Cleaning module and cleaning equipment

Abstract

The utility model provides a cleaning module and cleaning equipment. The cleaning module comprises a supporting base, at least one cleaning assembly, a first driving structure and a water supplementing structure. The supporting base can ascend and descend relative to a machine body of the cleaning equipment. The cleaning assembly at least has an initial position and an edge position relative to the machine body; at the edge position, at least part of the cleaning assembly extends out of the edge of the machine body for edge cleaning; the first driving structure is arranged on the supporting seat and comprises a first driving motor and a swing arm, and the cleaning assembly is arranged on the swing arm; the first driving motor is at least used for driving the swing arm to swing relative to the supporting base, the water supplementing structure comprises a water tank and a water conveying mechanism, the water conveying mechanism comprises a first water path, at least part of the first water path is located on the swing arm and synchronously swings along with the swing arm, and the first water path can supplement water to the cleaning assembly. When the cleaning assembly is located at the edge position, water can be supplemented to the cleaning assembly, the cleaning assembly can conduct wet cleaning in a wet state, and the edge cleaning effect is improved.

Description

Technical Field

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

[0002] In order to achieve edge cleaning, the cleaning module of the existing household cleaning robot has a cleaning component that swings between an initial position and an edge position relative to the body. When the cleaning component swings to the edge position, part of the cleaning component can extend beyond the edge of the maximum width of the body (or the walking range of the edge of the maximum width) to clean the edge of the obstacle and achieve edge cleaning.

[0003] In the existing cleaning module, although the cleaning component can be swung outward to achieve edge cleaning, it is difficult to replenish water to the cleaning parts of the cleaning component when the cleaning component is in the edge position. Therefore, when the cleaning component is cleaning along the edge, the cleaning parts cannot be wetted for wet cleaning, resulting in poor edge cleaning effect.

[0004] Therefore, there is an urgent need to provide a cleaning module to solve at least one of the above technical problems. Summary of the Invention

[0005] In view of the above problems, the embodiments of the present application provide a cleaning module and a cleaning device, which can replenish water for the cleaning component when the cleaning component is in the edge position. The cleaning component can perform wet cleaning in a wet state, thereby improving the edge cleaning effect.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] The first embodiment of the present application provides a cleaning module, comprising

[0008] A support base, which can be raised and lowered relative to the body of the cleaning device;

[0009] At least one cleaning assembly, the cleaning assembly having at least an initial position and an edge position relative to the body; in the edge position, at least a portion of the cleaning assembly extends beyond an edge of the body for edge cleaning;

[0010] a first drive structure, disposed on the support base, comprising a first drive motor and a swing arm, wherein the cleaning assembly is disposed on the swing arm; the first drive motor is at least configured to drive the swing arm to swing relative to the support base, thereby driving the cleaning assembly to swing, so that the cleaning assembly switches between the initial position and the edge position;

[0011] a water supply structure comprising a water tank and a water supply mechanism connected to the water tank, wherein the water supply mechanism comprises a first water channel for supplying liquid to the cleaning component to wet the cleaning component;

[0012] At least a portion of the first water channel is located on the swing arm and swings with the swing arm, so that the first water channel can replenish water to the cleaning component when the cleaning component is in an initial position, an edge position, and a swing position between the initial position and the edge position.

[0013] The first water channel swings with the swing arm, allowing it to better adapt to the changes in the auxiliary cleaning component's position, replenishing the auxiliary cleaning component with water in a timely manner to ensure its cleaning effectiveness. When the swing arm drives the cleaning component outward to any position (including but not limited to edge position C), the first water channel can replenish the cleaning component with water, allowing it to perform wet cleaning while remaining moist, improving edge cleaning effectiveness.

[0014] 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;

[0015] The first water outlet is located directly above the cleaning member of the cleaning assembly, and the solution in the first water channel drips onto the cleaning member through the first water outlet.

[0016] Optionally, the cleaning component includes a cleaning plate and a rag arranged on the bottom of the cleaning plate; the cleaning plate has a hollow area distributed along its circumference, and at least a portion of the first water outlet is connected to the hollow area, so that the solution on the first water path drips onto the rag through the first water outlet and the hollow area.

[0017] Optionally, one end of the first water channel is connected to the water tank, and the other end is provided on the swing arm and serves as a liquid outlet, communicating with the first water outlet, so that the other end of the first water channel swings with the swing arm.

[0018] Optionally, the first waterway includes a first section and a second section;

[0019] One end of the first section is connected to the water tank, and the other end is connected to one end of the second section. At least one end of the first section is located outside the swing arm; at least the other end of the second section is arranged in the swing arm as the liquid outlet.

[0020] Optionally, the second section is located in the inner cavity of the swing arm, and the other end of the first section extends into the inner cavity of the swing arm and is connected to the second section; or

[0021] The first section is located outside the swing arm, and one end of the second section extends out of the swing arm and is connected to the other end of the first section.

[0022] Optionally, a first easing hole is provided on the swing arm, and the other end of the first section and one end of the second section are connected at the first easing hole.

[0023] Optionally, the first section is a water pipe, and / or

[0024] The second section is a sealed box;

[0025] and / or

[0026] The second section includes a horizontal portion and a connecting portion intersecting with the horizontal portion. The horizontal portion is fixed in the inner cavity of the swing arm and has the liquid outlet. One end of the connecting portion is connected to the horizontal portion, and the other end is connected to one end of the first section.

[0027] Optionally, the other end of the second section has a protruding column, and the liquid outlet is provided on the protruding column; the protruding column is inserted into the first water outlet to connect the liquid outlet and the first water outlet.

[0028] Optionally, a sealing member is further provided between the boss and the first water outlet to seal a gap between the boss and the first water outlet; or

[0029] The bottom of the swing arm is provided with a second easing hole and a sealing plug sealed and fixed on the second easing hole. The sealing plug is provided with the first water outlet. The bottom of the boss is sealed and inserted into the first water outlet of the sealing plug.

[0030] Optionally, the water tank is further provided with an overflow port and an overflow pipe provided on the overflow port; the chassis is provided with a third water outlet connected to the liquid outlet of the overflow pipe;

[0031] When the rag is in the initial position, the overflow liquid in the overflow pipe is connected to the hollow area through the third water outlet to replenish water to the rag; or

[0032] The outer circumference of the cleaning plate is provided with a deformation portion, and the deformation portion is provided with a deformation hole. When the rag is in the initial position, the third water outlet is connected with the deformation hole to replenish water to the rag.

[0033] Optionally, the edge of the rag has an upward closing flange, and the closing flange is sleeved on the top of the deformation portion; the third water outlet is located above the top of the closing flange.

[0034] Optionally, the water tank is fixed relative to the fuselage.

[0035] Optionally, it further comprises a rotation drive mechanism provided on the swing arm;

[0036] The self-rotation drive mechanism includes a self-rotation motor arranged on the swing arm, and a second transmission assembly arranged in the inner cavity of the swing arm. The cleaning assembly is arranged on the second transmission assembly and is located below the swing arm; the self-rotation motor drives the second transmission assembly to rotate to drive the cleaning assembly to rotate.

