Cleaning robot and cleaning system

Abstract

The utility model provides a cleaning robot and a cleaning system. The cleaning robot comprises a robot body provided with driving wheels, a mounting base movably arranged on the robot body, a mopping assembly, a self-cleaning assembly and a control device. The driving wheels drive the machine body to advance. The mopping and wiping assembly comprises a mopping and wiping piece rotationally installed on the installation base. The self-cleaning assembly comprises a self-cleaning piece movably connected with the mounting base, the self-cleaning piece can move relative to the mopping piece so as to be switched between a first state and a second state, and in the first state, the scraping end of the self-cleaning piece and the mopping piece are spaced and do not make contact with each other or make contact with each other through a first interference magnitude; in the second state, the scraping end of the self-cleaning piece abuts against the mopping piece with the second interference magnitude larger than the first interference magnitude. The control device controls the operation mode of the mopping and wiping assembly. In the mopping mode, the mopping piece is in contact with a to-be-cleaned surface, the mopping piece rotates relative to the mounting base and the machine body to mopping the to-be-cleaned surface, and the self-cleaning piece is in a first state; in the mopping and wiping piece cleaning mode, the self-cleaning piece is in the second state, and the mopping and wiping piece rotates relative to the self-cleaning piece.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning technology, and more specifically, to a cleaning robot and a cleaning system. Background Technology

[0002] A cleaning robot is a device used to automatically clean surfaces such as floors, walls, windows, and beds, and can be applied to home cleaning or large venue cleaning. Compared to cleaning robots with disc-shaped mopping components, cleaning robots with tracked mopping components (hereinafter referred to as "tracked robots") have better cleaning performance. Some tracked robots in related technologies do not have a self-cleaning function for their mopping components. The cleaning of the mopping components can only be performed by the cleaning structure within the base station after the tracked robot returns to the base station, such as by a scraper within the base station washing and drying the mopping components. However, the misalignment between the base station's cleaning structure and the cleaning robot's mopping components can be significant, making it difficult to ensure the cleaning effect of the cleaning robot. Utility Model Content

[0003] This disclosure provides a cleaning robot and a cleaning system.

[0004] In a first aspect, this disclosure provides a cleaning robot, comprising a body with drive wheels for providing driving power to propel the body. The cleaning robot also includes a mounting base, a mopping assembly, a self-cleaning assembly, and a control device. The mounting base is movably disposed on the body. The mopping assembly includes a mopping member mounted on the mounting base, the mopping member being rotatable relative to the mounting base. The self-cleaning assembly includes a self-cleaning member movably connected to the mounting base, and the self-cleaning member is configured to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member is spaced apart from and does not contact the mopping member or contacts it with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts against the mopping member with a second interference fit, the first interference fit being smaller than the second interference fit. The control device controls the operating mode of the mopping assembly. In the mopping mode, the mopping component contacts the surface to be cleaned, and the control device controls the mopping component to rotate relative to the mounting base and the main body to mop the surface to be cleaned. The self-cleaning component is in the first state relative to the mopping component. In the mopping component cleaning mode, the self-cleaning component is in the second state relative to the mopping component, and the control device controls the mopping component to rotate relative to the self-cleaning component so that the self-cleaning component scrapes off the dirt on the mopping component.

[0005] In some embodiments, the body is provided with a dust collection chamber for accommodating a dust collection container for accommodating dry waste, or the dust collection chamber is used to accommodate dry waste.

[0006] In some embodiments, the axis of rotation of the mopping element is parallel to the surface to be cleaned.

[0007] In some embodiments, the wiping component includes a tracked wiping component and / or a roller-type wiping component.

[0008] In some embodiments, the mopping assembly is configured to be movable relative to the body between a lowered position and an elevated position, wherein when the mopping assembly is in the mopping cleaning mode, the control device controls the mopping assembly to be in the elevated position relative to the body.

[0009] In some embodiments, the mopping assembly is configured to be movable relative to the body between a lowered position and an raised position, and the control device is further configured to control the movement of the mopping assembly relative to the body from the lowered position to the raised position, thereby switching the self-cleaning component relative to the mopping component from the first state to the second state.

