Cleaning robot and mopping assembly

Abstract

The embodiment of the utility model provides a cleaning robot and a mopping assembly. The cleaning robot includes: a body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the driving device is connected with the mopping assembly; in the width direction of the machine body, the driving device can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body so as to be partially exposed; the dirt removing mechanism further comprises a scraping strip assembly, and the end of the scraping strip assembly makes contact with the surface of the cleaning unit. The dirt removing mechanism further comprises a swing assembly, the scraping strip assembly is connected to the mopping assembly through the swing assembly, and the scraping strip assembly can swing relative to the cleaning unit through the swing assembly. According to the technical scheme, the position and posture of the scraping strip assembly are adaptively adjusted through the self-adaptive adjusting device so that the scraping strip assembly can be located in the proper position and posture, proper scraping force can be applied to the cleaning unit, and the scraping strip assembly can continuously act on the cleaning unit to scrape dirt on the cleaning unit.

Description

[0001] Cross-references

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

[0003] Filing date Application number Patent title 2024-01-05 202410018264.3 Self-moving cleaning device, control method and cleaning system 2024-08-05 202411067857.5 Cleaning robot and mop-washing assembly Technical Field

[0004] This application relates to the field of robotics, and in particular to cleaning robots and mopping components. Background Technology

[0005] Most existing sweeping and mopping robots clean floors by vacuuming first and then mopping. For example, a mop tray is placed at the bottom of the robot, and the mop tray rotates to clean the floor. However, mop trays suffer from the problem of getting dirty because they lack self-cleaning capabilities. Later, cleaning robots using roller mopping emerged. These robots have a roller, a water supply device, a squeegee, and a wastewater collection device. Each time the roller rotates, it receives water from the water supply device. After mopping, the squeegee performs self-cleaning while cleaning, achieving continuous water cleaning and improving the dirt-smearing problem. To make cleaning robots more versatile, some robots have retractable rollers that can extend to clean along walls or around obstacles. However, the extended portion of the roller remains uncleaned, still suffering from the dirt-smearing problem similar to that of the mop tray, resulting in poor cleaning performance.

[0006] During floor cleaning, the roller sweeper and mop robot performs self-cleaning through its liquid supply and stain removal mechanisms. The liquid supply mechanism provides cleaning fluid to the roller, wetting its surface; the stain removal mechanism scrapes off dirt, achieving self-cleaning. Typically, to enhance cleaning power and absorb more water, the roller surface has numerous fibers. Different models may have different fiber materials and / or lengths. When replacing with different models; or if the cleaning roller shifts position due to prolonged use; or if the fibers wear down over time, and the scraper assembly remains in the same position, the distance between the scraper assembly and the cleaning roller may become too great, causing the scraper to malfunction, reducing its scraping force, and resulting in poor stain removal, thus affecting the roller's self-cleaning ability. Conversely, if the distance is too great, it can easily cause damage (such as scraper assembly failure) or excessive roller rotation resistance, potentially leading to roller motor malfunction: ultimately reducing the robot's floor cleaning effectiveness. Utility Model Content

[0007] In view of the above problems, the present application provides a cleaning robot and a mop-washing assembly to solve the above problems or at least partially solve the above problems. The scraper strip assembly can float relative to the cleaning unit to keep the scraper strip always pressed against the drum by setting an adaptive adjusting device.

[0008] In an embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0009] a body;

[0010] a mop-washing assembly comprising 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 to drive the cleaning unit to rotate; the liquid supply mechanism is used to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off dirt on the cleaning unit;

[0011] a driving device arranged on the body and connected with the mop-washing assembly; along the width direction of the body, the driving device can drive the mop-washing assembly to extend from at least one side of the body so that part of the mop-washing assembly is exposed;

[0012] The dirt removal mechanism further comprises a scraper strip assembly and a biasing assembly, and the biasing force provided by the biasing assembly acts on the scraper strip assembly. Under the action of the biasing force, the scraper strip assembly has a tendency to move towards the cleaning unit.

[0013] Optionally, under the action of the biasing force provided by the biasing assembly, the depth of the scraper strip assembly inserted into the cleaning unit is 1-2 mm.

[0014] Optionally, the mop-washing assembly further comprises a mop-washing support; the power end of the driving device is connected with the mop-washing support.

[0015] The mop-washing support has a drum mounting cavity with an opening downward, and the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity.

[0016] The cleaning unit is in contact with the surface to be cleaned through the opening.

[0017] The liquid supply mechanism is arranged on the mop-washing support; and the scraper strip assembly is swingably connected to the mop-washing support through the biasing assembly.

[0018] Optionally, the biasing assembly comprises a swing seat, the scraper strip assembly is rotatably connected to the mop-washing support through the swing seat, and the scraper strip assembly can move with the mop-washing support.

[0019] Optionally, the biasing assembly further comprises an elastic member; the swing seat is connected with the mop support through a swing shaft, and the swing seat is provided with a mounting hole, and the elastic member is arranged in the mounting hole, one end of the elastic member abuts against the mop support, and the other end abuts against the swing seat.

[0020] When the scraping strip assembly swings upward relative to the cleaning unit, the elastic member is compressed.

[0021] Optionally, along the length direction of the scraping strip assembly, at least two swing seats are connected with the scraping strip assembly.

[0022] Optionally, the length of the scraping strip assembly is greater than or equal to the length of the cleaning unit, and the contact surface of the scraping strip assembly and the cleaning unit is in a straight line area.

[0023] Optionally, the dirt removing mechanism further comprises a dirt collecting box.

[0024] The dirt collecting box is located below the scraping strip assembly.

[0025] When the cleaning unit rotates, the dirt scraped by the scraping strip assembly enters the dirt collecting box.

[0026] Optionally, the scraping strip assembly comprises a scraping plate and a water guide plate, the water guide plate abuts below the scraping plate, the water guide plate is provided with a plurality of water guide grooves, and the tail of the water guide groove is located at the opening of the dirt collecting box.

[0027] Optionally, the swing seat in the biasing assembly is connected with the water guide plate through a fastener, or the water guide plate and the swing seat are an integral structure.

[0028] Optionally, the scraping plate comprises a first plate segment and a second plate segment, the first plate segment and the second plate segment are arranged at an obtuse angle, the end of the first plate segment is in contact with the cleaning unit, and the second plate segment is connected with the water guide plate.

[0029] Optionally, the dirt removing assembly further comprises a dirt collecting pipe, one end of the dirt collecting pipe is arranged in the dirt collecting box, and the other end of the dirt collecting pipe is communicated with the cleaning robot sewage tank through a flexible pipeline.

[0030] The scraping plate is provided with a second avoiding hole, and the water guide plate is provided with a third avoiding hole; when the water guide plate is connected with the scraping plate, the second avoiding hole is aligned with the third avoiding hole, and the dirt collecting pipe is avoided.

[0031] Optionally, the driving device comprises a power source and a power execution mechanism.

[0032] The power input end of the power execution mechanism is connected with the power source.

[0033] The mop-washing assembly is floatingly connected with the power output end of the power execution mechanism, and can move along the width direction of the machine body with the power output end and can also float up and down relative to the power output end.

[0034] In an embodiment of the present application, a mop-washing assembly is provided, comprising:

[0035] A mop-washing support;

[0036] A cleaning unit rotatably mounted on the mop-washing support;

[0037] A dirt-removing mechanism and a dirt-collecting assembly, the dirt-removing mechanism comprising a scraper assembly, the end of the scraper assembly being in contact with the surface of the cleaning unit, and the water-facing side of the scraper assembly being provided with a water guide groove to guide the scraped dirty water into the dirt-collecting assembly;

[0038] The dirt-removing mechanism further comprises a biasing assembly, and the biasing force provided by the biasing assembly acts on the scraper assembly, and under the action of the biasing force, the scraper assembly has a tendency to move towards the cleaning unit.

[0039] In an embodiment of the present application, a cleaning robot is provided, comprising:

[0040] A machine body;

[0041] A mop-washing assembly comprising a cleaning unit motor, a cleaning unit and a dirt-removing mechanism; the cleaning unit motor is connected with the cleaning unit to drive the cleaning unit to rotate; the dirt-removing mechanism is used to scrape off the dirt on the cleaning unit;

[0042] A driving device provided on the machine body and connected with the mop-washing assembly; along the width direction of the machine body, the driving device can drive the mop-washing assembly to extend from at least one side of the machine body, so that part of the mop-washing assembly is exposed;

[0043] The dirt-removing mechanism further comprises a scraper assembly and a biasing assembly, and the biasing force provided by the biasing assembly acts on the scraper assembly, and under the action of the biasing force, the scraper assembly has a tendency to move towards the cleaning unit.

[0044] In the technical scheme provided in the embodiments of the present application, the mop-washing assembly moves relative to the robot body as a whole, and the liquid supply mechanism can supply cleaning liquid to the cleaning unit and the dirt removal mechanism can scrape off dirt on the cleaning unit at any position of the mop-washing assembly, and the cleaning unit can be self-cleaned while working. When the cleaning unit is extended outward to perform edge cleaning, the cleaning unit will not be excessively dirty, and can still have good cleaning effect after long-time cleaning, and the user experience is better. In addition, the scraper assembly is adaptively adjusted in position by the adaptive adjustment device to be located at a relatively appropriate position, and can apply appropriate scraping force to the cleaning unit to continuously scrape off dirt on the cleaning unit. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] Figure 1a and 1b A schematic view of edge cleaning in the state of the drum not being extended and the state of the drum being extended is shown.

[0047] Figure 1c A schematic view of the bottom surface of the dirt collection box being higher than the bottom surface of the robot body is shown.

[0048] Figure 2 A schematic view of the structure of the cleaning robot provided in an embodiment of the present application is shown.

[0049] Figure 3a A schematic view of the internal structure of the cleaning robot after the upper cover is removed in an embodiment of the present application is shown.

[0050] Figure 3b A partial view of Figure 3a is shown.

[0051] Figure 4 A schematic view of the explosion of the structure of the cleaning robot provided in an embodiment of the present application is shown.

[0052] Figure 5 A schematic view of the explosion of the mop-washing assembly provided in an embodiment of the present application is shown.

[0053] Figure 6 A schematic view of the mop-washing assembly provided in an embodiment of the present application being arranged on the cavity shell is shown.

[0054] Figure 7a A schematic view of the external structure of the mop-washing assembly provided in an embodiment of the present application is shown.

[0055] Figure 7bA specific implementation structure diagram of the liquid supply mechanism in the embodiment of the present application is shown.

[0056] Figure 8 A bottom view of the mop-washing support provided in the embodiment of the present application is shown.

[0057] Figure 9a An exploded view of the mop-washing assembly provided in the embodiment of the present application is shown.

[0058] Figure 9b A sectional view of the mop-washing assembly provided in the embodiment of the present application is shown.

[0059] Figure 10a A state diagram of the cleaning robot along the edge cleaning provided in the embodiment of the present application is shown.

[0060] Figure 10b A comparison diagram of the mop-washing assembly extended and not extended when the cleaning robot performs a cleaning task provided in the embodiment of the present application is shown.

[0061] Figure 11 A diagram of the mop-washing assembly in the lifting state provided in the embodiment of the present application is shown.

[0062] Figure 12 A diagram of the mop-washing assembly in the extended state provided in the embodiment of the present application is shown.

[0063] Figure 13 A structure diagram of the driving device provided in the embodiment of the present application is shown.

[0064] Figure 14 A perspective view of the action execution mechanism provided in the embodiment of the present application is shown.

[0065] Figure 15 Another perspective view of the action execution mechanism provided in the embodiment of the present application is shown.

[0066] Figure 16 A half-section structure diagram of the mop-washing assembly provided in the embodiment of the present application is shown.

[0067] Figure 17 A partial structure diagram of the action execution mechanism provided in the embodiment of the present application is shown.

[0068] Figure 18 A slider structure diagram provided in the embodiment of the present application is shown.

[0069] Figure 19 A partial sectional view of the action execution mechanism provided in the embodiment of the present application is shown.

[0070] Figure 20a A partial sectional view of the cavity shell and the shell cover combination provided in the embodiment of the present application is shown.

[0071] Figure 20b A structural schematic view of a housing cover provided for an embodiment of the present application;

[0072] Figure 21 A schematic view of a grating structure and a fourth photoelectric switch provided in a cleaning robot;

[0073] Figure 22 A structural schematic view of a first connecting end and a second connecting end for connecting elastic members respectively provided on a sliding plate and a sliding block in an embodiment of the present application;

[0074] Figure 23 A structural schematic view showing that a hovering surface is provided at a top end of a lifting portion;

[0075] Figure 24 A structural schematic view showing that a mop-washing assembly is lifted relative to a ground surface provided for an embodiment of the present application;

[0076] Figure 25 A front view of another mop-washing assembly provided for an embodiment of the present application;

[0077] Figure 26 A sectional view of another mop-washing assembly provided for an embodiment of the present application;

[0078] Figure 27a A perspective view of another mop-washing assembly in an initial state provided for an embodiment of the present application;

[0079] Figure 27b A front view of another mop-washing assembly in an initial state provided for an embodiment of the present application;

[0080] Figure 27c A sectional view of another mop-washing assembly in an initial state provided for an embodiment of the present application;

[0081] Figure 28a A perspective view of another mop-washing assembly in a lifted state provided for an embodiment of the present application;

[0082] Figure 28b A front view of another mop-washing assembly in a lifted state provided for an embodiment of the present application;

[0083] Figure 28c A sectional view of another mop-washing assembly in a lifted state provided for an embodiment of the present application;

[0084] Figure 29a A perspective view of another mop-washing assembly in an extended state provided for an embodiment of the present application;

[0085] Figure 29bAnother mop-washing assembly provided by the embodiment of the present application is in the front view of the extended state;

[0086] Figure 29c Another mop-washing assembly provided by the embodiment of the present application is in the cross-sectional view of the extended state;

[0087] Figure 30 A perspective view of a mop-washing support provided by the embodiment of the present application;

[0088] Figure 31 A perspective view of a sliding plate provided by the embodiment of the present application;

[0089] Figure 32 A perspective view of a rotating support provided by the embodiment of the present application;

[0090] Figure 33 A perspective view of a cavity shell corresponding to another mop-washing assembly provided by the embodiment of the present application;

[0091] Figure 34 A cross-sectional view of a mop-washing assembly provided by the embodiment of the present application;

[0092] Figure 35a A cross-sectional view of a mop-washing support provided by the embodiment of the present application;

[0093] Figure 35b A schematic view of a front side of a dirt collection box in a mop-washing assembly provided by the embodiment of the present application has an inclined angle;

[0094] Figure 35c A structural schematic view of a cleaning robot provided by the embodiment of the present application;

[0095] Figure 36a And 36b A comparative schematic view of a dirt collection box arranged at the front side and the rear side of a cleaning unit is shown;

[0096] Figure 37 A cross-sectional view of another mop-washing assembly provided by the embodiment of the present application;

[0097] Figure 38 Another perspective cross-sectional view of another mop-washing assembly provided by the embodiment of the present application;

[0098] Figure 39a An exploded view of a scraper assembly provided by the embodiment of the present application;

[0099] Figure 39b A cross-sectional schematic view of a water guide plate provided by the embodiment of the present application;

[0100] Figure 39c A structural schematic view of a self-adaptive adjusting device arranged on a cleaning robot provided by the embodiment of the present application;

[0101] Figure 40 A perspective view of a squeegee assembly according to an embodiment of the present application is provided;

[0102] Figure 41 A schematic view of an implementation structure of another drive device according to an embodiment of the present application is provided;

[0103] Figure 42 A schematic view of a mopping assembly in a raised state and a schematic view of the mopping assembly in an extended state are shown; Figure 41 A schematic view of a mopping assembly in a raised state and a schematic view of the mopping assembly in an extended state are shown;

[0104] Figure 43 A schematic view of an implementation structure of another drive device according to an embodiment of the present application is provided;

[0105] Figure 44a A schematic view of a mopping assembly in a raised state and a schematic view of the mopping assembly in an extended state are shown;

[0106] Figure 44b A schematic view of a mopping assembly in a raised state and a schematic view of the mopping assembly in an extended state are shown;

[0107] Figure 44c A schematic view of a mopping assembly in a raised state and a schematic view of the mopping assembly in an extended state are shown;

[0108] Figure 44d A schematic view of a mopping assembly in a raised state and a schematic view of the mopping assembly in an extended state are shown;

[0109] Figure 44e A schematic view of a mopping assembly in a raised state and a schematic view of the mopping assembly in an extended state are shown;

[0110] Figure 44f A schematic view of a mopping assembly in a raised state and a schematic view of the mopping assembly in an extended state are shown; DETAILED DESCRIPTION

[0111] The application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the application and not to limit the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings, not all the structures. In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances. In the application, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature. In the description of the embodiments, the terms "up", "down", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0112] At present, the body of many cleaning robots is circular, and the circular body is more flexible and easy to escape. When the cleaning robot is provided with a dust collection roller brush 01 and a roller 02 (cleaning roller) for mopping at the same time, the dust collection roller brush 01 is generally located at the front side of the roller 02, so that the cleaning robot can first suck dust and then mop during travel. In order to avoid obstacles and escape, the driving wheel of the cleaning robot with a circular shape is generally arranged at the maximum width position perpendicular to the forward direction, and the roller is generally placed at the rear side of the driving wheel, and the whole does not protrude from the projection of the circular body on the ground, which causes the roller located at the rear part of the body to be shorter, and the distance between the end of the roller and the outermost edge of the body in the width direction is farther, such as Figure 1aAs shown, when a cleaning robot needs to clean along a wall or wardrobe, after maintaining a minimum safe distance from the object, it cannot reach the corner area of ​​the object that is a larger dimension d away. To solve this problem, some cleaning robots have designed their rollers to be extendable.

[0113] To make cleaning robots more versatile, some robots feature extendable rollers that can be extended to clean along walls or around obstacles. However, even when the roller is extended, although some robots can ensure a supply of clean water, the scraper remains inside the body. This means the extended part of the roller can only receive water, leaving dirt on the roller and unable to be scraped off. Consequently, the roller remains uncleaned, resulting in a problem similar to the dirt accumulation issue with the mop tray, leading to poor cleaning performance.

[0114] like Figure 1b As shown, extending the roller allows it to reach corner areas, improving coverage. However, with only the roller extended, dirt will accumulate on it during cleaning, causing it to become increasingly dirty, especially in corner areas (such as...). Figure 1a The area along the edge width d does not achieve good results and instead becomes dirtier the more you drag it.

[0115] To ensure good cleaning performance even after the roller is extended, it needs to be able to self-clean in time while extended. This allows for better cleaning when the roller brush comes into contact with the ground and rubs it, preventing the roller from getting dirty.

[0116] In the prior art, some cleaning robots with a roller appear a scheme of a separate roller or a roller and a liquid supply mechanism that can be accompanied by extension in order to clean along the edge or obstacles, but these robots only extend the roller when it is necessary to clean along the edge or around obstacles, and in most of the cleaning process, the roller is located in the initial position within the projection area of the main machine. The sweeping robot with the initial position of the roller within the projection area of the main machine controls the extension of the roller according to the distance threshold of the edge and the target when performing edge cleaning or cleaning around the target. When there are obstacles at the edge or target position, the robot controls the roller to retract inward according to the threshold distance from the obstacle. That is, if the environment at the edge or target position is complex and there are many obstacles, the distance of the robot is between the distance threshold of the edge and the target and the threshold distance from the obstacle, the controller of the robot needs to continuously receive and calculate the threshold, and frequently perform the actions of extension, retraction and re-extension. It seriously wastes the computing power of the robot, and affects the reliability of the extension and retraction driving device. In addition, for cleaning robots that select a roller as a mopping unit, there is a certain distance between the left and right sides of the roller and the maximum width position in the walking direction of the robot. This distance acts as a cleaning blind area when the robot is traversing. When the robot is traversing, the robot with the initial position within the projection area of the main machine has two blind areas. When the roller extends from one side to be parallel to or beyond the maximum width position in the walking direction of the robot, the robot only has one blind area. That is, if the robot with the roller in the extended state performs traversal, the traversal blind area coverage will be simpler.

