Cleaning module, cleaning robot, base station and cleaning system

Abstract

The utility model discloses a cleaning module, a cleaning robot, a base station and a cleaning system. The cleaning robot comprises a robot body, a cleaning module and a power module. The cleaning module comprises a body, a cleaning part and an installation assembly, a containing space used for installing the cleaning part is formed in the body, the cleaning part comprises a mopping part, the installation assembly comprises a first main body and a second main body, the first main body is connected with the body, and the first main body is movably connected with the second main body. The power module is arranged on the machine body and connected with the second body, and the power module is used for driving the second body to move relative to the first body so that the relative position of the cleaning module relative to the machine body can be changed. According to the cleaning robot, the cleaning module can be assembled on the robot body and can move relative to the robot body without arranging redundant structural parts, so that the mounting steps of the cleaning module can be simplified, the assembling efficiency of the cleaning robot can be improved, and the production cost of the cleaning robot can be reduced; and the space size occupied by the cleaning robot is reduced.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a cleaning module, a cleaning robot, a base station, and a cleaning system. Background Technology

[0002] A cleaning robot is a device used to automatically clean carpets or floors, and its applications include home cleaning and cleaning of large venues. In related technologies, a cleaning module is located on the bottom of the robot's body, allowing the robot to clean the surface. Generally, cleaning robots include structural components for mounting the cleaning module on the body. This means the cleaning module needs to cooperate with these structural components to be assembled onto the robot, which makes the installation process relatively cumbersome and affects the assembly efficiency of the cleaning robot. Utility Model Content

[0003] The cleaning robot provided in the first aspect of this application includes a body, a cleaning module, and a power module. The cleaning module includes a main body, a cleaning component, and a mounting assembly. The main body forms a receiving space for mounting the cleaning component. The cleaning component includes a mopping component. The mounting assembly includes a first main body and a second main body. The first main body is connected to the main body, and the first main body and the second main body are movably connected. The power module is disposed on the body and connected to the second main body. The power module drives the second main body to move relative to the first main body, thereby changing the relative position of the cleaning module relative to the body.

[0004] In some embodiments, the cleaning module further includes a protective cover forming a receiving space between the protective cover and the body, and at least a portion of the mounting components are located within the receiving space.

[0005] In some embodiments, the protective cover has an opening that exposes a portion of the second body.

[0006] In some embodiments, the mounting component protrudes from the outside of the body.

[0007] In some embodiments, the mounting component is located at the middle of the length of the body.

[0008] In some embodiments, the length of the mounting assembly along the length of the body is 1 / 4 to 1 / 2 of the length of the body.

[0009] In some embodiments, the second body is detachably connected to the power module.

[0010] In some embodiments, the cleaning module includes at least one of the following: a tracked cleaning component and a roller-type cleaning component.

[0011] In some embodiments, one of the first body and the second body is provided with a movable groove, and the other of the first body and the second body is provided with a moving member that cooperates with the movable groove, the moving member being movably disposed within the movable groove.

[0012] In some embodiments, the moving slot includes an elongated slot.

[0013] In some implementations, the moving slots include one or at least two.

[0014] In some embodiments, the moving groove includes an inclined sidewall for abutting against the moving member, the inclined sidewall being inclined relative to the bottom surface of the cleaning module.

[0015] In some embodiments, the angle between the inclined sidewall and the width direction of the cleaning robot is an acute angle.

[0016] In some embodiments, the centerline of the moving trough extends in the same direction as the height of the cleaning robot.

[0017] In some embodiments, when the moving trough includes one component, the moving member includes one component along the width direction of the cleaning robot. The moving trough includes two opposing inclined sidewalls, and the moving member is disposed in the moving trough and abuts against both of the inclined sidewalls. Alternatively, when the moving trough includes one component, the moving member includes two components, both of which are disposed in the moving trough and abut against the two inclined sidewalls of the moving trough in the width direction of the cleaning robot, respectively.

[0018] In some embodiments, the first body is box-shaped and has a receiving cavity, and the second body is received within the receiving cavity.

[0019] In some embodiments, the side wall of the first body is provided with a moving groove, and the outer side wall of the second body is provided with a protrusion protruding toward the side wall of the first body. The protrusion forms the moving member, and the protrusion extends into the moving groove and is able to move within the moving groove.

[0020] In some embodiments, the power module is used to drive the second body to move relative to the first body, so that the cleaning module switches between a first state, a second state, and a third state; when the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is farther away from the centerline of the cleaning robot's width direction in the second state than in the first state; when the cleaning module is in the third state, the cleaning module is spaced apart from the surface to be cleaned, wherein the target end of the cleaning module is the side of the cleaning module closer to the obstacle when the cleaning robot is traveling along an obstacle; the width direction of the cleaning robot is perpendicular to the direction of travel of the cleaning robot.

[0021] In some embodiments, when the cleaning module is in a first state, the cleaning module is located within the widest region of the body; when the cleaning module is in a second state, the cleaning module is in contact with the surface to be cleaned, and at least a portion of the cleaning module is located outside the widest region of the body, or one end of the cleaning module is flush with the edge of the widest region of the body; when the cleaning module is in a third state, the cleaning module is located within the widest region of the body; wherein the widest region is the area formed by two tangents along the travel direction of the cleaning robot to the projection of the body onto the surface to be cleaned.

[0022] In some embodiments, the housing has an installation space, and the side of the housing has an opening communicating with the installation space. At least a portion of the cleaning module is disposed within the installation space. When the cleaning module is in the second state, at least a portion of the cleaning module extends out of the installation space from the opening. The cleaning module also includes a slider disposed between the cleaning module and the side wall of the installation space. The slider is used to reduce the friction between the cleaning module and the side wall of the installation space when the cleaning module moves relative to the housing.

[0023] In some embodiments, in the forward direction of the cleaning robot, the mounting space sequentially includes a first side and a second side opposite to each other; the slider is disposed between the cleaning module and the first side of the mounting space, and the slider is used to reduce the friction between the cleaning module and the body when the cleaning module moves relative to the body.

[0024] In some embodiments, the power module is used to drive the cleaning module to move relative to the body along a first direction, so that the cleaning module switches between a first state and a second state; when the cleaning module abuts against the body on one side in the first direction, the power module is also used to drive the second body to move relative to the first body, and through the second body drive the first body and the main body to move along a second direction, so that the cleaning module switches between the first state and the third state, or switches between the second state and the third state, wherein the first direction and the second direction intersect.

[0025] In some embodiments, the first direction includes the width direction of the cleaning robot, and the second direction includes the height direction of the cleaning robot.

[0026] In some embodiments, along the first direction, the body includes an abutment portion opposite to the cleaning module, the abutment portion being capable of abutting against the cleaning module to restrict the movement of the cleaning module along the first direction.

[0027] In some embodiments, the cleaning module further includes a slider disposed on the side of the first body opposite to the abutment portion. When the slider abuts the abutment portion, the movement of the cleaning module along the first direction is restricted by the body. The slider is used to reduce the friction between the cleaning module and the abutment portion when the cleaning module moves along the second direction.

[0028] In some embodiments, the cleaning module includes a slider disposed on the side of the body opposite to the abutment portion. When the slider abuts the abutment portion, the movement of the cleaning module along the first direction is restricted by the body. The slider is used to reduce the friction between the body and the abutment portion when the body moves along the second direction.

[0029] In some embodiments, the first body is provided with a movable groove, and the second body is provided with a moving member that cooperates with the movable groove. When the moving member moves relative to the first body, the body moves along a second direction; or, the second body is provided with a movable groove, and the first body is provided with a moving member that cooperates with the movable groove. When the moving member moves relative to the second body, the body moves along the second direction.

[0030] In some embodiments, the cleaning robot further includes a mobile module movably disposed on the body and connected to both the cleaning module and the power module. The power module is used to drive the mobile module to move relative to the body, thereby causing the cleaning module to move relative to the body.

[0031] In some embodiments, the second body is detachably connected to the mobile module.

[0032] In some embodiments, the second body is detachably connected to the mobile module via threaded fasteners; and / or, the second body is detachably connected to the mobile module via snap-fit ​​connections.

[0033] In some embodiments, the mobile module includes a loading member and a moving member. The loading member is fixedly disposed on the body. At least a portion of the moving member is disposed within the loading member and is movable relative to the body; the moving member is connected to both the cleaning module and the power module.

[0034] In some embodiments, the loading member is provided with a guide groove, the guide groove being recessed from the side of the loading member opposite to the surface to be cleaned toward the surface to be cleaned, and at least a portion of the moving member is disposed in the guide groove, the guide groove being used to guide the moving member to move relative to the machine body.

[0035] In some embodiments, the body is provided with a guide groove extending in a first direction, and at least a portion of the moving module is disposed in the guide groove, the guide groove being used to guide the moving module to move relative to the body in the first direction.

[0036] In some embodiments, the power module includes a drive component and a transmission component. One end of the transmission component is connected to the drive component, and the other end is connected to the cleaning module. The transmission component is used to transmit the driving force of the drive component to the cleaning module so that the cleaning module moves relative to the body.

[0037] In some embodiments, the power module further includes a buffer assembly for buffering the positive external force along the first direction experienced by the cleaning module when it is in the second state and subjected to a positive external force along the first direction.

[0038] In some embodiments, the buffer assembly includes an elastic element that is in an elastically deformed state when the cleaning module is in the second state and subjected to a positive external force along the first direction; the elastic element includes at least one of the following: a spring, a sheet, or a rubber component.

[0039] In some embodiments, the transmission component includes a connector and a transmission component, the connector being connected to the mobile module; one end of the transmission component is connected to the drive component, and the other end is connected to the connector; the drive component drives the connector to move relative to the body through the transmission component, thereby moving the mobile module of the cleaning robot relative to the body.

[0040] In some embodiments, the transmission component includes a gear and a rack. The gear is connected to the drive component, and the rack is connected to the connector. The gear and the rack cooperate, and when the drive component drives the gear to rotate, the gear drives the rack to move, thereby causing the connector to move relative to the machine body.

[0041] In some embodiments, the mobile module is provided with a connecting groove, and at least a portion of the connector is disposed in the connecting groove. In the opposite direction of the first direction, the connecting groove sequentially includes a first connecting sidewall and a second connecting sidewall opposite to each other. The power module is provided with a buffer assembly, and the elastic element of the buffer assembly is connected to both the connector and the first connecting sidewall, or the elastic element is connected to both the connector and the second connecting sidewall.

[0042] In some embodiments, when the elastic element includes a tension spring, the tension spring is fixedly connected to both the connector and the first connecting sidewall; when the elastic element includes a compression spring, the compression spring is connected to both the connector and the second connecting sidewall, and the compression spring is connected to at least one of the connector and the second connecting sidewall in an abutting manner.

[0043] In some embodiments, the mobile module of the cleaning robot includes a loading component and a moving component. The loading component is fixedly disposed on the robot body, and at least a portion of the moving component is disposed within the loading component and is movable relative to the robot body. The transmission component includes a connecting component and a transmission component. The connecting component cooperates with the moving component. The transmission component is connected to both the driving component and the connecting component. The driving component drives the connecting component to move relative to the robot body via the transmission component, thereby causing the moving component to move relative to the robot body.

[0044] In some embodiments, the movable member is provided with a connecting groove, and at least a portion of the connecting member is disposed in the connecting groove. In the opposite direction of the first direction, the connecting groove sequentially includes opposing first and second connecting sidewalls; wherein, when the driving member drives the connecting member to move relative to the body in the opposite direction of the first direction, the connecting member engages with the second connecting sidewall; when the driving member drives the connecting member to move relative to the body in the forward direction of the first direction, the connecting member engages with the first connecting sidewall.

[0045] In some embodiments, the elastic element of the buffer assembly of the power module is connected to both the connector and the first connecting sidewall; or it is connected to both the connector and the second connecting sidewall.

[0046] In some embodiments, the transmission component is a lead screw, the connecting component is a nut, the lead screw is rotatably mounted on the loading component and connected to the driving component, the nut is sleeved on the lead screw, and when the driving component drives the lead screw to rotate, the lead screw drives the nut to move, thereby driving the moving component to move relative to the machine body.

[0047] In some embodiments, the mobile module of the cleaning robot includes a first end and a second end opposite to each other in a first direction; the transmission component includes a connector, the connector being disposed around the output shaft of the drive member, and the opposite ends of the connector being connected to the first end and the second end of the mobile module respectively, and the drive member driving the mobile module to move relative to the body through the connector.

[0048] In some embodiments, one end of the elastic element of the buffer assembly of the power module is connected to the connector, and the other end is connected to the first end and / or the second end of the mobile module.

[0049] In some embodiments, the buffer assembly of the power module includes a crash barrier disposed on the fuselage and movable relative to the fuselage, at least a portion of the movable module is disposed on the crash barrier and movable relative to the crash barrier, both ends of the connecting member are connected to the crash barrier, and the elastic element of the buffer assembly is connected between the crash barrier and the movable module along the first direction.

[0050] In some embodiments, the cleaning robot further includes a detection module for detecting the current state of the cleaning module, the current state including the first state, the second state, and the third state.

[0051] In some embodiments, the detection module includes an encoder disposed on the drive unit of the power module and used to detect the number of rotations of the drive unit of the power module to determine the current state of the cleaning module.

[0052] In some embodiments, the detection module includes a transmitter and a receiver, one of which is disposed on the cleaning module and the other is disposed on the body. The transmitter is used to transmit a detection signal, and the receiver is used to receive the detection signal and indicate the current state of the cleaning module based on the received detection signal.

[0053] In some embodiments, the body has an installation space, and the side of the body has an opening communicating with the installation space. At least a portion of the cleaning module is disposed within the installation space. When the cleaning module is in the second state, at least a portion of the cleaning module extends out of the installation space from the opening.

