Cleaning robot

Abstract

The embodiment of the utility model provides a cleaning robot. The cleaning robot comprises a machine body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, the dirt removal mechanism is used for cleaning the cleaning unit, and when the cleaning unit rotates, the dirt removal mechanism scrapes and collects dirt on the cleaning unit. The dirt removing mechanism is located on the rear side of the cleaning unit in the advancing direction of the cleaning robot. According to the technical scheme provided by the embodiment of the invention, the decontamination mechanism is arranged on the rear side of the cleaning unit and is closer to the sewage tank, the blow-off pipeline is short, the internal space occupation amount can be reduced, meanwhile, the decontamination mechanism can be taken down by slightly lifting the tail of the cleaning robot, and maintenance is convenient.

Description

[0001] Cross-references

[0002] This application cites the Chinese patent applications in the table below, which are incorporated herein by reference in their entirety.

[0003] Application date Application number Patent Name 2024-01-05 202410018264.3 Self-moving cleaning equipment, control method and cleaning system 2024-08-05 202411067857.5 Cleaning robots and mopping components Technical Field

[0004] The present application relates to the field of robotics, and in particular to a cleaning robot. Background Art

[0005] Most existing sweeping and mopping robots use a vacuuming-then-mopping method to clean the floor. For example, a rag tray is installed at the bottom of the cleaning robot, and the rag tray rotates to mop the floor. However, mopping with a rag tray can cause smearing because the rag tray does not self-clean when dirty. Later, cleaning robots that use a drum to mop the floor emerged. These cleaning robots include a drum, a water supply, a scraping bar, and a wastewater collection device. Each rotation of the drum receives fresh water from the water supply. After mopping, the scraping bar automatically cleans the floor while it cleans. This allows for live water mopping that simultaneously cleans and improves the smearing problem.

[0006] To make cleaning robots more versatile, some robots have retractable rollers, allowing them to clean along walls or around obstacles. However, when the roller is extended, the extended portion remains untouched, causing similar smearing issues as with rags, resulting in poor cleaning performance.

[0007] Furthermore, self-cleaning the drum requires a cleaning robot that can continuously supply cleaning fluid to the drum and scrape away dirt, achieving self-cleaning through a continuous supply of cleaning fluid and scraping. To prevent scraped dirt from falling onto the surface being cleaned, a dirt collection device is required. The challenge currently remains to optimally design a dirt collection device that works in conjunction with the scraper and cleaning fluid supply to achieve optimal drum self-cleaning. Utility Model Content

[0008] In view of the above problems, the present application is proposed to provide a cleaning robot that solves the above problems or at least partially solves the above problems.

[0009] In one embodiment of the present application, a cleaning robot is provided. The cleaning robot includes a body and a mopping and washing assembly disposed on the body; wherein the mopping and washing assembly includes:

[0010] Cleaning unit motor, output driving force;

[0011] A cleaning unit connected to the cleaning unit motor and used to clean the surface to be cleaned;

[0012] a liquid supply mechanism, configured to supply cleaning liquid to the cleaning unit;

[0013] A dirt removal mechanism is used to clean the cleaning unit. When the cleaning unit rotates, the dirt removal mechanism scrapes off and collects dirt on the cleaning unit. The dirt removal mechanism is located on the rear side of the cleaning unit along the travel direction of the cleaning robot. Along the rotation direction of the cleaning unit, the cleaning unit is replenished with water through the liquid supply mechanism, and then cleans the floor, and then the dirt is scraped off by the dirt removal mechanism.

[0014] Optionally, the cleaning robot further includes:

[0015] A driving device is provided on the machine body and connected to the mopping and washing assembly;

[0016] Along the width direction of the machine body, the driving device can drive the mopping and washing assembly relative to the machine body, extending from at least one side of the machine body so that part of the mopping and washing assembly is exposed.

[0017] Optionally, the driving device can also drive the mopping and washing assembly to rise and fall relative to the machine body.

[0018] Optionally, the rotation direction of the cleaning unit is the same as the rotation direction of the driving wheel of the machine body.

[0019] Optionally, the dirt removal mechanism includes a scraper assembly and a dirt collecting box; the end of the scraper assembly contacts the cleaning unit, and the dirt collecting box is located below the scraper assembly; the liquid supply port of the liquid supply mechanism is located above the cleaning unit; during the rotation of the cleaning unit, the liquid supply mechanism provides cleaning liquid to the cleaning unit, and the cleaning unit soaked with the cleaning liquid cleans the surface to be cleaned, and then the scraper assembly acts on the cleaning unit to scrape off the dirt and enter the dirt collecting box.

[0020] Optionally, the mopping assembly further includes a mopping bracket; the mopping bracket has a drum mounting cavity with an opening facing downward, the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity, and the cleaning unit contacts the surface to be cleaned through the opening; the power end of the driving device is connected to the mopping bracket; the dirt removal mechanism is arranged on the rear cavity wall of the drum mounting cavity, and the dirt collecting box can be disassembled and assembled through the downward opening of the drum mounting cavity.

[0021] Optionally, the dirt collecting box is detachable; and a disassembly direction of the dirt collecting box is substantially perpendicular to a disassembly direction of the cleaning unit.

[0022] Optionally, the mopping and washing assembly has a first extreme position in a retracted state and a second extreme position in an extended state; when the mopping and washing assembly is in the first extreme position in the retracted state, the dirt collecting box is located inside the projection of the edge of the machine body.

[0023] Optionally, the machine body has left and right sides along the moving direction of the machine body; the mopping and washing assembly extends out of the machine body from the right side; and the right outer surface of the dirt collecting box is the same as the arc surface at the corresponding position of the machine body.

[0024] Optionally, the scraper assembly includes a water guide plate and a scraper; the water guide plate is located below the scraper; the lower surface of the water guide plate is an upwardly arched arc surface, and the arc surface is a water guide surface; a plurality of water guide grooves are provided on the water guide surface; the position where the water guide plate acts on the cleaning unit is the wiping position; in the wiping position, the notch of the water guide groove close to the wiping position passes through the water guide plate, and the notch of the water guide groove away from the wiping position does not pass through the water guide plate.

[0025] Optionally, the driving device can also drive the mopping and washing assembly to retract relative to the machine body; or

[0026] The cleaning robot also includes a rebound device, and the mopping and washing component is connected to the rebound device; when the mopping and washing component is in an extended state and is subjected to an external force in a retracting direction, the rebound device is deformed by the force, and the mopping and washing component adaptively retracts.

[0027] Optionally, the cleaning robot further includes a control device;

[0028] The control device is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing component to move relative to the body to change the position of the mopping and washing component relative to the body.

[0029] In a second embodiment of the present application, a cleaning robot is provided. The cleaning robot includes a body and a mopping and washing assembly disposed on the body; wherein the mopping and washing assembly includes:

[0030] Cleaning unit motor, output driving force;

[0031] A cleaning unit connected to the cleaning unit motor and used to clean the surface to be cleaned;

[0032] a liquid supply mechanism, configured to supply cleaning liquid to the cleaning unit;

[0033] The dirt removal mechanism is used to clean the cleaning unit. When the cleaning unit rotates, the dirt removal mechanism scrapes off and collects dirt on the cleaning unit. The dirt removal mechanism is located at the rear side of the cleaning unit along the travel direction of the cleaning robot.

[0034] In a third embodiment of the present application, a cleaning robot is provided. The cleaning robot includes a body and a mopping and washing assembly disposed on the body; wherein the mopping and washing assembly includes:

[0035] Cleaning unit motor, output driving force;

[0036] A cleaning unit connected to the cleaning unit motor and used to clean the surface to be cleaned;

[0037] The dirt removal mechanism is used to clean the cleaning unit. When the cleaning unit rotates, the dirt removal mechanism scrapes off and collects dirt on the cleaning unit. The dirt removal mechanism is located at the rear side of the cleaning unit along the travel direction of the cleaning robot.

[0038] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly as a whole moves relative to the body of the cleaning robot. In any position of the mopping and washing assembly, the liquid supply mechanism can provide cleaning liquid to the cleaning unit, the dirt removal mechanism can scrape off the dirt on the cleaning unit, and the cleaning unit can self-clean while working. When the cleaning unit is extended outward for edge cleaning, the cleaning unit will not be excessively dirty, and it can still have a good cleaning effect after a long period of cleaning, and the user experience is better. In addition, along the direction of travel of the cleaning robot, the dirt removal mechanism is arranged on the rear side of the cleaning unit, and the rotation direction of the cleaning unit is consistent with the rotation direction of the drive wheel. The dirt removal mechanism can scrape off the dirt on the cleaning unit. The direction of the friction force of the cleaning unit on the ground is in the same direction as the travel direction of the cleaning robot, and the cleaning robot will save more effort when moving. In addition, the number of components on the rear side of the cleaning unit is small, and the space is relatively spacious, which does not hinder the user from cleaning the dirt removal mechanism. In addition, usually the sewage tank is set on the rear side of the body, and the dirt removal mechanism is set on the rear side of the cleaning unit. The dirt removal mechanism is closer to the sewage tank, and the sewage pipe is short, which can reduce the internal space occupied. At the same time, the dirt removal mechanism can be removed by slightly lifting the tail of the cleaning robot, which is convenient for maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] Figure 1a and1b Schematic diagram showing edge cleaning with the roller in both the non-extended and extended states;

[0041] Figure 1c A schematic diagram showing a dirt removal mechanism disposed on the rear side of a cleaning roller is shown;

[0042] Figure 2 A schematic structural diagram of a cleaning robot provided in one embodiment of the present application;

[0043] Figure 3a A schematic diagram of the interior of the cleaning robot provided by an embodiment of the present application after removing the upper cover;

[0044] Figure 3b for Figure 3a A partial view of

[0045] Figure 4 An exploded schematic diagram of the cleaning robot structure provided in one embodiment of the present application;

[0046] Figure 5 An exploded view of a mop-wash assembly provided in one embodiment of the present application;

[0047] Figure 6 A schematic diagram of a mop-wash assembly provided in an embodiment of the present application being arranged on a cavity shell;

[0048] Figure 7a The figure shows the appearance and structure of the mop-wash assembly provided by the embodiment of the present application;

[0049] Figure 7b A schematic diagram of a specific implementation structure of the liquid supply mechanism in an embodiment of the present application is shown;

[0050] Figure 8 A bottom view of a mop and wash bracket provided in an embodiment of the present application;

[0051] Figure 9a An exploded view of a mop-wash assembly provided in one embodiment of the present application;

[0052] Figure 9b A cross-sectional view of a mop-wash assembly provided in one embodiment of the present application;

[0053] Figure 10a A schematic diagram of a cleaning robot cleaning along an edge provided in an embodiment of the present application;

[0054] Figure 10b A schematic diagram comparing the two situations in which the mopping and washing components of the cleaning robot provided in an embodiment of the present application are extended and not extended when performing a cleaning task;

[0055] Figure 11 A schematic diagram of a mop-wash assembly in a raised state provided in an embodiment of the present application;

[0056] Figure 12 A schematic diagram of a mop-wash assembly provided in an embodiment of the present application in an extended state;

[0057] Figure 13 A schematic structural diagram of a driving device provided in an embodiment of the present application;

[0058] Figure 14 A three-dimensional diagram of an action execution mechanism provided in an embodiment of the present application;

[0059] Figure 15 A three-dimensional diagram from another perspective of an action execution mechanism provided in an embodiment of the present application;

[0060] Figure 16 A schematic diagram of a half-section structure of a mop-wash assembly provided in an embodiment of the present application;

[0061] Figure 17 A schematic diagram of a partial structure of an action execution mechanism provided in an embodiment of the present application;

[0062] Figure 18 A schematic diagram of a slider structure provided in an embodiment of the present application;

[0063] Figure 19 A partial cross-sectional view of an action execution mechanism provided in an embodiment of the present application;

[0064] Figure 20a A partial cross-sectional view of a cavity shell and housing cover combination provided in an embodiment of the present application;

[0065] Figure 20b A schematic structural diagram of a housing cover provided in an embodiment of the present application;

[0066] Figure 21 A schematic diagram of the grating structure and the fourth photoelectric switch arrangement position in the cleaning robot is provided for an embodiment of the present application;

[0067] Figure 22 This is a structural diagram of a first connecting end and a second connecting end for connecting to an elastic member, respectively, provided on a sliding plate and a sliding block in an embodiment of the present application;

[0068] Figure 23 A schematic diagram of a structure in which a hovering surface is provided at the top end of the lifting portion is shown;

[0069] Figure 24 A schematic diagram of a structure in which a mopping and washing assembly is lifted relative to the ground, provided in an embodiment of the present application;

[0070] Figure 25 A front view of another mop-wash assembly provided in an embodiment of the present application;

[0071] Figure 26 A cross-sectional view of another mop-wash assembly provided in an embodiment of the present application;

[0072] Figure 27a A perspective view of another mop-wash assembly provided in an embodiment of the present application in an initial state;

[0073] Figure 27b A front view of another mop-wash assembly provided in an embodiment of the present application in an initial state;

[0074] Figure 27c A cross-sectional view of another mop-wash assembly provided in an embodiment of the present application in an initial state;

[0075] Figure 28a A perspective view of another mop-wash assembly provided in an embodiment of the present application in a raised state;

[0076] Figure 28b A front view of another mop-wash assembly provided in an embodiment of the present application in a raised state;

[0077] Figure 28c A cross-sectional view of another mop-wash assembly provided in an embodiment of the present application in a raised state;

[0078] Figure 29a A perspective view of another mop-wash assembly provided in an embodiment of the present application in an extended state;

[0079] Figure 29b A front view of another mop-wash assembly provided in an embodiment of the present application in an extended state;

[0080] Figure 29c A cross-sectional view of another mop-wash assembly provided in an embodiment of the present application in an extended state;

[0081] Figure 30 A three-dimensional diagram of a mop and wash bracket provided in an embodiment of the present application;

[0082] Figure 31 A three-dimensional structural diagram of a sliding plate provided in an embodiment of the present application;

[0083] Figure 32 A three-dimensional structural diagram of a rotating bracket provided in an embodiment of the present application;

[0084] Figure 33 A three-dimensional structural diagram of a cavity shell corresponding to another mop-wash assembly provided in an embodiment of the present application;

[0085] Figure 34 A cross-sectional view of a mop-wash assembly provided in an embodiment of the present application;

[0086] Figure 35aA cross-sectional view of a mop and wash bracket provided in an embodiment of the present application;

[0087] Figure 35b A schematic diagram showing a mop-wash assembly with an oblique angle on the front side of a dirt collection box provided in an embodiment of the present application;

[0088] Figure 35c A schematic diagram of the cleaning robot structure provided in an embodiment of the present application;

[0089] Figure 36 A cross-sectional view of another mop-wash assembly provided in an embodiment of the present application;

[0090] Figure 37 A cross-sectional view from another perspective of another mop-wash assembly provided in an embodiment of the present application;

[0091] Figure 38a An exploded view of a scraper assembly provided in an embodiment of the present application;

[0092] Figure 38b A schematic cross-sectional view of a water guide plate provided in an embodiment of the present application;

[0093] Figure 38c A schematic diagram of the structure of an adaptive adjustment device provided on a cleaning robot according to an embodiment of the present application;

[0094] Figure 39 A three-dimensional structural diagram of a scraper assembly provided in an embodiment of the present application;

[0095] Figure 40 A schematic diagram of the implementation structure of another driving device provided in one embodiment of the present application;

[0096] Figure 41 Shown in Figure 40 Schematic diagram of the structure shown in which the drive device drives the lower mop and wash assembly to rise and extend;

[0097] Figure 42a A schematic diagram of a cleaning robot provided in an embodiment of the present application, in which the mopping and washing components are exposed on one side of the robot body;

[0098] Figure 42b A schematic diagram of the dirt collection box provided in an embodiment of the present application being removed from the mop-wash assembly;

[0099] Figure 42c A schematic diagram of a release assembly provided in an embodiment of the present application in a locked state;

[0100] Figure 42d A schematic diagram of a release assembly provided in an embodiment of the present application in an unlocked state;

[0101] Figure 42eA schematic diagram of the process of disassembling the dirt collection box provided in an embodiment of the present application;

[0102] Figure 42f This is an exploded schematic diagram of the dirt collection box, release assembly and filter assembly provided in an embodiment of the present application. DETAILED DESCRIPTION

[0103] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are intended only to illustrate the present application and are not intended to limit the present application. It should also be noted that, for ease of description, the drawings only illustrate portions of the structure relevant to the present application, not all of the components. In the description of the present application, unless otherwise specified or limited, the terms "connected," "connected," and "fixed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; internal communication between two components, or interaction between two components. A person of ordinary skill in the art will understand the specific meanings of the above terms in the present application. In the present application, unless otherwise specified or limited, a first feature "above" or "below" a second feature may include direct contact between the first and second features, or may include contact between the first and second features not being in direct contact but through another feature between them. Furthermore, a first feature "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is smaller in horizontal height than the second feature. In the description of this embodiment, the terms "upper", "lower", "right", and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0104] Currently, many cleaning robots have round bodies, which are more flexible and easier to get out of trouble. When a cleaning robot is provided with both a vacuum brush 01 and a mopping roller 02, the vacuum brush 01 is generally located in front of the roller 02, so that the cleaning robot can vacuum first and then mop the floor while moving. Due to the circular shape of the cleaning robot, in order to avoid obstacles and get out of trouble, the driving wheel is generally set at the maximum width position perpendicular to the forward direction, and the roller is generally placed on the rear side of the driving wheel, and the whole does not protrude from the projection of the circular body on the ground. This causes the roller located at the rear of the body to be shorter, and the end of the roller is farther away from the outermost edge of the body in the width direction, such as Figure 1a As shown in the figure, when a cleaning robot is cleaning along a wall or wardrobe, it cannot reach the edge of the object, even if it maintains a minimum safe distance from the wall or wardrobe. To address this issue, some cleaning robots have an extendable roller design.

[0105] To make cleaning robots more versatile, some robots have retractable drums. Extending the drum allows them to clean along walls or around obstacles. However, while some robots maintain a supply of clean water after the drum is extended, the scraper bar remains internal, meaning the extended drum section only receives water. Dirt remains on the drum, preventing it from being scraped off. This results in poor cleaning performance, similar to the smearing problem with a dishcloth.

[0106] like Figure 1b As shown, the extension of the roller allows the roller to reach the corner area, and the coverage rate is improved. However, if the roller is extended alone, dirt will be attached to the roller during the cleaning process, and the roller will become more and more dirty. The corner area (such as Figure 1a The area with width d along the middle edge will not have a good effect, but will become dirtier the more you mop.

[0107] In order to ensure that the roller has a better cleaning effect after being extended, the roller needs to be able to self-clean in time when it is in the extended state. When the roller brush contacts the ground and drags the ground, it can have a better cleanliness and will not cause smearing problems.

[0108] In the prior art, some cleaning robots with rollers have solutions that extend the roller alone or in combination with the roller and liquid supply mechanism to clean along edges or around obstacles. However, these robots only extend the roller when cleaning along edges or around obstacles. During the vast majority of cleaning processes, the roller is located at its initial position within the main unit's projected area. For such sweepers with the roller's initial position within the main unit's projected area, when performing edge cleaning or cleaning around a target object, the robot controls the roller's extension based on a distance threshold from the edge and the target. When an obstacle appears along the edge or at the target, the robot controls the roller to retract inward based on a distance threshold from the obstacle. That is, if the environment along the edge or at the target is complex and there are many obstacles, and the robot's distance is between the distance threshold from the edge and the target and the distance threshold from the obstacle, the robot's controller needs to continuously receive and calculate the thresholds and frequently execute the extension, retraction, and re-extension actions, which seriously wastes the robot's computing power and affects the reliability of the extension and retraction drive. Furthermore, for sweeping robots that use a roller as their mopping unit, the left and right sides of the roller are a certain distance from the maximum width of the robot's travel direction. This distance acts as a blind spot during traversal. When the robot's initial position is within the main unit's projection area, it has two blind spots. However, when the roller extends from one side to a position parallel to or exceeding the maximum width of the robot's travel direction, the robot has only one blind spot. This means that if the robot traverses with the roller normally extended, blind spot coverage is much simpler.

[0109] Furthermore, if the dirt removal mechanism 44 is positioned between the cleaning roller 42 and the travel system 8, the space between the cleaning roller 42 and the travel system 8 becomes congested and narrow. This makes it difficult for users to maintain and clean the dirt removal mechanism 44. For example, removing the dirt collection box from the dirt removal mechanism 44 for cleaning is difficult due to the narrow space, making installation and removal of the box more difficult.

