Cleaning robot and cleaning system

Abstract

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot and a cleaning system.The cleaning robot comprises a machine body and an edge cleaning assembly arranged on the machine body, the edge cleaning assembly comprises a mopping piece used for cleaning a to-be-cleaned surface, and a first rotating shaft is arranged between the edge cleaning assembly and the machine body; the edge cleaning assembly is arranged around the first rotating shaft in an overturning mode relative to the machine body so that the edge cleaning assembly can have a mopping position and a cleaning position, the edge cleaning assembly is located at the mopping position, the mopping piece makes contact with the to-be-cleaned surface, and at least part of the mopping piece is located on the outer side of the edge of the machine body. The edge cleaning assembly is located at the cleaning position, and the mopping piece is separated from the to-be-cleaned surface. In this way, when the edge cleaning assembly is located at the cleaning position, the mopping piece can be cleaned, the whole machine body does not need to be turned over, the cleaning difficulty of the mopping piece of the edge cleaning assembly can be lowered, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning robot and a cleaning system. Background Art

[0002] Cleaning robots are smart household cleaning appliances that, with the help of artificial intelligence, can automatically sweep, vacuum, and mop floors. However, when working close to walls, cleaning robots often struggle to maintain a zero-distance contact, resulting in blind spots.

[0003] At present, some cleaning robots are provided with a mopping module along the side. The mopping module extends out of the outside of the cleaning robot so as to clean the corner area when the cleaning robot is cleaning along the edge. However, when cleaning or maintaining the mopping module, it is often necessary to turn the entire body of the cleaning robot over, which leads to a poor user experience. Utility Model Content

[0004] In order to solve the above technical problems, the present application provides a cleaning robot and a cleaning system, which can realize the disassembly, assembly or cleaning of the edge cleaning parts when the body of the cleaning robot is normally placed on the ground.

[0005] In the first aspect, the present application provides a cleaning robot, comprising a body and an edge cleaning component arranged on the body, the edge cleaning component comprising a wiping member for cleaning the surface to be cleaned, a first rotating shaft being provided between the edge cleaning component and the body, the edge cleaning component being flipped relative to the body around the first rotating shaft so that the edge cleaning component has a wiping position and a cleaning position, the edge cleaning component being located at the wiping position, the wiping member being in contact with the surface to be cleaned, and the wiping member being at least partially located outside the edge of the body; the edge cleaning component being located at the cleaning position, the wiping member being detached from the surface to be cleaned.

[0006] In some embodiments, the body is provided with a receiving notch opening toward the outer periphery of the body, and the receiving notch passes through the upper and lower sides of the body, and the first rotating shaft is horizontally arranged in the receiving notch.

[0007] In some embodiments, the edge cleaning assembly includes an edge cleaning bracket, and the wiping member is detachably disposed on the edge cleaning bracket;

[0008] The edge cleaning assembly is at the cleaning position, and the wiping member is located outside the accommodating notch, so that the wiping member can be detached from the edge cleaning bracket.

[0009] In some embodiments, the edge cleaning assembly includes a first bracket, a second bracket, and a reset elastic member, wherein the first bracket and the second bracket are rotatably connected via a second rotating shaft, the axis of the second rotating shaft extends in a vertical direction, and the reset elastic member is connected between the first bracket and the second bracket so that the second bracket has a swing space relative to the first bracket in the moving direction of the machine body;

[0010] The wiping member is configured as a crawler cloth and is supported on the first bracket and the second bracket.

[0011] In some embodiments, a first clamping structure is provided on the body, and the edge cleaning assembly includes a second clamping structure, which is clamped with the first clamping structure to limit the edge cleaning assembly to the mopping position.

[0012] In some embodiments, the edge cleaning assembly includes an edge cleaning bracket, the first rotating shaft is provided between the edge cleaning bracket and the machine body, a supporting elastic member is provided between the edge cleaning bracket and the machine body, and the second clamping structure is provided on the edge cleaning bracket;

[0013] The edge cleaning component is at the wiping position, and the supporting elastic member is pressed between the machine body and the edge cleaning bracket.

[0014] In some embodiments, the edge cleaning assembly includes a third clamping structure, and a fourth clamping structure is provided on the body, and the fourth clamping structure is clamped with the third clamping structure to limit the edge cleaning assembly to be located in the cleaning position.

[0015] In some embodiments, the edge cleaning assembly includes an edge cleaning bracket, a driving member and a plurality of driving wheels, both of which are disposed on the edge cleaning bracket, wherein the driving member is configured to drive at least one of the driving wheels to rotate;

[0016] The rubbing member is configured as a crawler cloth, which is wound around the plurality of driving wheels.

[0017] In some embodiments, the edge cleaning assembly is slidably disposed on the machine body and can slide horizontally to the mopping position.

[0018] In the second aspect, the present application provides a cleaning system, comprising a cleaning base station and the cleaning robot provided in the first aspect, the cleaning base station having a base station cavity for the cleaning robot to enter, and a side wall of the base station cavity is provided with a avoidance notch for the edge cleaning component to avoid the mopping position.

[0019] The technical solution provided by the embodiments of the present application has the following advantages compared with the prior art:

[0020] 1. This cleaning robot features a first rotating shaft between the edge cleaning assembly and the main body. The edge cleaning assembly is tilted relative to the main body about the first rotating shaft, enabling the edge cleaning assembly to have a wiping position and a cleaning position. In the wiping position, the wiping element of the edge cleaning assembly contacts the surface to be cleaned, and at least a portion of the wiping element is located outside the edge of the main body. In the wiping position, the edge cleaning element is fixed relative to the main body and can clean the floor. When the edge cleaning element is out of the wiping position, it can be rotated to the cleaning position for cleaning or removal without flipping the entire body. This reduces the difficulty of cleaning the wiping element of the edge cleaning assembly and improves the user experience.

[0021] 2. By providing an accommodating notch on the body, the first rotating shaft is arranged in the accommodating notch along the horizontal direction, the edge cleaning component includes an edge cleaning bracket, and the wiping piece is detachably arranged on the edge cleaning bracket. The edge cleaning component is in the cleaning position, and the wiping piece is located outside the accommodating notch. Not only can the wiping piece be cleaned when the edge cleaning component is in the cleaning position, but the wiping piece can also be replaced, further improving the user experience.