[0117] The cleaning robot provided by the embodiments of the present application has a cleaning unit that can be extended and retracted, and can ensure that the cleaning unit has continuous cleaning water supply at any position, and the scraping strip can continuously scrape off dirt on the cleaning unit, so that the cleaning unit can clean and self-clean at any position. If the existing technology uses a cloth scheme: cleaning liquid is continuously supplied to the cloth, and the cloth cleans the ground, but the cloth cannot be cleaned during work, which is called dead water cleaning. The scheme provided by the embodiments of the present application can be called live water cleaning, that is, the cleaning unit is continuously supplied with active cleaning liquid during work (i.e. mopping the floor), and the cleaning unit can be continuously cleaned by the dirt removal mechanism. After the cleaning unit is cleaned, clean cleaning liquid is replenished, so that the cleaning unit can maintain a high degree of cleanliness for a long time, thereby improving the cleaning degree of the cleaning robot on the ground.

[0118] In various embodiments of this application, the cleaning unit can be, but is not limited to, a cleaning roller, a tracked cleaning component, etc. The cleaning roller can be a cylindrical roller with cleaning fibers on its surface. The tracked cleaning component, also called a tracked roller, includes two spaced-apart track wheels. A ring-shaped tracked wiping cloth is fitted onto the two track wheels, with cleaning fibers on its outward-facing side. One side of the tracked wiping cloth contacts the ground. As the track wheels rotate, the tracked wiping cloth moves relative to the ground, thus mopping the floor. Furthermore, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor can be called a roller motor, which drives the cleaning roller to rotate and mop the floor. If the cleaning unit is a tracked roller, the corresponding cleaning unit motor can be called a pulley motor, which drives the track to rotate, thereby driving the tracked wiping cloth to mop the floor.

[0119] Before introducing the mopping assembly and drive device provided in the embodiments of this application, let's briefly describe the structure of the cleaning robot. The following embodiments will use a cleaning roller as an example for illustration.

[0120] See Figure 2 , 3a As shown in Figure 4, the cleaning robot includes, but is not limited to: body 1, vacuuming and cleaning system 3, mopping and washing system, propulsion system 8, sensing system 640, control system, and side brush assembly 7. The vacuuming and cleaning system 3, mopping and washing system, propulsion system 8, sensing system 640, and control system are all located on the body 1. As shown in Figure 3, the vacuuming and cleaning system 3 may include, but is not limited to: dustbin 301, vacuum fan 302, and roller brush (not shown in the figure). The control system includes hardware and software components. Hardware components include, for example, motherboard 2, etc. Figure 4 As shown. The motherboard component mentioned below can also be considered as motherboard 2. Motherboard 2 may have a processor, storage medium (such as a memory), etc. The software part is the computer program stored in the storage medium. The processor executes these computer programs to control the various components of the cleaning robot, enabling the cleaning robot to have corresponding functions, such as mapping, path planning, obstacle recognition, cleaning around obstacles, edge cleaning, returning to the base station and completing docking, area recognition, cleaning mode switching (vacuuming only, mopping only, or vacuuming first and then mopping), etc. The propulsion system 8 may include drive wheels and drive wheel motors; the drive motors output corresponding power under the control of the motherboard to drive the drive wheels to rotate, realizing the cleaning robot's forward, backward, parking, turning, etc. Furthermore, the propulsion system 8 may also include omnidirectional wheels, which are follower wheels and can be located at the front of the body. The side brush assembly 7 can be one or two. Figure 2In the shown example, one side (e.g. the right side) of the front part of the machine body 1 is provided with a side brush assembly 7. If the side brush assembly 7 is two, the two side brush assemblies can be respectively arranged on the two sides (e.g. one on the left side and one on the right side) of the front part of the machine body 1.

[0121] The mopping system can include, but is not limited to, a clean water tank 5, a dirty water tank 9, a mopping assembly 4, etc. As shown, Figure 5 The mopping assembly 4 can include, but is not limited to, a roller motor 41, a cleaning roller 42, a liquid supply mechanism 45, and a dirt removal mechanism 44. The roller motor 41 is used to drive the cleaning roller 42 to rotate. The liquid supply mechanism 45 is in communication with the clean water tank 5 through a clean water pipe. The dirt removal mechanism 44 is in communication with the dirty water tank 9 through a dirty water pipe. The cleaning robot further includes a driving device 10 arranged on the machine body 1 and connected with the mopping assembly. As shown, Figure 6 As shown, along the width direction of the machine body 1, the driving device 10 can drive the mopping assembly 4 to extend out of the machine body 1 from at least one side of the machine body 1 so that part of the mopping assembly is exposed. Figure 6 The X direction in the reference coordinate system is the width direction of the machine body; and the Y direction is the advancing direction of the cleaning robot.

[0122] It should be noted here that from the components included in the mopping assembly 4, it can be seen that the mopping assembly 4 in the embodiment can mop the object to be cleaned (e.g. the ground), and at the same time, can realize self-cleaning function by using the liquid supply mechanism 45 and the dirt removal mechanism 44 to maintain the cleaning roller at a better cleaning degree.

[0123] From the above, it can be seen that the scheme provided by the embodiment of the application can drive the driving device 10 to drive the mopping assembly 4 to move relative to the machine body as a whole to extend out of the machine body by a part. That is to say, the liquid supply mechanism 45 can provide cleaning liquid for the cleaning roller, the dirt removal mechanism 44 can scrape off the dirt on the cleaning roller 42, and the cleaning roller 42 can work while being self-cleaned at any position. When the cleaning roller 42 extends outwards to clean the edge, the cleaning roller 42 will not be excessively dirty, and after a long time of cleaning, it can still have a good cleaning effect and a better user experience.

[0124] In fact, the mop-washing assembly 4 in the embodiment can also be in the extended state normally. For example, when the cleaning robot is started, the main board controls the driving device 10 to drive the mop-washing assembly 4 to move relative to the body so as to extend from one side of the body 1 and be in the extended state. When the cleaning robot is performing a cleaning task and traversing a region to be cleaned, the mop-washing assembly 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the main board controls the driving device 10 to drive the mop-washing assembly 4 to retract so as to be hidden in the body 1, facilitating obstacle avoidance or passing through the narrow space. In the extended state of the cleaning roller 42, the outer side edge of the cleaning roller 42 can be flush with the edge of the widest part of the body 1, or the outer side edge of the cleaning roller 42 can exceed the edge of the widest part of the body 1.

[0125] As shown in the example, Figure 5 The mop-washing assembly 4 further includes a mop-washing support 43. The mop-washing support 43 has a roller mounting cavity with an opening downward. The roller motor 41 and the cleaning roller 42 are arranged in the roller mounting cavity. The cleaning roller 42 is in contact with a surface to be cleaned through the opening. The liquid supply mechanism 45 and the dirt removal mechanism 44 are arranged on the mop-washing support 43. The power end of the driving device 10 is connected with the mop-washing support 43.

[0126] Specifically, the mop-washing support 43 has a first opening downward and a second opening laterally. The lower part of the cleaning roller 42 passes through the first opening to be in contact with the surface to be cleaned. The cleaning roller 42 can be detached through the second opening, and the second opening is located on the same side as the position on the body 1 for the mop-washing assembly to extend. 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 for the mop-washing assembly to extend, and then detach the cleaning roller 42 at the second opening. When installing, the cleaning roller 42 can be inserted into the second opening. After the end of the cleaning roller 42 is connected with the roller motor 41, the other end of the cleaning roller 42 is connected at the second opening. That is, the direction of detaching and installing the cleaning roller 42 is the direction of the axis of the cleaning roller 42.

[0127] As shown in the example, Figure 3a The body 1 of the cleaning robot is provided with a clean water tank 5. As shown in the example, Figure 7b The mop-washing support 43 has a roller support 421. The liquid supply mechanism 45 can be arranged on the roller support 421. Figure 7b An implementable structure of the liquid supply mechanism 45 is shown. The liquid supply mechanism 45 includes a water distributor 452. The water distributor 452 has a main branch, a plurality of branch branches and a plurality of liquid supply openings 453 (as shown in the example, Figure 8The plurality of liquid supply ports 453 are directed towards the cleaning roller 42 and distributed along the cylinder axis of the cleaning roller 42. The main path of the water distributor 452 is connected with the clean water tank 5 through a first flexible pipe 443, one end of which is connected to the water supply port 451 of the main path and the other end of which is connected to the clean water tank 5. The plurality of branch paths are in communication with the main path, and the plurality of liquid supply ports correspond to the plurality of branch paths respectively.

[0128] As shown in Figure 5 , the dirt removing mechanism 44 includes a scraping strip 441 and a dirt collecting box 442. The end of the scraping strip 441 is in contact with the cleaning roller 42, and the dirt collecting box 442 is located below the scraping strip 441. When the cleaning roller 42 rotates, the dirt scraped by the scraping strip 441 enters the dirt collecting box 442. Figure 1c As shown in , the bottom surface of the dirt collecting box 442 is higher than the bottom surface m of the machine body 1, for example, 1mm-5mm.

[0129] The disassembly direction of the cleaning roller 42 is the same as the cylinder axis direction. The disassembly direction of the dirt collecting box 442 can be different from the disassembly direction of the cleaning roller 42. For example, the disassembly direction of the dirt collecting box 442 can be perpendicular to the disassembly direction of the cleaning roller 42. Since the cleaning roller 42 and the dirt collecting box 442 are arranged together on the first opening of the mopping support 43 and are close to each other, the inventors find that if the disassembly directions of the two are the same, the positioning devices of the cleaning roller 42 and the dirt collecting box 442 can interfere with each other, and when one component is disassembled alone, the two components can contact, rub and even drive each other to move. Therefore, the disassembly direction of the dirt collecting box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, which ensures the separation of the fixing modes and the complementary interference during disassembly. Moreover, the downward disassembly of the dirt collecting box makes it easy for the user to see and take out the dirt collecting box by lifting the tail of the cleaning robot, which eliminates the risk of dirt pouring out of the dirt collecting box. The content related to the disassembly of the dirt collecting box 442 is described in detail below, which can be referred to in the following content.

[0130] Referring to Figure 3a , the machine body 1 is provided with a dirty water tank 9. Correspondingly, Figure 3b and Figure 9aIn one implementation scheme, the scraping strip 441 has an avoiding hole 446, and a dirt collecting pipe 542 is arranged at the avoiding hole 446. One end of the dirt collecting pipe 542 is communicated with the avoiding hole 446, and the other end is communicated with the dirt collecting box 442. The dirt collecting box 442 is communicated with the dirty water tank 9 through the second flexible pipe 456. The dirt scraped off from the cleaning roller 42 by the scraping strip 441 enters the dirt collecting pipe 542 through the avoiding hole 446, and then enters the dirt collecting box 442. In a specific implementation, the dirt removing mechanism 44 can further include a dirty water pump (not shown in the figure), which is used to pump the dirt in the dirt collecting box 442 into the dirty water tank 9 through the second flexible pipe 456. The dirty water pump can be set to work at a regular time to pump the dirt in the dirt collecting box 442, or can be set to work when the amount of dirt in the dirt collecting box 442 reaches a threshold, which is not limited in the embodiment. Figure 3b As shown in the figure, the second flexible pipe 456 further includes a second end pipe 457, the length of the second end pipe 457 is constant, one end of the second end pipe 457 is connected to the dirty water pump 471, and the other end is connected to the dirty water tank 9.

[0131] Referring to Figure 3b , Figure 7a , Figure 8 and Figure 9a , in one embodiment provided in the present application, the clean water tank 5 is communicated with the liquid supplying mechanism 45 through the first flexible pipe 443, the cleaning liquid stored in the clean water tank 5 can be delivered to the liquid supplying mechanism 45 through the first flexible pipe 443, and the liquid supplying mechanism 45 supplies the cleaning liquid to the cleaning roller 42. The dirty water tank 9 is communicated with the dirt removing mechanism 44 through the second flexible pipe 456, and the dirty water collected by the dirt removing mechanism 44 can be delivered to the dirty water tank 9 through the second flexible pipe 456. When the mop washing assembly 4 is extended outward, the first flexible pipe 443 and the second flexible pipe 456 will move with the mop washing assembly 4, the bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually stretch, the first flexible pipe 443 makes the liquid supplying mechanism 45 always communicated with the clean water tank 5, and the second flexible pipe 456 makes the dirt removing mechanism 44 always communicated with the dirty water tank 9.

[0132] Referring to Figure 7a and Figure 7b , the liquid supplying water inlet 451 is connected to the first flexible pipe 443, and the dirt removing water outlet 4410 is connected to the second flexible pipe 456. The liquid supplying water inlet 451 and the dirt removing water outlet 4410 are extended from above the mop washing support 43 to be connected to the first flexible pipe 443 and the second flexible pipe 456 respectively. Referring to Figure 6 , the first flexible pipe 443 and the second flexible pipe 456 are arranged transversely (i.e. in the negative direction of the X axis in the figure) below the cavity shell 46, and then extended from Figure 6The gap 03 extends upwards to connect with the clean water tank 5 and wastewater tank 9 on the main body 1. See also Figure 6 Next to the gap 03, there is a pipe space for accommodating the first flexible pipe 443 and the second flexible pipe 456. Because the mopping assembly 4 is to move relative to the cavity shell 46 along the positive and negative X-axis, the first flexible pipe 443 and the second flexible pipe 456 can deform with the movement of the mopping assembly 4 to provide cleaning fluid to the cleaning roller 42 and to discharge dirt from the dirt collection box 442 in real time.

[0133] To prevent bending, springs may be provided on the outer sides of the first flexible conduit 443 and the second flexible conduit 456 (Figure 9 and 1). Figure 38 (Not shown), so that bending or obstruction will not affect sewage discharge and liquid supply during the overall movement (lifting and / or extending) of the mopping assembly 4. In one specific embodiment, the first flexible pipe 443 and the second flexible pipe 456 are elastic pipes. When the mopping assembly 4 extends outward, the first flexible pipe 443 and the second flexible pipe 456 will be stretched and / or bent. When the mopping assembly 4 retracts, the first flexible pipe 443 and the second flexible pipe 456 will shrink and shorten and / or bend. In another embodiment, the first flexible pipe 443 and the second flexible pipe 456 can also be bendable plastic pipes. When the mopping assembly 4 is in the retracted state, the first flexible pipe 443 and the second flexible pipe 456 are in a bent state, but the first flexible pipe 443 and the second flexible pipe 456 are not blocked. In this bent state, both flexible pipes are unobstructed. When the mopping assembly 4 extends outward, the bent first flexible pipe 443 and the second flexible pipe 456 move together and gradually extend, thereby ensuring that the pipe connection is not interrupted.

[0134] One embodiment of this application provides a cleaning robot with a retractable mopping assembly 4 on its body 1. When the body 1 is on the ground performing a mopping task, the cleaning roller 42 in the mopping assembly 4 contacts the ground. Alternatively, the cleaning roller 42 not only contacts the ground but also exerts pressure on it, which helps improve the cleaning effect of the cleaning roller. Figure 3a As shown, the bottom of the body 1 is provided with a receiving cavity 101, and the mopping assembly 4 is disposed in the receiving cavity 101. The receiving cavity 101 extends along the width direction of the body 1. At least one end of the receiving cavity 101 is open in the width direction of the body 1.

[0135] It should be noted that, Figure 1b The X direction of the middle arrow can be considered as the length direction of the mopping component 4, or the width direction of the body 1.

[0136] Figure 3a The example shown is from Figure 3aFrom a certain angle, the right end of the accommodating cavity 101 is open. The mopping component 4 can extend outward through the opening at the open end, thus protruding part of it outside the body 1. In practice, both ends of the accommodating cavity 101 are open, so the mopping component 4 can extend outward from the opening on the right side of the body 1 or from the opening on the left side of the body 1. The cleaning robot can control the mopping component 4 to extend to the corresponding side according to the actual needs of the scenario.

[0137] The extension of the mopping assembly 4 can be driven by the drive unit 10. When the mopping assembly 4 extends outward, as viewed from the top view of the cleaning robot (e.g., Figure 10a As shown), the outermost edge of the mopping component 4 extends beyond the edge of the body 1, so the cleaning roller 42 can clean objects close to their edges while maintaining a safe distance between the body 1 and the edges of walls, furniture, or other objects. Of course, in open spaces, the cleaning roller 42 can also extend, such as... Figure 10a The state shown indicates that a cleaning task is being performed. In one specific embodiment, Figure 10a The dashed box E represents a schematic diagram of the mopping component 4 in its retracted state (initial state), and the solid box F represents a schematic diagram of the mopping component 4 extended or swinging outwards. When the cleaning robot cleans along the edge of an object, the edge of the robot's body 1 remains within a safe distance from the object's edge. The distance by which the mopping component 4 extends outwards relative to the edge of the body 1 is D, where D ranges from 10mm to 0mm, for example, 5mm. Of course, to avoid the outer edge of the mopping component 4 directly colliding or scratching the object's edge, there is also a safe distance between the outer edge of the mopping component 4 and the object's edge, which is d, ranging from 10mm to 1mm, for example, 2mm. The travel distance of the mopping component 4 relative to the body 1 can be 40-60mm, such as an outward extension of 50mm.

[0138] The drive unit 10 can drive the mopping assembly 4 to extend outward from the lateral opening of the receiving cavity 101. The retraction of the mopping assembly 4 can be driven by the drive unit 10. Alternatively, the retraction of the mopping assembly 4 can be achieved without being driven by the drive unit 10, but through the cavity housing 46 (e.g., Figure 6The elastic member arranged between the cavity shell 46 and the mop-washing assembly 4 is driven to retract. For example, when the driving device 10 drives the mop-washing assembly 4 to extend outward, the elastic member arranged between the cavity shell 46 and the mop-washing assembly 4 is deformed (e.g., compressed). When the mop-washing assembly 4 needs to retract, the driving device 10 is decoupled from the mop-washing assembly 4, and the mop-washing assembly 4 is driven to retract under the restoring force of the elastic member. Of course, this is only an embodiment provided in the present application, and in other embodiments, the extension and retraction of the mop-washing assembly 4 are both driven by the driving device 10. It should be noted 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 accommodation cavity 101. Alternatively, the base of the body 1 is provided with the cavity shell 46 as shown in Figure 6 .

[0139] The structure of the cleaning robot provided in the embodiments of the present application is briefly introduced above. The structure of the mop-washing assembly 4, the structure for realizing the extension and retraction of the mop-washing assembly, and the like will be described in detail below. The scheme provided in the embodiments of the present application focuses on the mop-washing assembly 4, which can extend from at least one side of the body of the cleaning robot to expose part of the mop-washing assembly 4, so that the mop-washing assembly 4 can be self-cleaned to maintain good cleanliness at any position. The extension and retraction of the mop-washing assembly 4 will be described in detail below, and the structure for realizing the extension and retraction of the mop-washing assembly 4 can be various, which will be described one by one below.

[0140] Referring to Figure 6 , 11 to Figure 12 , in an embodiment of the present application, a driving device 10 is provided, which includes a first power source 102 and a first action execution mechanism 103. The first action execution mechanism 103 includes a power input end and a power output end. The power input end is connected with the first power source 102, and the first action execution mechanism 103 is used for converting the rotary power output by the power source into linear power. The power output end is connected with the mop-washing assembly 4.

[0141] The first power source 102 can include but is not limited to a first motor and a speed reducer. The first action execution mechanism 103 can include but is not limited to a first gear 13 and a first rack 14. Specifically, in the initial position, for example, as shown in Figure 13 , most of the teeth of the first rack 14 are located on the left side of the first gear 13, which can be referred to as the rack being in the original position. At this time, the mop-washing assembly 4 is in the initial state, i.e., the state shown in Figure 11 . From the perspective of the entire cleaning robot, Figure 11 , the mop-washing assembly 4 is hidden in the body 1. When the mop-washing assembly 4 needs to extend, the first motor of the first power source 102 is rotated in the forward direction (from the left to the right in the figure), and the first rack 14 is driven to move to the right in the figure, and the first gear 13 is driven to rotate in the forward direction.Figure 13 the first motor outputs power in a clockwise direction) to drive the first rack 14 to move in a second direction (opposite to the first direction). Figure 13 the first motor outputs power in a clockwise direction) to drive the first rack 14 to move in a second direction (opposite to the first direction). Figure 12 A schematic view showing the mop-washing assembly 4 in an extended state. When the mop-washing assembly 4 needs to be retracted, the first motor of the first power source 102 is reversed (from the Figure 13 the first motor outputs power in a clockwise direction) to drive the first rack 14 to move in a second direction (opposite to the first direction).

[0142] Referring to Figure 13 In an embodiment provided in the present application, the cavity shell 46 of the accommodating cavity 101 of the machine body 1 is provided with at least one slide rail 15. The first action executing mechanism 103 further comprises a sliding plate, and the first rack 14 can be arranged on the sliding plate. The sliding plate is slidably connected to the slide rail 15. The first power source 102 can be arranged on a mounting position of the cavity shell 46, and the first gear 13 is arranged on an 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, the sliding plate 20 can be driven 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 with the mop-washing assembly 4 to drive the mop-washing assembly 4 to act. In addition, the first rack 14 and the sliding plate 20 can be an integral structure, or the first rack 14 and the sliding plate 20 can be fastened.