[0110] To this end, each embodiment of the present application provides a cleaning robot, the cleaning unit of the cleaning robot is retractable, and can ensure that the cleaning unit has a continuous supply of clean water at any position, and the scraper can also continuously scrape off the dirt on the cleaning unit, so that the cleaning unit can clean and self-clean when it is retracted to any position. If the rag solution in the prior art: the cleaning liquid is continuously supplied to the rag, the rag cleans the ground, and the rag is not cleaned during work, it is called dead water cleaning. The solution provided by the embodiment of the present application can be called live water cleaning, that is, there is a continuous supply of active cleaning liquid when the cleaning unit is working (i.e. mopping the ground), and the cleaning unit can be continuously decontaminated and cleaned by the decontamination mechanism. After the cleaning unit is decontaminated, clean cleaning liquid is replenished, so that the cleaning unit can maintain cleanliness for a longer period of time, thereby improving the cleanliness of the ground by the cleaning robot. In addition, in the embodiment of the present application, the decontamination mechanism is arranged on the rear side of the cleaning roller (such as Figure 1c shown).

[0111] In the various embodiments of the present application, the cleaning unit may be, but is not limited to, a cleaning roller, a track-type cleaning element, or the like. The cleaning roller may be a cylindrical roller having a surface having cleaning bristles. The track-type cleaning element, also known as a track-type roller, includes two spaced-apart track wheels, each fitted with a track-type cleaning cloth in the shape of a circular runway. The outward-facing surface of the track-type cleaning cloth has cleaning bristles. One side of the track-type cleaning cloth contacts the ground surface, and as the track wheels rotate, the track-type cleaning cloth moves relative to the ground surface, thereby mopping the ground surface. Furthermore, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor may be referred to as a drum motor, which drives the cleaning roller to rotate and mop the ground surface. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor may be referred to as a pulley motor, which drives the track to rotate, thereby driving the track-type cleaning cloth to mop the ground surface.

[0112] Before introducing the mopping and washing assembly and the driving device provided in the embodiments of the present application, the structure of the cleaning robot is briefly introduced. In the following embodiments, the cleaning unit is described as a cleaning roller.

[0113] See also Figure 2 、 3a As shown in Figure 4, the cleaning robot includes but is not limited to: a body 1, a vacuum cleaning system 3, a mopping and washing system, a travel system 8, a sensing system 640, a control system, and a side brush assembly 7. The vacuum cleaning system 3, the mopping and washing system, the travel system 8, the sensing system 640, and the control system are all arranged on the body 1. Figure 3aAs shown, the dust collection and cleaning system 3 may include but is not limited to: a dust box 301, a dust collection fan 302, a roller brush (not shown in the figure), etc. The control system includes a hardware part and a software part. The hardware part is such as the motherboard 2, such as Figure 4 As shown. The main board may be provided with a processor, a storage medium (such as a memory), etc. The software part is a computer program stored in the storage medium. The processor executes these computer programs to control the various components of the cleaning robot, so that the cleaning robot has corresponding functions, such as mapping, path planning, obstacle recognition, cleaning around obstacles, cleaning along the edge, returning to the base station and completing docking, area recognition, cleaning mode switching (only vacuuming, only mopping, or vacuuming first and then mopping), etc. The travel system 8 may include a drive wheel and a drive wheel motor; the drive motor outputs corresponding power under the control of the main board 2 to drive the drive wheel to rotate, so as to realize the forward, backward, parking, turning, etc. of the cleaning robot. Furthermore, the travel system 8 may also include a universal wheel, which is a follower wheel and can be set at the front of the body 1. The side brush assembly 7 can be one or two. As Figure 2 In the example shown, one side (such as the right side) of the front portion of the machine body 1 is provided with a side brush assembly 7. If there are two side brush assemblies 7, the two side brush assemblies can be respectively arranged on both sides of the front portion of the machine body 1 (such as one on each side on the left and right sides).

[0114] The control system in the embodiment of the present application may include a control device, and the mainboard mentioned above can be called a control device.

[0115] The mopping and washing system may include but is not limited to: a clean water tank 5, a sewage tank 9, a mopping and washing component 4, etc. Figure 5 As shown, the mopping and washing component 4 may include but is not limited to: a drum motor 41, a cleaning drum 42, a liquid supply mechanism 45 and a dirt removal mechanism 44. Among them, the drum motor 41 is used to drive the cleaning drum 42 to rotate. The liquid supply mechanism 45 is connected to the clean water tank 5 through a clean water pipe. The dirt removal mechanism 44 is connected to the sewage tank 9 through a sewage pipe. The cleaning robot also includes a drive device 10, which is arranged on the body 1 and connected to the mopping and washing component. Figure 6 As shown, along the width direction of the machine body 1, the driving device 10 can drive the mopping and washing assembly 4 relative to the machine body 1, extending from at least one side of the machine body 1 so that part of the mopping and washing assembly is exposed. Figure 6 The X direction in the reference coordinate system is the width direction of the body; the Y direction is the moving direction of the cleaning robot.

[0116] It should be noted that: from the components included in the mopping and washing assembly 4, it can be seen that the mopping and washing assembly 4 in this embodiment can mop the object to be cleaned (such as the ground), and can also use its own liquid supply mechanism 45 and dirt removal mechanism 44 to achieve a self-cleaning function to maintain the cleaning roller at a good cleanliness.

[0117] As can be seen from the above, the embodiment of the present application provides a solution in which the drive device 10 can drive the entire mop-wash assembly to move relative to the main body, extending a portion of the mop-wash assembly outside the main body. In other words, regardless of the position of the mop-wash assembly 4, the liquid supply mechanism 45 can continuously supply cleaning liquid to the cleaning roller, and the dirt removal mechanism 44 can continuously scrape dirt from the cleaning roller 42, allowing the cleaning roller 42 to self-clean while operating. When the cleaning roller 42 extends outward for edge cleaning, it will not become excessively dirty, and even after extended cleaning periods, it can maintain a good cleaning effect, providing a better user experience.

[0118] In fact, the mop and wash assembly 4 in this embodiment can also be normally in the extended state. For example, when the cleaning robot is started, the mainboard 2 controls the drive device 10 to drive the mop and wash assembly 4 to move relative to the body so that a portion extends from one side of the body 1 and is in the extended state. When the cleaning robot performs a cleaning task and traverses the area to be cleaned, the mop and wash assembly 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the mainboard 2 controls the drive device 10 to drive the mop and wash assembly 4 to retract so that it is hidden inside the body 1, making it easier to avoid obstacles or pass through narrow spaces. When the cleaning roller 42 is in the extended state, the outer edge of the cleaning roller 42 can be flush with the widest edge of the body 1, or the outer edge of the cleaning roller 42 can extend beyond the widest edge of the body 1.

[0119] like Figure 5 In the illustrated example, the mop assembly 4 also includes a mop bracket 43. The mop bracket 45 has a downwardly opening roller mounting cavity. A drum motor 41 and the cleaning roller 42 are disposed within the cavity. The cleaning roller 42 contacts the surface to be cleaned through the opening. A liquid supply mechanism 45 and a dirt removal mechanism 44 are both disposed on the mop bracket 43. The power end of the drive device 10 is connected to the mop bracket 43.

[0120] Specifically, the mopping bracket 43 has a first downward opening and a second lateral opening. The bottom of the cleaning roller 42 passes through the first opening and contacts the surface to be cleaned. The cleaning roller 42 is detachable through the second opening, and the second opening is located on the same side as the position on the body 1 where the mopping assembly extends. For example, when the user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42 at the position on the body 1 where the mopping assembly extends, and can then remove the cleaning roller 42 at the second opening. During installation, the cleaning roller 42 can be inserted from the second opening. After the end of the cleaning roller 42 is connected to the drum motor 41, the other end of the cleaning roller 42 is connected to the second opening. That is, the disassembly direction of the cleaning roller 42 is the direction of the drum axis.

[0121] See also Figure 3a As shown, a clean water tank 5 is provided on the body 1 of the cleaning robot. Figure 7b As shown, the mopping and washing bracket 43 further includes a roller bracket 421. The liquid supply mechanism 45 can be provided on the roller bracket 421. Figure 7b The liquid supply mechanism 45 includes a water distributor 452. The water distributor 452 has a main line, multiple branches and multiple liquid supply ports 453 (such as Figure 8 As shown in FIG. Multiple liquid supply ports 453 face the cleaning drum 42 and are distributed along the axis of the cleaning drum 42. The main trunk of the water distributor 452 is connected to the clean water tank 5 via a first flexible conduit 443. One end of the first flexible conduit 443 is connected to the water supply port 451 of the main trunk, and the other end is connected to the clean water tank 5. Multiple branch circuits are connected to the main trunk, and the multiple liquid supply ports correspond to each of the branch circuits.

[0122] like Figure 5 As shown, the dirt removal mechanism 44 includes a scraper bar 441 and a dirt collection box 442. The end of the scraper bar 441 contacts the cleaning roller 42, and the dirt collection box 442 is located below the scraper bar 441. When the cleaning roller 42 rotates, the dirt scraped by the scraper bar 441 enters the dirt collection box 442. The dirt removal mechanism is located at the rear side of the cleaning roller, that is, the scraper bar 441 and the dirt collection box 442 are located at the rear side of the cleaning roller. Figure 3b It can be seen that the sewage tank 9 is located at the rear side of the machine body 1. In this way, the sewage pipe (such as the second flexible pipe, etc.) is relatively short, which can save the internal space of the machine body for arranging other components.

[0123] The cleaning roller 42 is disassembled and assembled in the direction of its axis. The dirt collection box 442 can be disassembled in a different direction than the cleaning roller 42. For example, the dirt collection box 442 can be disassembled perpendicularly to the direction of removal of the cleaning roller 42. Because the cleaning roller 42 and the dirt collection box 442 are located together in the downwardly disposed first opening of the mop and wash bracket 43 and are relatively close together, the inventors discovered that if they were disassembled in the same direction, the positioning devices of the cleaning roller 42 and the dirt collection box 442 could interfere with each other. When removing one component separately, they could contact, rub against each other, or even cause the other to move. Therefore, in this solution, the dirt collection box 442 can be disassembled perpendicularly to the direction of removal of the cleaning roller 42, ensuring separation of the fixed structure and complementary interference during disassembly. Furthermore, with the dirt collection box disassembled downward, the user simply lifts the rear end of the cleaning robot to access the dirt collection box and easily remove it downward, eliminating the risk of spillage. Details regarding the disassembly of the dirt collection box 442 are provided below.

[0124] See also Figure 3a , a sewage tank 9 is provided on the machine body 1. Figure 3b and Figure 9aIn one implementation scheme shown, the scraper bar 441 has an avoidance hole 446, and a dirt collecting pipe 542 is provided at the avoidance hole 446. One end of the dirt collecting pipe 542 is connected to the avoidance hole 446, and the other end is connected to the dirt collecting box 442. The dirt collecting box 442 is connected to the sewage tank 9 through a second flexible pipe 456. The dirt scraped off from the cleaning roller 42 by the scraper bar 441 enters the dirt collecting pipe 542 through the avoidance hole 446. Enters the dirt collecting box 442 through the dirt collecting pipe 542. In a specific implementation, the dirt removal mechanism 44 may also include a sewage pump (not shown in the drawings), which is used to pump the dirt in the dirt collecting box 442 into the sewage tank 9 through the second flexible pipe 456. The sewage pump can work at a fixed time to pump out the dirt in the dirt collecting box 442; it can also start working when the amount of dirt in the dirt collecting box 442 reaches a threshold to pump out the dirt in the dirt collecting box 442. This is not limited in this embodiment. Figure 3b As shown, the second flexible pipe 456 further includes a second end pipe 457 . The length of the second end pipe 457 remains unchanged, one end of the second end pipe 457 is connected to the sewage pump 471 , and the other end is connected to the sewage tank 9 .

[0125] Because the cleaning roller 42 and the dirt collection box 442 are both located on the first downward-facing opening of the mop and wash bracket 43 and are relatively close together, the inventors discovered that if they were disassembled in the same direction, the positioning devices of the cleaning roller 42 and the dirt collection box 442 could interfere with each other. This could lead to contact, friction, and even movement of the other component when one component is disassembled separately. Therefore, this solution allows the dirt collection box 442 to be disassembled perpendicularly to the direction of removal of the cleaning roller 42, ensuring separation in the fixed configuration and complementary interference during disassembly. Furthermore, with the dirt collection box disassembled downward, the user simply lifts the rear end of the cleaning robot to access the dirt collection box and conveniently remove it downward, eliminating the risk of spilling dirt from the box.

[0126] See also Figure 3b 、 Figure 7a 、 Figure 8 and Figure 9aIn one embodiment provided herein, the clean water tank 5 is connected to the liquid supply mechanism 45 via a first flexible conduit 443. Cleaning liquid stored in the clean water tank 5 can be transported to the liquid supply mechanism 45 via the first flexible conduit 443, which then supplies the cleaning liquid to the cleaning roller 42. The sewage tank 9 is connected to the dirt removal mechanism 44 via a second flexible conduit 456. Dirt collected by the dirt removal mechanism 44 can be transported to the sewage tank 9 via the second flexible conduit 456. When the mop-wash assembly 4 extends outward, the first flexible conduit 443 and the second flexible conduit 456 move with the mop-wash assembly 4. The curved first and second flexible conduits 443 and 456 gradually extend. The first flexible conduit 443 maintains constant communication between the liquid supply mechanism 45 and the clean water tank 5, while the second flexible conduit 456 maintains constant communication between the dirt removal mechanism 44 and the sewage tank 9.

[0127] See also Figure 7a and Figure 7b The liquid supply inlet 451 is connected to the first flexible pipe 443, and the decontamination outlet 4410 is connected to the second flexible pipe 456. The liquid supply inlet 451 and the decontamination outlet 4410 extend from the top of the mopping and washing bracket 43 to be connected to the first flexible pipe 443 and the second flexible pipe 456 respectively. Figure 6 The first flexible pipe 443 and the second flexible pipe 456 are arranged horizontally (ie, in the negative direction of the X axis in the figure) from the bottom of the cavity shell 46, and then Figure 6 The air gap 03 in the air chamber is upwardly extended to connect with the clean water tank 5 and the sewage tank 9 on the machine body 1. Figure 6 A conduit space is provided next to the intermediate space 03 for accommodating the first flexible conduit 443 and the second flexible conduit 456. Because the scrubbing assembly 4 moves relative to the cavity housing 46 along the positive and negative directions of the X-axis, the first flexible conduit 443 and the second flexible conduit 456 can deform with the movement of the scrubbing assembly 4, thereby supplying cleaning fluid to the cleaning drum and draining dirt from the dirt collection box in real time.

[0128] To prevent bending, springs can be installed on the outside of the first and second flexible pipes 443 and 456 (not shown in Figures 9 and 38). This prevents bending and blocking during the overall movement (lifting and / or extension) of the scrubbing assembly 4, thereby preventing wastewater drainage and liquid supply from being affected. In one embodiment, the first and second flexible pipes 443 and 456 are elastic pipes. When the scrubbing assembly 4 extends outward, the first and second flexible pipes 443 and 456 are stretched and / or bent. When the scrubbing assembly 4 retracts, the first and second flexible pipes 443 and 456 contract, shorten, and / or bend. In another embodiment, the first and second flexible pipes 443 and 456 can be flexible plastic pipes. When the scrubbing assembly 4 is retracted, the first and second flexible pipes 443 and 456 are bent, but not blocked. In this bent state, both flexible pipes remain unobstructed. When the mopping and washing assembly 4 extends outward, the bent first flexible pipe 443 and the second flexible pipe 456 move along with it and gradually extend, thereby ensuring that the connection of the pipes is not interrupted.

[0129] The cleaning robot provided in one embodiment of the present application has a mopping assembly 4 that is retractable relative to the body 1. When the body 1 is on the ground and performing a mopping task, the cleaning roller 42 in the mopping assembly 4 contacts the ground. In other words, the cleaning roller 42 not only contacts the ground but also exerts a certain pressure on the ground, which helps to improve the cleaning effect of the cleaning roller on the ground. Figure 3a As shown, a receiving cavity 101 is provided at the bottom of the machine body 1, and the mopping and washing assembly 4 is arranged in the receiving cavity 101. The receiving cavity 101 extends along the width direction of the machine body 1. At least one end of the receiving cavity 101 is open in the width direction of the machine body 1.

[0130] It should be noted that Figure 1b The direction of the middle arrow X can be considered as the length direction of the mopping and washing component 4 , or the width direction of the machine body 1 .

[0131] Figure 3a The example shown, from Figure 3a From the perspective of the center, the end of the accommodating chamber 101, located on the right side of the body 1, is open. The scrubbing assembly 4 can extend through the opening at this open end, partially exposing itself to the outside of the body 1. In practice, both ends of the accommodating chamber 101 are open. This allows the scrubbing assembly 4 to extend from either the right or left side of the body 1. The cleaning robot can control the scrubbing assembly 4 to extend from the appropriate side based on actual needs.

[0132] The extension of the mop assembly 4 can be driven by the drive device 10. When the mop assembly 4 is extended, the outermost edge of the mop assembly 4 extends beyond the edge of the body 1 when viewed from above (as shown in FIG10 ). Therefore, if the body 1 maintains a safe distance from the edge of an object, such as a wall or furniture piece, the cleaning roller 42 can clean the object's edges. Of course, in open spaces, the cleaning roller 42 can also be extended, as shown in FIG10 , to perform cleaning tasks. In one specific embodiment, the dashed box E in FIG10 illustrates the retracted (initial) state of the mop assembly 4, while the solid box F illustrates the extended or swung-out state of the mop assembly 4. When the cleaning robot cleans along the edge of an object, the edge of the body 10 of the cleaning robot maintains a safe distance from the edge of the object. The distance D that the mop assembly 4 extends outward relative to the edge of the body 10 is denoted by D. The value of D ranges from 10 mm to 3 mm, specifically 5 mm. Of course, to prevent the outer edge of the mop-wash assembly 4 from directly colliding or scratching the edge of an object, a safety distance d is maintained between the outer edge of the mop-wash assembly 4 and the edge of the object. The safety distance d is in the range of [10mm to 1mm], specifically 2mm. The travel of the mop-wash assembly 4 relative to the body 1 can be 40 to 60mm, such as a 50mm outward travel.

[0133] The driving device 10 can drive the mop-washing assembly 4 to extend outward from the lateral opening of the accommodating chamber 101. The retraction of the mop-washing assembly 4 can be driven by the driving device 10. Alternatively, the retraction of the mop-washing assembly is not driven by the driving device 10, but can be driven by the cavity housing 45 (such as Figure 6 The driving device 10 retracts under the drive of the elastic member provided between the cavity shell 46 and the drag-washing component 4 (as shown). For example, when the driving device 10 drives the drag-washing component 4 to extend outward, the elastic member provided between the cavity shell 46 and the drag-washing component 4 is deformed (such as compressed). When the drag-washing component 4 needs to be retracted, the driving device 10 is decoupled from the drag-washing component 4, and the drag-washing component 4 is driven to retract under the action of the restoring force of the elastic member. Of course, this is only one embodiment provided in the present application. In other embodiments, the extension and retraction actions of the drag-washing component 4 are driven by the driving device 10. It should be added here that the cavity shell 46 can be understood as a part of the bottom wall of the base of the body 1, and this part of the bottom wall forms the accommodating cavity 101. Alternatively, the base of the body 1 is provided with a cavity shell 46 as shown. Figure 6 The cavity housing 46 is shown.

[0134] The above briefly introduces the structure of the cleaning robot provided by the embodiments of the present application. The following will provide a more detailed description of the structure of the drag-washing component, the implementation structure of the drag-washing component's telescopic function (i.e., the specific implementation of the drive device), and so on. The solutions provided by the various embodiments of the present application focus on the drag-washing component 4. The drag-washing component 4 can extend from at least one side of the body relative to the body of the cleaning robot, so that part of the drag-washing component 4 is exposed, allowing the drag-washing component 4 to self-clean and maintain a good cleanliness level in any position. The following will first explain in detail the telescopic function of the drag-washing component 4. There are many possible implementation structures for the telescopic function of the drag-washing component, which will be introduced one by one below.

[0135] See also Figure 6 、 11 to Figure 12 In one embodiment of the present application, a drive device 10 is provided. The drive device 10 includes a first power source 102 and a first motion actuator 103. The first motion actuator 103 includes a power input end and a power output end. The power input end is connected to the first power source 102. The first motion actuator 103 is used to convert the rotational power output by the power source into linear power. The power output end is connected to the mopping and washing assembly 4.

