Cleaning robot and mopping assembly

Abstract

The embodiment of the utility model provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a mopping support, a cleaning unit motor, a cleaning unit and a dirt removing mechanism. The mopping support is provided with a roller mounting cavity with a downward opening, the cleaning unit motor is connected with the cleaning unit, the dirt removing mechanism is used for scraping dirt on the cleaning unit, and the cleaning unit motor, the cleaning unit and the dirt removing mechanism are arranged in the roller mounting cavity; the driving device is arranged on the machine body and is connected with the mopping assembly; in the width direction of the machine body, the driving device can drive the mopping assembly to stretch out of at least one side of the machine body so that part of the mopping assembly can be exposed. The dirt removing mechanism comprises a dirt collecting box, the dirt collecting box and the cleaning unit are detachably arranged on a mopping support of the mopping assembly, and the detaching direction of the dirt collecting box is roughly perpendicular to that of the cleaning unit. According to the scheme, the mopping assembly can be self-cleaned at any position, and the dirt collecting box is convenient to disassemble.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application incorporates by reference the following Chinese patent applications, which are incorporated in their entirety into this application.

[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] The present application relates to the technical field of robots, in particular to a cleaning robot and a mop-washing assembly. BACKGROUND

[0005] Most of the existing mop-sweeping integrated cleaning robots clean the ground in the mode of sweeping first and then mopping. For example, a mop tray is arranged at the bottom of the cleaning robot, and the ground is mopped by the rotating mop tray. However, the mop tray has the problem of dirtying because the mop tray cannot be self-cleaned after being dirty. Later, mop-washing cleaning robots using a roller appeared. Such a cleaning robot has a roller, a clean water supply device, a scraping strip, and a sewage collection device. During each rotation of the roller, the roller receives clean water supplied by the clean water supply device, and after mopping is completed, the roller is self-cleaned by the scraping strip while cleaning, thereby realizing live water mopping that mops the ground while self-cleaning and improving the problem of dirtying.

[0006] In order to make the function of the cleaning robot more comprehensive, the roller of some cleaning robots is designed to be retractable, and the roller can be extended to clean along the wall or to realize surrounding cleaning of obstacles. However, after the roller is extended, the part of the roller that is extended cannot be cleaned, and the problem of dirtying similar to the mop tray still exists, and the cleaning effect is poor.

[0007] During the cleaning process of the cleaning robot, the roller can absorb dirt on the ground, and the dirt on the roller can be collected into a sewage collection box through scraping. After a long time of work, the sewage collection box needs to be cleaned. How to provide a sewage collection box that is convenient to disassemble is a problem to be solved at present. CONTENT OF THE INVENTION

[0008] In view of the above problems, the present application provides a cleaning robot and a mop-washing assembly which can always realize self-cleaning of the roller and are convenient to disassemble.

[0009] In an embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0010] a body;

[0011] a mop-washing assembly, comprising a mop-washing support, a cleaning unit motor, a cleaning unit, and a dirt removal mechanism; the mop-washing support has a roller mounting cavity with an opening facing downward, the cleaning unit motor is connected with the cleaning unit, the dirt removal mechanism is used for scraping dirt on the cleaning unit, and the cleaning unit motor, the cleaning unit, and the dirt removal mechanism are arranged in the roller mounting cavity;

[0012] a driving device arranged on the body and connected with the mop-washing assembly; the driving device can drive the mop-washing assembly to extend out of at least one side of the body along the width direction of the body so that part of the mop-washing assembly is exposed.

[0013] The dirt-removing mechanism comprises a dirt-collecting box, which is detachably arranged on the mop-washing support together with the cleaning unit, and the directions of detachment of the dirt-collecting box and the cleaning unit are substantially perpendicular.

[0014] Optionally, the mop-washing assembly further comprises a liquid supply mechanism for supplying cleaning liquid to the cleaning unit and capable of moving along with the mop-washing assembly.

[0015] Optionally, the direction of detachment of the cleaning unit is consistent with the direction of extension of the mop-washing assembly, and the direction of detachment of the dirt-collecting box is substantially 90° downward to the body.

[0016] Optionally, along the length direction of the dirt-collecting box, the dirt-collecting box has a first end and a second end; the mop-washing support is provided with a first fixing structure and a second fixing structure at positions corresponding to the first end and the second end respectively; the second fixing structure is a socket, and the second end is a protruding block structure adapted to the socket.

[0017] Optionally, the first end of the dirt-collecting box is provided with a release assembly; the release assembly has an operating handle; the operating handle is located at the bottom of the dirt-collecting box; when detached, the operating handle is actuated, the release assembly is in an unlocked state, the first end of the dirt-collecting box is separated from the mop-washing support, and the dirt-collecting box is pulled downward at the bottom of the body; when installed, after the second end of the dirt-collecting box is inserted into position from the bottom of the body, the first end of the dirt-collecting box is moved upward to a locking position, and the release assembly is triggered to switch to a locked state at the locking position.

[0018] Optionally, the release assembly comprises an elastic operating member and a fixed pin; the elastic operating member is connected with the fixed pin, and the first fixing structure is a pin hole adapted to the fixed pin.

[0019] Optionally, the fixed pin is provided with a sliding groove, one end of the fixed pin is provided with a plug adapted to the pin hole, and the other end is connected with the release spring; a release button is rotatably connected to the dirt-collecting box through a rotating shaft; the rotating shaft is provided with a stop structure and the operating handle on both sides thereof respectively.

[0020] Optionally, the operating handle can rotate around the rotating shaft; the operating handle is rotated around the rotating shaft to release the release assembly so that the release assembly is in the unlocked state; wherein the rotating direction of the operating handle is the same as the direction of taking down the dirt-collecting box.

[0021] Optionally, the dirt removing mechanism comprises a squeegee assembly; an end of the squeegee assembly is in contact with the cleaning unit; the dirt collecting box is located below the squeegee assembly; when the cleaning unit rotates, the dirt scraped by the squeegee assembly enters the dirt collecting box; the dirt collecting box is provided with a filter assembly, which divides the inner cavity of the dirt collecting box into an upper space and a lower space.

[0022] Optionally, the bottom surface of the dirt collecting box is a V-shaped bottom surface with a high middle and low ends.

[0023] Optionally, the dirt removing mechanism further comprises a dirt collecting pipe, the pipe opening of the dirt collecting pipe extends to the lowest point of the V-shaped bottom surface.

[0024] Optionally, the squeegee assembly has an avoiding hole; one end of the dirt collecting pipe is in communication with the avoiding hole, and the other end of the dirt collecting pipe passes through the filter assembly and is located in the lower space of the inner cavity.

[0025] Optionally, one end of the filter assembly is provided with a curved-arc plate body.

[0026] Optionally, the dirt collecting box is provided with a detection piece; the mop-washing support and / or the machine body is provided with a sensing element, which identifies whether the dirt collecting box is installed on the mop-washing support by detecting the detection piece.

[0027] Optionally, in the height direction of the machine body, the lowest point of the dirt collecting box is higher than the lowest point of the machine body.

[0028] Optionally, the driving device can also drive the mop-washing assembly to ascend and descend relative to the machine body.

[0029] Optionally, the cleaning robot further comprises a control device; the control device is electrically connected with the driving device, and is used for dynamically controlling 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, so as to change the position of the mop-washing assembly relative to the machine body; wherein the position of the mop-washing assembly relative to the machine body comprises a horizontal position and / or a height position.

[0030] In another embodiment of the present application, a mop-washing assembly is provided. The mop-washing assembly comprises:

[0031] a mop-washing support having a drum mounting cavity with an opening facing downward;

[0032] a cleaning unit motor arranged in the drum mounting cavity;

[0033] a cleaning unit connected with the cleaning unit motor and capable of contacting a surface to be cleaned through the opening;

[0034] A dirt removing mechanism is arranged on the mop-washing support for scraping dirt on the cleaning unit;

[0035] The mop-washing support is provided with a connecting structure for connecting a driving device so as to drive the mop-washing assembly to move by the driving device; the dirt removing mechanism comprises a dirt collecting box, the dirt collecting box and the cleaning unit are detachably arranged on the mop-washing support of the mop-washing assembly, and the directions of detachment of the dirt collecting box and the cleaning unit are substantially perpendicular.

[0036] In another embodiment of the present application, a cleaning robot is provided, comprising:

[0037] A body;

[0038] A mop-washing assembly is mounted on the body, the body comprising a mop-washing support, a cleaning unit motor, a cleaning unit and a dirt removing mechanism; the mop-washing support has a drum mounting cavity with an opening facing downward, the cleaning unit motor is connected with the cleaning unit, the dirt removing mechanism is used for scraping dirt on the cleaning unit, and the cleaning unit motor, the cleaning unit and the dirt removing mechanism are arranged in the drum mounting cavity.

[0039] The dirt removing mechanism comprises a dirt collecting box, the dirt collecting box and the cleaning unit are detachably arranged on the mop-washing support, and the directions of detachment of the dirt collecting box and the cleaning unit are different.

[0040] In the technical scheme provided in the embodiments of the present application, the mop-washing assembly moves as a whole relative to the body of the cleaning robot, the liquid supply mechanism can supply cleaning liquid to the cleaning drum at any position of the mop-washing assembly, the dirt removing mechanism can scrape dirt on the cleaning drum at any position of the mop-washing assembly, and the cleaning drum can be self-cleaned while working. When the cleaning drum extends outward to perform edge cleaning, the cleaning drum will not be excessively dirty, can still have good cleaning effect after long-time cleaning, and has better user experience. In addition, in the present scheme, the dirt collecting box is detachably arranged on the mop-washing support of the mop-washing assembly; a releasing assembly is arranged at a first end of the dirt collecting box corresponding to the exposed side of the mop-washing assembly, so that the user can detach the dirt collecting box from the exposed side of the mop-washing assembly by operating the releasing assembly, which is convenient and fast and has good user experience. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical schemes 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 also be obtained by those skilled in the art without any creative effort.

[0042] Figure 1a and 1bA schematic diagram of edge cleaning is shown in the state of the drum not extending and extending;

[0043] Figure 1c A schematic diagram of the bottom surface of the dirt collection box being higher than the bottom surface of the machine body is shown;

[0044] Figure 2 A schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application is shown;

[0045] Figure 3a A schematic diagram of the interior of the cleaning robot after the upper cover is removed is shown;

[0046] Figure 3b A partial view of Figure 3a is shown;

[0047] Figure 4 A schematic diagram of the explosion of the structure of the cleaning robot provided in an embodiment of the present application is shown;

[0048] Figure 5 A schematic diagram of the explosion of the mop-washing assembly provided in an embodiment of the present application is shown;

[0049] Figure 6 A schematic diagram of the mop-washing assembly provided in an embodiment of the present application being arranged on the cavity shell is shown;

[0050] Figure 7a A schematic diagram of the external structure of the mop-washing assembly provided in an embodiment of the present application is shown;

[0051] Figure 7b A schematic diagram of a specific implementation structure of the liquid supply mechanism in an embodiment of the present application is shown;

[0052] Figure 8 A bottom view of a mop-washing support provided in an embodiment of the present application is shown;

[0053] Figure 9a A schematic diagram of the explosion of the mop-washing assembly provided in an embodiment of the present application is shown;

[0054] Figure 9b A sectional view of the mop-washing assembly provided in an embodiment of the present application is shown;

[0055] Figure 10a A schematic diagram of the state of edge cleaning of a cleaning robot provided in an embodiment of the present application is shown;

[0056] Figure 10b A schematic diagram of the comparison of the two cases of the mop-washing assembly extending and not extending when the cleaning robot performs a cleaning task is shown;

[0057] Figure 11 A schematic diagram of the mop-washing assembly in a lifted state provided in an embodiment of the present application is shown;

[0058] Figure 12 A schematic view of a mop-washing assembly in an extended state according to an embodiment of the present application;

[0059] Figure 13 A schematic view of a driving device according to an embodiment of the present application;

[0060] Figure 14 A perspective view of a motion execution mechanism according to an embodiment of the present application;

[0061] Figure 15 Another perspective view of a motion execution mechanism according to an embodiment of the present application;

[0062] Figure 16 A schematic view of a mop-washing assembly according to an embodiment of the present application;

[0063] Figure 17 A schematic view of a motion execution mechanism according to an embodiment of the present application;

[0064] Figure 18 A schematic view of a sliding block structure according to an embodiment of the present application;

[0065] Figure 19 A schematic view of a motion execution mechanism according to an embodiment of the present application;

[0066] Figure 20a A schematic view of a cavity shell and a shell cover combination according to an embodiment of the present application;

[0067] Figure 20b A schematic view of a shell cover according to an embodiment of the present application;

[0068] Figure 21 A schematic view of a grating structure and a fourth photoelectric switch in a cleaning robot according to an embodiment of the present application;

[0069] Figure 22 A schematic view of a first connecting end and a second connecting end for connecting elastic members on a sliding plate and a sliding block according to an embodiment of the present application;

[0070] Figure 23 A schematic view of a hovering surface at a top end of a lifting portion according to an embodiment of the present application;

[0071] Figure 24 A schematic view of a mop-washing assembly being lifted relative to the ground according to an embodiment of the present application;

[0072] Figure 25 A front view of another mop-washing assembly according to an embodiment of the present application;

[0073] Figure 26A sectional view of another mop-washing assembly provided by an embodiment of the present application;

[0074] Figure 27a A perspective view of another mop-washing assembly provided by an embodiment of the present application in an initial state;

[0075] Figure 27b A front view of another mop-washing assembly provided by an embodiment of the present application in an initial state;

[0076] Figure 27c A sectional view of another mop-washing assembly provided by an embodiment of the present application in an initial state;

[0077] Figure 28a A perspective view of another mop-washing assembly provided by an embodiment of the present application in a lifted state;

[0078] Figure 28b A front view of another mop-washing assembly provided by an embodiment of the present application in a lifted state;

[0079] Figure 28c A sectional view of another mop-washing assembly provided by an embodiment of the present application in a lifted state;

[0080] Figure 29a A perspective view of another mop-washing assembly provided by an embodiment of the present application in an extended state;

[0081] Figure 29b A front view of another mop-washing assembly provided by an embodiment of the present application in an extended state;

[0082] Figure 29c A sectional view of another mop-washing assembly provided by an embodiment of the present application in an extended state;

[0083] Figure 30 A perspective view of a mop-washing support provided by an embodiment of the present application;

[0084] Figure 31 A perspective view of a sliding plate provided by an embodiment of the present application;

[0085] Figure 32 A perspective view of a rotating support provided by an embodiment of the present application;

[0086] Figure 33 A perspective view of a cavity shell corresponding to another mop-washing assembly provided by an embodiment of the present application;

[0087] Figure 34 A sectional view of a mop-washing assembly provided by an embodiment of the present application;

[0088] Figure 35a A sectional view of a mop-washing support provided by an embodiment of the present application;

[0089] Figure 35b A schematic diagram showing that the front side of the sludge collection box in a mopping assembly provided in this application has an angle;

[0090] Figure 35c This is a schematic diagram of the cleaning robot structure provided in an embodiment of this application;

[0091] Figure 36a and 36b A comparative schematic diagram showing the sludge collection box located on the front and rear sides of the cleaning roller is provided;

[0092] Figure 37 A cross-sectional view of another mopping assembly provided in an embodiment of this application;

[0093] Figure 38 Another cross-sectional view of another mopping assembly provided in an embodiment of this application;

[0094] Figure 39a An exploded view of a scraper assembly provided in an embodiment of this application;

[0095] Figure 39b This is a cross-sectional schematic diagram of the water guide plate provided in an embodiment of this application;

[0096] Figure 39c This is a schematic diagram of the structure of a cleaning robot equipped with an adaptive adjustment device according to an embodiment of this application;

[0097] Figure 40 A perspective structural diagram of a scraper assembly provided in an embodiment of this application;

[0098] Figure 41 This is a schematic diagram illustrating the implementation structure of another driving device provided in an embodiment of this application;

[0099] Figure 42 It shows in Figure 41 The diagram shows the two states of the lower mopping assembly being raised and extended by the drive device of the structure shown.