[0010] In some embodiments, the self-cleaning component is further connected to an operating component, which is used to adjust the relative position of the self-cleaning component and the mopping component, so that the self-cleaning component switches from being in the first state to being in the second state relative to the mopping component.

[0011] In some embodiments, the self-cleaning component is rotatably connected to the mounting base, and the self-cleaning component is driven by the operating element to rotate relative to the mounting base to switch between the first state and the second state.

[0012] In some embodiments, the operating member is disposed on the self-cleaning member at the end opposite to the scraping end and protrudes from the mounting base. When the mopping assembly can move relative to the body from a lowered position to a raised position, the body contacts the operating member and applies force to the operating member, so that the operating member drives the self-cleaning member to rotate and switch from the first state to the second state.

[0013] In some embodiments, the cleaning robot further includes: a drive unit and a controller disposed on the mounting base and / or the body, the operating unit being connected to the drive unit, the drive unit being signal-connected to the controller, and being used to drive the operating unit to rotate the self-cleaning component in response to the control signal of the controller to adjust the relative position of the self-cleaning component and the mopping component.

[0014] In some embodiments, the self-cleaning component is further connected to a connecting shaft and a first reset component. The self-cleaning component is rotatably mounted to the mounting base via the connecting shaft. The first reset component is sleeved on the connecting shaft, with one end connected to the self-cleaning component and the other end connected to the mounting base. When the mopping assembly is in mopping mode, the first reset component is compressed. During the movement of the mopping assembly relative to the body from a lowered position to a raised position, the first reset component is used to reset the self-cleaning component to its initial position, thus placing the self-cleaning component in the first state.

[0015] In some embodiments, the mopping assembly is configured to be movable relative to the body between a lowered position and an elevated position; when the cleaning robot is traveling on the surface to be cleaned and the mopping assembly is in the elevated position, the self-cleaning component is in the second state relative to the mopping component, and the control device controls the mopping component not to rotate; when the cleaning robot is docked to the base station and the mopping assembly is in the elevated position, the self-cleaning component is in the second state relative to the mopping component, and the mopping component rotates to scrape away dirt from the mopping component.

[0016] In some embodiments, in the mopping mode, the rotation direction of the mopping component is a first direction; in the mopping cleaning mode, the rotation direction of the mopping component is a second direction; the first direction is opposite to the second direction; when the mopping component rotates along the second direction, the scraping end of the self-cleaning component tends to approach the mopping component.

[0017] In some embodiments, when the cleaning robot is moving, the first direction is opposite to the rotation direction of the drive wheel.

[0018] In some embodiments, the self-cleaning component is further connected to a connecting shaft and a linkage component, and the self-cleaning component is rotatably mounted on the mounting base via the connecting shaft. Both the linkage component and the self-cleaning component are disposed on the connecting shaft, and the linkage component maintains constant contact with the wiping component.

[0019] In some embodiments, the contact depth between the linkage and the mopping component is less than the contact depth between the self-cleaning component and the mopping component when the mopping component is being cleaned.

[0020] In some embodiments, when the mopping member rotates along the first direction, the self-cleaning member is in an initial position relative to the mopping member; the self-cleaning member is also connected to a first reset member, the first reset member is sleeved on the connecting shaft, one end of the first reset member is connected to the linkage member or the self-cleaning member, and the other end of the first reset member is connected to the mounting base, the first reset member is used to reset the self-cleaning member to the initial position.

[0021] In some embodiments, the first reset member is used to cause the connecting shaft to drive the self-cleaning member to reset to the initial position when the wiping member switches from rotating in the second direction to rotating in the first direction.

[0022] In some embodiments, the first reset member includes a torsion spring, which is compressed when the mopping member rotates in the second direction, and the self-cleaning member contacts the mopping member to clean the mopping member; the torsion spring is in its natural state when the mopping member rotates in the first direction.

[0023] In some embodiments, the linkage includes at least one linkage portion, and at least one linkage portion is sleeved on the connecting shaft. The self-cleaning component includes at least one connecting portion and a self-cleaning portion that bends and extends from the connecting portion. The connecting portion is sleeved on the connecting shaft, and one linkage portion is disposed adjacent to at least one connecting portion. Both the linkage portion and the self-cleaning portion extend toward the mopping component.