[0037] A second embodiment of the present application provides a cleaning device, comprising

[0038] body;

[0039] The cleaning module described in the first embodiment is arranged on the machine body.

[0040] A third embodiment of the present application provides a cleaning device, comprising

[0041] body;

[0042] A main cleaning module is provided on the body and is located below the bottom of the body; the main cleaning module includes at least one main cleaning component;

[0043] An auxiliary cleaning module, the auxiliary cleaning module being the cleaning module described in the embodiment of the first aspect, and being used at least to clean the missed areas along the edges that cannot be cleaned by the main cleaning assembly;

[0044] The water delivery mechanism of the water replenishing structure further includes a second water channel, which is connected to the water tank and is used to replenish water to the main cleaning component.

[0045] Optionally, the second water channel does not swing with the swing arm.

[0046] Optionally, the main cleaning assembly includes a mounting seat, and a main cleaning member provided at the bottom of the mounting seat, the other end of the second water channel is provided on the top of the mounting seat, the mounting seat is provided with a second water outlet, 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 member through the second water outlet to replenish water to the main cleaning member;

[0047] The supporting seat of the auxiliary cleaning module is arranged on the mounting seat.

[0048] Optionally, the support seat is provided with a pipe hole;

[0049] One end of the first water channel is connected to the water tank, and the other end passes through the pipe hole and is arranged on the swing arm, so that the first water channel swings with the swing arm; and / or

[0050] One end of the second water channel is connected to the water tank, and the other end passes through the pipe hole and is arranged on the top of the mounting seat.

[0051] Optionally, an accommodating channel is provided on the support seat;

[0052] The first water channel passes through the pipe hole, passes through the accommodating channel, and is arranged on the swing arm; the second water channel passes through the pipe hole, passes through the accommodating channel, and is arranged on the mounting seat.

[0053] Optionally, the support seat is provided with a wiring hole;

[0054] 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.

[0055] Optionally, the water replenishment structure further includes a water supply pipeline fixedly arranged relative to the fuselage, one end of the water supply pipeline is connected to the water tank, and the other end of the water supply pipeline is connected to the second water channel and the first water channel through a multi-way valve.

[0056] Optionally, the auxiliary cleaning module is arranged on the mounting seat; and further comprises a first lifting structure for driving the main cleaning assembly to rise and fall, so as to synchronously drive the auxiliary cleaning module to rise and fall;

[0057] The first water channel has a redundant length so that the first water channel remains in a relaxed state during the lifting process of the auxiliary cleaning module, thereby preventing the first water channel from separating from the water delivery pipeline; and / or

[0058] The second water channel has a redundant length so that when the main cleaning component is lifted, the second water channel remains in a relaxed state, thereby preventing the second water channel from being separated from the water delivery pipeline.

[0059] Optionally, the main cleaning component is a flat mop, which includes at least a mounting base and a vibration plate, wherein the mounting base is provided with a mounting hole, and the vibration plate is embedded in the mounting hole; the main cleaning member is provided at least on the bottom of the vibration plate, and the vibration plate reciprocates or twists to drive the main cleaning member to move to clean the surface to be cleaned; the second water channel is provided on the top of the mounting base;

[0060] The mounting seat and the vibration plate are respectively provided with openings, and the two openings form the second water outlet.

[0061] Optionally, the body includes a chassis, the main cleaning assembly and the auxiliary cleaning module are both located below the chassis; a first avoidance area that is recessed upward is provided on the bottom of the chassis;

[0062] 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;

[0063] One end of the first water channel is located in the inner cavity of the fuselage, and the other end passes through the second avoidance opening, extends into the first avoidance area, and is connected to the swing arm; and / or

[0064] One end of the second water channel is located in the inner cavity of the fuselage, and the other end is arranged on the top of the mounting seat after passing through the second avoidance opening and the first avoidance area.

[0065] Optionally, the auxiliary cleaning assembly of the auxiliary cleaning module includes a cleaning tray and an auxiliary rag provided on the bottom of the cleaning tray;

[0066] When the auxiliary rag is located at the initial position, the cleaning disc and the swing arm are both located in the first avoidance area, and at least a portion of the auxiliary rag is located in the first avoidance area.

[0067] Optionally, when the auxiliary rag is located at the initial position, at least a portion of the auxiliary rag is located outside the first avoidance area, so that the auxiliary rag extends out of the edge of the chassis.

[0068] 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

[0069] 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.

[0070] Figure 1 A schematic top view of a cleaning device provided in some embodiments of the present application with an auxiliary cleaning assembly disposed on a body, wherein the auxiliary cleaning assembly is in an initial position;

[0071] Figure 2 This is a schematic top view of a structure in which an auxiliary component is disposed on a fuselage and located along an edge in some embodiments of the present application;

[0072] Figure 3 This is a bottom-up structural diagram of an auxiliary component disposed on a fuselage and located in an initial position in some embodiments of the present application;

[0073] Figure 4This is a schematic diagram of the structure when the auxiliary components are arranged on the fuselage and located at different positions in some embodiments of the present application;

[0074] Figure 5 A schematic diagram of a three-dimensional structure in which an auxiliary component is arranged on a fuselage and is located in an initial position in some embodiments of the present application;

[0075] Figure 6 An exploded view of a cleaning device in some embodiments of the present application;

[0076] Figure 7 This is one of the internal structure diagrams of the cleaning device in some embodiments of the present application;

[0077] Figure 8 This is a schematic structural diagram of the chassis in some embodiments of the present application;

[0078] Figure 9 for Figure 8 A bottom-up schematic diagram of the mid-chassis;

[0079] Figure 10 This is the second schematic diagram of the internal structure of the cleaning device in some embodiments of the present application;

[0080] Figure 11 for Figure 10 Enlarged view of the circled part;

[0081] Figure 12 This is the third schematic diagram of the internal structure of the cleaning device in some embodiments of the present application;

[0082] Figure 13 An exploded view of the auxiliary cleaning module in some embodiments of the present application;

[0083] Figure 14 This is a schematic diagram of the three-dimensional structure of the auxiliary cleaning module in some embodiments of the present application;

[0084] Figure 15 This is a bottom view schematic diagram of the auxiliary cleaning module in some embodiments of the present application;

[0085] Figure 16 This is a schematic diagram of the partial structure of the auxiliary cleaning module in some embodiments of the present application;

[0086] Figure 17 This is a schematic structural diagram of the auxiliary cleaning disk in some embodiments of the present application;

[0087] Figure 18 This is one of the internal structural diagrams of the auxiliary cleaning module in some embodiments of the present application;

[0088] Figure 19 This is the second schematic diagram of the internal structure of the auxiliary cleaning module in some embodiments of the present application;

[0089] Figure 20 This is one of the partial structural diagrams of the auxiliary cleaning module in some embodiments of the present application;

[0090] Figure 21 This is the second partial structural diagram of the auxiliary cleaning module in some embodiments of the present application;

[0091] Figure 22 This is one of the partial structural cross-sectional views of the auxiliary cleaning module in some embodiments of the present application;

[0092] Figure 23 This is the third partial structural diagram of the auxiliary cleaning module in some embodiments of the present application;

[0093] Figure 24 for Figure 23 Partial structural cross-sectional view of the middle auxiliary cleaning module;

[0094] Figure 25 for Figure 23 Exploded view of part of the structure of the auxiliary cleaning module;

[0095] Figure 26 This is a cross-sectional view of the assembled swing arm and sealing plug in some embodiments of the present application;

[0096] Figure 27 In some embodiments of this application, the auxiliary cleaning module is different from Figure 14 A structural diagram from another perspective;

[0097] Figure 28 This is a schematic top view of the auxiliary cleaning module in some embodiments of the present application.

