Cleaning structure and cleaning equipment

Abstract

The utility model provides a cleaning structure and cleaning equipment, the cleaning structure comprises a main cleaning module and an auxiliary cleaning module, the main cleaning module is arranged on the rear portion of a machine body of the cleaning equipment, and the main cleaning module is provided with at least one main cleaning assembly; the auxiliary cleaning module is arranged at the rear part of the machine body and is provided with at least one auxiliary cleaning assembly, and the auxiliary cleaning assembly is at least provided with an initial position and an edge position relative to the machine body; at the edge position, at least part of the auxiliary cleaning assembly extends out of the edge of the machine body in the width direction of the machine body so as to clean along the edge; the main cleaning assembly at least comprises a first part and the auxiliary cleaning assembly at least comprises a second part; when the auxiliary cleaning assembly is located at the edge position, the cleaning areas of the first part and the second part have an overlapped area in the advancing direction of the machine body, and the width direction of the machine body is perpendicular to the advancing direction of the machine body. The overlapped area can avoid a scanning missing area between the main cleaning assembly and the auxiliary cleaning assembly, so that the use experience of a user is improved.

Description

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

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

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

[0004] Taking a sweeping robot as an example, the robot includes a body, and a cleaning component is provided at the rear of the body. In order to expand the cleaning area of the cleaning component, clean the edges of obstacles or walls along the edges, and reduce the areas that are missed by sweeping, the existing technology swings a cleaning component outward and retracts it relative to the body as a whole, so that part of the cleaning component extends out of the body for cleaning along the edges.

[0005] When there are two cleaning components, since one cleaning component swings relative to the body and the other cleaning component does not swing relative to the body, when one cleaning component moves along the edge, there is a gap between the two cleaning components in the width direction of the body. This gap causes the cleaning components to miss the cleaning area between the two cleaning components when cleaning along the edge, resulting in poor cleaning effect of the cleaning equipment. Summary of the Invention

[0006] In view of the above problems, the embodiments of the present application provide a cleaning structure and a cleaning device that can clean the edge area and avoid cleaning dead corners, and have a simple structure and low cost.

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

[0008] The first embodiment of the present application provides a cleaning structure, comprising:

[0009] A main cleaning module is provided on the rear portion of the cleaning device body and has at least one main cleaning component;

[0010] an auxiliary cleaning module disposed at the rear of the body, the auxiliary cleaning module comprising at least one auxiliary cleaning assembly, the auxiliary 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 auxiliary cleaning assembly extends beyond the edge of the body along the width direction of the body for edge cleaning;

[0011] The main cleaning component has at least a first part and the auxiliary cleaning component has at least a second part; when the auxiliary cleaning component is in the edge position, the cleaning areas of the first part and the second part have an overlapping area in the forward direction of the fuselage, wherein the width direction of the fuselage is perpendicular to the forward direction of the fuselage.

[0012] In this embodiment, the main cleaning component does not swing, and the auxiliary cleaning component is set to swing to perform edge cleaning, thereby avoiding the entire main cleaning component from swinging, which requires a larger space to be reserved in the fuselage for the swing of the main cleaning component, and the auxiliary cleaning component has a smaller swinging space than the main cleaning component. At the same time, since the cleaning areas of the first part of the main cleaning component and the second part of the auxiliary cleaning component overlap in the forward direction of the fuselage, the missing sweeping areas between the main cleaning component and the auxiliary cleaning component can be avoided in the width direction of the fuselage, and the problem of missing sweeping between the main cleaning component and the auxiliary cleaning component can be avoided while achieving edge cleaning. There is no need to clean the missed sweeping areas of the cleaning component when performing non-edge cleaning after edge cleaning as in the prior art, thereby improving the edge efficiency and cleaning effect. At the same time, there is no need for the main cleaning component to swing as a whole to perform edge cleaning.

[0013] Optionally, in the forward direction of the fuselage, the second part is located in front of the first part, so that the second part is cleaned first and the first part is cleaned later, and the cleaning areas of the second part and the first part have the overlapping area.

[0014] Optionally, in the forward direction of the fuselage, the second part is located behind the first part, so that the first part is cleaned first and the second part is cleaned later, and the cleaning areas of the first part and the second part have the overlapping area.

[0015] Optionally, the main cleaning assembly includes a mounting seat and a main cleaning member fixed to the bottom of the mounting seat; the auxiliary cleaning assembly includes an auxiliary cleaning member; the area of the auxiliary cleaning member is smaller than the area of the main cleaning member;

[0016] The main cleaning member has the first portion, and the auxiliary cleaning member has the second portion.

[0017] Optionally, the auxiliary cleaning module further includes a first driving structure, which includes a swing arm, and the auxiliary cleaning component is rotatably disposed on the swing arm; the swing arm swings to drive the auxiliary cleaning component to switch between an initial position and an edge position.

[0018] Optionally, the swing arm swings clockwise to drive the auxiliary cleaning assembly to switch from the initial position to the edge position; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly in the initial position is located in front of the rotation center of the auxiliary cleaning assembly in the edge position; or

[0019] The swing arm swings counterclockwise to drive the auxiliary cleaning component to switch from the initial position to the edge position; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning component in the initial position is located behind the rotation center of the auxiliary cleaning component in the edge position.

[0020] Optionally, the main cleaning component includes a mounting seat, and a main cleaning part fixed on the bottom of the mounting seat; the auxiliary cleaning component includes an auxiliary cleaning part; the area of the auxiliary cleaning part is less than the area of the main cleaning part; the main cleaning part has the first part, and the auxiliary cleaning part has the second part.

[0021] Optionally, the front edge of the mounting seat has a second notch; the main cleaning member has a first notch corresponding to the second notch;

[0022] When the auxiliary cleaning component is located at the edge position, part of the auxiliary cleaning component is embedded in the second notch so that the second part is located in front of the first part, and the cleaning areas of the first part and the second part have the overlapping area.

[0023] Optionally, the mounting base is a flatbed drag, comprising a top plate, a vibration plate, and a bottom plate, wherein a third avoidance opening or a mounting opening is provided on the bottom plate, the bottom plate and the top plate are fixedly connected, and the vibration plate is embedded in the third avoidance opening or the mounting opening; the main cleaning member is provided on the bottom of the bottom plate and the vibration plate;

[0024] The vibration plate twists or reciprocates in the third avoidance opening or the installation opening to drive the main cleaning component to twist or reciprocate; the second notch is provided on the top plate and the bottom plate.

[0025] Optionally, the first driving structure is further used to drive the auxiliary cleaning component to perform lifting motion;

[0026] During the swinging of the auxiliary cleaning assembly from the edge position toward the initial position, the auxiliary cleaning assembly is driven by the first driving structure to move upward, switching from the mopping position to the raised position, so that the auxiliary cleaning assembly is located above the top plate;

[0027] During the swinging of the auxiliary cleaning assembly from the initial position toward the edge position, the auxiliary cleaning assembly is driven by the first driving structure to move downward, switching from the lifting position to the mopping position, so that the auxiliary cleaning assembly is in the edge position.

[0028] Optionally, the swing arm swings counterclockwise to drive the auxiliary cleaning assembly to switch from the initial position to the edge position; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly in the initial position is located behind the rotation center of the auxiliary cleaning assembly in the edge position;

[0029] The top plate has a protrusion on one side facing the bottom plate to form a recessed area on the upper surface of the top plate. In an initial position, at least a portion of the auxiliary cleaning assembly is located in the recessed area, and the auxiliary cleaning assembly is separated from the ground.

[0030] Corresponding to the protrusion, a third notch is provided on the vibration plate to avoid the protrusion, and the third avoidance opening on the bottom plate is a notch to avoid the protrusion; the bottom surfaces of the protrusion, the vibration plate and the bottom plate are flush, and the main cleaning part is provided on the bottom of the protrusion, the vibration plate and the bottom plate.

[0031] Optionally, the auxiliary cleaning module is arranged on the top of the top plate; the auxiliary cleaning component and the main cleaning component are raised and lowered synchronously to be in the mopping position or the lifting position synchronously.

[0032] Optionally, the swing arm swings clockwise to drive the auxiliary cleaning assembly to switch from the initial position to the edge position; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly in the initial position is located in front of the rotation center of the auxiliary cleaning assembly in the edge position;

[0033] In the initial position, at least part of the auxiliary cleaning component is embedded in the second notch, and the part of the auxiliary cleaning component embedded in the second notch is larger than the part of the auxiliary cleaning component embedded in the second notch at the edge position, so that when the auxiliary cleaning component is in the initial position, there is an overlapping area between the cleaning areas of the first part and the second part along the forward direction of the fuselage.

[0034] Optionally, the auxiliary cleaning assembly further comprises an auxiliary cleaning tray, and at least a portion of the auxiliary rag is disposed on the bottom of the auxiliary cleaning tray;

[0035] In the initial position, at least a portion of the auxiliary cleaning disk is located in the second notch. In the edge position, a portion of the edge of the auxiliary cleaning disk extends out of the second notch.

[0036] Optionally, the auxiliary cleaning module is arranged on the top of the mounting seat; the auxiliary cleaning component and the main cleaning component are raised and lowered synchronously to be in the mopping position or the lifting position synchronously.

[0037] Optionally, the first driving structure is further used to drive the auxiliary cleaning component to perform lifting motion;

[0038] During the swinging of the auxiliary cleaning assembly from the edge position toward the initial position, the auxiliary cleaning assembly is driven by the first driving structure to move upward, switching from the mopping position to the raised position, so that the auxiliary cleaning assembly is located above the mounting seat;

[0039] During the swinging of the auxiliary cleaning assembly from the initial position toward the edge position, the auxiliary cleaning assembly is driven by the first driving structure to move downward, switching from the lifting position to the mopping position, so that the auxiliary cleaning assembly is in the edge position.

[0040] Optionally, the auxiliary cleaning component further has a third position relative to the body, and the third position is used to clean the angle area formed by the edge of the obstacle;

[0041] The distances between the rotation center of the machine body and the rotation center of the auxiliary cleaning disc at the initial position, the edge position, and the third position are LA, LC, and LB, respectively, wherein LB>LC>LA;

[0042] Along the swing direction of the swing arm, the third position is located between the initial position and the edge position; or, along the swing direction of the swing arm, the edge position is located between the initial position and the third position.

[0043] Optionally, when the auxiliary cleaning component is in the third position, the auxiliary cleaning component has a second part, and the main cleaning component has a first part. In the forward direction of the fuselage, the second part is located behind the first part, so that the first part is cleaned first and the second part is cleaned later, and the cleaning areas of the first part and the second part have an overlapping area.

[0044] Optionally, the auxiliary cleaning assembly has a lifting position and a mopping position relative to the body; when the edge position is between the initial position and the third position,

[0045] Also includes a limiting structure,

[0046] When in the mopping position, the limiting structure is at least used to limit the position of the swing arm, so as to limit the auxiliary cleaning assembly to the edge position, so that the auxiliary cleaning assembly cannot swing toward the third position;

[0047] In the raised position, the limiting structure releases the limiting of the swing arm, so that the auxiliary cleaning assembly can swing from the initial position or the edge position toward the third position.

[0048] Optionally, the limiting structure comprises at least a first limiting member, a second limiting member and a force applying member, wherein the first limiting member is provided on the swing arm;

[0049] The second limiting member is retractably arranged relative to the body;

[0050] When in the mopping position and the edge position, along the swing direction of the swing arm, the second limiting member blocks and abuts against the first limiting member;

[0051] In the raised position, the force applying member applies force to the second position limiting member to drive the second position limiting member to move, so that the first position limiting member and the second position limiting member are staggered in the height direction of the fuselage.

[0052] A second embodiment of the present application provides a cleaning device, comprising

[0053] body;

[0054] The cleaning structure described in any embodiment of the first aspect is arranged below the fuselage.

[0055] Optionally, it further includes a side brush located at the front end of the body; the auxiliary cleaning module and the side brush are both located on the right side of the body; the auxiliary cleaning assembly and the main cleaning assembly are both located at the rear of the body; and

[0056] at least two driving wheels, symmetrically arranged on the bottom of the fuselage;

[0057] In the forward direction of the fuselage, the auxiliary cleaning module is located behind the driving wheel on the right side.

[0058] The cleaning device provided in the embodiment of the present application has the same beneficial effects as the cleaning structure provided in the above embodiment, which will not be repeated here.

[0059] 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

[0060] 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.

[0061] Figure 1 A bottom-up schematic diagram of a cleaning device provided in some embodiments of the present application with an auxiliary cleaning component disposed on a body;

[0062] Figure 2 This is a structural schematic diagram of a configuration in which an auxiliary cleaning component is disposed on a machine body and is located in an initial position in some embodiments of the present application;

[0063] Figure 3 This is a structural schematic diagram of a configuration in which an auxiliary cleaning assembly is disposed on a machine body and located along an edge in some embodiments of the present application;

[0064] Figure 4 This is a schematic diagram of the internal layout of some embodiments of the present application in which the auxiliary cleaning assembly is arranged on the body and located along the edge;

[0065] Figure 5 for Figure 4 A partial schematic diagram in ;

[0066] Figure 6 This is a partial top view of a schematic diagram of an auxiliary cleaning assembly disposed on a machine body and located along an edge in some embodiments of the present application;

[0067] Figure 7 Schematic diagrams of the auxiliary cleaning assembly in some embodiments of the present application being located at an edge position, an initial position, and a third position;

[0068] Figure 8a This is a partial structural diagram of the chassis in some embodiments of the present application;

[0069] Figure 8b This is a partial schematic diagram of another structure in which the auxiliary cleaning component is disposed on the fuselage in some embodiments of the present application;

[0070] Figure 9a This is a partial exploded schematic diagram of the structure of the main cleaning component in some embodiments of the present application;

[0071] Figure 9b This is another exploded structural diagram of the main cleaning component in some embodiments of the present application;

[0072] Figure 10 A schematic diagram of the structure of a mounting base in some embodiments of the present application;

[0073] Figure 11a This is a partial structural diagram of the auxiliary cleaning component located along the edge in some embodiments of the present application;

[0074] Figure 11b This is a schematic diagram of the three-dimensional structure of the auxiliary cleaning module in some embodiments of the present application when it is located on the mounting base and the auxiliary cleaning component is in the initial position;

[0075] Figure 11c This is a top view of the auxiliary cleaning module located on the mounting base and the auxiliary cleaning assembly in the initial position in some embodiments of the present application;

[0076] Figure 12a Partial schematic diagrams of the auxiliary cleaning assembly in some embodiments of the present application, respectively located at the initial position, the edge position, and the third position;

[0077] Figure 12b 3. A bottom view of the auxiliary cleaning assembly 510 located above the main cleaning assembly 310 and in the edgewise position C;

[0078] Figure 12c Schematic diagrams of the auxiliary cleaning assembly in some embodiments of the present application at the initial position, the edge position, and the third position;

[0079] Figure 13 This is a structural diagram of a first driving structure in some embodiments of the present application;