[0022] 3. By configuring the edge cleaning assembly to include a first bracket, a second bracket and a reset elastic member, the first bracket and the second bracket are rotatably connected via a second rotating shaft extending in the vertical direction, and a reset elastic member is provided between the first bracket and the second bracket. In this way, if the edge cleaning assembly contacts an object while moving, relative swinging can be generated between the second bracket and the first bracket to avoid the object to a certain extent, thereby avoiding damage to the edge cleaning assembly caused by hard collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 This is a structural diagram of the cleaning robot according to an embodiment of the present application (the edge cleaning component is in the mopping position);

[0026] Figure 2 for Figure 1 Schematic diagram of the cleaning robot (edge ​​cleaning component is in the cleaning position);

[0027] Figure 3Schematic diagram of the structure of the cleaning robot according to some embodiments of the present application (the edge cleaning component is in the mopping position);

[0028] Figure 4 for Figure 3 Schematic diagram of the cleaning robot (edge ​​cleaning component is in the cleaning position);

[0029] Figure 5 for Figure 3 Schematic diagram of the disassembly of the cleaning robot;

[0030] Figure 6 for Figure 3 A schematic structural diagram of the cleaning robot;

[0031] Figure 7 for Figure 3 A schematic diagram of the driving structure of the cleaning robot;

[0032] Figure 8 for Figure 3 A partial cross-sectional schematic diagram of the cleaning robot in the cleaning position along the edge cleaning component;

[0033] Figure 9 A schematic partial cross-sectional view in the horizontal direction of the cleaning robot according to some embodiments of the present application (the edge cleaning component is in the mopping position);

[0034] Figure 10 for Figure 9 A partial cross-sectional schematic diagram of the cleaning robot in the vertical direction (the edge cleaning component is in the dragging position);

[0035] Figure 11 for Figure 9 A partial cross-sectional view of the cleaning robot in the vertical direction (the edge cleaning component is between the mopping position and the cleaning position);

[0036] Figure 12 for Figure 9 A partial cross-sectional schematic diagram of the cleaning robot in the vertical direction (the edge cleaning component is in the cleaning position);

[0037] Figure 13 This is a schematic diagram of a partial structure of a cleaning robot according to some embodiments of the present application;

[0038] Figure 14 for Figure 13 A partial cross-sectional schematic diagram of the cleaning robot in the vertical direction (the edge cleaning component is in the cleaning position);

[0039] Figure 15 A schematic cross-sectional view of an edge cleaning assembly according to some embodiments of the present application;

[0040] Figure 16 for Figure 15 A schematic diagram of the driving structure of the cleaning robot;

[0041] Figure 17 for Figure 16 Schematic diagram of the local structure of the driving structure;

[0042] Figure 18 Schematic top view of the cleaning robot according to some embodiments of the present application (the edge cleaning component is in the mopping position);

[0043] Figure 19 for Figure 18 A schematic partial cross-sectional view of the cleaning robot in the vertical direction;

[0044] Figure 20 for Figure 18 A schematic partial cross-sectional view of the cleaning robot in the horizontal direction;

[0045] Figure 21 for Figure 18 Schematic diagram of a top view of the cleaning robot (the edge cleaning component swings toward the rear of the body);

[0046] Figure 22 for Figure 21 A schematic partial cross-sectional view of the cleaning robot in the horizontal direction;

[0047] Figure 23 for Figure 18 Schematic diagram of a top view of the cleaning robot (the edge cleaning component swings toward the front of the body);

[0048] Figure 24 for Figure 23 A schematic partial cross-sectional view of the cleaning robot in the horizontal direction;

[0049] Figure 25 This is a schematic structural diagram of a cleaning system according to some embodiments of the present application;

[0050] Figure 26 for Figure 25 Schematic cross-sectional view of the cleaning system in FIG.

[0051] Among them, 10, cleaning robot; 1, body; 2, edge cleaning component; 20, cleaning base station; 20a, base station cavity; 20b, avoidance gap;

[0052] 11. Accommodating notch; 12. First rotating shaft; 13. First assembly channel; 14. Second assembly channel; 15. First clamping structure; 151. Clamping member; 152. First elastic member; 153. Pressing member; 16. Fourth clamping structure;

[0053] 21. Edge cleaning bracket; 211. First bracket; 212. Second bracket; 2121. Strip hole; 213. Second rotating shaft; 22. Wiping member; 23. Resetting elastic member; 24. Second clamping structure; 25. Supporting elastic member; 26. Elastic member bracket; 27. Third clamping structure; 271. Connector; 272. Second elastic member; 28. Driving structure; 281. Driving member; 282. Driving wheel; 283. Roller; 284. Gear set. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application can also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present application, not all of the embodiments.

[0056] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a cleaning robot 10, which includes a body 1 and an edge cleaning component 2 arranged on the body 1. The edge cleaning component 2 includes a wiping member 22 that can clean the surface to be cleaned. A first rotating shaft is provided between the edge cleaning component 2 and the body 1. The edge cleaning component 2 is flipped relative to the body 1 around the first rotating shaft so that the edge cleaning component 2 has a wiping position and a cleaning position. When the edge cleaning component 2 is in the wiping position, the wiping member 22 contacts the surface to be cleaned, and the wiping member 22 is at least partially located outside the edge of the body 1, as shown in FIG. Figure 1 As shown. The edge cleaning assembly 2 is located at the cleaning position, and the wiping member 22 is separated from the surface to be cleaned. Figure 2 shown.

[0057] As can be understood, since the edge cleaning assembly 2 is flipped relative to the main body 1, it has a wiping position and a cleaning position within its rotational range. When the edge cleaning assembly 2 is in the wiping position, it is fixed relative to the main body 1, the wiping member 22 is in contact with the surface to be cleaned, and at least a portion of the wiping member 22 is located outside the edge of the main body 1, allowing the surface to be cleaned to be cleaned while the main body 1 is moving. When the edge cleaning assembly 2 is in the cleaning position, the wiping member 22 is disengaged from the surface to be cleaned, allowing cleaning to be performed without flipping the entire main body 1. This reduces the difficulty of cleaning the wiping member 22 of the edge cleaning assembly 2 and improves the user experience.

[0058] It should be noted that after the wiping member 22 is out of contact with the surface to be cleaned, a tool such as a brush can be inserted under the wiping member 22 to clean it. When the edge cleaning assembly 2 is in the cleaning position, if the wiping member 22 is exposed on the outer periphery or upper side of the body 1, the wiping member 22 can be cleaned directly, such as with a brush.

[0059] Preferably, the edge cleaning assembly 2 is arranged to be flipped upside down relative to the machine body 1 around the first rotating axis. The flipping upside down can be done vertically, with the first rotating axis extending horizontally. Alternatively, the edge cleaning assembly 2 can be flipped upside down, with the first rotating axis extending obliquely relative to the horizontal direction.

[0060] In some embodiments, reference Figures 3 to 6 The body 1 of the cleaning robot 10 is provided with an accommodating notch 11 opening toward the outer peripheral side of the body 1 , and the accommodating notch 11 passes through the upper and lower sides of the body 1 , and the first rotating shaft 12 is horizontally arranged in the accommodating notch 11 .

[0061] It can be understood that the accommodating notch 11 is used to accommodate the edge cleaning assembly 2. In other words, the provision of the accommodating notch 11 can provide installation space for the edge cleaning assembly 2, so that when the edge cleaning assembly 2 is in the mopping position, the edge cleaning assembly 2 is located within the accommodating notch 11. At this time, the edge cleaning assembly 2 partially extends outside the edge of the body 1, that is, partially extends out of the accommodating notch 11, which helps to reduce the overall size of the body 1, thereby achieving a miniaturized design of the body 1. In addition, the accommodating notch 11 can also provide protection and limit the edge cleaning assembly 2 in the direction of movement of the body 1, so that the edge cleaning assembly 2 can stably follow the movement of the body 1.