[0143] It is mentioned above that the sliding plate is arranged on the upper surface of the cavity shell 46. Referring to Figure 16 , the mop-washing assembly 4 is provided with a connecting column 241, and the mop-washing assembly 4 is connected with the sliding plate through the connecting column 241. In order to avoid interference between the connecting column 241 and the cavity shell 46, a slot hole 27 (as shown in Figure 14 ) is arranged on the cavity shell 46 corresponding to the movement range of the connecting column 241, and the connecting column 241 extends to above the sliding plate 20 through the slot hole 27 and a through hole 23 on the sliding plate 20. The length of the slot hole 27 is greater than or equal to the maximum movement distance of the mop-washing assembly 4.

[0144] Further, as Figure 20a and 20bAs shown, the body 1 comprises a housing cover 47, which is connectable to the upper portion of the cavity housing 46. When the housing cover 47 is connected to the cavity housing 46, a hollow cavity is formed, in which the driving device 10 (i.e. the first power source 102 and the first action execution mechanism 103) is located. The housing cover 47 not only provides effective protection for the driving device 10, preventing foreign matter from entering the driving device 10 and affecting the normal operation of the driving device 10. In addition, the bottom surface of the housing cover 47 is provided with a matching groove 471, and the top end of the second baffle 26 is in contact with the matching groove 461. During the sliding process of the sliding plate, the top end of the second baffle 26 can slide in the matching groove 461. The housing cover 47 can limit the second baffle 26, effectively preventing the sliding plate 20 from moving upward or protruding.

[0145] In the embodiment, the mop-washing assembly 4 is retractable relative to the body 1, and the mop-washing assembly 4 can have a first limit position in a retracted state and a second limit position in an extended state. In addition, the mop-washing assembly 4 can be parked at the first limit position and the second limit position, and work at any position between the first limit position and the second limit position to adapt to various working scenarios. The main board 2 of the cleaning robot can determine a target position of the mop-washing assembly 4 relative to the body based on information detected by the sensing system 640, and then control the driving device to drive the mop-washing assembly to move to the target position. The main board 2 can realize the parking work of the mop-washing assembly 4 at any position by controlling the driving device 10.

[0146] In order to further improve the control accuracy, a plurality of detection units are added in the embodiment to detect the position information of the mop-washing assembly 4 relative to the body 1, so as to facilitate the main board assembly of the cleaning robot to make corresponding control. Figure 13 As shown in the example, a plurality of detection units can be arranged on the cavity housing 46. The plurality of detection units can be arranged at a plurality of positions within the stroke range of the mop-washing assembly 4, such as the first limit position in the retracted state, the second limit position in the extended state, and at least one intermediate position between the first limit position and the second limit position. The detection units can include but are not limited to photoelectric switches, micro switches, Hall elements, etc. The plurality of detection units can include a first detection unit and a second detection unit, the first detection unit can be located at the first limit position of the mop-washing assembly 4 in the retracted state, and the second detection unit can be located at the second limit position of the mop-washing assembly 4 in the extended state. Taking the photoelectric switch as an example, as shown in Figure 13The cavity 46 is provided with a first photoelectric switch 281 and a second photoelectric switch 282. The two photoelectric switches are respectively arranged at different positions of the cavity 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are respectively arranged at the first limit position of the mop assembly 4 in the retracted state and the first limit position of the mop assembly 4 in the extended state. The first photoelectric switch 281 and the second photoelectric switch 282 can be arranged at the same side of the first action executing mechanism 103 or at different sides. Of course, at least one photoelectric switch for detecting the intermediate position can be arranged between the first photoelectric switch 281 and the second photoelectric switch 282.

[0147] Correspondingly, the first action executing mechanism 103 can be provided with a triggering structure. When the first photoelectric switch 281 and the second photoelectric switch 282 are arranged at the same side of the first action executing mechanism 103, only one triggering structure is needed. If the first photoelectric switch 281 and the second photoelectric switch 282 are respectively arranged at the two sides of the first action executing mechanism 103, two triggering structures, i.e., a first triggering structure 291 and a second triggering structure 292, are needed, as shown in FIG. 14. More specifically, the first triggering structure 291 and the second triggering structure 292 can be arranged on the sliding plate in the first action executing mechanism 103. When the mop assembly 4 is at the first limit position in the retracted state, the first triggering structure 291 triggers the first photoelectric switch 281. When the mop assembly 4 is moved to the second limit position in the extended state along the arrow X direction, the second triggering structure 292 can trigger the second photoelectric switch 282, which indicates that the mop assembly 4 is extended to the farthest distance. Figure 23

[0148] Although the second triggering structure 292 and the second photoelectric switch 282 can detect whether the mop assembly 4 reaches the second limit position in the extended state, the mainboard assembly can control the first power source 102 to stop working based on the triggering signal of the second photoelectric switch 282, so that the mop assembly 4 is stopped at the second limit position. However, in order to improve safety, the cavity 46 can be further provided with a limiting structure. When the sliding plate 20 slides to the second limit position, the first action executing mechanism 103 abuts against the limiting structure (more specifically, the sliding plate of the first action executing mechanism 103 abuts against the limiting structure).

[0149] As mentioned above, the mop assembly 4 has multiple gears when it is extended outwardly. In different gears, the position of the mop assembly 4 relative to the machine body is different. Of course, it can also be said that in different gears, the distance of the mop assembly 4 extended outwardly is different. Referring to FIGS. 13 and 14, the mop assembly 4 has three gears, i.e., a first gear, a second gear and a third gear. Figure 13 Figure 14 Figure 21 ​​​In order to realize accurate gear adjustment, the scheme provided in the embodiment can further include a fourth detection unit and a fourth triggering structure. The fourth detection unit can be a fourth photoelectric switch, a fourth micro switch or a fourth Hall element. Taking the fourth detection unit as a fourth photoelectric switch and the fourth triggering structure as a grating structure as examples. The fourth photoelectric switch 284 is further arranged on the cavity shell 46, and the grating structure 294 is arranged on the first action executing mechanism 103, and the length of the grating structure 294 is equal to or less than the maximum stroke of the mop-washing assembly 4. When the gear adjustment is performed, the fourth photoelectric switch 284 can accurately detect the counting scale on the grating structure 294, so as to determine the gear of the mop-washing assembly 4 extending outwards.

[0150] The implementation process of the driving device 10 will be described in detail in combination with a use scenario.

[0151] Scenario one: the mop-washing assembly of the cleaning robot extends out when the cleaning robot performs a cleaning task, and the mop-washing assembly retracts in special situations such as encountering an obstacle

[0152] The cleaning robot stops at the base station to replenish (charge and / or add clean water), discharge (such as discharging garbage in the dust box and / or sewage in the sewage tank), self-clean (clean the cleaning roller), and the like when the cleaning robot does not perform a task. The user can start the cleaning robot to perform a cleaning task by touching the controls on the base station, or operating the interactive device on the base station, or through the APP of the intelligent device, or the controls on the cleaning robot, and the like. When the cleaning robot is in the base station, the mop-washing assembly is in the retracted state. When the cleaning robot drives out of the base station, the mainboard assembly of the cleaning robot controls the driving device 10 to drive the mop-washing assembly to extend to a set position. The set position can be the second limit position of the extended state mentioned above, or a position between the first limit position of the retracted state and the second position of the extended state, and the embodiment does not make a specific limitation thereon. Then, the cleaning robot keeps the posture that the mop-washing assembly extends out at the set position, and traverses the to-be-cleaned area to clean the to-be-cleaned area.

[0153] When the cleaning robot detects an obstacle through the sensing system during the cleaning process, the mainboard assembly controls the driving device 10 to drive the mop-washing assembly to retract by a certain distance. Here, the certain distance retracted can be calculated by the mainboard assembly based on the information of the obstacle sensed by the sensing system, or the distance from the current extended state to the first limit position. After passing the obstacle, the mainboard assembly controls the driving device to drive the mop-washing assembly to extend out to continue performing the cleaning task.

[0154] It needs to be supplemented here that the special situations can include but are not limited to the user instructing the mop-washing assembly to retract, passing through a narrow channel, and the like.

[0155] Scenario two, the mop-washing assembly is in the retracted state when the cleaning robot performs a cleaning task, and needs to clean along the edge

[0156] The cleaning robot plans a cleaning path according to a map of the current area to be cleaned, assuming that the cleaning path is to clean the open area first, and then clean along the edge. For example, cleaning along the wall edge, cabinet edge, etc. The mop-washing assembly of the cleaning robot is in the retracted state (such as the first limit position), and the open area is cleaned according to the arch-shaped travel path. After the open area is cleaned, the mainboard 2 of the cleaning robot controls the driving device to control the mop-washing assembly to extend (it can extend to a set length, or it can extend to the second limit position), and clean along the edge according to the planned edge cleaning path. After the edge cleaning is completed, the cleaning robot retracts the mop-washing assembly (such as the first limit position) to go to the next area to be cleaned, or returns to the base station for replenishment, sewage discharge, or self-cleaning, etc.

[0157] Referring to Figure 16 As shown, the mop-washing assembly 4 is floatingly connected to the first action execution mechanism 103. For example, assuming Figure 16 In the state shown, the mop-washing assembly 4 is in contact with the ground. Because the mop-washing assembly 4 is floatingly arranged, it can float up and down according to the changes in the ground when the mop-washing assembly travels on uneven ground. The first action execution mechanism 103 is connected to the mop-washing assembly 4 through a connecting assembly 24. As shown, Figure 16 The connecting assembly 24 can include a connecting column 241 and a sliding block 242. The mop-washing assembly 4 is provided with the connecting column 241 above the mop-washing support 43. The first action execution mechanism 103 includes the sliding block 242 as shown. Figure 18 The sliding block 242 is provided with a mounting hole, and a screw passes through the mounting hole into the hole of the connecting column 241 to connect the sliding block 242 with the connecting column 241. In Figure 16 In the state shown, the upper part of the mop-washing assembly 4 has a gap with the cavity shell 46, which provides space for the mop-washing assembly 4 to float up and down.

[0158] In the above, only the driving device 10 can drive the mop-washing assembly 4 to move in the width direction of the body 1, and in fact, the technical solution provided in this embodiment not only allows the mop-washing assembly 4 to move in the width direction of the body, but also allows it to rise and fall. The mop-washing assembly can move in the width direction of the body and rise and fall, which can be driven by two driving devices respectively, or can be driven by only one driving device. That is, the driving device 10 can not only drive the mop-washing assembly 4 to move in the width direction of the body 1 in the accommodating cavity 101, but also can rise and fall.

[0159] The mop assembly 4 is floatingly connected to the cavity shell 46, and within a certain range, the mop assembly 4 can move up and down in the vertical direction in the accommodating cavity 101. The mop assembly 4 is pressed to the ground by its own gravity, and when the cleaning roller on the mop assembly 4 encounters uneven ground or protruding obstacles, the mop assembly 4 can move up and down relative to the body 1 of the cleaning robot according to the ground. Regardless of whether the ground is flat, the mop assembly 4 is always pressed to the ground by its own gravity, and the force acting on the ground is relatively small and stable, thereby effectively avoiding the sudden increase of the force acting on the ground due to the uneven ground. For some soft wood floors, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0160] It can be considered that the mop assembly 4 is floating relative to the cavity shell 46 at any position in the width direction of the body 1. The floating of the mop assembly 4 relative to the cavity shell is the floating of the mop assembly 4 relative to the body.

[0161] Referring to Figures 13 to 22 , the driving device 10 can move in multiple directions to drive the mop assembly 4 to lift, lower, extend and retract relative to the 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, the mop assembly 4 can be driven to move in the X1 direction relative to the body 1 to extend outward, and the mop assembly 4 can also be driven to move in the Z2 direction relative to the body 1 to lift. Figure 16 When the first power source 102 outputs power in a second direction, the mop assembly 4 can be driven to move in the X2 direction relative to the body 1 to retract, and the mop assembly 4 can also be driven to move in the Z1 direction relative to the body 1 to lower. The first direction and the second direction are different directions. For example, one of the first direction and the second direction can be the clockwise direction, and the other can be the counterclockwise direction. Figure 16 Figure 16 The above can also be understood as follows: the first action execution mechanism 103 moves in the X1 direction to drive the mop assembly 4 to extend; and the first action execution mechanism 103 moves in the X2 direction to drive the mop assembly 4 to retract. When the mop assembly 4 is located at the first limit position and the second limit position, if the mop assembly 4 is located at the low position, the action execution mechanism 103 moves in the X2 direction to drive the mop assembly 4 to lift; and if the mop assembly 4 is located at the high position, the action execution mechanism 103 moves in the X1 direction to drive the mop assembly 4 to lower. Figure 16 It should be noted that

[0162] , the first power source 102 can output power in the first direction and the second direction alternately, and the first action execution mechanism 103 can move in the X1 direction and the X2 direction alternately. Figure 16 Figure 16 The first power source 102 can output power in the first direction and the second direction alternately, and the first action execution mechanism 103 can move in the X1 direction and the X2 direction alternately.

[0163] It should be noted that Figure 16 ​​The middle arrows X1 and X2 directions can be considered as the length direction of the mop washing assembly, or the width direction of the machine body 1. Figure 16 The middle arrows Z1 and Z2 directions can be considered as the height direction of the mop washing assembly, or the height direction of the machine body 1.

[0164] Figure 6 The schematic view of the mop washing assembly 4 in the first limit position of the retracted state and in the lowered state. Figure 11 The schematic view of the mop washing assembly 4 in the first limit position of the retracted state and in the lifted state. Figure 12 The schematic view of the mop washing assembly 4 in the second limit position of the extended state and in the lowered state. The driving device 10 provided by the present application is described in more details below through more embodiments.

[0165] During the lifting or lowering of the mop washing assembly 4, the dirt removing mechanism 44 and the liquid supplying mechanism 45 can be lifted or lowered simultaneously with the cleaning roller 42 and the roller motor 41. Of course, the dirt removing mechanism 44 and the liquid supplying mechanism 45 can also be kept at a fixed position, and the cleaning roller is in the lowered state, then the dirt removing mechanism 44 and the liquid supplying mechanism 45 are in contact with the cleaning roller. The cleaning roller is in the lifted state, then the dirt removing mechanism 44 and the liquid supplying mechanism 45 are not in contact with the cleaning roller. For the extension or retraction of the mop washing assembly 4, in order to ensure that the cleaning roller maintains a certain degree of cleanliness to maintain the self-cleaning ability, the dirt removing mechanism 44 and the liquid supplying mechanism 45 will be extended or retracted simultaneously with the mop washing assembly 4. In addition, in order to adapt to different cleaning environments, the mop washing assembly 4 also has multiple gears when it is extended outward, and the distance of the mop washing assembly 4 extending outward relative to the machine body 1 is different at different gears.

[0166] In combination with Figure 14 and Figure 15 , the sliding plate includes a main body part 21 and at least one lifting part 22, the first rack 14 is arranged on the main body part 21, and the lifting part 22 is arranged at the end of the main body part 21. When the sliding plate has two lifting parts 22, the two lifting parts 22 are arranged at the two ends of the main body part 21 respectively. Specifically, the lifting part 22 has an inclined slope, and the slope extends upwardly from the surface of the main body part 21, as shown in Figure 15 In addition, the lifting part 22 has a through hole 23 at the middle position, and the connecting column 241 on the mop washing assembly 4 can extend from below the sliding plate to above the sliding plate through the through hole 23, and the connecting column 241 can be in contact with the sliding plate. The first power source 102 outputs rotating power, and when the sliding plate in the action execution mechanism 103 slides, the force can be applied to the connecting column 241, so as to drive the mop washing assembly 4 to realize the actions of lifting, lowering, extending and retracting, etc.

[0167] Referring to Figure 13 and Figure 16For example, the connecting assembly 24 is composed of a connecting column 241 and a sliding block 242. The connecting column 241 is connected to the mop assembly 4 at one end and extends through the through hole 23 from the lower side of the sliding plate to the upper side of the sliding plate at the other end. The sliding block 242 is detachably connected to the connecting column 241 by a fastener such as a screw rod. The sliding block 242 is in contact with the sliding plate, and the size of the sliding block 242 is greater than the size of the through hole 23, so as to effectively prevent the connecting assembly 24 from being separated from the sliding plate. The detachable connection of the sliding plate to the connecting column 241 facilitates the installation of the mop assembly 4.

[0168] Referring to Figures 13 to 15 , each lifting part 22 is correspondingly 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 sliding block 242. As shown in Figure 13 , when the sliding plate slides in the direction of the arrow X from the first limit position in the retracted state, the first baffle 25 will be in contact with the side wall of the sliding block 242, and the sliding plate can push the sliding block 242 to slide in the direction of the arrow X, thereby driving the mop assembly 4 to extend outward. Figure 19 Further, referring to Figure 19 , the side of the first baffle 25 in contact with the sliding block 242 is provided with a gap groove 251, and the cross-sectional shape of the first baffle 25 is "L" shape. The gap groove 251 can be used to store lubricating grease to improve the smoothness of the up-and-down floating action of the connecting column 241.

[0169] As shown in Figure 16 , when the sliding plate slides in the direction of the arrow X2 from the first limit position in the retracted state, one side of the mop assembly 4 in the retracted state is in contact with the side wall shell 411 of the cavity shell 46, which limits the further movement of the mop assembly 4 relative to the cavity shell 46 in the direction of the arrow X2. However, under the drive of the first power source 102, the sliding plate will continue to move relative to the cavity shell 46 in the direction of the arrow X2, and the side wall of the other side of the sliding block 242 will be in contact with the inclined surface of the lifting part 22, and with the movement of the sliding plate 20, the sliding block 242 will climb along the inclined surface, thereby driving the mop assembly 4 to lift upward. Referring to Figure 15 , in order to avoid the sliding block 242 climbing over the inclined surface, there is a second baffle 26 at the top of the inclined surface; when the sliding block 242 climbs to the top of the inclined surface, the sliding block 242 will be in contact with the second baffle 26, and the mop assembly 4 is also at the highest position of the lifting. Further, at this time, if the sliding plate 20 slides in the opposite direction of the arrow X2, the sliding block 242 can slide down along the inclined surface, and at this time the mop assembly 4 is in a descending state, and the sliding block 242 slides down to the lowest point of the lifting part 22, and the mop assembly 4 also descends to the low position.

[0170] Further, in some cases, the mop assembly 4 also needs to be kept in the lifted state for a long time, in order to facilitate the hovering of the sliding block 242 at the top end of the lifting part 22, a horizontal hovering surface 220 is arranged at the top end of the lifting part 22, as shown in Figure 23The slider 242 can be stably rested on the hovering surface 220 when it climbs to the top end of the lifting portion 22 along the slope, so that the mop assembly 4 is kept in the lifted state.

[0171] In an embodiment provided in the present application, as shown in Figure 15 and 17 , the slope of the lifting portion 22 comprises a first slope surface 221 and a second slope surface 222, the inclination angle of the first slope surface 221 is greater than that of the second slope surface 222. When the slider 242 climbs along the slope of the lifting portion 22, it first climbs the first slope surface 221 with the greater inclination angle, and then climbs the second slope surface 222, which is beneficial to the quick lifting of the mop assembly 4.

[0172] Further, in order to avoid too large sliding resistance of the slider 242 on the slope, as shown in Figure 17 , the side of the slider 242 abutting against the slope of the lifting portion 22 is provided with a cylindrical sliding member 2421, of course, the cylindrical sliding member 2421 can also roll when it slides on the slope. For example, as shown in Figure 18 , the side of the slider 242 abutting against the slope of the lifting portion 22 is provided with a circular arc structure 2422. That is, the part of the slider 242 contacting the lifting portion 22 is the circular arc structure 2422.

[0173] The slider 242 can have various states when the sliding plate slides from the second limit position of the extended state of the mop assembly 4 to the first limit position of the retracted state. For example, the mop assembly 4 has small retraction resistance, and the slider 242 cannot climb the slope with enough force as the sliding plate slides, at this time, the slider 242 abuts against the bottom of the slope, and then the sliding plate 20 pushes the mop assembly 4 to slowly retract. It can be understood that in this state, the mop assembly 4 does not have lifting action when it retracts, and the mop assembly 4 is always in contact with the ground when it retracts. For another example, the mop assembly 4 has large retraction resistance, and the slider 242 can climb the slope as the sliding plate 20 slides. At this time, the mop assembly 4 is lifted upward, and at the same time, the action of retraction is completed as the sliding plate 20 slides. It can be understood that in this state, the mop assembly 4 is lifted first when it retracts, and then retracts to the first limit position along the sliding plate 20.