[0080] Figure 14a This is a structural diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0081] Figure 14b This is a schematic diagram of the interior of a machine body in which the auxiliary cleaning component is disposed on the main cleaning component in some embodiments of the present application;

[0082] Figure 14c This is a top view of a partial structure in which the auxiliary cleaning component is disposed on the main cleaning component in some embodiments of the present application;

[0083] Figure 14d This is a partial structural diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0084] Figure 15 This is another structural schematic diagram of the chassis in some embodiments of the present application;

[0085] Figure 16 A schematic diagram showing the auxiliary cleaning assembly in some embodiments of the present application in an initial position, an edge position, and a third position, as viewed from above;

[0086] Figure 17 A schematic diagram of a top view of the auxiliary cleaning assembly in some embodiments of the present application, wherein the auxiliary cleaning assembly is located at an initial position, an edge position, and a third position;

[0087] Figure 18 This is a partial structural diagram of an auxiliary cleaning component disposed on a main cleaning component in some embodiments of the present application;

[0088] Figure 19 This is a structural diagram of the first driving structure and the auxiliary cleaning module in some embodiments of the present application;

[0089] Figure 20Schematic diagram of an explosion of the second position-limiting member and the force-applying member in some embodiments of the present application;

[0090] Figure 21 A schematic diagram of a layout of the first driving structure and the second driving structure in some embodiments of the present application;

[0091] Figure 22 An exploded view of the main cleaning module in some embodiments of the present application;

[0092] Figure 23 This is a schematic diagram of a layout in which the auxiliary cleaning assembly is arranged inside the upper body of the main cleaning assembly in some embodiments of the present application;

[0093] Figure 24a This is a schematic diagram of a layout in which the auxiliary cleaning assembly is arranged inside the upper body of the main cleaning assembly in some embodiments of the present application;

[0094] Figure 24b An exploded diagram of the structure of a cleaning device in some embodiments of the present application;

[0095] Figure 25 This is another structural schematic diagram of the chassis in some embodiments of the present application;

[0096] Figure 26 This is a bottom view of a chassis in some embodiments of the present application;

[0097] Figure 27 A bottom view schematic diagram of the auxiliary cleaning component in some embodiments of the present application being located in the third position;

[0098] Figure 28 A cross-sectional view of a cleaning device provided for some embodiments of the present application;

[0099] Figure 29 This is a schematic diagram of a structure in which the auxiliary cleaning component is located along the edge in some embodiments of the present application;

[0100] Figure 30 This is a structural schematic diagram of the auxiliary cleaning component in some embodiments of the present application in an initial position;

[0101] Figure 31 A schematic diagram of the layout of another structure of the cleaning equipment provided in some embodiments of the present application;

[0102] Figure 32 This is a schematic structural diagram of a limiting structure in some embodiments of the present application;

[0103] Figure 33 A schematic diagram showing a top view of an auxiliary cleaning assembly located on a main cleaning assembly in some embodiments of the present application, and located in an initial position, an edge position, and a third position, respectively;

[0104] Figure 34 A schematic diagram showing, in some embodiments of the present application, an auxiliary cleaning assembly located on a main cleaning assembly and positioned at an initial position, an edge position, and a third position, viewed from above;

[0105] Figure 35 for Figure 33 A schematic diagram of a three-dimensional diagram of an auxiliary cleaning component located on a main cleaning component in some embodiments of the present application, and located at an initial position, an edge position, and a third position respectively;

[0106] Figure 36 This is a structural schematic diagram of the auxiliary cleaning component in some embodiments of the present application when it is in the initial position;

[0107] Figure 37 A schematic diagram of an auxiliary cleaning component located along an edge and preventing leakage in some embodiments of the present application;

[0108] Figure 38 This is a schematic diagram of a structure in which the auxiliary cleaning component is located in the third position and prevents leakage in some embodiments of the present application;

[0109] Figure 39 A dynamic schematic diagram of the cleaning angle area in some embodiments of the present application;

[0110] Figure 40 Another dynamic schematic diagram of cleaning the angled area in some embodiments of the present application;

[0111] Figure 41 Schematic diagram of the distance between the auxiliary cleaning component and the center of the cleaning device when the auxiliary cleaning component is in the initial position, the edge position, and the third position, respectively, in some embodiments of the present application;

[0112] Figure 42 This is another dynamic schematic diagram of cleaning the angled area in some embodiments of the present application;

[0113] Figure 43 This is another dynamic schematic diagram of cleaning the angled area in some embodiments of the present application;

[0114] Figure 44 This is another dynamic schematic diagram of the cleaning process of the cleaning equipment in some embodiments of the present application.

[0115] Description of reference numerals:

[0116] 10. Cleaning equipment; 100. Body; 101. Chassis; 102. Upper shell; 103. Dust suction port; 104. First avoidance port; 106. Concave cavity; 109. First avoidance area; 200. Dry cleaning module; 201. Rolling brush; 202. Dust box; 203. Main fan; 205. Rolling brush cavity; 2061. Third avoidance port; 300. Main cleaning module; 310. Main cleaning assembly; 311. Main cleaning member; 3111. First part; 312. Mounting seat; 3121. Second notch; 3122. First notch; 313. Vibrating plate; 3131. Third notch; 314. Top plate; 3141. Concave area; 315. Bottom plate; 3151. Mounting port; 330. First lifting structure; 340. Second driving structure; 341. Second driving motor; 400. Side brush; 500, auxiliary cleaning module; 510, auxiliary cleaning assembly; 511, auxiliary cleaning member; 5111, second portion; 512, auxiliary cleaning disc; 513, deformation portion; 515, deformation hole; 520, first driving structure; 521, first driving motor; 522, first elastic member; 523, first one-way transmission mechanism; 524, swing arm; 5241, upper swing arm; 5242, lower swing arm; 525, output shaft; 526, sun gear; 527, planet gear; 528, planet carrier; 529, second one-way transmission mechanism; 540, ring gear; 550, fourth elastic member; 560, transmission gear; 570, support shell; 580, support seat; 590, first roller;

[0117] 530, second lifting mechanism; 531-first spiral portion; 5311-first threaded surface; 5312-first horizontal section; 5313-third horizontal section; 532-first matching portion; 5321-second spiral section;

[0118] 5322 - second horizontal section; H - overlapping area; 600 - water tank; 700 - driving wheel; 900 - limiting structure; 910 - first limiting member; 920 - second limiting member; 930 - force applying member;

[0119] 960 - Position detection member; 970 - Third elastic member; 980 - Fixed axis; 990 - Fourth position limiter; A, initial position; C, edge position; B, third position; DETAILED DESCRIPTION

[0120] The cleaning device of the present application can be a self-propelled cleaning robot or a handheld floor scrubber. The cleaning robot can be a dual-purpose cleaning robot for both wet and dry use. For example, the cleaning robot can be a mopping robot or a sweeping and mopping robot. The following description will take a sweeping and mopping robot as an example.

[0121] In some embodiments, as Figures 1 to 7As shown, the cleaning device 10 includes a body 100 and a main cleaning module 300 and an auxiliary cleaning module 500 arranged on the body 100, wherein the main cleaning module 300 includes at least one main cleaning component 310 (for example, a cleaning plate, a flat mop) or two main cleaning components 310 (for example, two cleaning plates), and the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510.

[0122] The main cleaning assembly 310 does not swing relative to the main body 100. Therefore, there is no need to provide a swinging structure within the main body 100 to drive the main cleaning assembly 310 to swing. Therefore, the driving structure of the main cleaning assembly 310 only needs to include a first lifting structure to drive the main cleaning assembly 310 to move upward and downward, and a second driving structure to drive the mopping motion. For example, the mopping motion can be the rotation of the main cleaning disc, the reciprocating vibration or twisting of the flat mop, or the movement of the crawler track.

[0123] The auxiliary cleaning assembly 510 can swing relative to the main 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 auxiliary cleaning assembly 510 extends beyond the edge of the main body 100 to perform edge cleaning on obstacles, walls, and other edges. When the auxiliary cleaning assembly 510 is in the initial position A, the auxiliary cleaning assembly 510 can be located within the maximum projection of the edge of the main body 100, or at least a portion of the auxiliary cleaning assembly 510 can be located outside the edge of the main body 100.

[0124] Generally, in order to achieve better edge cleaning performance, the auxiliary cleaning assembly 510 needs to extend beyond the maximum width edge of the body 100, so that the auxiliary cleaning assembly 510 can extend beyond the maximum width travel range of the body 100, thereby achieving edge cleaning of obstacles. If the body 100 needs to be twisted during the edge cleaning process, the auxiliary cleaning assembly 510 only needs to extend beyond the edge of the body 100 to achieve edge cleaning; the auxiliary cleaning assembly 510 does not need to extend beyond the maximum width edge of the body 100. Of course, even if the auxiliary cleaning assembly 510 extends beyond the maximum width edge of the body 100, edge cleaning C can still be performed while the body 100 is twisted. In addition, if the driving structure for driving the auxiliary cleaning component 510 to swing uses a stepper motor, the swing angle of the auxiliary cleaning component 510 can be controlled by controlling the number of steps or the rotation angle of the stepper motor, so that the auxiliary cleaning component 510 swings different distances according to the edges of different obstacles to clean the edges of different obstacles along the edge, forming an infinite edge cleaning mode, so that the auxiliary cleaning component 510 can dynamically switch the swing position between the initial position and the edge position C of the maximum outward swing to clean the edges of different obstacles along the edge. During this edge cleaning process, the body can twist or not twist.

[0125] The area of the auxiliary cleaning assembly 510 is smaller than that of the main cleaning assembly 310. For example, the area of the auxiliary cleaning assembly 510 is smaller than three-quarters of the area of the main cleaning assembly 310, or smaller than one-half of the area of the main cleaning assembly 310; or smaller than one-third, one-quarter, one-fifth of the area of the main cleaning assembly 310, etc. The size relationship between the two areas can be selected according to needs, thereby driving the swing, lifting and mopping motions of the auxiliary cleaning assembly 510, requiring a small swing space, and being applicable to all models currently on the market, such as round cleaning disc mopping and flat mopping.

[0126] For example, the auxiliary cleaning assembly 510 includes an auxiliary cleaning disc 512 and an auxiliary cleaning member 511. Figure 9a As shown, the main cleaning component 310 includes a mounting seat 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 seat 312 can be compared, for example, the area of the auxiliary cleaning disc 512 is smaller than the area of the mounting seat 312; another embodiment can be compared with the area of the auxiliary cleaning member 511 and the main cleaning member 311, for example, the area of the auxiliary cleaning member 511 is smaller than the area of the main cleaning member 311. That is, when the main cleaning member 311 and the auxiliary cleaning member 511 are both rags, the main cleaning member 311 forms a large rag for cleaning, and the auxiliary cleaning member 511 forms a small rag for cleaning. In the non-edge mode, the large rag is mainly used for cleaning; when in the edge position C, 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.

[0127] By retracting and swinging the auxiliary cleaning component 510 inward and outward, it is possible to switch between the edge position C and the initial position A, and perform edge cleaning at the edge position C; at the same time, there is no need for the main cleaning component 310 to swing as a whole, so that the structure of the entire cleaning module is simple and compact, and the space occupied is small, which facilitates the miniaturization of the robot.

[0128] In addition to the aforementioned main cleaning module 300 and auxiliary cleaning module 500, the cleaning robot also includes a dry cleaning module 200, wherein the robot moves along the forward direction of the body 100 (such as along the Figure 1 ), the dry cleaning module 200 is located in front of the main cleaning module 300; the dry cleaning module 200 is used to clean the floor; the main cleaning module 300 is used to wet mop the cleaned floor, that is, a wet cleaning module, thereby forming a sweep-first-then-mop mode to clean the floor.

[0129] In some embodiments, please refer to Figure 1As 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] In some embodiments, as Figure 1 As 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.

[0131] 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.

[0132] 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 7 and Figure 29 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.

[0133] For the body 100, if Figure 7 and Figure 29As shown, the body 100 generally includes at least a chassis 101 and an upper shell 102 connected to the chassis 101 ( Figure 3 ), the inner cavity of the fuselage 100 is surrounded by the chassis 101 and the upper shell 102 to form a accommodating cavity.

[0134] Among them, such as Figure 24b As shown, the upper shell 102 includes an upper cover 1024 and a top decorative cover 1021, wherein the upper cover 1021 and the bottom plate 101 form a receiving cavity, and the top decorative cover 1021 is arranged above the top of the upper cover 1024. In one embodiment, the top decorative cover 1021 is an integral cover plate, which is magnetically attracted to the top of the upper cover 1024. If an LDS is provided, the top decorative cover is provided with an escape hole to allow the LDS to leak out of the top decorative cover; in another embodiment, Figure 24b As shown, the top decoration cover 1021 includes a front top decoration cover 1022 and a rear top decoration cover 1023 , and the front top decoration cover 1022 is located in front of the rear top decoration cover 1023 .

[0135] Among them, the dust box cavity 204 ( Figure 25 The dust box 102 is located in the accommodating cavity enclosed by the upper cover shell 1024 and the chassis 101. A take-in and put-out opening is provided on the top of the dust box cavity to facilitate the loading and unloading of the dust box 102 into the dust box cavity 204 or the removal of the dust box 102 from the dust box cavity 204. The rear top decorative cover 1023 covers the top of the take-in and put-out opening and other parts of the upper cover shell 1024, thereby playing a protective and decorative role.

[0136] Furthermore, if Figure 25 As shown, a roller brush cavity 205 is provided on the chassis 101, and the roller brush 201 is rotatably provided in the roller brush cavity 205, similar to a top decorative cover. The body 100 also includes a bottom decorative cover provided on the bottom of the chassis 101, and the bottom decorative cover surrounds the outer periphery of the roller brush cavity. If the main cleaning component 310 is a flat mop, then in the forward direction of the body, the bottom decorative cover is located in front of the flat mop so as not to affect the cleaning and lifting actions of the main cleaning component.

[0137] The robot also includes a walking system for driving the body 100 to move and realize the self-moving walking function on the surface to be cleaned. The walking system includes at least a driver and a driving wheel 700, and the driver drives the driving wheel 700 to move. There can generally be two driving wheels 700, and the two driving wheels 700 are symmetrically arranged on the bottom of the body 100. In addition, the walking system can be swingably arranged on the body 100 so that the cleaning device 10 has the function of overcoming obstacles during the walking process. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of an object such as the ground, a table, glass, or a wall. For ease of description, the surface to be cleaned below is described using the ground as an example.

[0138] 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.

[0139] In one 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.

[0140] 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.

[0141] Alternatively, a straight line passing through the rotation center of the fuselage along the width direction of the fuselage is used as a dividing line, the part of the fuselage located in front of the dividing line is the front part of the fuselage, and the part located behind the dividing line is the rear part of the fuselage.

[0142] 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.

[0143] 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 .