[0098] Description of reference numerals:

[0099] 10. Cleaning equipment; 20. Control harness; 30. Accommodation channel; 31. Wire trough; 32. Accommodation chamber;

[0100] 100. Body; 101. Chassis; 102. Upper shell; 103. Dust extraction port; 109. First avoidance zone;

[0101] 200, dry cleaning module; 201, roller brush; 202, dust box; 203, main fan; 205, roller brush chamber; 300, main cleaning module; 310, mounting base; 310, main cleaning assembly; 310, main cleaning member; 311, main cleaning member; 312, mounting base; 313, vibration plate; 330, first lifting structure; 340, second driving structure;

[0102] 400, side brush;

[0103] 500, auxiliary cleaning module; 500, main cleaning module; 501, hollow area; 502, second connecting portion; 510, auxiliary cleaning assembly; 511, auxiliary cleaning member; 512, auxiliary cleaning disc; 513, deformation portion; 515, deformation hole; 520, first driving structure; 521, first driving motor; 522, first elastic member; 524, swing arm; 580, support base; 581, pipe hole; 5 82, wiring hole; 583, soft rubber structure; 600, water tank; 601, liquid inlet; 602, liquid outlet; 603, overflow; 610, first water channel; 611, first section; 612, second section; 613, boss; 614, seal; 620, second water channel; 630, water delivery pipeline; 640, overflow pipe; 650, first water pump; 660, multi-way valve; 670, second water pump;

[0104] 700, driving wheel; 840, rotation drive mechanism; 1013, liquid inlet; 1015, second avoidance port; 1016, third water outlet; 1021, top decorative cover; 1022, top decorative cover; 1023, top decorative cover; 1024, bottom decorative cover; 3123, second water outlet; 3151, embedded mounting hole; 3151, upper mounting hole; 5051, drainage hole; 5112, closing flange; 5121, first water outlet; 5122, second avoidance hole; 5123, step hole; 5124, sealing plug; 5125, first avoidance hole;

[0105] 6121, horizontal portion; 6122, first connecting portion; 6131, first annular groove; 6132, first flange;

[0106] A. Initial position; B. Third position; C. Edge position. DETAILED DESCRIPTION

[0107] In some embodiments, as Figure 1 As shown, the cleaning device 10 includes a body 100 and a cleaning module arranged at the bottom of the body 100, the cleaning module includes at least one cleaning component and a driving structure, the cleaning component has an initial position and an edge position relative to the body; the driving structure is used to drive the cleaning component to switch between the initial position and the edge position.

[0108] The cleaning component can be one, for example, a cleaning tray or a flat mop. Alternatively, the cleaning component can be two (for example, two cleaning trays).

[0109] At least one cleaning assembly can swing relative to the body 100 to switch between at least an initial position A and an edge position C. In the edge position C, at least a portion of the cleaning assembly extends beyond the edge of the body 100 to perform edge cleaning of obstacles, walls, and the like. When the cleaning assembly is in the initial position A, the cleaning assembly can be located within the maximum projection of the edge of the body 100, or at least a portion of the cleaning assembly can be located outside the edge of the body 100.

[0110] If the cleaning device only includes a main cleaning module, and the main cleaning module includes at least one main cleaning component, then the aforementioned swingable cleaning module is the main cleaning module, and the cleaning component is at least one main cleaning component.

[0111] In some embodiments, as Figure 1 and Figure 2 As shown, if the cleaning device 10 includes both a main cleaning module 300 and an auxiliary cleaning module 500 mounted on the body 100, wherein the main cleaning module 300 includes at least one main cleaning component 310 (e.g., a cleaning tray, a flat mop) or two main cleaning components 310 (e.g., two cleaning trays), and the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510, then the aforementioned swingable cleaning module is the auxiliary cleaning module, and the cleaning component is the auxiliary cleaning component.

[0112] In some embodiments, as Figure 4 As shown, the cleaning assembly also has a third position B, allowing it to switch between an initial position A, an edge position C, and the third position B. The third position B is used to clean the angled area formed by the edge of an obstacle. The distances between the rotation center of the body 100 and the rotation center of the cleaning assembly at the initial position A, edge position C, and the third position B are LA, LB, and LC, respectively, where LB>LC>LA.

[0113] Based on the above content, the following description will be made by taking the cleaning device 10 including both the main cleaning module 300 and the auxiliary cleaning module as an example.

[0114] One inventive concept of the present application is that a cleaning device 10 includes a main cleaning module 300 and an auxiliary cleaning module 500 disposed on a body 100, wherein the main cleaning module 300 includes at least one main cleaning assembly 310. The main cleaning assembly 310 does not swing relative to the body 100, and no swinging structure is required within the 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 that drives the main cleaning assembly 310 to move upward and downward, and a second driving structure 340 that drives the mopping motion. For example, the mopping motion can be the reciprocating vibration or twisting motion of a flat mop. Figure 1 and Figure 3The schematic structural diagram of the cleaning device is shown exemplarily when the auxiliary cleaning component 510 is in the initial position A. Figure 2 The schematic structural diagram of the cleaning device is shown exemplarily when the auxiliary cleaning component 510 is in the edge position B.

[0115] The auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510. The auxiliary cleaning component 510 can swing relative to the body 100 to switch between an initial position A and an edge position B (see FIG. Figure 4 ), and in the edge position B, at least a portion of the auxiliary cleaning assembly 510 extends beyond the edge of the machine body 100 to perform edge cleaning on obstacles, walls, and other edges. In other words, in the edge position B, the auxiliary cleaning assembly 510 extends beyond the maximum width of the machine body 100 and is located outside the travel range of the machine body 100 to perform edge cleaning.

[0116] When the auxiliary cleaning assembly 510 is at the initial position A, the auxiliary cleaning assembly 510 may be entirely located within the maximum projection of the edge of the body 100 , or at least part of the auxiliary cleaning assembly 510 may be located outside the maximum edge of the width of the body 100 .

[0117] 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, including but not limited to flat-bed mopping.

[0118] 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. If both the main cleaning member 311 and the auxiliary cleaning member 511 are 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 B, the small rag is used for cleaning. The main cleaning member 311 and the auxiliary cleaning member 511 cooperate to achieve the function of cleaning the floor.

[0119] The aforementioned initial position A and edge position B may refer to the auxiliary cleaning disc 512 or the auxiliary cleaning member 511 . The auxiliary cleaning member 511 may be a rag, a wiping member, or the like.