[0100] Figure 43 A schematic diagram illustrating the implementation structure of another driving device provided in an embodiment of this application;

[0101] Figure 44a This is a schematic diagram showing the mopping component exposed on one side of the body in a cleaning robot provided in an embodiment of this application;

[0102] Figure 44b A schematic diagram showing the sludge collection box being removed from the mopping assembly according to an embodiment of this application;

[0103] Figure 44c A schematic diagram showing the release component in a locked state according to an embodiment of this application;

[0104] Figure 44d A schematic view of the releasing assembly in the unlocked state according to an embodiment of the present application;

[0105] Figure 44e A schematic view of the process of disassembling the dirt collecting box according to an embodiment of the present application;

[0106] Figure 44f An exploded schematic view of the dirt collecting box, the releasing assembly and the filtering assembly according to an embodiment of the present application. DETAILED DESCRIPTION

[0107] The present 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 present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures. In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or 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 present application can be understood according to the specific circumstances. In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature is "on", "above" and "on" the second feature, which 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 is "below", "below" and "below" the second feature, which 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 present embodiment, the terms "up", "down", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, which is 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, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0108] Many cleaning robots currently have a circular body, which is flexible and easy to escape. When a cleaning robot is equipped with a dust suction roller brush 01 and a roller 02 for mopping, the dust suction roller brush 01 is generally located in front of the roller 02, so that the cleaning robot can first suck dust and then mop when moving forward. In order to move and avoid obstacles and escape, the driving wheel is generally arranged at the maximum width position perpendicular to the forward direction, and the roller is generally placed behind the driving wheel and does not protrude from the projection of the circular body on the ground, which makes the roller located at the rear of the body shorter and the distance between the end of the roller and the outermost edge of the body in the width direction farther, as shown in Figure 1a When the cleaning robot needs to clean along the wall or wardrobe, the cleaning robot cannot mop the corner area with a larger size d of the object after maintaining a minimum safety distance from the wall or wardrobe. In order to solve this problem, some cleaning robots are designed with an extendable roller.

[0109] In order to make the cleaning robot more functional, the roller of some cleaning robots is designed to be retractable, and the extended roller can clean along the wall or realize surrounding cleaning of obstacles. However, after the roller is extended, although some robots can ensure the supply of clean water, the scraper is still located inside the body, that is, the extended part of the roller can only receive clean water, and the dirt is always on the roller, which cannot be scraped off, the roller cannot be cleaned, and the problem of smearing dirt similar to the mop tray still exists, and the cleaning effect is poor.

[0110] As shown in Figure 1b , the extension of the roller allows the roller to reach the corner area and improve the coverage rate. However, the single extension of the roller will cause the roller to be more and more dirty during cleaning, and the corner area (such as the area along the edge width d in Figure 1a ) cannot be cleaned well, but becomes more and more dirty.

[0111] In order to make the extended roller have a good cleaning effect, the roller needs to be self-cleaning in time when it is in the extended state, and the roller brush can have a good cleaning degree when it contacts the ground for mopping, without the problem of smearing dirt.

[0112] 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 cleaning processes, 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 obstacles appear 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, which seriously wastes the computing power of the robot, and affects the reliability of the extension and retraction driving device. In addition, for the sweeping robot that selects the roller as the 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, and this distance is a blind area when performing traversal. When the robot traverses, 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 blind area coverage will be simpler.

[0113] 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 can be continuously cleaned by the dirt removal mechanism. After the cleaning unit is cleaned, it is replenished with clean cleaning liquid, 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.

[0114] 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.

[0115] 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.

[0116] 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 mounted on body 1. Figure 3a As shown, the vacuum cleaning system 3 may include, but is not limited to: dustbin 301, vacuum fan 302, roller brush (not shown in the figure), etc. The control system includes hardware and software components. The hardware components include, for example, the motherboard 2, etc. Figure 4 As shown. The motherboard may include a processor, storage medium (such as a memory), etc. The software part consists of computer programs 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, and switching cleaning modes (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 2 to drive the drive wheels to rotate, realizing the forward, backward, parking, and turning movements of the cleaning robot, etc. Furthermore, the propulsion system 8 may also include omnidirectional wheels, which are follower wheels and may be located at the front of the body 1. The side brush assembly 7 may 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 there are two side brush assemblies 7, they can be respectively arranged on both sides (e.g. one on the left side and one on the right side) of the front part of the machine body 1.

[0117] The control system in the embodiments of the present application can include a control device, and the mainboard mentioned above can be referred to as the control device.

[0118] 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 in the figure, 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 in the figure, Figure 6 As shown in the figure, 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 In the reference coordinate system, the X direction is the width direction of the machine body; and the Y direction is the advancing direction of the cleaning robot.

[0119] 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 embodiments 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.

[0120] From the above, it can be seen that the scheme provided by the embodiments of the present application can drive the driving device 10 to drive the mopping assembly to move relative to the machine body 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 better user experience.

[0121] 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 2 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 2 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.

[0122] 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.

[0123] 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.

[0124] 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 further 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 channel, a plurality of branch channels 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.

[0125] 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

[0126] The disassembly direction of the cleaning roller 42 is along the cylinder axis. 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 jointly arranged 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. In addition, 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, thereby eliminating the risk of dirt pouring out of the dirt collecting box. The content related to the disassembly of the dirt collecting box 442 will be described in detail below, and can be referred to the content below.

[0127] Referring to Figure 3a , the body 1 is provided with a dirty water tank 9. Correspondingly, as shown in Figure 3b and Figure 9aIn one implementation shown, the scraping strip 441 has an escape hole 446, and a dirt collection pipe 542 is arranged at the escape hole 446. One end of the dirt collection pipe 542 is in communication with the escape hole 446, and the other end is in communication with the dirt collection box 442. The dirt collection box 442 is in communication with the sewage 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 collection pipe 542 through the escape hole 446, and then enters the dirt collection box 442 through the dirt collection pipe 542. In a specific implementation, the dirt removal mechanism 44 can further include a sewage pump (not shown in the figure), which is used to pump the dirt in the dirt collection box 442 into the sewage tank 9 through the second flexible pipe 456. The sewage pump can be set to work at a regular time to pump the dirt in the dirt collection box 442, or can be started to work when the amount of dirt in the dirt collection box 442 reaches a threshold value, and the present embodiment does not limit this. Figure 3b As shown, the second flexible pipe 456 further includes a second end pipe 457, the length of which is constant, one end of which is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0128] Since the cleaning roller 42 and the dirt collection box 442 are arranged on the first opening of the mop and wash support 43 and are close to each other, the inventors find that if the two are disassembled in the same direction, the positioning devices of the cleaning roller 42 and the dirt collection box 442 can interfere with each other, and when one component is disassembled alone, the two can contact, rub and even drive each other to move. Therefore, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, which ensures the separation of the fixing mode and the disassembly complementary interference. In addition, the downward disassembly of the dirt collection box makes the user only need to lift the tail of the cleaning robot to see the dirt collection box and conveniently take it out downward, which eliminates the risk of dirt pouring out of the dirt collection box.

[0129] In another embodiment, the user can flip 180° to take out the dirt collection box, at this time, the direction of taking out the dirt collection box is still away from the bottom surface of the cleaning robot, only the direction of taking out the dirt collection box becomes upward. See Figure 3b 、 Figure 7a 、 Figure 8 and Figure 9aIn an embodiment of the present application, the clean water tank 5 is connected to the liquid supply mechanism 45 through a first flexible pipe 443, and the clean water stored in the clean water tank 5 can be delivered to the liquid supply mechanism 45 through the first flexible pipe 443, and the liquid supply mechanism 45 supplies the clean water to the cleaning roller 42. The dirty water tank 9 is connected to the dirt removal mechanism 44 through a second flexible pipe 456, and the dirty water collected by the dirt removal mechanism 44 can be delivered to the dirty water tank 9 through the second flexible pipe 456. When the mop assembly 4 is extended outwards, the first flexible pipe 443 and the second flexible pipe 456 will move with the mop assembly 4, and the bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually extend, and the first flexible pipe 443 keeps the liquid supply mechanism 45 connected to the clean water tank 5, and the second flexible pipe 456 keeps the dirt removal mechanism 44 connected to the dirty water tank 9.

[0130] Referring to Figure 7a and Figure 7b , the liquid supply inlet 451 is connected to the first flexible pipe 443, and the dirt removal outlet 4410 is connected to the second flexible pipe 456. The liquid supply inlet 451 and the dirt removal outlet 4410 extend from above the mop 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 drawing) below the cavity shell 46, and then extend upwards from the gap 03 in Figure 6 to be connected to the clean water tank 5 and the dirty water tank 9 on the machine body 1. Referring to Figure 6 , the gap 03 is provided with a pipe space for accommodating the first flexible pipe 443 and the second flexible pipe 456. Since the mop assembly 4 is to move along the X axis in the positive and negative directions relative to the cavity shell 46, the first flexible pipe 443 and the second flexible pipe 456 can deform with the movement of the mop assembly 4 to provide clean water for the cleaning roller and to discharge the dirt in the dirt collection box in real time.

[0131] In order to avoid bending, the outer sides of the first flexible pipe 443 and the second flexible pipe 456 can be provided with springs (Figs. 9 and 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.

[0132] 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.

[0133] 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.

[0134] Figure 3a The example shown is from Figure 3a From 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.

[0135] 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 10aAs shown, the outermost edge of the mop-washing assembly 4 extends outwardly beyond the edge of the machine body 1 by a distance D, so that the cleaning roller 42 can clean the edge of an object at a safe distance from the edge of the machine body 1, the edge of a wall, the edge of a household object, etc. Of course, in an open space, the cleaning roller 42 can also extend outwardly, as shown in the state of Figure 10a As shown, the mop-washing assembly 4 is in the state of being retracted (initial state). The mop-washing assembly 4 extends outwardly or swings outwardly, as shown in the state of Figure 10a The dashed box E represents a schematic view of the mop-washing assembly 4 in the state of being retracted (initial state), and the solid box F represents a schematic view of the mop-washing assembly 4 extending outwardly or swinging outwardly. When the cleaning robot cleans the edge of an object, the edge of the machine body 1 of the cleaning robot is kept at a safe distance from the edge of the object, and the mop-washing assembly 4 extends outwardly relative to the edge of the machine body 1 by a distance D, which is in the range of [10mm-0mm], for example, 5mm. Of course, in order to avoid the outer edge of the mop-washing assembly 4 directly colliding with or rubbing against the edge of the object, the outer edge of the mop-washing assembly 4 also has a safe distance from the edge of the object, which is d, and d is in the range of [10mm-1mm], for example, 2mm. The moving stroke of the mop-washing assembly 4 relative to the machine body 1 can be 40-60mm, for example, the outwardly extending stroke is 50mm.

[0136] The driving device 10 can drive the mop-washing assembly 4 to extend outwardly from the opening of the accommodating cavity 101. For the retraction of the mop-washing assembly 4, the retraction can be driven by the driving device 10. Alternatively, the retraction of the mop-washing assembly 4 is not driven by the driving device 10, but is driven by the elastic member arranged between the cavity shell 46 (as shown in Figure 6 ) and the mop-washing assembly 4. For example, when the driving device 10 drives the mop-washing assembly 4 to extend outwardly, the elastic member arranged between the cavity shell 46 and the mop-washing assembly 4 is deformed (e.g., compressed), and when the mop-washing assembly 4 needs to be retracted, the driving device 10 is decoupled from the mop-washing assembly 4, and the mop-washing assembly 4 is driven to retract by the restoring force of the elastic member. Of course, this is only one embodiment provided in the present application, and in other embodiments, the extending action and the retracting action of the mop-washing assembly 4 are both driven by the driving device 10. It should be noted here that the cavity shell 46 can be understood as a part of the bottom wall of the base of the machine body 1, and this part of the bottom wall forms the accommodating cavity 101. Alternatively, the base of the machine body 1 is provided with the cavity shell 46 as shown in Figure 6 .

[0137] The foregoing provided a brief overview of the structure of the cleaning robot provided in the embodiments of this application. The following will provide a more detailed description of the structure of the mopping component, the structure implementing the telescopic function of the mopping component (i.e., the specific implementation of the drive device), and so on. The key feature of the solutions provided in the embodiments of this application is the mopping component 4. The mopping component 4 can extend from at least one side of the cleaning robot's body, exposing a portion of the mopping component 4 so that it can self-clean and maintain good cleanliness in any position. The telescopic function of the mopping component 4 will be described in detail below. There are various structures for implementing the telescopic function of the mopping component, which will be described one by one below.