[0144] The cleaning device 10 further includes a second driving structure 340, which is provided on the body 100 and is used to drive the main cleaning assembly 310 to move to mop the floor; and further includes a first lifting structure 330, an embodiment of the first lifting structure distributed in the body, such as Figure 7 As shown, it is used to drive the cleaning component to perform lifting movements so that the main cleaning component 310 is in a mopping position or a raised position.

[0145] The cleaning device 10 also includes at least a water replenishment mechanism for replenishing water to the main cleaning member 311 of the main cleaning assembly 310, thereby moistening the main cleaning member 311, so that the rag is moistened or dampened when mopping the floor, thereby achieving wet cleaning and improving the cleaning effect. The water replenishment mechanism includes at least a water tank 600, which transports water in the water tank 600 to a delivery mechanism on the main cleaning member 311.

[0146] Optimally, the auxiliary cleaning member 511 of the auxiliary cleaning assembly 510 can also be replenished with water, so that the auxiliary cleaning member 511 is in a wet state and performs wet cleaning of the floor. Alternatively, water can be replenished so that the auxiliary cleaning member 511 is in a dry state and cleans the floor, but the cleaning effect is weaker than wet mopping.

[0147] 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.

[0148] 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.

[0149] For example, as an example, similar to the structure of the auxiliary cleaning component, the mounting seat 312 can be a main cleaning disc. In this case, for example, the main cleaning member 311 is a main rag installed on the bottom of the cleaning disc, and the second driving mechanism drives the main cleaning disc to rotate to cause the main rag to rotate to clean the floor. Under the action of the driving force, the main cleaning disc can drive the main cleaning member 311 to rotate relative to the body 100 so that the main cleaning member 311 performs the cleaning operation; alternatively, the main cleaning disc can also be fixed relative to the body 100, so that when the cleaning robot moves along the direction of travel, the main cleaning member 311 moves relative to the ground to clean the ground; wherein, the main cleaning disc can be one, two or more, for example, there can be two main cleaning discs, and the two main cleaning discs are respectively provided with a main cleaning member 311, and the two main cleaning discs drive the main cleaning member 311 to rotate to clean the floor.

[0150] In another exemplary embodiment, the mounting base 312 can be a flat mop, and the main cleaning element 311 is a main cleaning cloth mounted on the flat mop. Specifically, a vibration plate 313 can be provided in the flat mop. Driven by a second drive mechanism, the vibration plate 313 can reciprocate or twist 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.

[0151] 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 missed by the main cleaning assembly 310. For example, it can clean along edges, or, based on cleaning along edges, further clean corner areas (described in detail below) to improve cleaning efficiency and reduce missed areas.

[0152] In order to achieve the cleaning operation of the missed area 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 C relative to the fuselage 100; in the edge position C, at least a portion of the auxiliary cleaning component 510 extends out of the edge of the fuselage 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 fuselage 100, and the auxiliary cleaning module 500 will not be missed outside the fuselage 100 when viewed from above the fuselage 100; or, as Figure 1 As shown, at the initial position A, the auxiliary cleaning module 500 is partially retracted within the projection range of the maximum edge of the main body 100 and partially extends outside the edge of the main body 100 .

[0153] In some embodiments, the auxiliary cleaning assembly 510 is in the edge position C, and at least a portion of the auxiliary cleaning disc 512 extends outside the body 100. For example, at least a portion of the auxiliary cleaning disc extends outside the edge of the maximum width of the body to achieve edge cleaning. When the auxiliary cleaning assembly 510 is in the initial position A, the auxiliary cleaning disc 512 is located within the projection range of the maximum edge of the body 100, so that the overall size of the cleaning robot is not increased.

[0154] The initial position A and the edge position C can be a fixed point position or an interval position. In particular, the edge position C, when the first driving structure 520 ( Figure 5 ) Using a first elastic member 522, when the auxiliary cleaning assembly 510 is subjected to a force from an obstacle at edge position C, the auxiliary cleaning module 500 will passively retract under the cushioning effect of the first elastic member 522 to cushion the collision with the obstacle. Therefore, edge position C can be a dynamically changing position rather than a fixed point. Alternatively, when the motor of the first drive structure 520 is a stepper motor, the number of steps of the stepper motor is controlled to control the outward swing distance of the auxiliary cleaning assembly 510, thereby performing edge cleaning of the obstacle, thereby forming a stepless edge mode.

[0155] In addition, if the auxiliary cleaning component 510 is in the initial position A, part of the auxiliary cleaning component 510 extends out of the fuselage 100. At the edge position C, the part of the auxiliary cleaning component 510 extending out of the fuselage 100 is larger than the part of the auxiliary cleaning component 510 extending out of the fuselage 100 at the initial position A, so as to achieve edge cleaning.

[0156] It should be noted that the initial position A and the edge position C are not limited to the auxiliary cleaning assembly 510 , but may also be any component in the auxiliary cleaning module 500 that swings synchronously with the auxiliary cleaning assembly 510 .

[0157] The auxiliary cleaning module 500 further includes a first driving structure 520 for driving the auxiliary cleaning assembly 510 to swing so as to switch between an initial position A and an edge position C.

[0158] 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 C and the initial position A.

[0159] Since the swing arm 524 and the auxiliary cleaning assembly 510 swing synchronously, the aforementioned initial position A and edge position C can also be said to have the initial position A and edge position C of the swing arm 524 .

[0160] In some embodiments, the auxiliary cleaning assembly 510 includes an auxiliary cleaning tray 512 and an auxiliary cleaning member 511 disposed on the bottom of the auxiliary cleaning tray 512. The aforementioned initial position A and edge position C may refer to the auxiliary cleaning tray 512 or the auxiliary cleaning member 511. The auxiliary cleaning member 511 may be a rag, a wipe, or the like. Of course, the auxiliary cleaning assembly may include only an auxiliary rag without the auxiliary cleaning tray.

[0161] In some embodiments, as Figure 1 As shown, along the moving direction of the cleaning robot, the auxiliary cleaning module 500 is arranged behind the dry cleaning module 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 more space inside the main body 100 when it is swung outward or retracted.

[0162] 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. Figure 13 14 , the auxiliary cleaning tray 512 is a circular tray, and the auxiliary cleaning member 511 is a circular cleaning cloth that matches the auxiliary cleaning tray 512 and is fixed to the bottom of the auxiliary cleaning tray 512 by gluing or other methods. The auxiliary cleaning tray 512 can also be triangular, Leroy triangle, square, or other irregular shapes.

[0163] As an optional embodiment, in some embodiments, the first drive structure can also drive the auxiliary cleaning disc 512 to rotate, thereby driving the auxiliary cleaning member 511 to rotate, thereby increasing the friction between the auxiliary cleaning member 511 and the floor, and improving the cleaning effect along the edge. That is, a motor in the first drive structure 520 can drive the swing arm 524 to swing the auxiliary cleaning assembly 510 to switch between the initial position A and the edge position C; it can also drive the auxiliary cleaning assembly 510 to rotate to mop the floor, thereby making the drive structure compact and eliminating the need for a separate drive structure to drive the auxiliary cleaning assembly 510 to rotate.

[0164] In one embodiment, the auxiliary cleaning module 500 further includes a second lifting mechanism 530 ( Figure 7 ), the second lifting mechanism 530 is at least used to drive the auxiliary cleaning assembly 510 to lift and lower, so that the auxiliary cleaning assembly 510 is in a raised position to leave the ground; or in a mopping position to perform edge cleaning.

[0165] Furthermore, the second lifting mechanism 530 is combined with the rotational movement of the swing arm 524, and the second lifting mechanism 530 is driven to perform lifting movement through the swinging rotation, and the swing arm 524 is driven to perform lifting movement in the opposite direction, thereby driving the entire auxiliary cleaning module 500 to perform lifting movement, so that the auxiliary cleaning component 510 is between the lifting position and the mopping position, so that only one motor is needed to drive the swinging, rotation, and lifting functions of the auxiliary cleaning component 510, further making the driving structure more compact and occupying less space. The entire auxiliary cleaning module 500 can occupy a small space as a single module. That is to say: during the swinging of the auxiliary cleaning component 510 from the edge position toward the initial position A, driven by the first driving structure, the auxiliary cleaning component 510 performs an upward movement, switching from the mopping position to the raised position, so that the auxiliary cleaning component 510 is located above the mounting seat and separated from the ground; during the swinging of the auxiliary cleaning component 510 from the initial position A toward the edge position C, driven by the first driving structure, the auxiliary cleaning component performs a downward movement, switching from the raised position to the mopping position, so that the auxiliary cleaning component is in the edge position C.

[0166] In another embodiment, the second lifting mechanism is not provided, and the first driving structure is used to drive the auxiliary cleaning component 510 to swing and rotate. The auxiliary cleaning module 500 is provided on the main cleaning component 310. Under the action of the first lifting structure of the main cleaning component 310, when the main cleaning component 310 is driven to rise and fall, the auxiliary cleaning module 510 as a whole is driven to rise and fall synchronously with the main cleaning component, so that the main cleaning component 310 and the auxiliary cleaning component 510 are synchronously in the mopping position or the lifting position, thereby making the structure of the auxiliary cleaning module simple and compact, and occupying a small space. The aforementioned swing of the auxiliary cleaning component 510 relative to the fuselage 100 can be a linear swing or an arc-shaped swing. Preferably, an arc-shaped swing is adopted. When achieving the same swing distance, the arc-shaped swing requires a smaller swinging space than the linear swing, so that the auxiliary cleaning module 500 requires a smaller space in the fuselage 100.

[0167] 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

[0168] On the basis of the above contents, combined with Figures 1 to 13 , and gives a detailed introduction to the cleaning structure of cleaning equipment.

[0169] This embodiment provides a cleaning structure, which includes a main cleaning module 300 and an auxiliary cleaning module 500. The main cleaning module 300 is arranged on the rear of the body 100 of the cleaning device 10 and has at least one main cleaning component 310; the auxiliary cleaning module 500 is arranged at the rear of the body 100, and the auxiliary cleaning module 500 has at least one auxiliary cleaning component 510. The auxiliary cleaning component 510 has at least an initial position A and an edge position C relative to the body 100; at the edge position C, along the width direction of the body 100, at least part of the auxiliary cleaning component 510 extends out of the edge of the body 100 for edge cleaning.

[0170] like Figure 12b As shown, the main cleaning component 310 has at least a first part 3111 and the auxiliary cleaning component 510 has at least a second part 5111; when the auxiliary cleaning component is in the edge position C, in the forward direction of the fuselage 100, the cleaning areas of the first part 3111 and the second part 5111 have an overlapping area H, wherein the width direction of the fuselage 100 is perpendicular to the forward direction of the fuselage 100.

[0171] The overlapping area H refers to the overlap between the areas cleaned by the main cleaning component 311 and the auxiliary cleaning component 511 in the direction of travel of the cleaning device 10. This prevents any areas of cleaning that are missed between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience. In the first embodiment, in the edgewise position C, the second portion 5111 is located in front of the first portion 3111 in the direction of travel of the body 100, so that the second portion 5111 cleans first and the first portion 3111 cleans later. The cleaning areas of the second portion 5111 and the first portion 3111 overlap, achieving edgewise cleaning while preventing any areas of cleaning that are missed between the main cleaning component and the auxiliary cleaning component, which could affect cleaning efficiency.

[0172] Based on the aforementioned description, the auxiliary cleaning assembly 510 is disposed in different ways, and correspondingly, whether the auxiliary cleaning assembly 510 has an overlapping area at the initial position A is also different.

[0173] The first embodiment: the first driving structure drives the auxiliary cleaning component 510 to swing, rotate and lift; in the initial position A, the auxiliary cleaning component 510 is located above the top of the mounting base 312 of the main cleaning component, detached from the ground, and does not perform mopping work, that is, when not cleaning along the edge, the auxiliary cleaning component 510 is detached from the ground, and correspondingly, the auxiliary cleaning component 510 does not have the aforementioned second part 5111, nor does the aforementioned overlapping area exist.

[0174] That is to say: in the process of the auxiliary cleaning component swinging from the edge position C toward the initial position A, under the drive of the first driving structure, the auxiliary cleaning component 510 performs an upward movement, switching from the mopping position to the lifting position, so that the auxiliary cleaning component 510 is located above the mounting seat 312 and separated from the ground; in the process of the auxiliary cleaning component 510 swinging from the initial position A toward the edge position C, under the drive of the first driving structure, the auxiliary cleaning component 510 performs a downward movement, switching from the lifting position to the mopping position, so that the auxiliary cleaning component 510 is in the edge position C.

[0175] In this embodiment, the auxiliary cleaning component 510 can reach the mopping position for mopping the floor only in the edge cleaning mode. In the non-edge cleaning mode, the auxiliary cleaning component 510 is stored above the main cleaning component 310 and does not affect the cleaning of the main cleaning component 310; in particular, when in the initial position A, the auxiliary cleaning component 510 is stored in the recessed area 3141 above the top of the mounting seat 312 of the main cleaning component 310, so that the auxiliary cleaning component 510 will not leak outside the fuselage, avoiding scratches against obstacles and falling off, and ensuring that the auxiliary cleaning component 510 is firmly installed on the swing arm 524 of the first driving structure.

[0176] For ease of description, the auxiliary cleaning component 510 of this embodiment is described in detail below, using a cleaning robot as an example. Figure 1 to Figure 1 2 , a cleaning robot is provided, comprising a body 100 and a cleaning structure, wherein the cleaning structure comprises a main cleaning module 300 and an auxiliary cleaning module 500. The main cleaning module 300 is disposed on the body 100 and comprises at least one main cleaning assembly 310. The main cleaning assembly 310 has a lifting position and a mopping position. The auxiliary cleaning module 500 is disposed on the body 100 and comprises at least one auxiliary cleaning assembly 510. The auxiliary cleaning assembly 510 has at least an initial position A and an edge position C relative to the body 100. In the edge position C, at least a portion of the auxiliary cleaning assembly 510 extends beyond the edge of the body 100 for edge cleaning. When the auxiliary cleaning assembly 510 is in the initial position A, at least the auxiliary cleaning assembly 510 is located above the main cleaning assembly 310.

[0177] In this embodiment, the main cleaning component 310 is a flat mop, which includes a mounting base 312 and a vibration plate 313 provided on the mounting base 312 , and the main cleaning cloth is at least installed on the bottom of the vibration plate 313 .

[0178] In the first embodiment, the main cleaning assembly 310 includes a mounting base 312 and a main cleaning member 311 fixed to the bottom of the mounting base 312. The auxiliary cleaning assembly 510 includes an auxiliary cleaning member 511. The area of the auxiliary cleaning member 511 is smaller than the area of the main cleaning member 311. The main cleaning member 311 has a first portion 3111, and the auxiliary cleaning member 511 has a second portion 5111. Specifically, the mounting base 312 is a flatbed mop, which includes a top plate 314, a vibration plate 313, and a bottom plate 315. The vibration plate 313 is movably disposed between the top plate 314 and the bottom plate 315. The main cleaning member 311 is disposed on the bottom of the bottom plate 315 and the vibration plate 313. The bottom plate 315 is provided with a third avoidance opening 2061 or a mounting opening, and the vibration plate 313 twists or reciprocates in the third avoidance opening 2061 or the mounting opening to drive the main cleaning member 311 to twist or reciprocate; here, the third avoidance opening 2061 can refer to a notch, and the mounting opening can be a closed annular hole. Figure 9b The third avoidance opening 2061 shown is used as an example for explanation.