[0174] For example, as shown in Figure 22In one embodiment provided in this application, a first connecting end 211 is provided on the sliding plate, and a second connecting end 2423 is provided on the slider 242. The first connecting end 211 and the second connecting end 2423 can be used to install an elastic element. Specifically, one end of the elastic element is connected to the first connecting end 211, and the other end of the elastic element is connected to the second connecting end 2423. When the slider 242 climbs upward along the inclined surface of the lifting part 22, the elastic element will be stretched. The elastic force of the elastic element can be used to assist the slider 242 in descending from the top of the lifting part 22. In addition, during the retraction of the mopping assembly 4, the pulling force provided by the elastic element can also keep the slider 242 in contact with the first baffle 25, thereby preventing the slider 242 from climbing up the inclined surface, and ultimately preventing the mopping assembly 4 from easily lifting when it retracts.

[0175] Furthermore, such as Figure 13 As shown, in the solution provided in this embodiment, the detection unit provided on the cavity shell 46 may further include at least one detection unit for detecting the lifting and lowering state of the mopping assembly. For example, Figure 13 In the example shown, the cavity shell 46 is provided with a third detection unit, such as a third photoelectric switch 283; the sliding plate of the first action actuator 103 is provided with a third trigger structure 293. After the mopping assembly 4 is raised, the third trigger structure 293 triggers the third photoelectric switch 283, and the main board 2 can then know that the mopping assembly has been raised, and can control the power source, liquid supply mechanism and cleaning mechanism to stop working.

[0176] The first power source 102 drives the first gear 13 to rotate in the forward direction (e.g., clockwise or counterclockwise), and the sliding plate moves to the right. During this movement, the sliding plate contacts the connecting component 24 on the mopping assembly 4, and drives the mopping assembly 4 to extend outward through the connecting component 24. When the second photoelectric switch 282 is triggered, the first power source 102 stops rotating. At this time, the mopping assembly is in a fully extended state, allowing for edge cleaning of objects. After the mopping assembly 4 completes edge cleaning, the power source drives the first gear 13 to rotate in the reverse direction, and the sliding plate moves to the left, driving the mopping assembly 4 to retract into the receiving cavity 101 during the movement. When the first photoelectric switch 281, located at the initial position (i.e., the first extreme position), is triggered, the first power source 102 stops rotating, and the mopping assembly 4 is in a fully retracted state. Next, the cleaning robot needs to clean the carpet. To avoid secondary pollution, the mopping assembly needs to switch to the raised state. Subsequently, the first power source 102 rotates in the reverse direction, and the sliding plate moves to the left. The lifting section 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. At this time, the mopping assembly 4 switches to the raised state, and then the carpet can 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.

[0177] In the technical solutions provided in the present application, the driving device 10 is simple in structure, and only one power source is needed to drive the mop-washing assembly 4 to realize the four actions of extension, retraction, lifting and lowering, thereby meeting the use of the mop-washing assembly 4 under various working conditions, and the power source has low performance requirement, simple control logic and lower production cost.

[0178] In the above-mentioned embodiment, the lifting process of the mop-washing assembly 4 is that the sliding plate slides, and then the lifting part 22 on the sliding plate drives the sliding block 242 on the mop-washing assembly 4 to move upward, so that the mop-washing assembly 4 is lifted upward, and the lifting process of the mop-washing assembly 4 can be understood as that the mop-washing assembly 4 is pulled up as a whole.

[0179] After the mop-washing assembly 4 is lifted, the cleaning roller 42 can be stopped, and the liquid supply mechanism 45 and the dirt removal mechanism 44 can not work.

[0180] The cleaning robot can lift the mop-washing assembly 4 in the following cases, for example:

[0181] The cleaning robot travels on a carpet to lift the mop-washing assembly 4;

[0182] The mop-washing assembly 4 can be lifted when it is needed to cross an obstacle;

[0183] The user instructs to lift the mop-washing assembly 4;

[0184] The mop-washing assembly 4 is lifted when the cleaning robot works in a sweeping mode; and the like.

[0185] In another embodiment provided in the present application, the lifting process of the mop-washing assembly 4 can also be that one end of the mop-washing assembly 4 rotates around an axis, so that the cleaning roller 42 at the other end of the mop-washing assembly 4 is lifted relative to the ground. Referring to Figure 24 The figure shows a structure diagram of the mop-washing assembly 4 relative to the ground. Figure 24 In the above-mentioned embodiment, the mop-washing assembly 4 includes the cleaning roller 42 and the mop-washing support 43, and the mop-washing support 43 is slidably connected to the rotating support 31. The rotating support 31 is rotatably connected to the base through the rotating shaft 4131, and the base can also be considered as the cavity shell 46 or the body 1 of the cleaning robot. The connecting assembly 24 is arranged on the mop-washing support 43, passes through the rotating support 31 through the avoiding slot on the rotating support 31, and extends to the outside of the rotating support 31. The sliding plate 20 is further arranged on the base, and the sliding plate 20 is slidable relative to the base. The sliding plate 20 has the lifting part 22. The sliding plate 20 can slide to the left or to the right relative to the base, so as to drive the mop-washing assembly 4 to be lifted or extended outward, respectively. Specifically, when the sliding plate 20 moves to the right relative to the base from the initial position, the connecting assembly 24 is in contact with 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, as shown in Figure 32In the direction of the middle arrow X, the mopping assembly 4 will extend to the right relative to the rotating bracket 31, which can be considered as the mopping assembly 4 switching from the retracted state to the extended state. When the sliding plate 20 moves to the left relative to the base from the initial position, the connecting assembly 24 contacts the inclined surface of the lifting part 22, and as the sliding plate 20 moves to the left, the connecting assembly 24 climbs up the inclined surface of the lifting part 22. The connecting part will simultaneously drive the rotating bracket 31 and the mopping assembly 4 around the rotation axis 4131. Figure 32 The mopping assembly 4 rotates upwards and lifts in the direction of arrow a. When the mopping assembly 4 needs to be reset to its initial position, simply reset the sliding plate 20 in the opposite direction to the initial position, and the mopping assembly 4 can be reset from the raised or extended state to the initial state. The initial state can be: the mopping assembly is in the retracted state and in a low position.

[0186] Based on the above-described lifting and telescopic principle of the mopping component 4, the following will describe in detail another driving device 10 provided in this application with reference to specific embodiments.

[0187] See Figure 24 , Figure 25 and Figure 26 In one embodiment of this application, a driving device 10 is provided, which includes a first power source 102 and a first actuation mechanism 103. The first actuation mechanism 103 is disposed on a cavity shell 46 and is movably connected to the cavity shell 46. The mopping assembly 4 is buoyantly connected to the first actuation mechanism 103 through a connecting assembly 24. When the first power source 102 drives the first actuation mechanism 103 to move in different directions, the first actuation mechanism 103 can drive the mopping assembly 4 to perform actions such as lifting, lowering, extending, or retracting through the connecting assembly 24.

[0188] In one specific embodiment, see Figure 25 and Figure 26 The first actuator 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... Figure 25 The movement is directed in the directions of arrows X1 and X2. The cavity shell 46 is fixedly connected to the body 1, and the cavity shell 46 has a receiving cavity 101, in which the mopping assembly 4 and the rotating bracket 31 are located. The mopping bracket 43 is rotatably connected to the cavity shell 46 or the body 1 via a rotating shaft 4131.

[0189] See Figure 27a to 27cThe diagrams above show the mopping assembly 4 in its initial state from different perspectives. The initial state refers to the mopping assembly 4 being in its retracted state (e.g., the first extreme position of the retracted state) with the cleaning roller 42 in contact with the ground. Referring to diagrams 28a to 28c, the diagrams above show the mopping assembly 4 in its raised state from different perspectives. In the retracted state (e.g., the first position of the retracted state), the distance between the lowest point of the cleaning roller 42 of the mopping assembly 4 and the ground in the raised state is H1. Referring to diagrams 29a to 29c, the diagrams above show the mopping assembly 4 in its extended state (e.g., the second extreme position of the extended state). In the extended state, the distance by which the outermost edge of the mopping assembly 4 extends relative to the body 1 is H2.

[0190] When the mopping assembly 4 needs to extend, the first power source 102 drives the sliding plate 20 from its initial position along... Figure 25 When the sliding plate 20 moves in the direction of arrow X1, the rotating bracket 31 remains stationary. The connecting component 24, which is in contact with the sliding plate 20, drives the roller bracket 421 to extend outward relative to the rotating bracket 31 in the direction of arrow X1. When the sliding plate 20 moves to its limit position in the X1 direction, the roller bracket 421 will extend outward to its maximum distance (e.g., ...). Figure 29b (As shown). When the mopping assembly 4 needs to retract, the first power source 102 drives the sliding plate 20 along... Figure 25 Move in the direction of the middle arrow X2, and when it moves to the initial position, the roller support 421 retracts.

[0191] The mopping bracket 43 may include a roller bracket 421.

[0192] See Figures 25 to 28c When the mopping assembly 4 needs to be lifted, the first power source 102 drives the sliding plate 20 from its initial position along... Figure 25 When the sliding plate 20 moves in the direction of arrow X2, the rotating bracket 31 will rotate and swing upward around the rotating shaft 4131 under the drive of the sliding plate 20. The mopping bracket 43 and the rotating bracket 31 remain in the same position, and the mopping bracket 43 will rotate and swing upward together with the rotating bracket 31, thereby realizing the rotation and lifting of the mopping assembly 4. When the sliding plate 20 moves to the limit position in the X2 direction, the height of the mopping assembly 4 is the greatest, and the height of the lowest point of the cleaning roller 42 from the ground is also the greatest (e.g., Figure 28c (As shown). When the mopping assembly 4 needs to be lowered, the first power source 102 drives the sliding plate 20 along... Figure 25 Move in the direction of the middle arrow X1. When it reaches the initial position, the mopping bracket 43 completes its descent and returns to its initial state (e.g., ...). Figure 27a (As shown).

[0193] See Figure 25 and Figure 26In an embodiment, the first power source 102 and the first action execution mechanism 103 (e.g., the sliding plate 20) can be arranged inside the accommodating cavity 101, or arranged outside the accommodating cavity 101, or one arranged inside the accommodating cavity 101 and the other arranged outside the accommodating cavity 101.

[0194] In the following, the first power source 102 is arranged outside the accommodating cavity 101 and the sliding plate 20 is arranged inside the accommodating cavity 101. It should be noted that the action execution mechanism in the above embodiments includes but is not limited to a screw rod motor device, a push rod motor device, a linear motor device, a hydraulic device, a cylinder piston device, a gear and rack device, etc.

[0195] In a specific embodiment, referring to Figure 25 and Figure 26 , taking the screw rod motor device as an example, the screw rod motor device includes a second motor 12, a screw rod 17, and a nut block 18. The screw rod 17 is connected with the output end of the second motor 12, and the second motor 12 can drive the screw rod 17 to rotate when the second motor 12 rotates. The nut block 18 is connected with the screw rod 17 in a matching manner, and the nut block 18 can slide transversely along the axial direction of the screw rod 17 when the screw rod 17 rotates.

[0196] As shown in Figure 25 , the screw rod 17 is arranged along the length direction of the mopping assembly 4 (e.g., the direction of the arrows X1 and X2 in Figure 25 ). When the second motor 12 outputs power in one direction, the screw rod 17 can drive the nut block 18 to move to the left (in the direction of the arrow X2 in Figure 25 ). When the second motor 12 outputs power in the other direction, the screw rod 17 can drive the nut block 18 to slide to the right (in the direction of the arrow X1 in Figure 25 ). The second motor 12 can output clockwise power and counterclockwise power, one of the power in the above two directions can be clockwise power and the other can be counterclockwise power.

[0197] Further, referring to Figure 25 and Figure 31 , in an embodiment, the sliding plate 20 is provided with a driving portion 214, the driving portion 214 extends outwardly from the plate surface of the sliding plate 20, and the end portion of the driving portion 214 has a recess structure matched with the screw rod 17. The cavity shell 46 is further provided with a movable aperture 415, and the driving portion 214 on the sliding plate 20 can pass through the movable aperture 415 and be connected with the nut block 18. When the second motor 12 drives the screw rod 17 to rotate, the moving nut block 18 can drive the driving portion 214 to move together. In order to avoid the driving portion 214 interfering with the cavity shell 46 during the movement, the length of the movable aperture 415 is greater than or equal to the maximum distance that the mopping assembly 4 can extend.

[0198] Referring toFigure 25 and Figure 26 The cavity shell 46 is arranged on the machine body 1, which can be fixedly connected to the machine body 1, or the cavity shell 46 and the machine body 1 are integrated. The rotating support 31 is rotatably connected to the machine body 1 or the cavity shell 46 through the rotating shaft 4131. The rotating support 31 is provided with a track groove 32. The mop support 43 is provided with a sliding part 33, which is matched and connected in the track groove 32. The mop support 43 has an open downward mounting cavity, and the cleaning roller 42 is arranged in the mounting cavity. The mop support 43 is provided with a plurality of sliding parts 33 on the top, which can be matched and connected in the sliding groove. Specifically, the sliding part 33 is a sliding block, and the top of the mop support 43 is provided with a ridge rib. A plurality of sliding blocks are symmetrically distributed on both sides of the ridge rib, and the plurality of sliding blocks can be clamped in the track groove 32, so that the mop support 43 is suspended and installed below the rotating support 31.

[0199] Referring to Figure 26 , Figure 30 and Figure 32 In a specific embodiment, the top surface of the inner side of the rotating support 31 is provided with a track groove 32, and the track groove 32 has a downward opening. The sliding part 33 can be connected in the track groove 32 through the opening. The outer wall surface of the rear side of the rotating support 31 is further provided with at least one rotating connecting arm 311, which is connected to the cavity shell 46 or the machine body 1 through the rotating shaft 4131.

[0200] Referring to Figure 26 and Figure 30 The mop support 43 is provided with at least one connecting assembly 24. Specifically, the connecting assembly 24 is a connecting rod 243, which is arranged on the front side wall of the mop support 43. Taking the front side wall of the mop support 43 as an example, two connecting rods 243 are arranged on the front side wall. In the direction of the arrow M, the connecting rod 243 extends forward and is connected to the sliding plate 20. In the process of sliding, the sliding plate 20 can drive the mop support 43 to move through the connecting rod 243, so as to realize the extension and retraction of the entire mop assembly 4. Figure 26

[0201] The driving device provided by the embodiment of the application can not only drive the mop assembly 4 to extend and retract relative to the machine body, but also drive the mop assembly 4 to ascend and descend relative to the machine body. Specifically, referring to Figure 26 and Figure 31 The sliding plate 20 has at least one hollow structure to form a lifting part 22 on the sliding plate 20. The lifting part 22 has an inclined slope, and a limiting part 212 is arranged on the top of the inclined slope and arranged in the horizontal direction. The sliding plate 20 further includes a connecting buckle 213, which is used to connect the cavity shell 46. Specifically, referring to Figure 33 ​The cavity shell 46 has a clamping slot 414 passing therethrough, the length of the clamping slot 414 being equal to or greater than the maximum distance that the mop assembly 4 can extend. The connecting buckle 213 on the sliding plate 20 can be fitted and connected in the clamping slot 414, and when the power source drives the sliding plate 20 to slide, the connecting buckle 213 will slide in the clamping slot 414.

[0202] Further, referring to Figure 33 In an embodiment provided in the present application, the cavity shell 46 is further provided with a guide slot 416, which includes a first slot 4161, a second slot 4162 and a third slot 4163. Among them, the second slot 4162 is arranged in the same direction as the length direction of the cavity shell 46 (such as the direction of the arrow X in the figure), and the first slot 4161 and the third slot 4163 are respectively located at both ends of the second slot 4162 and are in communication with the second slot 4162. The first slot 4161 and the third slot 4163 respectively extend in the vertical direction, which can be understood as the first slot 4161 and the third slot 4163 being perpendicular to the second slot 4162. Figure 33

[0203] When the sliding plate 20 drives the connecting rod 243 to move, one end of the connecting rod 243 slides in the guide slot 416. The sliding slot not only can guide the sliding of the connecting rod 243, but also can make the mop assembly 4 and the cavity shell 46 be floatingly connected in multiple directions. Referring to Figure 27b , when the mop assembly 4 is in the initial state (such as 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 slot 4162, and also at the bottom end of the first slot 4161. With the power source driving the sliding plate 20 to move to the left, since the connecting rod 243 cannot continue to move to the left, 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 slot 4161, and finally move to the top end of the first slot 4161 (as shown in the figure), at this time the mop assembly 4 is in the lifted 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 the leftmost end to the rightmost end along the second slot 4162, as shown in the figure, the connecting rod 243 is also located at the bottom end of the third slot 4163. At this time, the mop assembly 4 is in the extended state, and the distance that the mop assembly 4 extends outward relative to the cavity shell 46 is H2. Usually, the length of the second slot 4162 is equal to the maximum distance that the mop assembly 4 can extend. Figure 28b Figure 29b

[0204] ​​​The arrangement of the first slot 4161 and the third slot 4163 also enables the mop-washing assembly 4 to be connected to the cavity shell 46 in a floating manner, so as to be self-adaptive to the ground. Specifically, if the mop-washing assembly 4 is used to clean the ground with uneven height, or encounters a raised obstacle. If the mop-washing assembly 4 is rigidly connected to the cavity shell 46, the distance between the mop-washing assembly 4 and the ground is always constant or changes little, and the mop-washing assembly 4 will be subjected to a very severe impact, and it cannot be adjusted in height to adapt to the change of the ground. In the technical solution of the present application, referring to Figure 27b , in the initial state, the connecting rod 243 is also located at the bottom end of the first slot 4161. At this time, if the mop-washing assembly 4 is subjected to an impact, the mop-washing assembly 4 will be floated upward under the action of the ground, so as to avoid excessive force between the mop-washing assembly 4 and the ground. In addition, when the mop-washing assembly 4 is in the extended state, the connecting rod 243 is located at the bottom end of the third slot 4163. Similarly, when the extended mop-washing assembly 4 is subjected to an impact from the ground, the connecting rod 243 will move upward along the third slot 4163 to realize floating upward relative to the ground, and the same effect can also be achieved to avoid excessive force between the mop-washing assembly 4 and the ground.

[0205] After the mop-washing assembly 4 is extended, it is easy to encounter obstacles during the movement of the cleaning robot. In order to avoid the mop-washing assembly 4 from being damaged by colliding with the obstacles, in an embodiment of the present application, the mop-washing assembly 4 can be automatically retracted into the accommodating cavity 101 after being subjected to an external force in the extended state. Specifically, a rebound device is arranged between the mop-washing support 43 and the rotating support 31. When the mop-washing assembly is in the initial state (such as the first limit position in the retracted state), the rebound device is in a compressed state. When the mop-washing assembly 4 is in the extended state, the rebound device is in an elongated state. When the extended mop-washing assembly 4 is retracted into the accommodating cavity 101 under the action of an external force, the rebound device will be compressed.

[0206] 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, referring to Figure 30 , the ridge rib of the mop-washing support 43 is provided with a cavity 34, and the spring can be arranged in the cavity 34. Referring to Figure 32 , the track groove 32 of the rotating support 31 is provided with an elastic element mounting seat 312. When the ridge rib is connected to the track groove 32 in cooperation, one end of the elastic element is sleeved on the elastic element mounting seat 312, and the other end of the elastic element is in contact with the mop-washing support 43.

[0207] As mentioned above, the power source is a lead screw motor device. If the drive part 214 on the sliding plate 20 is fixedly connected to the nut slider 18, then when the extended mopping assembly 4 is impacted, the lead screw 17 and the nut slider 18 have a self-locking function, so the nut slider 18 will restrict the movement of the drive part 214, and the sliding plate 20 will also be limited, so the mopping assembly 4 will not be able to retract automatically.