[0138] See Figure 6 , 11 to Figure 12 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 includes a power input end and a power output end. The power input end is connected to the first power source 102, and the first actuation mechanism 103 is used to convert the rotational power output by the power source into linear power. The power output end is connected to the mopping assembly 4.

[0139] The first power source 102 may include, but is not limited to, a first motor and a reducer. The first actuator 103 may include, but is not limited to, a first gear 13 and a first rack 14. Specifically, the first actuator 103 is in the initial position, such as... Figure 13 In the example shown, most of the teeth of the first rack 14 are located to the left of the first gear 13, a state that can be described as the rack being at its origin. At this time, the mopping assembly 4 is in its initial state, i.e. Figure 11 The state shown. Looking at the cleaning robot as a whole, Figure 11 In its current state, the mopping assembly 4 is concealed within the body 1. When the mopping assembly 4 needs to extend, the first motor of the first power source 102 rotates forward (from...). Figure 13 From the angle, the first motor outputs counterclockwise power to drive the first rack 14 along the first direction ( Figure 13 Move in the direction of the middle arrow (X). Figure 12 A schematic diagram is shown with the mopping assembly 4 in the extended state. When the mopping assembly 4 needs to retract, the first motor of the first power source 102 reverses (from...). Figure 13 (From the angle, the first motor outputs power in a clockwise direction) to drive the first rack 14 to move in the opposite direction of the first direction (the second direction).

[0140] See Figure 13In one embodiment of the present application, the cavity shell 46 of the accommodating cavity 101 of the main body 1 is provided with at least one sliding rail 15. The first action executing mechanism 103 further comprises a sliding plate, and the first rack 14 is arranged on the sliding plate. The sliding plate is slidably connected to the sliding rail 15. The first power source 102 is arranged on the mounting position of the cavity shell 46, and the first gear 13 is arranged on the output shaft of the first power source 102 and 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 sliding 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 together.

[0141] 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 above the sliding plate 20 through the slot hole 27 and the 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.

[0142] Further, as shown in Figure 20a and 20b , the main body 1 comprises a shell cover 47 which is connectable to the upper side of the cavity shell 46. When the shell cover 47 is connected to the cavity shell 46, a hollow cavity is formed, and the driving device 10 (i.e. the first power source 102 and the first action executing mechanism 103) is located in the hollow cavity. The shell cover 47 not only provides effective protection for the driving device 10 to prevent garbage and foreign matters from entering the driving device 10 and affecting the normal operation of the driving device 10. In addition, the bottom surface of the shell cover 47 is provided with a matching slot 471, and the top end of the second baffle 26 is in contact with the matching slot 461. During the sliding process of the sliding plate, the top end of the second baffle 26 can slide in the matching slot 461. The shell cover 47 can limit the second baffle 26, effectively preventing the sliding plate 20 from moving upward or protruding.

[0143] The mop-washing assembly 4 can be telescoped relative to the body 1. The mop-washing assembly 4 can have a first limit position in the retracted state and a second limit position in the extended state. In addition, the mop-washing assembly 4 can be parked at the first limit position and the second limit position, and can 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 the target position of the mop-washing assembly relative to the body based on the 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 of the mop-washing assembly at any position by controlling the driving device.

[0144] 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 of the cleaning robot to make corresponding control. As shown in the example of Figure 13 , the plurality of detection units can be arranged on the cavity shell 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 13 , the cavity shell 46 is provided with a first photoelectric switch 281 and a second photoelectric switch 282. The two photoelectric switches are arranged at different positions of the cavity shell 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located at the first limit position of the mop-washing assembly 4 in the retracted state and the first limit position of the mop-washing assembly 4 in the extended state. The first photoelectric switch 281 and the second photoelectric switch 282 can be located on the same side of the first action execution mechanism 103, or can be located on different sides. Of course, at least one photoelectric switch for detecting the intermediate position can also be arranged between the first photoelectric switch 281 and the second photoelectric switch 282.

[0145] Correspondingly, a trigger structure can be provided on the first action actuator 103. When the first photoelectric switch 281 and the second photoelectric switch 282 are located on the same side of the first action actuator 103, only one trigger structure is needed. If the first photoelectric switch 281 and the second photoelectric switch 282 are located on opposite sides of the first action actuator 103, then two trigger structures need to be provided on the first action actuator 103, as shown in Figure 14, namely the first trigger structure 291 and the second trigger structure 292. More specifically, the first trigger structure 291 and the second trigger structure 292 can be provided on a sliding plate in the first action actuator 103. When the mopping assembly 4 is in the first extreme position of the retracted state, the first trigger structure 291 triggers the first photoelectric switch 281. The mopping assembly 4 moves along... Figure 23 When the middle arrow X moves to the second limit position of the extended state, the second trigger structure 292 can trigger the second photoelectric switch 282, indicating that the mopping assembly 4 extends outward to the farthest distance.

[0146] Although the second trigger structure 292 and the second photoelectric switch 282 can detect whether the mopping assembly 4 has reached the second limit position of the extended state, the main board can control the first power source 102 to stop working based on the trigger signal of the second photoelectric switch 282, so that the mopping assembly 4 stops at the second limit position. However, in order to improve safety, a limit structure can also be provided on the cavity shell 46. When the sliding plate 20 slides to the second limit position, the first action actuator 103 abuts against the limit structure (more specifically, the sliding plate of the first action actuator 103 abuts against the limit structure).

[0147] As mentioned above, the mopping component 4 has multiple extension positions, and its position relative to the machine body differs in each position. Alternatively, it can be said that the distance the mopping component extends outward varies depending on the extension position. See also... Figure 13 , Figure 14 and Figure 21 To achieve precise gear adjustment, the solution provided in this embodiment may further include a fourth detection unit and a fourth triggering structure. The fourth detection unit may be a fourth photoelectric switch, a fourth micro switch, or a fourth Hall element. Taking a fourth photoelectric switch as the fourth detection unit and a grating structure as the fourth triggering structure as an example, the cavity housing 46 is also provided with a fourth photoelectric switch 284, and the first actuation mechanism 103 is provided with a grating structure 294. The length of the grating structure 294 is equal to or less than the maximum stroke of the mopping assembly 4. When gear adjustment is performed, the fourth photoelectric switch 284 can accurately detect the counting scale on the grating structure 294, thereby determining the gear position of the mopping assembly 4.

[0148] The implementation process of the drive device 10 will be described in detail below in conjunction with the usage scenarios.

[0149] Scenario one, mop-washing assembly of cleaning robot extends when it performs cleaning task, and retracts when it encounters obstacles and other special situations

[0150] The cleaning robot stops at the base station for replenishment (charging and / or water injection), sewage discharge (such as discharging garbage in the dust box and / or sewage in the sewage tank), self-cleaning (cleaning the cleaning roller), and the like when it does not perform the task. The user can start the cleaning robot to perform the 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 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 mentioned above in the extended state, or a position between the first limit position in the retracted state and the second position in the extended state, which is not specifically limited in the embodiment. Then, the cleaning robot keeps the mop-washing assembly extended in the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0151] During the cleaning process, when the cleaning robot detects obstacles through the sensing system, the mainboard controls the driving device 10 to drive the mop-washing assembly to retract a certain distance. Here, the "certain distance" retracted can be calculated by the mainboard based on the information of the obstacles sensed by the sensing system; or, the distance from the current extended state to the first limit position. After passing the obstacles, the mainboard controls the driving device to make the mop-washing assembly extend to continue performing the cleaning task.

[0152] It should be noted here that special situations can include but are not limited to: user instructs the mop-washing assembly to retract, passes through a narrow passage, and the like.

[0153] Scenario two, the mop-washing assembly of the cleaning robot is in the retracted state when it performs the cleaning task, and extends when it needs to clean along the edge

[0154] The cleaning robot plans a cleaning path according to the 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, clean along the wall edge, cabinet edge, and the like. The mop-washing assembly of the cleaning robot is in the retracted state (such as the first limit position), and cleans the open area 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 (which can extend a set length, or 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), and goes to the next area to be cleaned, or returns to the base station for replenishment, sewage discharge, or self-cleaning, and the like.

[0155] Reference Figure 16As shown, the mop assembly 4 is floatingly connected to the first action executing mechanism 103. For example, assuming that Figure 16 As shown, the mop assembly 4 is in contact with the ground. Because the mop assembly 4 is floatingly arranged, the mop assembly 4 can float up and down according to the ground when the mop assembly travels on uneven ground. The first action executing mechanism 103 is connected to the mop assembly 4 through the connecting assembly 24. As shown, Figure 16 As shown, the connecting assembly 24 can include a connecting column 241 and a sliding block 242. The mop assembly 4 is provided with the connecting column 241 above the mop support 43. The first action executing mechanism 103 includes the sliding block 242 as shown. Figure 18 As shown, 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 As shown, the upper portion of the mop assembly 4 has a gap with the cavity shell 46, which provides a space for the mop assembly 4 to float up and down.

[0156] In the above, only the driving device 10 can drive the mop assembly 4 to move in the width direction of the body 1, and in the technical solution provided in the embodiment, the mop assembly 4 can not only move in the width direction of the body, but also can be lifted up and down. The movement of the mop assembly in the width direction of the body and the lifting up and down can be respectively driven by two driving devices, or can be realized by only one driving device. That is, the driving device 10 can not only drive the mop assembly 4 to move in the width direction of the body 1 in the accommodating cavity 101, but also can be lifted up and down.

[0157] 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 cleaning roller 42 of 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 be lifted up and down relative to the body 1 of the cleaning robot according to the ground. Regardless of whether the ground is flat or not, 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, so that the sudden increase of the force acting on the ground by the mop assembly 4 due to uneven ground can be effectively avoided. For some wooden floors with soft material, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0158] 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.

[0159] Referring to Figures 13 to 22The driving device 10 can move in multiple directions to drive the mop-washing assembly 4 to lift, lower, extend and retract relative to the body 1. The driving device 10 comprises 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-washing assembly 4 can be driven to extend outward relative to the body 1 along the direction of arrow X1, and the mop-washing assembly 4 can also be driven to lift relative to the body 1 along the direction of arrow Z2. Figure 16 Specifically, when the first power source 102 outputs power in a first direction, the mop-washing assembly 4 can be driven to extend outward relative to the body 1 along the direction of arrow X1, and the mop-washing assembly 4 can also be driven to lift relative to the body 1 along the direction of arrow Z2. Figure 16 Specifically, when the first power source 102 outputs power in a first direction, the mop-washing assembly 4 can be driven to extend outward relative to the body 1 along the direction of arrow X1, and the mop-washing assembly 4 can also be driven to lift relative to the body 1 along the direction of arrow Z2. Figure 16 Specifically, when the first power source 102 outputs power in a first direction, the mop-washing assembly 4 can be driven to extend outward relative to the body 1 along the direction of arrow X1, and the mop-washing assembly 4 can also be driven to lift relative to the body 1 along the direction of arrow Z2. Figure 16 Specifically, when the first power source 102 outputs power in a first direction, the mop-washing assembly 4 can be driven to extend outward relative to the body 1 along the direction of arrow X1, and the mop-washing assembly 4 can also be driven to lift relative to the body 1 along the direction of arrow Z2.

[0160] The above can also be understood as follows: the first action execution mechanism 103 moves along the direction of arrow X1 to drive the mop-washing assembly 4 to extend; and the first action execution mechanism 103 moves along the direction of arrow X2 to drive the mop-washing assembly 4 to retract. When the mop-washing assembly 4 is at the first limit position and the second limit position, if the mop-washing assembly 4 is at the low position, the action execution mechanism 103 moves along the direction of arrow X2 to drive the mop-washing assembly 4 to lift; and if the mop-washing assembly 4 is at the high position, the action execution mechanism 103 moves along the direction of arrow X1 to drive the mop-washing assembly 4 to lower. Figure 16 Figure 16 It should be noted that the directions of arrows X1 and X2 can be considered as the length direction of the mop-washing assembly, or the width direction of the body 1.

[0161] It should be noted that the directions of arrows X1 and X2 can be considered as the length direction of the mop-washing assembly, or the width direction of the body 1. Figure 16 Figure 16 It should be noted that the directions of arrows X1 and X2 can be considered as the length direction of the mop-washing assembly, or the width direction of the body 1.

[0162] Figure 6 It should be noted that the directions of arrows X1 and X2 can be considered as the length direction of the mop-washing assembly, or the width direction of the body 1. Figure 11 It should be noted that the directions of arrows X1 and X2 can be considered as the length direction of the mop-washing assembly, or the width direction of the body 1. Figure 12 It should be noted that the directions of arrows X1 and X2 can be considered as the length direction of the mop-washing assembly, or the width direction of the body 1.

[0163] ​​During the lifting or lowering of the mop assembly 4, the cleaning mechanism 44 and the liquid supply mechanism 45 can be lifted or lowered simultaneously with the cleaning roller 42 and the roller motor 41. Alternatively, the cleaning mechanism 44 and the liquid supply mechanism 45 can be kept in a fixed position, and the cleaning mechanism 44 and the liquid supply mechanism 45 can be in contact with the cleaning roller only when the cleaning roller is in a lowered state. When the cleaning roller is in a lifted state, the cleaning mechanism 44 and the liquid supply mechanism 45 are not in contact with the cleaning roller. During the extension or retraction of the mop assembly 4, the cleaning mechanism 44 and the liquid supply mechanism 45 are extended or retracted simultaneously with the mop assembly 4 to ensure that the cleaning roller maintains a certain degree of cleanliness. In addition, the mop assembly 4 has multiple gears during the extension thereof, and the distance of the extension of the mop assembly 4 relative to the body 1 is different in different gears.

[0164] In combination with Figure 14 and Figure 15 , the sliding plate includes a main body portion 21 and at least one lifting portion 22. The first rack 14 is arranged on the main body portion 21, and the lifting portion 22 is arranged at an end of the main body portion 21. When the sliding plate has two lifting portions 22, the two lifting portions 22 are arranged at two ends of the main body portion 21, respectively. Specifically, the lifting portion 22 has an inclined slope that extends upwardly from the surface of the main body portion 21, as shown in Figure 15 In addition, the lifting portion 22 has a through hole 23 at a middle position thereof. The connecting column 241 on the mop 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 rotary power, and when the sliding plate in the action execution mechanism 103 slides, the force can be applied to the connecting column 241, thereby driving the mop assembly 4 to perform actions such as lifting, lowering, extending, and retracting.