[0054] In the cleaning robot provided in the first aspect of this application, the installation component includes a first main body and a second main body. The first main body is connected to the body of the cleaning module, and the first and second main bodies are movably connected. The power module can be connected to the second main body and drive the second main body to move relative to the first main body, so as to change the relative position of the cleaning module relative to the body. Therefore, compared with the cleaning robots in the related art, the cleaning robot in this embodiment can realize the assembly of the cleaning module on the body and the movement of the cleaning module relative to the body without setting up extra structural components. This simplifies the installation steps of the cleaning module, improves the assembly efficiency of the cleaning robot, reduces the production cost of the cleaning robot, and reduces the space occupied by the cleaning robot, which is conducive to the miniaturization of the cleaning robot.

[0055] The cleaning module provided in the second aspect of this application is applied to a cleaning robot. The cleaning module is mounted on the robot's body, which is equipped with a power module. The cleaning module includes a main body, cleaning components, and a mounting assembly. The main body forms an accommodating space for mounting the cleaning components. The cleaning components include a mopping component. The mounting assembly includes a first main body and a second main body. The first main body is connected to the main body, and the first and second main bodies are movably connected. The second main body is connected to the power module, which drives the second main body to move relative to the first main body, thereby changing the relative position of the cleaning module relative to the robot's body.

[0056] The cleaning module provided in the second aspect of this application is connected to a power module via a second main body of an mounting component. The power module can drive the second main body to move relative to the first main body, thereby changing the relative position of the cleaning module with respect to the robot body. Specifically, the cleaning module can move from a position in contact with the ground to a raised position. This allows for a relatively simple switching between a cleaning state and a state detached from the surface to be cleaned, ensuring the cleaning effect of the cleaning robot. Furthermore, the cleaning module can be raised off the ground to improve obstacle-crossing ability. In addition, compared to cleaning robots in related technologies, the cleaning robot in this embodiment can assemble the cleaning module onto the robot body and move the cleaning module relative to the robot body without the need for additional structural components. This simplifies the installation steps of the cleaning module, improves the assembly efficiency of the cleaning robot, reduces production costs, and decreases the space occupied by the cleaning robot, thus contributing to the miniaturization of the cleaning robot.

[0057] The cleaning robot provided in the third aspect of this application includes a body and a cleaning module. The body is equipped with a power module, and the cleaning module is mounted on the body and connected to the power module. The cleaning module includes a main body, a cleaning component, and a mounting assembly. The main body forms an accommodating space for mounting the cleaning component. The cleaning component includes a mopping component. The mounting assembly includes a first main body and a second main body. The first main body is connected to the main body, and the first main body and the second main body are movably connected. The second main body is used to connect to the power module, and the power module is used to drive the second main body to move relative to the first main body, thereby changing the relative position of the cleaning module relative to the body.

[0058] In some embodiments, the cleaning robot further includes a mobile module movably disposed on the body and connected to both the cleaning module and the power module. The power module is used to drive the mobile module to move relative to the body, thereby causing the cleaning module to move relative to the body.

[0059] In the cleaning robot provided in the third aspect of this application, the installation component includes a first main body and a second main body. The first main body is connected to the main body, and the first and second main bodies are movably connected. A power module is connected to the second main body and drives the second main body to move relative to the first main body, thereby changing the relative position of the cleaning module with respect to the robot body. Thus, the cleaning robot can assemble the cleaning module onto the robot body and move the cleaning module relative to the robot body without requiring additional structural components. This simplifies the installation steps of the cleaning module, improves the assembly efficiency of the cleaning robot, reduces production costs, and decreases the space occupied by the cleaning robot, which is beneficial for miniaturization. Furthermore, the change in the relative position of the cleaning module with respect to the robot body—that is, the ability of the cleaning module to move from a position in contact with the ground to a raised position—simplifies the switching between the cleaning module in a normal cleaning state and a state detached from the surface to be cleaned, ensuring the cleaning effect of the cleaning robot. The ability of the cleaning module to be raised off the ground also improves its obstacle-crossing ability.

[0060] The base station provided in the fourth aspect of this application is used in conjunction with the cleaning robot described above, and the base station includes a docking position for accommodating the cleaning robot.

[0061] The cleaning system provided in the fifth aspect of this application includes a cleaning robot as described above and a base station used in conjunction with the cleaning robot. The base station includes a docking station for accommodating the cleaning robot.

[0062] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0063] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0064] Figure 1 This is a three-dimensional structural schematic diagram of a cleaning robot according to certain embodiments of this application;

[0065] Figure 2 yes Figure 1 The diagram shown is a three-dimensional exploded view of the cleaning robot.

[0066] Figure 3 yes Figure 1 The diagram shows a cross-sectional view of the cleaning robot.

[0067] Figure 4 These are schematic diagrams of the cleaning components provided in some embodiments of this application;

[0068] Figure 5(a) is a schematic diagram of the cleaning module in a first state when the cleaning robot is walking along the edge in some embodiments of this application;

[0069] Figure 5(b) is a schematic diagram of the cleaning module in a second state when the cleaning robot is walking along the edge in some embodiments of this application;

[0070] Figure 6(a) is a schematic diagram of the cleaning module in a first state when the cleaning robot is walking along the edge in some other embodiments of this application;

[0071] Figure 6(b) is a schematic diagram of the cleaning module in a second state when the cleaning robot is walking along the edge in some other embodiments of this application;

[0072] Figure 7(a) is a schematic diagram of the side brush (cleaning module) in a first state when the cleaning robot is walking along the edge in some embodiments of this application;

[0073] Figure 7(b) is a schematic diagram of the side brush (cleaning module) in a second state when the cleaning robot is walking along the edge in some embodiments of this application;

[0074] Figure 8 This is a schematic diagram of the relative motion between the first and second bodies of the mounting components in the cleaning module according to some embodiments of this application;

[0075] Figure 9 This is a structural schematic diagram of the relative motion between the first and second bodies of the cleaning module in some other embodiments of this application;

[0076] Figure 10 yes Figure 1 A schematic diagram of a planar structure of one embodiment of the cleaning robot shown;

[0077] Figure 11 yes Figure 1 A three-dimensional structural diagram of the power module in the cleaning robot shown;

[0078] Figure 12 yes Figure 1 A schematic diagram of a planar structure of another embodiment of the cleaning robot shown;

[0079] Figure 13 yes Figure 1 A three-dimensional structural diagram of one embodiment of the power module and the movement module in the cleaning robot shown;

[0080] Figure 14 yes Figure 1 A three-dimensional structural diagram of another embodiment of the power module and the movement module in the cleaning robot shown;

[0081] Figure 15 yes Figure 14 An exploded 3D view of the power module and the movement module in the cleaning robot shown;

[0082] Figure 16(a) is a schematic diagram of the cleaning robot provided in the embodiment of this application in the first state;

[0083] Figure 16(b) is a schematic diagram of the cleaning robot provided in the embodiment of this application in the second state;

[0084] Figure 16(c) is a schematic diagram of the cleaning robot provided in the embodiment of this application in the third state;

[0085] Figure 17 This is an exploded perspective view of a portion of the structure of a cleaning device according to certain embodiments of this application;

[0086] Figure 18 This is a three-dimensional structural diagram of the cleaning module, power module, and moving module in the cleaning equipment according to certain embodiments of this application;

[0087] Figure 19 yes Figure 18 The diagram shown is an exploded 3D view of the cleaning equipment.

[0088] Figure 20 yes Figure 18 A cross-sectional structural diagram of a portion of the cleaning equipment shown;

[0089] Figure 21 This is a three-dimensional structural diagram of a cleaning system according to certain embodiments of this application. Detailed Implementation

[0090] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0091] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0092] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0093] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0094] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0095] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0096] As an intelligent robot capable of self-moving across surfaces to be cleaned, a cleaning robot is driven by drive wheels mounted on its chassis for navigation and mobile cleaning. The bottom of a cleaning robot typically includes sweeping and mopping modules. The sweeping module can include side brushes and roller brushes; usually, the side brushes are located at the front, the roller brush roughly in the middle, and the mopping component at the rear. The robot's body has a roller brush housing for mounting the roller brush, which has an air inlet and an air outlet, with the air inlet close to the surface to be cleaned. During sweeping, the side brushes sweep debris to the roller brush air inlet, where it is sucked into the robot's debris collection container by the airflow. The roller brush itself also performs the sweeping function. The mopping component comes into contact with the surface to be cleaned to wipe it.

[0097] Cleaning robots may encounter blind spots when cleaning surfaces, or, based on obstacle avoidance, sweeping, or mopping requirements, some cleaning modules may need to be raised off the surface. Therefore, it may be necessary to adjust the relative position of the cleaning modules to the robot's body to meet these specific scenario needs. Based on the above, the cleaning robot provided in this application aims to simplify the installation structure of the cleaning modules while ensuring that their relative position to the robot body can be adjusted.

[0098] Please see Figures 1 to 3The cleaning robot 100 in some embodiments of this application includes a body 10, a cleaning module 20, and a power module 30. The cleaning module 20 includes a body 21, a cleaning component 22, and a mounting assembly 23. The body 21 has a receiving space for mounting the cleaning component 22. The cleaning component 22 includes a mopping component 223. The mounting assembly 23 includes a first body 231 and a second body 233. The first body 231 is connected to the body 21, and the first body 231 and the second body 233 are movably connected. The power module 30 is disposed on the body 10 and connected to the second body 233. The power module 30 drives the second body 233 to move relative to the first body 231, thereby changing the relative position of the cleaning module 20 relative to the body 10. It should be noted that in some embodiments, the cleaning robot 100 is an intelligent device capable of performing functions such as sweeping, vacuuming, and mopping. The cleaning robot 100 includes, but is not limited to, sweeping robots, intelligent robots, and mobile robots.

[0099] The materials used for the body 10 include, but are not limited to, metallic and / or non-metallic materials. Metallic materials include, but are not limited to, aluminum, iron, steel, or aluminum alloys, while non-metallic materials include, but are not limited to, plastics. In one example, the body 10 may be made of both metallic and non-metallic materials, thereby increasing its structural strength and preventing collision damage during operation, thus improving the stability and reliability of the cleaning robot 100. In another example, the body 10 may be made of non-metallic materials, resulting in a lighter weight and contributing to the portability of the cleaning robot 100. It should be noted that in some embodiments, the cross-sectional shape of the body 10 includes, but is not limited to, a circle or a near-circular shape.

[0100] In some embodiments, the cleaning module 20 is a device capable of enabling the cleaning robot 100 to perform mopping functions (e.g., wet mopping or dry mopping). Exemplarily, the cleaning component 22 may include a tracked cleaning component or a roller-type cleaning component. (Please refer to...) Figure 4The cleaning component 22 may also include a support 221, which is detachably disposed in the accommodating space of the body 21 and located on the side of the body 21 facing the surface to be cleaned. The mopping component 223 is sleeved and mounted on the support 221. When the cleaning robot 100 is in a cleaning state, the support 221 can drive the mopping component 223 to rotate relative to the surface to be cleaned to achieve cleaning of the surface. Wherein, when the cleaning component 22 includes a tracked cleaning component, and the mopping component 223 is mounted on the support 221, the cross-sectional shape of the mopping component 223 may be racetrack-shaped; when the cleaning component 22 includes a roller-type cleaning component, and the mopping component 223 is mounted on the support 221, the cross-sectional shape of the mopping component 223 may be circular. It should be noted that, in some embodiments, the mopping component 313 includes, but is not limited to, disposable electrostatic mops, disposable wet mops, or reusable fabric mops. In one example, the surface to be cleaned may be the floor inside a building. In another example, the surface to be cleaned could be the surface of other objects that need cleaning, such as walls, beds, or windows.

[0101] In other embodiments, the cleaning module 30 is a device that enables the cleaning robot 100 to perform sweeping functions. Exemplarily, the cleaning robot 100 may also include a brush-sweeping module disposed on the body 10, used to clean the surface to be cleaned. The brush-sweeping module may include a roller brush and side brushes. When the cleaning robot 100 uses the brush-sweeping module to clean the surface, the side brushes sweep dust and other dirt from the outside to the middle area, while the roller brushes continue to sweep the dirt from the middle area to the waste collection container (not shown). Along the traveling direction Y of the cleaning robot 100, the side brushes are located on the front side of the body 10, the roller brushes are located in the middle of the body 10 (between the front and rear sides of the body 10), and the cleaning module 20, including the mopping component 223, may be located on the rear side of the body 10. Thus, the cleaning robot 100 can perform both sweeping and mopping functions, thereby improving the cleaning effect of the cleaning robot 100. It should be noted that the orientations described in the embodiments of this application are defined with the drive wheels of the cleaning robot 100 supported on the surface to be cleaned. "Front side" and "rear side" are relative to the travel direction Y of the cleaning robot 100. When the cleaning robot 100 moves forward along the travel direction Y, the foremost point of the body 10 closest to the travel direction is the front side of the body 10, and the rearmost point of the body 10 closest to the travel direction is the rear side of the body 10.

[0102] For the cleaning robot 100, since the cleaning module 20 needs to contact the ground during cleaning, it is desirable that the cleaning module 20 does not obstruct the cleaning robot 100 from crossing obstacles, such as thresholds. In this case, it is also desirable that the cleaning module 20 does not come into contact with the surface to be cleaned. Alternatively, for a cleaning robot 100 that has both sweeping and mopping components, in scenarios requiring only sweeping, it is desirable that the mopping component does not come into contact with the surface to be cleaned; in scenarios requiring only mopping, it is desirable that the sweeping component does not come into contact with the surface to be cleaned, to avoid contaminating the already mopped floor.