[0208] In the technical solution of this application, the nut slider 18 and the drive unit 214 are not fixedly connected. When the mopping assembly 4 is subjected to external force and automatically retracts, the drive unit 214 on the sliding plate 20 will separate from the nut slider 18, and the sliding plate 20 can freely move along... Figure 25 Move in the direction of the middle arrow X2. In one embodiment provided in this application, along the extension direction of the mopping component 4 ( Figure 25 (In the direction of the middle arrow X1), the drive unit 214 is located to the left of the nut slider 18, and the drive unit 214 is in contact with the nut slider 18. As mentioned above, a rebound device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping assembly 4 is in its initial state, the rebound device is in a compressed state, and the direction of the elastic force of the rebound device is... Figure 25 In the direction of arrow X1, the elastic force drives the mopping assembly 4 to extend outward. However, the nut slider 18 contacts the right side of the drive unit 214, and based on the self-locking effect of the screw motor device, the sliding plate 20 is restricted from moving automatically to the right. Only when the screw 17 rotates and the nut slider 18 moves to the right can the drive unit 214 move to the right with the nut slider 18. Simply put, the power for the mopping assembly 4 to extend outward is provided by the rebound device; the nut slider 18 restricts the sliding plate 20 from moving freely to the right. Only after 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 a low position (such as the state where the cleaning roller is in contact with the ground) to a raised state, the sliding plate 20 moves from right to left. The direction of movement of the sliding plate 20 is... Figure 25 The direction of the middle arrow X2 is the same. The movement of the sliding plate 20 to the right is provided by the lead screw motor device. Specifically, the second motor 12 outputs power in one direction, and the lead screw 17 drives the nut slider 18 to move in the direction of arrow X2. Since the driving part 214 of the sliding plate 20 is located to the left of the nut slider 18, the nut slider 18 can push the sliding plate 20 to the left during the movement. During this process, the spring-loaded device will be further compressed.

[0209] Further, in an embodiment provided in the present application, the mop assembly 4 has multiple gears in both the extended state and the lifted state. In different gears of the extended state, the mop assembly 4 extends to different distances relative to the cavity shell 46. In different gears of the lifted state, the mop assembly 4 is lifted to different distances relative to the ground. In order to realize that the mop assembly 4 can extend in different gears or the mop assembly 4 is lifted 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 rotations of the second motor 12 or the lead screw 17 in the forward direction or the reverse direction. The number of rotations of the second motor 12 or the lead screw 17 can be used to calculate the moving distance of the nut block 18 on the lead screw 17, so as to determine the different gears of the mop assembly 4 in the extended state and the lifted state.

[0210] For example, when the nut block 18 is in the first position, the second motor 12 or the lead screw 17 rotates in the forward direction for one hundred times, and then the nut block 18 moves to the first limit position. At this time, the mop assembly 4 extends to the maximum distance (i.e., the second limit position in the extended state). The one hundred times is divided into ten parts. From the first position, the second motor 12 or the lead screw 17 rotates in the forward direction for ten times, which indicates that the mop assembly 4 switches to a gear. Similarly, when the nut block 18 is in the first position, the second motor 12 or the lead screw 17 rotates in the reverse direction for twenty times, and then the nut block 18 moves to another limit position. At this time, the mop assembly 4 is lifted to the highest distance. Similarly, the twenty times is divided into five parts. From the first position, the second motor 12 or the lead screw 17 rotates in the reverse direction for four times, which indicates that the mop assembly 4 is lifted to a gear. During the adjustment of the lifting gears of the mop assembly 4, since the lead screw motor device has a self-locking function, when the motor 12 stops rotating, the self-locking force can limit the displacement of the sliding plate 20, and the connecting rod 243 can be stably stopped on the inclined surface of the lifting part 22, so as to ensure that the gears of the mop assembly 4 remain unchanged.

[0211] In another embodiment provided in the present application, during the gear adjustment, for example, as mentioned above, a plurality of detection units can be arranged on the cavity shell 46. Different detection units can detect whether the nut block 18 or the sliding plate 20 is in the first position, different limit positions, and different positions corresponding to different gears.

[0212] The action process of the mop assembly 4 will be described in detail in combination with a use scenario.

[0213] After the mop assembly 4 completes a partial cleaning task in the initial state (for example, in the first limit position in the retracted state, and the cleaning roller 42 is in contact with the ground), the mop assembly 4 needs to be switched to the extended state. Subsequently, the second motor 12 drives the lead screw 17 to rotate in the forward direction, and the nut block 18 on the lead screw 17 moves to the right (see FIG. 4B). When the nut block 18 reaches the second limit position, the mop assembly 4 is in the second limit position in the extended state. Figure 25The mop assembly 4 is in the extended state, and the cleaning robot keeps the mop assembly 4 in the extended state to perform the cleaning task.

[0214] When the mop assembly 4 completes the task to be performed in the extended state, the mainboard 2 controls the second motor 12 to drive the lead screw 17 to output reverse power, the nut block 18 moves to the left (see the view of the perspective view in FIG. 6B), and drives the sliding plate 20 to move to the left. During the movement of the sliding plate 20, the sliding plate 20 can drive the mop assembly 4 to retract into the accommodating cavity 101. Similarly, the mainboard 2 can calculate the moving position of the nut block 18 based on the number of rotations of the second motor 12 outputting the reverse power, and then determine the position of the mop assembly retracting. If it is determined that the mop assembly has reached the first limit position in the retracted state, the mainboard 2 controls the second motor 12 to stop working. Figure 25

[0215] Next, when the cleaning robot recognizes that the ground is paved with a carpet, in order to avoid secondary pollution, the mop assembly 4 needs to be switched to the lifted state. The mainboard 2 controls the second motor 12 to drive the lead screw 17 to rotate in a direction, and the nut block 18 moves to the left (see the view of the perspective view in FIG. 6C). At this time, the nut block 18 will drive the sliding plate 20 to move to the left together. With the movement of the sliding plate 20, the lifting part 22 on the sliding plate 20 gradually lifts the connecting rod 243, and the mop support 43 will rotate and lift around the rotating shaft 4131. After the mop assembly 4 is in the lifted state, it can enter the carpet area to clean the carpet. After the carpet is cleaned, it is driven out of the carpet area. If the cleaning robot still needs to continue to perform the cleaning task, the mainboard 2 can control the second motor 12 to drive the lead screw 17 to rotate in the other direction, the sliding plate 20 moves to the right (see the view of the perspective view in FIG. 6D), and the mop assembly descends. Figure 25 Figure 25

[0216] ​​​Compared with the cleaning robot provided with a mop or a mop disc, the cleaning robot provided with the mop-washing assembly has better cleaning effect and higher cleaning efficiency. During the cleaning process, the cleaning roller can be self-cleaned, the dirt removing mechanism 44 can scrape off the dirty water on the cleaning roller 42, the liquid supplying mechanism 45 can provide clean cleaning liquid for the cleaning roller 42, and then the cleaning roller 42 can mop and wash the ground. This cleaning method can not only bring better cleaning effect, but also has longer cleaning endurance. During a cleaning task, the cleaning robot does not need to return to the base station for self-cleaning and maintenance frequently.

[0217] During the cleaning process, the cleaning robot needs to face various cleaning environments. For example, ceramic tile ground, floor ground and carpet ground, etc. When cleaning the carpet ground, in order to avoid the wet cleaning roller from wetting the carpet, the cleaning roller needs to be lifted to avoid the contact between the cleaning roller and the carpet. In addition, for some corner areas (wall side, home edge, etc.), due to the influence of the shape and structure of the cleaning robot, the cleaning robot cannot realize edge cleaning. In the technical solution provided in the embodiment of the application, the mop-washing assembly 4 with the cleaning roller 42 can not only be lifted and lowered, but also be stretched out from one side of the cleaning robot when edge cleaning is needed, so that the mop-washing assembly 4 can realize edge cleaning while avoiding the collision between the body of the cleaning robot and the wall or the home.

[0218] In order to reduce the number of switching between the retracted state and the extended state, the mop-washing assembly 4 on the cleaning robot is preferentially used in the extended state for ground cleaning (i.e. normal extension or normal swing out) when the cleaning robot cleans a dirty ground. The mop-washing assembly 4 on the cleaning robot is retracted into the accommodating cavity 101 only when it avoids obstacles, and is switched to the extended state after completing obstacle avoidance in the retracted state. This working mode can not only reduce the number of switching between the retracted state and the extended state of the mop-washing assembly 4, but also reduce the total time of the cleaning task. Specifically, the mop-washing assembly 4 in the extended state can also complete the cleaning of the regular ground (non-corner ground). Since the home ground has not only a large area of wall corner area, but also a plurality of scattered corner areas of household objects. If the mop-washing assembly 4 on the cleaning robot is preferentially cleaned in the retracted state, it is necessary to switch between the retracted state and the extended state, and each time in the state switching process, a long time is needed for waiting or switching of the motion algorithm of the cleaning robot. This not only increases the total time of the cleaning robot to complete the cleaning, but also increases the calculation amount of the control calculation unit on the main board 2 for the motion algorithm. The working scene of the cleaning robot is very complex, in order to achieve a better overall cleaning effect, the cleaning robot needs to detect and judge in real time whether the mop-washing assembly 4 needs to be extended. The environment is complex, and the cleaning robot needs to judge many conditions, which cannot be exhausted, so the cleaning robot cannot control the mop-washing assembly 4 to extend in time when it needs to be extended every time.

[0219] Therefore, the scheme provided by the embodiment of the present application is that the cleaning robot does not determine whether it needs to perform edge cleaning, but directly uses the mode that the mop-washing assembly 4 is in the extended state to perform the cleaning task when the cleaning task is performed. This scheme removes the identification of complex edge conditions, and only retracts the mop-washing assembly 4 in a few simple scenes such as obstacle avoidance and turning, so that the control logic is simple, the design difficulty is not high, and it is easy to implement. In addition, referring to Figure 10b, the left drawing (G) shows that the mop-washing assembly 4 is in the first position (such as the first limit position in the retracted state), and the right drawing (H) shows that the mop-washing assembly 4 is in the second position (such as the second limit position in the extended state). When the cleaning robot works according to the cleaning path shown in FIG. 10, it can be seen that when the mop-washing assembly 4 is in the first position, the edge of the mop-washing assembly 4 in the width direction is L3 away from the edge of the widest part of the robot body 1. If the cleaning robot cleans according to the "arch" cleaning path shown in the drawing, there will be a shaded area in the path of the cleaning robot, which is the area that the mop-washing assembly 4 does not clean. In the case of the mop-washing assembly 4 being normally extended, the cleaning robot extends the mop-washing assembly 4 when performing the cleaning task, and cleans according to the "arch" cleaning path shown in the drawing. Because the outer edge of the mop-washing assembly 4 is basically flush with the edge of the widest part of the robot body 1, there will be no situation that the shaded area in the left drawing (G) cannot be cleaned after the cleaning robot cleans. Although the cleaning path of the cleaning robot can be adjusted so that the cleaning robot can cover the shaded area after turning around, it increases the complexity of software control. In the case of the mop-washing assembly 4 being normally extended in the right drawing (H), there is no need to consider the coverage of the shaded area, and the traversal algorithm of the cleaning robot is simpler.

[0220] That is, the working method of the cleaning robot provided in the embodiment can include the following steps:

[0221] S11, when performing a cleaning task in an open area, the mop-washing assembly 4 performs the cleaning task in the extended state;

[0222] S12, when it is detected that the surrounding environment determines that the mop-washing assembly 4 needs to be retracted, the mop-washing assembly 4 is retracted, and the mop-washing assembly 4 performs the cleaning task in the retracted state or the cleaning robot travels while the mop-washing assembly 4 is in the retracted state.

[0223] In the extended state, the mop-washing assembly 4 extends from one side of the robot body, and part of the mop-washing assembly 4 is exposed. In the retracted state, the outer edge of the mop-washing assembly 4 is located inside the outer edge of the robot body, or part of the outer edge of the mop-washing assembly 4 is flush with the outer edge of the robot body.

[0224] In the above S12, "detecting the surrounding environment to determine that the mop-washing assembly needs to be retracted" can specifically include but is not limited to at least one of the following:

[0225] When it is detected that the cleaning robot needs to turn to avoid obstacles, it is determined that the mop-washing assembly 4 needs to be retracted.

[0226] When it is detected that the cleaning robot is in a narrow space and needs to escape, it is determined that the mop-washing assembly 4 needs to be retracted.

[0227] When the user issues a retraction instruction, it is determined that the mop-washing assembly 4 needs to be retracted.

[0228] Further, the method provided by the embodiment further includes:

[0229] When the mop-washing assembly 4 is in the extended state and performs a cleaning task, and it is detected that the surrounding environment needs to lift the mop-washing assembly 4, the mop-washing assembly 4 is retracted to the first limit position, and then the mop-washing assembly 4 is lifted to have a gap with the ground.

[0230] When the mop-washing assembly 4 is in the third position, the projection of the mop-washing assembly 4 is located within the projection of the machine body; when the mop-washing assembly 4 is in the fourth position, the edge of the mop-washing assembly 4 extends out of the edge of the machine body, and the projection of the mop-washing assembly 4 is located within the projection of the machine body. In the general cleaning mode, the mop-washing assembly 4 is in the fourth position; in the special cleaning mode, the mop-washing assembly 4 is in the third position to walk along the edge of an obstacle. The mainboard 2 controls the driving device to realize the work of the mop-washing assembly at any position. The mop-washing assembly 4 has a first limit position in the retracted state and a second limit position in the extended state; the any position is the first limit position, or the second limit position, or any position between the first limit position and the second limit position; the third position is the first limit position or any position between the first limit position and the second limit position; and the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0231] The control method or working method of the cleaning robot provided by another embodiment of the application can be that: the control device dynamically controls the driving device according to the behavior information of the machine body, so that the driving device drives the mop-washing assembly to move relative to the machine body to change the position of the mop-washing assembly relative to the machine body.

[0232] The behavior information of the machine body can include a traveling speed, a traveling direction, a turning radius when turning, acceleration, and the like. For example, when turning quickly, the driving device is controlled to quickly recover the mop-washing assembly that is extended outward; or when traveling in a straight line after turning, the driving device is controlled to extend the mop-washing assembly that is recovered.

[0233] In addition, it is necessary to supplement that the roller motor in the mop-washing assembly also needs a continuous current supply during the movement of the mop-washing assembly. Therefore, the body of the cleaning robot in the embodiment of the present application is further provided with a conductive groove assembly, wherein the conductive groove assembly comprises a conductive groove body and an electric contact, the electric contact is arranged in the conductive groove body and is movable in the conductive groove body; the electric contact is electrically connected with the electric interface of the roller motor; when the mop-washing assembly moves, the electric contact moves in the conductive groove to follow the mop-washing assembly, so that the roller motor can be kept in a power supply state while moving. The conductive groove assembly is not explicitly shown in the drawings of the present application.

[0234] The specific structure of the mop-washing assembly 4 will be described below.

[0235] As shown in Figure 5 , Fig. 7, Figure 8 and Fig. 9, in one embodiment provided by the present application, the dirt-removing mechanism 44 and the liquid-supplying mechanism 45 in the mop-washing assembly 4 are arranged on the mop-washing support 43 or are integrated with the mop-washing support 43. The scraping strip on the dirt-removing mechanism 44 can be in contact with the cleaning roller 42 and can scrape the dirt on the cleaning roller 42 clean during the rotation of the cleaning roller 42. Of course, the dirt-removing mechanism 44 is not simply used to scrape the dirt, but also has the function of collecting the dirt. After the dirt is scraped by the scraping strip, the dirt can directly enter the collecting assembly, and the collecting assembly can filter the dirt and then deliver the filtered dirt to the dirt tank 9 through the pipeline connected with the dirt-removing water outlet 4410. In the embodiment, the mop-washing assembly 4 comprises the dirt-removing mechanism 44 and the liquid-supplying mechanism 45, that is, when the cleaning roller is lifted and / or stretched, the dirt-removing mechanism 44 and the liquid-supplying mechanism 45 are also lifted and / or stretched.

[0236] The liquid-supplying mechanism 45 can supply cleaning liquid to the cleaning roller 42. For example, when the cleaning roller 42 is dry, the liquid-supplying mechanism 45 can uniformly sprinkle clean water on the surface of the cleaning roller 42, so that the cleaning roller 42 is fully wetted and its cleaning ability is significantly improved. For another example, when the cleaning roller 42 is in a relatively dirty state, the liquid-supplying mechanism 45 can uniformly sprinkle cleaning solution mixed with cleaning agent on the surface of the cleaning roller 42, so that the dirt is dissolved by the cleaning solution, thereby facilitating the dirt-removing mechanism 44 to remove the dirt on the cleaning roller 42 clean. For still another example, when the cleaning roller 42 is in a self-cleaning mode, the liquid-supplying mechanism 45 can sprinkle a large amount of cleaning solution on the surface of the cleaning roller 42, so that the dirt is dissolved and then removed clean by the dirt-removing mechanism 44, thereby facilitating the cleaning roller 42 to be quickly and efficiently self-cleaned.

[0237] The liquid-supplying mechanism 45 can be integrated with the mop-washing support 43. For example, Figure 7bIn the shown example, the outer surface of the mop support 43 is provided with a liquid supply inlet 451, which can be connected to the clean water tank 5 through a pipeline. The mop support 43 is also provided with a water distributor 452, which is arranged along the length direction of the mop support 43 and is in communication with a plurality of water outlets of the liquid supply mechanism 45. The water distribution channel can uniformly distribute the cleaning solution supplied by the liquid supply inlet 451 to the plurality of water outlets, and then the plurality of water outlets can uniformly sprinkle the cleaning solution on the cleaning roller 42, so that the surface of the cleaning roller 42 is more evenly wet and dry.

[0238] Further, the liquid supply mechanism 45 also includes a liquid supply pump, which is arranged on the first flexible pipeline 443 and can generate a suction force to transport the cleaning liquid in the clean water tank 5 to the liquid supply mechanism 45.

[0239] When the mop assembly 4 on the cleaning robot is self-cleaning, there are mainly two processes, one is that the dirt removal mechanism 44 removes the dirt and water on the cleaning roller 42, and the other is that the liquid supply mechanism 45 provides clean cleaning liquid to the cleaning roller 42. As the dirt removal mechanism 44 continuously removes the dirt and water, the liquid supply mechanism 45 not only provides cleaning liquid, but also the mop assembly 4 can simultaneously perform self-cleaning during the process of mopping the floor, and the mop assembly 4 will always have good cleaning effect.

[0240] Referring to Figure 34 The mop support 43 has a roller mounting cavity 51, and the cleaning roller 42 is arranged in the roller mounting cavity 51. Specifically, the mop assembly 4 further includes a roller motor 41, and a motor mounting seat is arranged on one side of the roller mounting cavity 51. The roller motor 41 is arranged on the motor mounting seat, the cleaning roller 42 is sleeved outside the roller motor 41 and is drivingly connected with the roller motor 41, and the roller motor 41 can drive the cleaning roller 42 to rotate, thereby realizing the cleaning of the floor. The roller motor 41 and the cleaning roller 42 are both arranged in the roller mounting cavity 51, and the roller mounting cavity 51 has a downward opening and a lateral opening. The cleaning roller 42 can be in contact with the floor through the downward opening, and the lateral opening facilitates the user to disassemble and assemble the cleaning roller 42.

[0241] The dirt removal mechanism 44 and the liquid supply mechanism 45 are both arranged on the mop support 43. Specifically, the dirt removal mechanism 44 is arranged in the roller mounting cavity 51 and is located on the cavity wall of the roller mounting cavity 51. The dirt removal mechanism 44 includes a scraper assembly 53, which extends towards the cleaning roller 42 and is inserted into the inside of the pile of the cleaning roller 42. When the roller motor 41 drives the cleaning roller 42 to rotate, the scraper assembly 53 can scrape the dirt and water on the cleaning roller 42. The scraper assembly 53 includes a scraper 441.

[0242] The liquid supply mechanism 45 is located above the mopping bracket 43. The liquid supply mechanism 45 has a water distributor 452 and multiple liquid supply ports 453. The water distributor 452 can evenly distribute the cleaning liquid to the multiple liquid supply ports 453, and then the cleaning liquid is evenly sprayed onto the cleaning roller 42 from the liquid supply ports 453. The liquid supply mechanism 45 also includes a first flexible pipe 443, which connects the clean water tank 5 and the liquid supply inlet 451.

[0243] Correspondingly, the wall of the roller mounting cavity 51 has openings, allowing multiple supply ports 453 of the liquid supply mechanism 45 above the mopping bracket 43 to supply cleaning liquid onto the cleaning roller 42 in the roller mounting cavity 51 through the openings. Alternatively, the liquid supply mechanism 45 can be directly installed inside the roller mounting cavity 51, positioned above or in direct contact with the cleaning roller 42, and can supply cleaning liquid directly to the cleaning roller 42 through multiple supply ports.

