the first transmission assembly and the swing arm respectively, so that when the first driving motor drives the first transmission assembly to rotate, the swing arm is driven to swing through the first elastic member; when the first driving motor is not started, when the swing arm and / or the auxiliary cleaning assembly are squeezed or collided by external obstacles, the swing arm can swing toward the initial position relative to the first transmission assembly.

8. The cleaning device according to claim 7, characterized in that The first driving structure also includes a rotation driving mechanism for driving the auxiliary cleaning component to rotate; the rotation driving mechanism includes a rotation motor arranged on the swing arm, and a second transmission assembly, and the auxiliary cleaning component is arranged on the swing arm by being arranged on the second transmission assembly, and is located below the swing arm; the rotation motor drives the second transmission assembly to rotate, so as to drive the auxiliary cleaning component to rotate.

9. The cleaning device according to claim 6, characterized in that The main cleaning module also includes a second driving structure, which is used to drive the main cleaning component to vibrate or twist back and forth to clean the floor; in the width direction and height direction of the fuselage, the second driving structure and the first driving structure are staggered on the mounting base.

10. The cleaning device according to claim 9, characterized in that The second driving structure is located in the first avoidance area.

11. The cleaning device according to claim 1, characterized in that It also includes a water replenishment structure and a dry cleaning module, wherein the dry cleaning module at least includes a dust box; the water replenishment structure at least includes a water tank; The dust box is arranged in the dust box cavity in the body; The water tank is arranged in the dust box cavity or below the dust box, and is used to provide liquid to the main cleaning component and / or the auxiliary cleaning component to wet the main cleaning component and / or the auxiliary cleaning component.

12. The cleaning device according to claim 11, characterized in that The fuselage comprises a chassis and an upper shell provided on the chassis; an inner cavity of the fuselage is formed between the upper shell and the chassis; The water tank is located below the chassis, and the dust box cavity is located above the chassis.

13. The cleaning device according to claim 11 or 12, characterized in that The vertical projections of the water tank and the dust box cavity on the ground at least partially overlap; and / or The vertical projections of the water tank and the dust box on the ground at least partially overlap.

14. The cleaning device according to claim 1, characterized in that It also includes a water replenishing structure, which includes at least a water tank for replenishing water to the main cleaning component and / or the auxiliary cleaning component to wet the main cleaning component and / or the auxiliary cleaning component.

15. The cleaning device according to claim 11 or 14, characterized in that The water replenishment structure further includes a water delivery mechanism connected to the water tank, the water delivery mechanism includes a first water path and a second water path, respectively replenishing water to the auxiliary cleaning component and the main cleaning component; The cleaning device further includes a first drive structure, the first drive structure including a first drive motor and a swing arm, the auxiliary cleaning assembly being disposed on the swing arm; the first drive motor is at least used to drive the swing arm to swing, thereby driving the auxiliary cleaning assembly to swing, so that the auxiliary cleaning assembly switches between the initial position and the edge position; The first water channel is at least partially located on the swing arm and swings with the swing arm, so as to replenish water to the auxiliary cleaning component when the auxiliary cleaning component is in the initial position, the edge position and the swinging process; and / or, The second water channel does not swing along with the swing of the swing arm.

16. The cleaning device according to claim 15, characterized in that A first water outlet is provided on the bottom of the swing arm; the liquid outlet of the first water channel is connected to the first water outlet; The first water outlet is located directly above the auxiliary cleaning member of the auxiliary cleaning assembly, and the solution in the first water channel drips onto the auxiliary cleaning member through the first water outlet.

17. The cleaning device according to claim 16, characterized in that The auxiliary cleaning component includes an auxiliary cleaning plate and an auxiliary rag arranged on the bottom of the auxiliary cleaning plate; the auxiliary cleaning plate is provided with a hollow area along its circumference, and the first water outlet is connected to the hollow area, so that the solution on the first water path drips onto the auxiliary cleaning component through the first water outlet and the hollow area.

18. The cleaning device according to claim 15, characterized in that The first driving structure further includes a support base that can be raised and lowered relative to the fuselage and a first transmission assembly, and the swing arm is swingably disposed on the support base; The first drive motor and the first transmission assembly are both arranged on the support base; the support base is provided with a pipe passage hole; One end of the first water channel is connected to the water tank, and the other end is passed through the pipe hole and is arranged on the swing arm, so that the first water channel swings with the swing arm; and / or One end of the second water channel is connected to the water tank, and the other end passes through the pipe hole to replenish water to the main cleaning part of the main cleaning assembly.

19. The cleaning device according to claim 18, characterized in that The main cleaning component includes a mounting seat and a main cleaning part arranged at the bottom of the mounting seat. The other end of the second water channel is arranged on the top of the mounting seat. A second water outlet is provided on the mounting seat. The other end of the second water channel is connected to the second water outlet. The solution in the second water channel drips onto the main cleaning part through the second water outlet to replenish water to the main cleaning part.

20. The cleaning device according to claim 18, characterized in that The water replenishment structure also includes a water supply pipeline, one end of which is connected to the water tank, and the other end of which is connected to the second water channel and the first water channel respectively through a multi-way valve.

21. The cleaning device according to claim 18, characterized in that The support base is provided with a wiring hole, and the support base is provided with an accommodating channel connected to the wiring hole; One end is connected to the controller, and the other end passes through the wiring hole and is arranged in at least one control harness in the accommodating channel, wherein one of the control harnesses is connected to the first drive motor.