[0136] The first power source 102 may include but is not limited to: a first motor and a reducer. The first action execution mechanism 103 may include but is not limited to: a first gear 13 and a first rack 14. Specifically, the first action execution mechanism 103 is in the initial position, such as Figure 13 In the example shown, relative to the first gear 13, most of the teeth of the first rack 14 are located on the left side of the first gear 13. This state can be called the rack being at the origin position. At this time, the mopping assembly 4 is in the initial state, that is, Figure 11 From the perspective of the cleaning robot as a whole, Figure 11 In the state, the mopping and washing component 4 is hidden in the body 1. When the mopping and washing component 4 needs to be extended, the first motor of the first power source 102 rotates forward (from Figure 13 The first motor outputs counterclockwise power from the perspective of the first motor) to drive the first rack 14 along the first direction ( Figure 13 Move in the direction of the arrow (X). Figure 12 The schematic diagram of the mopping assembly 4 in the extended state is shown. When the mopping assembly 4 needs to be retracted, the first motor 12 of the first power source 102 is reversed (from Figure 13 From a clockwise perspective, the first motor outputs power) to drive the first rack 14 to move in a direction opposite to the first direction (the second direction).

[0137] See also Figure 13In one embodiment provided in the present application, at least one slide rail 15 is provided on the cavity shell 46 of the accommodating cavity 101 of the body 1. The first action execution mechanism 103 also includes a sliding plate, and the first rack 14 can be provided on the sliding plate. The sliding plate can be slidably connected to the slide rail 15. The first power source 102 can be provided on the mounting position of the cavity shell 46, and the first gear 13 is provided on the output shaft of the first power source 102, and the first gear 13 is engaged with the first rack 14. After the first power source 102 outputs power, it can drive the sliding plate 20 to slide back and forth on the slide rail 15 through the first gear 13 and the first rack 14. The sliding plate is connected to the dragging and washing component 4 to drive the dragging and washing component 4 to move. In addition, the first rack 14 and the sliding plate 20 can be an integral structure, or the first rack 14 can be fastened to the sliding plate 20.

[0138] As mentioned above, the sliding plate is disposed on the upper surface of the chamber housing 46. Figure 16 , the mop and wash assembly 4 is provided with a connecting post 241, and the mop and wash assembly 4 is connected to the sliding plate through the connecting post 241. In order to avoid interference between the connecting post 241 and the cavity shell 46, a slot 27 (such as Figure 14 As shown in FIG, the connecting post 241 extends to the top of the sliding plate 20 through the slot 27 and the through hole 23 on the sliding plate 20. The length of the slot 27 is greater than or equal to the maximum moving distance of the mopping assembly 4.

[0139] Furthermore, if Figure 20a and 20b As shown, the body 1 includes a shell cover 47, which can be fitted and connected to the top of the cavity shell 46. When the shell cover 47 is fitted and connected to the cavity shell 46, a hollow cavity will be formed, and the drive device 10 (i.e., the first power source 102 and the first action actuator 103) is located in the hollow cavity. The shell cover 47 can not only provide effective protection for the drive device 10, but also prevent garbage and foreign objects from entering and affecting the normal operation of the drive device 10. In addition, a fitting groove 471 is provided on the bottom surface of the shell cover 47, and the top of the second baffle 26 contacts the fitting groove 461. During the sliding process of the sliding plate, the top of the second baffle 26 can slide in the fitting groove 461. The shell cover 47 can limit the second baffle 26, effectively preventing the sliding plate 20 from moving upward or protruding.

[0140] In this embodiment, the mop-wash assembly 4 is retractable relative to the body 1. The mop-wash assembly 4 can have a first, retracted, and a second, extended position. Furthermore, the mop-wash assembly 4 can be parked at the first and second extreme positions, allowing it to operate at any position between them to accommodate a variety of operating scenarios. The mainboard 2 of the cleaning robot can determine a target position for the mop-wash assembly relative to the body based on information detected by the sensing system 64 and then control the drive device to move the mop-wash assembly to the target position. The mainboard 2 can control the drive device to enable the mop-wash assembly to park and operate at any position.

[0141] In order to further improve the control accuracy, multiple detection units are added in this embodiment to detect the position information of the mopping and washing component 4 relative to the body 1, so that the main board of the cleaning robot can make corresponding controls. Figure 13 In the example shown, a plurality of detection units may be provided on the cavity housing 46. The plurality of detection units may be respectively provided at a plurality of positions within the travel range of the drag-washing component 4, such as the first extreme position in the retracted state, the second extreme position in the extended state, and at least one intermediate position between the first extreme position and the second extreme position. The detection units may include but are not limited to: photoelectric switches, micro switches, Hall elements, etc. The plurality of detection units may include a first detection unit and a second detection unit, the first detection unit may be located at the first extreme position when the drag-washing component 4 is in the retracted state, and the second detection unit may be located at the second extreme position when the drag-washing component 4 is in the extended state. Taking the detection unit as a photoelectric switch as an example, Figure 13 The cavity housing 46 is provided with a first photoelectric switch 281 and a second photoelectric switch 282. These two photoelectric switches are located at different positions on the cavity housing 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are located at the first extreme position of the retracted state and the first extreme position of the extended state of the mop-washing assembly 4, respectively. The first photoelectric switch 281 and the second photoelectric switch 282 can be located on the same side of the first action actuator 103 or on different sides. Of course, at least one photoelectric switch for detecting an intermediate position can also be located between the first photoelectric switch 281 and the second photoelectric switch 282.

[0142] Accordingly, a trigger structure may be provided on the first action execution mechanism 103. When the first photoelectric switch 281 and the second photoelectric switch 282 may be located on the same side of the first action execution mechanism 103, only one trigger structure is required. If the first photoelectric switch 281 and the second photoelectric switch 282 are located on both sides of the first action execution mechanism 103, two trigger structures need to be provided on the first action execution mechanism 103, as shown in FIG14 , a first trigger structure 291 and a second trigger structure 292. More specifically, the first trigger structure 291 and the second trigger structure 292 may be provided on a sliding plate in the first action execution mechanism 103. When the washing component 4 is located at the first extreme position of the retracted state, the first trigger structure 291 triggers the first photoelectric switch 281. The washing component 4 moves along Figure 23 When the mopping assembly 4 moves to the second limit position of the extended state in the direction of the middle arrow X, the second trigger structure 292 can trigger the second photoelectric switch 282, which means that the mopping assembly 4 is extended to the farthest distance.

[0143] Although the second trigger structure 292 and the second photoelectric switch 282 can detect whether the mop-wash assembly 4 has reached the second limit position of the extended state, the mainboard can control the first power source 102 to stop operation based on the trigger signal of the second photoelectric switch 282, so that the mop-wash assembly 4 stops at the second limit position. However, to improve safety, a limit structure can also be provided on the cavity housing 46. When the sliding plate 20 slides to the second limit position, the first action actuator 103 and the limit structure are abutted (more specifically, the sliding plate of the first action actuator 103 and the limit structure can be abutted).

[0144] As mentioned above, the drag-washing assembly 4 has multiple gears when it extends outwards. In different gears, the position of the drag-washing assembly 4 relative to the machine body is different. Of course, it can also be said that in different gears, the distance the drag-washing assembly extends outwards is different. Figure 13 、 Figure 14 and Figure 21 To achieve precise gear adjustment, the solution provided in this embodiment may also include a fourth detection unit and a fourth trigger structure. The fourth detection unit may be a fourth photoelectric switch, a fourth microswitch, or a fourth Hall element. For example, the fourth detection unit is a fourth photoelectric switch, and the fourth trigger structure is a grating structure. A fourth photoelectric switch 284 is also provided on the cavity housing 46, and a grating structure 294 is provided on the first action actuator 103. The length of the grating structure 294 is equal to or less than the maximum stroke of the mop-washing assembly 4. When adjusting the gear, the fourth photoelectric switch 284 can accurately detect the counting scale on the grating structure 294, thereby determining the gear position of the outward extension of the mop-washing assembly 4.

[0145] The implementation process of the driving device 10 is described in detail below in conjunction with usage scenarios.

[0146] Scenario 1: The cleaning robot extends its mopping and washing components when performing cleaning tasks, and retracts them when encountering obstacles or other special circumstances.

[0147] When the cleaning robot is not performing a task, it docks at the base station for replenishment (charging and / or filling with clean water), sewage discharge (such as discharging garbage in the dust box and / or sewage in the sewage tank), self-cleaning (cleaning the cleaning drum), etc. The user can start the cleaning robot to perform cleaning tasks by touching the controls on the base station, operating the interactive device on the base station, or through the smart device APP, or the controls on the cleaning robot, etc. When the cleaning robot is in the base station, the drag and wash component is in a retracted state. When the cleaning robot drives out of the base station and detects that it has driven out of the base station, the main board of the cleaning robot controls the drive device 10 to drive the drag and wash component to extend to the set position. The set position can be the second extreme position of the extended state mentioned above, or it can be a position between the first extreme position of the retracted state and the second position of the extended state. This embodiment does not specifically limit this. Then, the cleaning robot maintains the posture of the drag and wash component extending at the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0148] During the cleaning process, if the robot detects an obstacle through its sensing system, the mainboard controls the drive device 10 to retract the mop-wash assembly a certain distance. This "certain distance" can be calculated by the mainboard based on the obstacle information detected by the sensing system, or it can be the distance the mop-wash assembly needs to retract from its currently extended position to its first extreme position. After bypassing the obstacle, the mainboard controls the drive device again to extend the mop-wash assembly to resume cleaning.

[0149] It should be noted that special circumstances may include but are not limited to: the user instructs the mopping and washing component to retract, pass through a narrow passage, etc.

[0150] Scenario 2: When the cleaning robot is performing a cleaning task, the mopping component is in the retracted state. When cleaning along the edge, the mopping component is extended.

[0151] The cleaning robot plans the cleaning path based on the map of the current area to be cleaned. It is assumed that the cleaning path is to clean the open area first and then clean along the edge. For example, cleaning along the wall, cabinet edge, etc. The cleaning robot's mopping component is in a retracted state (such as the first extreme position), and cleans the open area according to a bow-shaped travel path. After the open area is cleaned, the main board of the cleaning robot controls the driving device to control the mopping component to extend (it can be extended to a set length or to the second extreme position) and clean along the edge according to the planned path. After the edge cleaning is completed, the cleaning robot retracts the mopping component (such as the first extreme position) to go to the next area to be cleaned, or return to the base station for replenishment, sewage discharge or self-cleaning, etc.

[0152] See also Figure 16As shown, the mopping assembly 4 is connected to the first action execution mechanism 103 in a floating manner. For example, assuming Figure 16 In the state shown, the mopping and washing component 4 is in contact with the ground. Because the mopping and washing component 4 is arranged to float, it can float up and down according to the changes of the ground when the mopping and washing component moves on the uneven ground. The first action execution mechanism 103 is connected to the mopping and washing component 4 through the connecting component 24. Figure 16 As shown, the connecting assembly 24 may include: a connecting column 241 and a slider 242. The connecting column 241 is provided above the dragging bracket 43 of the dragging assembly 4. The first action execution mechanism 103 includes Figure 18 The slider 242 is shown. The slider 242 is provided with a mounting hole, and the screw enters the hole of the connecting column 241 through the mounting hole to connect the slider 242 to the connecting column 241. Figure 16 In the state shown, there is a gap between the upper portion of the mopping and washing assembly 4 and the cavity shell 46 , which provides space for the mopping and washing assembly 4 to float up and down.

[0153] While the above description only mentions that the drive device 10 can drive the scrubbing assembly 4 to move along the width of the machine body 1, in reality, the scrubbing assembly 4 in the technical solution provided in this embodiment can not only move along the width of the machine body, but also be raised and lowered. The scrubbing assembly's movement along the width of the machine body and its vertical elevation can be achieved using two separate drive devices, or a single drive device. That is, the drive device 10 can not only drive the scrubbing assembly 4 to move along the width of the machine body 1 within the accommodating chamber 101, but also to be raised and lowered.

[0154] The mop assembly 4 is floatingly connected to the cavity housing 46. Within a certain range, the mop assembly 4 can move vertically up and down within the accommodating cavity 101. The mop assembly 4 uses its own gravity to press the cleaning roller 42 against the ground. When the cleaning roller on the mop assembly 4 encounters uneven ground or raised obstacles, the mop assembly 4 can float up and down relative to the cleaning robot body 10 with the ground's undulations. Regardless of the flatness of the ground, the mop assembly 4 always presses against the ground through its own gravity, exerting a relatively small and stable force on the ground. This effectively prevents the mop assembly 4 from suddenly increasing its force on the ground due to uneven terrain. For some soft wooden floors, this technical solution can effectively prevent the cleaning roller from scratching or abrading the ground.

[0155] It can be considered that the washing assembly 4 floats relative to the cavity shell 46 at any position of the washing assembly 4 in the width direction of the machine body 1. The washing assembly 4 floats relative to the cavity shell, that is, the washing assembly 4 floats relative to the machine body.

[0156] See also Figures 13 to 22The driving device 10 can move in multiple directions to drive the mopping and washing component 4 to rise, fall, extend and retract relative to the machine body 1. The driving device 10 includes a first power source 102 and a first action execution mechanism 103. Specifically, when the first power source 102 outputs power in a first direction, it can drive the mopping and washing component 4 to move along the first direction. Figure 16 The X1 direction moves outward relative to the machine body 1, and the mopping and washing component 4 can also be driven along the Figure 16 When the first power source 102 outputs power in the second direction, the mopping and washing component 4 can be driven to move along the Z2 direction. Figure 16 The X2 direction is retracted relative to the body 1, and the mopping and washing component 4 can be driven to move along the Figure 16 The Z1 direction is downward relative to the body 1. The first direction and the second direction are two different directions. For example, one of the first direction and the second direction can be clockwise and the other can be counterclockwise.

[0157] The above content can also be understood as the first action execution mechanism 103 moves along the Figure 16 Move in the direction of X1, driving the mopping and washing assembly 4 to extend; the first action execution mechanism 103 moves along Figure 16 The power actuator 103 moves in the X2 direction to retract the scrubbing assembly 4. When the scrubbing assembly 4 is at the first and second extreme positions, if the scrubbing assembly 4 is in the low position, the power actuator 103 moves in the X2 direction to lift the scrubbing assembly 4. If the scrubbing assembly 4 is in the high position, the power actuator 103 moves in the X1 direction to lower the scrubbing assembly 4.

[0158] It should be noted that Figure 16 The directions of the middle arrows X1 and X2 can be considered as the length directions of the mopping and washing assembly, or the width directions of the body 101; Figure 16 The directions of the middle arrows Z1 and Z2 can be considered as the height directions of the mopping and washing assembly, or the height directions of the machine body 101 .

[0159] Figure 6 This is a schematic diagram showing the mopping and washing component 4 in the first extreme position of the retracted state and in the lowered state. Figure 11 This is a schematic diagram showing the mopping and washing component 4 in the first extreme position of the retracted state and in the raised state. Figure 12 The diagram is a diagram showing the mopping and washing assembly 4 in the second extreme position of the extended state and in the lowered state. The driving device 10 provided by the present application will be described in detail below through more embodiments.

[0160] During the raising or lowering of the mop-wash assembly 4, the dirt removal mechanism 44 and the liquid supply mechanism 45 can be raised or lowered simultaneously with the cleaning roller 42 and the roller motor 41. Alternatively, the dirt removal mechanism 44 and the liquid supply mechanism 45 can remain in a fixed position, and only come into contact with the cleaning roller when the cleaning roller is lowered. When the cleaning roller is raised, the dirt removal mechanism 44 and the liquid supply mechanism 45 do not come into contact with the cleaning roller. Regarding the extension or retraction of the mop-wash assembly 4, to ensure that the cleaning roller maintains its self-cleaning capability and maintains a certain degree of cleanliness, the dirt removal mechanism 44 and the liquid supply mechanism 45 extend or retract simultaneously with the mop-wash assembly 4. Furthermore, to accommodate different cleaning environments, the mop-wash assembly 4 has multiple gear positions when extending outward. In different gear positions, the distance that the mop-wash assembly 4 extends outward relative to the machine body 10 varies.

[0161] Combine Figure 14 and Figure 15 The sliding plate includes a main body 21 and at least one lifting portion 22. The first rack 14 is provided on the main body 21, and the lifting portion 22 is provided at the end of the main body 21. When the sliding plate has two lifting portions 22, the two lifting portions 22 are respectively provided at both ends of the main body 21. Specifically, the lifting portion 22 has an inclined surface, which extends upward from the surface of the main body 21. Figure 15 As shown. Furthermore, a through-hole 23 extends through the middle of the lifting portion 22. A connecting post 241 on the mop-wash assembly 4 can extend through the through-hole 23 from below the sliding plate to above the sliding plate, and the connecting post 241 can contact the sliding plate. The first power source 102 outputs rotational power. When the sliding plate in the action actuator 103 slides, it applies force to the connecting post 241, thereby driving the mop-wash assembly 4 to perform actions such as raising, lowering, extending, and retracting.

[0162] See also Figure 13 and Figure 16 Taking the connecting assembly 24 as an example, comprising a connecting post 241 and a slider 242, one end of the connecting post 241 is connected to the mop-wash assembly 4, while the other end extends from the bottom of the sliding plate through the through-hole 23 to the top of the sliding plate. The slider 242 is detachably connected to the connecting post 241 via a fastener (such as a screw). The slider 242 contacts the sliding plate and is larger than the through-hole 23, effectively preventing the connecting assembly 24 from separating from the sliding plate. The detachable connection of the sliding plate to the connecting post 241 facilitates installation of the mop-wash assembly 4.

[0163] See also Figures 13 to 15 Each lifting part 22 is provided with a first baffle 25. The area A between the first baffle 25 and the lowest point of the lifting part 22 is used to place the slider 242. Figure 13As shown, when the sliding plate slides from the first limit position of the retracted state in the direction of arrow X, the first baffle 25 will contact the side wall of the slider 242, and the sliding plate can push the slider 242 to slide along the direction of arrow X, thereby driving the mopping assembly 4 to extend outward. Figure 19 A gap groove 251 is provided on the surface of the first baffle 25 that abuts the slider 242. The cross-sectional shape of the first baffle 25 is "L"-shaped. The gap groove 251 can be used to store grease or impurities entering from the outside to improve the smoothness of the up and down floating movement of the connecting column 241.

[0164] like Figure 16 As shown, when the sliding plate slides from the first limit position of the retracted state to the direction of arrow X2, one side of the retracted mop and wash assembly 4 abuts against the side wall 411 of the cavity housing 46, limiting further movement of the mop and wash assembly 4 relative to the cavity housing 46 in the direction of arrow X2. However, driven by the first power source 102, the sliding plate will continue to move relative to the cavity housing 46 in the direction of arrow X2, and the side wall of the other side of the slider 242 will abut against the inclined surface of the lifting portion 22. As the sliding plate 20 moves, the slider 242 climbs along the inclined surface, thereby driving the mop and wash assembly 4 to lift upward. Figure 15 To prevent the slider 242 from climbing over the inclined surface, a second stopper 26 is provided at the top of the inclined surface. When the slider 242 reaches the top of the inclined surface, it abuts against the second stopper 26, and the scrubbing assembly 4 is at its highest raised position. Furthermore, if the sliding plate 20 slides in the direction opposite to arrow X2, the slider 242 can slide down the inclined surface, and the scrubbing assembly 4 is in a lowered state. The slider 242 slides down to the lowest point of the lifting portion 22, and the scrubbing assembly 4 also descends to its lowest position.

[0165] Furthermore, in some cases, the mopping assembly 4 needs to be kept in an elevated state for a long time. In order to facilitate the slider 242 to hover at the top of the lifting part 22, a horizontal hovering surface 220 is provided at the top of the lifting part 22. Figure 23 When the slider 242 climbs up to the top of the lifting portion 22 along the inclined surface, the slider 242 can stably stay on the hovering surface 220, so that the mopping and washing component 4 remains in a lifted state.

[0166] In one embodiment provided in this application, Figure 15 and 17 As shown, the inclined surface of the lifting portion 22 includes a first sloped surface 221 and a second sloped surface 222. The inclination angle of the first sloped surface 221 is greater than the inclination angle of the second sloped surface 222. When the slider 242 climbs along the inclined surface of the lifting portion 22, it first climbs the first sloped surface 221 with the greater inclination angle, and then climbs the second sloped surface 222. This technical solution facilitates the rapid lifting of the mopping and washing assembly 4.