[0103] Referring to Figures 16(a), 16(b), and 16(c), in some embodiments, the power module 30 can be connected to the second body 233, which is movably connected to the first body 231. The power of the second body 233 can be transmitted to the first body 231. Since the first body 231 is connected to the body 21 of the cleaning module 20, it can drive the cleaning module 20 to move relative to the body 10 along the height direction Z of the cleaning robot 100. Thus, the cleaning module 20 can be lifted when there are protrusions on the surface to be cleaned, so that the cleaning robot 100 can overcome obstacles and improve the passability of the cleaning robot 100. Alternatively, when there are areas on the surface to be cleaned that the user does not want to mop (such as carpet areas), the cleaning module 20 is lifted to ensure the cleaning effect and prevent the cleaning robot 100 from mopping the carpet area and contaminating the carpet area in reverse. This helps the cleaning robot 100 adapt to different cleaning environments and cleaning needs, and improves the cleaning effect of the cleaning robot 100. In addition, when the cleaning robot 100 only needs to sweep, the mopping module can be raised, and when mopping is required, the sweeping module can be raised. This also helps the cleaning robot 100 adapt to different cleaning environments and cleaning needs, thereby improving the cleaning effect of the cleaning robot 100.

[0104] For cleaning modules including the mopping component, please refer to Figures 5(a) and 6(a). Due to the limitations of the cleaning robot's appearance and structure, the mopping component generally does not protrude excessively from the cleaning robot along its width. For example, as shown in Figure 5(a), the mopping component can be entirely within the robot's body outline. Alternatively, as shown in Figure 6(a), the mopping component may be partially outside the robot's body outline, but it still will not exceed the widest area of ​​the robot's body along its width. Therefore, when the cleaning robot cleans along edges (e.g., along walls), there will be a cleaning blind spot between the mopping component and obstacles (such as walls), resulting in poor edge cleaning performance.

[0105] For the cleaning module, including the side brush, please refer to Figure 7(a). In related technologies, the side brush, in its normal installation state, needs to be designed to prevent it from being pressed by the robot's drive wheels during movement. Therefore, the brush bristles are not designed to be excessively long. Furthermore, to ensure that the debris swept by the side brush can be more easily swept to the roller brush's air inlet, the side brush is not designed to be too far from the roller brush's air inlet. This results in the side brush of the cleaning robot, in its normal installation state, being basically as shown in Figure 7(a). Consequently, during cleaning, when the robot passes through corner areas, the side brush cannot effectively reach into the corners and cannot effectively sweep away the dust and debris, creating cleaning blind spots in the corners and leading to poor corner cleaning performance.

[0106] Referring to Figures 16(a), 16(b), and 16(c), in some embodiments, the power module 30 can drive the cleaning module 20 to move relative to the body 10 along the height direction Z and the width direction (X1 / X2) of the cleaning robot 100 via the second body 233. Thus, the cleaning module 20 of the cleaning robot 100 can not only work in the normal cleaning state (as shown in Figure 16(a)) but also in the lateral cleaning state (as shown in Figure 16(b)), so that the cleaning module 20 can clean the corner positions of the surface to be cleaned (for example, the position near the wall on the ground when the surface to be cleaned is the ground, or the corner position), thereby reducing the limitation of the external size of the body 10 and improving the cleaning effect of the cleaning robot 100.

[0107] Furthermore, the cleaning module 20 can be spaced apart from the surface to be cleaned (as shown in Figure 16(c)), allowing it to rise when there are protrusions on the surface, facilitating obstacle crossing by the cleaning robot 100 and improving its mobility. Alternatively, when there are areas on the surface to be cleaned that the user does not want to be mopped (such as carpet areas), the cleaning module 20 can rise to ensure cleaning effectiveness and prevent the cleaning robot 100 from mopping the carpet area and causing back-contamination. This allows the cleaning robot 100 to adapt to different cleaning environments and needs, improving its cleaning performance.

[0108] It should be noted that, in some embodiments, the height direction Z of the cleaning robot 100 may be: the direction from the body 10 to the surface to be cleaned when the cleaning robot 100 is supported on the surface to be cleaned, or the direction from the surface to be cleaned to the body 10; the width direction (X1 / X2) of the cleaning robot 100 may be: the direction perpendicular to both the travel direction Y of the cleaning robot 100 and the height direction Z of the cleaning robot 100.

[0109] Please see Figure 2 and Figure 3 In some embodiments, the first main body 231 and the body 21 can be integrally formed, that is, the first main body 231 and the body 21 are a single structure. This can improve the bonding strength between the first main body 231 and the body 21, preventing loosening or detachment when the second main body 233 moves relative to the first main body 231 to allow the cleaning module 20 to move relative to the body 10. This improves the stability and reliability of the cleaning robot 100. In other embodiments, the first main body 231 and the body 21 are separate components. The first main body 231 and the body 21 can be connected by a non-removable connection or a detachable connection. The non-removable connection includes, but is not limited to, bonding or welding; the detachable connection includes, but is not limited to, snap-fit ​​connections or threaded connections. When the first main body 231 and the body 21 are separate components, the first main body 231 and the body 21 can be formed separately and then assembled, thereby reducing the molding difficulty.

[0110] In the cleaning robot 100 of this application embodiment, the mounting component 23 includes a first main body 231 and a second main body 233. The first main body 231 is connected to the main body 21, and the first main body 231 and the second main body 233 are movably connected. The power module 30 can be connected to the second main body 233 and drive the second main body 233 to move relative to the first main body 231, so as to change the relative position of the cleaning module 20 relative to the body 10. Therefore, compared with the cleaning robots in the related art, the cleaning robot 100 can realize the assembly of the cleaning module 20 on the body 10 and the movement of the cleaning module 20 relative to the body 10 without setting up extra structural components. This simplifies the installation steps of the cleaning module 20, improves the assembly efficiency of the cleaning robot 100, reduces the production cost of the cleaning robot 100, and reduces the space occupied by the cleaning robot 100, which is conducive to the miniaturization of the cleaning robot 100.

[0111] In addition, the cleaning module 20 is connected to the power module 30 through the second body 233 of the mounting component 23. The power module 30 can drive the second body 233 to move relative to the first body 231, so that the relative position of the cleaning module 20 relative to the body 10 changes. That is, the cleaning module 20 can move from the position in contact with the ground to the raised position. In this way, the cleaning module 20 can be switched between the cleaning state and the state of being detached from the surface to be cleaned in a relatively simple way, thereby ensuring the cleaning effect of the cleaning robot 100. Moreover, the cleaning module 20 can be raised off the ground to improve its obstacle crossing ability.

[0112] The cleaning robot 100 will be further explained below with reference to the accompanying drawings.

[0113] Please see Figure 1 and Figure 2 In some embodiments, the cleaning module 20 further includes a protective cover 25, which forms a receiving space with the main body 21. At least a portion of the mounting component 23 is located within the receiving space. Thus, the protective cover 25 can prevent external water, dust, sand, or other impurities from entering the cleaning module 20, thereby preventing damage to the cleaning module 20 and ensuring the stability and reliability of the cleaning robot 100. Specifically, since the first main body 231 and the second main body 233 are movably connected, the design of the protective cover 25 can block external water, dust, sand, or other impurities from entering the movable connection between the first main body 231 and the second main body 233, thereby effectively reducing the risk of jamming between the first main body 231 and the second main body 233. Since the movement of the cleaning module 20 relative to the body 10 requires the cooperation of the first main body 231 and the second main body 233, the reliability of the cleaning module 20 can be improved. It should be noted that, in some embodiments, the protective cover 25 and the main body 21 can be connected together by a detachable connection or a non-detachable connection. The detachable connection includes, but is not limited to, snap-fit ​​connection or threaded connection; the non-detachable connection includes, but is not limited to, bonding or welding.

[0114] Furthermore, in some embodiments, the protective cover 25 has an opening 251 that exposes a portion of the second body 233, that is, a portion of the second body 233 can extend out of the receiving space from the opening 251, thereby facilitating the connection of the second body 233 to the power module 30 and thereby improving the assembly efficiency of the cleaning robot 100.

[0115] In some embodiments, the second body 233 is detachably connected to the power module 30. This facilitates assembly between the second body 233 and the power module 30, improving the assembly efficiency of the cleaning robot 100. Furthermore, it allows for easy disassembly for repair or replacement in case of damage to the power module 30 or the cleaning module 20, ensuring the normal operation of the cleaning robot 100. In one example, the second body 233 and the power module 30 are detachably connected via threaded fasteners (e.g., bolts). In another example, the second body 233 and the power module 30 are detachably connected via a snap-fit ​​connection.

[0116] In some embodiments, the mounting component 23 protrudes from the outer side of the body 21. This facilitates the connection and assembly between the second main body 233 and the power module 30, thereby improving the assembly efficiency of the cleaning robot 100. Furthermore, it allows for rapid troubleshooting when the movement of the cleaning module 20 relative to the body 10 is obstructed. For example, when the movement of the cleaning module 20 relative to the body 10 is obstructed, it facilitates observation of whether the relative movement between the first main body 231 and the second main body 233 is jammed, thus ensuring the normal operation of the cleaning robot 100. In one example, the mounting component 23 protruding from the outer side of the body 21 may be such that at least a portion of the mounting component 23 protrudes from the outer side of the body 21. For example, the first main body 231 is located inside the body 21, and the second main body 233 is movably connected to the first main body 231, with at least a portion of the second main body 233 located on the outer side of the body 21. In another example, the mounting component 23 protruding from the outer side of the body 21 may be such that the mounting component 23 completely protrudes from the outer side of the body 21, i.e., both the first main body 231 and the second main body 233 are located on the outer side of the body 21.

[0117] In some embodiments, the mounting component 23 is located at the middle of the length direction of the main body 21. Therefore, when the power module 30 drives the cleaning module 20 to move relative to the body 10 via the second main body 233, the center of gravity of the cleaning module 20 is more centrally located, thereby improving the stability of the cleaning module 20's movement relative to the body 10 and ensuring the normal operation of the cleaning robot 100. Furthermore, the mounting component 23's location at the middle of the length direction of the main body 21 maximizes space utilization, ensuring that the main body 21 has sufficient space to move relative to the body 10, thus facilitating the miniaturization of the cleaning robot 100. It should be noted that in some embodiments, the length direction of the main body 21 is the same as the width direction (X1 / X2) of the cleaning robot 100.

[0118] In some embodiments, the length of the mounting component 23 along the length direction of the main body 21 is 1 / 4 to 1 / 2 of the length of the main body 21. Specifically, if the length of the main body 21 is A, the length of the mounting component 23 along the length direction of the main body 21 ranges from [1 / 4A, 1 / 2A]. This reduces the space occupied by the mounting component 23, ensuring that the main body 21 has sufficient space to move relative to the fuselage 10, facilitating the installation of other structural components on the main body 21. Furthermore, the smaller size of the mounting component 23 allows for quick assembly and disassembly of the cleaning module 20 by users or maintenance personnel. Simultaneously, it reduces the volume of the protective cover 25, thus saving manufacturing costs to some extent.

[0119] Please see Figure 2 , Figure 3 and Figure 8In some embodiments, one of the first body 231 and the second body 233 is provided with a movable groove 201, and the other of the first body 231 and the second body 233 is provided with a moving member 203 that cooperates with the movable groove 201. The moving member 203 is movably disposed within the movable groove 201. It should be noted that the moving member 203 may include, but is not limited to, protrusions or rollers.

[0120] In some embodiments, the first body 231 is provided with a moving groove 201, and the second body 233 is provided with a moving member 203 that cooperates with the moving groove 201. Specifically, in some embodiments, the first body 231 is box-shaped and has a receiving cavity 205, in which the second body 233 is received. Specifically, in some embodiments, the first body 231 includes a first side and a second side opposite to each other in the height direction Z of the cleaning robot 100. The first side of the first body 231 is connected to the body 21, and the receiving cavity 205 is recessed from the second side of the first body 231 toward the first side of the first body 231. At least a portion of the second body 233 is received in the receiving cavity 205. Thus, the arrangement of the receiving cavity 205 can, on the one hand, reduce the space occupied by the mounting component 23 and improve the space utilization rate of the cleaning robot 100 in the height direction Z, thereby facilitating the miniaturization of the cleaning robot 100; on the other hand, it can facilitate the installation and positioning of the second body 233 on the first body 231, thereby improving assembly efficiency.

[0121] In some embodiments, the side wall of the first body 231 is provided with a moving groove 201, and the outer side wall of the second body 233 is provided with a protrusion protruding toward the side wall of the first body 231. The protrusion forms a moving member 203, which extends into the moving groove 201 and is able to move within the moving groove 201.

[0122] Specifically, in some embodiments, the movable groove 201 may be recessed from the side wall of the receiving cavity 205 toward the direction away from the center of the receiving cavity 205, and the protrusion is disposed on the outer side wall of the first body 231 and opposite to the movable groove 201. When the first body 231 and the second body 233 are movably connected, the protrusion extends into the movable groove 201 and can move within the movable groove 201 so that the second body 233 can move relative to the first body 231.

[0123] In other embodiments, the second body 233 is provided with a moving groove 201, and the first body 231 is provided with a moving member 203 that cooperates with the moving groove 201. Specifically, in some embodiments, the second body 233 is box-shaped and has a receiving cavity 205, in which the first body 231 is received. Specifically, in some embodiments, the second body 233 includes a first side and a second side opposite to each other in the height direction Z of the cleaning robot 100. The first side of the second body 233 is opposite to the body 21, and the receiving cavity 205 is recessed from the first side of the second body 233 toward the second side of the second body 233. At least a portion of the first body 231 is received in the receiving cavity 205. Thus, the arrangement of the receiving cavity 205 can, on the one hand, reduce the space occupied by the mounting component 23 and improve the space utilization rate of the cleaning robot 100 in the height direction Z, thereby facilitating the miniaturization of the cleaning robot 100; on the other hand, it can facilitate the installation and positioning of the second body 233 on the first body 231, thereby improving assembly efficiency.