[0024] In some embodiments, the linkage part is spaced apart from the self-cleaning part, and in the height direction of the cleaning robot, the self-cleaning part is closer to the surface to be cleaned than the linkage part.

[0025] In some embodiments, the self-cleaning part includes bristles and a scraper.

[0026] In some embodiments, the wiping member is a tracked wiping member, and the wiping assembly includes a first roller and a second roller. The wiping member is mounted on the first roller and the second roller. When the wiping member rotates in a second direction, the wiping member is located between the self-cleaning member and the first roller, or between the self-cleaning member and the second roller.

[0027] In some embodiments, the wiping member is a tracked wiping member, the wiping assembly includes a first roller and a second roller, the wiping member is mounted on the first roller and the second roller, the first roller includes a first contact side that contacts the wiping member, the second roller includes a second contact side that contacts the wiping member, and the self-cleaning member is disposed on the side where the first contact side is located or the side where the second contact side is located.

[0028] In some embodiments, the mopping assembly may be movable along the width of the body such that at least a portion of the mopping assembly is moved laterally outside the body.

[0029] In some embodiments, the mopping assembly further includes a flexible blocking member, one end of which is connected to the scraping end of the self-cleaning member and the other end of which is connected to the mounting base; when the self-cleaning member is in the first state or the second state relative to the mopping member, the blocking member prevents dirt on the mopping member from moving into the gap between the self-cleaning member and the mounting base.

[0030] In some embodiments, the self-cleaning component and the blocking component are molded together by a die-casting process.

[0031] In some embodiments, when the self-cleaning member is in the first state relative to the mopping member, the blocking member is unfolded and in contact with the mopping member; when the self-cleaning member is in the second state relative to the mopping member, the blocking member is folded and at least partially not in contact with the mopping member.

[0032] In some embodiments, the cleaning robot further includes a soft rubber fastener, and one end of the blocking member is connected to the mounting base via the soft rubber fastener.

[0033] In some embodiments, the soft rubber fastener includes a fixing strip and a positioning portion, a first fixing portion, and a second fixing portion disposed on the fixing strip. The fixing strip is located below the mounting base. The positioning portion, the first fixing portion, and the second fixing portion are arranged at intervals along the length direction of the fixing strip. One end of the blocking member is positioned on the fixing strip through the positioning portion and is clamped and fixed between the fixing strip and the mounting base. The fixing strip is connected to the mounting base through the first fixing portion and / or the second fixing portion.

[0034] In some embodiments, the end face of the scraping end is an arc shape that protrudes toward the wiping member.

[0035] Secondly, this disclosure also provides a cleaning robot, which includes a body and drive wheels for providing driving power to propel the body. The cleaning robot further includes a mounting base, a mopping assembly, and a self-cleaning assembly. The mounting base is movably disposed on the body. The mopping assembly includes a mopping member mounted on the mounting base, the mopping member being rotatable relative to the mounting base. The self-cleaning assembly includes a self-cleaning member movably connected to the mounting base, and the self-cleaning member is configured to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member is spaced apart from the mopping member or in contact with the mopping member with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts against the mopping member with a second interference fit, the first interference fit being smaller than the second interference fit. A flexible blocking member is connected between the scraping end of the self-cleaning member and the mounting base, the blocking member being used to prevent foreign objects from entering the connecting end of the self-cleaning member.

[0036] In some embodiments, when the self-cleaning member is in the first state or the second state relative to the mopping member, the blocking member blocks the gap between the mopping member and the self-cleaning member.

[0037] In some embodiments, the self-cleaning component and the blocking component are molded together by a die-casting process.

[0038] In some embodiments, when the self-cleaning member is in the first state relative to the mopping member, the blocking member is unfolded and in contact with the mopping member; when the self-cleaning member is in the second state relative to the mopping member, the blocking member is folded and at least partially not in contact with the mopping member.