[0244] Figure 34 The Y-direction of the middle arrow indicates the width direction of the mopping component 4, which can also be considered as the direction of travel of the cleaning robot when performing cleaning tasks, or the direction of movement of the mopping component. Figure 34 The Z-direction of the middle arrow indicates the height direction of the mopping component 4; Figure 34 The direction of the middle arrow b indicates the rotation direction of the cleaning roller 42 when cleaning the floor. In one embodiment provided in this application, along... Figure 34 The liquid supply mechanism 45 is located in front of the decontamination mechanism 44, in the direction of the middle arrow Y; along Figure 34 The liquid supply mechanism 45 is located above the decontamination mechanism 44, in the direction of the center arrow Z.

[0245] With the cleaning roller 42 along Figure 34 When the center arrow b is rotated, the liquid supply mechanism 45 first sprays cleaning liquid onto the cleaning roller 42. After the wet cleaning roller 42 mops the floor, the stains dissolve in the wastewater of the cleaning roller 42 or adhere to the surface of the cleaning roller 42. Then the stain removal mechanism 44 scrapes off the wastewater and stains on the cleaning roller 42. Subsequently, the liquid supply mechanism 45 sprays cleaning liquid onto the surface of the cleaning roller 42 again.

[0246] In one specific embodiment, the angle α between the liquid supply mechanism 45 and the cleaning mechanism 44 ranges from 20 degrees to 120 degrees, for example, it can be 60 degrees. Typically, to prevent 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 positioned directly above the cleaning roller 42. This allows the cleaning liquid dripping from the supply port to be effectively absorbed by the cleaning roller 42, preventing leakage onto the ground.

[0247] Further, seeFigure 34 The contact angle between the end of the scraping strip assembly 53 on the dirt-removing mechanism 44 and the cleaning roller 42 is substantially through the center of the cleaning roller 42. It can be understood that the extension direction of the front end of the scraping strip assembly 53 is substantially in line with the center of the cleaning roller 42, and the tangent line at the contact point between the scraping strip assembly 53 and the cleaning roller 42 is substantially perpendicular. In this way, the scraping effect of the scraping strip assembly 53 on the cleaning roller 42 is the best, the force applied by the scraping strip assembly 53 on the cleaning roller 42 is smaller, and the wear rate of the scraping strip assembly 53 is also smaller.

[0248] Referring to Figure 34 In an embodiment provided in the present application, the liquid supply mechanism 45 is located above the cleaning roller 42 along the height direction of the mop-washing assembly 4. The dirt-removing mechanism 44 is located behind the contact point between the cleaning roller 42 and the surface to be cleaned along the width direction of the mop-washing assembly 4. When the cleaning roller 42 rotates clockwise, a certain area on the cleaning roller 42 sequentially passes through the liquid supply mechanism 45, the surface to be cleaned, and the dirt-removing mechanism 44, and finally returns to the liquid supply mechanism 45, so that the liquid supply mechanism 45 again delivers cleaning liquid to the surface of the cleaning roller 42.

[0249] Further, the liquid supply mechanism 45 is located directly above the first center line P along the vertical direction of the cleaning roller 42, or the liquid supply mechanism 45 is located at an angle of [-30 degrees to +30 degrees] with the first center line P with the center of rotation of the cleaning roller 42 as the vertex of the angle.

[0250] Further, the dirt-removing mechanism 44 is located above the second center line J along the transverse direction of the cleaning roller 42, or the dirt-removing mechanism 44 is located flush with the second center line J.

[0251] Referring to Figures 34 to 35a In an embodiment provided in the present application, the mop-washing support 43 includes a mounting shell 4211 and a mounting cover 4212. The mounting shell 4211 has an inner cavity, and the dirt-removing mechanism 44 and the liquid supply mechanism 45 are arranged in the inner cavity. An opening communicating with the roller mounting cavity 51 is arranged in the inner cavity, and the dirt-removing mechanism 44 and the liquid supply mechanism 45 are arranged corresponding to the opening. The mounting cover 4212 is arranged above the mounting shell 4211 in a connected manner, so as to close the inner cavity. In a specific implementation, the mop-washing support 43 is substantially in an L-shaped structure, and along the arrow Y direction, a square receiving cavity is arranged on the left side of the cleaning roller 42, and the dirt-removing mechanism 44 is arranged in the receiving cavity. Figure 34

[0252] As Figure 35b ​As shown, the bottom front side of the dirt collection box 442 may have an angle as shown in the figure. This angled design can reduce the resistance of the robot when traveling on special surfaces, such as carpets with long pile. When the cleaning robot travels on the carpet, the carpet pile can enter the bottom of the robot along the angle.

[0253] Furthermore, such as Figure 35c As shown, the bottom front end of the robot body 1 can also have an angled angle 1005 as shown in the figure. Similarly, when traveling on special surfaces, such as carpets with long pile, this angled design can reduce the resistance of the robot body. When the cleaning robot travels on the carpet, the carpet pile can enter the bottom of the robot body along the angled angle.

[0254] Of course, the angle between the sludge collection box 442 and the bottom of the machine body can be an arc-shaped angle or a straight angle as shown in the figure; this embodiment does not specifically limit this. The angle between the sludge collection box 442 and the bottom of the machine body is an angled surface formed at the bottom front of the sludge collection box 442. The angle between the angled surface on the sludge collection 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 this angled surface and the horizontal plane (such as the ground) can be an angle between 10 and 60 degrees.

[0255] The liquid supply mechanism 45 has a liquid outlet directly facing the cleaning roller. The liquid discharged from this outlet is pressurized. After exiting the outlet, the pressurized liquid disperses, with some spraying onto the cleaning roller and some splashing onto the cavity wall. Water droplets on the cavity wall condense into larger droplets and fall onto the cleaning roller 42, or down the cavity wall onto the floor. This can lead to insufficient cleaning liquid on the cleaning roller 42, causing water droplets on the floor that users may mistake for leaks. If the cleaning liquid on the cleaning roller 42 is insufficient, the roller will not be adequately wetted, failing to achieve the intended mopping and self-cleaning effects. Increasing the liquid supply of the mechanism 45 to address this issue might result in excessive cleaning liquid supply, causing water accumulation on the floor and directly affecting the cleaning robot's cleaning performance.

[0256] Therefore, this application embodiment improves the liquid supply mechanism. Specifically, one side of the corresponding inner cavity of the liquid supply mechanism 45 is an arc-shaped surface adapted to the arc surface of the inner cavity. See [link to relevant documentation]. Figure 35a and 35b As shown, the arcuate surface of the liquid supply mechanism 45 facing the cleaning roller has the same curvature as the arcuate surface of the inner cavity, and both have the same or similar curvature as the cleaning roller 42. In addition, as... Figure 38 As shown, the liquid supply port 453 has an arc-shaped water guiding surface 4531, which is used to guide the cleaning liquid onto the cleaning roller 42.

[0257] like Figure 8As shown, the liquid supply port 453 is arranged in a circular ring shape. In this way, the liquid sprayed by the liquid supply mechanism 45 can flow along the arc surface, pass through the circular ring-shaped liquid supply port 453 to supply liquid to the cleaning roller 42, and the liquid can smoothly drip down, with high liquid supply efficiency. The liquid supply port 453 is in a circular ring shape, and the center of the ring is an outlet hole 4530. The outlet hole 4530 is in communication with a branch of the liquid supply mechanism 45 used for liquid supply. As shown in Figure 38 As shown, the inner ring wall of the circular ring-shaped liquid supply port is an arc surface.

[0258] In the liquid outflow direction, 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 is an arc surface for guiding the liquid to flow to the cleaning roller 42. More specifically, as shown in the partial enlarged view in Figure 38 the liquid supply port 453 is in a circular ring shape, and the center of the ring is an outlet hole 4530. The outlet hole 4530 is in communication with a branch of the liquid supply mechanism 45 used for liquid supply. As shown in

[0259] In order to make the cleaning robot have better cleaning effect, the scheme provided in the embodiment also improves the liquid supply port 453, and a circular arc water guide surface is additionally arranged 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, and will not splash to other places, and the cleaning robot can more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenes, with appropriate amount of cleaning liquid supply, the cleaning roller 42 has good dryness and humidity, and the mopping effect is good; also because the cleaning roller 42 has good dryness and humidity, the self-cleaning effect of the cleaning roller 42 by the dirt removal mechanism 44 is also good, which positively promotes the mopping effect.

[0260] Further, as shown in Figure 38As shown, the cavity wall of the mop-wiping support facing the cleaning roller 42 is provided with a wiping structure 80. The wiping structure 80 is located at one side of the liquid supply port 453. If the scraping strip assembly is located at the front side of the cleaning roller 42, the wiping structure 80 can be located at the rear side of the liquid supply port. If the scraping strip assembly is located at the rear side of the cleaning roller, the wiping structure 80 can be located at the front side of the liquid supply port.

[0261] The included angle β between the line connecting the wiping structure 80 and the cross-sectional center of the cleaning roller and the line connecting the liquid supply port and the center can be 5-30 degrees. There can be a gap between the wiping structure 80 and the cleaning roller 42, or there can be no gap, but the wiping structure cannot exert a force on the cleaning roller 42. The function of the wiping structure 80 is to block the liquid floating on the surface of the cleaning roller from flowing to the ground. Because the cleaning roller rotates when it is working, if the cleaning liquid is not absorbed by the roller, the cleaning liquid floating on the cleaning roller will be thrown to the ground, causing the ground to be too wet.

[0262] Because 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. In order to ensure that the cleaning liquid can spread more evenly before the cleaning roller 42 mops the floor, the rotation speed of the cleaning roller 42 cannot be too fast. Secondly, if the rotation speed of the cleaning roller 42 is too fast, the scraping efficiency of the scraping strip assembly 53 on the cleaning roller 42 is also lower. In the technical solution provided in the present application, the rotation speed of the cleaning roller 42 when mopping the floor is in the range of [100 rmp / min-300 rmp / min], specifically 200 rmp / min.

[0263] In the technical solution 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.

[0264] Referring to FIGS. 9, 34 to Figure 35a In one embodiment provided in the present application, the stain removal mechanism 44 further comprises a stain collection assembly 54, which is arranged below the scraping strip assembly 53. When the scraping strip assembly 53 scrapes the sewage on the cleaning roller 42, the stain collection assembly 54 can collect the sewage and stains, avoiding secondary pollution.

[0265] Further, 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 squeegee assembly 53. The dirt and water scraped by the squeegee assembly 53 can directly fall into the dirt collection box 442, which collects the dirt and water. In 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 front side of the cleaning roller 42, which can reduce the cleaning blind area. Most cleaning robots are circular. From the perspective of the layout of the components of the entire machine, in order to make the cleaning roller in the mop-washing assembly longer, as shown in FIG. 36, the mop-washing assembly can be generally arranged at a distance G from the center O of the machine body. The left drawing (E) in FIG. 36 shows that the dirt collection box 442 is located at the front side of the cleaning roller 42, and the drawing (F) shows that the dirt collection box 442 is located at the rear side of the cleaning roller 42. As can be seen from the drawings, when the mop-washing assembly 4 as a whole extends out of the machine body and works in the extended state (the mop-washing assembly has an extension length L in both left and right drawings), the distance D1 between the rear edge of the cleaning roller 42 in the mop-washing assembly 4 shown in the drawing (E) and the center O is greater than the distance D2 between the rear edge of the cleaning roller 42 shown in the drawing (F) and the center O. It can also be concluded that the greater the size from the center O, the longer the front edge and the rear edge of the cleaning roller 42 extend out of the machine body 1, i.e., the length of the cleaning roller 42 exposed outside the machine body 1 is longer. It can also be known that the area S1 of the cleaning roller 42 exposed outside the machine body 1 shown in the drawing (E) is greater than the area S2 of the cleaning roller 42 exposed outside the machine body 1 shown in the drawing (F).

[0266] The larger the area of the cleaning roller 42 exposed outside the machine body 1, the larger the cleaning coverage area, especially in the case of turning of the cleaning robot. The structure shown in the left drawing (E) in which the dirt collection box is located at the front side of the cleaning roller 42, the mop-washing assembly 4 works in the extended state, the cleaning coverage area is large, and the cleaning blind area is smaller than the structure shown in the right drawing (F) in which the dirt collection box is located at the rear side of the cleaning roller 42. Also, as shown in the drawings, in the corner area, when the machine body of the cleaning robot keeps a safe distance from the corner of the wall or the edge of the obstacle, the left drawing (E') shows that the dirt collection box 442 is located at the front side of the cleaning roller 42, and the distance D3 between the cleaning roller 42 and the corner of the wall or the edge of the obstacle. The right drawing (F') shows that the dirt collection box 442 is located at the rear side of the cleaning roller 42, and the distance D4 between the cleaning roller 42 and the corner of the wall or the edge of the obstacle. It can be obviously seen that D3 is less than D4, i.e., the distance between the cleaning roller 42 and the corner of the wall or the edge of the obstacle in the left drawing (E') is closer, which indicates that the cleaning of the cleaning roller 42 located at the rear side has a larger cleaning coverage area and a smaller cleaning blind area. Figure 36b

[0267] One end of the dirt collection pipe 542 is arranged in the dirt collection box 442, and the other end is connected to the sewage tank 9 of the cleaning robot through a pipeline, so as to suck the sewage in the dirt collection box 442 into the sewage tank 9. Referring to FIG. 37, the dirt collection pipe 542 is connected to the sewage tank 9 through a pipeline. Figure 35a ​As shown, the direction indicated by the arrow in the figure is the flow path of the sewage scraped off by the scraping strip assembly 53 into the sewage collecting box 442 and then sucked away by the sewage collecting pipe 542. In order to be able to timely suck the sewage in the sewage collecting box 442 into the sewage tank 9, a water pump and a pipeline can be arranged on the sewage collecting pipe 542, or a gas pump and a pipeline are connected to the sewage tank 9, and the gas pump can provide negative pressure for the sewage tank 9. Under the action of the negative pressure, the sewage in the sewage collecting box 442 can be sucked into the sewage tank 9 through the pipeline. See Figure 9a and Figure 9b In a specific embodiment, the sewage removal mechanism 44 further comprises a negative pressure pump and a valve body 545. The negative pressure pump is connected to the sewage tank 9 through a pipeline or directly. The negative pressure pump can draw negative pressure in the sewage tank 9 when working. The valve body 545 is arranged on the sewage collecting pipe 542 and can be used to control the opening and closing of the sewage collecting pipe 542. First, the negative pressure pump can draw negative pressure in the sewage tank 9, and then the valve body 545 is opened. The negative pressure in the sewage tank 9 can suck the sewage in the sewage collecting box 442 into the sewage tank 9 through the second flexible pipeline 456.

[0268] See Figure 9a and Figure 9b In an embodiment provided in the present application, the mop-washing assembly 4 further comprises a joint assembly 455. The joint assembly 455 comprises 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 the first flexible pipeline 443 (which can also be called a flexible clean water pipe), and the other end is connected to the liquid supply mechanism 45 through the first pipeline 447. One end of the sewage pipe joint is used to connect the second flexible pipeline 456 (which can also be called a flexible sewage pipe), and the other end is connected to the interface of the sewage collecting pipe 542 through the transverse pipeline 546. The transverse pipeline 546 is a fixed-length pipeline. The transverse pipeline 546 can also be a flexible pipeline. As shown, Figure 9b Along the length direction of the mop-washing assembly 4, the first pipeline 447 and the transverse pipeline 546 can be used to offset the joint assembly 455 to one side of the mop-washing assembly 4, so as to more conveniently connect the first flexible pipeline 443 and the second flexible pipeline 456 to the joint assembly 455. If there is no first pipeline 447, transverse pipeline 546 and joint assembly 455, the first flexible pipeline 443 and the second flexible pipeline 456 will be directly connected to the joint of the liquid supply mechanism 45 and the sewage collecting pipe 542 at the middle position of the mop-washing assembly 4. This not only requires longer first flexible pipeline 443 and second flexible pipeline 456, but also makes it difficult to effectively utilize the space above the mop-washing assembly 4. Figure 7aAs shown, the interface of the flexible clean water pipe and the flexible dirty water pipe, i.e. the joint assembly 455, is arranged on the front side of the cleaning roller, i.e. above the dirt collection box, and the flexible clean water pipe and the flexible dirty water pipe are also arranged on the front side of the cleaning roller. In this way, the second flexible pipe 456 is closer to the dirt collection box, so that the overall length of the pipe is shorter and the number of curved pipes required is smaller, thereby increasing the efficiency of the dirt removal and preventing the pipe from being blocked. In addition, the first flexible pipe 443 is also arranged on the front side of the cleaning roller and adjacent to the second flexible pipe 456, so that the two flexible pipes can share a pipe space and there is no need to specially arrange a pipe space for the second flexible pipe 456.

[0269] Currently, the rotation direction of the cleaning roller 42 of some cleaning devices is the same as that of the driving wheel of the device, which can help the device to move forward and reduce energy consumption. However, the cooperative working process of the cleaning roller 42, the wiper assembly 53 and the liquid supply mechanism 45 becomes: the cleaning roller 42 is supplied with water by the liquid supply mechanism 45 — > the liquid on the cleaning roller 42 is scraped off by the wiper assembly 53 — > the cleaning roller 42 cleans the ground. There are also some cleaning devices in which the rotation direction of the cleaning roller 42 is different from that of the driving wheel of the device, but the dirt collection box 442 and the wiper are arranged on the rear side of the roller. In this case, the cooperative working process of the cleaning roller 42, the wiper assembly 53 and the liquid supply mechanism 45 also becomes: the cleaning roller 42 is supplied with water by the liquid supply mechanism 45 — > the liquid on the cleaning roller 42 is scraped off by the wiper assembly 53 — > the cleaning roller 42 cleans the ground. As can be seen, the current cleaning devices immediately scrape off the water just after the water is supplied, and the cleaning roller 42 cleans the ground again, which is not very reasonable. The liquid scraped off includes the water just supplied, and this part of the water is not involved in the cleaning and is recycled.

[0270] In addition, since the cleaning roller of the cleaning robot does not have suction, in order to improve the cleaning effect, when the rotation direction of the roller is opposite to that of the driving wheel of the device, the roller can push the dirt forward, and the dirt that is not cleaned by the cleaning roller for the first time has a chance to be picked up again by the cleaning roller, so that multiple cleaning can be achieved.

[0271] The existing cleaning roller 42 of the cleaning robot first performs a water supply step, i.e. the liquid supply mechanism 45 supplies cleaning liquid to the surface of the cleaning roller 42, then the dirt removal mechanism 44 scrapes off the dirt on the surface of the cleaning roller 42, and finally the cleaning roller 42 cleans the ground. This execution step mainly has three problems.

[0272] Firstly, the liquid supply mechanism 45 immediately scrapes off the mixture of clean water and dirty water after the water is supplied, and the stains on the surface of the cleaning roller 42 may not have been completely dissolved in the clean water, so that most of the scraped-off liquid is clean water rather than dirty water, resulting in incomplete self-cleaning.

[0273] Second, after the dirt removal mechanism 44 scrapes the dirty water on the surface of the cleaning roller 42, the water content of the roller before and after scraping is reduced by 90% due to the action of the scraping strip, the water content of the cleaning roller 42 is reduced, and the cleaning force of the cleaning roller 42 on the ground is also reduced.

[0274] Third, after the cleaning robot scraping strip scrapes water, the relatively dry roller needs to rotate 180° before entering the water replenishment position, and the dirt stuck on the too dry roller is easy to be thrown out during the long rotation process, and finally falls on the ground, resulting in poor cleaning effect.