[0179] The vibration plate 313 is located in the third avoidance opening 2061, so that the bottom plate 315 surrounds the outer periphery of the vibration plate 313 and is fixedly connected to the top plate 314, so that the third avoidance opening 2061 is used to avoid the movement trajectory of the vibration plate 313. Exemplarily, the vibration plate 313 is located in the third avoidance opening 2061, and there is a gap between the third avoidance opening 2061 and the edge of the vibration plate 313; in addition, the surfaces of the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush, so that the side of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 can be fixed with the main cleaning member 311 by gluing or the like to ensure the flatness of the main cleaning member 311 and increase the area of the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0180] In some embodiments, please refer to Figure 2 As shown, the side of the chassis 101 facing the ground has a first avoidance area 109 connected to the first avoidance opening 104, and the top plate 314 of the mounting seat 312 facing the top of the chassis 101 is provided with a recessed area 3141 recessed toward the ground side, and the avoidance space is located above the recessed area 3141, so that the recessed area 3141 and the avoidance space on the chassis 101 together form the first avoidance area 109 for accommodating the auxiliary cleaning module 500.

[0181] It can be understood that by providing a recessed area 3141 on the top plate 314 that is recessed toward the ground (i.e., the bottom plate 315), the height dimension of the first avoidance area 109 in the first direction can be increased without increasing the thickness dimension of the fuselage 100, so that the first avoidance area 109 has sufficient space in the first direction to accommodate the auxiliary cleaning module 500.

[0182] In some embodiments, please refer to Figure 9a 、 Figure 9b and Figure 10 As shown, the side of the top plate 314 facing the bottom plate 315 may have a protrusion protruding toward the side of the bottom plate 315, and the protrusion is a hollow structure to form a recessed area 3141. The recessed area 3141 is formed on the upper surface of the top plate 314. In this way, the size of the first avoidance area 109 in the first direction can be further increased.

[0183] Figure 11a (Looking up) exemplarily shows the structural diagram of the cleaning structure when the auxiliary cleaning component 510 is in the edge position C. Figure 11b and Figure 11c (Top view) exemplarily shows the structural diagram of the cleaning structure when the auxiliary cleaning component 510 is in the initial position A; Figure 12a (looking up and removing the tablet drag) and Figure 12c (Top view) shows a schematic diagram of the auxiliary cleaning component in the initial position A, the third position C and the edge position B. Figure 12b 3. This is a bottom view of the auxiliary cleaning assembly 510 located above the main cleaning assembly 310 and at the edge position C.

[0184] Reference Figures 11a to 11c As shown, the swing arm 524 swings counterclockwise to drive the auxiliary cleaning assembly 511 to switch from the initial position A to the edge position C. Along the forward direction of the machine body, the rotation center of the auxiliary cleaning assembly 511 in the initial position A is located behind the rotation center of the auxiliary cleaning assembly 511 in the edge position C. Because the upper surface of the top plate 315 forms a recessed area 3141, when the auxiliary cleaning assembly 511 is in the initial position A, at least a portion of the auxiliary cleaning assembly 511 can be located within the recessed area 3141, thereby separating the auxiliary cleaning assembly 511 from the ground.

[0185] To avoid interference between the vibration plate 313 and the bottom plate 315 and the protrusions, please continue to refer to Figure 9bAs shown, in the embodiment of the present application, a third notch 3131 is provided at a position corresponding to the protrusion on the vibration plate 313, and the third notch 3131 is in the form of a notch. A second notch 3121 is also provided at a position corresponding to the protrusion on the bottom plate 315. When the top plate 314, the vibration plate 313, and the bottom plate 315 are connected together, the protrusion is located in the third notch 3131 and the second notch 3121, and the outer bottom wall of the protrusion is flush with the outer bottom wall surfaces of the vibration plate 313 and the bottom plate 315, so that the vibration plate 313, the bottom plate 315, and the outer bottom wall of the protrusion remain on the same plane, and the main cleaning member 311 covers the plane formed by the vibration plate 313, the bottom plate 315, and the outer bottom wall of the recessed area 3141. Here, the second notch 3121 of the bottom plate 315 can be understood as a part of the third avoidance opening 2061, so that the third avoidance opening 2061 is a notch. In this way, the third avoidance opening 2061 of the bottom plate 315 can not only avoid the movement trajectory of the vibration plate 313, but also avoid the protrusion of the top plate 314.

[0186] like Figures 9a to 11a As shown, in some embodiments, the front edge of the mounting seat 312 has a second notch 3121; the main cleaning member 311 has a first notch 3122 corresponding to the second notch 3121; when the auxiliary cleaning assembly 511 is in the edge position A, a portion of the auxiliary cleaning assembly 510 is embedded in the second notch 3121, so that the second portion 5111 is located in front of the first portion 3111, and the cleaning areas of the first portion 3111 and the second portion 511 have the overlapping area. Because the mounting seat 312 includes a top plate 314 and a bottom plate 315, and the top plate 314 and the bottom plate 315 together form the front edge of the mounting seat 312, the top plate 314 and the bottom plate 315 are both provided with a second notch 3121. When the auxiliary cleaning assembly 510 is in the edge position, a portion of the auxiliary cleaning assembly 510 is embedded in the second notch 3121 and the first notch 3122.

[0187] Regarding the top plate 314, the second notch 3121 on the top plate 314 not only prevents interference between the bottom plate 315 and the protrusion on the top plate 314, but also allows the auxiliary cleaning assembly 511 to at least partially fit in when the auxiliary cleaning assembly 511 is in the edge position C, thereby forming the overlapping area. Furthermore, based on the aforementioned, the third avoidance opening 2061 on the bottom plate 315 can also allow the auxiliary cleaning member 511 to partially fit in when in the edge position C, thereby forming the overlapping area.

[0188] In an embodiment of the present application, the first avoidance area 109 is provided with sufficient height space in the first direction. In this way, when the first driving mechanism drives the auxiliary cleaning module 500 to move from the initial position A to the outward swing position, it simultaneously drives the auxiliary cleaning module 500 to descend from the raised position to the mopping position, so that the first avoidance area 109 has sufficient space in the first direction for the auxiliary cleaning module 500 to be raised and lowered.

[0189] Please refer to Figure 2 and Figure 3 As shown, a first avoidance opening 104 is provided on the side wall of the fuselage 100 at a position corresponding to the initial position A of the auxiliary cleaning module 500, and a first avoidance area 109 connected to the first avoidance opening 104 is provided in the fuselage 100 to allow the auxiliary cleaning module 500 to swing between the edge position C and the initial position A. When the auxiliary cleaning module 500 is in the initial position A, the auxiliary cleaning module 500 is stored in the first avoidance area 109, and the auxiliary cleaning module 500 is located above the mounting seat 312.

[0190] In this way, at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning module 500 can swing outward toward the edge position C through the first avoidance opening 104, or retract toward the initial position A. When in the non-edge cleaning mode, the auxiliary cleaning module 500 shrinks into the body 100, so that the overall structure of the cleaning device 10 is more compact, and the overall appearance of the cleaning device 10 is maintained, reducing the overall size of the cleaning device 10.

[0191] The body 100 includes the aforementioned chassis 101 and upper shell 102 . The upper shell 102 includes an upper cover and a top decorative cover. The first avoidance opening 104 is provided on the upper cover 102 , and the first avoidance area 109 is mainly formed by the chassis 101 .

[0192] In some optional structures, the first avoidance area 109 is located below the bottom plate 101, and the first avoidance area 109 includes at least a concave cavity 106 provided on the bottom plate 101 and concave upward toward the inner cavity of the body 100. In this way, the first avoidance area 109 has a relatively simple external structure and is convenient for storing the auxiliary cleaning module 500.

[0193] It can be understood that when the auxiliary cleaning module 500 is in the retracted and raised position, the auxiliary cleaning module 500 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of the fuselage 100, and is not housed in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning module 500 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the edge position.

[0194] Only when the main cleaning component 310 is in the mopping position can the auxiliary cleaning component 510 switch between the initial position A and the edge position C. In this way, the auxiliary cleaning component 510 can avoid interference with the main cleaning component 310 during the switching process, thereby improving the reliability of the auxiliary cleaning component 510 switching between the initial position A and the edge position C.

[0195] The auxiliary cleaning component 510 has a lifting position and a mopping position. When the auxiliary cleaning component 510 is in the edge position C, it is also in the mopping position; when the auxiliary cleaning component 510 is in the initial position A, it is also in the lifting position, that is, when the cleaning device 10 is cleaning in a non-edge mode, the auxiliary cleaning module 500 is in a non-working state; the auxiliary cleaning component 510 can only be raised and lowered when the main cleaning component 310 is in the mopping position to switch between the lifting position and the mopping position, so that the auxiliary cleaning component 510 has sufficient lifting space in the lifting direction.

[0196] In some embodiments, when the auxiliary cleaning assembly 510 swings outward toward the edge position C, the auxiliary cleaning assembly 510 moves downward; when the auxiliary cleaning assembly 510 swings inward toward the initial position A, the auxiliary cleaning assembly 510 moves upward.

[0197] Illustratively, when the auxiliary cleaning component 510 switches between the edge position and the initial position A, it can be synchronously raised and lowered along the height direction of the fuselage 100. For example, while the auxiliary cleaning component 510 moves from the initial position A to the edge position, the auxiliary cleaning component 510 synchronously moves from the raised position to the mopping position; conversely, while the auxiliary cleaning component 510 moves from the edge position to the initial position A, the auxiliary cleaning component 510 synchronously moves from the mopping position to the raised position. In this way, the movement efficiency of the auxiliary cleaning module 500 can be improved.

[0198] In addition, when the auxiliary cleaning assembly 510 is switched to the edge position C, the auxiliary cleaning assembly 510 can also rotate to clean the floor. This can increase the friction frequency between the auxiliary cleaning assembly 510 and the floor, thereby improving the cleaning effect and efficiency.

[0199] In some embodiments, the auxiliary cleaning module 500 also includes a first driving structure 520 and a lifting mechanism 530, or the first driving structure itself includes a lifting mechanism 530. The first driving structure 520 is at least used to drive the auxiliary cleaning component 510 to swing between the initial position A and the edge position C, so that the auxiliary cleaning component 510 switches between the initial position A and the edge position C; and during this swinging process, with the cooperation of the first driving structure 520 and the lifting mechanism 530, at least the auxiliary cleaning component 510 is made to rise or fall. In this way, while the first driving structure 520 drives the auxiliary cleaning component 510 to switch between the initial position A and the edge position C, the auxiliary cleaning component 510 is made to rise or fall with the cooperation of the lifting mechanism 530, thereby improving the switching efficiency of the auxiliary cleaning component 510 between the initial position A, the edge position C, the lifting position and the mopping position, saving switching time and improving the user experience.

[0200] In some embodiments, the first driving structure 520 includes a first driving motor 521, at least one first elastic member 522 and a swing arm 524. In cooperation with the first driving motor 521 and the first elastic member 522, the swing arm 524 is driven to swing, so as to drive the swing arm 524 of the auxiliary cleaning component 510 to switch between the initial position A and the edge position C. During this swinging process, the swing arm 524 drives the lifting mechanism 530 to act, so that the swing arm 524 drives the auxiliary cleaning component 510 to descend or lift. In this way, the auxiliary cleaning component 510 can be switched between the initial position A, the edge position C, the lifting position and the mopping position through a simple structure, which is simple in structure and low in cost.

[0201] In some embodiments, a first avoidance opening 104 is provided on the side wall of the fuselage 100, and a first avoidance area 109 is provided on the fuselage 100, at least for the installation of the auxiliary cleaning module 500; the first avoidance area 109 connects the inner cavity of the fuselage 100 with the outside world; the auxiliary cleaning module 500 also includes a swing arm 524, and the auxiliary cleaning component 510 is provided on the swing arm 524. The swing arm 524 swings at least within the first avoidance area 109, and swings toward the edge position C or the initial position through the first avoidance opening 104. One end of the swing arm 524 is located in the first avoidance area 109, and the other end extends out of the first avoidance area 109 and is located below the chassis 101 of the fuselage 100.

[0202] In some embodiments, please refer to Figure 5 As shown, it also includes a lifting structure, which is arranged in the body 100; the main cleaning component 310 is located below the bottom of the body 100; the lifting structure is used to drive the main cleaning component 310 to lift and lower, and the lifting structure is distributed in the area enclosed by the dust box 202, the main fan 203 and the auxiliary cleaning module 500.

[0203] In some embodiments, the lifting structure includes a traction member. For example, the traction member is a traction rope. The lifting structure is connected to the main cleaning component 310 through the traction member to drive the cleaning component to move along the first direction through the traction member.

[0204] Exemplarily, the lifting structure includes a lifting motor, a rotating member and a traction member. The output shaft 525 of the lifting motor is connected to the rotating member. One end of the traction member is connected to the rotating member and is at least partially wound on the rotating member. The other end of the traction member is connected to the main cleaning module 300. When the output shaft 525 of the lifting motor drives the rotating member to rotate, the traction member can be wound onto or released from the rotating member, so that the traction member drives the main cleaning module 300 to move along the first direction. The lifting method is simple and the cost is low.

[0205] In some embodiments, a second driving structure 340 is further included. The second driving structure 340 and the main cleaning component 310 are distributed below the bottom of the fuselage 100. The second driving structure 340 is used to drive the main cleaning component 310 to move back and forth, twist, or rotate to clean the floor; the lifting structure is used to drive the second driving structure 340 and the active cleaning component to rise and fall synchronously.

[0206] In some embodiments, the second drive structure 340 includes, for example, a second drive motor 341 and an eccentric structure. The second drive motor 341 drives the vibration plate 313 to vibrate or twist back and forth through the eccentric structure, so that the main cleaning component 310 is subjected to friction with the ground, thereby improving the cleaning effect.

[0207] Furthermore, to arrange the first drive motor 521 and the second drive motor 341, in some optional configurations, the second drive motor 341 is correspondingly located within the concave cavity 106 and below the first drive motor 521. In one exemplary embodiment, the first drive motor 521 and the second drive motor 341 are stacked one above the other within the first avoidance zone 109, resulting in a more compact drive mechanism and a smaller footprint. In other exemplary embodiments, the second drive motor 341 is located within the concave cavity 106, while the first drive motor 521 is located on the chassis 101, offset from the projection of the second drive motor 341 on the chassis 101.

[0208] It can be understood that when the auxiliary cleaning assembly 510 is in the retracted and raised position, the auxiliary cleaning assembly 510 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of the fuselage 100, and is not housed in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning assembly 510 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the edge position.