[0039] In some embodiments, the cleaning robot further includes a soft rubber fastener, and one end of the blocking member is connected to the mounting base via the soft rubber fastener.

[0040] In some embodiments, the soft rubber fastener includes a fixing strip and a positioning portion, a first fixing portion, and a second fixing portion disposed on the fixing strip. The fixing strip is located below the mounting base. The positioning portion, the first fixing portion, and the second fixing portion are arranged at intervals along the length direction of the fixing strip. One end of the blocking member is positioned on the fixing strip through the positioning portion and is clamped and fixed between the fixing strip and the mounting base. The fixing strip is connected to the mounting base through the first fixing portion and / or the second fixing portion.

[0041] Thirdly, this disclosure provides a cleaning robot, which includes a body and a cleaning module. The body is provided with drive wheels for driving the body forward, and a dust collection chamber for accommodating a dust collection container, which is used to hold dry waste, or the dust collection chamber is used to hold dry waste. The cleaning module includes a mounting base, a mopping assembly, and a self-cleaning assembly. The mounting base is movably disposed on the body. The mopping assembly includes a mopping member mounted on the mounting base, which is rotatable relative to the mounting base. The self-cleaning assembly includes a self-cleaning member movably connected to the mounting base, and the self-cleaning member is configured to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member does not contact the mopping member or contacts it with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts against the mopping member with a second interference fit, wherein the first interference fit is less than the second interference fit. The body is provided with a force-applying part for abutting against the connecting part of the self-cleaning component. The mopping assembly can move between a lowered position and a raised position relative to the body. By moving the mopping assembly relative to the body from the lowered position to the raised position, the connecting part moves toward the force-applying part until it is subjected to a force by the force-applying part, thereby switching the self-cleaning component from a first state to a second state.

[0042] In some embodiments, when the mopping member is in contact with the surface to be cleaned and rotates relative to the body to mop the surface, the self-cleaning member is in the first state relative to the mopping member; when the mopping member is in a raised position relative to the body, the self-cleaning member is in the second state relative to the mopping member to scrape off dirt from the mopping member.

[0043] Fourthly, this disclosure provides a cleaning robot, which includes a body and a cleaning module. The body is provided with drive wheels, which provide driving power to drive the body forward. The cleaning module includes a mounting base, a mopping assembly, and a self-cleaning assembly. The mounting base is movably disposed on the body. The mopping assembly includes a mopping member mounted on the mounting base, which is rotatable relative to the mounting base. The self-cleaning assembly includes a self-cleaning member movably connected to the mounting base, and the self-cleaning member is configured to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member does not contact the mopping member or contacts it with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts against the mopping member with a second interference fit, wherein the first interference fit is less than the second interference fit. In the cleaning robot's mopping mode, the self-cleaning component is in the first state relative to the mopping component; in the cleaning robot's non-mopping mode, the self-cleaning component is in the second state relative to the mopping component, and the mopping component rotates relative to the robot body and the self-cleaning component so that the self-cleaning component scrapes off the dirt on the mopping component.

[0044] In some embodiments, when the mopping member is in contact with the surface to be cleaned and rotates relative to the mounting base and the body to mop the surface to be cleaned, the self-cleaning member is in the first state relative to the mopping member; when the mopping member is in a raised position relative to the body, the self-cleaning member is in the second state relative to the mopping member, and the mopping member rotates relative to the body and the self-cleaning member to scrape off dirt from the mopping member.

[0045] Fifthly, this disclosure provides a cleaning system, which includes a base station and a cleaning robot as described in any of the above embodiments.

[0046] The cleaning robot and cleaning system disclosed herein offer several advantages. Compared to cleaning robots in related technologies, the self-cleaning component of this disclosure exhibits smaller misalignment between the mopping component and the self-cleaning component when cleaning the mopping component, resulting in better cleaning performance. Furthermore, the cleaning module of this disclosure eliminates the need for a wastewater recycling system, freeing users from maintenance. Simultaneously, the base station does not require a complex cleaning tank; the self-cleaning component simply scrapes dirt from the mopping component into a designated drainage location or a simple recess within the base station, simplifying the process, improving cleaning efficiency, and enhancing the user experience.