[0165] Referring to Figure 13 and Figure 16 , the connecting column 241 of the connecting assembly 24 is connected to the mop assembly 4 at one end and extends from below the sliding plate to above the sliding plate through the through hole 23 at the other end. The sliding block 242 is detachably connected to the connecting column 241 through 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, thereby effectively preventing 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.

[0166] Referring to Figures 13 to 15 , each lifting portion 22 is provided with a first baffle 25. The area A between the first baffle 25 and the lowest point of the lifting portion 22 is used to place the sliding block 242. As shown in Figure 13As shown, when the sliding plate is slid along the arrow X direction from the first limit position of 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 along the arrow X direction, thereby driving the mop assembly 4 to extend outward. Further, as shown in Figure 19 , the side of the first baffle 25 abutting against 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, so as to improve the smoothness of the up-and-down floating action of the connecting column 241.

[0167] As shown in Figure 16 , when the sliding plate is slid along the arrow X2 direction from the first limit position of the retracted state, the side of the mop assembly 4 in the retracted state abuts against the side wall shell 411 of the cavity shell 46, thereby limiting the further movement of the mop assembly 4 along the arrow X2 direction relative to the cavity shell 46. However, under the driving of the first power source 102, the sliding plate will continue to move along the arrow X2 direction relative to the cavity shell 46, and the side wall of the other side of the sliding block 242 will abut against 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. As shown in Figure 15 , in order to avoid the sliding block 242 climbing over the inclined surface, the top of the inclined surface is also provided with a second baffle 26; when the sliding block 242 climbs to the top of the inclined surface, the sliding block 242 will abut against 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 along the arrow X2 direction in the opposite direction, 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.

[0168] 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 sliding block 242 to hover 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 23 . When the sliding block 242 climbs to the top end of the lifting part 22 along the inclined surface, the sliding block 242 can stably stay on the hovering surface 220, so that the mop assembly 4 is kept in the lifted state.

[0169] In an embodiment provided in the present application, as shown in Figure 15 and 17 , the inclined surface of the lifting part 22 comprises a first slope surface 221 and a second slope surface 222, and the inclination angle of the first slope surface 221 is greater than that of the second slope surface 222. When the sliding block 242 climbs along the inclined surface of the lifting part 22, it first climbs on the first slope surface 221 with a greater inclination angle, and then climbs on the second slope surface 222. This technical solution will be beneficial to the rapid lifting of the mop assembly 4.

[0170] Further, in order to avoid too much sliding resistance of the slider 242 on the slope, referring to Figure 17 , the side of the slider 242 abutting against the slope of the lifting part 22 is provided with a cylindrical sliding part 2421, of course, the cylindrical sliding part 2421 can also roll when sliding on the slope. For example, referring to Figure 18 , the side of the slider 242 abutting against the slope of the lifting part 22 is provided with a circular arc structure 2422. That is, the part of the slider 242 contacting the lifting part 22 is the circular arc structure 2422.

[0171] 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, the slider 242 can have various states. For example, the mop assembly 4 has small resistance when retracted, and as the sliding plate slides, the slider 242 does not have enough force to climb the slope, at this time, the slider 242 will abut 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 a lifting action when retracted, and the mop assembly 4 is always in contact with the ground when retracted. For example, the mop assembly 4 has large resistance when retracted, and as the sliding plate 20 slides, the slider 242 can climb the slope. At this time, the mop assembly 4 will be lifted upward, and at the same time, the sliding plate 20 will complete the retraction action. It can be understood that in this state, the mop assembly 4 first has a lifting action when retracted, and then retracts to the first limit position along with the sliding plate 20.

[0172] Referring to Figure 22 , in an embodiment provided by the present application, the sliding plate is provided with a first connecting end 211, the slider 242 is provided with a second connecting end 2423, and the first connecting end 211 and the second connecting end 2423 can be used to set an elastic member. Specifically, one end of the elastic member is connected with the first connecting end 211, and the other end of the elastic member is connected with the second connecting end 2423. When the slider 242 climbs upward along the slope of the lifting part 22, the elastic member will be stretched. The elastic force of the elastic member can be used to assist the slider 242 to descend from the top end of the lifting part 22. In addition, during the retraction of the mop assembly 4, the pulling force provided by the elastic member can also make the slider 242 always contact the first baffle 25, so as to avoid the slider 242 from climbing the slope, and finally the mop assembly 4 will not be easily lifted when retracted.

[0173] Further, as shown in Figure 13 , in the scheme provided by the present embodiment, the detection unit provided on the cavity shell 46 can also include at least one detection unit for detecting the lifting state of the mop assembly. For example, Figure 13In 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.

[0174] 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.

[0175] In the technical solution provided in this application, the drive device 10 has a simple structure and only requires one power source to drive the mopping and washing assembly 4 to achieve four actions: extension, retraction, lifting, and lowering. This satisfies the use of the mopping and washing assembly 4 under various working conditions. The power source has low performance requirements, simple control logic, and lower production cost.

[0176] In the embodiments mentioned above, the lifting process of the mopping assembly 4 is achieved by sliding the sliding plate, and then the lifting part 22 on the sliding plate drives the slider 242 on the mopping assembly 4 to move upward, thereby lifting the mopping assembly 4 upward. The lifting process of the mopping assembly 4 can be understood as the mopping assembly 4 being lifted up as a whole.

[0177] After the mopping assembly 4 is raised, the cleaning roller 42 can stop rotating, and the liquid supply mechanism 45 and the stain removal mechanism 44 can both stop working.

[0178] The cleaning robot can lift the mopping components in the following situations:

[0179] The cleaning robot travels onto the carpet to lift the mop-washing assembly;

[0180] The mop-washing assembly is lifted when needed to overcome the obstacle;

[0181] The user instructs to lift the mop-washing assembly;

[0182] The mop-washing assembly is lifted when the cleaning robot works in the sweeping mode; and the like.

[0183] 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 schematic view of the structure of the lifting of the mop-washing assembly 4 relative to the ground. Figure 24 In the embodiment, the mop-washing assembly 4 comprises 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 base is further provided with the sliding plate 20, which is slidable relative to the base, and 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 to be 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 by the arrow X direction in Figure 32 At this time, the mop-washing assembly 4 extends to the right relative to the rotating support 31, and it can be considered that the mop-washing assembly 4 is switched 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 is in contact with the inclined surface of the lifting part 22, and with the leftward movement of the sliding plate 20, the connecting assembly 24 climbs up the inclined surface of the lifting part 22, and the connecting part drives the rotating support 31 and the mop-washing assembly 4 to rotate upward around the rotating shaft 4131 along the arrow a direction in Figure 32 When the mop-washing assembly 4 needs to be reset to the initial position, it is only needed to reset the sliding plate 20 to the initial position in the opposite direction, and the mop-washing assembly 4 can be reset from the lifted state or the extended state to the initial state. The initial state can be that the mop-washing assembly 4 is in the retracted state and is at the low position.

[0184] Based on the lifting and extension principle of the mop-washing assembly 4 described above, another driving device 10 provided in the present application will be described in detail in combination with specific embodiments.

[0185] Referring to Figure 24, Figure 25 and Figure 26 In one embodiment of this application, a driving device 10 is provided, comprising 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 via 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 via the connecting assembly 24.

[0186] 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.

[0187] See Figure 27a to 27c The 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.

[0188] 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 25The mop assembly 4 moves in the arrow X2 direction, and when it moves to the initial position, the roller support 421 completes the retraction.

[0189] The mop support 43 can include the roller support 421.

[0190] Referring to Figures 25 to 28c When the mop assembly 4 needs to be lifted, the first power source 102 drives the sliding plate 20 to move from the initial position along the arrow X2 direction. Figure 25 At this time, the rotating support 31 will rotate upward around the rotating shaft 4131 under the drive of the sliding plate 20, the mop support 43 remains unchanged in position with the rotating support 31, and the mop support 43 will rotate upward together with the rotating support 31, thereby realizing the rotating lifting of the mop assembly 4. When the sliding plate 20 moves to the limit position in the X2 direction, the height of the lifting of the mop assembly 4 is the largest, and the height of the lowest point of the cleaning roller 42 from the ground is also the largest (as shown in Figure 28c When the mop assembly 4 needs to be lowered, the first power source 102 drives the sliding plate 20 to move along the arrow X1 direction. Figure 25 At this time, the rotating support 31 will rotate upward around the rotating shaft 4131 under the drive of the sliding plate 20, the mop support 43 remains unchanged in position with the rotating support 31, and the mop support 43 will rotate upward together with the rotating support 31, thereby realizing the rotating lifting of the mop assembly 4. When the sliding plate 20 moves to the limit position in the X2 direction, the height of the lifting of the mop assembly 4 is the largest, and the height of the lowest point of the cleaning roller 42 from the ground is also the largest (as shown in Figure 27a When the mop assembly 4 needs to be lowered, the first power source 102 drives the sliding plate 20 to move along the arrow X1 direction.

[0191] Referring to Figure 25 and Figure 26 In an embodiment provided in the present application, the first power source 102 and the first action execution mechanism 103 (such as the sliding plate 20) can be arranged in the accommodating cavity 101, or both can be arranged outside the accommodating cavity 101, or one is arranged in the accommodating cavity 101 and the other is arranged outside the accommodating cavity 101.

[0192] In the following, the first power source 102 is arranged outside the accommodating cavity 101, and the sliding plate 20 is arranged in the accommodating cavity 101. It should be noted that the action execution mechanisms in the above embodiments include but are not limited to: screw rod motor devices, push rod motor devices, linear motor devices, hydraulic devices, cylinder piston devices, gear and rack devices, etc.

[0193] In a specific embodiment, referring to Figure 25 and Figure 26 Taking the power source as a 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 it rotates. The nut block 18 is connected with the screw rod 17 in cooperation, and the nut block 18 can slide transversely along the axis direction of the screw rod 17 when the screw rod 17 rotates.

[0194] As shown in Figure 25 , the screw rod 17 is arranged along the length direction of the mop assembly 4 (for example Figure 25When the second motor 12 outputs power in one direction (in the direction of the middle arrow X1), the lead screw 17 can drive the nut block 18 to move left (in the direction of the middle arrow X1) Figure 25 When the second motor 12 outputs power in the other direction (in the direction of the middle arrow X2), the lead screw 17 can drive the nut block 18 to move right (in the direction of the middle arrow X2) Figure 25 The second motor 12 can output clockwise power and counterclockwise power, one of the two directions of power can be clockwise power, and the other can be counterclockwise power.

[0195] Further, referring to Figure 25 and Figure 31 In an embodiment provided in the present application, 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 lead screw 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 to be connected with the nut block 18. When the second motor 12 drives the lead screw 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 from 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.

[0196] Referring to Figure 25 and Figure 26 The cavity shell 46 is arranged on the machine body 1, and can be fixedly connected to the machine body 1, or the cavity shell 46 and the machine body 1 are an integral structure. The rotating support 31 is rotatably connected to the machine body 1 or the cavity shell 46 through a rotating shaft 4131, the rotating support 31 is provided with a track groove 32, the mopping support 43 is provided with a sliding portion 33, and the sliding portion 33 is matched and connected in the track groove 32. The mopping support 43 has an installation cavity with an opening downward, the cleaning roller 42 is arranged in the installation cavity, and a plurality of sliding portions 33 are arranged on the top of the mopping support 43 and can be matched and connected in the sliding groove. Specifically, the sliding portion 33 is a sliding block, a ridge rib is arranged on the top of the mopping support 43, a plurality of sliding blocks are symmetrically arranged on the two sides of the ridge rib, and the plurality of sliding blocks can be clamped in the track groove 32, so that the mopping support 43 is suspended and installed below the rotating support 31.

[0197] 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 the track groove 32, the track groove 32 has a downward opening neck, and the sliding portion 33 can be connected in the track groove 32 through the neck. The outer wall surface of the rear side of the rotating support 31 is further provided with at least one rotating connection arm 311, and the rotating connection arm 311 is connected to the cavity shell 46 or the machine body 1 through the rotating shaft 4131.

[0198] 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 example that two connecting rods 243 are arranged on the front side wall of the mop support 43, the connecting rod 243 extends forward along the direction of the arrow M in Figure 26 , and is connected to the sliding plate 20. The sliding plate 20 can drive the mop support 43 to move through the connecting rod 243 in the process of sliding, so as to realize the extension and retraction of the entire mop assembly 4.

[0199] The driving device provided by the embodiment of the present application can not only drive the mop assembly 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 portion 22 on the sliding plate 20, the lifting portion 22 has an inclined slope, and a limiting portion 212 is arranged on the top of the slope and arranged along the horizontal direction. The sliding plate 20 further includes a connecting buckle 213, which is used to be connected to the cavity shell 46. Specifically, referring to Figure 33 , the cavity shell 46 has a through clamping groove 414, and the length of the clamping groove 414 is 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 connected to the clamping groove 414, and when the power source drives the sliding plate 20 to slide, the connecting buckle 213 will slide in the clamping groove 414.

[0200] Further, referring to Figure 33 , in one embodiment provided by the present application, the cavity shell 46 is further provided with a guide groove 416, which includes a first groove 4161, a second groove 4162 and a third groove 4163. The second groove 4162 is arranged in the same direction as the length direction of the cavity shell 46 (for example, the direction of the arrow X in Figure 33 ), the first groove 4161 and the third groove 4163 are respectively located at both ends of the second groove 4162 and are in communication with the second groove 4162. The first groove 4161 and the third groove 4163 respectively extend along the vertical direction, which can be understood as that the first groove 4161 and the third groove 4163 are perpendicular to the second groove 4162.