[0124] In one example, the moving groove 201 can be a through groove, meaning that the moving groove 201 penetrates the side wall of the receiving cavity 205. This allows for quick troubleshooting when the movement of the moving part 203 is obstructed within the moving groove 201. For example, when the moving part 203 cannot move, it is easy to observe whether the moving part 203 is stuck in the moving groove 201, thus ensuring the stability and reliability of the cleaning robot 100. In another example, the moving groove 201 can be a blind groove, meaning that the moving groove 201 is recessed from the side wall of the receiving cavity 205 in a direction away from the center of the receiving cavity 205, but the moving groove 201 does not penetrate the side wall of the receiving cavity 205. This reduces the possibility of the moving part 203 falling out of the moving groove 201, ensuring the normal operation of the cleaning robot 100.

[0125] In this embodiment, the example is that the first body 231 is provided with a moving groove 201 and the second body 233 is provided with a moving part 203 that cooperates with the moving groove 201.

[0126] Please see Figure 2 and Figure 8 In some embodiments, the moving slot 201 includes an elongated slot. The elongated slot allows the second main body 233 to move relative to the first main body 231, thereby changing the relative position of the cleaning module 20 with respect to the body 10, thus improving the applicability and cleaning effect of the cleaning robot 100. It should be noted that in some embodiments, the cross-sectional shape of the elongated slot may include, but is not limited to, a racetrack shape or a rectangle.

[0127] In some implementations, the moving slot 201 includes one or at least two. Specifically, please refer to... Figure 9 In one example, when the movable slot 201 includes one component, the movable slot 201 can be located at the middle of the first body 231 along the length of the body 21. This allows the center of gravity of the mounting assembly 23 to be more centrally located when the moving component 203 moves within the movable slot 201, thus improving the stability of the relative movement between the first body 231 and the second body 233. Please refer to... Figure 8 In another example, when there are at least two moving slots 201, for example, when there are two moving slots 201, the two moving slots 201 are spaced apart on the first body 231 along the length direction of the body 21. This also enables the center of gravity of the mounting component 23 to be more centered when the moving slot moves in the moving slot 201, thereby improving the stability of the relative movement of the first body 231 and the second body 233.

[0128] Please see Figure 3 , Figure 8 and Figure 9 In some embodiments, the moving groove 201 includes an inclined sidewall 2011 for abutting against the moving member 203, and the inclined sidewall 2011 is inclined relative to the bottom surface of the cleaning module 20. The bottom surface of the cleaning module 20 may be the side of the cleaning module 20 opposite to the surface to be cleaned when the cleaning robot 100 is supported on the surface to be cleaned.

[0129] It should be noted that, please refer to Figure 2 In some embodiments, the angle between the inclined sidewall 2011 and the width direction (X1 / X2) of the cleaning robot 100 is an acute angle. This allows the moving part 203 to apply a force to the first body 231 through the inclined sidewall 2011, thereby driving the first body 231 and the main body 21 to move together relative to the body 10, ensuring the normal operation of the cleaning robot 100. In some embodiments, the angle between the inclined sidewall 2011 and the width direction (X1 / X2) of the cleaning robot 100 can be in the range of (0°, 90°), that is, the angle between the inclined sidewall 2011 and the width direction (X1 / X2) of the cleaning robot 100 can be any one value or any value between any two of 5°, 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80° and 85°.

[0130] Specifically, in some embodiments, when the power module 30 drives the second main body 233 to move relative to the first main body 231, since the angle between the inclined sidewall 2011 and the width direction (X1 / X2) of the cleaning robot 100 is an acute angle, the inclined sidewall 2011 and the moving part 203 cooperate, and the moving part 203 can move relative to the first main body 231 along the inclined sidewall 2011, so as to drive the first main body 231 and the main body 21 to move together relative to the body 10. Thus, the cleaning module 20 can move relative to the body 10 along the height direction Z and the width direction (X1 / X2) of the cleaning robot 100.

[0131] In some embodiments, when the moving slot 201 includes one component, the moving member 203 includes one component along the width direction (X1 / X2) of the cleaning robot 100. The moving slot 201 includes two opposing inclined sidewalls 2011, and the moving member 203 is disposed in the moving slot 201 and abuts against both inclined sidewalls 2011. Specifically, when the power module 30 applies a force to the second body 233 and the second body 233 does not move relative to the first body 231, the moving member 203 can drive the first body 231 and the main body 21 to move together along the width direction (X1 / X2) of the cleaning robot 100; when the power module 30 drives the second body 233 to move relative to the first body 231, the moving member 203 can abut against the inclined sidewalls 2011 to apply a force to the first body 231, thereby enabling the first body 231 to drive the main body 21 to move together along the height direction Z of the cleaning robot 100.

[0132] In some other embodiments, when the moving groove 201 includes one, the moving member 203 may include two, both of which are disposed in the moving groove 201 and respectively abut against the two inclined sidewalls 2011 of the moving groove 201 in the width direction (X1 / X2) of the cleaning robot 100.

[0133] Specifically, when the power module 30 applies a force to the second body 233 and the second body 233 does not move relative to the first body 231, the moving component 203 can drive the first body 231 and the main body 21 to move together along the width direction (X1 / X2) of the cleaning robot 100; when the power module 30 drives the second body 233 to move relative to the first body 231, and the moving component 203 only moves against the first inclined sidewall 2011 ( Figure 9When a force is applied to the inclined sidewall 2011 located on the left side, the cleaning module 20 can move in the positive direction of the height direction Z of the cleaning robot 100 (the direction from the surface to the body 10 when the cleaning robot 100 is supported on the surface to be cleaned), thus achieving the lifting of the cleaning module 20; when the power module 30 drives the second main body 233 to move relative to the first main body 231, and the moving part 203 only acts on the second inclined sidewall 2011 ( Figure 9 When a force is applied to the inclined sidewall 2011 located on the right side, the cleaning module 20 can move in the opposite direction of the height direction Z of the cleaning robot 100 (the direction from the body 10 to the surface to be cleaned when the cleaning robot 100 is carried on the surface to be cleaned), thereby enabling the cleaning module 20 to descend.

[0134] In some other embodiments, the centerline of the moving groove 201 extends in the same direction as the height direction Z of the cleaning robot 100. In this case, when the power module 30 drives the second body 21 to move relative to the first body 231, the moving part 203 can move in the moving groove 201 along the height direction Z of the cleaning robot 100, so as to drive the first body 231 and the body 21 to move together along the height direction Z of the cleaning robot 100.

[0135] Please see Figure 1 and Figure 2 In some embodiments, the power module 30 is used to drive the second body 233 to move relative to the first body 231 so that the cleaning module 20 switches between a first state, a second state and a third state.

[0136] When the cleaning module 20 is in the first and second states, it is in contact with the surface to be cleaned. In the second state, the target end of the cleaning module 20 is further away from the center line of the cleaning robot 100's width direction (X1 / X2) compared to the first state. In the third state, the cleaning module 20 is spaced from the surface to be cleaned. Specifically, when the cleaning robot 100 is traveling along an obstacle, the target end of the cleaning module 20 is on the side closer to the obstacle. The width direction (X1 / X2) of the cleaning robot 100 is perpendicular to its travel direction Y. It should be noted that the "obstacle" can be a wall, cabinet, or other ground-level object.

[0137] For example, please refer to the appendix Figures 5(a) to 5(b) ,as well as Figures 6(a) to 6(b)As shown in Figures 5(a) and 6(a), when the cleaning robot is in the first state, there is a cleaning blind spot between the right side of the cleaning robot and the wall. In order to clean this cleaning blind spot, the cleaning module can be driven to move to the right by the power module, so that the cleaning module switches to the second state, as shown in Figures 5(b) and 6(b). When the cleaning module is in the second state, the right edge of the cleaning module can fit better against the wall, or the distance between it and the wall can be very small, so as to eliminate or reduce the cleaning blind spot, thereby enabling the cleaning module to clean the area along the edge of the wall better.

[0138] Alternatively, please refer to the attached document. Figures 7(a) to 7(b) Taking the cleaning module of this application embodiment as an example, as shown in Figure 7(a), when the cleaning robot is in the first state, there is a cleaning blind spot between the right side of the cleaning robot and the corner. In order to clean this cleaning blind spot, the side brush can be driven to move to the right by the power module, so that the side brush switches to the second state, as shown in Figure 7(b). When the side brush is in the second state, the side brush can extend into the corner more, thereby eliminating or reducing the cleaning blind spot in the corner, so that the cleaning module can clean the corner area better.

[0139] Therefore, the cleaning module 20 of the cleaning robot 100 can not only work in the normal cleaning state (first state), but also in the side-shifting cleaning state (second state), so that the cleaning module 20 can clean the corners of the surface to be cleaned (for example, the area near the wall on the ground when the surface to be cleaned is the ground, or the corner area), thereby reducing the limitation of the body size of the robot 10 and improving the cleaning effect of the cleaning robot 100.

[0140] Furthermore, when the cleaning module 20 is in the third state, it is spaced apart from the surface to be cleaned. This allows the cleaning module 20 to lift when there are protrusions on the surface, facilitating obstacle crossing by the cleaning robot 100 and improving its mobility. Alternatively, if there are areas on the surface to be cleaned that the user does not want to be mopped (such as carpet areas), the cleaning module 20 lifts to ensure effectiveness and prevent the cleaning robot 100 from mopping the carpet area and causing back-contamination. This allows the cleaning robot 100 to adapt to different cleaning environments and needs, improving its cleaning performance.

[0141] In some embodiments, when the cleaning module 20 is in a first state, the cleaning module 20 is located within the widest region of the body 10; when the cleaning module 20 is in a second state, the cleaning module 20 is in contact with the surface to be cleaned, and at least a portion of the cleaning module is located outside the widest region of the body 10, or one end of the cleaning module 20 is flush with the edge of the widest region of the body 10; when the cleaning module 20 is in a third state, the cleaning module 20 is located within the widest region of the body 10; wherein the widest region is the region formed by two tangents along the travel direction Y of the cleaning robot 100 when the projection of the body 10 onto the surface to be cleaned is applied.

[0142] Specifically, in some embodiments, the first state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and the projection of the cleaning module 20 onto the surface to be cleaned is located within the widest area of ​​the body 10. The second state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and at least a portion (including the target end) of the projection of the cleaning module 20 onto the surface to be cleaned is located outside the widest area of ​​the body 10, or one end (the target end) of the projection of the cleaning module 20 onto the surface to be cleaned is flush with the edge of the widest area of ​​the body 10. For example, when the cleaning module 20 includes a tracked cleaning component, the second state may be in which the right end of the tracked cleaning component is flush with the edge of the widest area of ​​the body 10. Alternatively, the right end of the tracked cleaning component may extend beyond the edge of the widest area of ​​the body 10. The third state may be the state in which the cleaning module 20 is spaced from the surface to be cleaned. The widest region is the area formed by the two tangents along the traveling direction Y of the cleaning robot 100 to the projection of the robot body 10 onto the surface to be cleaned. Specifically, the widest region is the area formed by the first tangent L1 passing through the leftmost end of the projection of the robot body 10 onto the surface to be cleaned, and the second tangent L2 passing through the rightmost end of the projection of the robot body 10 onto the surface to be cleaned. The extension directions of both the first tangent L1 and the second tangent L2 are the same as the traveling direction Y of the cleaning robot 100.

[0143] In particular, when the cleaning module 20 includes the mopping component 223, when the cleaning module 20 is in the first state, the cleaning module 20 will not extend beyond the widest area of ​​the body 10 along the width direction (X1 / X2) of the cleaning robot 100. Thus, when the cleaning robot 100 cleans the surface to be cleaned (not along the edge or corner), the cleaning module 20 will not protrude too much from the body 10, thereby better ensuring the appearance of the cleaning robot 100. When the cleaning robot 100 is in the second state, the target end of the cleaning module 20 is further away from the center line of the width direction (X1 / X2) of the cleaning robot 100.

[0144] Understandably, when the cleaning module 20 includes a side brush, the soft bristles of the side brush are less likely to interfere with other components on the chassis of the cleaning robot 100, thus preventing it from hindering its rotation. Furthermore, it needs to gather dust and debris from the area traversed by the cleaning robot 100 to the center of the robot. Therefore, when the cleaning robot 100 is in cleaning mode (first state), the side brush can extend beyond the widest area of ​​the body 10. However, when the cleaning robot 100 is in the second state, the target end of the side brush is further away from the center line of the cleaning robot 100's width direction (X1 / X2). It is worth noting that the target end of the side brush refers to the position closest to the obstacle within the cleaning area formed by the side brush during rotation.

[0145] In some embodiments, when the cleaning module 20 is in a first state or a second state, the cleaning robot 100 is in a cleaning state, in which case the cleaning robot 100 can clean the surface to be cleaned. Specifically, when the cleaning module 20 is in the first state, it can clean any area of ​​the surface to be cleaned except for the corners, or it can clean any area of ​​the surface to be cleaned (including the corners); when the cleaning module 20 is in the second state, it can clean any area of ​​the surface to be cleaned (including the corners). When the cleaning module 20 is in a third state, it may be in a non-cleaning state. In this case, the cleaning robot 100 does not perform the target cleaning task on the surface to be cleaned; the target cleaning task may be a mopping task or a sweeping task.

[0146] Please see Figure 1 , Figure 8 and Figure 10 In some embodiments, the power module 30 is used to drive the cleaning module 20 to move relative to the body 10 along a first direction, so that the cleaning module 20 switches between a first state and a second state. When one side of the cleaning module 20 in the first direction abuts against the body 10, the power module 30 is also used to drive the second body 233 to move relative to the first body 231, and through the second body 233, drive the first body 231 and the main body 21 to move along a second direction, so that the cleaning module 20 switches between a first state and a third state, or switches between a second state and a third state, where the first direction and the second direction intersect. It should be noted that in some embodiments, the first direction includes the width direction (X1 / X2) of the cleaning robot 100; the second direction includes the height direction Z of the cleaning robot 100.