[0047] Additional aspects and advantages of this disclosure 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 disclosure. Attached Figure Description

[0048] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0049] Figure 1 This is a perspective view of a cleaning module according to some embodiments of the present disclosure;

[0050] Figure 2 yes Figure 1 A three-dimensional schematic diagram of a portion of the cleaning module shown;

[0051] Figure 3 yes Figure 1 The diagram shows a cross-sectional view of the cleaning module taken along line III-III, where the cleaning module's wiping component is in the first state.

[0052] Figure 4 yes Figure 1 A cross-sectional view of the cleaning module taken along line III-III, wherein the mopping component of the cleaning module is in the second state;

[0053] Figure 5 This is a perspective view of a cleaning module according to other embodiments of this disclosure;

[0054] Figure 6 yes Figure 5 The diagram shows a cross-sectional view of the cleaning module along line VI-VI, where the cleaning module's wiping component is in the first state.

[0055] Figure 7 yes Figure 5 The diagram shows a cross-sectional view of the cleaning module along line VI-VI, where the cleaning module's wiping component is in the first state.

[0056] Figure 8 yes Figure 1 or Figure 5 A schematic diagram of part of the cleaning module shown;

[0057] Figure 9 yes Figure 1 or Figure 5 A schematic diagram of part of the cleaning module shown;

[0058] Figure 10 This is a perspective view of a cleaning robot according to certain embodiments of the present disclosure;

[0059] Figure 11(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 disclosure;

[0060] Figure 11(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 disclosure;

[0061] Figure 12(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 disclosure;

[0062] Figure 12(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 disclosure;

[0063] Figure 13 This is a perspective view of a cleaning system according to certain embodiments of the present disclosure.

[0064] Explanation of key component symbols:

[0065] 10000, Cleaning System; 1000, Cleaning Robot; 3000, Base Station; 100, Cleaning Module; 300, Body; 301, Dust Collection Chamber; 400, Drive Wheel; 10, Mounting Base; 30, Mopping Assembly; 31, Mopping Component; 311, First End of Mopping Component; 313, Second End of Mopping Component; 33, First Roller; 331, First Contact Side; 35, Second Roller; 351, Second Contact Side; 37, First Support; 39, Second Support; 36, Second Reset Component; 37, Blocking Component; 38, Soft Adhesive Fixing Components; 381, fixing strip; 383, positioning part; 385, first fixing part; 387, second fixing part; 50, self-cleaning assembly; 51, self-cleaning component; 510, scraping end; 511, connecting part; 512, connecting end; 513, self-cleaning part; 52, operating component; 53, connecting shaft; 55, linkage component; 551, linkage part; 57, first reset component; 571, torsion spring; 60, control device; 61, power module; 63, drive module; 71, drive component; 73, controller; X, width direction of the machine body. Detailed Implementation

[0066] To make the above-described objects, features, and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure will be 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 disclosure. However, this disclosure 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 disclosure. Therefore, this disclosure is not limited to the specific embodiments disclosed below.

[0067] In the description of this disclosure, 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," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure 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. Therefore, they should not be construed as limitations on this disclosure.

[0068] 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 disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0069] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "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 disclosure according to the specific circumstances.

[0070] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact 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.

[0071] 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.

[0072] Compared to cleaning robots with disc-type mopping components, cleaning robots with tracked mopping components offer superior cleaning performance. Some tracked robots in related technologies lack self-cleaning capabilities for their mopping components; cleaning can only be performed by the cleaning structure within the base station after the robot returns, such as by scrapers within the base station washing and drying the components. However, the misalignment between the base station's cleaning structure and the robot's mopping components makes it difficult to ensure effective cleaning. Alternatively, some tracked robots have a dirt collection link and a wastewater bin, and some have a self-cleaning function for their mopping components, collecting dirt while mopping. This requires frequent emptying of the wastewater bin, resulting in a poor user experience. To address this issue, this disclosure provides a cleaning module 100 (… Figure 1 and Figure 5 (as shown), Cleaning Robot 1000 ( Figure 10 (as shown) and cleaning system 10000 ( Figure 13 (As shown).