[0275] The technical scheme provided by the embodiment of the present application is different from the above-mentioned cleaning device. The cleaning roller 42 is reversed (i.e. opposite to the rotation direction of the driving wheel), the scraping strip assembly 53 is located on the front side of the cleaning roller 42, and the liquid supply mechanism 45 is located above the cleaning roller 42. In this way, the working process of the cleaning roller 42, the scraping strip assembly 53 and the liquid supply mechanism 45 is: the cleaning roller 42 is replenished with water by the liquid supply mechanism 45 -> the cleaning roller cleans the ground -> the liquid on the cleaning roller 42 is scraped off by the scraping strip assembly 53. As can be seen, the scheme provided by the embodiment is more reasonable. The just replenished clean water does not undergo the scraping action of the scraping strip and directly participates in the ground cleaning. At this time, the evenly wet scraping strip has better wiping and adsorbing effect on the ground dirt, especially stubborn dirt. Then, the roller rotates a small angle (generally about 90°), and the dirt is scraped off by the scraping strip. The dirt is not easy to be thrown out, and at this time, most of the dirt scraped off is dirty water, and the clean water is fully utilized. Specifically, during the rotation process of the cleaning roller 42, the liquid supply mechanism 45 provides cleaning liquid to a region of the cleaning roller 42, the region soaked with the cleaning liquid cleans the surface to be cleaned, then the dirt removal mechanism 44 acts on the region to scrape off the dirt and collect it, and the region after scraping off the dirt enters the liquid supply range of the liquid supply mechanism 45 again. It can be understood that, when the cleaning roller 42 cleans the ground, it first undergoes the water replenishment step, the surface of the cleaning roller 42 is fully wetted, and the water content of the cleaning roller 42 is also higher. Then, the cleaning roller 42 cleans the ground again, and at this time, the cleaning force of the cleaning roller 42 on the ground is also stronger, and more dirt can be dissolved. Finally, the dirt removal mechanism 44 scrapes off the dirty water and dirt on the cleaning roller 42, and then the liquid supply mechanism 45 replenishes the liquid again, and the process is repeated in turn. Since the liquid supply efficiency of the liquid supply mechanism 45 and the dirt removal efficiency of the dirt removal mechanism 44 are higher during the whole process, the cleaning liquid used by the cleaning roller 42 during the self-cleaning process is less, and the amount of dirty water generated is also less, so the cleaning endurance time of the cleaning robot is significantly improved.

[0276] In order to avoid the wiper assembly 53 from side leaking during the wiping process, the length of the dirt collecting box 442 is greater than or equal to the length of the wiper assembly 53. See Figure 35a From the setting direction of the wiper assembly 53, the setting direction of the dirt collecting box 442 is substantially perpendicular to the setting direction of the wiper assembly 53, so that the dirt and stains wiped by the wiper assembly 53 can directly fall into the dirt collecting box 442 and are not easy to leak out. In addition, in order to ensure that the dirt wiped by the wiper assembly 53 can enter the dirt collecting box 442, the end of the wiper assembly 53 is located in the dirt collecting box 442, so that the dirt wiped by the wiper assembly 53 can directly enter the dirt collecting box 442 along the end of the wiper assembly 53.

[0277] When the wiper assembly 53 wipes the dirt on the cleaning roller 42, it is easy to also wipe the stains attached to the cleaning roller 42 into the dirt collecting box 442, and the dirt collecting pipe 542 may be blocked by the stains when sucking the dirt. In order to avoid this situation, see Figure 37 and Figure 38 In an embodiment provided by the present application, the dirt removing mechanism 44 further comprises a filtering assembly 543, which is arranged in the dirt collecting box 442. The dirt wiped by the wiper assembly 53 first passes through the filtering assembly 543 and then enters the lower part of the dirt collecting box 442, and then is collected by the dirt collecting pipe 542 into the dirt tank.

[0278] In order to facilitate cleaning of the dirt collecting box 442, the dirt collecting box 442 can be detached from the mop-washing assembly 4 for cleaning, and the filtering assembly 543 in the dirt collecting box 442 can also be detached for cleaning. During the detaching process, the mop-washing assembly 4 is first switched to the extended state, then the cleaning roller 42 is detached from the lateral opening of the mop-washing support 43, and finally the dirt collecting box 442 is detached from the roller mounting cavity 51. See Figure 9b As shown, the dirt collecting box 442 has a V-shaped bottom surface, i.e. the bottom surface of the dirt collecting box 442 is high at both ends and low in the middle along the cleaning roller axis direction, and the low point of the V-shaped bottom surface is matched with the pipe opening of the dirt collecting pipe 542 to communicate with the dirt collecting pipe 542.

[0279] In order to avoid bending, the outer side of the second flexible pipe 456 and the first flexible pipe 443 can be provided with springs (not shown in FIGS. 9 and 38), so that during the overall movement (lifting and / or stretching) of the mop-washing assembly, the bending does not affect the drainage and liquid supply.

[0280] See Figure 38 and 39aIn an embodiment, the wiper assembly 53 comprises a wiper plate 531 and a water guide plate 532. The end of the wiper plate 531 is the wiper strip 441. The wiper plate and the wiper strip can be made of the same material or different materials, which is not limited in the embodiment. The water guide plate 532 is connected to the lower part of the wiper plate 531. The distance of the end of the wiper plate 531 extending outward is greater than that of the end of the water guide plate 532. The end of the wiper plate 531, i.e. the wiper strip 441, is in contact with the cleaning roller 42. When the cleaning roller 42 rotates, the wiper plate 531 can scrape the sewage on the cleaning roller 42, and then the sewage is guided to the sewage collecting box 442 by the water guide plate 532. In a specific embodiment, as shown in Figure 35a , the cross section of the water guide plate 532 is wedge-shaped. This structure can form a water guide channel with a larger curvature on the surface of the water guide plate 532 after the water guide plate 532 is connected to the wiper plate 531.

[0281] Further, as shown in Figure 39a , the wiper plate 531 has a first plate segment 5311 and a second plate segment 5312. The first plate segment 5311 and the second plate segment 5312 are arranged at an obtuse angle. The length of the second plate segment 5312 is greater than that of the first plate segment 5311. The first plate segment 5311 is the end that plays a major role in scraping water. The second plate segment 5312 is used to connect to the water guide plate 532. Specifically, the water guide plate 532 is connected to the lower part of the second plate segment 5312. The leading end of the water guide plate 532 is close to the first plate segment 5311. The trailing end of the water guide plate 532 is close to the trailing end of the second plate segment 5312. The trailing end of the second plate segment 5312 extends into the sewage collecting box 442.

[0282] The water guide plate 532 is provided with a plurality of water guide grooves 5321. The plurality of water guide grooves 5321 are arranged at intervals. The arrangement direction of the water guide grooves 5321 is the same as the extension direction of the water guide plate 532. In order to ensure that the water guide grooves 5321 can guide the sewage to the sewage collecting box 442, as shown in Figure 8 , the number of liquid supply openings 453 on the liquid supply mechanism 45 is less than the number of water guide grooves 5321 on the water guide plate 532. The position of the water guide plate 532 acting on the cleaning roller is the water scraping position. As shown in Figure 39a , the water guide grooves 5321 at the water scraping position 53211 (i.e. near the end of the cleaning roller) can be through grooves (i.e. the groove opening is open) to facilitate water guiding. The trailing end position 53210 (i.e. the tail) of the water guide grooves 5321 is closed to facilitate water draining. The tail of the water guide grooves 5321 is located at the opening of the sewage collecting box. As shown in Figure 39bAs 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 downwards, the water is propelled by the centrifugal force of the roller towards the upward arc surface of the water guide groove 5321, overcoming its own gravity. The scraping effect is best when the extension line at the end of the scraper assembly 53 passes through the center of the roller; that is, the scraper assembly 53 has a bent portion, resulting in the water guide groove 5321 also having an upwardly arched arc surface. The water guide surface 5322 has two curved surfaces; from the water guiding direction to the drainage direction of the water guide surface 5322, the curvature of the corresponding arc surface decreases. This is shown in segments P1 and P2, where segment P1 is the segment near the water guiding side of the cleaning roller 42, and segment P2 is the segment on the drainage side. It can be seen from the figure that the curvature of the arc surface of segment P1 is greater than that of segment P2.

[0283] The scraper assembly 52 has multiple water guide grooves 5321 on its water-facing side, and the water guide grooves 5321 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 rotating roller when the roller rotates, and the roller contacts the scraper from bottom to top when rotating. In the absence of suction, the prior art has the roller contacting the scraper from top to bottom, and the water flows down the scraper, without the need for water guide grooves.

[0284] like Figure 38 As shown, the lowest point 53220 of segment P2 is lower than the highest point 4521 of the sludge collection box 442. (As...) Figure 8 As shown, the length of the water guide plate 532 is less than the actual length of the sludge collection box 442 for receiving water. Figure 34 As shown, the vertical distance Q between the opening of the sludge collection box 442 near the cleaning roller 42 and the scraper assembly 53 is 3-5 mm.

[0285] In one embodiment provided in this application, the water guide plate 532 and the scraper 531 can be connected by fasteners 533, or the water guide plate 532 and the scraper 531 can be an integral structure. When the water guide plate 532 and the scraper 531 are separate structures, the water guide plate 532 and the scraper 531 are made of different materials. For example, the scraper 531 is made of metal, which has good rigidity and better wear resistance; while the water guide plate 532 is made of plastic, which is easy to process. Complex water guide grooves 5321 can be processed on its surface by injection molding or stamping, which is less costly.

[0286] The surface of the cleaning roller 42 has a velvety texture; the material and / or length of the velvet may vary depending on the model. In the following situations, if the position of the scraper assembly 53 remains unchanged, the distance between the scraper assembly 53 and the cleaning roller 42 may be too great, causing the scraper assembly 52 to malfunction; or the distance may be too small, easily causing damage (such as damage to the scraper assembly); or the roller's rotational resistance may be too great, easily causing malfunction of the roller motor:

[0287] Replace with a different model of cleaning roller 42; or

[0288] The cleaning roller 42 may shift position due to various factors during long-term operation; or

[0289] Cleaning roller 42 experiences lint wear and tear during long-term operation, etc.

[0290] 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 this force is too large due to excessive distance, the scraper assembly 53 may be damaged. To avoid problems caused by the above situations, please refer to... Figure 39a and 40 In one embodiment provided in this application, the cleaning robot further includes an adaptive adjustment device. This adaptive adjustment device includes a swing assembly. The scraper assembly 53 is connected to the mopping bracket 43 via the swing assembly. The scraper assembly 53 can adaptively adjust its position via the swing assembly to achieve a more suitable positional relationship with the cleaning roller 42, continuously acting on the cleaning roller 42 to scrape away dirt. As shown in the figure, the swing assembly 500 includes a swing seat 534, which has a connection hole 5342. The swing seat 534 is connected to the mopping bracket 43 via a swing shaft 535. Further, the swing seat 534 has a mounting hole 5341, in which an elastic element 536 is disposed. One end of the elastic element 536 is connected to the swing seat 534, and the other end contacts the mounting shell 4211 of the mopping bracket 43. The elastic element 536 allows the contact force between the scraper assembly 53 and the cleaning roller 42 to be an elastic force. When the scraper 531 is subjected to excessive force, the scraper assembly 53 rotates slightly around the swing shaft 535, thereby increasing the distance between the end of the scraper 531 and the cleaning roller 42, and thus reducing the contact force between the scraper 531 and the cleaning roller 42. For example, when the scraper 531 is subjected to excessive force, the scraper assembly 53 will rotate along the swing shaft 535, and the end of the scraper 531 will rotate along the swing shaft 535. Figure 32 When the center arrow T moves upward, the force between the scraper 531 and the cleaning roller 42 decreases, thus enabling adaptive adjustment of the scraper assembly 53 and preventing damage due to excessive force. For example, if the cleaning roller 42 develops some positional deviation due to long-term operation, the oscillating component will adaptively move to maintain a suitable positional relationship between the scraper assembly 53 and the cleaning roller 42, with a suitable (neither too large nor too small) interaction force between them, allowing the scraper assembly to continuously act on the cleaning roller to scrape away dirt.

[0291] It should be added here that the swing component 500 can be integrated with the scraper component 53, or the swing component and the scraper component can be two parts connected together.

[0292] Further, along the cleaning roller axis from one end of the cleaning roller to the other end, the surface of the cleaning roller is in contact with the end of the scraping strip assembly. In addition, referring to Figure 39c The adaptive adjustment device in the embodiment also includes an elastic mechanism 300. The mop-washing assembly 4 is connected to the machine body 1 through the elastic mechanism 300. For example, one end of the elastic mechanism 300 can be connected to the cavity shell 46 of the machine body 1, and the other end can be connected to the mop-washing assembly 4. The elastic mechanism 300 can be a spring or other elastic component. The scraping strip assembly 53 is adjusted in position by the adaptive adjustment device to continuously act on the cleaning roller to scrape dirt therefrom. That is, the adjustment of the position of the scraping strip assembly 53 is realized by the combined action of the elastic mechanism 300 and the swing assembly 500. The mop-washing assembly 4 can be adaptively adjusted in relative position with the machine body 1 through the elastic mechanism 300, and the scraping strip assembly in the mop-washing assembly 4 changes position together with the mop-washing assembly. Inside the mop-washing assembly 4, the scraping strip assembly 53 is adjusted in phase position and attitude relationship with the cleaning roller 42 by the swing assembly 500 to be in a more appropriate position to apply appropriate scraping force to the cleaning roller 42 to continuously act on the cleaning roller to scrape dirt therefrom.

[0293] It can be seen that by setting the adaptive adjustment device, the scraping strip assembly can float relative to the cleaning roller to keep the scraping strip always pressed against the roller. When the mop-washing assembly moves relative to the machine body, the elastic mechanism moves together with the mop-washing assembly, or the mop-washing assembly moves relative to the machine body and the elastic mechanism.

[0294] The above adaptive adjustment assembly can also be referred to as a biasing assembly. That is, the dirt-removing mechanism also includes a biasing assembly that provides a biasing force, and under the action of the biasing force, the scraping strip assembly moves in the direction of pressing against the cleaning roller. Under the action of the biasing force provided by the biasing assembly, the scraping strip is inserted into the cleaning roller at a depth of 1-2 mm. The biasing assembly includes a swing seat and an elastic member, and the scraping strip assembly is rotatably mounted on the mop-washing assembly or the machine body through the swing seat.

[0295] The above introduces a scheme of using one power source to realize the lifting and telescoping of the mop-washing assembly. The present application here further supplements a scheme of using two motors to realize the lifting and telescoping functions of the mop-washing assembly. That is, the driving device 10 includes two power sources. For example, Figure 41As 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 specific implementations, both the first motor 60 and the third motor 61 can be connected to a reducer at their output ends to output power externally. The first power source is used to drive the extension and retraction of the mopping assembly, and its corresponding first action execution mechanism 103 has the same structure as mentioned in the embodiments above, namely, the first action execution mechanism 103 includes a first gear 13 and a first rack 14. The first action execution mechanism 103 may include a sliding plate, which is slidably connected to a slide rail 15. At least one slide rail 15 may be provided on the cavity shell 46. Furthermore, the first photoelectric switch 281, the first triggering 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 function as in the embodiments above; for details, please refer to the above description, which will not be repeated here.

[0296] The second power source is used to drive the mopping and washing assembly 4 to rise and fall, and its corresponding second action actuator, such as Figure 41 As shown, it may include: a second gear 62 and a second rack 63. The arrangement of the second rack 63 differs from that of the first rack 14. See also Figure 41 The first rack 14 is horizontally set, and the second rack 63 is vertically set.

[0297] The specific implementation process is as follows: When the mopping assembly 4 is in the initial state (i.e., the first extreme position of the retracted state, with the cleaning roller in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate. Under the drive of the first gear 13, the first rack 14 moves horizontally to one side of the machine body. The first rack 14 pushes the mopping assembly outward through the connecting structure located on the slide rail 15, causing the mopping assembly to extend a portion of its body outside the machine body (e.g., Figure 42 (B)). If the mopping assembly 4 extends to its second limit position, the first motor 60 stops working. When the mopping assembly 4 needs to retract, the first motor 60 outputs reverse power to drive the first gear 13 to rotate in the opposite direction. Under the drive of the first gear 13, the first rack 14 moves inward into the machine body. The first rack 14 retracts the mopping assembly 4 inward through the connecting structure located on the slide rail 15. After the mopping assembly 4 retracts to its initial state, the first motor 60 stops working. When the mopping assembly 4 needs to be raised, the second motor 61 outputs power to drive the second gear 62 to rotate. Under the drive of the second gear 62, the second rack 63 moves the mopping assembly 4 along the connecting post 241 (see...). Figure 16 As shown) rising upwards in the axial direction (as shown) Figure 42(A)). When the mop assembly 4 is lifted to the high position, the third photoelectric switch 283 is triggered, and the third motor 61 stops working. When the mop 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 mop assembly is lowered in the axial direction along the connecting column 241 (see Figure 16 In addition, by increasing the number of light-shielding pieces and the number of counting light couplings on this assembly, the mop assembly can also be extended step by step during the extension process. For details, please refer to the above content, which will not be repeated here.

[0298] Further, if the cleaning robot cleans a floor paved with a carpet, the cleaning robot will clean back and forth between the carpet area and the ordinary floor area multiple times, and the cleaning robot will need to switch back and forth between the lifted state and the lowered state multiple times, and even possibly, the mop assembly will be switched from the extended state to the retracted state, and then to the lifted state. Therefore, before the cleaning robot walks onto the carpet floor from the ordinary floor, it needs to pause and wait, and only after it is completely switched to the lifted state, it can walk onto the carpet floor to clean, which will inevitably consume too much waiting time.

[0299] To avoid this problem, in an embodiment provided in the present application, the mop assembly on the cleaning robot can be quickly switched to the lifted state in the retracted state and the extended state. For example, the mop assembly can be switched to the lifted state at the same time in the extended state or in different gears of the extended state. In this way, the mop assembly does not need to be retracted to the initial state before being switched to the lifted state in the extended state. The cleaning robot does not need to wait for too long before walking onto the carpet floor or crossing the obstacle, and even if the cleaning robot needs to cross the obstacle back and forth multiple times or go up and down the carpet floor multiple times, the cleaning robot will not consume too much waiting time, and the total cleaning time can be effectively reduced.

[0300] The present application further supplements a scheme of using two motors to realize the lifting and extension functions of the mop assembly 4. That is, the driving device 10 includes two power sources. Unlike the structure shown in the above Figure 41 The difference is that the second power source and the corresponding second action execution mechanism winch structure are realized. See Figure 43The first power source, the slide rail 15, the first photoelectric switch 281, the first trigger structure on the slide plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, the grating structure 294 and the like are the same as those in the above embodiment. The same parts are not described here. The difference is that the second action execution mechanism corresponding to the second power source is the reel 64 and the pull rope 65. That is, the third motor 61 is connected with the reel 64. The pull rope 65 is arranged on the reel 64.

[0301] The specific implementation process is as follows: the mop assembly 4 is telescopic as above. When the mop assembly 4 needs to be lifted up, the third motor 61 outputs power to drive the reel 64 to rotate, and the pull rope 65 drives the mop assembly to be lifted up along the connecting column 241 in the axial direction under the driving of the reel 64. When the third photoelectric switch 283 is triggered after the mop assembly 4 is lifted to the high position, the third motor 61 stops working. When the mop assembly 4 needs to be lowered, the third motor 61 outputs reverse power to drive the reel 64 to reverse, and the mop assembly 4 is lowered along the connecting column 241 in the axial direction under the action of gravity. When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e. the time length for the third motor to drive the mop assembly to be lifted up), the third motor 61 stops moving. In addition, by increasing a plurality of light-shielding pieces and counting photoelectric couplings on the assembly, the mop assembly can also be gradually extended in the extension process. The specific implementation can be referred to the above content, and is not described here.

[0302] The embodiments of the present application provide a single power source to realize the stretching and retracting of the mop-washing assembly 4, and also provide a double power source to realize the stretching and retracting of the mop-washing assembly (i.e., one power source to realize the stretching and the other to realize the retracting). No matter which implementation scheme is adopted, there is a problem of how to control the power sources to make the mop-washing assembly 4 stretch and retract at the right time. For example, the mop-washing assembly 4 stretches out while descending, or retracts while ascending, or retracts first and then ascends, or ascends first and then retracts, or descends first and then stretches out, etc. In a specific scenario, for example, the mop-washing assembly 4 of the cleaning robot is in the stretched-out state. The cleaning robot needs to enter a specific area (such as a designated area not to be mopped or a carpet area), and needs to lift the mop-washing assembly 4 to a certain distance from the ground. For another example, the cleaning robot drives into the kitchen from the living room, and there is a small step at the entrance of the kitchen, so the cleaning robot needs to overcome the obstacle to drive into the kitchen. At this time, in order to facilitate the obstacle overcoming, the mop-washing assembly needs to be lifted up. The mop-washing assembly is directly lifted up in the stretched-out state, or retracted to the innermost side (i.e., the first limit position) and then lifted up, which needs the cleaning robot to make a judgment through sensing the environmental information. If the current environment is open and there is no obstacle in height, the mop-washing assembly 4 in the stretched-out state can also be directly lifted up. However, if the current environment is relatively heavy and the detection information of the cleaning robot is limited, the mop-washing assembly 4 is directly lifted up in the stretched-out state, which may cause the mop-washing assembly 4 to collide with an object during the lifting process, and if the lifting action does not stop, the mop-washing assembly may be damaged. That is to say, the lifting of the outwardly protruding cleaning roller 42 is a big risk to the main machine, so the roller cannot participate in the cleaning at this time. Moreover, the length of the projection of the roller from the main machine requires the cleaning robot to intelligently control the action of the mop-washing assembly 4 according to the real-time detected environmental information at all times, which inevitably increases the calculation amount of the cleaning robot, consumes power, and affects the execution of the main task (i.e., the cleaning task) of the cleaning robot. Therefore, in order to simplify the control logic of the cleaning robot and reduce the complexity of the control, the embodiments of the present application provide a scheme that the mop-washing assembly 4 is retracted to a preset position (such as the first limit position in the retracted state) and then lifted up. Specifically, the scheme provided by the embodiments of the present application includes the following steps, and the execution subject of each of the following steps can be the main board 2 in the embodiments of the present application. As described above, the mop-washing assembly control scheme includes:

[0303] S1, when it is determined that the mop-washing assembly 4 needs to be lifted up, acquiring the current position of the mop-washing assembly 4;

[0304] S2, if the mop-washing assembly 4 is in the first limit position, controlling the driving device to drive the mop-washing assembly 4 to lift up; if the mop-washing assembly 4 is in the stretched-out state, controlling the driving device 10 to drive the mop-washing assembly 4 to retract to the first limit position first and then lift up.