[0147] Specifically, in some embodiments, when the power module 30 drives the cleaning module 20 to move relative to the body 10 in a first direction via the second body 233, the cleaning module 20 can switch between a first state and a second state. This allows the cleaning module 20 to clean most of the surface to be cleaned, reducing blind spots in edge or corner cleaning, thereby improving the overall cleaning effect of the cleaning robot 100. When one side of the cleaning module 20 in the first direction abuts against the body 10, the movement of the cleaning module 20 relative to the body 10 in the first direction is restricted by the body 10. In this case, the power module 30 can drive the second body 233 to move relative to the first body 231, and through the second body 233, drive the cleaning module 20 to move in a second direction, enabling the cleaning module 20 to switch between a first state and a third state, or between a second state and a third state. This allows the cleaning module 20 to overcome protrusions or other objects that obstruct the movement of the cleaning robot 100, thus facilitating the cleaning robot 100's adaptation to different cleaning environments and needs, and improving its cleaning effect. It should be noted that, in some embodiments, the direction of the force exerted on the second body 233 before the cleaning module 20 moves relative to the body 10 along the first direction to abut against the body 10 is the same as the direction of the force exerted on the second body 233 after the cleaning module 20 moves relative to the body 10 along the first direction to abut against the body 10. Therefore, the power module 30 can drive the cleaning module 20 to move along the second direction through the second body 233.

[0148] In this embodiment, when the cleaning module 20 is in the first state and the power module 30 applies a reverse force X2 along the first direction to the second body 233, the cleaning module 20 can switch from the first state to the second state. When the cleaning module 20 is in the first state and the power module 30 applies a positive force X1 along the first direction to the second body 233, the cleaning module 20 can abut against the body 10 to restrict the movement of the cleaning module 20 along the positive direction X1. At this time, the power module 30 can continue to apply a positive force X1 along the first direction to the second body 233, so that the second body 233 and the first body 231 move relative to each other, thereby driving the cleaning module 20 to move relative to the body 10 along the second direction, and thus enabling the cleaning module 20 to switch from the first state to the third state. It is understood that the state switching method of the cleaning module 20 in the above embodiment is only an example, and the state switching method of the cleaning module 20 can also be in other forms, which will not be described in detail here.

[0149] Please see Figure 1 and Figure 2In some embodiments, the body 10 is provided with an installation space 13, and the side of the body 10 is provided with an opening 15 communicating with the installation space 13. At least a portion of the cleaning module 20 is disposed within the installation space 13. When the cleaning module 20 is in the second state, at least a portion of the cleaning module 20 extends out of the installation space 13 from the opening 15. The installation space 13 reduces the space occupied by the cleaning module 20 and the body 10, improving the space utilization of the cleaning robot 100 in the height direction Z (i.e., the second direction), thereby facilitating the miniaturization of the cleaning robot 100. On the other hand, it facilitates the installation and positioning of the cleaning module 20 on the body 10, thereby improving assembly efficiency.

[0150] Specifically, in some embodiments, the mounting space 13 may be recessed from the side of the body 10 facing the surface to be cleaned in a direction away from the surface to be cleaned. The cross-sectional shape of the mounting space 13 is approximately the same as the cross-sectional shape of the cleaning module 20. For example, if the cross-sectional shape of the mounting space 13 is rectangular, then the cross-sectional shape of the cleaning module 20 is also approximately rectangular, thereby ensuring that the cleaning module 20 can be installed in the mounting space 13 and can move relative to the body 10 within the mounting space 13. In the second state, at least a portion of the cleaning module 20 can extend from the opening 15 outside the mounting space 13, thereby enabling the cleaning module 20 to clean the corners of the surface to be cleaned, improving the cleaning effect of the cleaning robot 100.

[0151] Please combine Figure 17 and Figure 18 In some embodiments, the cleaning module 20 further includes a slider 27 disposed between the cleaning module 20 and the side wall of the mounting space 13. The slider 27 is used to reduce the friction between the cleaning module 20 and the side wall of the mounting space 13 when the cleaning module 20 moves relative to the body 10.

[0152] Specifically, in some embodiments, the slider 27 can be disposed on at least one of the body 10, the main body 21, and the first main body 231. The slider 27 allows for smoother movement of the cleaning module 20 relative to the body 10 within the installation space 13, thereby reducing the power consumption of the power module 30, ensuring the normal operation of the cleaning robot 100, and increasing its battery life. Furthermore, it prevents large gaps between the cleaning module 20 and the sidewalls of the installation space 13 from causing abnormal noises during the movement of the cleaning module 20, thus improving the user experience.

[0153] In some embodiments, along the travel direction Y of the cleaning robot 100, the mounting space 13 sequentially includes a first side 131 and a second side 133 opposite to each other, with the cleaning module 20 located between the first side 131 and the second side 133 of the mounting space 13. During the process of the cleaning module 20 being supported on the surface to be cleaned, and the cleaning component 22 rotating relative to the surface to be cleaned, friction exists between the cleaning component 22 and the surface to be cleaned. This friction generates a relatively large force on the sidewall of the mounting space 13 (including the first side 131 of the mounting space 13) through the cleaning module 20. That is, the pressure of the cleaning module 20 on the sidewall of the mounting space 13 increases, thereby increasing the friction between the cleaning module 20 and the first side 131 of the mounting space 13, affecting the stability of the movement of the cleaning module 20.

[0154] To address the aforementioned technical problems, in some embodiments of this application, a sliding member 27 is disposed between the cleaning module 20 (such as the body 21 of the cleaning module 20) and the first side 131 of the mounting space 13. The sliding member 27 is used to reduce the friction between the cleaning module 20 and the body 10 when the cleaning module 20 moves relative to the body 10. Therefore, the sliding member 27 reduces the pressure between the cleaning module 20 and the sidewall of the mounting space 13 when the cleaning member 22 rotates, thereby reducing the friction between the cleaning module 20 and the body 10, further reducing the power consumption of the power module 30, ensuring the normal operation of the cleaning robot 100, and increasing the battery life of the cleaning robot 100.

[0155] Please see Figure 1 , Figure 3 and Figure 10 and combined Figure 17 In some embodiments, along the first direction, the body 10 includes an abutment portion 17 opposite to the cleaning module 20, the abutment portion 17 being able to abut against the cleaning module 20 to restrict the movement of the cleaning module 20 along the first direction. For example, the abutment portion 17 may be a sidewall on the body 10. Specifically, the abutment portion 17 may be a sidewall of the mounting space 13 opposite to one end of the cleaning module 20 in the first direction.

[0156] Specifically, in some embodiments, in the first direction (X1 / X2), the abutment portion 17 of the body 10 is provided at a position on the body 10 away from the target end of the cleaning module 20, and the abutment portion 17 is used to abut against the end of the cleaning module 20 away from the target end. More specifically, when the power module 30 drives the cleaning module 20 to move relative to the body 10 in the first direction X1 via the second body 233, the end of the cleaning module 20 away from the target end in the first direction can abut against the abutment part 17. Thus, the abutment part 17 can restrict the cleaning module 20 from continuing to move in the first direction X1. Furthermore, the abutment part 17 can also guide the movement of the cleaning module 20 in the second direction. That is, when the movement of the cleaning module 20 in the first direction X1 is restricted, the power module 30 can continue to apply a force in the first direction X1 to the second body 233, thereby enabling the second body 233 to move relative to the first body 231, thereby driving the cleaning module 20 to move in the second direction along the abutment part 17, and thus enabling the cleaning module 20 to switch to the third state.

[0157] Since the cleaning module 20 remains in contact with the contact part 17 throughout its movement in the second direction, excessive friction between them can hinder its movement. This leads to excessive power consumption in the power module 30, affecting the normal operation of the cleaning robot 100. Please refer to... Figure 2 In this embodiment of the application, the cleaning module 20 may further include a slider 27, which is disposed on the first body 231 (e.g., Figure 17 As shown, on the side of the main body 21 opposite to the contact portion 17, when the slider 27 abuts against the contact portion 17, the movement of the cleaning module 20 in the first direction is restricted by the body 10. The slider 27 is used to reduce the friction between the main body 21 and the contact portion 17 when it moves in the second direction. Therefore, compared with the absence of the slider 27, the friction between the cleaning module 20 and the contact portion 17 is smaller, which makes it easier for the power module 30 to drive the cleaning module 20 to move relative to the body 10 in the second direction through the second main body 233. This reduces the power consumption of the power module 30 and ensures the normal operation of the cleaning robot 100.

[0158] In some embodiments, the slider 27 can be a pulley or a roller. When the slider 27 is a pulley, its outer periphery is a convex arc surface. The convex arc surface contacts the abutment portion 17, resulting in a smaller contact area. This reduces the frictional force on the slider 27 as it moves along the abutment portion 17, making its movement smoother. When the slider 27 is a roller, its outer periphery is also a convex arc surface, and it has a connecting shaft connected to the cleaning module 20, as well as a bushing rotatably fitted onto the connecting shaft. The bushing has a convex arc surface on its outer periphery and can rotate around the connecting shaft. During the movement of the slider 27, it rotates on its own. Compared to a pulley, a roller-type slider 27, due to its rotation during movement, experiences less wear during its movement along the abutment portion 17, thus extending its service life and reducing maintenance costs. In one example, the slider 27 includes one... In another example, the slider 27 includes a plurality of sliders 27, which are spaced apart on the end of the cleaning module 20 away from the target end in a first direction.

[0159] Please see Figure 1 and Figure 2 In some embodiments, the cleaning robot 100 further includes a moving module 40, which is movably disposed on the body 10 and connected to both the cleaning module 20 and the power module 30. The power module 30 is used to drive the moving module 40 to move relative to the body 10, thereby driving the cleaning module 20 to move relative to the body 10.

[0160] Specifically, please combine Figure 3 In some embodiments, the mobile module 40 can be connected to the second body 233. When the power module 30 is operating stably, the driving force generated by the power module 30 can drive the mobile module 40 to move relative to the body 10 in a first direction, so that the second body 233 can drive the cleaning module 20 to move relative to the body 10 in the first direction. When the movement of the cleaning module 20 relative to the body 10 in the first direction is restricted, the power module 30 can continue to apply a force in the first direction to the mobile module 40, so that the second body 233 can move relative to the first body 231 and drive the cleaning module 20 to move relative to the body 10 in a second direction. This allows the cleaning robot 100 to adjust the state of the cleaning module 20 according to the specific working conditions of the surface to be cleaned, thereby improving the applicability of the cleaning robot 100 and ensuring the cleaning effect of the cleaning robot 100.

[0161] More specifically, in some embodiments, the second body 233 is detachably connected to the mobile module 40. This facilitates assembly between the second body 233 and the mobile module 40, improving the assembly efficiency of the cleaning robot 100. Furthermore, it allows for easy disassembly for repair or replacement in case of damage to the mobile module 40 or the cleaning module 20, ensuring the normal operation of the cleaning robot 100. In one example, the second body 233 and the mobile module 40 are detachably connected via threaded fasteners (e.g., bolts). In another example, the second body 233 and the mobile module 40 are detachably connected via snap-fit ​​connections.

[0162] Please combine Figure 18 and Figure 19 In some embodiments, the mobile module 40 includes a loading member 47 and a moving member 49. The loading member 47 is fixedly disposed on the body 10. At least a portion of the moving member 49 is disposed in the loading member 47 and is movable relative to the body 10. The moving member 49 is connected to both the cleaning module 20 (the second body 233 of the cleaning module 20) and the power module 30.

[0163] Specifically, in some embodiments, when the power module 30 is operating stably, the driving force generated by the power module 30 can drive the moving part 49 to move relative to the body 10 in the loading part 47 along the first direction, so as to drive the cleaning module 20 to move relative to the body 10, thereby enabling the cleaning robot 100 to adjust the state of the cleaning module 20 according to the specific working conditions of the surface to be cleaned.

[0164] More specifically, in some embodiments, the loading member 47 is provided with a guide groove 471, which is recessed from the side of the loading member 47 opposite to the surface to be cleaned toward the surface to be cleaned, and at least a portion of the moving member 49 is disposed in the guide groove 471, which is used to guide the moving member 49 to move relative to the body 10.

[0165] The guide groove 471 can guide the moving part 49 to move relative to the body 10, and can also limit the moving direction and travel of the moving part 49 relative to the body 10. This prevents the moving direction and travel of the moving part 49 from being unrestricted when the power module 30 program malfunctions, which could cause the cleaning module 20 to collide with the body 10 or other objects and be damaged. This can improve the stability and reliability of the cleaning robot 100.

[0166] In some embodiments, the housing 10 is provided with a guide groove 11 extending along a first direction, and at least a portion of the moving module 40 is disposed in the guide groove 11. The guide groove 11 is used to guide the moving module 40 to move relative to the housing 10 along the first direction. For example, at least a portion of the loading member 47 may be disposed in the guide groove 11.

[0167] Specifically, in some embodiments, the guide groove 11 can be recessed from the side of the body 10 opposite to the surface to be cleaned toward the surface to be cleaned. At least a portion of the moving module 40 is disposed in the guide groove 11. Thus, the guide groove 11 can guide the moving module 40 to move relative to the body 10 in the first direction, while also restricting the moving direction and travel distance of the moving module 40 relative to the body 10. This prevents the moving direction and travel distance of the moving module 40 from being unrestricted in the first direction when the power module 30 program malfunctions, which could lead to the cleaning module 20 colliding and being damaged with the body 10 or other objects. This ensures the stability and reliability of the cleaning robot 100 in operation.