[0167] Furthermore, in order to avoid excessive sliding resistance of the slider 242 on the inclined surface, see Figure 17 The side of the slider 242 that abuts against the inclined surface of the lifting portion 22 is provided with a cylindrical sliding member 2421. Of course, the cylindrical sliding member 2421 can also roll when sliding on the inclined surface. Figure 18 The side where the slider 242 contacts the inclined surface of the lifting portion 22 is an arc structure 2422. That is, the portion of the slider 242 that contacts the lifting portion 22 is an arc structure 2422.

[0168] As the sliding plate slides from the second limit position (extended) of the scrubbing assembly 4 to the first limit position (retracted), the slider 242 can assume various states. For example, if the resistance to the scrubbing assembly 4's retraction is low, the slider 242 lacks sufficient force to climb the inclined surface as the sliding plate slides. In this case, the slider 242 contacts the bottom of the inclined surface, and the sliding plate 20 then pushes the scrubbing assembly 4 to slowly retract. It can be understood that in this state, the scrubbing assembly 4 retracts without any lifting action; the scrubbing assembly 4 remains in contact with the ground during retraction. For another example, if the resistance to the scrubbing assembly 4's retraction is high, the slider 242 can climb the inclined surface as the sliding plate 20 slides. In this case, the scrubbing assembly 4 is lifted upward and simultaneously retracts with the sliding plate 20. It can be understood that in this state, the scrubbing assembly 4 first lifts during retraction and then retracts to the first limit position along with the sliding plate 20.

[0169] See also Figure 22 In one embodiment provided in the present application, a first connection end 211 is provided on the sliding plate, and a second connection end 2423 is provided on the slider 242. The first connection end 211 and the second connection end 2423 can be used to set an elastic member. Specifically, one end of the elastic member is connected to the first connection end 211, and the other end of the elastic member is connected to the second connection end 2423. When the slider 242 climbs upward along the inclined surface of the lifting part 22, the elastic member will be stretched. The elastic force of the elastic member can be used to assist the slider 242 to descend from the top of the lifting part 22. In addition, during the retraction process of the mopping and washing component 4, the pulling force provided by the elastic member can also make the slider 242 always contact with the first baffle 25, thereby preventing the slider 242 from climbing up the inclined surface, and finally the mopping and washing component 4 will not be easily lifted when it is retracted.

[0170] Further, such as Figure 13 As shown, in the solution provided by this embodiment, the detection unit provided on the cavity housing 46 may further include at least one detection unit for detecting the lifting state of the mopping and washing component. Figure 13In the illustrated example, a third detection unit, such as a third photoelectric switch 283, is provided on the chamber housing 46. A third trigger structure 293 is provided on the sliding plate of the first action actuator 103. When the scrubbing assembly 4 is raised, the third trigger structure 293 triggers the third photoelectric switch 283, signaling to the main board 2 that the scrubbing assembly has been raised. The main board 2 can then control the power source, liquid supply mechanism, and dirt removal mechanism to cease operation.

[0171] The first power source 102 drives the first gear 13 to rotate forward (e.g., clockwise or counterclockwise), causing the sliding plate to move to the right. During this movement, the sliding plate contacts the connecting assembly 24 on the mop assembly 4, driving the mop assembly 4 outward through the connecting assembly 24. When the second photoelectric switch 282 is triggered, the first power source 102 stops rotating. The mop assembly is now fully extended, enabling close-to-edge cleaning of objects. After the mop assembly 4 completes close-to-edge cleaning, the power source drives the first gear 13 to rotate in the opposite direction, causing the sliding plate to move to the left and, as it does so, retracting the mop assembly 4 into the accommodating chamber 101. When the first photoelectric switch 281, which is in its initial position (i.e., the first extreme position), is triggered, the first power source 102 stops rotating, fully retracting the mop assembly 4. Next, the cleaning robot needs to clean the carpet. To prevent secondary contamination, the mop assembly needs to be raised. Subsequently, the first power source 102 rotates in the opposite direction, causing the sliding plate to move to the left. The lifting portion 22 on the sliding plate gradually lifts the connecting assembly 24. When the third photoelectric switch 283 is triggered, the first power source 102 stops rotating, and the mopping assembly 4 switches to the raised state, and the carpet can then be cleaned. After the carpet is cleaned, the first power source 102 rotates forward, the sliding plate moves to the right, and the mopping assembly descends and returns to its initial state.

[0172] In the technical solution provided in the present application, the driving device 10 has a simple structure and only requires one power source to drive the drag-washing component 4 to realize the four actions of extension, retraction, lifting and lowering, which meets the use of the drag-washing component 4 under various working conditions. The power source performance requirements are low, the control logic is simple, and the production cost is also lower.

[0173] In the embodiment mentioned above, the lifting process of the mop-washing assembly 4 is achieved by sliding the sliding plate, and then the lifting portion 22 on the sliding plate drives the slider 242 on the mop-washing assembly 4 to move upward, thereby lifting the mop-washing assembly 4 upward. The lifting process of the mop-washing assembly 4 can be understood as the mop-washing assembly 4 being lifted up as a whole.

[0174] After the mopping and washing assembly 4 is lifted, the cleaning roller 42 can stop rotating, and the liquid supply mechanism 45 and the dirt removal mechanism 44 can stop working.

[0175] The cleaning robot can lift the mopping and washing components in the following situations, such as:

[0176] The cleaning robot moves onto the carpet and lifts the mopping component;

[0177] The mopping and washing components can be lifted when obstacles need to be overcome;

[0178] The user instructs to lift the mop and wash assembly;

[0179] The cleaning robot lifts the mopping and washing component when working in the sweeping mode; and so on.

[0180] In another embodiment provided by the present application, the lifting process of the mopping and washing assembly 4 can also be that one end of the mopping and washing assembly 4 rotates around an axis, so that the cleaning roller 42 at the other end of the mopping and washing assembly 4 is raised relative to the ground. Figure 24 As shown, the figure shows a structural schematic diagram of a mopping and washing component 4 raised relative to the ground. Figure 24 In the figure, the mopping assembly 4 includes a cleaning roller 42 and a mopping bracket 43, and the mopping bracket 43 is slidably connected to the rotating bracket 31. The rotating bracket 31 is rotatably connected to the base through a rotating shaft 4131, and the base can also be considered as a cavity shell 46 or the body 1 of the cleaning robot. A connecting assembly 24 is provided on the mopping bracket 43, and the connecting assembly 24 passes through the rotating bracket 31 through the avoidance groove on the rotating bracket 31 and extends to the outside of the rotating bracket 31. A sliding plate 20 is also provided on the base, and the sliding plate 20 can slide relative to the base, and a lifting portion 22 is provided on the sliding plate 20. The sliding plate 20 can slide to the left or to the right relative to the base, thereby driving the mopping assembly 4 to lift or extend outward respectively. Specifically, when the sliding plate 20 moves to the right from the initial position relative to the base, the connecting assembly 24 contacts the side wall of the sliding plate 20, and the sliding plate 20 can drive the connecting assembly 24 to move to the right at the same time, such as Figure 32 In the direction of the middle arrow X, at this time, the mopping assembly 4 will extend to the right relative to the rotating bracket 31, and it can be considered that the mopping assembly 4 switches from the retracted state to the extended state. When the sliding plate 20 moves leftward from the initial position relative to the base, the connecting assembly 24 contacts the inclined surface of the lifting part 22, and as the sliding plate 20 moves leftward, the connecting assembly 24 climbs up the inclined surface of the lifting part 22, and the connecting member will simultaneously drive the rotating bracket 31 and the mopping assembly 4 to rotate around the rotation axis 4131 along the Figure 32 The scrubbing assembly 4 is rotated upward in the direction of arrow a. When the scrubbing assembly 4 needs to be returned to its initial position, the sliding plate 20 is simply returned to its initial position in the opposite direction. The scrubbing assembly 4 can be returned to its initial position from its raised or extended state. The initial state can be: the scrubbing assembly 4 is retracted and in a low position.

[0181] Based on the above-mentioned lifting and retracting principles of the mopping and washing component 4, another driving device 10 provided in the present application will be described in detail below in conjunction with specific embodiments.

[0182] See also Figure 24、 Figure 25 and Figure 26 In one embodiment of the present application, a drive device 10 is provided. The drive device includes a first power source 102 and a first motion actuator 103. The first motion actuator 103 is disposed on the cavity housing 46 and is movably connected to the cavity housing 46. The mop and wash assembly 4 is floatingly connected to the first motion actuator 103 via a connecting assembly 24. When the first power source 102 drives the first motion actuator 103 in different directions, the first motion actuator 103, via the connecting assembly 24, drives the mop and wash assembly 4 to move, such as raising, lowering, extending, or retracting.

[0183] In a specific embodiment, see Figure 25 and Figure 26 The first action execution mechanism 103 includes a sliding plate 20. The sliding plate 20 is slidably connected to the cavity shell 46. The first power source 102 outputs power to drive the sliding plate 20 relative to the cavity shell 46 along the Figure 25 The housing 46 is fixedly connected to the housing 1 and defines a receiving chamber 101. The mop-wash assembly 4 and the rotating bracket 31 are located within the receiving chamber 101. The mop-wash bracket 43 is rotatably connected to the housing 46 or the housing 1 via a rotating shaft 4131.

[0184] See also Figures 27a to 27c , schematic diagrams showing the mop-washing assembly 4 in its initial state from different perspectives. The initial state refers to the mop-washing assembly 4 being in a retracted state (e.g., the first extreme position of the retracted state) and the cleaning roller 42 being in contact with the ground. Referring to Figures 28a to 28c, schematic diagrams showing the mop-washing assembly 4 in its raised state from different perspectives are shown. The mop-washing assembly 4 is in a retracted state (e.g., the first position of the retracted state). In the raised state, the distance between the lowest point of the cleaning roller 42 of the mop-washing assembly 4 and the ground is H1. Referring to Figures 29a to 29c, schematic diagrams showing the mop-washing assembly 4 in its extended state (e.g., the second extreme position of the extended state) from different perspectives are shown. In the extended state, the outermost edge of the mop-washing assembly 4 extends a distance H2 relative to the machine body 1.

[0185] When the mopping assembly 4 needs to be extended, the first power source 102 drives the sliding plate 20 from the initial position to the Figure 25 When the roller bracket 421 moves in the direction of the arrow X1, the rotating bracket 31 does not move, and the connecting component 24 in contact with the sliding plate 20 drives the roller bracket 421 to extend outward relative to the rotating bracket 31 along the direction of the arrow X1. When the sliding plate 20 moves to the extreme position in the direction of X1, the roller bracket 421 will extend outward to the maximum distance (such as Figure 29b When the mopping assembly 4 needs to be retracted, the first power source 102 drives the sliding plate 20 along Figure 25The roller bracket 421 moves in the direction of the middle arrow X2 and completes retraction when it moves to the initial position.

[0186] The mopping and washing bracket 43 may include a roller bracket 421 .

[0187] See also Figures 25 to 28c When the mopping and washing assembly 4 needs to be lifted, the first power source 102 drives the sliding plate 20 from the initial position along Figure 25 When the sliding plate 20 moves in the direction of the middle arrow X2, the rotating bracket 31 will rotate and swing upward around the rotating shaft 4131 under the drive of the sliding plate 20, and the washing bracket 43 and the rotating bracket 31 will remain in the same position. The washing bracket 43 will rotate and swing upward together with the rotating bracket 31, thereby realizing the rotation and lifting of the washing assembly 4. When the sliding plate 20 moves to the extreme position in the direction of X2, the height of the washing assembly 4 is the maximum, and the lowest point of the cleaning roller 42 is also the highest above the ground (as shown in FIG. Figure 28c When the mopping assembly 4 needs to be lowered, the first power source 102 drives the sliding plate 20 to move along the Figure 25 Move in the direction of the middle arrow X1, and when it moves to the initial position, the mopping and washing bracket 43 completes the descent and returns to the initial state (such as Figure 27a shown).

[0188] See also Figure 25 and Figure 26 In one embodiment provided in the present application, the first power source 102 and the first action execution mechanism 103 (such as the sliding plate 20) can be arranged in the accommodating chamber 101, or both can be arranged outside the accommodating chamber 101, or one can be arranged in the accommodating chamber 101 and the other can be arranged outside the accommodating chamber 101.

[0189] The following detailed description assumes that the first power source 102 is disposed outside the accommodating chamber 101 and the sliding plate 20 is disposed inside the accommodating chamber 101. It should be noted that the actuating mechanisms in the above-mentioned embodiments include, but are not limited to, lead screw motor devices, push rod motor devices, linear motor devices, hydraulic devices, cylinder piston devices, and rack and pinion devices.

[0190] In a specific embodiment, see Figure 25 and Figure 26 Taking the first power source 102 as a screw motor device as an example, the screw motor device includes: a second motor 12, a screw 17 and a nut slider 18. The screw 17 is connected to the output end of the second motor 12. When the second motor 12 rotates, it can drive the screw 17 to rotate. The nut slider 18 is connected to the screw 17. When the screw 17 rotates, the nut slider 18 can slide horizontally along the axial direction of the screw 17.

[0191] like Figure 25 As shown, the lead screw 17 is arranged along the length direction of the mopping assembly 4 (for example Figure 25 When the second motor 12 outputs power in one direction, the lead screw 17 drives the nut slider 18 to move leftward ( Figure 25 When the second motor 12 outputs power in another direction, the lead screw 17 can drive the nut slider 18 to slide to the right ( Figure 25 The second motor 12 can output clockwise power and counterclockwise power, and one of the two directions of power can be clockwise power and the other can be counterclockwise power.

[0192] For further information, see Figure 25 and Figure 31 In one embodiment provided in the present application, a driving portion 214 is provided on the sliding plate 20. The driving portion 214 extends outward from the plate surface of the sliding plate 20, and the end of the driving portion 214 has a recessed structure that cooperates with the lead screw 17. A movable opening 415 is also provided on the cavity shell 46, and the driving portion 214 on the sliding plate 20 can be connected to the nut slider 18 through the movable opening 415. When the second motor 12 drives the lead screw 17 to rotate, the moving nut slider 18 can drive the driving portion 214 to move together. In order to prevent the driving portion 214 from interfering with the cavity shell 46 during the movement, the length of the movable opening 415 is greater than or equal to the maximum distance that the mopping and washing component 4 can extend.

[0193] See also Figure 25 and Figure 26 The cavity shell 46 is provided on the body 1, and it can be fixedly connected to the body 1, or the cavity shell 46 and the body 1 are an integral structure. The rotating bracket 31 is rotatably connected to the body 1 or the cavity shell 46 via the rotating shaft 4131. The rotating bracket 31 is provided with a track groove 32, and the washing bracket 43 is provided with a sliding portion 33, and the sliding portion 33 is matched and connected with the track groove 32. The washing bracket 43 has a mounting cavity with an opening facing downward, and the cleaning roller 42 is provided in the mounting cavity. A plurality of sliding portions 33 are provided on the top of the washing bracket 43, and the sliding portions 33 can be matched and connected with the sliding groove. Specifically, the sliding portion 33 is a slider, and a ridge is provided on the top of the washing bracket 43, and a plurality of sliders are symmetrically distributed on both sides of the ridge. The plurality of sliders can be snapped into the track groove 32, so that the washing bracket 43 is suspended and installed below the rotating bracket 31.

[0194] See also Figure 26 、 Figure 30 and Figure 32 In one embodiment, a track groove 32 is provided on the top surface of the inner side of the rotating bracket 31. The track groove 32 has a downwardly facing constricted opening, through which the sliding portion 33 can be connected to the track groove 32. At least one rotating connecting arm 311 is also provided on the outer wall surface of the rear side of the rotating bracket 31. The rotating connecting arm 311 is connected to the chamber housing 46 or the body 1 via a rotating shaft 4131.

[0195] See also Figure 26 and Figure 30 , at least one connecting component 24 is provided on the mopping bracket 43, specifically, the connecting component 24 is a connecting rod 243, and the connecting rod 243 is provided on the front side wall of the mopping bracket 43. For example, two spaced connecting rods 243 are provided on the front side wall of the mopping bracket 43. Figure 26 In the direction of the middle arrow M, the connecting rod 243 extends forward and is connected to the sliding plate 20. The sliding plate 20 can drive the washing bracket 43 to move by the connecting rod 243 during the sliding process, thereby realizing the extension and retraction of the entire washing assembly 4.

[0196] The driving device provided in the embodiment of the present application can not only drive the mopping and washing component to extend and retract relative to the machine body, but also drive the mopping and washing component 4 to rise and fall relative to the machine body. Figure 26 and Figure 31 The sliding plate 20 has at least one hollow structure to form a lifting portion 22 on the sliding plate 20. The lifting portion 22 has an inclined surface, and a limit portion 212 is provided on the top of the inclined surface. The limit portion 212 is arranged in the horizontal direction. The sliding plate 20 also includes a connecting buckle 213, which is used to connect with the cavity shell 46. Specifically, in conjunction with Figure 33 The housing 46 has a through slot 414, the length of which is equal to or greater than the maximum extension distance of the mop-wash assembly 4. The connecting buckle 213 on the sliding plate 20 can be fitted and connected to the slot 414. When the power source drives the sliding plate 20 to slide, the connecting buckle 213 will slide in the slot 414.

[0197] Further, see Figure 33 In one embodiment provided in the present application, the cavity shell 46 is further provided with a guide groove 416, which includes a first groove 4161, a second groove 4162 and a third groove 4163. The setting direction of the second groove 4162 is in the same direction as the length direction of the cavity shell 46 (e.g. Figure 33 The first groove 4161 and the third groove 4163 are respectively located at both ends of the second groove 4162 and are both connected to the second groove 4162. The first groove 4161 and the third groove 4163 extend in the vertical direction, which can be understood as being perpendicular to the second groove 4162.

[0198] When the sliding plate 20 drives the connecting rod 243 to move, one end of the connecting rod 243 slides in the guide groove 416. The sliding groove not only guides the sliding of the connecting rod 243, but also enables the mopping assembly 4 to be connected to the cavity housing 46 in a floating manner in multiple directions. Figure 27bWhen the mopping assembly 4 is in the initial state (e.g., the first limit position of the retracted state, the cleaning roller 42 is in contact with the ground), the connecting rod 243 is located at the leftmost end of the second groove 4162 and at the bottom of the first groove 4161. As the power source drives the sliding plate 20 to move leftward, since the connecting rod 243 can no longer move leftward, the connecting rod 243 can only climb upward along the inclined surface of the lifting part 22. At this time, the connecting rod 243 will move upward along the first groove 4161 and finally move to the top of the first groove 4161 (e.g., Figure 28b As shown), the mopping assembly 4 is in the raised state. In the initial state, when the power source drives the sliding plate 20 to move to the right, the connecting rod 243 will move from its leftmost end to the rightmost end along the second groove 4162, as shown. Figure 29b As shown, the connecting rod 243 is also located at the bottom end of the third groove 4163. At this time, the mop-washing assembly 4 is in an extended state, and the distance H2 of the mop-washing assembly 4 relative to the cavity housing 46 is extended outward. Generally, the length of the second groove 4162 is equal to the maximum distance that the mop-washing assembly 4 can extend.

[0199] The arrangement of the first groove 4161 and the third groove 4163 can also allow the mop-washing assembly 4 to be connected to the cavity shell 46 in a floating manner, thereby adapting to the ground. Specifically, if the mop-washing assembly 4 is cleaning on an uneven ground, or encounters a raised obstacle. Since the distance between the cavity shell 46 and the ground remains constant or changes little, if the mop-washing assembly 4 is rigidly connected to the cavity shell 46, the mop-washing assembly 4 will be subjected to severe impact and will not be able to adjust its height to adapt to changes in the ground. In the technical solution of this application, see Figure 27b In the initial state of the mop-wash assembly 4, the connecting rod 243 is also located at the bottom of the first groove 4161. At this point, if the mop-wash assembly 4 is impacted, it will float upward under the influence of the ground, thereby preventing excessive force between the mop-wash assembly 4 and the ground. Furthermore, when the mop-wash assembly 4 is extended, the connecting rod 243 is located at the bottom of the third groove 4163. Similarly, if the extended mop-wash assembly 4 is impacted by the ground, the connecting rod 243 will move upward along the third groove 4163 to float upward relative to the ground, similarly preventing excessive force between the mop-wash assembly 4 and the ground.