[0209] In order to form the first avoidance area 109, as an optional implementation method, a notch area 1011 can be provided on the chassis 101, and the notch area 1011 is connected to the inner cavity of the fuselage 100 and the first avoidance opening 104. The first avoidance area 109 includes at least the notch area 1011 and part of the inner cavity of the fuselage 100.

[0210] In some embodiments, the auxiliary cleaning assembly 510 includes an auxiliary cleaning tray 512 and an auxiliary cleaning member 511 provided on the bottom of the auxiliary cleaning tray 512. Exemplarily, the auxiliary cleaning member 511 is, for example, a cleaning cloth, etc. In the initial position, the edge of the auxiliary cleaning tray 512 is located inside the edge of the body 100; in the edge position C, at least part of the edge of the auxiliary cleaning tray 512 is located outside the edge of the body 100.

[0211] When the auxiliary cleaning component 510 and the main cleaning component 310 are both in the mopping position, in order to avoid a gap between the main cleaning component 310 and the auxiliary cleaning component 510 due to missed sweeping, in an embodiment of the present application, when the main cleaning component 310 is in the mopping position and the auxiliary cleaning component 510 is in the edge and mopping position, there is an overlapping area H between the main cleaning component 310 and the auxiliary cleaning component 510 along the travel direction of the cleaning device 10, that is, along the travel direction of the cleaning device 10, the cleaning areas between the main cleaning component 310 and the auxiliary cleaning component 510 in the width direction of the body 100 partially overlap, so as to avoid a missed sweeping area between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience.

[0212] In some embodiments, please refer to Figure 9a and Figure 10 As shown, the mounting base 312 has a second notch 3121, which provides an avoidance space for the auxiliary cleaning disc 512. When the auxiliary cleaning disc 512 is located at the edge position C (i.e., the edge position), the auxiliary cleaning disc 512 is partially located in the second notch 3121, so that the second part of the auxiliary cleaning member is located in front of the first part of the main cleaning member, and the auxiliary cleaning member cleans first and the main cleaning member cleans later; exemplarily, the second notch 3121 can match part of the outer contour of the auxiliary cleaning disc 512. When cleaning along the edge, the main cleaning component 310 and the auxiliary cleaning component 510 are both located in the mopping position, and at least part of the auxiliary cleaning disc 512 is embedded in the second notch 3121, so that the main cleaning component 310 and the auxiliary cleaning component 510 have an overlapping area H in the direction of travel of the cleaning device 10, so as to avoid the problem of missed sweeping areas due to gaps between the main cleaning component 310 and the auxiliary cleaning component 510, thereby improving the user experience.

[0213] It should be noted that the overlapping area H refers to the area in the moving direction of the cleaning device 10, wherein the areas cleaned by the main cleaning member 311 and the auxiliary cleaning member 511 overlap, so as to avoid the problem of missing areas.

[0214] For example, please refer to Figure 11a and Figure 11b As shown, the auxiliary cleaning plate 512 is a circular rag plate, and the partial contour of the second notch 3121 close to the rear of the fuselage 100 is an arc-shaped structure that matches the contour of the rag plate, so that the partial contour of the second notch 3121 close to the rear of the fuselage 100 forms a state of covering the partial contour of the auxiliary cleaning plate 512, so that the main cleaning part 311 and the auxiliary cleaning part 511 have an overlapping area H in the direction of travel along the fuselage 100, so as to avoid missed cleaning between the main cleaning part 311 and the auxiliary cleaning part 511. Example 2

[0215] This embodiment is based on the above content, and is different from the embodiment 1 in that the auxiliary cleaning component 510 is provided on the main cleaning component 310. For the convenience of description, this embodiment takes the main cleaning component 310 as a flat mop as an example. Figures 14a to 22 , give a detailed introduction to the cleaning robot.

[0216] like Figures 14a to 21 In the robot shown, the main cleaning module 300 includes a first lifting structure 330, a second driving structure 340, and at least one main cleaning component 310; the first lifting structure 330 is used to drive the main cleaning component 310 to move up and down. The main cleaning component 310 is a flat mop, which includes a top plate 314, a vibration plate 313 provided on the top plate 314, and at least a main cleaning member 311 provided on the bottom of the vibration plate 313; the second driving structure 340 is provided on the mounting base 312 or the body 100, and is used to drive the vibration plate 313 to vibrate back and forth relative to the mounting base 312, or to twist back and forth, so that the main rag installed on the bottom of the vibration plate 313 can mop the floor. Figure 14b 、 Figure 14c and Figure 14d As shown, the main cleaning component 310 is located below the chassis 101 of the body 100. Compared with Example 1, the structural arrangement inside the body 100 is the same, refer to the inner cavity of Example 1, which will not be repeated here, but the arrangement position of the auxiliary cleaning module 500 is different.

[0217] Since the auxiliary cleaning module 500 is disposed on top of the mounting base 312, when the first lifting structure 330 drives the mounting base 312 to rise and fall, the auxiliary cleaning module 500 is simultaneously driven to rise and fall along with the flat mop, and the main cleaning member 311 and the auxiliary cleaning member 511 are simultaneously in the raised position and the mopping position. Compared with Example 1, the first lifting structure 330 is not required. The first driving structure 520 only drives the auxiliary cleaning disc 512 to swing and rotate, and the first spiral portion 531 and the first mating portion 532 of the aforementioned first lifting structure 330 are not required. As a result, the structure of the first driving structure 520 in the height direction of the machine body 100 is simpler and more compact, requiring less avoidance space within the machine body 100, and the structure is more compact. Please refer to the content of Example 1 for the first driving structure 520, which will not be repeated here.

[0218] Since the auxiliary cleaning module 500 rises and falls synchronously with the flat mop, the main cleaning member 311 and the auxiliary cleaning member 511 are synchronously in the mopping position and the lifting position. When in the mopping position, the main cleaning member 311 and the auxiliary cleaning member 511 both clean the surface to be cleaned.

[0219] The auxiliary cleaning disc 512 has the aforementioned initial position A and edge position C. Regardless of whether the flat mop is in the raised position or the mopping position, the auxiliary cleaning disc 512 can switch between the initial position A and the edge position C under the drive of the first drive structure 520. When in the mopping position, the auxiliary cleaning disc 512 is in both the initial position A and the edge position C, and can mop the floor. In the edge position C, the first drive structure 520 similarly drives the auxiliary cleaning disc 512 to rotate; in the initial position A, the first drive structure 520 can drive the auxiliary cleaning disc 512 to rotate and mop the floor; or in the initial position A, the first drive motor 521 is stopped, the auxiliary cleaning disc 512 remains in the initial position A and does not rotate. As the body 100 moves, the auxiliary cleaning member 511 on the bottom of the auxiliary cleaning disc 512 mops the floor (does not rotate).

[0220] Such as 16 and Figure 17 As shown, the auxiliary cleaning plate 512 is in the initial position A and the edge position C. When the auxiliary cleaning plate 512 swings from the initial position A toward the edge position C, the swing arm 524 swings clockwise. Along the forward direction of the fuselage 100, the auxiliary cleaning plate 512 in the initial position A is closer to the front of the mounting base 312 of the flatbed mop.

[0221] Specifically, continue to refer to Figure 16 and Figure 17 , the swing arm 524 swings clockwise to drive the auxiliary cleaning assembly 511 to switch from the initial position A to the edge position C; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly 511 at the initial position A is located in front of the rotation center of the auxiliary cleaning assembly 511 at the edge position C.

[0222] When the auxiliary cleaning disc 512 in the first embodiment swings from the initial position A toward the edge position C, as shown in FIG. Figure 7 As shown, the swing arm 524 swings counterclockwise, along the forward direction of the fuselage 100, and the auxiliary cleaning plate 512 in the initial position A is closer to the rear of the flat mop, as shown in FIG. Figure 10 As shown, in order to reserve space for the auxiliary cleaning module 500 in the initial position A, the mounting plate of the mounting base 312 of the flat mop needs to have a first recessed area 3141 protruding downwards, so that the vibration plate 313, the bottom plate 315 and the bottom of the first recessed area 3141 are flush, which is convenient for installing the main mop. In order to avoid the first recessed area 3141, the vibration plate 313 and the bottom plate 315 need to be provided with a avoidance portion or a avoidance opening. The auxiliary cleaning module will have a great impact on the structure of the flat mop. Figures 16 and 17 As shown, along the forward direction of the fuselage 100, the auxiliary cleaning plate 512 in the initial position A is closer to the front of the mounting base 312 of the flatbed mop. The vibration plate 313 and the bottom plate 315 of the flatbed mop do not need to provide a retraction avoidance space for the auxiliary cleaning module 500, and the aforementioned first recessed area 3141 and avoidance opening are not required.

[0223] Specifically, such as Figure 22 In this embodiment, the main cleaning assembly 310 includes a mounting base 312 and a main cleaning member fixed to the bottom of the mounting base 312. The mounting base 312 is a flat drag, which includes a top plate 314, a vibration plate 313, and a bottom plate 315. The vibration plate 313 is movably disposed between the top plate 314 and the bottom plate 315. The main cleaning member 311 is disposed on the bottom of the bottom plate 315 and the vibration plate 313. The side of the top plate 314 facing the bottom plate 315 no longer has a protrusion protruding toward the bottom plate 315, that is, the upper surface of the top plate 314 no longer has a recess 3141. Furthermore, the vibration plate 313 does not need to be provided with the aforementioned third notch 3131. In this embodiment, the mounting opening 3151 provided on the bottom plate 315 is a closed annular hole. The mounting opening 3151 is used to avoid the vibration trajectory of the vibration plate 313. In other words, the vibration plate 313 is located in the mounting opening 3151, so that the bottom plate 315 surrounds the outer periphery of the vibration plate 313 and is fixedly connected to the top plate 314, so that the mounting opening 3151 is used to avoid the movement trajectory of the vibration plate 313. The front edge of the bottom plate 315 is provided with a second notch 3121. The second notch 3121 is used to avoid the auxiliary cleaning assembly 510 when it is in the initial position A. The second notch 3121 is not connected to the mounting opening 3151.

[0224] The structure of the auxiliary cleaning module 500 is the same as that of Example 1, comprising an auxiliary cleaning assembly 510 and a first drive mechanism 520. The first drive mechanism 520 comprises a first motor, a swing arm 524, and a first elastic member 522. The auxiliary cleaning assembly 510 is mounted on the swing arm 524. The first drive motor 521 cooperates with the first elastic member 522 to at least drive the swing arm 524 to swing, thereby driving the auxiliary cleaning disc 512 to swing and switch between the initial position A and the edge position C. Furthermore, in the edge position C, the first drive motor 521 drives the auxiliary cleaning disc 512 to rotate and mop the floor, but the first lifting mechanism 530 is not provided.

[0225] In order to allow the auxiliary cleaning assembly 510 to swing, as shown in FIG14 , a first avoidance opening 104 is provided on the side wall of the body 100. Figure 15 As shown, a first avoidance area 109 is provided on the chassis 101 of the fuselage 100; at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning disc 512 can swing outward toward the edge position C through the first avoidance opening 104, and retract inward toward the initial position A; when the auxiliary cleaning component 510 is in the initial position A, at least part of the auxiliary cleaning component 510 is located in the first avoidance area 109.

[0226] like Figure 14dAs shown, a notch area 1011 is provided on the chassis 101 , and the notch area 1011 is connected to the inner cavity of the fuselage 100 and the first avoidance opening 104 . The notch area 1011 and part of the inner cavity of the fuselage 100 form a first avoidance area 109 .

[0227] like Figure 14b and Figure 14d As shown, in the aforementioned first driving structure 520, the first driving motor 521 is located in the fuselage 100, and the swing arm 524 is located in the notch area 1011 (the aforementioned support shell 570 and the second transmission assembly are also located in this notch area 1011). One end of the swing arm 524 is provided on the mounting seat 312 of the flatbed mop, and the other end is located below the chassis 101. Since the auxiliary cleaning module 500 as a whole rises and falls with the flatbed mop as a whole, at least the first driving motor 521 in the first driving structure 520 is lifted and lowered in the fuselage 100, and the swing arm 524 is lifted and lowered below the chassis 101.

[0228] like Figure 15 As shown, a first boss 105 is provided on the chassis 101 and is recessed into the inner cavity of the body 100 and extends into the inner cavity of the body 100. The first boss 105 forms a first concave cavity 106 on the side facing the flatbed drag. The first boss 105 and the aforementioned notch area 1011 on the chassis 101 are adjacent and connected.

[0229] Preferably, at least a portion of the second drive structure 340 on the aforementioned flatbed mop is disposed within the first concave cavity 106. The second drive structure 340 and the first drive structure 520 are staggered on the flatbed mop's mounting base 312 in both the width and height directions of the body 100. When the flatbed mop and the auxiliary cleaning module 500 are synchronously raised and lowered, the staggered height of the first and second drive structures 520 and 340 in the body 100 reduces the required height space within the body 100 for raising the first and second drive structures 520 and 340. Accordingly, the first lifting structure 330 can also be disposed within the body 100 in the area between the first boss 105 and the dust box cavity 204.

[0230] like Figure 22 As shown, the flat mop also includes a bottom plate 315, which is disposed on the bottom of the mounting plate. The bottom plate 315 has a mounting cavity, and the vibration plate 313 is embedded in the mounting cavity. The bottom of the vibration plate 313 and the bottom of the floor are on the same flat surface, and the main cleaning cloth is attached to the bottom of the bottom plate 315 and the vibration plate 313 by gluing.

[0231] Continue to refer Figure 22The mounting base 312 is a flat mop, and the front edge of the mounting base 312 has a second notch 3121; the main cleaning member 311 is provided with a first notch 3122 corresponding to the second notch 3121; when the auxiliary cleaning component 511 is located at the edge position C, part of the auxiliary cleaning component 310 is embedded in the second notch 3121, so that the second part 5111 is located in front of the first part 3111, and the cleaning areas of the first part 3111 and the second part 5111 have the overlapping area.

[0232] Different from Example 1, when the auxiliary cleaning component 511 is in the initial position A, the auxiliary cleaning component 310 is also partially embedded in the second notch 3121 on the front edge of the mounting seat 312, so that the second part 5111 is located in front of the first part 3111, and the cleaning areas of the first part 3111 and the second part 5111 have the overlapping area.

[0233] Specifically, the flat mop includes a top plate 314, a vibration plate 313, and a bottom plate 315. The bottom plate 315 is provided with a mounting opening 3151. The bottom plate 315 and the top plate 314 are fixedly connected, and the vibration plate 313 is embedded in the mounting opening 3151. The main cleaning member 311 is provided on the bottom of the bottom plate 315 and the vibration plate 313. The vibration plate twists or reciprocates in the third avoidance opening or the mounting opening to drive the main cleaning member to twist or reciprocate. The second notch is provided on the top plate and the bottom plate. Specifically, the surfaces of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 are flush. In this way, the main cleaning member 311 can be fixed to the sides of the vibration plate 313 and the bottom plate 315 facing away from the top plate 314 by gluing or other means to ensure the flatness of the main cleaning member 311 and increase the area of the main cleaning member 311, thereby improving the cleaning efficiency and cleaning effect.