[0201] When the sliding plate 20 drives the connecting rod 243 to move, one end of the connecting rod 243 slides in the guide groove 416. The sliding groove not only can guide the sliding of the connecting rod 243, but also can make the mop assembly 4 and the cavity shell 46 be connected in multiple directions. Referring to Figure 27b, the connecting rod 243 is located at the leftmost end of the second groove 4162 and at the bottom end of the first groove 4161. As the power source drives the sliding plate 20 to move leftward, the connecting rod 243 can only climb upward along the slope of the lifting portion 22 since it cannot move leftward any more. At this time, the connecting rod 243 will move upward along the first groove 4161 and finally move to the top end of the first groove 4161 (as shown in Figure 28b , the connecting rod 243 is located at the leftmost end of the second groove 4162 and at the bottom end of the first groove 4161. As the power source drives the sliding plate 20 to move leftward, the connecting rod 243 can only climb upward along the slope of the lifting portion 22 since it cannot move leftward any more. At this time, the connecting rod 243 will move upward along the first groove 4161 and finally move to the top end of the first groove 4161 (as shown in Figure 29b , the connecting rod 243 is located at the leftmost end of the second groove 4162 and at the bottom end of the first groove 4161. As the power source drives the sliding plate 20 to move leftward, the connecting rod 243 can only climb upward along the slope of the lifting portion 22 since it cannot move leftward any more. At this time, the connecting rod 243 will move upward along the first groove 4161 and finally move to the top end of the first groove 4161 (as shown in

[0202] The arrangement of the first groove 4161 and the third groove 4163 also enables the mop assembly 4 to be connected to the cavity shell 46 in a floating manner, thereby being self-adaptive to the ground. Specifically, if the mop assembly 4 is used to clean the ground which is uneven or encounters a protruding obstacle. Since the distance between the cavity shell 46 and the ground is always constant or changes little, if the mop assembly 4 is rigidly connected to the cavity shell 46, the mop assembly 4 will be subjected to a very severe impact and cannot be adjusted in height to adapt to the change of the ground. In the technical solution of the present application, as shown in Figure 27b , the connecting rod 243 is located at the leftmost end of the second groove 4162 and at the bottom end of the first groove 4161. At this time, if the mop assembly 4 is subjected to an impact, the mop assembly 4 will float upward under the action of the ground, thereby avoiding excessive force between the mop assembly 4 and the ground. In addition, when the mop assembly 4 is in the extended state, the connecting rod 243 is located at the bottom end of the third groove 4163. Similarly, when the extended mop assembly 4 is subjected to an impact from the ground, the connecting rod 243 will move upward along the third groove 4163 to float upward relative to the ground, thereby also avoiding excessive force between the mop assembly 4 and the ground.

[0203] The mop-washing assembly 4 is easy to collide with obstacles during the movement of the cleaning robot after being extended. In order to avoid the damage caused by the collision between the mop-washing assembly 4 and the obstacles, in an embodiment of the present application, the mop-washing assembly 4 can automatically retract 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. The rebound device is in a compressed state when the mop-washing assembly is in an initial state (e.g., the first limit position in the retracted state). The rebound device is in an elongated state when the mop-washing assembly 4 is in the extended state. The mop-washing assembly 4 in the extended state will compress the rebound device when retracted into the accommodating cavity 101 under the action of an external force.

[0204] 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 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 with the track groove 32, 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.

[0205] It is mentioned above that the power source is a lead screw motor device. If the driving portion 214 on the sliding plate 20 is fixedly connected with the nut block 18, when the extended mop-washing assembly 4 is subjected to an impact, the nut block 18 will limit the movement of the driving portion 214 due to the self-locking effect of the lead screw 17 and the nut block 18, so that the sliding plate 20 is also limited, and finally the mop-washing assembly 4 cannot be automatically retracted.

[0206] In the technical solution of the present application, the nut block 18 and the driving portion 214 are not fixedly connected. When the mop-washing assembly 4 is automatically retracted under the action of an external force, the driving portion 214 on the sliding plate 20 will be separated from the nut block 18, and the sliding plate 20 can freely move along the direction of the arrow X2 in Figure 25 In an embodiment provided in the present application, the driving portion 214 is located on the left side of the nut block 18 along the extension direction of the mop-washing assembly 4 (the direction of the arrow X1 in Figure 25 It is mentioned above that the rebound device is arranged between the mop-washing support 43 and the rotating support 31. The rebound device is in a compressed state when the mop-washing assembly 4 is in the initial state, and the direction of the elastic force of the rebound device is the direction of the arrow X2 in Figure 25The elastic force drives the mop-washing assembly 4 to extend outwards in the direction of the arrow X1. However, the nut block 18 contacts the right side of the driving portion 214, and the self-locking effect of the lead screw motor device limits the automatic rightward movement of the sliding plate 20. Only when the nut block 18 moves rightward with the rotation of the lead screw 17, the driving portion 214 can move rightward with the nut block 18. In simple terms, the power for the mop-washing assembly 4 to extend outwards is provided by the rebound device, and the nut block 18 can limit the free rightward movement of the sliding plate 20. Only when the nut block 18 moves rightward, the sliding plate 20 can move rightward. When the mop-washing assembly 4 changes from the extended state to the retracted state, or when the mop-washing assembly 4 changes from the low position (e.g., the state in which the cleaning drum contacts the ground) to the lifted state, the sliding plate 20 moves from right to left, and the moving direction of the sliding plate 20 is opposite to the direction of the arrow X1. Figure 25 The moving direction of the sliding plate 20 is the same as the direction of the arrow X2. The rightward movement of the sliding plate 20 is provided by the lead screw motor device. Specifically, the second motor 12 outputs power in one direction, the lead screw 17 drives the nut block 18 to move in the direction of the arrow X2, and since the driving portion 214 of the sliding plate 20 is located on the left side of the nut block 18, the nut block 18 can push the sliding plate 20 to move leftward during the movement. During this process, the rebound device is further compressed.

[0207] Further, in an embodiment provided in the present application, the mop-washing assembly 4 has multiple gears in the extended state and the lifted state. In different gears of the extended state, the mop-washing assembly 4 extends to different distances relative to the cavity shell 46. In different gears of the lifted state, the mop-washing assembly 4 is lifted to different distances relative to the ground. In order to realize the extension of the mop-washing assembly 4 in different gears, or the lifting of the mop-washing assembly 4 to different distances relative to the ground, the second motor 12 is further provided with a counting module. The counting module records the number of forward or reverse rotations of the second motor 12 or the lead screw 17. By recording the number of rotations of the second motor 12 or the lead screw 17, the moving distance of the nut block 18 on the lead screw 17 can be calculated, so as to determine the different gears of the mop-washing assembly 4 in the extended state and the lifted state.

[0208] For example, when the nut slider 18 is in the first position, after the second motor 12 or lead screw 17 rotates forward one hundred times, the nut slider 18 moves to the first extreme position. At this time, the mopping assembly 4 extends the maximum distance (i.e., it is in the second extreme position of the extended state). Dividing these one hundred rotations into ten parts, starting from the first position, every ten rotations of the second motor 12 or lead screw 17 in the forward direction indicates that the mopping assembly 4 has switched to one gear. Similarly, when the nut slider 18 is in the first position, after the second motor 12 or lead screw 17 rotates in the reverse direction twenty times, the nut slider 18 moves to another extreme position. At this time, the mopping assembly 4 is raised the highest distance. Similarly, dividing these twenty rotations into five parts, starting from the first position, every four rotations of the second motor 12 or lead screw 17 in the reverse direction indicates that the mopping assembly 4 has been raised one gear. During the adjustment of the lifting position of the mopping assembly 4, the self-locking function of the screw motor device restricts the displacement of the sliding plate 20 when the motor 12 stops, and the connecting rod 243 can also stay stably on the inclined surface of the lifting part 22, thereby ensuring that the lifting position of the mopping assembly 4 remains unchanged.

[0209] In another embodiment provided in this application, when adjusting the gear, as mentioned above, multiple detection units can be provided on the cavity shell 46. Different detection units can detect whether the nut slider 18 or the sliding plate 20 is in the first position, different extreme positions, and different positions corresponding to different gears.

[0210] The following describes the action process of the mopping component 4 in detail, based on the usage scenario.

[0211] After completing part of the cleaning task in its initial state (such as the first extreme position of the retracted state, with the cleaning roller in contact with the ground), the mopping assembly 4 needs to be switched to the extended state. Subsequently, the second motor 12 drives the lead screw 17 to rotate forward, and the nut slider 18 on the lead screw 17 moves to the right (see...). Figure 25 (From the perspective shown), under the action of the spring mechanism between the rotating bracket 31 and the mopping bracket 43, the mopping bracket 43 extends outward relative to the rotating bracket 31. As the nut slider 18 moves, the mopping component 4 extends outward to its maximum extent. During the outward extension of the mopping bracket 43, the sliding plate 20 moves synchronously to the right, and the drive part 214 on the sliding plate 20 remains in contact with the nut slider 18. The cleaning robot may also be equipped with a counter, which records the number of rotations of the second motor 12. Based on the number of rotations of the second motor 12 recorded by the counter, the mainboard 2 of the cleaning robot can calculate the position of the nut slider 18, and thus determine the position of the mopping component 4. If the mopping component 4 is already in the second limit position of the extended state, the mainboard 2 controls the second motor 12 to stop working, the mopping component 4 remains in the extended state, and the cleaning robot maintains the extended posture of the mopping component 4 to perform the cleaning task.

[0212] After the tasks of the mop assembly 4 in the extended state are completed, the main board 2 controls the second motor 12 to drive the lead screw 17 to output reverse power, and the nut block 18 moves to the left (see the view shown in Figure 25 Similarly, the main board 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 of the retracted state, the main board 2 controls the second motor 12 to stop working.

[0213] Next, when the cleaning robot recognizes the floor paved with a carpet, in order to avoid secondary pollution, the mop assembly 4 needs to switch to the lifted state. The main board 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 shown in Figure 25 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 be rotated and lifted 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 exits the carpet area. If the cleaning robot still needs to continue to perform the cleaning task, the main board 2 can control the second motor 12 to drive the lead screw 17 to rotate in the other direction, and the sliding plate 20 moves to the right (see the view shown in Figure 25 The mop assembly is lowered.

[0214] Compared with the cleaning robot provided with a cleaning cloth or a mop disc, the cleaning robot provided with the mop assembly of the embodiment has better cleaning effect and higher cleaning efficiency. During the cleaning process of the cleaning roller on the ground, the cleaning roller can also be self-cleaned. The dirt removal mechanism 44 can scrape off the sewage on the cleaning roller 42, and the liquid supply mechanism 45 can provide clean cleaning liquid for the cleaning roller 42, and then the cleaning roller 42 can mop and wash the ground again. This cleaning method not only can bring better cleaning effect, but also has longer cleaning endurance of the mop assembly 4. In a cleaning task, the cleaning robot does not need to return to the base station for self-cleaning and maintenance frequently.

[0215] The cleaning robot needs to face various cleaning environments in the process of cleaning. 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 contact with the carpet. In addition, for some corner areas (wall side, home edge, etc.), due to the influence of the shape structure of the cleaning robot, the cleaning robot cannot achieve edge cleaning. In the technical scheme provided in the embodiments of the present 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 achieve edge cleaning while avoiding collision between the body of the cleaning robot and the wall or the home.

[0216] When the cleaning robot cleans a dirty ground, in order to reduce the number of switching between the retracted state and the stretched-out state, the mop-washing assembly 4 on the cleaning robot preferentially uses the stretched-out state to clean the ground (i.e., normal stretching or normal outward swinging). When avoiding obstacles, the mop-washing assembly 4 on the cleaning robot is retracted into the accommodating cavity 101 and completes obstacle avoidance in the retracted state, and then is switched to the stretched-out state. This working mode not only can reduce the number of switching between the retracted state and the stretched-out state of the mop-washing assembly 4, but also can reduce the total time of the cleaning task. Specifically, the mop-washing assembly 4 in the stretched-out 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 corner areas of scattered home objects. If the mop-washing assembly 4 on the cleaning robot preferentially cleans in the retracted state, it is necessary to switch between the retracted state and the stretched-out 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 completing the cleaning of the cleaning robot, but also increases the calculation amount of the control calculation unit on the mainboard 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 stretched out, 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 be stretched out in time every time it needs to be stretched out.

[0217] Therefore, the scheme provided in the embodiments of the present application is that whether the cleaning robot needs to perform edge cleaning is not judged, and the mop-washing assembly 4 is directly in the stretched-out state mode to perform the cleaning task when the cleaning task is performed. This scheme removes the identification of complex edge conditions, and only needs to retract the mop-washing assembly 4 in a few simple scenes such as obstacle avoidance and turning, so 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) of the figure 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 figure, 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 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 figure. 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 to make the cleaning robot turn around to cover the shaded area, it increases the complexity of software control. In the case of the mop-washing assembly 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.

[0218] That is, the working method of the cleaning robot provided in the embodiment can include the following steps:

[0219] S11, when performing a cleaning task in an open area, the mop-washing assembly performs the cleaning task in the extended state;

[0220] S12, when it is detected that the surrounding environment determines that the mop-washing assembly needs to be retracted, the mop-washing assembly is retracted, and the mop-washing assembly performs the cleaning task in the retracted state or the cleaning robot travels while the mop-washing assembly is in the retracted state;

[0221] In the extended state, the mop-washing assembly extends from one side of the robot body, and part of the mop-washing assembly is exposed. In the retracted state, the outer edge of the mop-washing assembly is located inside the outer edge of the robot body, or part of the outer edge of the mop-washing assembly is flush with the outer edge of the robot body.

[0222] 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:

[0223] When it is detected that the cleaning robot needs to turn to avoid obstacles, it is determined that the mop-washing assembly needs to be retracted;

[0224] 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 needs to be retracted;

[0225] When the user issues a retraction instruction, it is determined that the mop-washing assembly needs to be retracted.

[0226] Further, the method provided by the embodiment further includes:

[0227] When the mop-washing assembly 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, after the mop-washing assembly is retracted to the first limit position, the mop-washing assembly is lifted to have a gap with the ground.

[0228] When the mop-washing assembly is in the third position, the projection of the mop-washing assembly is located in the projection of the machine body; when the mop-washing assembly is in the fourth position, the edge of the mop-washing assembly extends out of the edge of the machine body, and the projection of the mop-washing assembly is located in the projection of the machine body. In the general cleaning mode, the mop-washing assembly is in the fourth position; in the special cleaning mode, the mop-washing assembly is in the third position to walk along the edge of the obstacle. The mainboard controls the driving device to realize that the mop-washing assembly is parked and works at any position. Wherein, the mop-washing assembly 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; the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0229] The control method or working method of the cleaning robot provided by another embodiment of the application can be: 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.

[0230] Wherein, the behavior information of the machine body can include: the advancing speed, the advancing direction, the turning radius when turning, the acceleration, etc. For example, when turning fast, the control device controls the driving device to quickly recover the mop-washing assembly which is extended out; or when advancing along a straight line after turning, the control device controls the driving device to make the mop-washing assembly extended out again.