[0200] After the mop-wash assembly 4 is extended, it can easily collide with obstacles during the movement of the cleaning robot. To prevent damage to the mop-wash assembly 4 from colliding with obstacles, in one embodiment of the present application, the mop-wash assembly 4 can automatically retract into the accommodating chamber 101 when subjected to an external force while in the extended state. Specifically, a rebound device is provided between the mop-wash bracket 43 and the rotating bracket 31. When the mop-wash assembly is in its initial state (e.g., the first extreme position of the retracted state), the rebound device is compressed. When the mop-wash assembly 4 is extended, the rebound device is extended. When the extended mop-wash assembly 4 retracts into the accommodating chamber 101 under the action of an external force, the rebound device is compressed.

[0201] In a specific implementation, the rebound device includes but is not limited to: a spring, a hydraulic cylinder, a pneumatic cylinder, an elastic block, etc. Taking the rebound device as a spring as an example, see Figure 30 The ridges of the mop and wash bracket 43 are provided with a cavity 34, in which a spring can be arranged. Figure 32 , an elastic member mounting seat 312 is provided in the track groove 32 of the rotating bracket 31. When the ridge rib is connected with the track groove 32, one end of the elastic member will be sleeved on the elastic member mounting seat 312, and the other end of the elastic member will contact with the washing bracket 43.

[0202] As mentioned above, the power source is a screw motor device. If the driving part 214 on the sliding plate 20 is fixedly connected to the nut slider 18, then when the extended mopping assembly 4 is hit, since the screw 17 and the nut slider 18 have a self-locking effect, the nut slider 18 will limit the movement of the driving part 214, and the sliding plate 20 will also be limited, and ultimately the mopping assembly 4 will not be able to achieve automatic retraction.

[0203] In the technical solution of the present application, the nut slider 18 and the driving part 214 are not fixedly connected. When the mopping assembly 4 is automatically retracted by an external force, the driving part 214 on the sliding plate 20 will be separated from the nut slider 18, and the sliding plate 20 can freely move along the Figure 25 In one embodiment provided in the present application, the mopping assembly 4 moves in the direction of the arrow X2. Figure 25 The driving part 214 is located on the left side of the nut slider 18 and is in contact with the nut slider 18. As mentioned above, a rebound device is provided between the washing bracket 43 and the rotating bracket 31. When the washing assembly 4 is in the initial state, the rebound device is in a compressed state. The direction of the elastic force of the rebound device is Figure 25In the direction of the middle arrow X1, the elastic force will drive the mopping assembly 4 to extend outward. However, the nut slider 18 contacts the right side of the driving portion 214, and based on the self-locking effect of the screw motor device, the sliding plate 20 will be restricted from automatically moving to the right. Only when the screw 17 rotates and the nut slider 18 moves to the right, can the driving portion 214 move to the right with the nut slider 18. It can be simply understood that the power for the mopping assembly 4 to extend outward is provided by the rebound device, and the nut slider 18 can restrict the sliding plate 20 from moving freely to the right. Only when the nut slider 18 moves to the right can the sliding plate 20 move to the right. When the mopping assembly 4 changes from the extended state to the retracted state, and when the mopping assembly 4 changes from the low state (such as the state where the cleaning roller is in contact with the ground) to the lifted state, the sliding plate 20 moves from right to left, and the moving direction of the sliding plate 20 is the same as that of the nut slider 18. Figure 25 The rightward movement of the sliding plate 20 is driven by the lead screw motor assembly. Specifically, the second motor 12 outputs power in one direction, and the lead screw 17 drives the nut slider 18 in the direction of arrow X2. Since the driving portion 214 of the sliding plate 20 is located to the left of the nut slider 18, the nut slider 18 pushes the sliding plate 20 to the left during movement. During this process, the rebound device is further compressed.

[0204] Furthermore, in one embodiment provided herein, the scrubbing assembly 4 has multiple positions when in both the extended and raised positions. In different extended positions, the scrubbing assembly 4 extends to different distances relative to the housing 46; in different raised positions, the scrubbing assembly 4 is elevated to different distances relative to the ground. To enable the scrubbing assembly 4 to be extended in different positions or elevated to different distances relative to the ground, the second motor 12 is further provided with a counting module. The counting module records the number of forward or reverse rotations of the second motor 12 or the lead screw 17. By recording the number of rotations of the second motor 12 or the lead screw 17, the travel distance of the nut slider 18 on the lead screw 17 can be calculated, thereby determining the different positions of the scrubbing assembly 4 in the extended and raised positions.

[0205] For example, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates forward one hundred times, the nut slider 18 moves to an extreme position, at which point the mop and wash assembly 4 extends to its maximum distance (i.e., the second extreme position of the extended state). Dividing these one hundred rotations into ten, starting from the first position, each ten rotations of the second motor 12 or the lead screw 17 in the forward direction represents a shift in the mop and wash assembly 4. Similarly, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates in the reverse direction twenty times, the nut slider 18 moves to the other extreme position, at which point the mop and wash assembly 4 is lifted to its maximum distance. Similarly, dividing these twenty rotations into five, starting from the first position, each four rotations of the second motor 12 or the lead screw 17 in the reverse direction represents a shift in the mop and wash assembly 4. During the process of adjusting the lifting gear of the mop and wash assembly 4, since the screw motor device has a self-locking function, when the second motor 12 stops rotating, the self-locking force can limit the displacement of the sliding plate 20, and the connecting rod 243 can also stay stably on the inclined surface of the lifting part 22, thereby ensuring that the lifting gear of the mop and wash assembly 4 remains unchanged.

[0206] In another embodiment provided in the present application, when adjusting the gear, as mentioned above, multiple detection units can be set on the cavity shell 46, and different detection units can respectively detect whether the nut slider 18 or the sliding plate 20 is in the first position, different extreme positions and different positions corresponding to different gears.

[0207] The following describes in detail the operation process of the mopping and washing component 4 in combination with the usage scenario.

[0208] After the mopping assembly 4 completes part of the cleaning task in the initial state (e.g., in the first limit position of the retracted state, with the cleaning roller in contact with the ground), it needs to be switched to the extended state. Subsequently, the second motor 12 drives the screw 17 to rotate forward, and the nut slider 18 on the screw 17 moves to the right (see Figure 25(The perspective shown in the figure) Under the action of the rebound device between the rotating bracket 31 and the mopping bracket 43, the mopping bracket 43 extends outward relative to the rotating bracket 31, and as the nut slider 18 moves, the mopping assembly 4 extends outward to the farthest point. During the process of the mopping bracket 43 extending outward, the sliding plate 20 will synchronously move to the right, and the driving part 214 on the sliding plate 20 will always be in contact with the nut slider 18. The cleaning robot can also be provided with a counter, which records the number of rotations of the second motor 12 outputting power. Based on the number of rotations of the second motor 12 outputting power recorded by the counter, the main board 2 of the cleaning robot can calculate the position of the nut slider 18, and then determine the position of the mopping assembly 4. If the mopping assembly 4 is already in the second extreme position of the extended state, the main board 2 controls the second motor 12 to stop working, and the mopping assembly 4 is in the extended state. The cleaning robot maintains the posture of the mopping assembly 4 in the extended state to perform the cleaning task.

[0209] After the mopping and washing component 4 completes the task to be performed in the extended state, the main board 2 controls the second motor 12 to drive the lead screw 17 to output reverse power, and the nut slider 18 moves to the left (see Figure 25 The mainboard 2 then moves the sliding plate 20 to the left, which in turn drives the scrubbing assembly 4 to retract into the accommodating chamber 101. Similarly, the mainboard 2 calculates the position of the nut slider 18 based on the number of revolutions during which the second motor 12 outputs reverse power, thereby determining the retracted position of the scrubbing assembly. If it is determined that the scrubbing assembly has reached the first, retracted position, the mainboard 2 controls the second motor 12 to stop.

[0210] Next, when the cleaning robot recognizes the carpeted floor, in order to avoid secondary contamination, the mopping component 4 needs to be switched to the lifting state. The main board 2 controls the second motor 12 to drive the lead screw 17 to rotate in one direction, and the nut slider 18 moves to the left (refer to Figure 25 The nut slider 18 will drive the sliding plate 20 to move to the left together with the sliding plate 20. As the sliding plate 20 moves, the lifting portion 22 on the sliding plate 20 gradually lifts the connecting rod 243, and the mopping bracket 43 rotates and lifts around the rotating shaft 4131. After the mopping assembly 4 is in the lifted state, it can enter the carpet area to clean the carpet. After the carpet is cleaned, it drives out of the carpet area. If the cleaning robot needs to continue to perform the cleaning task, the main board 2 can control the second motor 12 to drive the screw 17 to rotate in the other direction, and the sliding plate 20 moves to the right (see Figure 25 The mop and wash assembly descends.

[0211] Compared to cleaning robots equipped with rags or mopping discs, the cleaning robot equipped with the mopping assembly provided in this embodiment offers better cleaning results and higher cleaning efficiency. While the cleaning roller is cleaning the floor, it can also simultaneously perform self-cleaning. The dirt removal mechanism 44 scrapes away dirty water from the cleaning roller 42, and the liquid supply mechanism 45 provides clean cleaning liquid to the cleaning roller 42, which then mops the floor. This cleaning method not only provides better cleaning results, but also extends the cleaning life of the mopping assembly 4. During a cleaning task, the cleaning robot does not need to frequently return to the base station for self-cleaning maintenance.

[0212] During the cleaning process, the cleaning robot needs to face a variety of cleaning environments. For example, tile floors, wooden floors, carpet floors, etc. When cleaning carpet floors, in order to prevent the wet cleaning roller from wetting the carpet, the cleaning roller needs to be lifted to prevent the cleaning roller from contacting the carpet. In addition, for some corner areas (wall edges, edges of home furnishings, etc.), the cleaning robot cannot achieve edge cleaning due to the influence of the external structure of the cleaning robot. In the technical solution provided in the embodiment of the present application, the mopping assembly of the cleaning roller can not only be raised and lowered, but also extend from one side of the cleaning robot when edge cleaning is required, so that the mopping assembly can achieve edge cleaning while avoiding collision between the cleaning robot body and the wall or home furnishings.

[0213] When cleaning a dirty floor, the cleaning robot prioritizes the extended state (i.e., normally extended or normally swinging) to reduce the number of times it switches between the retracted and extended states. When avoiding obstacles, the cleaning robot's mop-wash assembly 4 retracts into the accommodating cavity 101, completes obstacle avoidance in the retracted state, and then switches to the extended state. This operating mode not only reduces the number of times the mop-wash assembly 4 switches between the retracted and extended states, but also reduces the total cleaning time. Specifically, the mop-wash assembly 4 can also clean regular floors (non-corner areas) when in the extended state. Because household floors not only have large wall corners but also contain the corners of numerous scattered household objects, if the cleaning robot prioritizes the retracted state for cleaning, it would inevitably need to switch back and forth between the retracted and extended states. Each state switch would require a long wait or a change in the robot's motion algorithm. This not only increases the total time it takes for the cleaning robot to complete cleaning, but also increases the computational load on the motion algorithm of the control computing unit on the main board 2. The working environment of the cleaning robot is very complex. In order to achieve a good and comprehensive cleaning effect, the cleaning robot needs to detect and determine in real time whether to extend the mop-washing component 4. The complex environment requires the cleaning robot to determine many conditions, which is impossible to exhaust. Therefore, the cleaning robot cannot control the mop-washing component 4 to extend in time every time it is needed.

[0214] Therefore, the solution provided by the embodiment of the present application is: instead of determining whether the cleaning robot is to perform edge cleaning, the cleaning robot directly performs the cleaning task with the mop-wash component 4 in the extended state. This solution eliminates the complex identification of edge situations and only retracts the mop-wash component 4 in a few simple scenarios such as obstacle avoidance and turning. The control logic is simple, the design is not difficult, and it is easy to implement. In addition, see Figure 10bThe left image (G) shows the scrubber assembly 4 in its first position (e.g., the first extreme position in the retracted state), while the right image (H) shows the scrubber assembly 4 in its second position (e.g., the second extreme position in the extended state). The cleaning robot operates according to the cleaning path shown in Figure 10. It can be seen that when the scrubber assembly 4 is in its first position, the widthwise edge of the scrubber assembly 4 is at a distance L3 from the widest edge of the body 1. If the cleaning robot follows the "bow"-shaped cleaning path shown in the figure, a shaded area will appear along the robot's path, as shown in Figure (G). This shaded area represents the area not cleaned by the scrubber assembly 4. However, if the scrubber assembly is normally extended, the cleaning robot will extend the scrubber assembly 4 during the cleaning task. When cleaning along the "bow"-shaped cleaning path shown in the figure, because the outer edge of the scrubber assembly 4 is substantially flush with the widest edge of the body 1, the robot will not miss the shaded area shown in the left image (G) after cleaning. While the robot's cleaning path can be adjusted to allow the robot to cover the shaded area after turning around, this increases the complexity of software control. The solution of normally extending the mopping and washing components as shown in the right figure (H) does not need to consider the problem of covering the shadow area, and the traversal algorithm of the cleaning robot is simpler.

[0215] That is, the working method of the cleaning robot provided in this embodiment may include the following steps:

[0216] S11. When performing a cleaning task in an open area, the mop-wash component performs the cleaning task in an extended state;

[0217] S12. When it is detected that the surrounding environment requires the mop-wash component to be retracted, the mop-wash component is retracted, and the mop-wash component performs a cleaning task in the retracted state, or the cleaning robot moves in the retracted state.

[0218] In which, when in the extended state, the drag-washing component extends from one side of the body, and the drag-washing component is partially exposed; in the retracted state, the outer edge of the drag-washing component is located on the inner side of the outer edge of the body, or a partial area of ​​the outer edge of the drag-washing component is flush with the outer edge of the body.

[0219] The above-mentioned “detecting the surrounding environment and determining that the mop-wash component needs to be retracted” in S12 may specifically include but is not limited to at least one of the following:

[0220] When detecting that the cleaning robot needs to turn to avoid an obstacle, determining that the mopping and washing component needs to be retracted;

[0221] When detecting that the cleaning robot is in a narrow space and needs to escape, determining that the mopping and washing component needs to be retracted;

[0222] When it is detected that the user issues a retraction instruction, it is determined that the mop-wash component needs to be retracted.

[0223] Furthermore, the method provided in this embodiment may further include:

[0224] When the mop-washing assembly is in an extended state and performs a cleaning task, if it detects the surrounding environment and determines that the mop-washing assembly needs to be lifted, the mop-washing assembly retracts to a first extreme position and is lifted to have a gap with the ground.

[0225] When the mopping assembly is in the third position, the projection of the mopping assembly is within the projection of the machine body; when the mopping assembly is displaced to the fourth position, the edge of the mopping assembly extends beyond the edge of the machine body, and the projection of the mopping assembly is within the projection of the machine body. In normal cleaning mode, the mopping assembly is in the fourth position; in special cleaning mode, the mopping assembly is in the third position so as to move along the edge of an obstacle. The main board controls the drive device to enable the mopping assembly to stop at any position. The mopping assembly has a first extreme position in a retracted state and a second extreme position in an extended state; the arbitrary position is the first extreme position, the second extreme position, or any position between the first and second extreme positions; the third position is the first extreme position or any position between the first and second extreme positions; and the fourth position is the second extreme position or any position between the first and second extreme positions.

[0226] Another embodiment of the present application provides a control method or working method of a cleaning robot, which may be: the control device dynamically controls the driving device based on the behavior information of the body, so that the driving device drives the mopping and washing component to move relative to the body to change the position of the mopping and washing component relative to the body.

[0227] The machine's behavioral information may include: travel speed, travel direction, turning radius, acceleration, etc. For example, when turning quickly, the drive device is controlled to quickly retract the outward-extended mopping and washing components; or, when moving in a straight line after turning, the drive device is controlled again to retract the mopping and washing components and expand them outward.

[0228] Additionally, it should be noted that the drum motor in the mopping and washing assembly requires a continuous current supply even while the mopping and washing assembly is in motion. Therefore, the cleaning robot in the embodiments of this application is further provided with a conductive slot assembly. The conductive slot assembly comprises a conductive slot body and a power connector, which is disposed within the conductive slot body and is movable within the conductive slot body. The power connector is electrically connected to the electrical interface of the drum motor. When the mopping and washing assembly moves, the power connector moves within the conductive slot to follow the mopping and washing assembly, allowing the drum motor to maintain power while moving. The conductive slot assembly is not explicitly shown in the drawings of this application.

[0229] The specific structure of the mop-wash component will be described below.

[0230] like Figure 5 As shown in Figures 7, 8, and 9, in one embodiment provided by the present application, the dirt removal mechanism 44 and the liquid supply mechanism 45 in the drag-wash assembly 4 are respectively provided on the drag-wash bracket 43, or are a structure integral with the drag-wash bracket 43. The scraping bar on the dirt removal mechanism 44 can contact the cleaning roller 42 and scrape off the dirty water on the cleaning roller 42 during the rotation of the cleaning roller 42. Of course, the dirt removal mechanism 44 does not simply scrape off the dirty water; it also has the function of collecting the dirty water. After the scraping bar scrapes off the dirty water, the dirty water can directly enter the collection assembly. After the collection assembly filters the dirty water, it can be transported to the dirty water tank 9 through a pipe connected to the dirt removal outlet 4410. In this embodiment, the drag-wash assembly 4 includes the dirt removal mechanism 44 and the liquid supply mechanism 45. That is, when the cleaning roller is raised, lowered, and / or extended, the dirt removal mechanism 44 and the liquid supply mechanism 45 also rise, lower, and / or extend together.

[0231] The liquid supply mechanism 45 can provide cleaning liquid to the cleaning roller 42. For example, when the cleaning roller 42 is dry, the liquid supply mechanism 45 can evenly sprinkle clean water on the surface of the cleaning roller 42, fully moistening the cleaning roller 42 and significantly improving its cleaning ability. For another example, when the cleaning roller 42 is relatively dirty, the liquid supply mechanism 45 can evenly sprinkle a cleaning solution mixed with a detergent on the surface of the cleaning roller 42. The cleaning solvent dissolves the stains, thereby facilitating the stain removal mechanism 44 to remove the stains from the cleaning roller 42. For another example, when the cleaning roller 42 is in self-cleaning mode, the liquid supply mechanism 45 can sprinkle a large amount of cleaning solution on the surface of the cleaning roller 42. After the stains are dissolved, the stain removal mechanism 44 can clean the stains and dirty water, thereby facilitating the cleaning roller 42 to quickly and efficiently self-clean.

[0232] The liquid supply mechanism 45 can be an integrated structure with the mopping and washing bracket 43. Figure 7bIn the illustrated example, a liquid supply inlet 451 is provided on the outer surface of the mop-wash bracket 43, which is connected to the clean water tank 5 via a pipe. A water distributor 452 is also provided on the mop-wash bracket 43. The water distributor 452 runs along the length of the mop-wash bracket 43 and communicates with the multiple water outlets of the liquid supply mechanism 45. This water distribution channel evenly distributes the cleaning solution supplied by the liquid supply inlet 451 to the multiple outlets, which then evenly distribute the cleaning solution onto the cleaning roller 42, thereby achieving more uniform dry / wet distribution on the surface of the cleaning roller 42.

[0233] Furthermore, the liquid supply mechanism 45 further includes a liquid supply pump, which is disposed on the first flexible pipe 443 . The liquid supply pump can generate a suction force to transport the cleaning liquid in the clean water tank 5 to the liquid supply mechanism 45 .

[0234] The mopping and washing assembly 4 of the cleaning robot performs self-cleaning in two main steps: one is the removal of dirty water from the cleaning drum 42 by the dirt removal mechanism 44, and the other is the supply of clean cleaning fluid to the cleaning drum 42 by the liquid supply mechanism 45. As the dirt removal mechanism 44 continuously removes dirty water and stains, and the liquid supply mechanism 45 continuously supplies cleaning fluid, the mopping and washing assembly 4 can simultaneously perform self-cleaning while mopping the floor, ensuring consistently good cleaning results.

[0235] See also Figure 34 The mop and wash bracket 43 has a roller mounting cavity 51, and the cleaning roller 42 is disposed within the roller mounting cavity 51. Specifically, the mop and wash assembly 4 also includes a roller motor 41. A motor mounting seat is provided on one side of the roller mounting cavity 51. The roller motor 41 is disposed on the motor mounting seat. The cleaning roller 42 is sleeved outside the roller motor 41 and is drivingly connected to the roller motor 41. The roller motor 41 can drive the cleaning roller 42 to rotate, thereby cleaning the floor. The roller motor 41 and the cleaning roller 42 are both disposed within the roller mounting cavity 51. The roller mounting cavity 51 has a downward opening and a lateral opening. The cleaning roller 42 can contact the floor through the downward opening, while the lateral opening facilitates user removal and assembly of the cleaning roller 42.