[0234] Unlike Example 1, since the top plate 314 no longer has a protrusion, the second notch 3121 on the top plate 315 does not need to avoid the protrusion. As a result, the second notch 3121 of the bottom plate 315 of this embodiment has a smaller space and can only avoid the auxiliary cleaning assembly 510 in the initial position A. After the top plate 314, the vibration plate 313, the bottom plate 315 and the main cleaning member 311 are assembled, the second notches 3121 on the top plate 314 and the bottom plate 315 and the first notch 3122 of the main cleaning member 311 are aligned.

[0235] In this embodiment, the area of the auxiliary cleaning member is smaller than the area of the main cleaning member; the main cleaning member has a first portion, and the auxiliary cleaning member has the second portion.

[0236] The difference from Example 1 is that: Figure 16 and Figure 17As shown, regardless of whether the auxiliary cleaning module 500 is in the initial position A or the edge position C, the main cleaning component 310 and the auxiliary cleaning component 510 respectively have a first part 5111 and a second part 3111. In the direction of forward movement of the fuselage 100, the cleaning areas of the first part 5111 and the second part 3111 overlap to avoid missed scanning.

[0237] like Figure 17 As shown, in the forward direction of the fuselage 100, since the initial position A of the auxiliary cleaning disc 512 is located in front of the edge position C of the auxiliary cleaning disc 512, the aforementioned second part 3111 is located in front of the first part 5111, the second part 3111 is cleaned first, and the first part 5111 is cleaned later, and the cleaning areas of the two have an overlapping area.

[0238] In addition to the above-mentioned contents, other contents not mentioned in this embodiment are the same as those in the aforementioned embodiment 1 and are not described here in detail. Please refer to the aforementioned contents. Example 3

[0239] This embodiment is the same as embodiment 2, in which the auxiliary cleaning assembly 510 is arranged on the main cleaning assembly 310. Under the drive of the first lifting structure 330, the auxiliary cleaning module 500 rises and falls synchronously with the main cleaning assembly 310. The main cleaning module 300 of this embodiment is still a flat mop structure, such as Figures 23 to 38 As shown, the difference between it and Example 2 is mainly that:

[0240] like Figure 25 As shown, the chassis 101 is not provided with a notch area 1011, the first avoidance area 109 is located below the chassis 101, the first protrusion 105 of the chassis 101 is directed upward toward the first concave cavity 106 of the inner cavity of the fuselage 100, and the first concave area 3141 forms the first avoidance area 109. Figure 26 As shown, the first concave cavity 106 and the roller brush cavity 205 for installing the roller brush 201 are schematically shown from the bottom view. Figure 25 As shown, the first boss 105 and the dust box cavity 204 where the dust supply box 202 is installed are shown from a top view.

[0241] As in Example 3, the first driving structure 520 includes a first driving motor 521, a first elastic member 522 and a swing arm 524, and the auxiliary cleaning component 510 is arranged on the swing arm 524. As shown in Figure 24, at least the first driving motor 521 of the first driving structure 520 is located in the first concave cavity 106, one end of the swing arm 524 is located in the first concave cavity 106, and the other end of the swing arm 524 is located outside the first concave cavity 106 and below the chassis 101. When the flat panel drags the auxiliary cleaning module 500 to rise and fall synchronously, the first driving structure 520 rises and falls in the first boss 105, and the first boss 105 plays a protective and limiting role for the first driving structure 520. Since the first driving structure 520 is lifted and lowered below the chassis 101, it will not affect other structures in the fuselage 100 during movement. At the same time, in Figure 24, a first opening is provided on the left side of the first boss 105. The primary function of the first opening is to allow the wires connecting the first drive motor 521 of the first drive structure 520, the second drive motor 341 of the second drive structure 340, the sensors on the auxiliary cleaning module 500, and the main cleaning assembly 310 to pass through and connect to the control board at the front of the body 100, thereby making the wiring more regular. At the same time, during the installation process, the auxiliary cleaning module 500 and the flatbed mop are first assembled as a cleaning module. The bottom of the cleaning module body 100 is facing upward, and a portion of the first drive structure 520 is directly embedded in the first cavity 106. The first boss 105 serves as a guide and positioning for its installation.

[0242] The first boss 105 is connected to the inner cavity of the fuselage 100 in areas other than the first opening for wiring, while other areas are not connected to the inner cavity of the fuselage 100, which plays a role in waterproofing and protection. It also allows the robot to achieve an avoidance area on the chassis 101 while maintaining the structural integrity of the chassis 101 as much as possible, thereby facilitating the processing and manufacturing of the chassis 101.

[0243] The second driving structure 340 of the main cleaning module 300 is used to drive the flat plate to vibrate or twist back and forth to clean the floor; the second driving structure 340 includes at least a second driving motor, which is located in the first concave cavity 106 and below the first driving motor 521. Figure 31 shown.

[0244] like Figure 32 As shown, at least the first drive motor 521 of the first drive structure 520 is installed on the top of the shell of the second drive structure 340, and the other structures of the first drive structure 520 are staggered with the second drive structure 340 in the height direction and horizontal direction of the fuselage 100.

[0245] Furthermore, the second driving structure 340 can be entirely located in the first concave cavity 106 , so that the first driving structure 520 and the second driving structure 340 can be arranged more compactly when the tablet is dragged thereon.

[0246] Since at least the first drive motor 521 of the first drive structure 520 is located above the top of the shell of the second drive structure 340 (i.e., stacked and distributed in the height direction) and are both embedded in the first concave cavity 106, when the flat mop and the auxiliary cleaning module 500 rise synchronously, the height of the first concave cavity 106 needs to be higher than the height of the first concave cavity 106 in Example 3, so that the first boss 105 is further recessed toward the inner cavity of the fuselage 100, and there is no space in the fuselage 100 to set the first lifting structure 330. In order to set the first lifting structure 330 in the fuselage 100, in this embodiment, the position where the water tank 600 was originally set in Example 3 is vacated for the installation of the lifting drive assembly of the first lifting structure 330.

[0247] Same as Example 2, Figure 37 As shown, in the forward direction of the fuselage 100, since the initial position A of the auxiliary cleaning disc 512 is located in front of the edge position C of the auxiliary cleaning disc 512, the aforementioned second part 3111 is located in front of the first part 5111, the second part 3111 is cleaned first, and the first part 5111 is cleaned later, and the cleaning areas of the two have an overlapping area H.

[0248] The main cleaning component 310 of this embodiment can be used in conjunction with the main cleaning component 311 of embodiment 2. Figure 22 The main cleaning assembly 310 shown is of the same structure.

[0249] As shown in FIG24 , the other structures are arranged in the same manner as in Example 2, and are not described in detail here. Figures 32 to 38 As shown, the auxiliary cleaning tray 512 is in the initial position A and the edge position C. The auxiliary cleaning tray 512 and the mounting base 312 of the flat mop have the aforementioned second portion 3111 and first portion 5111, respectively, to avoid missing areas. In addition, the structures and contents not mentioned above are arranged the same as in Example 3, and reference is made to the aforementioned contents. Example 4

[0250] Based on any of the above embodiments, Figure 7 、 Figure 12a 、 Figure 12c 、 Figure 17 、 Figure 33 and Figure 38As shown, the auxiliary cleaning component 510 also has a third position B relative to the body 100. The third position B is mainly used for cleaning the angle area. The so-called angle area refers to the intersection of the first side and the second side of the obstacle (the first side and the second side can be two sides of an obstacle, or one side of two obstacles respectively, for example, the first side is the side of the first obstacle, and the second side is the side of the second obstacle) to form an angle area.

[0251] When the body 100 turns, when the auxiliary cleaning plate 512 turns from the first side to the second side at the initial position A or the edge position C, the angle area is missed, and the auxiliary cleaning cloth on the auxiliary cleaning plate 512 cannot clean the area, such as Figure 39 In the shaded area shown, when the main body 100 rotates from the first side to the second side, and the main body 100 rotates and the auxiliary cleaning disc 512 turns at the initial position A or the side position C, there is a missed cleaning area.

[0252] The fuselage 100 may be a circular machine, a D-shaped machine, or a polygonal, irregular machine type. Regardless of the shape of the outer shape of the fuselage 100, such as Figure 41 As shown, the main body 100 has a rotation center O1 to facilitate turning of the main body 100 and adjusting the position of the main body 100. The distances between the rotation center of the auxiliary cleaning disc 512 at the initial position A, the edge position C, and the third position B and the rotation center of the main body 100 are represented by LA, LC, and LB, respectively, where LB>LC>LA.

[0253] Since LB>LC, after turning, when the auxiliary cleaning plate 512 switches to the third position B, the auxiliary cleaning plate 512 is located in the missed sweeping area, so that the auxiliary rag on the bottom of the auxiliary cleaning plate 512 is driven to mop the floor through the backward and / or forward movement of the fuselage 100; during this process, the auxiliary cleaning plate 512 may rotate or not.

[0254] Alternatively, during the process of the body 100 turning from the first edge toward the second edge, the auxiliary cleaning disc 512 switches to the third position B. The auxiliary cleaning disc 512 is located in the missed sweeping area at the third position B. During the process of the body 100 turning, the auxiliary cleaning member 511 at the third position B mops the floor. During this process, the auxiliary cleaning disc 512 may rotate on its own or may not rotate on its own.

[0255] When cleaning an angled area, the cleaning robot can perform various actions, specifically:

[0256] The first embodiment: the auxiliary cleaning disc 512 of the robot cleans the first edge along the edge position C, and then turns at the edge position C (or the auxiliary cleaning disc 512 first cleans the first edge along the edge position C, and then switches to the initial position A, and then turns at the initial position A), and then switches to the third position B, and then the body 100 retreats, the auxiliary cleaning disc 512 retreats along the second edge at the third position B, cleans the angle area, and then moves forward along the second edge at the edge position C for cleaning.

[0257] Further preferably, after the auxiliary cleaning plate 512 turns to the side position C, the main body 100 is twisted forward to straighten the main body 100 so that the auxiliary cleaning plate 512 retreats to the third position B along the second side.

[0258] After cleaning the angled area, the body 100 moves forward and returns to the retracted starting position, and the body 100 twists in the opposite direction and switches to the C position to start the second edge cleaning.

[0259] For cleaning the corner area, the auxiliary cloth can be used to clean the corner area only when the body 100 moves backward, or only when the body 100 moves forward; of course, the auxiliary cloth can be used to clean the corner area multiple times during the forward and backward movements of the body 100.

[0260] That is, the auxiliary cleaning component 510 first cleans along the first side, then cleans the angle area formed by the first side and the second side, and then cleans along the second side.

[0261] For example, in one embodiment, as described in Example 1, referring to Figure 12c As shown, when the swing arm 524 rotates counterclockwise, the auxiliary cleaning disc 512 swings from the initial position A to the edge position C. The third position B is located between the initial position A and the edge position B. When the auxiliary cleaning assembly 511 is in the third position C, the auxiliary cleaning assembly 511 has a second portion 5111, and the main cleaning assembly 311 has a first portion 3111. In the forward direction of the machine body, the second portion 5111 is located behind the first portion 3111, so that the first portion 3111 is cleaned first and the second portion 5111 is cleaned later. The cleaning areas of the first portion 3111 and the second portion 5111 overlap.

[0262] Based on Example 1, the auxiliary cleaning member 511 performs the following actions when cleaning the angled area:

[0263] like Figure 43As shown, when the body 100 rotates from the first side to the second side at the edge position C, after the body 100 turns, the auxiliary cleaning plate 512 is in the edge position C. Since LB>LC, it is difficult to switch from the edge position C to the third position B without the body 100 rotating or twisting. Therefore, the body 100 needs to turn clockwise to reserve space for the auxiliary cleaning plate 512 to switch from the edge position B to the third position B, so that the auxiliary cleaning plate 512 can switch from the edge position B to the third position B. The body 100 moves backward, and the auxiliary cleaning plate 512 is located in the missed sweeping area, cleaning the angle area.

[0264] During this process, the auxiliary cleaning disc 512 at position B can rotate. However, if the first drive structure 520 of Example 1 is used, and the first drive structure 520 uses a first drive motor 521 and a first one-way transmission mechanism 523, then when cleaning the angled area, the auxiliary cleaning disc 512 does not rotate (because the swing arm 524 retracts when switching from the edge position B to the third position B. During the retraction process, the first drive motor 521 drives the swing arm 524 to swing. Since the third position B is located between the initial position A and the edge position B, if the first drive motor 521 drives the auxiliary cleaning disc 512 to the third position B, the first drive motor 521 continues to rotate, causing the swing arm 524 to swing from the third position B to the initial position A). As the main body 100 moves backward and / or forward, the angled area is cleaned.

[0265] After cleaning the angle area, the main body 100 moves forward, and the auxiliary cleaning plate 512 switches from the third position B to the edge position B. The main body 100 needs to rotate counterclockwise. Since LC is less than LB, the distance between the rotation center of the main body 100 and the second edge is shortened, so that the auxiliary cleaning plate cleans the second edge along the edge at position C.

[0266] In another embodiment, if the auxiliary cleaning disk 512 first moves along the first edge at the edge position B and then ends along the first edge, the auxiliary cleaning disk 512 switches from the edge position B to the initial position A. The auxiliary cleaning disk 512 rotates along the main body 100 at the initial position A. After the rotation, since LC>LA, the main body 100 needs to rotate clockwise to reserve space for the auxiliary cleaning disk 512 to switch from the initial position A to the third position B. This allows the auxiliary cleaning disk 512 to switch from the initial position A to the third position B. Then, the main body 100 moves backward, and the auxiliary cleaning disk 512 is located in the angled area to clean the angled area. This is the same as the operation in the previous embodiment.

[0267] For example, in the implementation described in Example 2 and Example 3, Figure 17 and Figure 33As shown, when the swing arm 524 rotates clockwise from the initial position A to the edgewise position C, along the swing direction of the swing arm 524, the edgewise position C is located between the initial position A and the third position B. When the auxiliary cleaning assembly 511 is in the third position B, the auxiliary cleaning assembly 511 has a second portion 5111, and the main cleaning assembly 311 has a first portion 3111. In the forward direction of the machine body, the second portion 5111 is located behind the first portion 3111, so that the first portion 3111 cleans first and the second portion 5111 cleans later, and the cleaning areas of the first portion 3111 and the second portion 5111 overlap.

[0268] Based on the second and third embodiments, the auxiliary cleaning member 511 performs the following actions when cleaning the angled area:

[0269] Similar to the above method, when the auxiliary cleaning disk 512 first moves along the first side at the edge position C, then moves from the first side to the second side at the initial position A or edge position C, after the main body 100 rotates, due to LB>LC (or LB>LA), the main body 100 rotates clockwise, leaving space for the auxiliary cleaning disk 512 to switch from the edge position B to the third position B. The auxiliary cleaning disk 512 then moves from the initial position A or edge position C to position B, with the cleaning disk located in the angle area, and then moves back to clean the angle area, consistent with the above solution. This will not be repeated here.