[0062] Furthermore, because the first rotating shaft 12 extends horizontally, the edge cleaning assembly 2 can be flipped up and down about the horizontally extending first rotating shaft 12 to have a mopping position and a cleaning position. Thus, when the edge cleaning assembly 2 is in the mopping position, it can be flipped upward about the first rotating shaft 12 and rotated to the cleaning position; when the edge cleaning assembly 2 is in the cleaning position, it can be flipped downward about the first rotating shaft 12 and rotated to the mopping position. The rotation angle of the edge cleaning assembly 2 when moving from the mopping position to the cleaning position can be adjusted according to actual needs.

[0063] For example, the rotation angle of the edge cleaning component 2 when it moves from the wiping position to the cleaning position is preferably 90°. Figure 3 As shown, the edge cleaning assembly 2 is located in the wiping position. Figure 4As shown, the edge cleaning assembly 2 is located in the cleaning position. In this case, the edge cleaning assembly 2 rotates 90° around the first rotation axis when it moves from the wiping position to the cleaning position, and the edge cleaning assembly 2 also rotates 90° around the first rotation axis when it moves from the cleaning position to the wiping position. In this way, the wiping member 22 can be exposed from the upper side of the body when the edge cleaning assembly 2 moves to the cleaning position, which makes it easier for the user to clean the wiping member 22.

[0064] Of course, the rotation angle of the edge cleaning component 2 when it moves from the wiping position to the cleaning position can also be selected to be 80°, 70°, 60°, 50°, 40°, 30°, 20°, 10°, etc., so that the wiping member 22 of the edge cleaning component 2 is separated from the surface to be cleaned and exposed from the upper side of the body 1 or from the outer peripheral side of the body 1, or partially exposed from the upper side of the body 1 and partially exposed from the outer peripheral side of the body 1, and the cleaning of the wiping member 22 can also be achieved.

[0065] Furthermore, the above-mentioned edge cleaning component 2 includes an edge cleaning bracket 21, and the wiping member 22 is detachably arranged on the edge cleaning bracket 21. When the edge cleaning component 2 is in the cleaning position, the wiping member 22 is located outside the accommodating gap 11, so that the wiping member 22 can be removed from the edge cleaning bracket 21.

[0066] It is understood that the wiping member 22 is detachably mounted on the edge cleaning bracket 21, facilitating installation and removal of the wiping member 22. Furthermore, when the edge cleaning assembly 2 is in the cleaning position, the wiping member 22 is positioned outside the receiving notch 11. This allows the wiping member 22 to be cleaned while the edge cleaning assembly 2 is in the cleaning position and also allows for replacement, further enhancing the user experience.

[0067] It should be noted that the edge cleaning bracket 21 can rotate around the first rotating shaft 12 so that the edge cleaning assembly 2 can switch between the cleaning position and the wiping position. In other words, the first rotating shaft 12 passes through the edge cleaning bracket 21 .

[0068] For example, in a specific implementation, referring to Figure 7 and Figure 8 The edge cleaning assembly 2 further includes a driving member 281 and a plurality of driving wheels 282. Both the driving member 281 and the plurality of driving wheels 282 are disposed on the edge cleaning bracket 21. The driving member 281 is capable of driving at least one driving wheel 282 to rotate. The wiping member 22 is configured as a crawler mop, which is detachably mounted around the plurality of driving wheels 282.

[0069] It is understood that the crawler mop can rotate around the multiple drive wheels 282 when the driving member 281 drives at least one drive wheel 282 to rotate. In this way, when the edge cleaning assembly 2 is in the cleaning position, the crawler mop is located outside the accommodating gap 11. At this time, the crawler mop can be removed from the multiple drive wheels 282 for replacement.

[0070] It is understandable that the driving member 281 is provided on the edge cleaning bracket 21 , so that the driving member 281 is a part of the edge cleaning assembly 2 , which facilitates the edge cleaning assembly 2 to switch between the wiping position and the cleaning position.

[0071] It should be noted that since the driving member 281 is arranged on the edge cleaning bracket 21, in order to avoid pulling the connecting line between the driving member 281 and the main unit on the body 1 when the edge cleaning bracket 21 rotates, the length of the connecting line can be appropriately increased to meet the requirement that the driving member 281 can be located at different positions along with the edge cleaning bracket 21.

[0072] Furthermore, the edge cleaning assembly 2 further includes at least one roller 283 provided on the edge cleaning bracket 21. The roller 283 is used to cause the crawler mop to bend to a certain extent, thereby increasing friction and preventing the crawler mop from slipping during rotation.

[0073] The driving member 281, the driving wheel 282 and the roller 283 constitute a driving structure 28 for driving the crawler cloth.

[0074] For example, in another specific implementation, the edge cleaning assembly includes a mopping structure, which includes a mopping bracket and a mopping member mounted on the mopping bracket. The mopping bracket is detachably mounted on the edge cleaning bracket. Thus, when the edge cleaning assembly is in the cleaning position, the mopping member can be removed by disassembling the mopping structure to facilitate replacement. For example, the mopping member can be a crawler mop, with the mopping bracket being provided with two parallel rotating shafts, and the crawler mop being detachably mounted around the two rotating shafts. Alternatively, the mopping member can be a roller mop, which is rotatably mounted on the mopping bracket.

[0075] In other embodiments, the housing may not be provided with an accommodating notch, but a mounting bracket may be provided on the outside of the housing, and the edge cleaning assembly may be mounted on the mounting bracket. In this case, the entire edge cleaning assembly may be located outside the edge of the housing, and the first rotating shaft may be mounted on the mounting bracket, and the edge cleaning assembly may rotate relative to the first rotating shaft.

[0076] For example, the first rotating shaft is disposed horizontally, and the edge cleaning assembly is capable of tilting upward and downward relative to the first rotating shaft. The edge cleaning assembly tilts upward when rotating from the mopping position to the cleaning position, and tilts downward when rotating from the cleaning position to the mopping position. The rotation angle of the edge cleaning assembly between the mopping position and the cleaning position is preferably 90°. This allows the mopping member to be exposed from the upper side of the machine body when the edge cleaning assembly is in the cleaning position, making it easier for the user to clean the mopping member.

[0077] In some embodiments, reference Figure 9 A first clamping structure 15 is provided on the body 1, and the edge cleaning component 2 includes a second clamping structure 24, which is clamped with the first clamping structure 15 to limit the edge cleaning component 2 to be in the dragging position.

[0078] It can be understood that by setting the first clamping structure 15 and the second clamping structure 24, the clamping of the first clamping structure 15 and the second clamping structure 24 can limit the edge cleaning component 2, so that the edge cleaning component 2 can be stably located in the dragging position, and the surface to be cleaned can be dragged by the wiping member 22.