[0231] Additionally, it should be noted that the roller motor in the mopping assembly requires a continuous current supply while the mopping assembly is moving. Therefore, the cleaning robot in this embodiment is also equipped with a conductive groove assembly, which includes a conductive groove body and a connector. The connector is disposed within the conductive groove body and is movable within the conductive groove body. The connector is electrically connected to the electrical interface of the roller motor. When the mopping assembly moves, the connector moves within the conductive groove body to follow the mopping assembly, ensuring that the roller motor maintains a power supply while moving. The conductive groove assembly is not explicitly shown in the accompanying drawings of this application.

[0232] The specific structure of the mopping and washing components will be explained below.

[0233] like Figure 5 As shown in Figures 7, 8, and 9, in one embodiment provided in this application, the cleaning mechanism 44 and the liquid supply mechanism 45 in the mopping assembly 4 are respectively mounted on the mopping bracket 43, or are an integral part of the mopping bracket 43. The scraper on the cleaning mechanism 44 can contact the cleaning roller 42 and scrape away the sewage on the cleaning roller 42 during its rotation. Of course, the cleaning mechanism 44 does not simply scrape off the sewage; it also has the function of collecting sewage. After the scraper scrapes off the sewage, the sewage can directly enter the collection assembly. After the collection assembly filters the sewage, it can be transported to the sewage tank 9 through the pipe connected to the cleaning outlet 4410. In this embodiment, the mopping assembly 4 includes a cleaning mechanism 44 and a liquid supply mechanism 45, meaning that when the cleaning roller is raised and lowered and / or extended, the cleaning mechanism 44 and the liquid supply mechanism 45 also rise and lower and / or extend together.

[0234] The liquid supply mechanism 45 can provide cleaning fluid to the cleaning roller 42. For example, when the cleaning roller 42 is dry, the liquid supply mechanism 45 can evenly spray clean water onto the surface of the cleaning roller 42, fully wetting it and significantly improving its cleaning ability. Alternatively, when the cleaning roller 42 is heavily soiled, the liquid supply mechanism 45 can evenly spray a cleaning solution mixed with detergent onto its surface. The cleaning solvent dissolves the stains, making it easier for the stain removal mechanism 44 to remove them. Furthermore, when the cleaning roller 42 is in self-cleaning mode, the liquid supply mechanism 45 can spray a large amount of cleaning solution onto its surface. After dissolving the stains, the stain removal mechanism 44 can clean away the stains and wastewater, thus facilitating rapid and efficient self-cleaning of the cleaning roller 42.

[0235] The liquid supply mechanism 45 can be integrated with the mopping bracket 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.

[0236] 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.

[0237] 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 sewage 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 sewage and stains, 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.

[0238] 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 cleaning of the floor. The roller motor 41 and the cleaning roller 42 are both arranged in the roller mounting cavity 51, 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.

[0239] 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 sewage and stains on the cleaning roller 42. The scraper assembly 53 includes a scraper 441.

[0240] 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.

[0241] 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.

[0242] Figure 34 The middle arrow Y direction 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.

[0243] 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.

[0244] 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.

[0245] 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 located on a straight line F which passes 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 on a straight 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.

[0246] 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, and the liquid supply mechanism 45 again delivers cleaning liquid to the surface of the cleaning roller 42.

[0247] Further, the liquid supply mechanism 45 is located directly above the first middle line P along the vertical direction of the cleaning roller 42, or the liquid supply mechanism 45 is located at an angle with the first middle line P, and the angle is in the range of [-30 degrees to +30 degrees] with the center of the cleaning roller 42 as the vertex.

[0248] Further, the dirt-removing mechanism 44 is located above the second middle line J along the transverse direction of the cleaning roller 42, or the dirt-removing mechanism 44 is located flush with the second middle line J.

[0249] Referring to FIG. 9, 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 is arranged in the inner cavity and communicates with the roller mounting cavity 51, 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 and cooperates with the mounting shell 4211 to seal the inner cavity. In a specific embodiment, the mop-washing support 43 is substantially in an L-shaped structure, and the mounting shell 4211 is arranged on the left side of the mop-washing support 43 along the arrow Y direction. Figure 34 The dirt-removing mechanism 44 is arranged in a square receiving cavity on the left side of the cleaning roller 42 along the arrow Y direction.

[0250] As Figure 35bAs shown, the front bottom of the dust collecting box 442 can have an inclined angle as shown, which can also be called a chamfer, so that when the robot cleaner travels on a special surface, such as a carpet with long pile, the pile of the carpet can enter the bottom of the robot cleaner along the inclined angle, thus reducing the resistance of the robot cleaner when it travels on the carpet.

[0251] Further, as shown in Figure 35c the front bottom of the robot cleaner 1 can also have an inclined angle 1005 as shown in Figure 35c which can also be called a chamfer. Similarly, when the robot cleaner travels on a special surface, such as a carpet with long pile, the pile of the carpet can enter the bottom of the robot cleaner along the inclined angle, thus reducing the resistance of the robot cleaner when it travels on the carpet.

[0252] Of course, the inclined angle of the dust collecting box 442 and the bottom of the robot cleaner can also be an arc-shaped inclined angle, or a straight-line inclined angle as shown in the drawings, which is not limited in the present embodiment. The inclined angle of the dust collecting box 442 and the bottom of the robot cleaner is an inclined surface formed at the front bottom end of the dust collecting box 442. The included angle between the inclined surface of the dust collecting box 442 and the inclined surface of the robot cleaner and the horizontal surface (such as the ground) can be the same or different. The included angle between the inclined surface and the horizontal surface (such as the ground) can be an angle between 10 and 60 degrees.

[0253] The liquid supply opening of the liquid supply mechanism 45 is directly a liquid outlet hole facing the cleaning roller. Generally, the liquid discharged from the liquid outlet hole is under pressure. After the liquid under pressure is discharged from the liquid outlet hole, it spreads and some of it is sprayed onto the cleaning roller 42, and some of it is splashed onto the cavity wall. When the water droplets on the cavity wall coalesce into large water droplets, they will fall onto the cleaning roller 42 or fall onto the ground along the cavity wall. This results in insufficient amount of cleaning liquid on the cleaning roller 42, water droplets on the ground, and the user's mistaken belief that there is a water leakage, etc. If the amount of cleaning liquid on the cleaning roller is insufficient, the roller cannot be fully soaked, which not only fails to achieve the desired effect of mop washing, but also fails to achieve the desired effect of self-cleaning. If the amount of cleaning liquid supplied by the liquid supply mechanism 45 is increased to solve this problem, it may cause water to accumulate on the ground, which will directly affect the cleaning effect of the robot cleaner.

[0254] Therefore, the present embodiment improves the liquid supply mechanism. Specifically, one side of the liquid supply mechanism 45 corresponding to the inner cavity is an arc-shaped surface that matches the arc surface of the inner cavity, as shown in Figure 35a and 35b As shown, the arc-shaped surface of the liquid supply mechanism 45 facing the cleaning roller and the arc surface of the inner cavity have the same curvature, which is consistent with or close to the curvature of the cleaning roller 42. In addition, as shown in Figure 38 the liquid supply opening 453 has a circular arc water guide surface 4531 to guide the cleaning liquid to the cleaning roller 42.

[0255] AsFigure 8 As 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 and be supplied to the cleaning roller 42 through the circular ring-shaped liquid supply port 453, and the liquid can be smoothly dripped, and the liquid supply efficiency is high. 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 in the liquid supply mechanism 45 for supplying liquid. As shown in the enlarged view in Figure 38 As shown, the inner ring wall of the circular ring-shaped liquid supply port is an arc surface.

[0256] 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 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 one of the branches. The inner ring wall of the liquid supply port 453 is a two-step stepped structure with gradually increasing opening size, and the inner wall of each step is an arc surface. The cleaning liquid coming out of the outlet hole 4530 falls on the arc surface and also flows along the arc surface to the cleaning roller 42, so that the cleaning liquid coming out of the outlet hole 4530 can basically be sprayed onto the cleaning roller 42 and will not splash onto the cavity wall outside the circular ring. The cleaning robot can also more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenarios, and with the 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.

[0257] In order to make the cleaning robot have a better cleaning effect, in the scheme provided by the embodiment, the liquid supply port 453 is also improved, and a circular arc water guide surface is added at the liquid supply port 453 to guide the cleaning liquid to the cleaning roller; because of the circular arc water guide surface, the amount of cleaning liquid provided by the liquid supply mechanism 45 can basically flow to the cleaning roller 42 and will not splash everywhere else, and the cleaning robot can also more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenarios, and with the 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.

[0258] 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.

[0259] 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 apply force to 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 if the liquid is not absorbed by the cleaning roller. 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.

[0260] Because it takes a certain amount of time for the cleaning liquid to spread evenly on the cleaning roller 42 after the liquid supply mechanism 45 supplies the cleaning liquid to 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 it is mopping the floor is in the range of [100 rmp / min-300 rmp / min], specifically 200 rmp / min.

[0261] 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.

[0262] Referring to FIG. 9, Figures 34 to 35a In one embodiment provided in the present application, the stain-removing mechanism 44 further comprises a stain-collecting 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-collecting assembly 54 can collect the sewage and stains, avoiding secondary pollution.

[0263] Further, the stain-collecting assembly 54 comprises a stain-collecting box 442 and a stain-collecting pipe 542. The stain-collecting box 442 is located below the scraping strip assembly 53, and the sewage and stains scraped by the scraping strip assembly 53 can directly fall into the stain-collecting box 442, which collects them. In the direction of travel of the cleaning robot, the front side and the rear side are distinguished. The stain-collecting 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, and from the perspective of the layout of the components of the whole machine, in order to make the cleaning roller in the mop-wiping assembly longer, the stain-collecting box 442 can be located at the front side of the cleaning roller 42. Figure 36aAs shown, the mop-washing assembly can be arranged at a distance G from the center O of the machine body. Figure 36a The left drawing (E) in FIG. 36a shows the case where the dirt collection box 442 is located at the front side of the cleaning roller 42, and the right drawing (F) shows the case where 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 is in the extended state, the rear side edge of the cleaning roller 42 in the mop-washing assembly 4 shown in the drawing (E) is located at a distance D1 from the center O, which is greater than the distance D2 from the center O of the rear side edge of the cleaning roller 42 shown in the drawing (F). It can also be seen that the greater the distance D1 from the center O, the greater the length of the front side edge and the rear side edge of the cleaning roller 42 that extends out of the machine body 1, i.e., the greater the length of the cleaning roller 42 that is exposed outside the machine body 1. It can also be seen 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). Figure 36a Figure 36a

[0264] The greater the area of the cleaning roller 42 exposed outside the machine body 1, the greater the cleaning coverage area of the cleaning roller 42, especially when the cleaning robot is turning or the like. As can be seen from the left drawing (E) in FIG. 36b, when the dirt collection box 442 is located at the front side of the cleaning roller 42 and the mop-washing assembly 4 is in the extended state, the cleaning coverage area is large and the cleaning blind area is small. As can be seen from the right drawing (F) in FIG. 36b, when the dirt collection box 442 is located at the rear side of the cleaning roller 42 and the mop-washing assembly 4 is in the extended state, the cleaning coverage area is small and the cleaning blind area is large. Figure 36a Figure 36a As can be seen from the left drawing (E) in FIG. 36b, when the dirt collection box 442 is located at the front side of the cleaning roller 42 and the mop-washing assembly 4 is in the extended state, the cleaning coverage area is large and the cleaning blind area is small. As can be seen from the right drawing (F) in FIG. 36b, when the dirt collection box 442 is located at the rear side of the cleaning roller 42 and the mop-washing assembly 4 is in the extended state, the cleaning coverage area is small and the cleaning blind area is large. Figure 36b As can be seen from the left drawing (E) in FIG. 36b, when the dirt collection box 442 is located at the front side of the cleaning roller 42 and the mop-washing assembly 4 is in the extended state, the cleaning coverage area is large and the cleaning blind area is small. As can be seen from the right drawing (F) in FIG. 36b, when the dirt collection box 442 is located at the rear side of the cleaning roller 42 and the mop-washing assembly 4 is in the extended state, the cleaning coverage area is small and the cleaning blind area is large.

[0265] 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 pipe, 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 pipe. Figure 35a ​​​As shown, the direction indicated by the arrow in the figure is the flow path of the sewage scraped 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, 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, and the gas pump can provide negative pressure for the sewage tank. Under the action of the negative pressure, the sewage in the sewage collecting box 442 can be sucked into the sewage tank through the pipeline. See Figure 9a and Figure 9b In one 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.

[0266] The sewage collecting pipe 542, the scraping strip assembly 53 and the sewage collecting box 442 are all distributed on the same side of the cleaning roller 42. For example, the sewage collecting pipe 542, the scraping strip assembly 53 and the sewage collecting box 442 are all on the front side of the cleaning roller 42.

[0267] See Figure 9a and Figure 9b In one embodiment provided in the present application, the mopping 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 (also called flexible clean water pipe), and the other end is connected with 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 (also called flexible sewage pipe), and the other end is connected with 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 in the figure, the transverse pipeline 546 is arranged on the front side of the cleaning roller 42. Figure 9bAs shown, along the length direction of the mop assembly 4, the joint assembly 455 can be offset to one side of the mop assembly 4 through the first pipe 447 and the transverse pipe 546, so as to make the first flexible pipe 443 and the second flexible pipe 456 more convenient to connect with the joint assembly 455. If there is no first pipe 447, transverse pipe 546 and joint assembly 455, the first flexible pipe 443 and the second flexible pipe 456 will be directly connected with the joint of the liquid supply mechanism 45 and the sump pipe 542 at the middle position of the mop assembly 4, which not only requires longer first flexible pipe 443 and second flexible pipe 456, but also makes it difficult to effectively utilize the space above the mop assembly 4. Figure 7a As shown, the interface of the flexible clean water pipe and the flexible sewage pipe, that is, the joint assembly 455, includes the liquid supply inlet 451 and the sewage outlet 4410, which are distributed on the front side of the cleaning roller, that is, above the sump box, and the flexible clean water pipe and the flexible sewage pipe are also located on the front side of the cleaning roller. In this way, the second flexible pipe 456 is closer to the sump box, the overall pipe of the sewage is shorter, the required curved pipe is less, the sewage efficiency is increased, the possibility of blockage is eliminated, and 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.