[0168] The following is a detailed description of how the cleaning module 20 is driven to move relative to the body 10.

[0169] Please see Figure 2 In some embodiments, the power module 30 includes a drive member 31 and a transmission member 33. One end of the transmission member 33 is connected to the drive member 31, and the other end is connected to the cleaning module 20. The transmission member 33 is used to transmit the driving force of the drive member 31 to the cleaning module 20 so that the cleaning module 20 moves relative to the body 10.

[0170] Specifically, in some embodiments, the transmission component 33 can be connected to the cleaning module 20 via the moving module 40. When the driving component 31 moves stably, the driving force generated by the driving component 31 can be transmitted to the moving module 40 and then to the cleaning module 20. Thus, the driving component 31 can drive the cleaning module 20 to move relative to the body 10 in a first direction via the moving module 40, thereby allowing the cleaning module 20 to switch between a first state and a second state. Furthermore, when the movement of the cleaning module 20 relative to the body 10 in the first direction is restricted, the driving component 31 can drive the cleaning module 20 to move relative to the body 10 in a second direction via the moving module 40, thereby allowing the cleaning module 20 to switch between a first state and a third state, or between a second state and a third state. It should be noted that in some embodiments, the driving component 31 can be a motor or an electric actuator, etc., wherein the motor includes, but is not limited to, a DC servo motor, an AC servo motor, and a stepper motor.

[0171] Please combine Figure 11 and Figure 12 In some embodiments, the transmission component 33 includes a connector 331 and a transmission component 333. The connector 331 is connected to the moving module 40. One end of the transmission component 333 is connected to the drive component 31, and the other end is connected to the connector 331. The drive component 31 drives the connector 331 to move relative to the body 10 through the transmission component 333, thereby causing the moving module 40 to move relative to the body 10.

[0172] Specifically, in some embodiments, the movable module 40 is provided with a connecting groove 41, and at least a portion of the connector 331 is disposed within the connecting groove 41. Along the reverse direction X2 of the first direction, the connecting groove 411 sequentially includes opposing first connecting sidewalls 4111 and second connecting sidewalls 4113. When the drive unit 31 is operating stably, the drive unit 31 can drive the connector 331 to move relative to the body 10 along the first direction via the transmission member 333, thereby causing the movable module 40 to move relative to the body 10. Specifically, when the driving member 31 drives the connecting member 331 to move relative to the body 10 in the reverse direction X2 via the transmission member 333, the connecting member 331 can cooperate with the second connecting sidewall 4113, thereby driving the moving module 40 to move relative to the body 10 in the reverse direction X2, and driving the cleaning module 20 to move in the reverse direction X2; when the driving member 31 drives the connecting member 331 to move relative to the body 10 in the forward direction X1 via the transmission member 333, the connecting member 331 can cooperate with the first connecting sidewall 4111, thereby driving the moving module 40 to move relative to the body 10 in the forward direction X1, and driving the cleaning module 20 to move in the forward direction X1.

[0173] It is worth noting that, in this embodiment, the cooperation between the connector 331 and the first connecting sidewall 4111 only refers to the interaction force between the connector 331 and the first connecting sidewall 4111, and does not imply that the connector 331 needs to be in direct contact with the first connecting sidewall 4111. Similarly, the cooperation between the connector 331 and the second connecting sidewall 4113 also only refers to the interaction force between the connector 331 and the second connecting sidewall 4113, and does not imply that the connector 331 needs to be in direct contact with the second connecting sidewall 4113.

[0174] In some embodiments, the transmission component 333 and the connector 331 are integrally formed, that is, the transmission component 333 and the connector 331 are a single structure. This improves the bonding strength between the transmission component 333 and the connector 331, preventing the connector 331 from detaching from the transmission component 333 during the movement of the moving module 40 relative to the body 10, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the transmission component 333 and the connector 331 can be combined using a non-detachable connection or a detachable connection. The non-detachable connection includes, but is not limited to, bonding or welding; the detachable connection includes, but is not limited to, snap-fit ​​connections or threaded connections.

[0175] Further, please refer to Figure 2 , Figure 11 and Figure 12In some embodiments, the transmission component 333 includes a gear 3331 and a rack 3333. The gear 3331 is connected to the drive component 31, and the rack 3333 is connected to the connector 331. The gear 3331 and the rack 3333 cooperate. When the drive component 31 drives the gear 3331 to rotate, the gear 3331 drives the rack 3333 to move, thereby driving the connector 331 to move relative to the body 10. Specifically, in some embodiments, when the drive component 31 drives the gear 3331 to rotate, the gear 3331 can drive the rack 3333 to move along a first direction, so that the rack 3333 drives the connector 331 to move relative to the body 10 along the first direction, thereby enabling the connector 331 to drive the moving module 40 to move along the first direction.

[0176] Please see Figure 2 and Figure 13 In some embodiments, the moving module 40 of the cleaning robot 100 includes a first end 43 and a second end 45 opposite each other in a first direction. The transmission component 33 includes a connector 335, which is arranged around the output shaft of the drive component 31, and the opposite ends of the connector 335 are respectively connected to the first end 43 and the second end 45 of the moving module 40. The drive component 31 drives the moving module 40 to move relative to the body 10 through the connector 335.

[0177] Specifically, in some embodiments, the connecting member 335 may be a steel wire, and the transmission component 33 may also include a steel wire take-up reel 337. The steel wire take-up reel 337 is connected to the output shaft of the drive component 31 and can rotate together with the output shaft of the drive component 31. The connecting member 335 is disposed in the steel wire take-up reel 337, and the opposite ends of the connecting member 335 extend from the steel wire take-up reel 337 and are respectively connected to the first end 43 and the second end 45 of the moving module 40. Thus, when the drive component 31 is running stably, the output shaft of the drive component 31 can drive the steel wire take-up reel 337 to rotate so that the connecting member 335 can pull the moving module 40 to move relative to the body 10.

[0178] It is understood that in other embodiments, the transmission component 33 may include, but is not limited to, one or more of the following transmission structures: lead screw assembly, gear assembly, worm gear transmission assembly, chain transmission assembly, and pulley transmission assembly, which will not be described in detail here.

[0179] Please see Figure 2 , Figure 11 , Figure 13 or Figure 14 In some embodiments, the power module 30 further includes a buffer assembly 35, which buffers the external force along the first direction X1 on the cleaning module 20 when the cleaning module 20 is in the second state and is subjected to an external force along the first direction X1.

[0180] Specifically, in some embodiments, when the cleaning module 20 is in the second state, the cleaning module 20 is able to clean the area along the edge of the wall. Therefore, during the cleaning process, the cleaning module 20 may collide with the wall, causing the cleaning module 20 to be subjected to a positive external force X1 along the first direction; or, when the cleaning module 20 is in the second state, the cleaning module 20 is able to clean the area along the edge of the wall, and since in this state the end of the cleaning module 20 can be in contact with the wall, or the distance between the cleaning module 20 and the wall is very small, if the wall is not a straight wall but a non-straight wall, for example, the cross-sectional shape of the wall is curved (including but not limited to arc or wave shape, etc.), the cleaning module 20 will also collide with the wall, causing the cleaning module 20 to be subjected to a positive external force X1 along the first direction.

[0181] In some cases, when the cleaning module 20 is subjected to an external force along the positive direction X1 in the first direction, due to the reduction ratio of the drive component 31, the power module 30 cannot drive the cleaning module 20 to move along the positive direction X1 in time to release the external force. This will cause the cleaning module 20 to be damaged under the action of the external force, affecting the normal operation of the cleaning robot 100. In this application, when the cleaning module 20 is in the second state and is subjected to an external force along the positive direction X1 in the first direction, the cleaning module 20 can move along the positive direction X1 in the first direction, so that the buffer component 35 can buffer the external force along the positive direction X1 on the cleaning module 20. This can reduce the influence of the reduction ratio of the drive component 31, prevent the cleaning module 20 from being damaged, and ensure the normal operation of the cleaning robot 100. Furthermore, when the external force on the cleaning module 20 in the positive direction X1 along the first direction disappears, the buffer component 35 can also move the cleaning module 20 in the opposite direction X2 along the first direction, so that the cleaning module 20 moves back to basically fit against the wall. That is to say, the setting of the buffer component 35 allows the cleaning module 20 to move along the change of the cross-sectional shape of the wall, so that the cleaning module 20 keeps basically fit against the wall, thereby improving the cleaning effect of the cleaning robot 100.

[0182] In some embodiments, the buffer assembly 35 includes an elastic element 351, which is in an elastically deformed state when the cleaning module 20 is in the second state and subjected to an external force in the positive direction X1 along the first direction. It should be noted that in some embodiments, the elastic element 351 includes at least one of the following: a spring, a sheet, or a rubber component.

[0183] Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction, the cleaning module 20 can move in the positive direction X1 along the first direction and cause the elastic member 351 to undergo elastic deformation (including stretching, compression, or deformation). In this case, the elastic member 351 can generate elastic force, and this elastic force can act on the cleaning module 20 to make the cleaning module 20 tend to move in the opposite direction X2 along the first direction. When the external force in the positive direction X1 on the cleaning module 20 disappears, for example, when the buffer assembly 35 causes the cleaning module 20 to move in the positive direction X1 along the first direction to cross the obstacle, the elastic force can cause the cleaning module 20 to move back to the position where the cleaning module 20 was in the second state in the opposite direction X2 along the first direction, thereby ensuring the cleaning effect of the cleaning robot 100.

[0184] Please see Figure 11 and Figure 12 In some embodiments, when the moving module 40 is provided with a connecting groove 41 and the transmission component 33 includes a connector 331 and a transmission component 333, the elastic member 351 is connected to both the connector 331 and the first connecting sidewall 4111, or to both the connector 331 and the second connecting sidewall 4113.

[0185] Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force along the positive direction X1 in the first direction, the cleaning module 20 can move along the positive direction X1 in the first direction. In this case, the elastic member 351 can undergo elastic deformation to buffer the external force along the positive direction X1 on the cleaning module 20. That is, the elastic member 451 can generate elastic deformation to absorb the external force on the cleaning module 20, thereby preventing damage to the cleaning module 20 and ensuring the stability and reliability of the cleaning robot 100.

[0186] In one example, when the elastic element 351 includes a tension spring, the tension spring is fixedly connected to the connecting element 331 and the first connecting sidewall 4111. For example, a tension spring with high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction, the tension spring can have a certain degree of tension. The connecting element 331 pulls the moving module 40 to move via the tension spring, causing the cleaning module 20 to laterally move. After the cleaning module 20 has laterally moved into place, the tension spring still has a stretch margin. In this configuration, after the cleaning module 20 is moved to its lateral position, the connector 331 is spaced apart from the second connecting sidewall 4113 along the first direction. Thus, when the cleaning module 20 is in the second state and is subjected to an external force X1 along the first direction, the cleaning module 20 can move along the first direction X1. At this time, the tension spring can continue to be stretched to absorb the external force on the cleaning module 20. When the external force X1 on the cleaning module 20 disappears, the elastic force generated by the stretched tension spring can cause the cleaning module 20 to move back to the position it was in in the second state along the first direction X2. That is, the elastic force generated by the stretched tension spring can cause the cleaning module 20 to move back to the position where it is basically in contact with the wall along the first direction X2, thereby ensuring the cleaning effect of the cleaning robot 100.

[0187] In another example, when the elastic element includes a compression spring, the compression spring is connected to both the connector 331 and the second connecting sidewall 4113, and the connection between the compression spring and at least one of the connector 331 and the second connecting sidewall 4113 is abutting. For example, a compression spring with high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction, the compression spring can have a certain degree of compression. The connector 331 pushes the moving module 40 to move via the compression spring, causing the cleaning module 20 to move laterally. After the cleaning module 20 has moved into position, the compression spring still has a compression margin. In this configuration, after the cleaning module 20 is moved to its lateral position, the connector 331 is spaced apart from the second connecting sidewall 4113 along the first direction. Thus, when the cleaning module 20 is in the second state and is subjected to an external force X1 along the first direction, the cleaning module 20 can move along the first direction X1. At this time, the compression spring can continue to be compressed to absorb the external force on the cleaning module 20. When the external force X1 on the cleaning module 20 disappears, the elastic force generated by the compression spring can make the cleaning module 20 move back to the position it was in in the second state along the reverse direction X2 of the first direction. That is, the elastic force generated by the compression spring can make the cleaning module 20 move back to the position where the cleaning module 20 is basically in contact with the wall along the reverse direction X2 of the first direction, thereby ensuring the cleaning effect of the cleaning robot 100.

[0188] Please see Figure 2 and Figure 13 In other embodiments, when the transmission component 33 includes a connecting member 335, one end of the elastic member 351 is connected to the connecting member 335, and the other end is connected to the first end 43 and / or the second end 45 of the moving module 40. Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force along the positive direction X1 in the first direction, the cleaning module 20 can move along the positive direction X1 in the first direction. In this case, the elastic member 351 can undergo elastic deformation to buffer the external force along the positive direction X1 on the cleaning module 20. That is, the elastic member 351 can generate elastic deformation to absorb the external force on the cleaning module 20, thereby preventing damage to the cleaning module 20 and ensuring the stability and reliability of the cleaning robot 100.