22. The cleaning device according to claim 21, characterized in that A first avoidance area on the bottom of the chassis of the fuselage that is recessed upward; The first driving structure is located in the first avoidance area, and a second avoidance opening is provided on the chassis where the first avoidance area is located, so that one end of the first waterway and the second waterway is located in the inner cavity of the fuselage, and the other end passes through the second avoidance opening and is located in the first avoidance area.

23. The cleaning device according to claim 15, characterized in that The first water channel has a redundant length so that the first water channel remains in a relaxed state during the swinging and / or lifting of the auxiliary cleaning component, thereby preventing the first water channel from separating from the water tank; and / or The second water channel has a redundant length so that when the main cleaning assembly is lifted, the second water channel remains in a relaxed state, thereby preventing the second water channel from being separated from the water tank.

24. The cleaning device according to claim 11 or 14, characterized in that The water tank is also provided with an overflow port and an overflow pipe provided at the overflow port; a third water outlet connected to the liquid outlet pipe of the overflow pipe is provided on the chassis of the cleaning device; When the auxiliary cleaning member of the auxiliary cleaning assembly is in the initial position, the overflow liquid in the overflow pipe is opposite to the auxiliary cleaning member of the auxiliary cleaning assembly through the third water outlet to replenish water to the auxiliary cleaning member.

25. The cleaning device according to claim 1, characterized in that The cleaning device further includes a dry cleaning module, which includes a dust box, a main fan and a dust exhaust channel arranged in the body, and a roller brush arranged at the bottom of the body; The main fan is used to suck the garbage swept by the roller brush into the dust box; Under the action of the dust collecting fan on the base station, the garbage in the dust box is collected into the base station through the dust exhaust channel.

26. The cleaning device according to claim 25, characterized in that The bottom of the body is provided with a first avoidance area that is concave upward toward the inner cavity of the body; the auxiliary cleaning module further includes a first driving structure for at least driving the auxiliary cleaning component to swing, and the first driving structure is located in the first avoidance area; The dust exhaust channel and the first avoidance area are distributed on both sides of the main fan; along the forward direction of the fuselage, the main fan is distributed behind the dust box.

27. The cleaning device according to claim 26, characterized in that The utility model further comprises a water replenishing mechanism, wherein the water replenishing mechanism comprises a water tank, wherein the water tank is arranged in the dust box cavity or below the dust box, and the water tank is used to provide liquid to the main cleaning component and / or the auxiliary cleaning component to wet the main cleaning component and / or the auxiliary cleaning component; Along the forward direction of the fuselage, the water tank is located behind the roller brush.

28. The cleaning device according to claim 25, characterized in that The dust box has a dust inlet and a dust outlet, and the main fan is used to suck the garbage into the dust box through the dust inlet; The dust exhaust port is communicated with the dust exhaust channel, and the air duct inside the dust box is a smooth air duct from the dust inlet toward the dust exhaust port to guide the dust gas to flow from the dust inlet to the dust exhaust port.

29. The cleaning device according to claim 28, characterized in that The air duct is provided with arcuate transition surfaces or tangential transition surfaces at its corners to form a smooth air duct; and / or Along the forward direction of the body, the dust inlet is located at the right end of the front side wall of the dust box, and the dust outlet is located at the corner where the rear side wall and the left side wall of the dust box are connected.

30. The cleaning device according to claim 28, characterized in that Along the width direction of the body, the roller brush has a fixed end and a free end; the cleaning device further includes a third driving structure for driving the roller brush to rotate; The fixed end is connected to the third driving structure, and the free end is suspended in the air and distributed close to the dust inlet, so that when the roller brush rotates, the garbage cleaned on the roller brush moves from the fixed end toward the free end, and under the action of the main fan, enters the dust box through the dust inlet.

31. The cleaning device according to claim 30, characterized in that A roller brush cavity is provided on the chassis of the cleaning device, and the roller brush is rotatably provided in the roller brush cavity; along the width direction of the machine body, a gap is formed between the left side wall of the roller brush cavity and the free end of the roller brush, and the dust inlet is connected to the gap.

32. The cleaning device according to claim 28, characterized in that The dust box also has an exhaust port connected to its air duct; a filter assembly is provided on the exhaust port, and the main fan is provided on the exhaust port; Under the action of the dust collecting fan on the base station, the air flow is blown into the dust box through the main fan, the filter assembly and the exhaust port in sequence, so as to blow the garbage remaining on the filter assembly into the air duct of the dust box.

33. The cleaning device according to claim 32, characterized in that The air inlet end of the dust collecting fan is communicated with the dust exhaust channel, and the air outlet end of the dust collecting fan can be communicated with the air duct of the main fan.

34. The cleaning device according to claim 26, characterized in that The main cleaning assembly includes a mounting seat and a main cleaning member provided on the bottom of the mounting seat; The first lifting structure comprises at least a lifting motor, a third transmission assembly and at least one lifting assembly; The lifting motor is arranged in the inner cavity of the fuselage; the lifting assembly is arranged on the mounting seat and is located below the chassis of the fuselage; One end of the third transmission assembly is drive-connected to the lifting motor, and the other end passes through the chassis and is connected to the lifting assembly, so that the lifting motor drives the lifting assembly to move up and down through the third transmission assembly, thereby driving the mounting base to move up and down.

35. The cleaning device according to claim 34, characterized in that There are two lifting components, one of which is located in the first avoidance area and distributed between the main fan and the first driving structure; a second avoidance area that is recessed upward is provided on the bottom of the chassis, and the other lifting component is located in the second avoidance area and distributed between the main fan and the dust exhaust channel.

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