[0120] For example: when the aforementioned auxiliary cleaning component 510 is in the edge position B, the auxiliary cleaning component 510 at least partially extends out of the edge of the fuselage 100, which may refer to the auxiliary cleaning component 511 extending out of the edge of the maximum width of the fuselage 100 and being located outside the moving range of the fuselage 100; or, it may also refer to the auxiliary cleaning disc 512 and the auxiliary cleaning component 511 both extending out of the edge of the maximum width of the fuselage 100 and being located outside the moving range of the fuselage 100.

[0121] When the auxiliary cleaning module 510 is in the initial position A, the auxiliary cleaning assembly 510 is located within the maximum range projection of the edge of the fuselage 100, which may mean that the auxiliary cleaning disc 512 is entirely located within the maximum edge of the width of the fuselage 100 and is within the moving range of the fuselage 100, or that the auxiliary cleaning disc 512 and the auxiliary cleaning component 511 are all located within the maximum edge of the width of the fuselage 100 and are all located within the moving range of the fuselage 100.

[0122] By retracting and swinging the auxiliary cleaning component 510 inward and outward, it is possible to switch between the edge position B and the initial position A, and perform edge cleaning at the edge position B; 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.

[0123] The cleaning device 10 is exemplified as a self-propelled cleaning robot, which can be, for example, a mopping robot or a sweeping and mopping robot for both wet and dry use. The cleaning device 10 will be described below as a sweeping and mopping robot.

[0124] Please refer to Figure 3 and Figure 4 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 3 ), 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.

[0125] In some embodiments, please refer to Figure 3 and Figure 4As 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.

[0126] 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.

[0127] 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.

[0128] like Figure 6 As shown, the fuselage 100 generally includes at least a chassis 101 and an upper shell 102 connected to the chassis 101. The chassis 101 and the upper shell 102 enclose an inner cavity of the fuselage 100 to form a receiving cavity. Figure 6 The body 100 further includes a top decorative cover 1021 located above the upper shell, and a bottom decorative cover 1024 located below the bottom chassis 101. The top decorative cover 1021 includes a front top decorative cover 1022 and a rear top decorative cover 1023. The rear top decorative cover 1023 can be opened to reveal the dust box 202, or closed to hide the dust box 202.

[0129] In some embodiments, as Figure 3 、 Figure 4 and Figure 7As 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.

[0130] The cleaning robot also includes a walking system for driving the body 100 to move on its own 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 an obstacle-crossing function during walking. 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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 .

[0136] The cleaning device 10 also includes a second driving 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 the cleaning device 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.

[0137] The cleaning device 10 also includes at least a water replenishment mechanism for replenishing water to the main cleaning element 311 of the main cleaning assembly 310, thereby moistening the main cleaning element 311, allowing the rag to be 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 transfers water from the water tank 600 to a water delivery mechanism on the main cleaning element 311.

[0138] 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, the auxiliary cleaning member 511 can be left in a dry state and clean the floor without replenishing water, but the cleaning effect is weaker than wet mopping.

[0139] 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.

[0140] 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.

[0141] For example, the mounting base 312 can be a flat mop, and the main cleaning element 311 can be 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.

[0142] Please refer to Figure 4 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.

[0143] 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, and the auxiliary cleaning component 510 has at least an initial position A and an edge position B relative to the body 100; in the edge position B, 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, in one embodiment, in the initial position A, the auxiliary cleaning module 500 will be completely retracted within the projection range of the maximum edge of the body 100, and from the top view direction of the body 100, the auxiliary cleaning module 500 will not be outside the body 100, so that the overall outline size of the cleaning robot will not be increased; or, in the initial position A, the auxiliary cleaning module 500 will be partially retracted within the projection range of the maximum edge of the body 100, and partially extend out of the edge of the body 100, and from the top view direction of the body 100, the auxiliary cleaning module 500 will be partially outside the body 100 (such as Figure 1 and Figure 3 As shown), in this way, even in the initial position A, the auxiliary cleaning module 500 can expand the cleaning range. For the initial position A and the edge position B, it can be a fixed point position or an interval position. In particular, at the edge position B, when the first driving structure 520 that drives the auxiliary cleaning component 510 to swing includes a first elastic member, when the auxiliary cleaning component 510 is subjected to the force of an obstacle at the edge position B, under the buffering action of the first elastic member, the auxiliary cleaning module 500 will passively retract to buffer the collision with the obstacle. Therefore, the edge position B can be a dynamically changing position rather than a fixed point position.

[0144] 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. In the edge position B, 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 in the initial position A, so as to achieve edge cleaning.

[0145] It should be noted that the initial position A and the edge position B are not limited to the auxiliary cleaning assembly 510 , but may also be any component of the auxiliary cleaning module 500 that swings synchronously with the auxiliary cleaning assembly 510 .

[0146] 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 B.

[0147] For example, the first driving structure 520 includes a first driving 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 B and the initial position A.

[0148] Since the swing arm 524 and the auxiliary cleaning assembly 510 swing synchronously, the aforementioned initial position A and edge position B can also be said to have the initial position A and edge position B of the swing arm 524.

[0149] In some embodiments, as Figure 19 As shown, 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.

[0150] Because the first elastic member's two ends act on the first transmission assembly and the swing arm, respectively, the first elastic member can transmit the driving force of the first transmission assembly to the swing arm, thereby at least driving the swing arm to swing outward. Based on this structure, the first elastic member can buffer the auxiliary cleaning module from collisions with obstacles, thereby protecting at least the auxiliary cleaning module's first transmission assembly and first drive motor.

[0151] When the first drive motor is not started, if the swing arm and / or the auxiliary cleaning component are subjected to the squeezing force or collision force of external obstacles, the swing arm will passively retract under the elastic action of the first elastic member to buffer the squeezing force or collision force, thereby reducing or even avoiding damage to the auxiliary cleaning module caused by the squeezing force or collision force.

[0152] If the first drive motor is in the started state and the swing arm and / or auxiliary cleaning component is subjected to squeezing force or collision force from external obstacles, the swing arm can be controlled to actively retract according to the current change of the first drive motor to buffer the squeezing force or collision force.

[0153] Other details about the first driving structure will be further described below.

[0154] In some embodiments, as Figure 3 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.

[0155] 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.

[0156] Among them, as an optional implementation, in some embodiments, the first driving structure also includes a rotation driving mechanism for driving the auxiliary cleaning component 510 to rotate, thereby driving the auxiliary cleaning component 511 to rotate, so as to increase the friction between the auxiliary cleaning component 511 and the ground, and improve the cleaning effect along the edge.

[0157] The first driving mechanism may use two motors to respectively drive the swing arm 524 to drive the auxiliary cleaning assembly 510 to swing, so as to switch between the initial position A and the edge position B, and drive the auxiliary cleaning assembly 510 to rotate.

[0158] In some embodiments, the first driving structure 520 can use a motor to drive the swing arm 524 to drive the auxiliary cleaning component 510 to swing, and also drive the auxiliary cleaning component 510 to rotate, thereby making the driving structure compact and eliminating the need to set up a separate driving structure to drive the auxiliary cleaning component 510 to rotate.

[0159] 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.