[0236] Both the dirt removal mechanism 44 and the liquid supply mechanism 45 are mounted on the mop-wash bracket 43. Specifically, the dirt removal mechanism 44 is located within the drum mounting cavity 51 and on the wall of the drum mounting cavity 51. The dirt removal mechanism 44 includes a scraper bar assembly 53, which extends toward the cleaning drum 42 and is inserted into the fluff of the cleaning drum 42. When the drum motor 41 drives the cleaning drum 42 to rotate, the scraper bar assembly 53 scrapes away dirty water and stains from the cleaning drum 42. The scraper bar assembly 53 includes a scraper bar 441.

[0237] The liquid supply mechanism 45 is disposed above the mop-wash bracket 43 and includes a water distributor 452 and multiple liquid supply ports 453. The water distributor 452 evenly distributes the cleaning liquid to the multiple liquid supply ports 453, which then evenly supplies the cleaning liquid to the cleaning roller 42. The liquid supply mechanism 45 also includes a first flexible conduit 443, which connects the clean water tank 5 and the liquid supply inlet 451.

[0238] Correspondingly, openings are formed on the wall of the roller mounting cavity 51, so that the multiple liquid supply ports 453 of the liquid supply mechanism 45 above the mop-wash bracket 43 can supply cleaning liquid onto the cleaning roller 42 in the roller mounting cavity 51 through the openings. Of course, the liquid supply mechanism 45 can also be directly disposed in the roller mounting cavity 51, with the liquid supply mechanism 45 being located above the cleaning roller 42 or directly contacting the cleaning roller 42, and the liquid supply mechanism 45 can directly supply cleaning liquid to the cleaning roller 42 through the multiple liquid supply ports.

[0239] Figure 34 The middle arrow Y direction represents the width direction of the mopping and washing component 4, which can also be considered as the moving direction of the cleaning robot when performing a cleaning task, or the moving direction of the mopping and washing component. Figure 34 The middle arrow Z direction represents the height direction of the mopping and washing assembly 4; Figure 34 The direction of arrow b in the middle represents the rotation direction of the cleaning roller 42 when the cleaning roller 42 is cleaning the floor. Figure 34 In the direction of the middle arrow Y, the liquid supply mechanism 45 is located in front of the dirt removal mechanism 44; Figure 34 In the direction of the middle arrow Z, the liquid supply mechanism 45 is located above the dirt removal mechanism 44 .

[0240] As the cleaning roller 42 moves along Figure 34 The cleaning roller 42 rotates in the direction of the middle arrow b, and the liquid supply mechanism 45 first supplies cleaning liquid to the cleaning roller 42. After the wet cleaning roller 42 mops the floor, the stains are dissolved in the dirty water of the cleaning roller 42 or are stained on the surface of the cleaning roller 42. Then the dirt removal mechanism 44 scrapes off the dirty water and stains on the cleaning roller 42, and then the liquid supply mechanism 45 supplies cleaning liquid to the surface of the cleaning roller 42 again.

[0241] In one specific embodiment, the angle α between the location of the liquid supply mechanism 45 and the location of the dirt removal mechanism 44 is in the range of [20 degrees to 120 degrees], for example, 60 degrees. Typically, to prevent the cleaning liquid from dripping onto the ground when the liquid supply mechanism 45 supplies cleaning liquid to the cleaning roller 42, the liquid supply mechanism 45 is located directly above the cleaning roller 42. Cleaning liquid dripping from the liquid supply port can be effectively absorbed by the cleaning roller 42, preventing leakage onto the ground.

[0242] Further, see Figure 34 The scraper bar assembly 53 on the dirt removal mechanism 44 is positioned above the centerline J of the mopping assembly 4. The line F, which defines the contact angle between the end of the scraper bar assembly 53 and the cleaning roller 42, roughly passes through the center of the cleaning roller 42. It can be understood that the extension direction of the front end of the scraper bar assembly 53 is roughly aligned with the center of the cleaning roller 42, and the tangent line at the contact point between the scraper bar assembly 53 and the cleaning roller 42 is roughly perpendicular. This maximizes the scraping effect of the scraper bar assembly 53 on the cleaning roller 42, reduces the force exerted by the scraper bar assembly 53 on the cleaning roller 42, and reduces the wear rate of the scraper bar assembly 53.

[0243] See also Figure 34 In one embodiment provided herein, a liquid supply mechanism 45 is located above the cleaning roller 42 along the height of the mop-wash assembly 4. A dirt removal mechanism 44 is located behind the point of contact between the cleaning roller 42 and the surface to be cleaned along the width of the mop-wash assembly 4. As the cleaning roller 42 rotates clockwise, a certain area on the cleaning roller 42 passes through the liquid supply mechanism 45, the surface to be cleaned, and the dirt removal mechanism 44, before returning to the liquid supply mechanism 45, which then delivers cleaning liquid to the surface of the cleaning roller 42.

[0244] Furthermore, along the first center line P in the vertical direction of the cleaning roller 42, the liquid supply mechanism 45 is located directly above the first center line P, or, with the rotation center of the cleaning roller 42 as the vertex of the angle, the angle formed by the position of the liquid supply mechanism 45 and the first center line P is in the range of [-30 degrees to +30 degrees].

[0245] Furthermore, along the second center line J in the transverse direction of the cleaning roller 42 , the dirt removal mechanism 44 is located above the second center line J, or the dirt removal mechanism 44 is located flush with the second center line J.

[0246] See also Figure 9a 、 Figures 34 to 35a In one embodiment provided in the present application, the mop-wash bracket 43 includes a mounting shell 4211 and a mounting cover 4212. The mounting shell 4211 has an inner cavity, and the dirt removal mechanism 44 and the liquid supply mechanism 45 are arranged in the inner cavity. The inner cavity is provided with an opening connected to the drum mounting cavity 51. The dirt removal mechanism 44 and the liquid supply mechanism 45 are respectively arranged at the positions of the openings. The mounting cover 4212 can be connected to the top of the mounting shell 4211 to seal the inner cavity. In a specific implementation, the mop-wash bracket 43 is generally L-shaped, along Figure 34 In the direction of the middle arrow Y, a square accommodating cavity is provided on the left side of the cleaning roller 42, and the dirt removal mechanism 44 is provided in the accommodating cavity.

[0247] like Figure 35bAs shown, the front bottom of the dirt collecting box 442 may have an oblique angle as shown in the figure, which can also be called a chamfer. In this way, when moving on a special moving surface, such as a carpet with relatively long hair, this oblique angle design can reduce the moving resistance of the body, and when the cleaning robot moves on the carpet, the carpet hair can enter the bottom of the body along the oblique angle.

[0248] Further, such as Figure 35c As shown, the front bottom of the body 1 may also have Figure 35c The angle 1005 shown in FIG. 1 can also be called a chamfer. Similarly, when traveling on a special traveling surface, such as a carpet with relatively long hair, this angle design can reduce the traveling resistance of the robot body. When the cleaning robot travels on the carpet, the carpet hair can follow the angle to enter the bottom of the robot body.

[0249] Of course, the angle between the dirt collecting box 442 and the bottom of the machine body can also be an arcuate angle or a straight angle as shown in the figure, and this embodiment does not specifically limit this. The angle between the dirt collecting box 442 and the bottom of the machine body is an angled surface formed at the bottom front end of the dirt collecting box 442. The angles between the angled surface on the dirt collecting box 442 and the angled surface on the machine body and the horizontal plane (such as the ground) can be the same or different. The angle between the angled surface and the horizontal plane (such as the ground) can be between 10 and 60 degrees.

[0250] The liquid supply port of the liquid supply mechanism 45 is directly a liquid outlet facing the cleaning roller. Generally, the liquid discharged from the liquid outlet is pressurized. After the pressurized liquid comes out of the liquid outlet, it will disperse. Some of it will be sprayed onto the cleaning roller 42, and some of the liquid will splash onto the cavity wall. The water droplets on the cavity wall will condense into large water droplets and fall onto the cleaning roller 42, and will also fall to the ground along the cavity wall. This may result in the amount of cleaning liquid on the cleaning roller 42 being insufficient, and water droplets appearing on the ground, which users mistakenly think are leaks. If the amount of cleaning liquid on the cleaning roller is insufficient, the roller will not be fully soaked, and not only will the effect of mopping not be achieved, but also the effect of self-cleaning will not be achieved. If the liquid supply of the liquid supply mechanism 45 is increased to address this problem, it may cause water accumulation on the ground due to excessive supply of cleaning liquid, or it will directly affect the cleaning effect of the cleaning robot.

[0251] For this purpose, the embodiment of the present application improves the liquid supply mechanism. Specifically, one side surface of the liquid supply mechanism 45 corresponding to the inner cavity is an arc-shaped surface adapted to the arc surface of the inner cavity. Figure 35a and 35b As shown, the arc surface of the liquid supply mechanism 45 facing the cleaning roller is consistent with the arc surface of the inner cavity, and is consistent or similar to the arc of the cleaning roller 42. In addition, as shown in Figure 38, the liquid supply port 453 has an arc water guide surface 4531 for guiding the cleaning liquid to the cleaning roller 42.

[0252] The outlet of the liquid supply port 453 is provided with a liquid outlet hole, and the circular water guide surface is disposed around the outlet hole. The circular water guide surface has at least two levels, each with different radii, and the radii gradually increase along the water outlet direction. The mop-wash bracket has a downwardly opening drum mounting cavity; the periphery of the circular water guide surface protrudes from the drum mounting cavity, forming a step on the wall of the drum mounting cavity.

[0253] like Figure 8 As shown, the liquid supply port 453 is configured in a circular ring shape. This allows the liquid sprayed from the liquid supply mechanism 45 to flow along the curved surface and be supplied to the cleaning roller 42 through the circular liquid supply port 453. This allows the liquid to drip smoothly and achieves high liquid supply efficiency. The liquid supply port 453 is in a circular ring shape, with a liquid outlet 4530 at the center of the ring. The liquid outlet 4530 communicates with a branch path for liquid supply in the liquid supply mechanism 45. As shown in Figure 38, the inner wall of the circular liquid supply port is a curved surface.

[0254] Along the direction of liquid outflow, the inner ring wall of the liquid supply port 453 is a stepped structure with gradually increasing opening size; the inner ring wall surface of each step section is an arc surface, which is used to guide the liquid to flow toward the cleaning roller 42. More specifically, as shown in the partial enlarged view in Figure 38, the liquid supply port 453 is an annular ring, and the center of the annular ring is the liquid outlet 4530. The liquid outlet 4530 is connected to one of the multiple branches. The inner ring wall of the liquid supply port 453 is a two-level stepped structure with gradually increasing opening size, and the inner wall of each level of the stepped structure is an arc surface. The cleaning liquid coming out of the liquid outlet 4530 falls on the arc surface and can also flow along the arc surface to the cleaning roller 42, so that the cleaning liquid coming out of the liquid outlet 4530 can basically be sprayed onto the cleaning roller 42 without splashing onto the cavity wall outside the annular ring. The cleaning robot can also more accurately control the amount of liquid supplied by the liquid supply mechanism 45 in different scenarios. With the supply of an appropriate amount of cleaning liquid, the cleaning roller 42 has better dryness and wetness, and the mopping effect is good; also because the cleaning roller 42 has better dryness and wetness, the cleaning roller 42 is self-cleaned through the dirt removal mechanism 44, and its self-cleaning effect is also better, which positively promotes the mopping effect.

[0255] In order to make the cleaning robot have a better cleaning effect, the solution provided in this embodiment also improves the liquid supply port 453, and a circular arc water guide surface is added at the liquid supply port 453 to guide the cleaning liquid to the cleaning roller; because of the circular arc water guide surface, the amount of cleaning liquid provided by the liquid supply mechanism 45 can basically flow to the cleaning roller 42 without splashing everywhere, and the cleaning robot can also more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenarios. With the appropriate amount of cleaning liquid supplied, the cleaning roller 42 has a better dryness and wetness, and the mopping effect is good; also because the cleaning roller 42 has a better dryness and wetness, the cleaning roller 42 is self-cleaned by the dirt removal mechanism 44, and its self-cleaning effect is also better, and it positively promotes the mopping effect.

[0256] Further, such as Figure 37 As shown, a water wiping structure 80 is provided on the cavity wall of the mop-wash bracket facing the cleaning drum 42. The water wiping structure 80 is located on one side of the liquid supply port 453. If the scraper assembly is located on the front side of the cleaning drum 42, the water wiping structure 80 can be located on the rear side of the liquid supply port. If the scraper assembly is located on the rear side of the cleaning drum, the water wiping structure can be located on the front side of the liquid supply port.

[0257] The angle β between the line connecting the water wiping structure 80 and the center of the cross-sectional circle of the cleaning roller, and the line connecting the liquid supply port and the center of the circle, can be 5 to 30 degrees. There may or may not be a gap between the water wiping structure 80 and the cleaning roller 42, but the water wiping structure cannot exert force on the cleaning roller 42. The function of the water wiping structure 80 is to prevent liquid that is not absorbed by the cleaning roller and floats on the surface of the cleaning roller from flowing to the ground. Because the cleaning roller rotates during operation, if the cleaning liquid is not absorbed by the roller, the cleaning liquid floating on the cleaning roller will be thrown onto the ground, causing the ground to be overly wet.

[0258] After the liquid supply mechanism 45 supplies cleaning liquid to the cleaning roller 42, it takes a certain amount of time for the cleaning liquid to spread evenly on the cleaning roller 42. To ensure that the cleaning liquid can spread more evenly before the cleaning roller 42 starts mopping the floor, the speed of the cleaning roller 42 must be limited. Furthermore, if the speed of the cleaning roller 42 is too fast, the scraping efficiency of the scraper assembly 53 on the cleaning roller 42 will also be reduced. In the technical solution provided in this application, the speed of the cleaning roller 42 when mopping the floor ranges from 100 rpm to 300 rpm, specifically 200 rpm.

[0259] In the technical solutions provided in the present application, the rotation direction of the cleaning roller 42 is opposite to the rotation direction of the traveling wheels of the cleaning robot, which can improve the cleaning effect of the cleaning roller 42.

[0260] See Figure 9. Figure 3435 , in one embodiment provided herein, the dirt removal mechanism 44 further includes a dirt collection assembly 54, which is disposed below the scraper assembly 53. When the scraper assembly 53 scrapes the dirty water off the cleaning roller 42, the dirt collection assembly 54 collects the dirty water and stains to avoid secondary contamination.

[0261] Furthermore, the dirt collection assembly 54 includes a dirt collection box 442 and a dirt collection pipe 542. The dirt collection box 442 is located below the scraper assembly 53. The sewage and stains scraped by the scraper assembly 53 can fall directly into the dirt collection box 442, and the dirt collection box 442 collects them. Along the direction of travel of the cleaning robot, the front side and the rear side are distinguished. The dirt collection box 442 can be located at the rear side of the cleaning roller 42. Figure 1c As shown, the bottom surface of the dirt collecting box 442 is higher than the bottom surface m of the machine body 1, such as 1 mm to 5 mm.

[0262] One end of the sewage collecting pipe 542 is arranged in the sewage collecting box 442, and the other end is connected to the sewage tank 9 of the cleaning robot through a pipe, so as to suck the sewage in the sewage collecting box 442 into the sewage tank 9. Figure 35a As shown in the figure, the direction indicated by the arrow is the flow path of the sewage scraped by the scraper assembly 53 when it enters the sewage collection box 442 and is sucked away by the sewage collection pipe 542. In order to be able to promptly suck the sewage in the sewage collection box 442 into the sewage tank, a water pump and a pipe can be installed on the sewage collection pipe 542, or an air pump and a pipe can be connected to the sewage tank. The air pump can provide negative pressure for the sewage tank. Under the action of negative pressure, the sewage in the sewage collection box 442 can be sucked into the sewage tank through the pipe. Figure 9a and Figure 9b In one embodiment, the waste removal mechanism 44 further includes a negative pressure pump and a valve body 545. The negative pressure pump is connected to the sewage tank 9 via a pipeline or directly. When the negative pressure pump is in operation, it can pump negative pressure into the sewage tank 9. The valve body 545 is provided on the sewage collection pipe 542 and can be used to control the opening and closing of the sewage collection pipe 542. First, the negative pressure pump can pump negative pressure into the sewage tank 9. Then, the valve body 545 opens, and the negative pressure in the sewage tank 9 can be sucked into the sewage tank 9 through the second flexible pipe 456.

[0263] The dirt collecting pipe 542, the scraping bar assembly 53 and the dirt collecting box 442 are all distributed on the same side of the cleaning roller 42. For example, the dirt collecting pipe 542, the scraping bar assembly 53 and the dirt collecting box 442 are all on the front side of the cleaning roller 42.

[0264] See also Figure 9a and Figure 9bIn one embodiment provided in the present application, the mopping and washing assembly 4 further includes a joint assembly 455. The joint assembly 455 includes a clean water pipe joint and a sewage pipe joint. The clean water pipe joint can be considered as the liquid supply inlet 451 mentioned above, and the sewage pipe joint can be considered as the sewage removal outlet 4410 mentioned above. One end of the clean water pipe joint is used to connect to the first flexible pipe 443 (also called a flexible clean water pipe), and the other end is connected to the liquid supply mechanism 45 through the first pipe 447. One end of the sewage pipe joint is used to connect to the second flexible pipe 456 (also called a flexible sewage pipe), and the other end is connected to the interface of the sewage collecting pipe 542 through the transverse pipe 546. The transverse pipe 546 is a pipe of fixed length, and the transverse pipe 546 can also be a flexible pipe. As Figure 9b As shown, along the length of the drag-wash assembly 4, the first pipe 447 and the transverse pipe 546 allow the joint assembly 455 to be offset to one side of the drag-wash assembly 4, thereby more conveniently connecting the first flexible pipe 443 and the second flexible pipe 456 to the joint assembly 455. Imagine that without the first pipe 447, the transverse pipe 546, and the joint assembly 455, the first flexible pipe 443 and the second flexible pipe 456 would be directly connected to the joints of the liquid supply mechanism 45 and the sewage collecting pipe 542 at the middle position of the drag-wash assembly 4. This would not only require longer first and second flexible pipes 443 and 456, but would also make it difficult to effectively utilize the space above the drag-wash assembly 4. Figure 7a As shown, the interface between the flexible clean water pipe and the flexible sewage pipe, namely the joint assembly 455, which includes a liquid supply inlet 451 and a sewage removal outlet 4410, is located on the front side of the cleaning drum, that is, above the sewage collection box. The flexible clean water pipe and the flexible sewage pipe are also located on the front side of the cleaning drum. This arrangement places the second flexible pipe 456 closer to the sewage collection box, making the overall sewage pipe shorter and requiring fewer bends, thereby increasing sewage discharge efficiency and eliminating the possibility of blockage. At the same time, the first flexible pipe 443 is also located on the front side of the cleaning drum, adjacent to the second flexible pipe 456, so that the two flexible pipes can share a pipe space, eliminating the need to allocate a pipe space specifically for the second flexible pipe 456.

[0265] Currently, some cleaning equipment has a drum that rotates in the same direction as the equipment's drive wheels. This helps the equipment move and reduces energy consumption. However, the coordinated operation of the cleaning drum, scraper assembly, and liquid supply mechanism becomes: the cleaning drum replenishes water through the liquid supply mechanism -> the scraper assembly scrapes the liquid off the cleaning drum -> the cleaning drum cleans the floor. Some cleaning equipment has a drum that rotates in a different direction from the equipment's drive wheels, but the sump and scraper are located behind the drum. In this case, the coordinated operation of the cleaning drum, scraper assembly, and liquid supply mechanism also becomes: the cleaning drum replenishes water through the liquid supply mechanism -> the scraper assembly scrapes the liquid off the cleaning drum -> the cleaning drum cleans the floor. Therefore, this type of current cleaning equipment scrapes away the liquid immediately after replenishing it, making it unreasonable for the cleaning drum to clean the floor. The scraped liquid includes the freshly replenished water, which is recycled without participating in the cleaning process.