[0189] In some embodiments, when the elastic element 351 is disposed on the connector 335 and close to the first end 43 of the movable module 40, the elastic element 351 may be a tension spring. For example, a tension spring with high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction, the tension spring can have a certain degree of tension. The connector 331 pulls the cleaning module 20 to move laterally through the tension spring. After the cleaning module 20 is in the lateral position, the tension spring still has a tension margin. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction, the cleaning module 20 can move together with the moving module 40 in the positive direction X1 along the first direction. At this time, the tension spring can continue to be stretched to absorb the external force on the cleaning module 20. When the external force on the cleaning module 20 in the positive direction X1 along the first direction disappears, the elastic force generated by the stretching of the tension spring can make the moving module 40 and the cleaning module 20 move back to the position where the cleaning module 20 was in the second state in the opposite direction X2 along the first direction. That is, the elastic force generated by the stretching of the tension spring can make the cleaning module 20 move back to the position where the cleaning module 20 is basically in contact with the wall in the opposite direction X2 along the first direction, thereby ensuring the cleaning effect of the cleaning robot 100.

[0190] Please see Figure 1 , Figure 18 and Figure 19 In some embodiments, the transmission component 33 includes a connector 331 and a transmission component 333, with the connector 331 cooperating with the movable component 49. The transmission component 333 is connected to both the drive component 31 and the connector 331. The drive component 31 drives the connector 331 to move relative to the body 10 via the transmission component 333, thereby causing the movable component 49 to move relative to the body 10.

[0191] Specifically, in some embodiments, when the drive member 31 is operating stably, the driving force generated by the drive member 31 can be transmitted to the moving member 49 in sequence through the transmission member 333 and the connecting member 331, so that the moving member 49 moves relative to the body 10, and drives the cleaning module 20 to move relative to the body 10 along the first direction (parallel to the width direction (X1 / X2) of the cleaning robot 100) and / or along the height direction Z of the cleaning robot 100.

[0192] In some embodiments, the movable member 49 is provided with a connecting groove 491, and at least a portion of the connecting member 331 is disposed in the connecting groove 491. Along the reverse direction X2 of the first direction, the connecting groove 491 sequentially includes a first connecting sidewall 4911 and a second connecting sidewall 4913. When the driving member 31 drives the connecting member 331 to move relative to the body 10 in the reverse direction X2 of the first direction, the connecting member 331 engages with the second connecting sidewall 4913. When the driving member 31 drives the connecting member 331 to move relative to the body 10 in the forward direction X1 of the first direction, the connecting member 331 engages with the first connecting sidewall 4911.

[0193] Furthermore, in some embodiments, the transmission member 333 is a lead screw, and the connecting member 331 is a nut. The lead screw is rotatably mounted on the loading member 47 and connected to the driving member 31. The nut is sleeved on the lead screw. When the driving member 31 drives the lead screw to rotate, the lead screw drives the nut to move, thereby causing the moving member 49 to move relative to the machine body 10. Specifically, when the driving member 31 is operating stably, the driving force of the driving member 31 can be transmitted to the lead screw to drive the lead screw to rotate relative to the loading member 47. At the same time, the lead screw can drive the nut to move along the extension direction of the lead screw, thereby causing the moving member 49 to move relative to the machine body 10 in a first direction.

[0194] In some embodiments, the elastic element 351 of the buffer assembly 35 of the power module 30 is connected to both the connector 331 and the first connecting sidewall 4911; or it is connected to both the connector 331 and the second connecting sidewall 4913.

[0195] In some embodiments, when the elastic member 351 includes a tension spring, the tension spring is fixedly connected to both the connecting member 331 and the first connecting sidewall 4911. For example, a tension spring with high stiffness can be selected. During the lateral movement of the cleaning module 20, i.e., during the movement of the cleaning module 20 in the opposite direction X2 of the first direction, the tension spring can have a certain degree of tension. The connecting member 331 pulls the moving member 49 to move via the tension spring, causing the cleaning module 20 to laterally move. After the cleaning module 20 has laterally moved into place, the tension spring still has a stretch margin. In this configuration, after the cleaning module 20 is moved to its lateral position, the connector 331 is spaced apart from the second connecting sidewall 4913 along the first direction. Thus, when the cleaning module 20 is in the second state and is subjected to an external force X1 along the first direction, the cleaning module 20 can move along the first direction X1. At this time, the tension spring can continue to be stretched to absorb the external force on the cleaning module 20. When the external force X1 on the cleaning module 20 disappears, the elastic force generated by the stretched tension spring can cause the cleaning module 20 to move back to the position it was in in the second state along the first direction X2. That is, the elastic force generated by the stretched tension spring can cause the cleaning module 20 to move back to the position where the cleaning module 20 is basically in contact with the wall along the first direction X2, thereby ensuring the cleaning effect of the cleaning robot 100.

[0196] In other embodiments, when the elastic element 351 includes a compression spring, the compression spring is connected to both the connecting element 331 and the second connecting sidewall 4913, and the connection between the compression spring and at least one of the connecting element 331 and the second connecting sidewall 4913 is abutting. For example, a compression spring with high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction, the compression spring can have a certain degree of compression. The connecting element 331 moves by pushing the moving element 49 against the compression spring to cause the cleaning module 20 to move laterally. After the cleaning module 20 has moved to its position, the compression spring still has a compression margin. In this configuration, after the cleaning module 20 is moved to its lateral position, the connector 331 is spaced apart from the second connecting sidewall 4913 along the first direction. Thus, when the cleaning module 20 is in the second state and is subjected to an external force X1 along the first direction, the cleaning module 20 can move along the first direction X1. At this time, the compression spring can continue to be compressed to absorb the external force on the cleaning module 20. When the external force X1 on the cleaning module 20 disappears, the elastic force generated by the compression spring can make the cleaning module 20 move back to the position it was in in the second state along the reverse X2 of the first direction. That is, the elastic force generated by the compression spring can make the cleaning module 20 move back to the position where the cleaning module 20 is basically in contact with the wall along the reverse X2 of the first direction, thereby ensuring the cleaning effect of the cleaning robot 100.

[0197] When the cleaning module 20 is in a lateral movement state and is cleaning along the edge, if the cleaning module 20 collides with an obstacle, the impact damage can be reduced by the buffer of the elastic element 351. If there is no gap in the height direction Z between the first body 231 and the main body 21 of the mounting component 23 when the cleaning module 20 contacts the surface to be cleaned, the cleaning module 20 will move vertically upward when it encounters a protrusion on the surface to be cleaned during the cleaning process. This will drive the second body 233 and the first body 231 to move. Since the second body 233 is connected to the moving module 40, the elastic element 351 will be compressed. Therefore, the elastic force of the elastic element 351 will generate a relatively large downward component force on the first body 231 through the second body 233. This component force will be converted into the pressure of the main body 21 on the surface to be cleaned, resulting in large fluctuations in mopping pressure. The pressure on the surface to be cleaned will affect the degree of slippage of the cleaning robot 100 and the mopping effect, making the cleaning robot 100 prone to slippage and unstable mopping effect.

[0198] To solve the above technical problems, please combine... Figure 20 In some embodiments of this disclosure, a gap h exists between the first main body 231 and the main body 21 in the height direction Z of the cleaning robot 100; when the main body 21 floats along the height direction Z of the cleaning robot 100, the amount of float of the main body 21 is less than the size of the gap h. That is, when the cleaning module 20 contacts the surface to be cleaned, a gap h exists between the first main body 231 and the main body 21, and when the main body 21 floats along the height direction Z of the cleaning robot 100, the amount of float of the main body 21 is less than the size of the gap h. For example, when the cleaning module 20 just contacts the surface to be cleaned, the gap h is 5mm ± 2mm. It can be understood that the higher the protrusions (e.g., particles) on the surface to be cleaned, the more they will compress the cleaning module 20 to move upwards, thereby reducing the gap h. According to the inventors’ research, the size of particles on the surface to be cleaned in a home setting is generally no higher than 5mm±2mm. Therefore, in this embodiment, when the cleaning module 20 just comes into contact with the surface to be cleaned, the gap h is 5mm±2mm. This makes it less likely for the cleaning robot 100 to be affected by the height of the surface to be cleaned, which would cause changes in the mopping pressure and thus ensure the cleaning effect.

[0199] Please see Figure 2 and Figure 13 and combined Figure 14 and Figure 15In some embodiments, the buffer assembly 35 of the power module 30 includes a crash member 353, which is disposed on the body 10 and is movable relative to the body 10. At least a portion of the moving module 40 is disposed on the crash member 353 and is movable relative to the crash member 353. Both ends of the connecting member 335 are connected to the crash member 353. The elastic member 351 of the buffer assembly 35 is connected between the crash member 353 and the moving module 40 along a first direction.

[0200] Specifically, in some embodiments, if the anti-collision member 353 is not provided, that is, if the opposite ends of the connecting member 335 are directly connected to the first end 43 and the second end 45 of the moving module 40, then when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction, the cleaning module 20 can move together with the moving module 40 in the positive direction X1 of the first direction, but the driving member 31 is not working. This will cause the connecting member 335 (steel wire) near the second end 45 of the moving module 40 to bend and deform, or even become entangled, thereby affecting the normal operation of the power module 30. Figure 14 and Figure 15 In the illustrated embodiment, when the cleaning module 20 is in the second state and is subjected to an external force along the positive direction X1 in the first direction, the moving module 40 can move along with the cleaning module 20 relative to the anti-collision member 353 in the positive direction X1 in the first direction. At the same time, the elastic member 351 can undergo elastic deformation to buffer the external force along the positive direction X1 on the cleaning module 20. That is, the elastic member 351 can generate elastic deformation to absorb the external force on the cleaning module 20. In this case, the anti-collision member 353 does not move relative to the body 10, thereby preventing the connecting member 335 from bending and deforming, thus ensuring the stability and reliability of the power module 30.

[0201] It is understandable that when the drive component 31 drives the anti-collision component 353 to move along the first direction through the connecting component 335, the anti-collision component 353 can drive the moving module 40 to move along the first direction, so as to drive the cleaning module 20 to move relative to the body 10, thereby enabling the cleaning module 20 to switch between the first state, the second state and the third state.

[0202] In one example, one end of the elastic element 351 is connected to the second end 45 of the moving module 40, and the other end is connected to the anti-collision element 353 at a position opposite to the second end 45 of the moving module 40. In this case, the elastic element 351 can be a compression spring. For example, a compression spring with high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction, the compression spring can have a certain degree of compression. The connecting element 335 pushes the moving module 40 to move through the compression spring, so as to drive the cleaning module 20 to move laterally. After the cleaning module 20 moves to its position, the compression spring still has a compression margin. When the cleaning module 20 is in the second state and is subjected to an external force along the positive direction X1 of the first direction, the cleaning module 20 can move together with the moving module 40 along the positive direction X1 of the first direction. At this time, the compression spring can continue to be compressed to absorb the external force on the cleaning module 20. When the external force on the cleaning module 20 along the positive direction X1 of the first direction disappears, the elastic force generated by the compression of the compression spring can make the moving module 40 and the cleaning module 20 move together along the opposite direction X2 of the first direction back to the position where the cleaning module 20 was in the second state. That is, the elastic force generated by the compression of the compression spring can make the cleaning module 20 move back along the opposite direction X2 of the first direction back to the position where the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0203] In another example, one end of the elastic element 351 is connected to the first end 43 of the moving module 40, and the other end is connected to the anti-collision element 353 at a position opposite to the first end 43 of the moving module 40. In this case, the elastic element 351 can be a tension spring. For example, a tension spring with high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction, the tension spring can have a certain degree of tension. The connecting element 335 pulls the moving module 40 to move through the tension spring, thereby driving the cleaning module 20 to move laterally. After the cleaning module 20 moves to its position, the tension spring still has a tension margin. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction, the cleaning module 20 can move together with the moving module 40 in the positive direction X1 along the first direction. At this time, the tension spring can continue to be stretched to absorb the external force on the cleaning module 20. When the external force on the cleaning module 20 in the positive direction X1 along the first direction disappears, the elastic force generated by the stretching of the tension spring can make the moving module 40 and the cleaning module 20 move back to the position where the cleaning module 20 was in the second state in the opposite direction X2 along the first direction. That is, the elastic force generated by the stretching of the tension spring can make the cleaning module 20 move back to the position where the cleaning module 20 is basically in contact with the wall in the opposite direction X2 along the first direction, thereby ensuring the cleaning effect of the cleaning robot 100.

[0204] In some embodiments, the anti-collision member 353 is provided with an anti-collision groove 3531, and at least a portion of the moving module 40 is disposed in the anti-collision groove 3531. The elastic member 351 may be disposed between the side wall of the anti-collision groove 3531 and the moving module 40. The provision of the anti-collision groove 3531 can, on the one hand, reduce the space occupied by the anti-collision member 353 and the moving module 40, thereby facilitating the miniaturization of the cleaning robot 100, and on the other hand, facilitate the installation and positioning of the moving module 40 on the anti-collision member 353, thereby improving the assembly efficiency of the cleaning robot 100.

[0205] Please see Figure 1 Referring to Figures 16(a), 16(b), and 16(c), in some embodiments, the cleaning robot 100 further includes a detection module 50, which is used to detect the current state of the cleaning module 20, including a first state, a second state, and a third state. It should be noted that in some embodiments, the detection module 50 may include, but is not limited to, an encoder, a laser detection sensor, a collision detection sensor, a distance sensor, and a pressure sensor.

[0206] The detection module 50 enables the cleaning robot 100 to obtain the current state of the cleaning module 20, thereby improving the timeliness and accuracy of the cleaning robot 100's state adjustments to the cleaning module 20. Furthermore, the detection module 50 also allows the cleaning robot 100 to restrict the movement of the cleaning module 20 relative to the body 10, preventing errors in the movement of the cleaning module 20 relative to the body 10 during state adjustments, which could lead to collisions and damage between the cleaning module 20 and the body 10 or external structures. This ensures the normal operation of the cleaning robot 100.

[0207] Please combine Figure 2 In some embodiments, the detection module 50 includes an encoder disk disposed on the drive unit 31 of the power module 30 and used to detect the number of rotations of the drive unit 31 of the power module 30 to determine the current state of the cleaning module 20.