[0160] 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

[0161] Based on the above description, this embodiment provides a cleaning module, which can refer to the main cleaning module or the auxiliary cleaning module. For ease of description, the following cleaning modules are all described using the auxiliary cleaning module as an example, and the cleaning components are all described using the auxiliary cleaning component as an example.

[0162] The cleaning module of this embodiment includes a support base 580, at least one cleaning component, a first drive structure 520, and a water replenishment structure. The support base 580 is movable relative to the cleaning device body; the cleaning component has at least an initial position A and an edge position C relative to the body 100; in edge position C, at least a portion of the cleaning component extends beyond the edge of the body for edge cleaning; the first drive structure 520 is disposed on the support base 580 and includes a first drive motor 521 and a swing arm 524, with the cleaning component disposed on the swing arm 524; the first drive motor 521 is used to at least drive the swing arm 524 to swing relative to the support base 580, thereby driving the cleaning component to swing and switch between the initial position A and edge position C.

[0163] Combine Figure 10 and Figure 11As shown, the water replenishment structure includes a water tank 600 and a water delivery mechanism connected to the water tank 600, and the water delivery mechanism includes a first water channel 610 ( Figure 14 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.

[0164] 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 .

[0165] The first water channel 610 swings with the swing arm 524, allowing it to better adapt to the position changes of the auxiliary cleaning member 511, replenishing the auxiliary cleaning member 511 with water in a timely manner, and ensuring the cleaning effect of the auxiliary cleaning member 511. When the swing arm 524 drives the cleaning assembly to swing outward to any position (including but not limited to the edge position C), the first water channel 610 can replenish the cleaning assembly with water, allowing the cleaning assembly to perform wet cleaning in a moist state, thereby improving the edge cleaning effect.

[0166] like Figure 13 As shown, a first water outlet 5121 is provided on the bottom of the swing arm 524; Figure 19 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.

[0167] 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.

[0168] In some embodiments, as Figure 13As 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.

[0169] The liquid is dripped onto the rag from top to bottom through the hollow area 501, which reduces or even avoids the problem of the liquid dripping onto the ground, thereby improving the water replenishment efficiency and water replenishment effect of the rag.

[0170] 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.

[0171] 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.

[0172] Figure 13 One first water outlet 5121 is shown as an example. It is understood that the number of first water outlets 5121 can also be two, three, or more. In a projection along the height direction of the body 100, the first water outlet 5121 is located within the hollow area 501 to ensure that all liquid flowing out of the first water outlet 5121 drips into the hollow area 501, reducing liquid waste.

[0173] The auxiliary cleaning disc 512 has at least one hollow area 501 arranged along its circumference. When there are at least two hollow areas 501 , the at least two hollow areas 501 are spaced apart along the circumference of the auxiliary cleaning disc 512 . Figure 15 It is exemplarily shown that four hollow areas 501 are provided along the circumference of the auxiliary cleaning disc 512 . Figure 16 and Figure 17 It is exemplarily shown that three hollow areas 501 are provided along the circumference of the auxiliary cleaning disc 512 .

[0174] Continue to refer Figure 17 A second connecting portion 502 is located between two adjacent hollowed-out areas 501. This second connecting portion 502 is provided with drainage holes 5051 and / or drainage surfaces. When the auxiliary cleaning disc 512 rotates, if liquid from the first water outlet 5121 drips onto the second connecting portion 502, the liquid can flow through the drainage holes 5051 to the auxiliary cleaning element 511 below, and / or the liquid can be drained through the drainage surfaces into the hollowed-out areas 501. This further ensures the wetting of the auxiliary cleaning element 511 and conserves liquid in the water tank 600. The drainage holes 5051 and drainage surfaces will be further discussed below when describing the cleaning assembly.

[0175] Figure 12 A bottom view of the auxiliary cleaning assembly 510 is exemplarily shown.

[0176] In some implementations, such as Figure 15 As shown, along the height direction of the cleaning device 10 , the first water outlet 5121 is located directly above the hollow area 501 .

[0177] Figure 16 The schematic structural diagram of the local position of the auxiliary cleaning component 510 in the cleaning device 10 is exemplarily shown, and the view is a bottom view tilted at a certain angle.

[0178] In other implementations, reference Figure 16 As shown, along the height direction of the cleaning device 10, the first water outlet 5121 is not located directly above the hollow area 501. This can be understood as, along the height direction of the cleaning device 10, the first water outlet 5121 is adjacent to the hollow area 501 (with a very small deviation between the two), and the first water outlet 5121 is located diagonally above the hollow area 501. With this distribution, liquid flowing out of the first water outlet 5121 can flow toward the hollow area 501 under the action of the drainage surface, thereby wetting the auxiliary cleaning component 510. Both of the above methods ensure that the liquid flowing out of the first water outlet 5121 flows directly into the hollow area 501, preventing waste of liquid in the water tank 600.

[0179] In some embodiments, combined Figure 18 and Figure 19 As shown, 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 .

[0180] One end of the first water channel 610 connected to the water tank 600 is fixed relative to the body 100, and 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. This first water channel 610 has a simple structure and a compact arrangement.

[0181] In some embodiments, the water tank 600 is fixed relative to the body 100 .

[0182] Combine Figure 10 and Figure 11 As shown, the water tank 600 is an elongated structure, with the longer direction of the water tank 600 extending 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 610 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 1013 (as shown in FIG. 1 ) on the rear side wall of the body 100 through a liquid inlet pipe. Figure 5 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.

[0183] 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 9 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 the first water channel 610 and / or the second water channel 620 .

[0184] 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 10 As shown, a first water pump 650 is further provided on the left side of the water tank 600 , and the first water pump 650 can more effectively pump the liquid in the base station into the water tank 600 .

[0185] In some embodiments, as Figure 18 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 602 of the first water channel 610.

[0186] 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.

[0187] 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.

[0188] Or, combined Figure 18 and Figure 20 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 is connected to the other end of the first section 611. 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 it easier to assemble the first section 611 and the second section 612.

[0189] In some embodiments, as Figure 20 As shown, a first clearance hole 5125 is provided on the swing arm 524, 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. Figure 20 It can be seen that 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 from the first clearance hole 5125.

[0190] 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 .

[0191] In some embodiments, combined Figure 18 and Figure 19 As shown, the first waterway 610 satisfies at least one of the following conditions:

[0192] The first section 611 is a water pipe;

[0193] The second section 612 is a sealed box;

[0194] 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 602. One end of the first connecting portion 6122 is connected to the horizontal portion 6121, and the other end is connected to one end of the first section 611.

[0195] The sealed box has a water channel connected to the first section 611. The outlet of the water channel is the liquid outlet of the first water channel 610. The sealed box can be formed by ultrasonic means, so that the second section 612 is an integrated structure. The second section 612 does not form gaps due to the assembly of multiple parts, thereby improving the sealing performance of the sealed box. When liquid flows through the water channel in the sealed box, the sealed box with good sealing performance will not cause liquid leakage, and thus will not affect the metal parts or electronic devices (if any) inside the sealed box. In some embodiments, such as Figure 18 As shown, the auxiliary cleaning module 500 also includes a rotation drive mechanism 840 provided on the swing arm 524. The rotation drive mechanism 840 includes a rotation motor provided on the swing arm 524 and a second transmission assembly provided in the inner cavity of the swing arm 524. The auxiliary cleaning assembly 510 is provided on the second transmission assembly and is located below the swing arm 524. The rotation motor drives the second transmission assembly to rotate to drive the auxiliary cleaning assembly 510 to rotate. Figure 18 and Figure 19 The second transmission assembly is shown as an example including a plurality of gears, and the above-mentioned metal parts may refer to the gears of the rotation drive mechanism 840 .