[0079] For example, referring to Figure 9 In a specific implementation, the second clamping structure 24 is selected as the first clamping slot, and the first clamping structure 15 includes a clamping member 151, which is elastically arranged on the body 1 and has a clamping state and a release state. When the clamping member 151 is in the clamping state, it can be extended into the first clamping slot to realize clamping. When the clamping member 151 is in the release state, it is out of the first clamping slot to realize the release of the clamping.

[0080] The first engaging structure 15 further includes a pressing member 153 and a first elastic member 152. The housing 1 defines a first assembly channel extending along the direction of the first rotating shaft 12. The first elastic member 152 is positioned within the first assembly channel. The engaging member 151 is slidably disposed within the first assembly channel, with one end connected to or abutting the first elastic member 152 and the other end capable of extending into or out of the first engaging slot. In other words, the other end of the engaging member 151 can extend from the first assembly channel and insert into the first engaging slot, or retract into the first assembly channel and out of the first engaging slot.

[0081] The housing 1 also defines a second assembly channel connected to the first assembly channel. The aforementioned pressing member 153 is disposed within the second assembly channel, with one end extending into the first assembly channel and the other end exposed outside the housing 1. When the pressing member 153 is forced to extend into the first assembly channel, it drives the engaging member toward a released state, allowing the engaging member 151 to disengage from the first engaging slot and, in the process, compressing the first elastic member 152. Thus, when no external force is applied to the pressing member 153, the elastic force of the first elastic member 152 drives the engaging member 151 toward the engaged state and causes the pressing member 153 to move out of the first assembly channel.

[0082] The pressing member 153 is provided with a first inclined surface, and the engaging member 151 is provided with a second inclined surface. The first inclined surface and the second inclined surface are always in contact with each other. When the pressing member 153 is pressed, it moves forward along the second inclined surface of the engaging member 151, causing the engaging member 151 to move toward the released state. When the pressing member 153 loses the external force, it moves backward along the second inclined surface under the action of the first elastic member 152. The terms "forward movement" and "reverse movement" are relative terms, indicating that the pressing member 153 moves in opposite directions along the second inclined surface when the engaging member 151 switches between the released state and the engaged state.

[0083] It should be noted that the above-mentioned clip 151 is limited in the first assembly channel to prevent the clip 151 from falling out of the first assembly channel when it is in the engaged state. For example, the clip is in a T-shaped structure, and the width of the opening of the first assembly channel is smaller than the maximum width of the clip. Alternatively, the clip 151 is limited by a pressing member 153, and the pressing member 153 is limited in the second assembly channel, and the first inclined surface of the pressing member 153 and the second inclined surface of the clip 151 limit the clip 151 in the moving direction of the clip 151. In this case, the pressing member can be set to a T-shaped or L-shaped structure, and the width of the opening of the second assembly channel is smaller than the maximum width of the clip, so as to limit the pressing member when the clip is in the engaged state.

[0084] In summary, the pressing member 153, the clamping member 151 and the first elastic member 152 cooperate to realize the clamping and disengagement of the clamping member 151 and the first clamping slot. This not only has a compact structure and helps reduce costs, but also is easy for users to operate and has strong practicality.

[0085] For example, referring to Figure 9 The body 1 is further provided with an accommodating notch 11 opening toward the outer peripheral side of the body 1 , and the accommodating notch 11 passes through the upper and lower sides of the body 1 , and the first rotating shaft 12 is horizontally arranged in the accommodating notch 11 .

[0086] When the edge cleaning assembly 2 is in the mopping position, the edge cleaning assembly 2 is located within the receiving notch 11 and partially extends outside the edge of the body 1, that is, partially extends outside the receiving notch 11. The first assembly channel is connected to the receiving notch 11, so that the clamping member 151 extends into the receiving notch 11 when in the clamped state.

[0087] Furthermore, because the first rotating shaft 12 extends horizontally, the edge cleaning assembly 2 can be flipped up and down about the horizontally extending first rotating shaft 12 to have a mopping position and a cleaning position. Thus, when the edge cleaning assembly 2 is in the mopping position, it can be flipped upward about the first rotating shaft 12 and moved to the cleaning position. When the edge cleaning assembly 2 is in the cleaning position, it can be flipped downward about the first rotating shaft 12 and rotated to the mopping position. The rotation angle of the edge cleaning assembly 2 when moving from the mopping position to the cleaning position is preferably 90°.

[0088] In addition, the edge cleaning assembly 2 includes an edge cleaning bracket 21, a second clamping structure 24 is provided on the edge cleaning bracket 21, and a wiping member 22 is detachably provided on the edge cleaning bracket 21. When the edge cleaning assembly 2 is in the cleaning position, the wiping member 22 is located outside the receiving notch 11, so that the wiping member 22 can be detached from the edge cleaning bracket 21. Figure 7 The installation method of the driving member 281 and the driving wheel 282 is not repeated here.

[0089] For example, in another specific implementation, the first engaging structure may include a engaging member and an elastic member, and the second engaging structure may be a groove provided on the edge cleaning bracket of the edge cleaning assembly. The edge cleaning assembly is provided with an assembly channel extending along the extension direction of the first rotating shaft, and the elastic member is disposed within the assembly channel. One end of the engaging member abuts or connects to the elastic member, and the other end can extend through the assembly channel and into the groove, or retract into the assembly channel and out of the groove. The groove is preferably a hemispherical groove, with a smooth transition between the groove surface of the hemispherical groove and the surface of the edge cleaning bracket on which the hemispherical groove is provided. In this case, the other end of the engaging member has a ball head that mates with the hemispherical groove.

[0090] When the edge cleaning assembly is in the wiping position, the clip extends into the groove, and a force is applied to the edge cleaning assembly, causing the clip to disengage from the groove as it rotates about the first rotation axis toward the cleaning position. During the process of the clip disengaging from the groove, the elastic member is compressed. When the edge cleaning assembly is in the cleaning position, the clip extends from the assembly channel. When a force is applied to the edge cleaning assembly, causing the clip to rotate about the first rotation axis toward the wiping position, the clip contacts the body and is subjected to a force along the extension direction of the assembly channel, compressing the elastic member and causing the clip to retract into the assembly channel. During the movement, the clip gradually aligns with the groove and extends into the groove, thereby confining the edge cleaning assembly to the wiping position.

[0091] Further, in one case, reference is made to Figure 10 The edge cleaning assembly 2 includes an edge cleaning bracket 21. A first rotating shaft 12 is disposed between the edge cleaning bracket 21 and the body 1. A supporting elastic member 25 is disposed between the edge cleaning bracket 21 and the body 1. The second engaging structure 24 is disposed on the edge cleaning bracket 21. When the edge cleaning assembly 2 is in the mopping position, the supporting elastic member 25 is pressed between the body 1 and the edge cleaning bracket 21. The supporting elastic member 25, together with the first engaging structure 15 and the second engaging structure 24, can restrain the edge cleaning assembly 2 in the mopping position.