[0266] When cleaning, existing robot cleaning drums first perform a water replenishment step, where the liquid supply mechanism delivers cleaning liquid to the surface of the cleaning drum. Then, the dirt removal mechanism scrapes away dirt from the surface of the cleaning drum, and finally, the cleaning drum cleans the floor. This execution process has three main problems:

[0267] First, after the liquid supply mechanism replenishes water, the dirt removal mechanism immediately scrapes off the mixture of clean water and sewage. The stains on the surface of the cleaning drum may not have been completely dissolved in the clean water, so most of the scraped water is clean water, not sewage, resulting in incomplete self-cleaning.

[0268] Second, after the dirt removal mechanism scrapes off the sewage on the surface of the cleaning drum, due to the action of the scraping bar, the water content of the drum drops by 90% before and after scraping. As the water content of the cleaning drum decreases, the cleaning force of the cleaning drum on the ground will also decrease.

[0269] Third, after the cleaning robot scrapes the water, the relatively dry drum scrubs the dirt on the ground, and it needs to rotate 180° before entering the water replenishment position. At this time, the dirt stuck on the overly dry drum is easily thrown out during the long rotation process and eventually falls to the ground, resulting in poor cleaning effect.

[0270] The technical solution provided by the embodiment of the present application is different from some of the cleaning devices mentioned above. In the solution provided by the embodiment of the present application, the cleaning roller is reversed (i.e., opposite to the rotation direction of the drive wheel), the scraper assembly is located on the front side of the cleaning roller, and the liquid supply mechanism is located above the cleaning roller. In this way, the collaborative working process of the cleaning roller, the scraper assembly and the liquid supply mechanism is as follows: the cleaning roller replenishes water through the liquid supply mechanism -> the cleaning roller cleans the ground -> the scraper assembly scrapes the liquid on the cleaning roller. It can be seen that the solution provided by this embodiment is more reasonable. The freshly replenished clean water does not pass through the scraping action of the scraper bar and directly participates in the ground cleaning. At this time, the evenly moistened scraper bar has a better wiping and adsorption effect on the dirt on the ground, especially the stubborn dirt. Then the roller rotates a small angle (generally only about 90°) and is scraped by the scraper bar. The dirt is not easily thrown out, and most of the scraped water at this time is sewage, so the clean water is fully utilized. Specifically, as the cleaning drum rotates, the liquid supply mechanism supplies cleaning liquid to a region of the cleaning drum. This region, soaked with cleaning liquid, cleans the surface to be cleaned. The dirt removal mechanism then acts on this region to scrape off and collect dirt. After the dirt has been scraped off, the region reenters the liquid supply mechanism's liquid supply range. This means that when the cleaning drum cleans the floor, it first performs a water replenishment step, fully moistening the surface of the cleaning drum and increasing its water content. Subsequently, the cleaning drum cleans the floor again, at which point its cleaning power is even stronger and can dissolve more dirt. Finally, the dirt removal mechanism scrapes off the dirty water and dirt on the cleaning drum, after which the liquid supply mechanism replenishes the liquid again, repeating this process repeatedly. Because the liquid supply mechanism and the dirt removal mechanism have higher liquid supply and dirt removal efficiencies throughout the entire process, the cleaning drum uses less cleaning liquid during self-cleaning and produces less wastewater, significantly improving the robot's cleaning endurance.

[0271] To prevent wastewater from leaking sideways during the scraping process of the scraper assembly 53, the length of the waste collection box 442 is greater than or equal to the length of the scraper assembly 53. Referring to Figure 35 , the waste collection box 442 is positioned approximately perpendicular to the orientation of the scraper assembly 53. This allows wastewater and dirt scraped by the scraper assembly 53 to fall directly into the waste collection box 442, preventing them from leaking. Furthermore, to ensure that all wastewater scraped by the scraper assembly 53 enters the waste collection box 442, the distal end of the scraper assembly 53 is positioned within the waste collection box 442, allowing wastewater scraped directly along the distal end of the scraper assembly 53 into the waste collection box 442.

[0272] When the scraper assembly 53 scrapes the dirty water off the cleaning roller 42, it is easy to scrape the dirt attached to the cleaning roller 42 into the dirt collecting box 442 at the same time. When the dirt collecting pipe 542 is sucking the dirty water, it may be blocked by the dirt. In order to avoid this situation, see Figure 36 and Figure 37 In one embodiment provided in the present application, the dirt removal mechanism 44 further includes a filter assembly 543, which is disposed in the dirt collecting box 442. After the sewage scraped by the scraper assembly 53 enters the dirt collecting box 442, it is first filtered by the filter assembly 543 and then enters the bottom of the dirt collecting box 442. Then, it can be collected into the sewage tank through the dirt collecting pipe 542.

[0273] To facilitate cleaning of the dirt collection box 442, the dirt collection box 442 can be removed from the mop-wash assembly 4 for cleaning, and the filter assembly 543 in the dirt collection box 442 can also be removed for cleaning. During the disassembly process, first switch the mop-wash assembly 4 to the extended state, then remove the cleaning roller 42 from the side opening of the mop-wash bracket 43, and finally remove the dirt collection box 442 from the roller mounting cavity 51. Figure 9b and Figure 36 As shown, the dirt collecting box 442 has a V-shaped bottom, that is, along the axis of the cleaning roller, the bottom of the dirt collecting box 442 is high at both ends and low in the middle, and cooperates with the pipe opening of the dirt collecting pipe 542 at the low point of the V-shaped bottom to communicate with the dirt collecting pipe 542.

[0274] In order to avoid bending, springs may be provided on the outside of the second flexible pipe 456 and the first flexible pipe 443 ( FIG. 9 and FIG. Figure 37 (not shown), so that when the mopping and washing assembly moves as a whole (lifting and / or telescoping), no bending will occur to affect the drainage and liquid supply.

[0275] See also Figure 37 and 38a In one embodiment provided in the present application, the scraper assembly 53 includes a scraper 531 and a water guide plate 532. The end of the scraper 531 is a scraper bar 441. The materials of the scraper and the scraper bar may be the same or different, and this embodiment does not limit this. The water guide plate 532 is connected to the bottom of the scraper 531, and the distance that the end of the scraper 531 extends outward is greater than the end of the water guide plate 532, and the scraper bar 441 at the end of the scraper 531 contacts the cleaning roller 42. When the cleaning roller 42 rotates, the scraper 531 can scrape off the sewage on the cleaning roller 42, and then guide it to the sewage collecting box 442 by the water guide plate 532. In a specific embodiment, as Figure 35a As shown, the cross section of the water guide plate 532 is wedge-shaped. This structure allows the water guide plate 532 to form a guide water channel with a larger curvature on the surface of the water guide plate 532 after being connected to the scraper 531 .

[0276] Furthermore, if Figure 38a The scraper 531 includes a first section 5311 and a second section 5312, which are arranged at an obtuse angle. The second section 5312 is longer than the first section 5311. The first section 5311 is the end that primarily performs the wiping function, while the second section 5312 is connected to the water deflector 532. Specifically, the water deflector 532 is connected below the second section 5312. The leading end of the water deflector 532 is adjacent to the first section 5311, while the trailing end of the water deflector 532 is adjacent to the trailing end of the second section 5312, which then extends into the dirt collection box 442.

[0277] The water guide plate 532 is provided with a plurality of water guide grooves 5321, which are spaced apart from each other. The setting direction of the water guide grooves 5321 is the same as the extension direction of the water guide plate 532. To ensure that the water guide grooves 5321 can guide the sewage into the sewage collection box 442, see Figure 8 The number of the liquid supply ports 453 on the liquid supply mechanism 45 is less than the number of the water guide grooves 5321 on the water guide plate 532. The position where the water guide plate acts on the cleaning roller is the wiping position. Figure 38a The water guide groove 5321 can be a through groove (i.e., the groove is open) at the wiping position 53211 (i.e., the end near the cleaning roller) to facilitate water conduction. The end position 53210 (i.e., the tail) of the water guide groove 5321 is closed to facilitate drainage. The tail of the water guide groove 5321 is located at the opening of the dirt collection box. Figure 38b As shown, the lower surface of the water guide plate 532 is an upwardly arched arc surface, which is the water guide surface 5322. Because the scraper 531 itself is bent downward, the water flows toward the upward arc surface of the water guide groove due to the centrifugal force of the drum to overcome its own gravity. The best scraping effect is achieved when the extension line of the end of the scraper assembly 53 passes through the center of the drum, that is, the scraper assembly 53 has a bent portion, which causes the water guide groove 5321 to also have an upwardly arched surface. The water guide surface 5322 has two curved surfaces; from the water guide surface 5322 to the drainage direction, the curvature of the corresponding arc surface decreases. As shown in the figure, segment P1 is a segment on the water guide side near the cleaning drum 42, and segment P2 is a segment on the drainage side. As can be seen from the figure, the curvature of the arc of segment P1 is greater than the curvature of the arc of segment P2.

[0278] The water-facing side of the scraper assembly 52 is equipped with multiple water guide grooves 5321, which extend at least to the collection port of the dirt collection assembly (dirt collection box 442). The water-facing side (lower surface) refers to the side of the cleaning roller 42 that faces the scraper toward the roller's rotation. As the roller rotates, the scraper contacts the scraper from bottom to top. In the absence of suction, the existing technology uses the roller to contact the scraper from top to bottom, and water flows down the scraper, eliminating the need for water guide grooves.

[0279] like Figure 37 As shown, the lowest point 53220 of the P2 segment is lower than the highest point 4421 of the dirt collecting box 442. Figure 8 As shown, the length of the water guide plate 532 is less than the actual length of the dirt collecting box 442 for receiving water. Figure 34 As shown, the vertical distance Q between the opening of the dirt collecting box 442 close to the cleaning roller 42 and the scraper assembly 53 is 3 to 5 mm.

[0280] In one embodiment provided herein, the water deflector 532 and the scraper 531 can be connected by fasteners 533, or the water deflector 532 and the scraper 531 can be integrally formed. When the water deflector 532 and the scraper 531 are separate structures, the water deflector 532 and the scraper 531 can be made of different materials. For example, the scraper 531 can be made of metal, which has good rigidity and better wear resistance, while the water deflector 532 can be made of plastic, which is easy to process. Complex water guide grooves 5321 can be formed on its surface through injection molding or stamping, which is more cost-effective.

[0281] The surface of the cleaning roller 42 is covered with fuzz, and the fuzz material and / or length may vary depending on the model. If the scraper assembly 53 remains in place in the following situations, there is a possibility that the distance between the scraper assembly 53 and the cleaning roller 42 is too far, causing the scraper assembly 52 to not function. Alternatively, if the distance is too close, damage may occur (e.g., damage to the scraper assembly), or excessive resistance may occur to the roller's rotation, causing the roller motor to malfunction:

[0282] Replace the cleaning roller with a different model; or

[0283] The cleaning roller may shift due to some factors after long-term operation; or

[0284] The cleaning roller will lose lint due to long-term operation, etc.

[0285] join Figure 34 and Figure 35a As shown, when the cleaning roller 42 rotates in the direction of arrow b, the scraper assembly 53 will be subjected to a force in the direction of arrow T. If the force is too large due to the close distance, the scraper assembly 53 is likely to be damaged. In order to avoid problems caused by the above-mentioned situations, see Figure 38a and 39In one embodiment provided in the present application, the cleaning robot further includes an adaptive adjustment device. The adaptive adjustment device includes a swing assembly. The scraper bar assembly 53 is connected to the mopping bracket 43 through the swing assembly. The scraper bar assembly 53 can adaptively adjust its posture through the swing assembly so as to have a more adaptive positional relationship with the cleaning roller 42, and can continuously act on the cleaning roller 42 to scrape off the dirt thereon. As shown in the figure, the swing assembly 500 includes a swing seat 534, and a connecting hole 5342 is provided on the swing seat 534. The swing seat 534 is connected to the mopping bracket 43 through a swing shaft 535. Furthermore, a mounting hole 5341 is provided on the swing seat 534, and an elastic member 536 is provided in the mounting hole 5341. One end of the elastic member 536 is connected to the swing seat 534, and the other end is in contact with the mounting shell 4211 of the mopping bracket 43. The elastic member 536 can make the contact force between the scraper assembly 53 and the cleaning roller 42 an elastic force. When the scraper 531 is subjected to excessive force, the scraper assembly 53 rotates slightly around the swing axis 535, thereby increasing the distance between the end of the scraper 531 and the cleaning roller 42, and the contact force between the scraper 531 and the cleaning roller 42 is also reduced. For example, when the scraper 531 is subjected to excessive force, the scraper assembly 53 will rotate along the swing axis 535, and the end of the scraper 531 will move along the swing axis 535. Figure 32 If the scraper 531 moves upward in the direction of the middle arrow T, the force between the scraper 531 and the cleaning roller 42 will decrease, thereby achieving adaptive adjustment of the scraper bar assembly 53 and preventing damage due to excessive force. For example, if the cleaning roller 42 has some position deviation due to long-term operation, the swing assembly will adaptively move to maintain the appropriate positional relationship between the scraper bar assembly 53 and the cleaning roller 42, and to ensure that there is an appropriate (neither too large nor too small) interaction force between the two, so that the scraper bar assembly can continuously act on the cleaning roller to scrape dirt thereon.

[0286] It should be added here that: the swing assembly 500 can be an integrated structure with the scraper assembly 53, or the swing assembly and the scraper assembly can be two components connected together by a connection.

[0287] Furthermore, along the axial direction of the cleaning roller from one end to the other end of the cleaning roller, the surface of the cleaning roller contacts the end of the scraper assembly. Figure 38cAs shown, the adaptive adjustment device in this embodiment also includes an elastic mechanism 300. The scrubbing assembly 4 is connected to the housing 1 via the elastic mechanism 300. For example, one end of the elastic mechanism 300 may be connected to the housing 46 of the housing 1, and the other end may be connected to the scrubbing assembly 4. The elastic mechanism 300 may be an elastic component such as a spring. The scraper bar assembly 53 is adjusted in position by the adaptive adjustment device so that it can continuously act on the cleaning roller to scrape dirt off it. In other words, the position adjustment of the scraper bar assembly 53 is achieved through the combined action of the elastic mechanism 300 and the swinging assembly 500. The scrubbing assembly 4 can adaptively adjust its relative position to the housing 1 via the elastic mechanism 300. Within the scrubbing assembly 4, the scraper bar assembly 53 adjusts its phase position and posture relative to the cleaning roller 42 via the swinging assembly 500, maintaining a suitable position, thereby applying an appropriate scraping force to the cleaning roller 42 and ultimately maintaining a continuous action to scrape dirt off the cleaning roller.

[0288] It can be seen that by providing the adaptive adjustment device, the scraper bar assembly can float relative to the cleaning drum to keep the scraper bar always pressed against the drum. When the mop-wash assembly moves relative to the machine body, the elastic mechanism moves with the mop-wash assembly, or the mop-wash assembly moves relative to the machine body and the elastic mechanism.

[0289] The adaptive adjustment assembly described above can also be referred to as a biasing assembly. Specifically, the dirt removal mechanism also includes a biasing assembly, which provides a biasing force. Under the action of this biasing force, the scraper bar assembly moves toward the cleaning roller. Under the biasing force provided by the biasing assembly, the scraper bar is inserted into the cleaning roller to a depth of at least 1-2 mm. The biasing assembly includes a swinging seat and an elastic member. The scraper bar assembly is rotatably mounted to the mopping assembly or the machine body via the swinging seat.

[0290] The above describes a solution that uses a single power source to achieve the lifting and retraction of the mop-washing assembly. This application also adds a solution that uses dual motors to achieve the lifting and retraction of the mop-washing assembly. That is, the driving device 10 includes two power sources. Figure 40As shown, the drive device 10 includes a first power source and a second power source. The first power source may include a first motor 60. The second power source includes a third motor 61. In a specific implementation, both the first motor 60 and the third motor 61 can be connected to a reducer at their output ends to output power through the reducer. The first power source is used to drive the extension and retraction of the mopping and washing assembly, and its corresponding first action actuator 103 has the same structure as mentioned in the above embodiment, that is, the first action actuator 103 includes: a first gear 13 and a first rack 14. The first action actuator 103 may include a sliding plate that is slidably connected to a slide rail 15. At least one slide rail 15 may be provided on the cavity housing 46. In addition, the first photoelectric switch 281, the first trigger structure on the sliding plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, and the grating structure 294, etc., all have the same functions as in the above embodiment. For details, please refer to the above and will not be repeated here.

[0291] The second power source is used to drive the mopping and washing component 4 to rise and fall, and its corresponding second action execution mechanism, such as Figure 40 As shown, it may include: a second gear 62 and a second rack 63. The arrangement of the second rack 63 is different from that of the first rack 14. Figure 41 , the first rack 14 is set horizontally, and the second rack 63 is set vertically.

[0292] The specific implementation process is as follows: when the mop-washing assembly 4 is in the initial state (i.e., the first extreme position of the retracted state, the cleaning roller is in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate, and the first rack 14 is driven by the first gear 14 to translate toward one side of the body, and the first rack 14 pushes the mop-washing assembly outward through the connecting structure located on the track 15 so that the mop-washing assembly extends outward from a portion of the body (such as Figure 41 (B)). If the mop and wash component 4 is extended to the second extreme position of the extended state, the first motor 60 stops working. When the mop and wash component is to be retracted, the first motor 60 outputs reverse power to drive the first gear 13 to rotate in the opposite direction, and the first rack 14 is driven by the first gear 13 to translate toward the inside of the machine body, and the first rack 14 retracts the mop and wash component inward through the connection structure located on the track 15. After the mop and wash component 4 is retracted to the initial state, the first motor 60 stops working. When the mop and wash component 4 needs to be raised, the second motor 61 outputs power to drive the second gear 62 to rotate, and the second rack 63 is driven by the second gear 62 to move the mop and wash component 4 along the connecting column 241 (see Figure 16 As shown) the axial direction rises upward (as shown) Figure 41(A)). When the washing assembly 4 is raised to the upper position and the third photoelectric switch 283 is triggered, the third motor 61 stops working. When the washing assembly 4 needs to be lowered, the third motor 61 outputs reverse power to drive the second gear 62 to reverse, and the second rack 63 moves downward, and the washing assembly moves along the connecting column 241 (see Figure 16 The third motor 61 stops when the reverse rotation time equals the forward rotation time (i.e., the time it takes for the third motor to drive the mop-wash assembly to lift). Furthermore, by adding counting light shields and counting optical couplers to this assembly, step-by-step extension can be achieved during the extension process. The specific implementation is described above and will not be elaborated here.

[0293] The embodiments of the present application provide a solution for achieving extension and lifting of the mop-washing assembly using a single power source, as well as a solution for achieving extension and lifting of the mop-washing assembly using dual power sources (i.e., one power source achieves extension and the other achieves lifting). Regardless of which implementation solution is adopted, the problem faced is how to control each power source so that the mop-washing assembly can be extended and lifted at the appropriate time. For example, the mop-washing assembly can be extended while lowering, or retracted while rising, or retracted first and then raised, or retracted first, or lowered first and then extended, etc. In a specific scenario, for example, the mop-washing assembly 1 of the current cleaning robot is in the extended state. To enter a specific area (such as a designated non-mopping area or a carpeted area), the cleaning robot needs to raise the mop-washing assembly 1 to a certain distance from the ground. For another example, the cleaning robot is driving from the living room into the kitchen. There is a small step at the kitchen door, and the cleaning robot needs to overcome the obstacle to enter the kitchen. In this case, the mop-washing assembly needs to be raised to facilitate the obstacle surmounting. The cleaning robot needs to determine whether to raise the scrubber assembly directly in the extended state or after retracting to its innermost position (i.e., the first extreme position) by sensing environmental information. If the current environment is open and there are no obstacles at height, the scrubber assembly 1 can be raised directly in the extended state. However, if the current environment is relatively crowded and the cleaning robot has limited detection information, raising the scrubber assembly 1 directly in the extended state may cause the scrubber assembly 1 to collide with an object during the lifting process. If the lifting action is not stopped, the scrubber assembly may be damaged. In other words, raising the outward-swinging cleaning roller poses a significant risk to the main unit, as the roller cannot participate in the cleaning process. Furthermore, due to its length protruding from the main unit, the cleaning robot must constantly intelligently control the scrubber assembly's movements based on real-time environmental information. This inevitably increases the cleaning robot's computational workload, consumes power, and affects the robot's ability to perform its primary task (i.e., cleaning). Therefore, to simplify the cleaning robot's control logic and reduce control complexity, this embodiment provides a solution in which the scrubber assembly is raised after retracting to a preset position (e.g., the first extreme position in the retracted state). Specifically, the solution provided in this embodiment includes the following steps, and the execution subject of each of the following steps can be the main board 2 in the embodiment of the present application. For example, the control solution of the mopping and washing component includes:

[0294] S1. When it is determined that the mop-wash component needs to be lifted, the current position of the mop-wash component is obtained;

[0295] S2. If the mopping and washing assembly is in the first limit position, the driving device is controlled to drive the mopping and washing assembly to be lifted; if the mopping and washing assembly is in the extended state, the driving device is controlled to drive the mopping and washing assembly to be retracted to the first limit position and then lifted.