[0196] Without limitation, the second transmission assembly 842 is at least partially located within the inner cavity of the swing arm 524 , and the second section 612 is at least partially located below the second transmission assembly 842 .

[0197] exist Figure 18 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 .

[0198] 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 .

[0199] In some embodiments, as Figures 21 to 23 As shown, the other end of the second section 612 has a boss 613, and a liquid outlet is provided on the boss 613; the boss 613 is inserted into the first water outlet 5121 (see Figure 22 and Figure 24 ), so that the liquid outlet 602 is connected to the first water outlet 5121. In this way, all the liquid flowing out of the liquid outlet 602 can enter the first water outlet 5121, reducing the occurrence of liquid flowing to areas outside the first water outlet 5121, and the liquid can be fully utilized.

[0200] In addition, the boss 613 also makes it easier to connect with the first water outlet 5121, which facilitates assembly.

[0201] In some embodiments, as Figure 21 and Figure 22 As 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 602 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.

[0202] Figure 21 and Figure 22 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 22 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.

[0203] 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 Figures 23 to 24 As shown, the bottom of the swing arm 524 is provided with a second clearance hole 5122 ( Figure 26 ), 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.

[0204] 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.

[0205] 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.

[0206] For example, Figure 25As 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.

[0207] In some embodiments, as Figure 11 As shown, the water tank is further provided with an overflow port 603 and an overflow pipe 640 provided on the overflow port 603; Figure 12 As shown, the chassis 101 is provided with a third water outlet 1016 connected to the liquid outlet of the overflow pipe 640; when the rag is in the initial position A, the overflow liquid in the overflow pipe 640 is connected to the hollow area 501 through the third water outlet 1016 to replenish water for the rag; or, as Figure 9 and Figure 16 As shown, a deformation portion is provided around the periphery of the cleaning disc, and a deformation hole is provided on the deformation portion. When the rag is in the initial position, the third water outlet is connected to the deformation hole to replenish water to the rag.

[0208] 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, the overflow hole does not replenish water to the auxiliary rag.

[0209] 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.

[0210] 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.

[0211] 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 .

[0212] The auxiliary rag is at least partially located below the deformation hole 515. Since the third water outlet 1016 is connected to the deformation hole 515 (for example, the third water outlet 1016 is located directly above the deformation hole 515), the liquid dripping from the third water outlet 1016 falls into the deformation hole 515 and then drips from the deformation hole 515 onto the auxiliary rag. Alternatively, the auxiliary rag is partially located above the deformation hole 515 and partially located below the deformation hole 515. The liquid dripping from the third water outlet 1016 first falls on the portion of the auxiliary rag above the deformation hole 515, then falls into the deformation hole 515, and then drips from the deformation hole 515 onto the portion of the auxiliary rag below.

[0213] The deformation hole 515 is located outside the hollow area 501. When the auxiliary cleaning part 511 is in the initial position A, the third water outlet 1016 is connected to at least one of the deformation hole 515 and the hollow area 501. The liquid flowing out of the third water outlet 1016 can drip onto the auxiliary cleaning part 511 through at least one of the deformation hole 515 and the hollow area 501.

[0214] The deformation part 513 can be made of elastic material or flexible material, such as rubber. When the swing arm 524 is subjected to collision force during the swing process, the deformation part 513 can also rely on deformation to buffer the collision force, thereby providing a certain protection for the auxiliary cleaning module 500.

[0215] In addition, the auxiliary rag is mounted on the deformed portion 513. When the deformed portion 513 is squeezed, the flatness of its surface can be ensured, thereby avoiding the problem of poor flatness of the auxiliary rag caused by local protrusions.

[0216] In addition to serving as a liquid channel, the deformation hole 515 can also increase the deformation amount of the deformation portion 513, thereby better ensuring that the edge of the auxiliary cleaning member 511 has sufficient elastic compression.

[0217] In some embodiments, as Figure 14 As shown, the edge of the auxiliary rag has an upward closing flange 5112, and the closing flange 5112 is sleeved on the top of the deformation portion 513; the third water outlet 1016 is located above the top of the closing flange 5112.

[0218] The closing flange 5112 of the auxiliary cleaning cloth can facilitate its detachable connection with the cleaning cloth tray, and its specific structure will be introduced in detail in the following "auxiliary cleaning component 510 and auxiliary cleaning module 500" section.

[0219] from Figure 16 It can also be seen that at least when the auxiliary cleaning component 510 is in the initial position A, no pipeline is required between the third water outlet 1016 and the auxiliary rag, and the liquid dripping from the third water outlet 1016 can fall on the auxiliary rag to wet the auxiliary rag.

[0220] In some embodiments, the cleaning module also includes a rotation drive mechanism 840 provided on the swing arm 524; the rotation drive mechanism 840 includes a rotation motor provided on the swing arm 524, and a second transmission assembly provided in the inner cavity of the swing arm 524, and the cleaning assembly is provided on the second transmission assembly and is located below the swing arm 524; the rotation motor drives the second transmission assembly to rotate to drive the cleaning assembly to rotate. Example 2

[0221] Based on the above description, this embodiment provides a cleaning device, which includes a body and the cleaning module described in Example 1, and the cleaning module is arranged on the body.

[0222] In this embodiment, the cleaning device does not have an auxiliary cleaning module. The aforementioned cleaning module is a main cleaning module. The main cleaning module includes at least one main cleaning component. At least one cleaning component can swing relative to the body 100 to switch between at least the initial position A and the edge position C.

[0223] The structure and working principle of the cleaning device have been described in detail in the above embodiments and will not be repeated here. Example 3

[0224] Based on the foregoing description, this embodiment provides a cleaning device, comprising a body 100, a main cleaning module 300, and an auxiliary cleaning module 500. The main cleaning module 300 is disposed on the body 100 and below the bottom of the body 100; the main cleaning module 300 includes at least one main cleaning component 310; the auxiliary cleaning module 500 is the cleaning module described in Example 1, and is used to clean at least the areas along the edges that are not accessible to the main cleaning component 310; the water supply mechanism of the water replenishment structure further comprises a second water channel 620, which is connected to a water tank 600 and is used to replenish water to the main cleaning component 310.

[0225] 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.

[0226] 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.

[0227] In some embodiments, the second water channel 620 does not swing along with the swinging of the swing arm 524 .

[0228] 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.

[0229] 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.

[0230] 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 310. Figure 11 As shown, the other end of the second water channel 620 is disposed on the top of the mounting base 312. The mounting base 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 element 311 through the second water outlet 3123, replenishing the main cleaning element 311. The support base 580 of the auxiliary cleaning module 500 is disposed on the mounting base 312.