[0092] It can be understood that by providing a supporting elastic member 25, the supporting elastic member 25 is pressed between the body 1 and the edge cleaning bracket 21 when the edge cleaning assembly 2 is in the dragging position. In this way, the supporting elastic member 25 applies a force to the edge cleaning assembly 2 when the edge cleaning assembly 2 is in the dragging position, thereby improving the stability of the engagement between the first clamping structure 15 and the second clamping structure 24. In this way, the supporting elastic member 25 can cooperate with the first clamping structure 15 and the second clamping structure 24 to keep the edge cleaning assembly 2 stable in the dragging position.

[0093] For example, referring to Figure 9 and Figure 10 The first rotating shaft 12 extends horizontally, and the edge cleaning assembly 2 can be flipped up and down about the first rotating shaft 12 to switch between the mopping position and the cleaning position. The edge cleaning assembly 2 flips toward the upper side of the body 1 when rotating from the mopping position to the cleaning position. The edge cleaning assembly 2 flips toward the upper side of the body 1 when rotating from the cleaning position to the mopping position.

[0094] like Figure 10 As shown, when the edge cleaning assembly 2 is in the wiping position, the supporting elastic member 25 extends horizontally and perpendicular to the extension direction of the first rotating shaft 12. In addition, in the vertical direction of the machine body 1, the supporting elastic member 25 is located below the first rotating shaft 12 when the edge cleaning assembly 2 is in the wiping position. Figure 10 The ab direction; the extension direction of the supporting elastic member 25 when the edge cleaning assembly 2 is located in the dragging position is as shown Figure 10 The cd direction in this case is the width direction of the body 1; the first rotating shaft 12 extends along the moving direction of the body 1. The moving direction, the up-down direction and the width direction of the body 1 are perpendicular to each other.

[0095] When the first clamping structure 15 and the second clamping structure 24 are disengaged, the force exerted by the supporting elastic member 25 on the edge cleaning bracket 21 enables the edge cleaning bracket 21 to rotate around the first rotating shaft 12 from the wiping position to the cleaning position by a preset angle, that is, to rotate toward the upper side of the machine body 1 by a preset angle, such as Figure 11As shown, the user can be instructed to rotate the edge cleaning bracket 21 toward the cleaning position so that the user can apply force to the edge cleaning bracket 21 to make the edge cleaning assembly 2 finally rotate to the cleaning position, as shown in FIG. Figure 12 The angle at which the supporting elastic member 25 drives the edge cleaning bracket 21 to rotate can be selected by selecting supporting elastic members 25 with different elastic coefficients, and no specific limitation is made here.

[0096] Furthermore, the body 1 of the cleaning robot 10 is provided with an accommodating notch 11 opening toward the outer peripheral side of the body 1 , and the accommodating notch 11 passes through the upper and lower sides of the body 1 , and the first rotating shaft 12 is horizontally arranged in the accommodating notch 11 .

[0097] When the edge cleaning assembly 2 is located at the mopping position, the edge cleaning assembly 2 is located in the accommodating notch 11 and partially extends out of the edge of the body 1 , that is, partially extends out of the accommodating notch 11 .

[0098] The receiving opening 11 has two opposing first sidewalls extending in the direction of the first rotating shaft, with a second sidewall located between the two first sidewalls. The U-shaped receiving opening is formed between the two first sidewalls and the second sidewall. When the edge cleaning assembly 2 is in the wiping position, the supporting elastic member 25 extends horizontally and presses between the edge cleaning bracket 21 and the second sidewall.

[0099] It should be noted that the above-mentioned supporting elastic member can be arranged on the machine body, and can also be arranged on the edge cleaning bracket.

[0100] For example, in a specific implementation, referring to Figures 10 and 11 The supporting elastic member 25 is disposed on the edge cleaning bracket 21. A sliding hole is formed in the edge cleaning bracket 21, and an elastic member bracket 26 is slidably disposed within the sliding hole. The supporting elastic member 25 is located within the sliding hole and is constrained between the edge cleaning bracket 21 and the elastic member bracket 26. The supporting elastic member 25 can be a compression spring.

[0101] As the edge cleaning assembly 2 rotates, the elastic member bracket 26 is blocked by the housing 1 and can slide toward the inside of the slide hole, compressing the supporting elastic member 25. Consequently, when the edge cleaning assembly 2 rotates from the cleaning position to the mopping position, the elastic member bracket 26 contacts the housing 1 and is blocked, sliding toward the inside of the slide hole and compressing the supporting elastic member 25. When the edge cleaning assembly 2 is in the mopping position, the supporting elastic member 25 reaches its maximum compression. At this point, when the first engaging structure 15 and the second engaging structure 24 disengage, the force that restores the supporting elastic member 25 to its original position is applied to the edge cleaning bracket 21, causing the edge cleaning bracket 21 to rotate about the first rotating shaft 12 by a predetermined angle.

[0102] For example, in another specific implementation, the supporting elastic member may be provided on the machine body. In order to prevent the supporting elastic member from bending and deforming when the edge cleaning bracket compresses the supporting elastic member, the supporting elastic member may be an elastic pad or a short compression spring.

[0103] In another embodiment, a torsion spring may be sleeved on the first rotating shaft, with one free end of the torsion spring abutting or connected to the housing, and the other free end abutting or connected to the edge cleaning assembly. The torsion spring can provide a force for rotating the edge cleaning assembly from the wiping position to the cleaning position. In other words, when the first engaging structure and the second engaging structure are engaged, the torsion spring is in a compressed state. When the first engaging structure and the second engaging structure are disengaged, the force of the torsion spring returning to its original state drives the edge cleaning assembly to rotate about the first rotating shaft toward the cleaning position.

[0104] It should be noted that the force provided by the torsion spring can cause the edge cleaning assembly to flip upward from the wiping position to the cleaning position, or it can cause the edge cleaning assembly to flip from the wiping position to the cleaning position at a preset angle, where the preset angle can be selected by selecting torsion springs with different elastic coefficients.

[0105] In some embodiments, reference Figure 13 and Figure 14 The edge cleaning component 2 includes a third clamping structure 27, and the body 1 is provided with a fourth clamping structure 16, which is clamped with the third clamping structure 27 to limit the edge cleaning component 2 to be in the cleaning position.

[0106] It can be understood that by setting the third clamping structure 27 and the fourth clamping structure 16, the third clamping structure 27 and the fourth clamping structure 16 can limit the edge cleaning component 2, so that the edge cleaning component 2 can be stably located in the cleaning position, making it convenient for the user to clean the wiping member 22.

[0107] For example, referring to Figure 14 The fourth engaging structure 16 is selected as a second engaging groove, and the third engaging structure 27 includes a connector 271 and a second elastic member 272. A third assembly channel extending along the extension direction of the first rotating shaft 12 is provided on the edge cleaning component 2. The second elastic member 272 is disposed within the third assembly channel. One end of the connector 271 abuts or connects to the second elastic member 272, while the other end can extend through the third assembly channel and into the second engaging groove, or retract into the third assembly channel and out of the second engaging groove. The second engaging groove is selected as a hemispherical groove, with a smooth transition between the groove surface of the hemispherical groove and the surface of the edge cleaning component 2 on which the hemispherical groove is provided. In this case, the other end of the connector 271 has a ball head that cooperates with the hemispherical groove, facilitating the connector 271 to enter and exit the second engaging groove.