[0208] Specifically, in some embodiments, an encoder may be disposed on the output shaft of the drive member 31. The encoder can then detect the number of rotations of the output shaft of the drive member 31 and determine the current state of the cleaning module 20 based on the number of rotations. For example, when the cleaning module 20 is in a first state and the drive member 31 has started operating, the encoder can detect the number of rotations of the output shaft of the drive member 31 to determine the current state of the cleaning module 20. For instance, if the cleaning module 20 can switch from the first state to the second state when the output shaft of the drive member 31 rotates a preset number of times, then when the encoder detects that the output shaft of the drive member 31 has rotated a preset number of times, the encoder can determine that the current state of the cleaning module 20 is the second state.

[0209] In other embodiments, the detection module 50 includes a transmitter and a receiver, one of which is disposed on the cleaning module 20 and the other is disposed on the body 10. The transmitter is used to transmit detection signals, and the receiver is used to receive detection signals and indicate the current state of the cleaning module 20 based on the received detection signals.

[0210] Specifically, in some embodiments, the transmitter can continuously emit detection signals (e.g., infrared light or laser light). When the receiver changes from not receiving the detection signal emitted by the transmitter to receiving the detection signal emitted by the transmitter, it indicates that the transmitter and receiver correspond. At this time, the receiver can determine the current state of the cleaning module 20. For example, the transmitter may include a first transmitter, a second transmitter, and a third transmitter, and the receiver may include a first receiver, a second receiver, and a third receiver. When the cleaning module 20 is in a first state, the first transmitter and the first receiver correspond; when the cleaning module 20 is in a second state, the second transmitter and the second receiver correspond; and when the cleaning module 20 is in a third state, the third transmitter and the third receiver correspond.

[0211] Please see Figures 1 to 4 The cleaning module 20 of certain embodiments of this application is applied to a cleaning robot 100. The cleaning module 20 is installed on the body 10 of the cleaning robot 100. The body 10 is provided with a power module 30. The cleaning module 20 includes a body 21, a cleaning component 22, and a mounting assembly 23. The body 21 forms an accommodating space for mounting the cleaning component 22. The cleaning component 22 includes a mopping component 223. The mounting assembly 23 includes a first body 231 and a second body 233. The first body 231 is connected to the body 21, and the first body 231 and the second body 233 are movably connected. The second body 233 is used to connect to the power module 30, and the power module 30 is used to drive the second body 233 to move relative to the first body 231, so as to change the relative position of the cleaning module 20 relative to the body 10.

[0212] It is understood that the specific structures of the cleaning module 20 (including the body 21, cleaning components 22, and installation components 23, etc.) and the cleaning robot 100 (including the body 10 and power module 30, etc.) in the embodiments of this application are exactly the same as the specific structures of the cleaning module 20 and the cleaning robot 100 in the above embodiments, and will not be described again here.

[0213] In some embodiments, the relative position of the cleaning module 20 with respect to the body 10 includes a first position and a second position. When the cleaning module 20 is in the first position, it is in contact with the surface to be cleaned; when the cleaning module 20 is in the second position, it is spaced apart from the surface to be cleaned. Specifically, when the cleaning module 20 is in the first position, it can contact the surface to be cleaned, thereby enabling the cleaning robot 100 to perform cleaning functions (e.g., mopping); when the cleaning module 20 is in the second position, it is spaced apart from the surface to be cleaned, thereby enabling the cleaning robot 100 to perform obstacle-crossing functions.

[0214] In this embodiment, the cleaning module 20 is connected to the power module 30 via the second body 233 of the mounting component 23. The power module 30 can drive the second body 233 to move relative to the first body 231, thereby changing the relative position of the cleaning module 20 with respect to the body 10. Specifically, the cleaning module 20 can move from a position in contact with the ground to a raised position. This allows for a relatively simple switching between a cleaning state and a state detached from the surface to be cleaned, ensuring the cleaning effect of the cleaning robot 100. Furthermore, the cleaning module 20 can be raised off the ground to improve obstacle-crossing ability. In addition, compared to cleaning robots in related technologies, the cleaning robot 100 in this embodiment does not require additional structural components to assemble the cleaning module 20 onto the body 10 and to move the cleaning module 20 relative to the body 10. This simplifies the installation steps of the cleaning module 20, improves the assembly efficiency of the cleaning robot 100, reduces the production cost of the cleaning robot 100, and decreases the space occupied by the cleaning robot 100, thus facilitating the miniaturization of the cleaning robot 100.

[0215] Please see Figures 1 to 4 The cleaning robot 100 of some embodiments of this application includes a body 10 and a cleaning module 20 as described in the above embodiments. The body 10 is provided with a power module 30, and the cleaning module 20 is installed on the body 10 and connected to the power module 30.

[0216] In the cleaning robot 100 of this application embodiment, the cleaning module 20 includes a body 21 and an installation component 23. The installation component 23 includes a first body 231 and a second body 233. The first body 231 is connected to the body 21, and the first body 231 and the second body 233 are movably connected. The power module 30 can be connected to the second body 233 and drive the second body 233 to move relative to the first body 231, so as to change the relative position of the cleaning module 20 with respect to the body 10. Thus, the cleaning robot 100 can assemble the cleaning module 20 on the body 10 and move the cleaning module 20 relative to the body 10 without setting up extra structural components. This simplifies the installation steps of the cleaning module 20, improves the assembly efficiency of the cleaning robot 100, reduces the production cost of the cleaning robot 100, and reduces the space occupied by the cleaning robot 100, which is conducive to the miniaturization of the cleaning robot 100. In addition, the relative position of the cleaning module 20 with respect to the body 10 changes, that is, the cleaning module 20 can move from the position in contact with the ground to the raised position. This makes it easier to switch the cleaning module 20 between the cleaning state and the state of being detached from the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 100. The cleaning module 20 can also be raised off the ground to improve its obstacle crossing ability.

[0217] Please combine Figure 21 This application provides a base station 200 for use with a cleaning robot 100 as described in any of the above embodiments. Specifically, the base station 200 includes a docking position 2001 for accommodating the cleaning robot 100. More specifically, in some embodiments, when the cleaning robot 100 is located in the docking position 2001, the base station 200 can perform at least one of the following functions: charging, maintenance, water replenishment, drainage, and dust collection for the cleaning robot 100. For example, when the mopping component 223 in the cleaning robot 100 is dirty, the cleaning robot 100 can return to the base station 200 to clean the mopping component 223.

[0218] This application also provides a cleaning system 1000, including a cleaning robot 100 as described in any of the above embodiments and a base station 200 used in conjunction with the cleaning robot 100. The base station 200 includes a docking position 2001 for accommodating the cleaning robot 100. Since the cleaning system 1000 in this embodiment includes the cleaning robot 100, it is understood that the cleaning system 1000 includes at least the same beneficial effects as the cleaning robot 100. Therefore, the beneficial effects of the cleaning system 1000 can be referred to the beneficial effects of the cleaning robot 100 described above, and will not be repeated here.

[0219] The technical features of the embodiments described above can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Furthermore, other implementation methods can be derived from the above embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0220] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that, include: body; A cleaning module includes a body, a cleaning component, and an installation assembly. The body has a receiving space for installing the cleaning component. The cleaning component includes a mopping component. The installation assembly includes a first body and a second body. The first body is connected to the body, and the first body and the second body are movably connected. and A power module is disposed on the body and connected to the second main body. The power module is used to drive the second main body to move relative to the first main body, so as to change the relative position of the cleaning module relative to the body.

2. The cleaning robot according to claim 1, characterized in that, The cleaning module also includes: A protective cover, wherein a receiving space is formed between the protective cover and the body, and at least a portion of the mounting assembly is located within the receiving space; And / or, the mounting component protrudes from the outside of the body; And / or, the mounting component is located at the middle of the length direction of the body; And / or, along the length direction of the body, the length of the mounting assembly is 1 / 4 to 1 / 2 of the length of the body; And / or, the second main body is detachably connected to the power module; And / or, the cleaning module includes at least one of the following: a tracked cleaning component and a roller-type cleaning component.

3. The cleaning robot according to claim 1, characterized in that, One of the first body and the second body is provided with a movable groove, and the other of the first body and the second body is provided with a moving member that cooperates with the movable groove, and the moving member is movably disposed in the movable groove.

4. The cleaning robot according to claim 3, characterized in that, The moving groove includes an inclined sidewall for abutting against the moving component, and the inclined sidewall is inclined relative to the bottom surface of the cleaning module; or... The centerline of the moving trough extends in the same direction as the height of the cleaning robot.

5. The cleaning robot according to claim 1, characterized in that, The power module is used to drive the second main body to move relative to the first main body, so that the cleaning module switches between a first state, a second state and a third state. When the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is further away from the center line of the cleaning robot in the width direction in the second state than in the first state. When the cleaning module is in the third state, the cleaning module is spaced apart from the surface to be cleaned. When the target end of the cleaning module is the side of the cleaning robot that is moving along the obstacle, the cleaning module is closer to the obstacle. The width direction of the cleaning robot is perpendicular to the direction of travel of the cleaning robot.

6. The cleaning robot according to claim 5, characterized in that, When the cleaning module is in the first state, the cleaning module is located in the widest area of ​​the body; When the cleaning module is in the second state, the cleaning module is in contact with the surface to be cleaned, and at least a portion of the cleaning module is located outside the widest area of ​​the body, or one end of the cleaning module is flush with the edge of the widest area of ​​the body. When the cleaning module is in the third state, the cleaning module is located in the widest area of ​​the body; The widest region is the area formed by the two tangents of the projection of the robot body onto the surface to be cleaned along the direction of travel of the cleaning robot.

7. The cleaning robot according to claim 5, characterized in that, The body has an installation space, and the side of the body has an opening communicating with the installation space. At least a portion of the cleaning module is disposed in the installation space. When the cleaning module is in the second state, at least a portion of the cleaning module extends out of the installation space from the opening. The cleaning module also includes: A sliding member is disposed between the cleaning module and the side wall of the mounting space. The sliding member is used to reduce the friction between the cleaning module and the side wall of the mounting space when the cleaning module moves relative to the body.

8. The cleaning robot according to claim 7, characterized in that, In the forward direction of the cleaning robot, the installation space sequentially includes a first side and a second side opposite to each other; the slider is disposed between the cleaning module and the first side of the installation space, and the slider is used to reduce the friction between the cleaning module and the body when the cleaning module moves relative to the body.

9. The cleaning robot according to claim 5, characterized in that, The power module is used to drive the cleaning module to move relative to the body along a first direction, so that the cleaning module switches between the first state and the second state; When the cleaning module abuts against the body on one side in the first direction, the power module is also used to drive the second main body to move relative to the first main body, and drive the first main body and the body to move along the second direction through the second main body, so that the cleaning module switches between the first state and the third state, or switches between the second state and the third state, wherein the first direction and the second direction intersect; the first direction includes the width direction of the cleaning robot, and the second direction includes the height direction of the cleaning robot.

10. The cleaning robot according to claim 9, characterized in that, Along the first direction, the body includes an abutment portion opposite to the cleaning module, the abutment portion being able to abut against the cleaning module to restrict the movement of the cleaning module along the first direction.

11. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes: A mobile module is movably disposed on the body and connected to both the cleaning module and the power module. The power module is used to drive the mobile module to move relative to the body, thereby causing the cleaning module to move relative to the body.

12. The cleaning robot according to claim 5, characterized in that, The power module includes: Drive components; and A transmission component, one end of which is connected to the drive component and the other end of which is connected to the cleaning module, is used to transmit the driving force of the drive component to the cleaning module so that the cleaning module moves relative to the body.

13. The cleaning robot according to claim 12, characterized in that, The power module also includes: A buffer assembly is provided to buffer the positive external force along the first direction experienced by the cleaning module when the cleaning module is in the second state and is subjected to the external force along the first direction.

14. The cleaning robot according to claim 13, characterized in that, The buffer component includes: The elastic element is in an elastic deformation state when the cleaning module is in the second state and is subjected to a positive external force along the first direction. The elastic element includes at least one of the following: spring, sheet, or rubber component.

15. The cleaning robot according to claim 12, characterized in that, The cleaning robot's moving module includes a first end and a second end opposite to each other in a first direction; the transmission component includes: A connecting member is provided around the output shaft of the drive member, and the opposite ends of the connecting member are respectively connected to the first end and the second end of the moving module. The drive member drives the moving module to move relative to the body through the connecting member.

16. The cleaning robot according to claim 15, characterized in that, The buffer component of the power module includes: A collision avoidance component is disposed on the body and is movable relative to the body. At least a portion of the movable module is disposed on the collision avoidance component and is movable relative to the collision avoidance component. Both ends of the connecting component are connected to the collision avoidance component. The elastic element of the buffer assembly is connected between the collision avoidance component and the movable module along the first direction.

17. A cleaning module for use in a cleaning robot, the cleaning module being mounted on the body of the cleaning robot, the body being provided with a power module, characterized in that, include: ontology; A cleaning component, the body of which has a receiving space for mounting the cleaning component, the cleaning component including a mopping component; and The mounting component includes a first body and a second body, the first body being connected to the main body, and the first body and the second body being movably connected. The second main body is used to connect to the power module, which is used to drive the second main body to move relative to the first main body, so as to change the relative position of the cleaning module relative to the body.

18. A cleaning robot, characterized in that, include: The fuselage, which is equipped with a power module; and The cleaning module of claim 17, wherein the cleaning module is installed on the body and connected to the power module.

19. A base station for use with a cleaning robot according to any one of claims 1-16, 18, the base station including a docking position for accommodating the cleaning robot.

20. A cleaning system, comprising: The cleaning robot according to any one of claims 1-16, 18; and A base station for use with the cleaning robot according to any one of claims 1-16, 18, the base station including a docking position for accommodating the cleaning robot.

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