[0296] Wherein, when the drag-washing assembly is in the extended state, the drag-washing assembly can be located at any position between the first extreme position and the second extreme position, or at the second extreme position.

[0297] After adopting the above solution, the cleaning robot does not need to perform complex calculations based on the environmental information detected by the sensing system to determine whether there is enough space in the current environment to lift the mopping and washing component. The entire process does not require the participation of the sensing system to ensure the safety of lifting the mopping and washing component, which is simple and easy to implement.

[0298] During the cleaning process, the cleaning roller 42 absorbs dirt from the floor, which is then scraped and collected by the cleaning mechanism 44. After a long period of operation, the dirt collection box 442 needs to be cleaned. Currently, some cleaning robots require users to flip the robot upside down to remove detachable components (such as the sewage tank and roller), which can be a poor user experience.

[0299] As can be seen above, the mopping and washing assembly 4 in the embodiment of the present application includes a liquid supply mechanism 45, a dirt removal mechanism 44 and a cleaning roller 42. Among them, the dirt in the dirt collecting box 442 in the dirt removal mechanism 44 can enter the sewage tank 9 through the sewage pump. However, after the dirt collecting box 442 has been working for a long time, if it is not cleaned, there will still be deposited dirt, which is very easy to breed bacteria and produce odor. Therefore, it needs to be disassembled more frequently to facilitate user cleaning. In addition, although the cleaning roller 42 in this embodiment can be self-cleaned with running water during the execution of the task, it still needs to be disassembled for manual cleaning over time, or the cleaning roller 42 needs to be disassembled and replaced with a new cleaning roller when it is worn. If the user needs to turn the body over to remove it with the bottom facing up, it will not be very convenient.

[0300] To this end, one embodiment of the present application provides a method for easily removing the dirt collection box 442 in the mop-wash assembly without the user having to flip the machine over, improving disassembly convenience and meeting ergonomic requirements. Furthermore, another embodiment of the present application provides a method for easily removing the cleaning roller. The following describes the method for removing the dirt collection box, followed by the method for removing the cleaning roller.

[0301] See also Figures 42a to 42f , at least one side of the mopping and washing component 4 is exposed. Figure 42a In the example shown, the mop-wash assembly 4 is exposed on one side of the machine body. With reference to the forward direction of the machine body 1, the mop-wash assembly 4 is exposed on the right side of the machine body. The dirt collecting box 442 can be located at the rear side of the cleaning roller 42. Figure 42b c~42f, a release assembly is provided on the exposed side of the dirt collecting box corresponding to the mopping and washing assembly. The user can see and touch the release assembly on the exposed side without turning over the body 1, and then operate the release assembly to remove the dirt collecting box.

[0302] The release assembly has an operating handle; the operating handle is located at the bottom of the dirt collecting box 442; when disassembling, the operating handle is actuated, the release assembly is in an unlocked state, the first end of the dirt collecting box 442 is detached from the mopping bracket, and the dirt collecting box 442 is pulled outward at the bottom of the machine body; when installing, after the second end of the dirt collecting box 442 is inserted into place from the bottom of the machine body, the first end of the dirt collecting box 442 is moved upward to the locking position, and the release assembly is triggered at the locking position to switch to the locked state.

[0303] Specifically, such as Figure 42b and Figure 42c Along its length, the dirt collection box 442 has two ends: a first end 4421 and a second end 4422. It should be noted that the length of the dirt collection box 442, along its length and along the axis of the cleaning roller 42, can be equal to or greater than the length of the cleaning roller 42. The mop-wash bracket 43 is provided with a first fixing structure 431 and a second fixing structure 432 at locations corresponding to the dirt collection box 442, respectively mating with the first and second ends 4421 and 4422. The second end 4422 of the dirt collection box 442 mates with the second fixing structure 432. For example, the second fixing structure 432 can be a socket, and the second end 4422 of the dirt collection box 442 can be a protrusion that mates with the socket. A release assembly 70 is provided at the first end 4421 of the dirt collection box 442. This release assembly 70 can include an elastic operating member 71 and a fixing pin 72. The elastic operating member 71 is connected to the fixing pin 72. The first fixing structure 431 can be a pin hole that mates with the fixing pin 72. The user operates the elastic operating member 71 , and the elastic operating member 71 deforms to drive the fixing pin 72 to move, so that the fixing pin 72 is disengaged from the pin hole, and the dust box 442 can be disengaged from the mopping and washing bracket 73 .

[0304] like Figure 42d As shown, after the first end 4421 of the dirt collecting box 442 is detached from the first fixing structure 431, the first end 4421 drops down, and the user can grasp or hold the first end 4421 along the length direction of the dirt collecting box 442 (or the axis direction of the cleaning roller) to remove the dirt collecting box from the body 1.

[0305] More specifically, Figure 42a 、 42c42f, the elastic operating member 71 may include a release button and a release spring 712. The fixing pin 72 is provided with a slide groove 722. The release button may be a rotary knob, for example, having a rotating shaft 714, which is rotatably connected to the dirt collection box 442. Abutment structures 713 and an operating handle 711 are provided on either side of the rotating shaft 714. The user can rotate the operating handle 711 downward about the rotating shaft 714, which is the same direction as when removing the dirt collection box. With this arrangement, when the user holds the operating handle 711 with his hand and rotates the operating handle 711 downward to a certain angle around the rotating shaft 714, the fixing pin 72 disengages from the pin hole, and the dirt collecting box 442 can be detached from the mopping bracket 73. At this time, the dirt collecting box rotates downward around the second end as the center. Since the user holds the operating handle 711 with his hand all the time, on the one hand, it prevents the dirt collecting box from falling suddenly. On the other hand, the user can naturally continue to hold the operating handle 711 and rotate it downward, and then take out the dirt collecting box 442.

[0306] In another embodiment, the release button can be a push-pull member that moves linearly. The release button's abutment structure 713 is located within a chute 722. A spring seat 4423 is provided at the first end of the dirt collection box 442, and the release spring 712 is disposed within the spring seat 4423. One end of the fixing pin 72 is provided with a plug 721 that fits into the pin hole, and the other end is connected to the release spring 712. When the release button is a pull member, the user can push or pull the button (e.g., push or pull along the length of the fixing pin) to cause the abutment structure to drive the fixing pin via the abutment chute.

[0307] like Figure 42e As shown, when the user wishes to remove the dirt collection box 442, they apply external force to the release button, such as by rotating it. The abutment structure 713 on the release button pushes against the retaining pin 72 within the slot, disengaging the plug 721 of the retaining pin 72 from the pin hole. The first end of the dirt collection box 442 then drops downward. The user then pulls on the second end of the dirt collection box 442, disengaging it from the mop and wash bracket. The dirt collection box 442 is now completely removed. To replace the dirt collection box 442, the user first reattaches the second end of the dirt collection box 442 (i.e., inserts the protrusion structure on the second end into the socket). Then, holding the first end of the dirt collection box 442, the user presses upward, releasing the spring to release the pin, allowing the retaining pin 72 to engage the mounting slot of the mop and wash bracket. Once the dirt collection box 442 is in place, the retaining pin 72 aligns with the pin hole. The spring's elastic restoring force allows the retaining pin 72 to move, allowing the plug to re-engage the pin hole. The dirt collection box 442 is now fully installed.

[0308] To ensure stable installation of the waste collection box 442, the release button is equipped with a locking structure, and a corresponding locking structure is provided on the waste collection box 442. After the waste collection box 442 is installed, the user can rotate the release button to engage the locking structure with the locking structure, thereby locking the release button in place and preventing the fixing pin from being dislodged from the pin hole due to vibration or other factors. The specific implementation of the locking structure on the release button and the locking structure on the waste collection box 442 is not specifically limited in this embodiment.

[0309] For further information, see Figure 42f As shown, a filter assembly 543 is further provided in the dirt collecting box 442, and the filter assembly 543 is used to filter out large particles of dirt from the dirt entering the dirt collecting box 442. Figure 42f As shown, the filter assembly 543 can be a filter element with multiple filter holes on it. The filter element can be placed and stabilized in the dirt collection box 442 through some matching structures. The filter element is also provided with a through hole, and the dirt collection pipe 542 can pass through the through hole from the top of the filter element to the bottom of the filter element, so as to be close to the bottom of the dirt collection box 442. After the user removes the dirt collection box 442, the filter assembly 543 can be taken out of the dirt collection box 442 to clean the dirt collection box and the filter assembly separately. One end of the filter assembly 543 is provided with a handle 5431 for the user to take. When taking the filter assembly 543, the user can pinch the handle 5431 with his fingers to take the filter assembly 543 out of the dirt collection box 442. The handle 5431 can be a plate-shaped body with a certain curvature.

[0310] In addition, a detection member 4425 is provided in the dirt collection box 442, which can be a detection magnet, etc. A sensing element is provided at a corresponding position on the mop and wash bracket (not shown in the drawings of the specification). The sensing element can detect whether the dirt collection box 442 is installed on the mop and wash bracket by sensing the detection member on the dirt collection box 442. The reason for providing this detection member is to prevent the user from forgetting to install the dirt collection box 442 and starting the cleaning robot to work. If the sensing element senses that the dirt collection box 442 is not installed on the mop and wash bracket, the cleaning robot can remind the user to install the dirt collection box through voice and / or display. If the sensing element and detection member are not provided, the cleaning robot may perform the cleaning task without a dirt collection box. The cleaning robot will be unable to collect dirt at the back while cleaning the front, so the dirt scraped from the cleaning roller will be discharged to the ground. Therefore, it is very necessary to provide the sensing element and detection member. The machine can only be started to perform the cleaning task after the dirt collection box is installed on the body.

[0311] For disassembly of the cleaning roller 42, see Figure 42aAs shown, the drag-wash component 4 is in a retracted state, that is, the end of the drag-wash component 4 is located inside the body 1. Looking down from the body 1, that is, the cleaning robot is located on the ground, and from the user's perspective of the cleaning robot, the user cannot see the drag-wash component 4. If the user wants to disassemble the cleaning roller in the drag-wash component 4, he needs to squat down and tilt his head to look sideways at the position of the drag-wash component 4 inside the body 1, and then remove the cleaning roller with his hands. During the disassembly process, the user may disassemble it blindly, and it is almost blind installation during installation, and it is very likely that his hands will be pinched. Obviously, this solution of disassembling the cleaning roller without flipping the body is not very convenient. The embodiment of the present application provides a more convenient solution for disassembling and assembling the cleaning roller. Specifically,

[0312] The cleaning robot's body is equipped with an interactive device, which can be a button, touch screen, voice interaction unit, or the like. The user can use this interactive device to trigger the mop-wash assembly 4 to extend from one side of the body 1, such as to a set position (which can be the second extreme position of the extended state) or until the end of the mop-wash assembly is exposed at the outer edge of the body 1. For example, the user presses a button on the interactive device. Upon receiving the operation signal triggered by this button, the mainboard 2 controls the drive device 10 to drive the mop-wash assembly 4 to extend from one side of the body 1 to a set position or a set length, so that the end of the mop-wash assembly is exposed. At this point, the user can remove the cleaning roller from the mop-wash assembly 4. After cleaning the cleaning roller or obtaining a replacement roller, the user can reinstall the roller back into the mop-wash assembly 4.

[0313] See also Figure 5 As shown, in this embodiment, a roller motor 41 is provided at the first end of the length direction (the direction of the arrow in the figure) of the dragging bracket 43, and an opening is provided at the second end. The cleaning roller 42 can be inserted into the roller cavity of the dragging bracket 43 from the opening to connect with the roller motor 41. A first structure 430 is provided at the second end of the dragging bracket 43, and correspondingly, a second structure is provided on the inner side of the end cover 420 of the cleaning roller 42. The first structure 430 and the second structure can be magnetic components used in conjunction with each other, for example, one of the first structure 430 and the second structure is a groove, and the other is a protrusion, and the groove and the protrusion are adapted; the protrusion is a magnet, and a magnetic material is provided in the groove; or a magnet is provided in the groove, and a magnetic material is provided on the protrusion, etc. This embodiment does not make any specific restrictions on this.

[0314] After the user triggers the extension of the mop and wash component 4 by pressing a button, speaking or touching the screen, Figure 12 As shown, the mop-washing assembly 4 extends out of the edge 1001 of the machine body 1. When the user leans over and looks from the upper part of the machine body, he can see the mop-washing assembly and the end of the cleaning roller 42. Figure 12In the example shown, the end cap 420 of the cleaning roller 42 is whistle-shaped. The user can pinch the end cap 420 with one hand and easily pull out the cleaning roller along the pulling direction (i.e. the width direction of the body 1), so that it can be disassembled. Figure 12 In the illustrated state, the user can also see the opening of the drum cavity of the mop-wash bracket. The user inserts one end of the cleaning drum through the opening, and the end cap 420 of the cleaning drum engages and engages with the first structure 430 on the mop-wash bracket, completing the connection between the end cap 420 and the mop-wash bracket. If the cleaning robot needs to perform a cleaning task after installation, it will maintain the current extended state of the mop-wash assembly 4 and perform the cleaning task. If the cleaning robot needs to return to the base station after installation, the cleaning robot will automatically retract the mop-wash assembly 4 after detecting that the cleaning drum is installed. Alternatively, the user can trigger the cleaning robot's mainboard 2 through the interactive device to control the drive device to retract the mop-wash assembly.

[0315] Furthermore, the drive device 10 can also drive the mop-wash assembly to rise and fall relative to the machine body. Accordingly, when the cleaning roller needs to be removed, the drive device 10 drives the mop-wash assembly 4 to extend, exposing the end cap of the cleaning roller 42. Simultaneously, the drive device 10 drives the mop-wash assembly 4 to rise to create a gap from the ground, making it easier for the user to remove the cleaning roller 42. Because there is a gap between the cleaning roller and the ground, it is easier to pull out the cleaning roller.

[0316] In addition to triggering the retraction of the mop and wash assembly 4 through an interactive device, the following solution can also be used: after the cleaning roller 42 is mounted on the mop and wash bracket 43, the user pushes the mop and wash assembly 4, activating the drive device 10 to drive the mop and wash assembly 4 to retract to the first extreme position. The cleaning robot also includes a sensing system and a mainboard 2; the mainboard 2 is electrically connected to the sensing system; the sensing system includes a sensing unit for detecting the retraction force of the mop and wash assembly 4; after the sensing unit detects the retraction force of the mop and wash assembly 4, it sends a retraction signal to the mainboard 2, which controls the drive device 10 to activate and drive the mop and wash assembly 4 to retract to the first extreme position.

[0317] 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 of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that: The utility model comprises a machine body and a mopping and washing assembly arranged on the machine body; wherein the mopping and washing assembly comprises: Cleaning unit motor, output driving force; A cleaning unit connected to the cleaning unit motor and used to clean the surface to be cleaned; a liquid supply mechanism, configured to supply cleaning liquid to the cleaning unit; A dirt removal mechanism is used to clean the cleaning unit. When the cleaning unit rotates, the dirt removal mechanism scrapes off and collects dirt on the cleaning unit. The dirt removal mechanism is located on the rear side of the cleaning unit along the travel direction of the cleaning robot. Along the rotation direction of the cleaning unit, the cleaning unit is replenished with water through the liquid supply mechanism, and then cleans the floor, and then the dirt is scraped off by the dirt removal mechanism.

2. The cleaning robot according to claim 1, characterized in that: Also includes: A driving device is provided on the machine body and connected to the mopping and washing assembly; Along the width direction of the machine body, the driving device can drive the mopping and washing assembly to extend from at least one side of the machine body, so that part of the mopping and washing assembly is exposed.

3. The cleaning robot according to claim 2, characterized in that: The driving device can also drive the mopping and washing assembly to rise and fall relative to the machine body.

4. The cleaning robot according to claim 1, characterized in that: The rotation direction of the cleaning unit is the same as the rotation direction of the driving wheel of the machine body.

5. The cleaning robot according to any one of claims 1 to 4, characterized in that: The dirt removal mechanism includes a scraper assembly and a dirt collection box; The end of the scraper bar assembly is in contact with the cleaning unit, and the dirt collecting box is located below the scraper bar assembly; The liquid supply port of the liquid supply mechanism is located above the cleaning unit.

6. The cleaning robot according to claim 5, characterized in that: The mop-wash assembly further includes a mop-wash bracket; The mop-wash bracket has a drum mounting cavity with an opening facing downward, the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity, and the cleaning unit contacts the surface to be cleaned through the opening; the power end of the driving device is connected to the mop-wash bracket; The dirt removal mechanism is arranged on the rear cavity wall of the drum installation cavity, and the dirt collecting box can be disassembled and assembled through the downward opening of the drum installation cavity.

7. The cleaning robot according to claim 5, characterized in that: The dirt collecting box is detachable; The disassembly direction of the dirt collecting box is different from the disassembly direction of the cleaning unit; Alternatively, the disassembly direction of the dirt collecting box is substantially perpendicular to the disassembly direction of the cleaning unit.

8. The cleaning robot according to claim 5, characterized in that: The mop-wash assembly has a first extreme position in a retracted state and a second extreme position in an extended state; When the mopping and washing assembly is in the first extreme position of the retracted state, the dirt collecting box is located inside the projection of the edge of the machine body.

9. The cleaning robot according to claim 5, characterized in that: Along the traveling direction of the machine body, the machine body has left and right sides; The mopping and washing assembly extends out of the machine body from the right side of the machine body; The entire or partial outer surface of the right side of the dirt collecting box is the same as the arc surface at the corresponding position of the machine body.

10. The cleaning robot according to any one of claims 1 to 4, characterized in that: The dirt removal mechanism includes a scraper assembly, and the scraper assembly includes a water guide plate and a scraper; The water guide plate is located below the scraper; The lower surface of the water guide plate has an upwardly arched arc surface, and the arc surface is a water guide surface; A plurality of water guide grooves are provided on the water guide surface.

11. The cleaning robot according to claim 10, characterized in that: The position where the water guide plate acts on the cleaning unit is the wiping position; In the wiping position, the notch of the water guide groove close to the wiping position passes through the water guide plate, and the notch of the water guide groove away from the wiping position does not pass through the water guide plate.

12. The cleaning robot according to any one of claims 2 to 4, characterized in that: The driving device can also drive the mopping and washing assembly to retract relative to the machine body; or The cleaning robot also includes a rebound device, and the mopping and washing component is connected to the rebound device; when the mopping and washing component is in an extended state and is subjected to an external force in a retracting direction, the rebound device is deformed by the force, and the mopping and washing component adaptively retracts.

13. The cleaning robot according to any one of claims 2 to 4, characterized in that: Also included are controls; The control device is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing component to move relative to the body to change the position of the mopping and washing component relative to the body.

14. A cleaning robot, characterized in that: The machine body comprises a mopping and washing component and a driving device, wherein the mopping and washing component comprises: Cleaning unit motor, output driving force; A cleaning unit connected to the cleaning unit motor and used to clean the surface to be cleaned; a liquid supply mechanism, configured to supply cleaning liquid to the cleaning unit; a dirt removal mechanism, for cleaning the cleaning unit, wherein when the cleaning unit rotates, the dirt removal mechanism scrapes off and collects dirt on the cleaning unit, and the dirt removal mechanism is located at the rear side of the cleaning unit along the travel direction of the cleaning robot; Along the width direction of the machine body, the driving device can drive the mopping and washing assembly to extend from at least one side of the machine body, so that part of the mopping and washing assembly is exposed.

15. A cleaning robot, characterized in that: The utility model comprises a machine body and a mopping and washing assembly arranged on the machine body; wherein the mopping and washing assembly comprises: Cleaning unit motor, output driving force; A cleaning unit connected to the cleaning unit motor and used to clean the surface to be cleaned; The dirt removal mechanism is used to clean the cleaning unit. When the cleaning unit rotates, the dirt removal mechanism scrapes off and collects dirt on the cleaning unit. The dirt removal mechanism is located at the rear side of the cleaning unit along the travel direction of the cleaning robot.

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