[0108] When the edge cleaning assembly 2 is in the cleaning position, the connector 271 extends into the second slot. When a force is applied to the edge cleaning assembly 2, causing it to rotate about the first rotation axis 12 toward the wiping position, the connector 271 disengages from the second slot, compressing the second elastic member 272 during the process. When the edge cleaning assembly 2 is in the wiping position, the connector 271 is located in the third assembly channel. When a force is applied to the edge cleaning assembly 2, causing it to rotate about the first rotation axis 12 toward the cleaning position, the connector 271 gradually aligns with the second slot and extends into the second slot, thereby confining the edge cleaning assembly 2 in the cleaning position.

[0109] It should be noted that when the edge cleaning assembly 2 is in the dragging and wiping position, the connector 271 is restrained by the housing 1 within the third assembly channel. That is, before the edge cleaning assembly 2 rotates from the dragging and wiping position to the cleaning position, the connector 271 is always restrained by the housing 1 within the third assembly channel. During the rotation of the edge cleaning assembly 2 from the cleaning position to the dragging and wiping position, the connector 271 remains restrained by the housing 1 within the third assembly channel even after it has escaped the second engagement slot.

[0110] The connector 271 and the second elastic member 272 cooperate to engage and disengage the connector 271 with the second slot, resulting in a compact structure that reduces costs and facilitates user operation. Furthermore, the connector 271 provides a change in feel when engaging the second slot, making it easier for the user to confirm that the connector 271 is properly inserted into the slot.

[0111] Reference Figure 13 and Figure 14 The body 1 is further provided with an accommodating notch 11 opening toward the outer peripheral side of the body 1 , and the accommodating notch 11 passes through the upper and lower sides of the body 1 , and the first rotating shaft 12 is horizontally arranged in the accommodating notch 11 .

[0112] When the edge cleaning assembly 2 is located at the mopping position, the edge cleaning assembly 2 is located in the accommodating notch 11 and partially extends out of the edge of the body 1 , that is, partially extends out of the accommodating notch 11 .

[0113] The second slot is provided on one side wall of the receiving notch 11 . After the connector 271 is released from the second slot, the connector 271 is restrained by the wall of the receiving notch 11 in the third assembly channel.

[0114] Furthermore, since the first rotating shaft 12 extends horizontally, the edge cleaning assembly 2 can be flipped up and down about the horizontally extending first rotating shaft 12 to have a wiping position and a cleaning position. Thus, when the edge cleaning assembly 2 is in the wiping position, it can flip upward about the first rotating shaft 12 to move to the cleaning position. The rotation angle of the edge cleaning assembly 2 when moving from the wiping position to the cleaning position is preferably 90°.

[0115] In addition, the edge cleaning assembly 2 includes an edge cleaning bracket 21, which is provided with a third clamping structure 27, and the edge cleaning bracket 21 is provided with the third assembly channel. The wiping member 22 is detachably provided on the edge cleaning bracket 21. When the edge cleaning assembly 2 is in the cleaning position, the wiping member 22 is located outside the receiving notch 11, so that the wiping member 22 can be detached from the edge cleaning bracket 21. Figure 7 The installation method of the driving member 281 and the driving wheel 282 is not repeated here.

[0116] For example, in another specific implementation, the third clamping structure can be optionally selected as a third clamping slot, and the fourth clamping structure can be selected as Figure 8 The second clamping structure in the embodiment realizes the clamping and disengagement of the clamping member and the third clamping slot through the cooperation of the pressing member and the first elastic member, which will not be described in detail here.

[0117] In some embodiments, reference Figures 15 to 17 The edge cleaning assembly 2 includes an edge cleaning bracket 21, a driving member 281, and a plurality of driving wheels 282, all mounted on the edge cleaning bracket 21. The driving member 281 is configured to rotate at least one driving wheel 282. The wiping member 22 is configured as a crawler mop, which is wound around the plurality of driving wheels 282. A first rotating shaft 12 is disposed between the edge cleaning bracket 21 and the machine body 1.

[0118] It is understandable that the above-mentioned driving member 281 is arranged on the edge cleaning bracket 21, so that the driving member 281 can be a part of the edge cleaning component 2 itself, which facilitates the edge cleaning component 2 to switch between the mopping position and the cleaning position.

[0119] It should be noted that since the driving member 281 is arranged on the edge cleaning bracket 21, in order to avoid pulling the connecting line between the driving member 281 and the main unit on the body 1 when the edge cleaning bracket 21 rotates, the length of the connecting line can be appropriately increased to meet the requirement that the driving member 281 can be located at different positions along with the edge cleaning bracket 21.

[0120] Furthermore, the edge cleaning assembly 2 further includes at least one roller 283 provided on the edge cleaning bracket 21. The roller 283 is used to cause the crawler mop to bend to a certain extent, thereby increasing friction and preventing the crawler mop from slipping during rotation.

[0121] For example, in a specific implementation, referring to Figure 16 and Figure 17The driving member 281 is selected to be a motor, and the motor drives one of the driving wheels 282 to rotate through the gear set 284. At this time, the driving wheel 282 is the driving wheel, and the other driving wheels 282 are driven wheels.

[0122] Among them, there are four driving wheels 282, and the four driving wheels 282 are distributed in a quadrilateral, which is conducive to tensioning the crawler mop, so that the driving wheels 282 and the crawler mop maintain a close fit, ensuring the stability of the crawler mop during rotation.

[0123] In addition, a roller 283 is provided on the edge cleaning bracket 21. The roller 283 presses the crawler mop so that the crawler mop presents a certain curvature.

[0124] In some embodiments, reference Figures 18 to 20 The edge cleaning assembly 2 includes a first bracket 211, a second bracket 212 and a reset elastic member 23, and the reset elastic member 23 is connected between the first bracket 211 and the second bracket 212, wherein the first bracket 211 and the second bracket 212 constitute the edge cleaning bracket 21 of the edge cleaning assembly 2.

[0125] The above-mentioned wiping member 22 is constructed as a crawler mop, which is supported on a first bracket 211 and a second bracket 212. A first rotating shaft 12 is provided between the first bracket 211 and the machine body 1.

[0126] It can be understood that the arrangement of the reset elastic member 23 makes the distance between the first bracket 211 and the second bracket 212 adjustable, so that the first bracket 211 and the second bracket 212 can be suitable for installing crawler mops of different lengths under the action of the reset elastic member 23. For example, when the crawler mop is long, the reset elastic member 23 drives the first bracket 211 and the second bracket 212 to move away from each other to tighten the crawler mop. When the crawler mop is short, the first bracket 211 and the second bracket 212 can move closer to each other to compress the reset elastic member 23 to adapt to the crawler mop.