[0268] Currently, the rotation direction of the roller of some cleaning equipment is the same as that of the driving wheel of the equipment, which can help the equipment to move and reduce energy consumption. However, the cooperative working process of the cleaning roller, the scraping strip assembly and the liquid supply mechanism becomes: the cleaning roller is replenished with water by the liquid supply mechanism—> the liquid on the cleaning roller is scraped off by the scraping strip assembly—> the cleaning roller cleans the ground. There are also some cleaning equipment whose roller rotation direction is different from that of the driving wheel, but the sump box and the scraping strip are arranged at the rear of the roller. At this time, the cooperative working process of the cleaning roller, the scraping strip assembly and the liquid supply mechanism also becomes: the cleaning roller is replenished with water by the liquid supply mechanism—> the liquid on the cleaning roller is scraped off by the scraping strip assembly—> the cleaning roller cleans the ground. It can be seen that the current cleaning equipment is immediately scraped off after being replenished with clean water, and the cleaning roller cleans the ground again, which is not very reasonable. The liquid scraped off includes the clean water just replenished, and this part of the clean water is recycled without participating in cleaning.

[0269] The existing cleaning robot roller first performs a water replenishing step when performing a cleaning task, that is, the liquid supply mechanism delivers cleaning liquid to the surface of the cleaning roller, then the dirt on the surface of the cleaning roller is scraped off by the dirt removal mechanism, and finally the cleaning roller cleans the ground. This execution step mainly has three problems;

[0270] First, the liquid supply mechanism provides water to the cleaning roller, and then the dirt removal mechanism immediately scrapes the mixture of clean water and dirty water. The dirt on the surface of the cleaning roller may not have completely dissolved in the clean water, so most of the scraped dirt is clean water, not dirty water, resulting in incomplete self-cleaning.

[0271] Second, after the dirt removal mechanism scrapes the dirty water on the surface of the cleaning roller, the water content of the cleaning roller decreases by 90% due to the action of the scraping strip. The decrease in the water content of the cleaning roller reduces the cleaning force of the cleaning roller on the ground.

[0272] Third, after the cleaning robot scrapes the water, the relatively dry cleaning roller needs to rotate 180° before entering the water supply position. The dirt on the excessively dry cleaning roller is easily thrown off during the long rotation process, eventually falling to the ground, resulting in poor cleaning effect.

[0273] The technical scheme provided by the embodiments of the present application is different from the above-mentioned cleaning devices. In the scheme provided by the embodiments of the present application, the cleaning roller is reversed (i.e., opposite to the rotation direction of the driving wheel), the scraping strip assembly is located on the front side of the cleaning roller, and the liquid supply mechanism is located above the cleaning roller. In this way, the cooperative working process of the cleaning roller, the scraping strip assembly, and the liquid supply mechanism is: the cleaning roller is supplied with water by the liquid supply mechanism -> the cleaning roller cleans the ground -> the scraping strip assembly scrapes the liquid on the cleaning roller. As can be seen, the scheme provided by the embodiments of the present application is more reasonable. The freshly supplied clean water is directly involved in ground cleaning without being scraped by the scraping strip, and the evenly wet scraping strip has better wiping and adsorbing effect on the ground dirt, especially stubborn dirt. Then, the cleaning roller rotates a small angle (generally about 90°), and the dirt is scraped by the scraping strip. The dirt is not easily thrown off, and most of the scraped dirt is dirty water at this time, and the clean water is fully utilized. Specifically, during the rotation of the cleaning roller, the liquid supply mechanism supplies cleaning liquid to a region of the cleaning roller, the region soaked with the cleaning liquid cleans the surface to be cleaned, then the dirt removal mechanism 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 again. It can be understood that, when the cleaning roller cleans the ground, it first performs the water supply step, the surface of the cleaning roller is fully wetted, and the water content of the cleaning roller is also higher. Then, the cleaning roller cleans the ground again, and the cleaning force of the cleaning roller on the ground is also stronger, which can dissolve more dirt. Finally, the dirt removal mechanism scrapes off the dirty water and dirt on the cleaning roller, and then the liquid supply mechanism supplies liquid again, and the process is repeated in turn. Since the liquid supply efficiency of the liquid supply mechanism and the dirt removal efficiency of the dirt removal mechanism are higher during the whole process, the cleaning roller uses less cleaning liquid during self-cleaning, and the amount of dirty water generated is also less, so the cleaning duration of the cleaning robot is significantly improved.

[0274] At the same time, since the mop-washing assembly of the cleaning robot does not have suction, in order to improve the cleaning effect, when the rotating direction of the cleaning roller is opposite to the rotating direction of the equipment driving wheel, the cleaning 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 by the cleaning roller again, so that multiple cleaning can be achieved.

[0275] In order to avoid the squeegee assembly 53 from side leaking of sewage during squeegeeing, the length of the sewage collecting box 442 is greater than or equal to the length of the squeegee assembly 53. Referring to Figure 35a From the setting direction of the squeegee assembly 53, the setting direction of the sewage collecting box 442 is substantially perpendicular to the setting direction of the squeegee assembly 53, so that the sewage and dirt scraped off by the squeegee assembly 53 can directly fall into the sewage collecting box 442 and is not easy to leak out. In addition, in order to ensure that the sewage scraped off by the squeegee assembly 53 can enter the sewage collecting box 442, the end of the squeegee assembly 53 is located in the sewage collecting box 442, so that the sewage scraped off by the squeegee assembly 53 can directly enter the sewage collecting box 442 along the end of the squeegee assembly 53.

[0276] When the squeegee assembly 53 scrapes off the sewage on the cleaning roller 42, it is easy to also scrape the dirt attached to the cleaning roller 42 into the sewage collecting box 442, and the sewage collecting pipe 542 may be blocked by the dirt when sucking the sewage. In order to avoid this situation, referring to Figure 37 and Figure 38 In an embodiment provided in the present application, the decontamination mechanism 44 further comprises a filtering assembly 543, which is arranged in the sewage collecting box 442. The sewage scraped off by the squeegee assembly 53 first passes through the filtering assembly 543 and then enters the lower part of the sewage collecting box 442, and then is collected by the sewage collecting pipe 542 into the sewage tank.

[0277] In order to facilitate cleaning of the sewage collecting box 442, the sewage collecting box 442 can be detached from the mop-washing assembly 4 for cleaning, and the filtering assembly 543 in the sewage collecting box 442 can also be detached for cleaning. During the detaching process, first, the mop-washing assembly 4 is 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 sewage collecting box 442 can be detached from the roller mounting cavity 51. Referring to Figure 9b As shown, the sewage collecting box 442 has a V-shaped bottom surface, that is, the bottom surface of the sewage 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 sewage collecting pipe 542 to communicate with the sewage collecting pipe 542.

[0278] 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 (Fig. 9 and Figure 38None of the prior art shows), so that there is no bending when the mop assembly moves as a whole (lift and / or stretch) to affect the discharge and liquid supply.

[0279] Referring to Figure 38 and 39a In an embodiment provided in the present application, the squeegee assembly 53 comprises a squeegee plate 531 and a water guide plate 532. The end of the squeegee plate 531 is the squeegee strip 441. The squeegee plate and the squeegee strip can be of the same material or different materials, which is not limited in the present embodiment. The water guide plate 532 is connected below the squeegee plate 531, the squeegee plate 531 extends outwardly beyond the end of the water guide plate 532, and the squeegee strip 441 at the end of the squeegee plate 531 is in contact with the cleaning roller 42. When the cleaning roller 42 rotates, the squeegee plate 531 can scrape the sewage on the cleaning roller 42, and then the water guide plate 532 guides the sewage into the sewage collection box 442. In a specific embodiment, as shown in Figure 35a , the cross section of the water guide plate 532 is wedge-shaped, which 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 squeegee plate 531.

[0280] Further, as shown in Figure 39a , the squeegee 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, and the length of the second plate segment 5312 is greater than the length of the first plate segment 5311. The first plate segment 5311 is the end that plays a major role in water scraping, and the second plate segment 5312 is used to connect with the water guide plate 532. Specifically, the water guide plate 532 is connected below 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, and the trailing end of the second plate segment 5312 extends into the sewage collection box 442.

[0281] 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, and 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 into the sewage collection box 442, referring to 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. Referring to 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 collection box. Referring to 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 bends downwards, the water is propelled by the centrifugal force of the roller towards the upward arc surface of the water guide groove, 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.

[0282] 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.

[0283] 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.

[0284] 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.

[0285] 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:

[0286] Replace with a different model of cleaning roller; or

[0287] The cleaning roller may shift position due to various factors during prolonged operation; or

[0288] Cleaning rollers experience lint wear and tear from long-term operation, etc.

[0289] 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, see... 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.

[0290] 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.

[0291] 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.

[0292] 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.

[0293] The above adaptive adjustment assembly can also be called 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.

[0294] 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 driving device 10 comprises a first power source and a second power source. The first power source can comprise a first motor 60. The second power source comprises a third motor 61. In specific implementation, the first motor 60 and the third motor 61 can be connected with reducers at output ends to output power externally through the reducers. The first power source is used to drive the extension and retraction of the mop-washing assembly, and the corresponding first action execution mechanism 103 is the same as the structure mentioned in the above embodiment, i.e., the first action execution mechanism 103 comprises a first gear 13 and a first rack 14. The first action execution mechanism 103 can comprise a sliding plate which is slidably connected to a slide rail 15. At least one slide rail 15 can be arranged on the cavity shell 46. In addition, the first photoelectric switch 281, the first trigger structure on the sliding plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, the grating structure 294, and the like are the same as those in the above embodiment, and the specific content can be referred to the above, which will not be described herein.

[0295] The second power source is used to drive the lifting of the mop-washing assembly 4, and the corresponding second action execution mechanism, as shown, can comprise a second gear 62 and a second rack 63. The second rack 63 is arranged in a different manner from the first rack 14. As shown in Figure 41 , the first rack 14 is arranged horizontally, and the second rack 63 is arranged vertically. Figure 41

[0296] Specific implementation process is as follows: when the mop-washing assembly 4 is in an initial state (i.e., a first limit position of the retracted state, the cleaning roller is in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate, the first rack 14 is translated to the side of the machine body under the drive of the first gear 13, and the first rack 14 pushes the mop-washing assembly outward through the connecting structure on the slide rail 15 to make the mop-washing assembly extend out of the machine body by a part (e.g., Figure 42 (B)). If the mop-washing assembly 4 extends to a second limit position of the extended state, the first motor 60 stops working. When the mop-washing assembly needs to be retracted, the first motor 60 outputs reverse power to drive the first gear 13 to rotate reversely, the first rack 14 is translated to the inside of the machine body under the drive of the first gear 13, and the first rack 14 retracts the mop-washing assembly inward. After the mop-washing assembly 4 is retracted to the initial state, the first motor 60 stops working. When the mop-washing assembly 4 needs to be lifted, the second motor 61 outputs power to drive the second gear 62 to rotate, and the second rack 63 lifts the mop-washing assembly 4 upward along the axial direction of the connecting column 241 (as shown in Figure 16 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 When the third motor 61 reverses, the reverse time is equal to the forward time (i.e., the time used by the third motor to drive the mop assembly to lift), and the third motor 61 stops moving. In addition, by increasing the number of light-shielding pieces and the number of counting light couplings on this assembly, step-by-step extension can also be achieved during extension. For details, please refer to the above content, which will not be repeated here.

[0297] Further, if the cleaning robot cleans a carpeted floor, 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, the cleaning robot needs to pause and wait before walking on the carpeted floor, and only after switching to the lifted state can it clean the carpeted floor, which will inevitably consume too much waiting time.

[0298] 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 at different gears in 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 on the carpeted floor or crossing the obstacle, and even if the cleaning robot needs to cross the obstacle multiple times or go up and down the carpeted floor multiple times, the cleaning robot will not consume too much waiting time, and the total cleaning time can be effectively reduced.

[0299] Here, the present application further supplements a scheme of using two motors to realize the lifting and extension functions of the mop assembly. That is, the driving device 10 includes two power sources. Unlike the structure shown in the above Figure 41 The second power source and the corresponding second action execution mechanism winch structure are implemented. 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.

[0300] 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.

[0301] The embodiments of the present application provide a single power source to realize the stretching and retracting and lifting of the mop washing assembly, and also provide a double power source to realize the stretching and retracting and lifting of the mop washing assembly (i.e., one power source realizes stretching, and the other realizes lifting). No matter which implementation scheme is adopted, there is a problem of how to control the power sources to make the mop washing assembly stretch and retract and lift at the right time. For example, the mop washing assembly stretches out while descending, or retracts while ascending, or retracts first and then lifts, or lifts first and then retracts, or descends first and then stretches out, and the like. In a specific scenario, for example, the mop washing assembly 1 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 1 to have 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 kitchen entrance, 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, there is no obstacle in height, and the mop washing assembly 1 in the stretched-out state can also be directly lifted up. However, if the current environment is relatively loaded, and the cleaning robot has limited detection information, at this time, the mop washing assembly 1 is directly lifted up in the stretched-out state, and it is very likely that the mop washing assembly 1 collides 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 is a big risk to the main machine, and therefore 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 according to the real-time detected environmental information, which inevitably increases the calculation amount of the cleaning robot, consumes power, and affects 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 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 mainboard 2 in the embodiments of the present application. For example, the mop washing assembly control scheme includes:

[0302] S1, when it is determined that the mop washing assembly needs to be lifted up, acquiring the current position of the mop washing assembly;

[0303] S2, if the mop washing assembly is in the first limit position, controlling the driving device to drive the mop washing assembly to lift up; if the mop washing assembly is in the stretched-out state, controlling the driving device to drive the mop washing assembly to retract to the first limit position first and then lift up.

[0304] When the mopping assembly is in the extended state, the mopping assembly can be located at any position between the first limit position and the second limit position, or at the second limit position.

[0305] After the above scheme is adopted, the cleaning robot does not need to detect environmental information based on a sensing system, and does not need to perform complex calculation to determine whether there is enough space to lift the mopping assembly in the current environment. 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.

[0306] 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 before the user can remove the detachable part (such as the sewage tank, the roller, etc.) at the bottom of the body, which is not good for the user experience.

[0307] 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 dirt collection box 442 and the cleaning roller 42, it is not very convenient.

[0308] 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 will be introduced first, and then the disassembly scheme of the cleaning roller 42 will be introduced.

[0309] Referring to Figures 44a to 44f , at least one side of the mopping assembly 4 is exposed. As shown in one example of 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 exposed to 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.