[0231] 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 .

[0232] like Figure 27 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; and / or 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. The second water channel 620 is arranged on the top of the mounting base 312.

[0233] 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 .

[0234] After passing through the pipe hole 581 , the second water channel 620 is located on the top of the mounting seat 312 and extends toward the main cleaning component 311 . There is no connection point between the second water channel 620 and the swing arm 524 , so the second water channel 620 does not swing with the swing arm 524 .

[0235] like Figure 27As 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.

[0236] In some embodiments, as Figure 28 As shown, an accommodating channel 30 is provided on the support seat 580; the first water channel 610 passes through the pipe hole 581, passes through the accommodating channel 30, and is provided on the swing arm 524; the second water channel 620 passes through the pipe hole 581, passes through the accommodating channel 30, and is provided on the mounting seat 312.

[0237] like Figure 28 As shown, the accommodating channel 30 includes at least one of a wiring groove 31 and an accommodating cavity 32 . Figure 28 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 is connected to the first clearance hole 5125. After entering the accommodating cavity, the first water channel 610 flows through the first clearance hole 5125 into the inner cavity of the swing arm 524. After entering the accommodating cavity 32, the second water channel 620 passes through the wiring groove, through the swing arm 524, and then extends to the mounting base 312 of the main cleaning assembly 310.

[0238] Without limitation, Figure 10 and Figure 11 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.

[0239] The above layout of this embodiment makes the entire structure more compact.

[0240] In some embodiments, the support base is provided with a wiring hole;

[0241] 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 control harness is connected to the first drive motor.

[0242] In some embodiments, as Figure 27As 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.

[0243] from Figure 27 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.

[0244] 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.

[0245] 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.

[0246] 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 self-rotating motor; and controlling the rotation of the second drive motor.

[0247] In some embodiments, as Figure 11 As 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.

[0248] Figure 11 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.

[0249] In some embodiments, the auxiliary cleaning module 500 is mounted on a mounting base 312. The main cleaning module 500 further includes a first lifting structure 330 for driving the main cleaning assembly 510 to rise and fall, thereby synchronously driving the auxiliary cleaning module 300 to rise and fall. The first waterway 610 has a redundant length so that during the swinging and / or lifting of the auxiliary cleaning assembly 510, the first waterway 610 remains relaxed, preventing the first waterway 610 from separating from the water tank 600; and / or the second waterway 620 has a redundant length so that during the lifting of the main cleaning assembly 310, the second waterway 620 remains relaxed, preventing the second waterway 620 from separating from the water tank 600.

[0250] 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 and / or lifting process of the auxiliary cleaning assembly 510. Figure 11 As shown, if the first water pipe 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 pipe from separating from the multi-way valve 660 at least during the swinging and / or lifting process of the auxiliary cleaning component 510.

[0251] 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 11 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 620 from separating from the multi-way valve 660 at least during the lifting process of the main cleaning component 310.

[0252] In some embodiments, as Figure 26 As shown, the main cleaning component 310 is a flat mop, which includes at least a mounting base 312 and a vibration plate 313. The mounting base 312 is provided with a mounting hole 3151, and the vibration plate 313 is embedded in the mounting hole 3151; the main cleaning member 310 is provided at least on the bottom of the vibration plate 313, and the vibration plate 313 vibrates or twists back and forth to drive the main cleaning member 311 to move to clean the surface to be cleaned; the second water channel 620 is provided on the top of the mounting base 312; the mounting base 312 and the vibration plate 313 are respectively provided with openings, and the two openings form a second water outlet 3123.

[0253] In some embodiments, the body 100 includes a chassis 101, and the main cleaning assembly 310 and the auxiliary cleaning module 500 are both located below the chassis 101; Figure 8 and Figure 9 As shown, the bottom of the fuselage 100 is provided with a first avoidance area 109 that is concave upward toward the interior of the fuselage 100. The first drive structure 520 is located within the first avoidance area 109. A second avoidance opening 1015 is provided on the chassis 101 where the first avoidance area 109 is located. One end of the first waterway 610 is located within the interior of the fuselage 100, and the other end passes through the second avoidance opening 1015, extends into the first avoidance area 109, and connects to the swing arm 524. Alternatively, one end of the second waterway 620 is located within the interior of the fuselage 100, and the other end passes through the second avoidance opening 1015 and the first avoidance area 109, and is located on the top of the mounting base 312.

[0254] Specifically, combined Figure 11 、 Figure 12 、 Figure 18 and Figure 28 As 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.

[0255] 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.

[0256] In some embodiments, the auxiliary cleaning assembly 510 of the auxiliary cleaning module 500 includes an auxiliary cleaning plate 512 and an auxiliary rag arranged on the bottom of the auxiliary cleaning plate 512; when the auxiliary rag is in the initial position A, the auxiliary cleaning plate 512 and the swing arm 524 are both located in the first avoidance area 109, and at least part of the auxiliary rag is located in the first avoidance area 109.

[0257] In some embodiments, when the auxiliary rag is located at the initial position A, at least a portion of the auxiliary rag is located outside the first avoidance area 109 , so that the auxiliary rag extends out of the edge of the chassis 101 .

[0258] The structure and working principle of the cleaning device have been described in detail in the above embodiments and will not be repeated here.

[0259] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0260] Throughout this specification, references to "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" mean that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, illustrative references to the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0261] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning module, characterized in that: include A support base, which can be raised and lowered relative to the body of the cleaning device; at least one cleaning assembly, the cleaning assembly having at least an initial position and an edgewise position relative to the body; In the edge position, at least a portion of the cleaning assembly extends beyond the edge of the body for edge cleaning; a first driving structure, disposed on the support base, the first driving structure comprising a first driving motor and a swing arm, the cleaning assembly being disposed on the swing arm; The first drive motor is at least used to drive the swing arm to swing relative to the support base, so as to drive the cleaning assembly to swing, so that the cleaning assembly switches between the initial position and the edge position; a water supply structure comprising a water tank and a water supply mechanism connected to the water tank, wherein the water supply mechanism comprises a first water channel for supplying liquid to the cleaning component to wet the cleaning component; At least a portion of the first water channel is located on the swing arm and swings with the swing arm, so that the first water channel can replenish water to the cleaning component when the cleaning component is in an initial position, an edge position, and a swing position between the initial position and the edge position.

2. The cleaning module according to claim 1, 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 cleaning member of the cleaning assembly, and the solution in the first water channel drips onto the cleaning member through the first water outlet.

3. The cleaning module according to claim 2, characterized in that: The cleaning component includes a cleaning plate and a rag arranged on the bottom of the cleaning plate; the cleaning plate has a hollow area distributed along its circumference, and at least a portion of the first water outlet is connected to the hollow area, so that the solution in the first water path drips onto the rag through the first water outlet and the hollow area.

4. The cleaning module according to claim 2, characterized in that: One end of the first water channel is connected to the water tank, and the other end is provided on the swing arm and serves as a liquid outlet, which is communicated with the first water outlet, so that the other end of the first water channel swings with the swing arm.