[0305] When the mopping assembly 4 is in the extended state, the mopping assembly 4 can be located at any position between the first limit position and the second limit position, or at the second limit position.

[0306] After the above scheme is adopted, the cleaning robot does not need to detect the environmental information based on the sensing system, and does not need to perform complex calculation to determine whether the current environment has enough space to lift the mopping assembly. The entire process does not need the participation of the sensing system, and the lifting safety of the mopping assembly can be ensured, which is simple and easy to implement.

[0307] During the cleaning process of the cleaning robot, the cleaning roller 42 can adsorb dirt on the ground, and the dirt on the roller can be scraped and collected by the dirt removal mechanism 44. After a long time of work, the dirt collection box 442 needs to be cleaned. At present, some cleaning robots need the user to turn the body upside down to remove the detachable components (such as the sewage tank, the roller, etc.) at the bottom of the body, which is not good for the user experience.

[0308] As known from the above, the mopping assembly 4 in the embodiment of the present application includes the liquid supply mechanism 45, the dirt removal mechanism 44, and the cleaning roller 42. Although the dirt in the dirt collection box 442 in the dirt removal mechanism 44 can enter the sewage tank 9 through the sewage pump, if the dirt collection box 442 is not cleaned after a long time of work, there will still be deposited dirt, which is easy to breed bacteria and produce odor. Therefore, the dirt collection box 442 needs to be frequently disassembled for cleaning. In addition, although the cleaning roller 42 in the embodiment can be self-cleaned with water during the execution of the task, it also needs to be disassembled for manual cleaning after a long time of use, or the cleaning roller 42 needs to be disassembled and replaced with a new one due to wear. If the user needs to turn the body upside down to remove the components, it is not very convenient.

[0309] Therefore, one embodiment of the present application provides a scheme for easily disassembling the dirt collection box 442 in the mopping assembly without turning the body upside down, which improves the disassembly convenience and meets the ergonomic design. In addition, one embodiment of the present application also provides a scheme for easily disassembling the cleaning roller 42. The disassembly scheme of the dirt collection box 442 will be introduced first, and then the disassembly scheme of the cleaning roller 42 will be introduced.

[0310] Referring to Figures 44a to 44f , at least one side of the mopping assembly 4 is exposed. As shown in one example in Figure 44a , the mopping assembly 4 is exposed on one side of the body. With reference to the forward direction of the body 1, the mopping assembly 4 is exposed on the right side of the body. The dirt collection box 442 can be located on the front side or the rear side of the cleaning roller 42. Referring to Figure 44b c~44f, the side of the dirt collection box 442 corresponding to the exposed side of the mopping assembly is provided with a release assembly. The user can see and touch the release assembly on the exposed side without turning the body 1 upside down, and then operate the release assembly to disassemble the dirt collection box 442.

[0311] The release assembly has an operating handle; the operating handle is located at the bottom of the dirt collection box 442; when disassembling, the operating handle is actuated, the release assembly is in the unlocked state, the first end of the dirt collection box 442 is separated from the mop and washing support, and the dirt collection box 442 is pulled out from the bottom of the machine body; when installing, after the second end of the dirt collection box 442 is inserted into the machine body from the bottom, the first end of the dirt collection box 442 is moved upward to the locking position, and the release assembly is triggered to switch to the locked state at the locking position.

[0312] Specifically, as Figure 44b and 44c , along the length direction of the dirt collection box 442, the dirt collection box 442 has two ends, which are the first end 4421 and the second end 4422. It should be noted that the length direction of the dirt collection box 442 and the axis direction of the cleaning roller 42, the length of the dirt collection box 442 can be equal to or greater than the length of the cleaning roller 42. The mop and washing support 43 has a first fixed structure 431 and a second fixed structure 432 corresponding to the position of the dirt collection box 442. The second end 4422 of the dirt collection box 442 cooperates with the second fixed structure 432, for example, the second fixed structure 432 is a jack, and the second end 4422 of the dirt collection box 442 is a protruding block structure matched with the jack. The first end 4421 of the dirt collection box 442 is provided with a release assembly 70, which can include: an elastic operating piece 71 and a fixed pin 72. The elastic operating piece 71 is connected with the fixed pin 72. The first fixed structure 431 can be a pin hole matched with the fixed pin 72. The user operates the elastic operating piece 71, and the elastic operating piece 71 deforms to drive the fixed pin 72 to move, so that the fixed pin 72 is separated from the pin hole, and the dirt collection box 442 can be separated from the mop and washing support 73.

[0313] As Figure 44d shown, after the first end 4421 of the dirt collection box 442 is separated from the first fixed structure 431, the first end 4421 is lowered, and the user can hold the first end 4421 along the length direction of the dirt collection box 442 (or the axis direction of the cleaning roller) to take out the dirt collection box from the machine body 1.

[0314] More specifically, as Figure 44a , 44cAnd 44f, the elastic operating member 71 can include: release button and release spring 712. Wherein, the fixed pin 72 is provided with a sliding slot 722. Release button can be a knob, for example, the release button has a rotating shaft 714, the release button is rotatably connected to the dirt collecting box 442 through the rotating shaft 714. The two sides of the rotating shaft 714 are respectively provided with: abutting structure 713 and operating handle 711. Or, the release button is a linear motion of the push-pull piece. The abutting structure 713 of the release button is located in the sliding slot 722. The first end of the dirt collecting box 442 is provided with a spring seat 4423, and the release spring 712 is arranged in the spring seat 4423. One end of the fixed pin 72 is provided with a plug 721 matched with the pin hole, and the other end is connected with the release spring 712.

[0315] When the release button is a knob, the user can rotate the release button to drive the fixed pin 72 to act through the abutting sliding slot 722. When the release button is a puller, the user can drive the fixed pin to act through the abutting sliding slot by pushing and pulling operation (such as pushing and pulling operation along the length direction of the fixed pin).

[0316] As shown in Figure 44e When the user wants to take out the dirt collecting box 442, the user provides external force to the release button, such as rotating the release button, and the abutting structure 713 on the release button abuts against the fixed pin 72 in the sliding slot. At this time, the plug 721 of the fixed pin 72 is out of the pin hole, the first end of the dirt collecting box 442 is pulled down, and the second end of the dirt collecting box 442 is pulled out of the mop support. At this time, the dirt collecting box 442 is completely taken out. When the user wants to install the dirt collecting box 442, first, the second end of the dirt collecting box 442 is installed (that is, the protruding block structure is inserted into the insertion hole), the user holds the first end of the dirt collecting box 442 and presses upward, the release spring is deformed, the fixed pin 72 moves to make the fixed pin enter the installation slot of the mop support. After the dirt collecting box 442 is installed in place, the position of the fixed pin 72 corresponds to the position of the pin hole, and the fixed pin 72 moves under the elastic restoring force of the release spring, the plug is inserted into the pin hole, and at this time the installation of the dirt collecting box 442 is completed.

[0317] In order to ensure the installation stability of the dirt collecting box 442, the release button is also provided with a locking structure, and the dirt collecting box 442 is provided with a locking matching structure at the corresponding position. After the installation of the dirt collecting box 442 is completed, the user can rotate the release button to make the locking structure cooperate with the locking matching structure to lock the position of the release button, so that the fixed pin 72 will not be out of the pin hole due to vibration and the like. In the embodiment, the specific implementation of the locking structure on the release button and the locking matching structure on the dirt collecting box 442 is not limited.

[0318] Further, referring to Figure 44fAs shown, the sludge collection box 442 is also equipped with a filter assembly 543, which is used to filter large particles of dirt from the dirt entering the sludge collection box 442. Figure 44f As shown, the filter assembly 543 can be a filter element with multiple filter holes, which can be placed and stabilized in the sludge collection box 442 through some mating structures. The filter element also has a through hole, through which a sludge collection pipe 542 can pass from the top of the filter element and extend to the bottom of the filter element, close to the bottom of the sludge collection box 442. After the user removes the sludge collection box 442, the filter assembly 543 can be taken out of the sludge collection box 442 for cleaning. One end of the filter assembly 543 has a handle 5431 for easy handling by the user. When picking up the filter assembly 543, the user can pinch the handle 5431 with their fingers to remove the filter assembly 543 from the sludge collection box. The handle 5431 can be a plate-shaped body with a certain curvature.

[0319] In addition, a detection element 4425 is provided inside the dirt collection box 442, which can be a detection magnet or the like. A sensing element (not shown in the attached diagram) is provided at a corresponding position on the mopping bracket. The sensing element can detect whether the dirt collection box 442 is installed on the mopping bracket by sensing the detection element on the dirt collection box 442. The reason for setting up this detection element is to prevent the cleaning robot from starting work without the user forgetting to install the dirt collection box 442. If the sensing element detects that the dirt collection box 442 is not installed on the mopping bracket 43, the cleaning robot can remind the user to install the dirt collection box 442 through voice and / or display. If the sensing element and detection element 4425 are not set up, the cleaning robot may perform cleaning tasks without the dirt collection box 442. Because the robot cannot collect dirt at the back while cleaning at the front, the dirt scraped off from the cleaning roller 42 will be discharged onto the ground. Therefore, it is necessary to set up the sensing element and detection element. The machine can only start to perform cleaning tasks after the dirt collection box 442 is installed on the machine body.

[0320] For disassembly of cleaning roller 42, see [link / reference]. Figure 44a As shown, the mopping component 4 is in a retracted state, meaning its end is located inside the body 1. Looking down from the body 1, i.e., when the cleaning robot is on the ground, the user cannot see the mopping component 4. If the user wants to disassemble the cleaning roller 4, they need to squat down, tilt their head, and look at the position of the mopping component 4 inside the body 1 before manually removing the cleaning roller 42. During disassembly, the user may be blindly disassembling, and the installation is also almost blind, potentially leading to finger pinching. Clearly, this solution of disassembling the cleaning roller 42 without flipping the body is not very convenient. This application provides a more convenient solution for disassembling and assembling the cleaning roller 42. Specifically,

[0321] The cleaning robot body is provided with an interactive device, which can be a key, a touch screen, a voice interaction unit, etc. The user can trigger the mop-washing assembly 4 to extend from one side of the body 1 to a set position (which can be the second limit position of the extended state) or to the edge of the body 1 by the interactive device. For example, the user presses a key in the interactive device, and after the mainboard 2 receives the operation signal triggered by the key, the control driving device 10 drives the mop-washing assembly 4 to extend from one side of the body 1 to a set position or to extend a set length so that the end of the mop-washing assembly 4 is exposed. At this time, the user can disassemble the cleaning roller 42 from the mop-washing assembly 4. After the user washes the cleaning roller 42 or gets a new replacement roller, the user can install the roller back to the mop-washing assembly 4.

[0322] Referring to Figure 5 The first end of the mop-washing support 43 in the length direction (the arrow direction in the figure) is provided with a roller motor 41, and the second end is provided with an opening. The cleaning roller 42 can be inserted into the roller cavity of the mop-washing support 43 from the opening to be connected with the roller motor 41. The second end of the mop-washing support 43 is provided with a first structure 430, and the inner side of the end cover 420 of the cleaning roller 42 is provided with a second structure. The first structure 430 and the second structure can be a magnetic attraction assembly used in cooperation, 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 matched; the protrusion is a magnet, and the groove is provided with a magnetic material; or the groove is provided with a magnet, and the protrusion is provided with a magnetic material, etc. The embodiment is not limited in this regard.

[0323] After the user triggers the mop-washing assembly 4 to extend by the key, voice or touch screen, as Figure 12 The mop-washing assembly 4 extends out of the edge 1001 of the body 1. At this time, the user can see the mop-washing assembly and the end of the cleaning roller 42 when looking at the body from the upper part of the body. As Figure 12 The end cover 420 of the cleaning roller 42 is similar to a whistle, and the user can easily pull out the cleaning roller by pinching the end cover 420 along the pulling-out direction (i.e. the width direction of the body 1), so that the cleaning roller is disassembled. When installing, because the mop-washing assembly is in the extended state, i.e. Figure 12In the shown state, the user can also see the opening of the drum cavity of the mop support, and the user inserts one end of the cleaning drum into the opening, the end cover 420 of the cleaning drum is attracted to the first structure 430 on the mop support, and the end cover 420 is connected with the mop support. If the cleaning robot needs to perform a cleaning task after installation, the cleaning robot keeps the current mop assembly 4 in the extended state to perform the cleaning task. If the cleaning robot needs to return to the base station after installation, the cleaning robot automatically retracts the mop assembly 4 after detecting that the cleaning drum is installed; or the user triggers the mainboard 2 of the cleaning robot through the interactive device to control the driving device to retract the mop assembly 4.

[0324] Further, the driving device 10 can also drive the mop assembly 4 to lift relative to the body. Correspondingly, when the cleaning drum needs to be disassembled, the driving device 10 drives the mop assembly 4 to extend to expose the end cover of the cleaning drum 42, and also drives the mop assembly 4 to lift to have a gap with the ground, so as to facilitate the user to disassemble the cleaning drum 42. Because the cleaning drum 42 has a gap with the ground, it is easier to pull out the cleaning drum 42.

[0325] In addition to triggering the mop assembly 4 to retract through the interactive device, the following scheme can also be used: after the cleaning drum 42 is installed on the mop support 43, the user pushes the mop assembly 4, and the driving device 10 starts to work to drive the mop assembly 4 to retract to the first limit position. The cleaning robot also includes a sensing system and a mainboard 2; the mainboard 2 is electrically connected with the sensing system; the sensing system includes a sensing unit for detecting the installation pushing force of the mop assembly 4; after the sensing unit detects the installation pushing force of the mop assembly 4, the sensing unit sends a retraction signal to the mainboard 2, and the mainboard 2 controls the driving device 10 to start to work to drive the mop assembly 4 to retract to the first limit position.

[0326] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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 relates to a mop, including: Machine body; Mop and wash assembly, including cleaning unit motor, cleaning unit, liquid supply mechanism and dirt removal mechanism; The cleaning unit motor is connected with the cleaning unit to drive the cleaning unit to rotate, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off dirt on the cleaning unit; Driving device is arranged on the machine body and is connected with the mop and wash assembly, and the driving device can drive the mop and wash assembly to extend from at least one side of the machine body in the width direction of the machine body, so that part of the mop and wash assembly is exposed; The dirt removal mechanism further includes a scraping strip assembly and a biasing assembly, and the biasing assembly provides a biasing force acting on the scraping strip assembly, and under the action of the biasing force, the scraping strip assembly has a tendency to move towards the cleaning unit.

2. The cleaning robot according to claim 1, wherein, Under the action of the biasing force provided by the biasing assembly, the depth of the scraping strip assembly inserted into the cleaning unit is 1-2mm.

3. The cleaning robot according to claim 1 or 2, characterized in that, The mop and wash assembly further includes a mop and wash support, and the power end of the driving device is connected with the mop and wash support. The mop and wash support has a drum mounting cavity with an opening downward, and the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity. The cleaning unit is in contact with the surface to be cleaned through the opening. The liquid supply mechanism is arranged on the mop and wash support, and the scraping strip assembly is swingably connected to the mop and wash support through the biasing assembly.

4. The cleaning robot according to claim 3, wherein, The biasing assembly includes a swing seat, the scraping strip assembly is rotatably connected to the mop and wash support through the swing seat, and the scraping strip assembly can move with the mop and wash support.

5. The cleaning robot according to claim 4, wherein, The biasing assembly further includes an elastic member, the swing seat is connected to the mop and wash support through a swing shaft, the swing seat is provided with a mounting hole, the elastic member is arranged in the mounting hole, one end of the elastic member abuts against the mop and wash support, and the other end of the elastic member abuts against the swing seat. When the scraping strip assembly swings upward relative to the cleaning unit, the elastic member is compressed.

6. The cleaning robot according to claim 5, wherein, Along the length direction of the scraping strip assembly, at least two swing seats are connected to the scraping strip assembly.

7. The cleaning robot according to claim 1, wherein, The length of the scraping strip assembly is greater than or equal to the length of the cleaning unit, and the contact surface of the scraping strip assembly and the cleaning unit is in a straight line area.

8. The cleaning robot of claim 1, wherein, The dirt removal mechanism further includes a dirt collecting box. The dirt collecting box is located below the scraping strip assembly. When the cleaning unit rotates, the dirt scraped off by the scraping strip assembly enters the dirt collecting box. 9.The cleaning robot according to claim 8, wherein, The scraping strip assembly includes a scraping plate and a water guide plate, the water guide plate abuts against the lower side of the scraping plate, the water guide plate is provided with a plurality of water guide grooves, and the tail of the water guide groove is located at the opening of the dirt collecting box. 10.The cleaning robot according to claim 9, wherein, The swing seat in the biasing assembly is connected to the water guide plate through a fastener, or the water guide plate and the swing seat are an integral structure. 11.The cleaning robot according to claim 10, wherein, The scraping plate includes a first plate segment and a second plate segment, the first plate segment and the second plate segment are arranged at an obtuse angle, the end of the first plate segment is in contact with the cleaning unit, and the second plate segment is connected to the water guide plate.

12. The cleaning robot according to claim 11, wherein, The dirt removing mechanism further comprises a dirt collecting pipe, one end of the dirt collecting pipe is arranged in the dirt collecting box, and the other end of the dirt collecting pipe is communicated with the cleaning robot sewage tank through a flexible pipeline; The second avoiding hole is arranged on the scraper, and the third avoiding hole is arranged on the water guide plate; when the water guide plate is connected to the scraper, the second avoiding hole is aligned with the third avoiding hole, and the second avoiding hole and the third avoiding hole are used for avoiding the dirt collecting pipe.

13. The cleaning robot according to claim 2, wherein, The driving device comprises a power source and a power execution mechanism; The power input end of the power execution mechanism is connected with the power source; The mop-washing assembly is floatingly connected with the power output end of the power execution mechanism, the mop-washing assembly can move along the width direction of the machine body with the power output end, and can also float up and down relative to the power output end.

14. A mopping assembly characterized in that, It comprises: A mop-washing support; A cleaning unit rotatably installed on the mop-washing support; A dirt removing mechanism and a dirt collecting assembly, the dirt removing mechanism comprises a scraper assembly, the end of the scraper assembly is in contact with the surface of the cleaning unit, and the water-facing side of the scraper assembly is provided with a water guide groove to guide the scraped dirt water into the dirt collecting assembly; The dirt removing mechanism further comprises a biasing assembly, the biasing force provided by the biasing assembly acts on the scraper assembly, and the scraper assembly has a tendency to move towards the cleaning unit under the action of the biasing force.

15. A cleaning robot, characterized in that, It comprises: A machine body; A mop-washing assembly comprising a cleaning unit motor, a cleaning unit and a dirt removing mechanism; The cleaning unit motor is connected with the cleaning unit to drive the cleaning unit to rotate; the dirt removing mechanism is used for scraping dirt on the cleaning unit; A driving device arranged on the machine body and connected with the mop-washing assembly; along the width direction of the machine body, the driving device can drive the mop-washing assembly to extend from at least one side of the machine body, so that part of the mop-washing assembly is exposed; The dirt removing mechanism further comprises a scraper assembly and a biasing assembly, the biasing force provided by the biasing assembly acts on the scraper assembly, and the scraper assembly has a tendency to move towards the cleaning unit under the action of the biasing force.

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