[0310] 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.

[0311] 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 drum 42, the length of the dirt collection box 442 can be equal to or greater than the length of the cleaning drum 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 part 71 and a fixed pin 72. The elastic operating part 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 part 71, and the elastic operating part 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.

[0312] 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 drum) to take out the dirt collection box from the machine body 1.

[0313] 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 box 442 through the rotating shaft 714. The rotating shaft 714 is provided with: abutting structure 713 and operating handle 711 respectively on both sides. The user can rotate the operating handle 711, the direction of rotation is downward around the rotating shaft 714, which is exactly the same as the direction of taking off the dirt box. This setting, the user holds the operating handle 711 with his hand, and when the operating handle 711 rotates downward around the rotating shaft 714 to a certain angle, the fixed pin 72 is separated from the pin hole, and the dirt box 442 can be separated from the mop and wash support 73. At this time, the dirt box rotates downward around the second end as the center. Because the user's hand is always holding the operating handle 711, on the one hand, it prevents the sudden falling of the dirt box, and on the other hand, it can naturally continue to hold the operating handle 711 downward, and then take out the dirt box 442.

[0314] In another embodiment, the release button can be a push-pull piece of linear motion. The abutting structure 713 of the release button is located in the sliding slot 722. The first end of the dirt 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. When the release button is a push-pull piece, the user can drive the fixed pin to move by pushing and pulling the release button (such as pushing and pulling along the length direction of the fixed pin).

[0315] As shown in Figure 44e When the user wants to take off the dirt box 442, the user provides external force to the release button, such as rotating the release button. 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 separated from the pin hole, and the first end of the dirt box 442 falls downward. The user pulls here, and the second end of the dirt box 442 is separated from the mop and wash support. At this time, the dirt box 442 is completely taken off. When the user wants to install the dirt box 442, first, the second end of the dirt box 442 is installed (that is, the protruding block structure is inserted into the insertion hole), and the user holds the first end of the dirt box 442 and presses upward. The release spring deforms, the fixed pin 72 moves, and the plug is inserted into the pin hole. At this time, the installation of the dirt box 442 is completed.

[0316] In order to ensure the installation stability of the dirt collection box 442, the release button is further provided with a locking structure, and the corresponding position of the dirt collection box 442 is provided with a locking matching structure. After the installation of the dirt collection box 442 is completed, the user can rotate the release button, so that the locking structure cooperates with the locking matching structure to lock the position of the release button, so that the fixing pin 72 cannot be shaken out of the pin hole. The specific implementation of the locking structure on the release button and the locking matching structure on the dirt collection box 442 in the embodiment is not limited.

[0317] Further, referring to Figure 44f It is shown that the dirt collection box 442 is further provided with a filter assembly 543, which is used to filter large particles of dirt in the dirt entering the dirt collection box 442. As Figure 44f It is shown that the filter assembly 543 can be a filter piece provided with a plurality of filter holes, and the filter piece can be placed and stabilized in the dirt collection box 442 through some matching structure. The filter piece is further provided with a through hole, and the dirt collection pipe 542 can pass through the through hole from above the filter piece to below the filter piece to be close to the bottom of the dirt collection box 442. After the user dismounts the dirt collection box 442, the user can take out the filter assembly 543 from the dirt collection box 442 to clean the dirt collection box and the filter assembly respectively. One end of the filter assembly 543 is provided with a handle 5431 for the user to take, and the user can pinch the handle 5431 with fingers when taking the filter assembly 543 to take out the filter assembly 543 from the dirt collection box 442. The handle 5431 can be a plate-shaped body with a certain bending radius.

[0318] In addition, the dirt collection box 442 is further provided with a detection piece 4425, which can be a detection magnet or the like. The corresponding position of the mop and washing support is provided with a sensing element (not shown in the drawings). The sensing element can detect whether the dirt collection box 442 is installed on the mop and washing support by sensing the detection piece on the dirt collection box 442. The reason for setting this detection piece is to avoid the situation that the user forgets to install the dirt collection box 442 and starts the cleaning robot to work. If the sensing element senses that the dirt collection box 442 is not installed on the mop and washing support, the cleaning robot can remind the user to install the dirt collection box through voice and / or display. If the sensing element and the detection piece are not set, the cleaning robot may perform cleaning tasks without the dirt collection box, and the dirt scraped from the cleaning roller is discharged to the ground because the rear cannot collect dirt after cleaning. Therefore, it is very necessary to set the sensing element and the detection piece, and the machine can only start to perform cleaning tasks after the dirt collection box is installed on the machine.

[0319] For dismounting the cleaning roller 42, referring to Figure 44aAs shown, the mop-washing assembly 4 is in a retracted state, i.e. the end of the mop-washing assembly 4 is located in the body 1. From above the body 1, i.e. when the cleaning robot is located on the ground, the user can see the cleaning robot, and the user cannot see the mop-washing assembly 4. If the user wants to disassemble the cleaning roller in the mop-washing assembly 4, the user needs to squat, tilt the head and look sideways at the position of the mop-washing assembly 4 in the body 1, and then reach up to disassemble the cleaning roller. During the disassembly process, the user may be blind disassembly, and during the installation, the user may also be blind installation, and the user may be pinched by hand. Obviously, this solution of not turning over the body to disassemble the cleaning roller is not very convenient. Embodiments of the present application provide a more convenient solution for disassembling and assembling the cleaning roller. Specifically,

[0320] The body of the cleaning robot 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 through the interactive device, such as extending to a set position (which can be a second limit position in the extended state) or extending to the end of the mop-washing assembly to expose the outer edge of the body 1. For example, the user presses a key in the interactive device, and after the main board 2 receives the operation signal triggered by the key, the driving device 10 is controlled to drive the mop-washing assembly 4 to extend from one side of the body 1 to the set position or extend a set length so that the end of the mop-washing assembly is exposed. At this time, the user can disassemble the cleaning roller from the mop-washing assembly 4. After the user washes the cleaning roller or gets a new replacement roller, the user can install the roller back to the mop-washing assembly 4.

[0321] Referring to Figure 5 As shown, the first end of the mop-washing support 43 in the length direction (the arrow direction in the figure) is provided with the 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 correspondingly, 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 adapted; 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., which are not limited in the embodiments.

[0322] After the user triggers the mop-washing assembly 4 to extend through the key, voice or touch screen, as shown in Figure 12 As shown, 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 when looking at the body from the upper part of the body, and can also see the end of the cleaning roller 42. As shown in Figure 12In the shown example, the end cover 420 of the cleaning roller 42 is similar to a whistle, and the user can easily pull out the cleaning roller along the pulling direction (i.e. the width direction of the body 1) by using one hand to pinch the end cover 420, and thus dismount it. When installing, because the mop assembly is in the extended state, i.e. Figure 12 In the shown state, the user can also see the opening of the roller cavity of the mop support, and the user inserts one end of the cleaning roller into the opening, and the end cover 420 of the cleaning roller is attracted to the first structure 430 on the mop support, and thus 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 performs the cleaning task while keeping the current extended state of the mop assembly 4. 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 roller 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.

[0323] Further, the driving device 10 can also drive the mop assembly to ascend or descend relative to the body. Correspondingly, when the cleaning roller needs to be dismounted, the driving device 10 drives the mop assembly 4 to extend to expose the end cover of the cleaning roller 42, and also drives the mop assembly 4 to ascend to have a gap with the ground, so as to facilitate the user to dismount the cleaning roller 42. Because the cleaning roller has a gap with the ground, it is easier to pull out the cleaning roller.

[0324] In addition to triggering the mop assembly 4 to retract through the interactive device, the following scheme can also be adopted: after the cleaning roller 42 is installed on the mop support 43, the user pushes the mop assembly 4, and the driving device 10 is started to drive the mop assembly 4 to retract to the first limit position. The cleaning robot also comprises a sensing system and a mainboard 2; the mainboard 2 is electrically connected with the sensing system; the sensing system comprises a sensing unit for detecting the pushing force of the mop assembly 4; after the sensing unit detects the installation pushing force of the mop assembly 4, it sends a retraction signal to the mainboard 2, and the mainboard 2 controls the driving device 10 to start to drive the mop assembly 4 to retract to the first limit position.

[0325] 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 replacements for some 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 machine body comprises: a mop assembly, which comprises a mop support, a cleaning unit motor, a cleaning unit and a dirt removal mechanism; the mop support has a drum mounting cavity with an opening facing downward; the cleaning unit motor is connected with the cleaning unit; the dirt removal mechanism is used for scraping off dirt on the cleaning unit; the cleaning unit motor, the cleaning unit and the dirt removal mechanism are arranged in the drum mounting cavity; a driving device arranged on the machine body and connected with the mop assembly; along the width direction of the machine body, the driving device can drive the mop assembly to extend from at least one side of the machine body so that part of the mop assembly is exposed. The dirt removal mechanism comprises a dirt collecting box, and the dirt collecting box and the cleaning unit are detachably arranged on the mop support, and the directions of detaching the dirt collecting box and the cleaning unit are different. The mop assembly further comprises a liquid supply mechanism, which is used for supplying cleaning liquid to the cleaning unit and can move with the mop assembly.

2. The cleaning robot according to claim 1, wherein, The direction of detaching the cleaning unit is consistent with the direction of extending the mop assembly, and the direction of detaching the dirt collecting box is substantially perpendicular to the direction of extending the mop assembly.

3. The cleaning robot according to claim 1, wherein, Along the length direction of the dirt collecting box, the dirt collecting box has a first end and a second end.

4. The cleaning robot according to any one of claims 1 to 3, wherein, The mop support is provided with a first fixing structure and a second fixing structure corresponding to the positions of the first end and the second end of the dirt collecting box. The second fixing structure is a socket, and the second end is a protruding block structure matched with the socket. The first end of the dirt collecting box is provided with a release assembly.

5. The cleaning robot according to claim 4, wherein, The release assembly has an operating handle, and the operating handle is located at the bottom of the dirt collecting box. When being detached, the operating handle is actuated, the release assembly is in an unlocked state, the first end of the dirt collecting box is separated from the mop support, and the dirt collecting box is pulled out from the bottom of the machine body in a direction away from the bottom of the machine body. When being installed, after the second end of the dirt collecting box is inserted into the machine body from the bottom of the machine body, the first end of the dirt collecting box is moved upward to a locking position, and the release assembly is triggered to switch to a locked state at the locking position. The release assembly comprises an elastic operating member and a fixed pin.

6. The cleaning robot according to claim 5, wherein, The elastic operating member is connected with the fixed pin, and the first fixing structure is a pin hole matched with the fixed pin. The fixed pin is provided with a sliding groove, one end of the fixed pin is provided with a plug matched with the pin hole, and the other end is connected with a release spring included in the elastic operating member.

7. The cleaning robot according to claim 6, wherein, A release button is rotatably connected to the dirt collecting box through a rotating shaft. Resisting structures and the operating handle are respectively arranged on both sides of the rotating shaft. The operating handle can rotate around the rotating shaft.

8. The cleaning robot according to claim 7, wherein, The operating handle is rotated around the rotating shaft to release the release assembly so that the release assembly is in an unlocked state. The rotating direction of the operating handle is the same as the direction of taking out the dirt collecting box. The dirt removal mechanism comprises a scraping strip assembly. 9.The cleaning robot according to any one of claims 1 to 3, wherein The end of the scraping strip assembly is in contact with the cleaning unit, and 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. The dirt collecting box is provided with a filtering assembly, and the filtering assembly divides the inner cavity of the dirt collecting box into an upper space and a lower space. ​ 10.The cleaning robot according to claim 9, wherein, The bottom surface of the dirt collecting box is a V-shaped bottom surface with a high middle and low ends. 11.The cleaning robot according to claim 10, wherein, The dirt removing mechanism further comprises a dirt collecting pipe, and the pipe opening of the dirt collecting pipe extends to the lowest point of the V-shaped bottom surface.

12. The cleaning robot according to claim 11, wherein, The scraping strip assembly has an avoiding hole. One end of the dirt collecting pipe is in communication with the avoiding hole, and the other end of the dirt collecting pipe passes through the filter assembly and is arranged in the lower space of the inner cavity.

13. The cleaning robot of claim 9, wherein, One end of the filter assembly is provided with a plate-shaped body with a curved arc. 14.The cleaning robot according to any one of claims 1 to 3, wherein The dirt collecting box is provided with a detection member. The mop washing support and / or the machine body is provided with a sensing element, and the sensing element identifies whether the dirt collecting box is installed on the mop washing support by detecting the detection member.

15. The cleaning robot according to any one of claims 1 to 3, wherein, In the height direction of the machine body, the lowest point of the dirt collecting box is higher than the lowest point of the machine body. 16.The cleaning robot according to any one of claims 1 to 3, wherein The driving device can also drive the mop washing assembly to ascend and descend relative to the machine body.

17. The cleaning robot of claim 16, wherein, Further comprising a control device. The control device is electrically connected with the driving device, and is used for dynamically controlling 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, so as to change the position of the mop washing assembly relative to the machine body.

18. A mopping assembly characterized in that, Comprise: The mop washing support has a drum mounting cavity with an opening downward; The cleaning unit motor is arranged in the drum mounting cavity; The cleaning unit is connected with the cleaning unit motor and can contact the surface to be cleaned through the opening; The dirt removing mechanism is arranged on the mop washing support and is used for scraping dirt on the cleaning unit; The mop washing support is provided with a connecting structure for connecting the driving device, so that the driving device drives the mop washing assembly to move; the dirt removing mechanism comprises a dirt collecting box, the dirt collecting box and the cleaning unit are detachably arranged on the mop washing support of the mop washing assembly, and the detachment directions of the dirt collecting box and the cleaning unit are substantially perpendicular.

19. A cleaning robot, characterized in that Comprise: Machine body; The mop washing assembly is installed on the machine body, and the machine body comprises a mop washing support, a cleaning unit motor, a cleaning unit and a dirt removing mechanism; the mop washing support has a drum mounting cavity with an opening downward, the cleaning unit motor is connected with the cleaning unit, the dirt removing mechanism is used for scraping dirt on the cleaning unit, and the cleaning unit motor, the cleaning unit and the dirt removing mechanism are arranged in the drum mounting cavity; The dirt removing mechanism comprises a dirt collecting box, the dirt collecting box and the cleaning unit are detachably arranged on the mop washing support, and the detachment directions of the dirt collecting box and the cleaning unit are different.

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