[0270] Second embodiment: the auxiliary cleaning disc 512 first cleans along the first side at the edge position C, and while turning from the first side toward the second side, the auxiliary cleaning disc 512 switches to the third position B to clean the angle area at the third position B.

[0271] During the turning process, the auxiliary cleaning disc 512 switches to the third position B to clean the angled area. The angled area can be cleaned during the turning process, and after the turning process, the cleaning of the angled area is complete. Alternatively, the angled area can be cleaned during the turning process, and after the turning process, the auxiliary cleaning disc 512 moves back and forth to the third position B to continue cleaning the angled area, further cleaning the angled area.

[0272] Furthermore, in a preferred manner, during the turning process, the auxiliary cleaning disc 512 is kept in contact with the first side and / or the second side at the third position B.

[0273] That is, during the rotation from the first side to the second side, the body 100 rotates counterclockwise, and the swing arm 524 rotates from the edge position C to the third position B. During the rotation, the auxiliary cleaning member 511 always stays close to the edge (the first side and the second side), and the body 100 does not need to move back to clean the angle area, such as Figure 40 shown.

[0274] The above-mentioned edge following is carried out by taking the right edge of the robot as an example. In both the first embodiment and the second embodiment, the angle area is cleaned during the edge following process.

[0275] In a third embodiment, when the cleaning angle area is determined, the robot goes to the angle area and cleans the angle area at a third position B.

[0276] like Figure 42 As shown, starting from any position, the angled area can be cleaned at any time. The main body 100 moves from any position to approach the angled area, the auxiliary cleaning plate is located at the third position B, and the auxiliary cleaning plate 512 is located in the angled area. The main body 100 remains stationary while the auxiliary cleaning plate 512 rotates to clean the angled area. Alternatively, the main body 100 moves back and forth, and the auxiliary cleaning plate on the auxiliary cleaning plate 512 cleans the angled area multiple times. Alternatively, the main body 100 reciprocates and the auxiliary cleaning plate 512 rotates to clean the angled area simultaneously.

[0277] The machine body 100 can first move to the angle area, and then switch the auxiliary cleaning disc 512 to the third position B; or the machine body 100 can switch the auxiliary cleaning disc 512 to position B during the movement toward the angle area, so as to achieve cleaning of the angle area from any position. In this embodiment, the auxiliary cleaning assembly 510 can first clean the angle area, and then clean along the edge in a bow-shaped manner; or first clean along the edge, then in a bow-shaped manner, and then clean the angle area. Figure 42 As shown, when the machine body first reaches the angle area from any position, the auxiliary cleaning plate is in the third position. Alternatively, the auxiliary cleaning plate can also be in the initial position, or along the edge position. Optimally, the auxiliary cleaning plate is in the initial position and reaches the angle area with the machine body from any position.

[0278] In addition, it should be emphasized that: if the cleaning device 10 in the above embodiment 1, the first driving structure 520 adopts a first motor, a swing arm 524, a first one-way transmission mechanism 523, a second one-way transmission mechanism 529, a first elastic member 522, and a first lifting structure 330; the initial position A, the edge position B and the third position B of the auxiliary cleaning disc 512, such as Figure 12c As shown, due to the use of the first one-way transmission mechanism 523 and the second transmission mechanism, when the swing arm 524 retracts from the edge position B toward the initial position A, the auxiliary cleaning cloth disc does not rotate. When the swing arm 524 and the auxiliary cleaning disc 512 reach the third position B, the first drive motor 521 stops, and the auxiliary cleaning disc 512 cannot rotate. Therefore, when the auxiliary cleaning assembly 510 is in the cleaning angle region, the auxiliary cleaning disc 512 does not rotate, and the auxiliary cleaning disc 512 mops the floor as the main body 100 moves. For example, the movement of the main body 100 includes forward, backward, twisting, or turning movements.

[0279] Furthermore, if the second one-way transmission mechanism 529 of the first drive structure 520 is removed, the auxiliary rag plate rotates during the retraction of the swing arm 524 from the edge position B toward the initial position A; when the auxiliary cleaning plate 512 cleans the angle area at the third position B, the first drive motor 521 stops (if the first drive motor 521 continues to rotate toward the initial position A, the swing arm 524 swings toward the initial position A and cannot be maintained at the third position B), and the auxiliary cleaning plate 512 still cannot rotate and mops the floor as the body 100 moves.

[0280] If the first driving structure 520 uses two first motors, one first motor drives the swing arm 524 to swing, and the other first motor drives the auxiliary cleaning disc 512 to rotate, then when the auxiliary cleaning disc 512 is in the third position B, the auxiliary cleaning disc 512 can rotate to clean the angle area, or it can not rotate to clean the angle area.

[0281] Since the auxiliary cleaning disc 512 is in the mopping position at both the third position B and the edge position B, the first horizontal section 5312 on the first spiral portion 531 of the first lifting mechanism 530 in the aforementioned embodiment 1 is a segment, so that when the auxiliary cleaning disc 512 switches between the edge position B and the third position B, the first matching portion 532 moves on the first horizontal section 5312. For example, it slides or rolls. When the first matching portion 532 is a first roller 590, the first roller 590 rolls on the first horizontal section 5312 to achieve switching between the edge position B and the third position B when in the mopping position.

[0282] In the implementation described in Example 2 and Example 3, as Figure 17 and Figure 33 As shown, regardless of whether the auxiliary cleaning module 500 is disposed on the body 100 or the main cleaning assembly 310, along the swing direction of the auxiliary cleaning disc 512, the edge position C is located between the third position B and the initial position A. The swing arm 524 rotates clockwise from the initial position A toward the edge position C, reaching the edge position C. If the swing arm 524 continues to rotate clockwise, the swing arm 524 will rotate from the edge position C to the third position B, making it difficult to maintain the swing arm 524 and the auxiliary cleaning disc 512 at the edge position B for edge cleaning.

[0283] For this reason, Figure 18 and Figure 20As shown, based on the implementation methods described in Examples 2 and 3, the auxiliary cleaning component 511 has a lifting position and a mopping position relative to the body; when the edge position C is between the initial position A and the third position B, the cleaning device is further provided with a limiting structure 900. When the auxiliary cleaning disc 512 is in the mopping position, the limiting structure 900 is at least used to limit the position of the swing arm 524, so as to limit the swing arm 524 and the auxiliary cleaning disc 512 to the edge position B. The auxiliary cleaning disc 512 rotates, but the auxiliary cleaning disc 512 cannot swing toward the third position B; that is, when the auxiliary cleaning disc 512 is in the mopping position, the auxiliary cleaning disc 512 can switch back and forth between the initial position A and the edge position B, but cannot rotate from the edge position B toward the third position B.

[0284] When the auxiliary cleaning disc 512 is in the raised position, the limiting structure 900 releases the limit on the swing arm 524, so that the auxiliary cleaning disc 512 (or the auxiliary cleaning assembly 510) can swing from the initial position A or the edge position C toward the third position B to switch to the third position B; after the auxiliary cleaning disc 512 switches to the third position B, the auxiliary cleaning disc 512 moves downward to the bottom mopping position, so that the auxiliary cleaning disc 512 can clean the angle area at the third position B.

[0285] To facilitate description of the third limiting structure 900 , the main cleaning component 310 in Example 3 is taken as a flatbed mop, and the auxiliary cleaning module 500 is disposed on the mounting base 312 of the flatbed mop and deployed synchronously with the rise and fall of the flatbed mop. Other embodiments are also applicable.

[0286] like Figure 18 As shown, the limiting structure 900 includes a first limiting member 910, a second limiting member 920 and a force-applying member 930, wherein the first limiting member 910 is provided on the swing arm 524; the second limiting member 920 is retractably provided relative to the fuselage 100; for example, the second limiting member 920 is provided on the mounting seat 312 of the flatbed mop, and when in the mopping position and along the edge position B, along the swing direction of the swing arm 524, the second limiting member 920 blocks and abuts against the first limiting member 910; in the lifting position, the force-applying member 930 applies force to the second limiting member 920, driving the second limiting member 920 to move, so that the first limiting member 910 and the second limiting member 920 are staggered in the height direction of the fuselage 100.

[0287] For example, the first limiting member 910 is a first limiting protrusion protruding from the swing arm 524, and the second limiting member 920 includes a limiting column and a second limiting protrusion protruding from the side wall of the limiting column, in the raised position; during the rotation of the swing arm 524 from the initial position A toward the edge position B, the first limiting protrusion on the swing arm 524 rotates and abuts against the second limiting protrusion, and the second limiting protrusion limits the swing arm 524 from continuing to rotate toward the third position B.

[0288] Since the auxiliary cleaning module 500 is entirely mounted on the mounting plate of the flat mop, the limiting column can be telescopically mounted on the mounting plate, for example, Figure 19 and Figure 20 As shown, a fixed shaft 980 is provided on the mounting plate, and a third elastic member 970 is mounted on the fixed shaft 980. The limiting post is mounted outside the third elastic member 970, so that the limiting post is retractably mounted on the mounting plate. A force-applying member 930 is provided on the bottom of the chassis 101. When the flatbed mop and the auxiliary cleaning module 500 are in the raised position, the force-applying member 930 applies downward pressure to the limiting post, causing the limiting post to retract downward, thereby staggering the second limiting protrusion and the first limiting protrusion in the height direction of the body 100. When the auxiliary cleaning tray 512 is in the raised position, the limiting structure 900 releases the limit on the swing arm 524 at the edge position B. Therefore, when the auxiliary cleaning tray 512 is in the raised position, the swing arm 524 can swing from the initial position A to the edge position B, and then to the third position B via the edge position B, so that the auxiliary cleaning tray 512 remains in the third position B to clean the angled area.

[0289] Because the force-applying member 930 is directly mounted on the bottom of the chassis 101, when the flatbed tow truck is in the raised position, the top of the mounting plate of the flatbed tow truck is flush with the chassis 101, so that the force-applying member 930 presses the limit post downward to move. This eliminates the need for a separate drive structure, simplifies the structure, and reduces costs. Furthermore, the force-applying member 930 can also be replaced with other structures, such as a cylinder or other retractable structure.

[0290] When the flat mop is lowered from the raised position to the mopping position, the limiting post is reset under the action of the third elastic member 970 and can limit the edge position B of the swing arm 524 in the mopping position.

[0291] That is to say, the auxiliary cleaning disc 512 can only switch between the initial position A and the edge position B when it is in the raised position.

[0292] If the auxiliary cleaning module 500 is mounted on the main body 100, the first driving structure 520 itself drives the auxiliary cleaning module 500 to rise and fall, and the limiting structure 900 is mounted on the main body 100 and is retractable relative to the main body 100. When the auxiliary cleaning tray 512 is in the mopping position, the limiting structure 900 limits the swing arm 524 from swinging from the edge position B toward the third position B. In the raised position, the telescopic movement of the limiting structure 900 causes the first limiting member 910 and the second limiting member 920 to be offset in the height direction of the main body 100.

[0293] like Figure 21 As shown, when the swing arm 524 is at the initial position A, a third limiter or initial position A detection member 960 is provided on the flatbed ( Figure 18similarly, when the swing arm 524 is at the edge position B, a second limiter 920 is provided on the flatbed drag. In the third position B, a fourth limiter 990 is provided on the flatbed drag to control the swing of the swing arm 524.

[0294] like Figure 7 、 Figure 12a 、 Figure 12c 、 Figure 17 、 Figure 33 and Figure 38 As shown, regardless of the aforementioned implementation, along the forward direction of the fuselage 100, the third position B is located behind the edge position B, so that the auxiliary cleaning plate 512 can be located in the angle area to perform cleaning work in the angle area.

[0295] In summary, in the cleaning robot of this embodiment, the auxiliary cleaning assembly 510 has an initial position A, an edge position B, and a third position B relative to the body 100. The auxiliary cleaning assembly performs edge cleaning in the edge position B and cleans the angled area in the third position B, thereby reducing or even eliminating any missed areas during cleaning. The angled area can be an inner right angle area or an angled area of other angles. Example 5

[0296] Based on the above description, this embodiment provides a cleaning device, which includes a body 100 and the cleaning structure described in any of the above embodiments, and the cleaning structure is arranged below the body 100.

[0297] Based on any of the above embodiments, Figure 3 and 23 As shown, a first escape opening 104 is provided on the side wall of the housing 100, and a first escape area 109 is provided on the bottom of the housing 100, which is concave upward toward the interior of the housing 100. The aforementioned first driving structure 520 is located in the first escape area 109. The first escape area 109 is located below the base 101 and is connected to the first escape opening 104, allowing the auxiliary cleaning module 500 to swing between the edge position C and the initial position A.

[0298] At least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area 109, and the auxiliary cleaning module 500 can swing outward toward the edge position C through the first avoidance opening 104, or retract toward the initial position A. When in the non-edge cleaning mode, the auxiliary cleaning module 500 shrinks into the body 100, so that the overall structure of the cleaning device 10 is more compact, and the overall appearance of the cleaning device 10 is maintained, reducing the overall size of the cleaning device 10.

[0299] In some embodiments, the fuselage 100 includes a chassis 101 and an upper shell 102 , which together enclose an inner cavity of the fuselage 100 ; the first avoidance opening 104 is provided on the upper shell 102 , and the first avoidance area 109 is mainly formed by the chassis 101 .

[0300] In some optional structures, the first avoidance area 109 is located below the bottom plate 101, and the first avoidance area 109 includes at least a concave cavity 106 provided on the bottom plate 101 and concave upward toward the inner cavity of the body 100. In this way, the first avoidance area 109 has a relatively simple external structure and is convenient for storing the auxiliary cleaning module 500.

[0301] It can be understood that when the auxiliary cleaning module 500 is in the retracted and raised position, the auxiliary cleaning module 500 is stored in the first avoidance area 109. The first avoidance area 109 is set in the edge area of the fuselage 100, and is not housed in the inner cavity of the fuselage 100. Therefore, the auxiliary cleaning module 500 will not occupy a large space inside the fuselage 100 when switching between the initial position A and the edge position C.

[0302] The recessed area in the aforementioned embodiment 1 is located below the first avoidance area 109, so that the recessed area 3141 and the first avoidance area together form an avoidance space for accommodating the auxiliary cleaning module. In other words, the auxiliary cleaning module 500 is at least partially located between the bottom plate 101 and the top plate of the mounting base 312. Thus, by providing the recessed area 3141 on the top plate, which is recessed toward the ground (i.e., the bottom plate), the height dimension of the bottom of the fuselage for the auxiliary cleaning assembly to be raised and lowered can be increased without increasing the thickness dimension of the fuselage, thereby ensuring that there is sufficient space at the bottom of the fuselage for the auxiliary cleaning module to be raised and lowered and for accommodating the auxiliary cleaning module.