5. The cleaning module according to claim 4, characterized in that: The first waterway includes a first section and a second section; One end of the first section is connected to the water tank, and the other end is connected to one end of the second section. At least one end of the first section is located outside the swing arm; at least the other end of the second section is arranged in the swing arm as the liquid outlet.

6. The cleaning module according to claim 5, characterized in that: The second section is located in the inner cavity of the swing arm, and the other end of the first section extends into the inner cavity of the swing arm and is connected to the second section; or The first section is located outside the swing arm, and one end of the second section extends out of the swing arm and is connected to the other end of the first section.

7. The cleaning module according to claim 5, characterized in that: A first easing hole is provided on the swing arm, and the other end of the first section and one end of the second section are connected at the first easing hole.

8. The cleaning module according to any one of claims 5 to 7, characterized in that: The first section is a water pipe, and / or The second section is a sealed box; and / or The second section includes a horizontal portion and a connecting portion intersecting with the horizontal portion. The horizontal portion is fixed in the inner cavity of the swing arm and has the liquid outlet. One end of the connecting portion is connected to the horizontal portion, and the other end is connected to one end of the first section.

9. The cleaning module according to claim 5, characterized in that: The other end of the second section has a convex column, and the liquid outlet is arranged on the convex column; the convex column is inserted into the first water outlet to connect the liquid outlet with the first water outlet.

10. The cleaning module according to claim 9, characterized in that: A sealing member is further provided between the boss and the first water outlet to seal the gap between the boss and the first water outlet; or The bottom of the swing arm is provided with a second easing hole and a sealing plug sealed and fixed on the second easing hole. The sealing plug is provided with the first water outlet. The bottom of the boss is sealed and inserted into the first water outlet of the sealing plug.

11. The cleaning module according to claim 3, characterized in that: The water tank is also provided with an overflow port and an overflow pipe provided on the overflow port; a third water outlet is provided on the chassis of the cleaning device and is connected to the liquid outlet of the overflow pipe; When the rag is in the initial position, the overflow liquid in the overflow pipe is connected to the hollow area through the third water outlet to replenish water to the rag; or The outer circumference of the cleaning plate is provided with a deformation portion, and the deformation portion is provided with a deformation hole. When the rag is in the initial position, the third water outlet is connected with the deformation hole to replenish water to the rag.

12. The cleaning module according to claim 11, wherein: The edge of the rag has an upward closing flange, and the closing flange is sleeved on the top of the deformation portion; the third water outlet is located above the top of the closing flange.

13. The cleaning module according to any one of claims 1 to 6, characterized in that: The water tank is fixed relative to the fuselage.

14. The cleaning module according to any one of claims 1-6, 9-10, characterized in that: It also includes a rotation drive mechanism provided on the swing arm; The self-rotation drive mechanism includes a self-rotation motor arranged on the swing arm, and a second transmission assembly arranged in the inner cavity of the swing arm. The cleaning assembly is arranged on the second transmission assembly and is located below the swing arm; the self-rotation motor drives the second transmission assembly to rotate to drive the cleaning assembly to rotate.

15. A cleaning device, characterized in that: include body; The cleaning module according to any one of claims 1 to 14 is arranged on the machine body.

16. A cleaning device, characterized in that: include body; A main cleaning module is provided on the body and is located below the bottom of the body; the main cleaning module includes at least one main cleaning component; An auxiliary cleaning module, the auxiliary cleaning module being the cleaning module according to any one of claims 1 to 14, and being used at least for cleaning the missed areas along the edges that cannot be cleaned by the main cleaning assembly; The water delivery mechanism of the water replenishing structure further includes a second water channel, which is connected to the water tank and is used to replenish water to the main cleaning component.

17. The cleaning device according to claim 16, characterized in that The second water channel does not swing along with the swing arm.

18. The cleaning device according to claim 17, characterized in that The main cleaning assembly includes a mounting base and a main cleaning member disposed at the bottom of the mounting base. The other end of the second water channel is disposed on the top of the mounting base. The mounting base is provided with a second water outlet. 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 member through the second water outlet to replenish water to the main cleaning member. The supporting seat of the auxiliary cleaning module is arranged on the mounting seat.

19. The cleaning device according to claim 18, characterized in that The support seat is provided with a pipe hole; One end of the first water channel is connected to the water tank, and the other end passes 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 and is arranged on the top of the mounting seat.

20. The cleaning device according to claim 19, characterized in that The support seat is provided with an accommodating channel; The first water channel passes through the pipe hole, passes through the accommodating channel, and is arranged on the swing arm; the second water channel passes through the pipe hole, passes through the accommodating channel, and is arranged on the mounting seat.

21. The cleaning device according to claim 20, characterized in that The support seat is provided with a 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 any one of claims 18 to 21, characterized in that The water replenishment structure also includes a water supply pipeline fixedly arranged relative to the fuselage, one end of the water supply pipeline is connected to the water tank, and the other end of the water supply pipeline is connected to the second water channel and the first water channel through a multi-way valve.

23. The cleaning device according to claim 22, characterized in that The auxiliary cleaning module is arranged on the mounting seat; and further comprises a first lifting structure for driving the main cleaning assembly to lift and lower, so as to synchronously drive the auxiliary cleaning module to lift and lower; The first water channel has a redundant length so that when the auxiliary cleaning module is lifted, the first water channel remains in a relaxed state, thereby preventing the first water channel from being separated from the water delivery pipeline; and / or The second water channel has a redundant length so that when the main cleaning component is lifted, the second water channel remains in a relaxed state, thereby preventing the second water channel from being separated from the water delivery pipeline.

24. The cleaning device according to any one of claims 18 to 21, characterized in that The main cleaning component is a flat mop, which includes at least a mounting base and a vibration plate. The mounting base is provided with a mounting hole, and the vibration plate is embedded in the mounting hole. The main cleaning member is provided at least on the bottom of the vibration plate. The vibration plate reciprocates or twists to drive the main cleaning member to move, thereby cleaning the surface to be cleaned. The second water channel is provided on the top of the mounting seat; The mounting seat and the vibration plate are respectively provided with openings, and the two openings form the second water outlet.

25. The cleaning device according to claim 24, characterized in that The body includes a chassis, the main cleaning assembly and the auxiliary cleaning module are both located below the chassis; a first avoidance area that is recessed upward is provided on the bottom of the chassis; 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; One end of the first water channel is located in the inner cavity of the fuselage, and the other end passes through the second avoidance opening, extends into the first avoidance area, and is connected to the swing arm; and / or One end of the second water channel is located in the inner cavity of the fuselage, and the other end is arranged on the top of the mounting seat after passing through the second avoidance opening and the first avoidance area.

26. The cleaning device according to claim 25, characterized in that The auxiliary cleaning component of the auxiliary cleaning module includes a cleaning plate and an auxiliary rag provided on the bottom of the cleaning plate; When the auxiliary rag is located at the initial position, the cleaning disc and the swing arm are both located in the first avoidance area, and at least a portion of the auxiliary rag is located in the first avoidance area.

27. The cleaning device according to claim 26, characterized in that When the auxiliary rag is located at the initial position, at least a portion of the auxiliary rag is located outside the first avoidance area, so that the auxiliary rag extends out of the edge of the chassis.

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