[0127] In addition, the setting of the reset elastic member 23 can buffer the edge cleaning component 2 by compressing the reset elastic member 23 when the edge cleaning component 2 is subjected to external force from the extension direction of the reset elastic member 23, thereby avoiding hard collision and damage to the edge cleaning component 2 when encountering obstacles.

[0128] For example, referring to Figure 19 and Figure 20 The body 1 is further provided with an accommodating notch 11 opening toward the outer peripheral side of the body 1 , and the accommodating notch 11 passes through the upper and lower sides of the body 1 , and the first rotating shaft 12 is horizontally arranged in the accommodating notch 11 .

[0129] The receiving notch 11 is used to receive the edge cleaning assembly 2. When the edge cleaning assembly 2 is in the wiping position, the first bracket 211 is located in the receiving notch 11, and the second bracket 212 is partially located in the receiving notch 11 and the other part extends out of the edge of the body 1 from the receiving notch 11.

[0130] Because the first rotating shaft 12 extends horizontally, the first bracket 211 and the second bracket 212 can be flipped up and down about the horizontally extending first rotating shaft 12 to have a mopping position and a cleaning position. Thus, when the edge cleaning assembly 2 is in the mopping position, it can flip upward about the first rotating shaft 12 to move to the cleaning position; when in the cleaning position, it can flip downward about the first rotating shaft 12 to move to the cleaning position. The rotation angle of the edge cleaning assembly 2 when moving from the mopping position to the cleaning position is preferably 90°.

[0131] The elastic force direction of the above-mentioned reset elastic member 23 is perpendicular to the axis of the first rotating shaft 12, and when the edge cleaning component 2 is in the dragging position, the elastic force direction of the reset elastic member 23 extends horizontally. Figure 18 When the force F1 is shown in FIG, the second bracket 212 can move toward the inside of the receiving notch 11 to compress the restoring elastic member 23 .

[0132] Furthermore, the crawler mop is detachably provided. When the edge cleaning assembly 2 is located at the cleaning position, the crawler mop is located outside the accommodating notch 11 , so that the crawler mop can be detached and replaced.

[0133] The edge cleaning assembly 2 further includes a driving member and a plurality of driving wheels, the crawler mop is wound around the plurality of driving wheels, and the driving member is capable of driving at least one driving wheel to rotate. In other words, the driving member and the plurality of driving wheels cooperate to drive the crawler mop to rotate.

[0134] The driving member is arranged on the first bracket 211 , and the plurality of driving wheels are divided into two groups. The number of driving wheels in the two groups is the same or different, and the two groups of driving wheels are respectively arranged on the first bracket 211 and the second bracket 212 .

[0135] In addition, the edge cleaning assembly 2 further includes at least one roller, which is arranged on the first bracket 211 or the second bracket 212 and is used to make the crawler mop produce a certain bend to increase friction, which is helpful to prevent the crawler mop from slipping during rotation.

[0136] Specifically, the driving element is a motor, which drives one of the drive wheels through a gear set. In this case, the drive wheel is the driving wheel, and the remaining drive wheels are driven wheels. There are four drive wheels, which are arranged in a quadrilateral, which is conducive to tensioning the crawler mop, ensuring a tight fit between the drive wheels and the crawler mop, and ensuring smooth rotation of the crawler mop.

[0137] Reference Figures 19 to 24 The above-mentioned edge cleaning assembly 2 includes a first bracket 211, a second bracket 212 and a reset elastic member 23. The first bracket 211 and the second bracket 212 are connected by a second rotating shaft 213. The axis of the second rotating shaft 213 extends in the vertical direction. The reset elastic member 23 is connected between the first bracket 211 and the second bracket 212 so that the second bracket 212 has a swing space relative to the first bracket 211 in the moving direction of the body 1.

[0138] It can be understood that the first bracket 211 and the second bracket 212 are rotatably connected by the second rotating shaft 213 extending in the vertical direction, that is, the up and down direction of the body 1. At this time, the first bracket 211 and the second bracket 212 can swing relative to each other around the second rotating shaft 213 in the moving direction of the body 1, and a reset elastic member 23 is provided between the first bracket 211 and the second bracket 212. In this way, if the edge cleaning component 2 contacts an object while moving, the second bracket 212 and the first bracket 211 can swing relative to each other to avoid it to a certain extent, which can avoid hard collisions that may cause damage to the edge cleaning component 2, and after swinging, the reset elastic member 23 can drive the first bracket 211 or the second bracket 212 back to its original position.

[0139] It should be noted that the vertical direction is perpendicular to the moving direction of the body 1. When the cleaning robot 10 moves normally, the up and down direction of the body 1 is the vertical direction, and the moving direction of the body 1 is the horizontal direction.

[0140] In addition, when the first bracket 211 and the second bracket 212 are not swinging relative to each other, that is, when the first bracket 211 and the second bracket 212 are both in the initial position, the above-mentioned reset elastic member 23 extends in the horizontal direction, and the vertical direction, the moving direction of the body 1 and the extension direction of the reset elastic member 23 are perpendicular to each other.

[0141] For example, referring to Figure 19 and Figure 20 , a portion of the second bracket 212 is located outside the edge of the body 1, so that the second bracket 212 swings relative to the first bracket 211 in the moving direction of the body 1 after touching an object. Among them, if the second bracket 212 touches an object when the body 1 moves forward, it swings toward the rear side of the body 1, such as Figure 21 and Figure 22 As shown, at this time, the second bracket 212 is subjected to Figure 21 After the second bracket 212 is out of contact with the object, the reset elastic member 23 drives the second bracket 212 back to its original position, as shown in FIG. Figure 19 and Figure 20 If the second bracket 212 touches an object when the body 1 moves backward, it will swing toward the front side of the body 1, as shown. Figure 23 and Figure 24As shown, at this time, the second bracket 212 is subjected to Figure 23 After the second bracket 212 is out of contact with the object, the reset elastic member 23 drives the second bracket 212 back to its original position, as shown in FIG. Figure 19 and Figure 20 shown.

[0142] Reference Figure 20 The first bracket 211 and / or the second bracket 212 are provided with a horizontally extending strip hole 2121, and the second rotating shaft 213 is passed through the strip hole 2121. When the first bracket 211 and the second bracket 212 are not swinging relative to each other, the extension direction of the strip hole 2121 is the same as the extension direction of the return elastic member 23. This not only allows the second bracket 212 and the first bracket 211 to move closer to each other to avoid obstacles when the second bracket 212 and the first bracket 211 swing relative to each other, but also enables the first bracket 211 and the second bracket 212 to be adapted to install crawler mops of different lengths under the action of the return elastic member 23. For example, when the crawler mop is long, the return elastic member 23 drives the first bracket 211 and the second bracket 212 away from each other through the strip hole 2121 to tighten the crawler mop. When the crawler mop is short, the first bracket 211 and the second bracket 212 can move closer to each other through the strip hole 2121 to compress the return elastic member to accommodate the crawler mop.