[0303] In some embodiments, the cleaning device also includes a side brush 400 located at the front end of the fuselage 100; the auxiliary cleaning module 500 and the side brush 400 are both located on the right side of the fuselage 100; the auxiliary cleaning component 510 and the main cleaning component 310 are both located at the rear of the fuselage 100; and at least two driving wheels 700 are symmetrically arranged on the bottom of the fuselage 100; in the forward direction of the fuselage 100, the auxiliary cleaning module 500 is located behind the driving wheel 700 on the right side. Example 6

[0304] like Figure 44As shown, how to switch from cleaning the first side to cleaning the angle area formed by the first side and the second side to ensure a high cleaning coverage rate and improve user experience is an urgent problem to be solved. Based on this, in some embodiments of this specification, the body can be controlled to perform a first rotation in the angle area between the first side and the second side, so that the auxiliary cleaning component moves along the first side toward the second side, and the angle area is the inner angle formed by the first side and the second side; during the first rotation of the body, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is the first distance, so as to perform cleaning on the angle area.

[0305] The auxiliary cleaning assembly can utilize a stepless adjustment method and can stay at an initial position, a third position, and any position within a swing range between the initial position and the third position. For example, the first end of the swing arm can be connected to a drive component such as a motor and a gear in the fuselage. The drive component can drive the first end to rotate so that the swing arm drives the auxiliary cleaning assembly to swing within the swing range. The swing arm can drive the auxiliary cleaning assembly to swing to any position within the swing range, that is, the position of the auxiliary cleaning assembly can be steplessly changed. The first drive assembly can drive the auxiliary cleaning assembly to adjust its position within the swing range so that the center of rotation of the auxiliary cleaning assembly maintains a first distance from the first side during the rotation of the fuselage.

[0306] It is understandable that by maintaining the auxiliary cleaning assembly's rotation center at a first distance from the first side, it is easy to calculate the distance between any point on the auxiliary cleaning assembly and the first side. For example, if the auxiliary cleaning assembly's rotation center is at a first distance from the first side, it is easy to calculate the distance between the point on the auxiliary cleaning assembly's edge closest to the first side and the first side. Therefore, maintaining the distance between the auxiliary cleaning assembly's rotation center and the first side at the first distance is equivalent to maintaining the distance between any point on the auxiliary cleaning assembly and the first side. Based on the above description, unless otherwise specified, the distance between the auxiliary cleaning assembly's rotation center and the first side in the embodiments of this specification can be interchanged with the distance between the auxiliary cleaning assembly and the first side. In actual applications, due to uncontrollable environmental factors or measurement accuracy (such as body shaking, the flatness of the first side), the distance between the auxiliary cleaning assembly's rotation center and the first side may not necessarily be maintained at an absolutely fixed value, but may fluctuate within a certain range. Therefore, the first distance can be a fixed value or a distance value with a predetermined tolerance value.

[0307] When the body makes the first rotation, if the auxiliary cleaning assembly remains fixed at a certain position relative to the body (that is, the first driving assembly does not adjust the position of the auxiliary cleaning assembly), then as the body rotates, the relative position of the auxiliary cleaning assembly and the first side will also change. For example, the auxiliary cleaning assembly will move away from the first side, causing a larger gap between the auxiliary cleaning assembly and the first side, thereby creating a missed cleaning area between the auxiliary cleaning assembly and the first side, reducing the cleaning effect; or, the auxiliary cleaning disc will interfere with the first side, thereby pushing the body away from the first side or causing the auxiliary cleaning disc to generate greater pressure, collision, etc., thereby damaging the cleaning equipment or causing the cleaning equipment to deviate from the cleaning route.

[0308] Therefore, when the fuselage makes the first rotation, the first drive component can adjust the position of the auxiliary cleaning component relative to the fuselage, such as adjusting the distance of the auxiliary cleaning component from the fuselage, so that the distance between the auxiliary cleaning component and the first side is maintained at the first distance, so that the edge point of the auxiliary cleaning component closest to the first side is very close to the first side or maintains contact with the first side, but no excessive extrusion contact occurs, thereby reducing the probability of abnormal phenomena such as scratches and excessive extrusion between the auxiliary cleaning component and obstacles, while achieving cleaning of the angle area during the first turning process, at least reducing the uncleaned area between the auxiliary cleaning component and the first side.

[0309] After the body performs the first rotation and the auxiliary cleaning assembly swings to the third position, if the distance between the rotation center of the auxiliary cleaning assembly and the second side is greater than the second distance, the auxiliary cleaning assembly is controlled to remain in the third position, and the body is controlled to continue to perform the first rotation until the distance between the rotation center of the auxiliary cleaning assembly and the second side is the second distance, so as to clean the angle area to ensure the coverage rate of the angle cleaning.

[0310] It will be appreciated that maintaining the auxiliary cleaning assembly's rotation center at the second distance from the first side makes it easy to calculate the distance between any point on the auxiliary cleaning assembly and the second side. For example, if the auxiliary cleaning assembly's rotation center is at the second distance from the second side, it's easy to calculate the distance between the point on the auxiliary cleaning assembly's edge closest to the second side and the second side. Therefore, maintaining the distance between the auxiliary cleaning assembly's rotation center and the second side at the second distance is equivalent to maintaining the distance between any point on the auxiliary cleaning assembly and the second side. Based on the above description, unless otherwise specified, the distance between the auxiliary cleaning assembly's rotation center and the second side in the embodiments of this specification can be interchanged with the distance between the auxiliary cleaning assembly and the second side. In actual applications, due to uncontrollable environmental factors or measurement accuracy (such as body sway or the flatness of the second side), the distance between the auxiliary cleaning assembly's rotation center and the second side may not necessarily remain at an absolutely fixed value, but may fluctuate within a certain range. Therefore, the second distance can be a fixed value or a distance value with a predetermined tolerance.

[0311] 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.

[0312] 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.

[0313] 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 structure, characterized in that: include A main cleaning module is provided on the rear portion of the cleaning device body and has at least one main cleaning component; An auxiliary cleaning module is provided on the rear portion of the machine body, the auxiliary cleaning module having at least one auxiliary cleaning component, the auxiliary cleaning component having at least an initial position and an edge position relative to the machine body; At the edge position, along the width direction of the body, at least a portion of the auxiliary cleaning assembly extends beyond the edge of the body for edge cleaning; The main cleaning component has at least a first part and the auxiliary cleaning component has at least a second part; when the auxiliary cleaning component is in the edge position, the cleaning areas of the first part and the second part have an overlapping area in the forward direction of the fuselage, wherein the width direction of the fuselage is perpendicular to the forward direction of the fuselage.

2. The cleaning structure according to claim 1, characterized in that In the forward direction of the fuselage, the second part is located in front of the first part, so that the second part is cleaned first and the first part is cleaned later, and the cleaning areas of the second part and the first part have the overlapping area.

3. The cleaning structure according to claim 1, wherein: In the forward direction of the fuselage, the second part is located behind the first part, so that the first part is cleaned first and the second part is cleaned later, and the cleaning areas of the first part and the second part have the overlapping area.

4. The cleaning structure according to claim 2 or 3, characterized in that: The main cleaning assembly includes a mounting seat and a main cleaning member fixed to the bottom of the mounting seat; the auxiliary cleaning assembly includes an auxiliary cleaning member; the area of the auxiliary cleaning member is less than the area of the main cleaning member; The main cleaning member has the first portion, and the auxiliary cleaning member has the second portion.

5. The cleaning structure according to claim 1, characterized in that The auxiliary cleaning module further includes a first driving structure, which includes a swing arm. The auxiliary cleaning component is rotatably disposed on the swing arm; the swing arm swings to drive the auxiliary cleaning component to switch between an initial position and an edge position.

6. The cleaning structure according to claim 5, characterized in that The swing arm swings clockwise to drive the auxiliary cleaning assembly to switch from the initial position to the edge position; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning assembly in the initial position is located in front of the rotation center of the auxiliary cleaning assembly in the edge position; or The swing arm swings counterclockwise to drive the auxiliary cleaning component to switch from the initial position to the edge position; along the forward direction of the fuselage, the rotation center of the auxiliary cleaning component in the initial position is located behind the rotation center of the auxiliary cleaning component in the edge position.

7. The cleaning structure according to claim 6, characterized in that The main cleaning assembly includes a mounting seat and a main cleaning member fixed to the bottom of the mounting seat; the auxiliary cleaning assembly includes an auxiliary cleaning member; the area of the auxiliary cleaning member is less than the area of the main cleaning member; The main cleaning member has the first portion, and the auxiliary cleaning member has the second portion.

8. The cleaning structure according to claim 7, characterized in that The front edge of the mounting seat has a second notch; the main cleaning member has a first notch corresponding to the second notch; When the auxiliary cleaning component is located at the edge position, part of the auxiliary cleaning component is embedded in the second notch so that the second part is located in front of the first part, and the cleaning areas of the first part and the second part have the overlapping area.

9. The cleaning structure according to claim 8, characterized in that The mounting base is a flatbed drag, which includes a top plate, a vibration plate, and a bottom plate. The bottom plate is provided with a third avoidance opening or a mounting opening. The bottom plate and the top plate are fixedly connected, and the vibration plate is embedded in the third avoidance opening or the mounting opening. The main cleaning component is provided on the bottom of the bottom plate and the vibration plate. The vibration plate twists or reciprocates in the third avoidance opening or the installation opening to drive the main cleaning component to twist or reciprocate; the second notch is provided on the top plate and the bottom plate.

10. The cleaning structure according to claim 9, characterized in that The first driving structure is also used to drive the auxiliary cleaning component to perform lifting motion; During the swinging of the auxiliary cleaning assembly from the edge position toward the initial position, the auxiliary cleaning assembly is driven by the first driving structure to move upward, switching from the mopping position to the raised position, so that the auxiliary cleaning assembly is located above the top plate; During the swinging of the auxiliary cleaning assembly from the initial position toward the edge position, the auxiliary cleaning assembly is driven by the first driving structure to move downward, switching from the lifting position to the mopping position, so that the auxiliary cleaning assembly is in the edge position.

11. The cleaning structure according to claim 10, characterized in that The top plate has a protrusion on one side facing the bottom plate to form a recessed area on the upper surface of the top plate. In an initial position, at least a portion of the auxiliary cleaning assembly is located in the recessed area, and the auxiliary cleaning assembly is separated from the ground. Corresponding to the protrusion, a third notch is provided on the vibration plate to avoid the protrusion, and the third avoidance opening on the bottom plate is a notch to avoid the protrusion; The bottom surfaces of the protrusion, the vibration plate and the bottom plate are flush, and the main cleaning member is arranged on the bottoms of the protrusion, the vibration plate and the bottom plate.

12. The cleaning structure according to claim 9, characterized in that The auxiliary cleaning module is arranged on the top of the top plate; the auxiliary cleaning component and the main cleaning component are raised and lowered synchronously to be in a mopping position or a lifting position synchronously.

13. The cleaning structure according to claim 12, characterized in that In the initial position, at least part of the auxiliary cleaning component is embedded in the second notch, and the part of the auxiliary cleaning component embedded in the second notch is larger than the part of the auxiliary cleaning component embedded in the second notch at the edge position, so that when the auxiliary cleaning component is in the initial position, there is an overlapping area between the cleaning areas of the first part and the second part along the forward direction of the fuselage.

14. The cleaning structure according to claim 13, wherein: The auxiliary cleaning assembly further comprises an auxiliary cleaning disc, at least a portion of the auxiliary cleaning member is disposed on a bottom portion of the auxiliary cleaning disc; In the initial position, at least a portion of the auxiliary cleaning disk is located in the second notch. In the edge position, a portion of the edge of the auxiliary cleaning disk extends out of the second notch.

15. The cleaning structure according to claim 4, characterized in that The auxiliary cleaning module is arranged on the top of the mounting seat; the auxiliary cleaning component and the main cleaning component are raised and lowered synchronously to be in a mopping position or a lifting position synchronously.

16. The cleaning structure according to claim 5, characterized in that The first driving structure is also used to drive the auxiliary cleaning component to perform lifting motion; During the swinging of the auxiliary cleaning assembly from the edge position toward the initial position, the auxiliary cleaning assembly is driven by the first driving structure to move upward, switching from the mopping position to the raised position, so that the auxiliary cleaning assembly is located above the mounting seat; During the swinging of the auxiliary cleaning assembly from the initial position toward the edge position, the auxiliary cleaning assembly is driven by the first driving structure to move downward, switching from the lifting position to the mopping position, so that the auxiliary cleaning assembly is in the edge position.

17. The cleaning structure according to claim 6, wherein: The auxiliary cleaning component further has a third position relative to the body, and the third position is used to clean the angle area formed by the edge of the obstacle; The auxiliary cleaning assembly further includes an auxiliary cleaning disc, and the distances between the rotation center of the body and the rotation center of the auxiliary cleaning disc at the initial position, the edge position, and the third position are LA, LC, and LB, respectively, LB>LC>LA; Along the swing direction of the swing arm, the third position is located between the initial position and the edge position; or, along the swing direction of the swing arm, the edge position is located between the initial position and the third position.

18. The cleaning structure according to claim 17, wherein: When the auxiliary cleaning component is in the third position, the auxiliary cleaning component has a second part, and the main cleaning component has a first part. In the forward direction of the fuselage, the second part is located behind the first part, so that the first part is cleaned first and the second part is cleaned later, and the cleaning areas of the first part and the second part have an overlapping area.

19. The cleaning structure according to claim 6, wherein The auxiliary cleaning assembly has a lifting position and a mopping position relative to the body; when the edge position is between the initial position and the third position, Also includes a limiting structure, When in the mopping position, the limiting structure is at least used to limit the position of the swing arm, so as to limit the auxiliary cleaning assembly to the edge position, so that the auxiliary cleaning assembly cannot swing toward the third position; In the raised position, the limiting structure releases the limiting of the swing arm, so that the auxiliary cleaning assembly can swing from the initial position or the edge position toward the third position.

20. The cleaning structure according to claim 19, wherein The limiting structure comprises at least a first limiting member, a second limiting member and a force applying member, wherein the first limiting member is provided on the swing arm; The second limiting member is retractably arranged relative to the body; When in the mopping position and the edge position, along the swing direction of the swing arm, the second limiting member blocks and abuts against the first limiting member; In the raised position, the force applying member applies force to the second position limiting member to drive the second position limiting member to move, so that the first position limiting member and the second position limiting member are staggered in the height direction of the fuselage.

21. A cleaning device, characterized in that: include body; The cleaning structure according to any one of claims 1 to 20, wherein the cleaning structure is arranged below the fuselage.

22. The cleaning device according to claim 21, characterized in that It also includes a side brush located at the front end of the body; the auxiliary cleaning module and the side brush are both located on the right side of the body; the auxiliary cleaning assembly and the main cleaning assembly are both located at the rear of the body; as well as at least two driving wheels, symmetrically arranged on the bottom of the fuselage; In the forward direction of the fuselage, the auxiliary cleaning module is located behind the driving wheel on the right side.

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