[0143] Specifically, the second bracket 212 is provided with the above-mentioned strip-shaped hole 2121 . Of course, the first bracket 211 may also be provided with the strip-shaped hole, or both the first bracket 211 and the second bracket 212 may be provided with the strip-shaped hole.

[0144] Furthermore, a plurality of reset elastic members 23 are provided between the second bracket 212 and the first bracket 211. The plurality of reset elastic members 23 can be divided into at least two groups, and at least two groups of reset elastic members 23 are spaced apart in the up and down directions of the body 1. This is beneficial to improving the balance of the force exerted by the reset elastic members 23 on the second bracket 212 in the up and down directions of the body 1 after the second bracket 212 swings relative to the first bracket 211, so that the second bracket 212 can return to its original position.

[0145] Specifically, refer to Figure 19 and Figure 20 The above-mentioned resetting elastic members 23 are provided with four, two by two, and are grouped together. Among them, the resetting elastic members 23 can be selected as compression springs.

[0146] In some embodiments, the edge cleaning assembly is slidably mounted on the body and can slide horizontally to a mopping position. It can be understood that the edge cleaning assembly is slidably mounted on the body and can slide horizontally to a mopping position to clean corners. It can also slide under the body for easier storage.

[0147] For example, the edge cleaning assembly can be mounted on a sliding bracket, with the first rotating shaft disposed between the edge cleaning assembly and the sliding bracket. The sliding bracket is driven to translate by a drive assembly. For example, the drive assembly can be a motor, a gear, and a rack. The rack is mounted on the sliding bracket, the motor is mounted on the housing, the gear is connected to the motor, and meshes with the rack. Rotation of the motor is converted via the gear transmission into linear movement of the rack, which in turn causes movement of the sliding bracket. This allows the edge cleaning assembly to move with the movement of the sliding bracket. When the edge cleaning assembly is in the mopping position, it can rotate about the first rotating shaft to switch to the cleaning position.

[0148] like Figure 25 and Figure 26 As shown, an embodiment of the present application also provides a cleaning system, which includes a cleaning base station 20 and a cleaning robot 10 in any of the above embodiments. The cleaning base station 20 has a base station cavity 20a for the cleaning robot 10 to enter, and a side wall of the base station cavity 20a is provided with a avoidance notch 20b for the edge cleaning component 2 that can avoid the mopping position.

[0149] It is understandable that the main mop of the cleaning robot 10 needs to enter the base station cavity 20a of the cleaning base station 20 for cleaning after being used for a period of time. In this way, since the edge cleaning component 2 is in the mopping position, the mopping member 22 is at least partially located outside the edge of the body 1, so it is necessary to avoid the edge cleaning component 2 when the cleaning robot 10 enters the base station cavity 20a.

[0150] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0151] The foregoing description is intended only to provide specific embodiments of the present application, which will enable those skilled in the art to understand and implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments described herein, but is intended to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning robot, comprising a body (1) and an edge cleaning assembly (2) arranged on the body (1), wherein the edge cleaning assembly (2) comprises a wiping member (22) for cleaning a surface to be cleaned, characterized in that: A first rotating shaft (12) is provided between the edge cleaning assembly (2) and the machine body (1), and the edge cleaning assembly (2) is flipped relative to the machine body (1) around the first rotating shaft (12), so that the edge cleaning assembly (2) has a wiping position and a cleaning position. When the edge cleaning assembly (2) is located at the wiping position, the wiping member (22) contacts the surface to be cleaned, and the wiping member (22) is at least partially located outside the edge of the machine body (1); when the edge cleaning assembly (2) is located at the cleaning position, the wiping member (22) is separated from the surface to be cleaned.

2. The cleaning robot according to claim 1, characterized in that: The machine body (1) is provided with a receiving notch (11) opening toward the outer peripheral side of the machine body (1), and the receiving notch (11) passes through the upper and lower sides of the machine body (1), and the first rotating shaft (12) is arranged in the receiving notch (11) along the horizontal direction.

3. The cleaning robot according to claim 2, characterized in that: The edge cleaning assembly (2) comprises an edge cleaning bracket (21), and the wiping member (22) is detachably arranged on the edge cleaning bracket (21); The edge cleaning assembly (2) is at the cleaning position, and the wiping member (22) is located outside the accommodating notch (11), so that the wiping member (22) can be disassembled from the edge cleaning bracket (21).

4. The cleaning robot according to claim 1, characterized in that: The edge cleaning assembly (2) comprises a first bracket (211), a second bracket (212) and a reset elastic member (23); the first bracket (211) and the second bracket (212) are rotatably connected via a second rotating shaft (213); the axis of the second rotating shaft (213) extends in a vertical direction; the reset elastic member (23) is connected between the first bracket (211) and the second bracket (212) so that the second bracket (212) has a swing space relative to the first bracket (211) in the moving direction of the machine body (1); The wiping member (22) is configured as a crawler cloth and is supported on the first bracket (211) and the second bracket (212).

5. The cleaning robot according to claim 1, characterized in that: The machine body (1) is provided with a first clamping structure (15), and the edge cleaning assembly (2) includes a second clamping structure (24), and the second clamping structure (24) is clamped with the first clamping structure (15) to limit the edge cleaning assembly (2) to be located at the mopping position.

6. The cleaning robot according to claim 5, characterized in that: The edge cleaning assembly (2) comprises an edge cleaning bracket (21), a first rotating shaft (12) is provided between the edge cleaning bracket (21) and the machine body (1), a supporting elastic member (25) is provided between the edge cleaning bracket (21) and the machine body (1), and a second clamping structure (24) is provided on the edge cleaning bracket (21); The edge cleaning component (2) is at the wiping position, and the supporting elastic member (25) is pressed between the machine body (1) and the edge cleaning bracket (21).

7. The cleaning robot according to claim 1, characterized in that: The edge cleaning assembly (2) includes a third clamping structure (27), and a fourth clamping structure (16) is provided on the machine body (1). The fourth clamping structure (16) is clamped with the third clamping structure (27) to limit the edge cleaning assembly (2) to the cleaning position.

8. The cleaning robot according to claim 1, characterized in that: The edge cleaning assembly (2) comprises an edge cleaning bracket (21), a driving member (281) and a plurality of driving wheels (282) both of which are arranged on the edge cleaning bracket (21), wherein the driving member (281) is configured to drive at least one of the driving wheels (282) to rotate; The rubbing member (22) is configured as a crawler cloth, and the crawler cloth is wound around a plurality of driving wheels (282).

9. The cleaning robot according to claim 1, characterized in that: The edge cleaning component (2) is slidably arranged on the machine body (1) and can slide horizontally to the mopping position.

10. A cleaning system, characterized in that: The cleaning robot comprises a cleaning base station (20) and a cleaning robot as claimed in any one of claims 1 to 9, wherein the cleaning base station (20) has a base station cavity (20a) for the cleaning robot to enter, and a side wall of the base station cavity (20a) is provided with a avoidance notch (20b) for the edge cleaning component (2) to avoid the mopping position.

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