[0073] Please see Figures 1 to 4 ,or Figures 5 to 7 and combined Figure 10 In a first aspect, embodiments of this disclosure provide a cleaning robot 1000 equipped with a cleaning module 100 (e.g., ...). Figure 10As shown, the cleaning robot 1000 includes a body 300, which is provided with drive wheels 400 for providing driving power to drive the body 300 to move. The cleaning module 100 includes a mounting base 10, a mopping assembly 30, a self-cleaning assembly 50, and a control device 60. The mounting base 10 is mounted on the body 300. The mopping assembly 30 includes a mopping member 31 mounted on the mounting base 10, which is rotatable relative to the mounting base 10. The self-cleaning assembly 50 includes a self-cleaning member 51 disposed on the mounting base 10, which is movably connected to the mounting base 10 and configured to move relative to the mopping member 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning member 51 is spaced apart from the mopping member 31 without contact or in contact with the mopping member 31 with a first interference fit. In the second state, the scraping end 510 of the self-cleaning member 51 abuts against the mopping member 31 with a second interference fit, where the first interference fit is smaller than the second interference fit. The control device 60 is used to control the operating mode of the mopping assembly 30. In mopping mode, the mopping element 31 contacts the surface to be cleaned, and the control device 60 controls the mopping element 31 to rotate relative to the mounting base 10 and the main body 300 to mop the surface. The self-cleaning element 51 is in a first state relative to the mopping element 31. In cleaning mode, the self-cleaning element 51 is in a second state relative to the mopping element 31, and the control device 60 controls the mopping element 31 to rotate relative to the self-cleaning element 51, so that the self-cleaning element 51 scrapes away dirt from the mopping element 31.

[0074] Specifically, the body 300 is a component on the cleaning robot 1000 used to mount other components besides the body 300. Components other than the body 300 in this document include, but are not limited to, the cleaning module 100, the drive wheel 400, and the power module 500 (mentioned below).

[0075] The drive wheel 400 is a structure mounted on the body 300 for driving the body 300 to move on the surface to be cleaned. Taking the forward and backward direction Y of the cleaning robot 1000 as a reference, the cleaning module 100 provided in this embodiment can be located behind the drive wheel 400 of the cleaning robot 1000.

[0076] The cleaning module 100 is applied to the cleaning robot 1000 and participates in cleaning the surface to be cleaned by providing mopping force. The cleaning module 100 is used to clean the surface to be cleaned. The surface to be cleaned can be, but is not limited to, a floor, marble surface, or glass surface. This disclosure uses a floor as an example to illustrate the surface to be cleaned. The cleaning robot 1000 is a device for cleaning the surface to be cleaned. For example, the cleaning robot 1000 can include a sweeping robot, a mopping robot, and a sweeping and mopping robot. A sweeping robot can be used to sweep the surface to be cleaned, a mopping robot can be used to wipe the surface to be cleaned, and a sweeping and mopping robot can integrate the functions of the above two robots, that is, a sweeping and mopping robot can be used to sweep the surface to be cleaned, and a sweeping and mopping robot can also be used to wipe the surface to be cleaned. The cleaning robot 1000 of this disclosure is described using a sweeping and mopping robot as an example. Of course, regardless of the type of cleaning robot 1000, the cleaning module 100 of the cleaning robot 1000 includes a mounting base 10, a mopping component 30, a self-cleaning component 50, and a control device 60.

[0077] Mounting base 10 is a component used to mount other components of the cleaning module 100 besides itself (such as the mopping assembly 30, the self-cleaning assembly 50, and the control device 60). Mounting base 10 onto the body 300 specifically means that it can be detachably or non-detachably mounted. For example, mounting base 10 is movably connected to the body 10; for instance, mounting base 10 can be raised and lowered relative to the body 300 in the height direction Z, and mounting base 10 can be moved relative to the body 100 in the width direction X, thereby enabling the cleaning module 100 to be raised and lowered relative to the body 300 in the height direction Z and moved relative to the body in the width direction X.

[0078] The mopping assembly 30 is a structure used to clean the surface to be cleaned. Specifically, the mopping assembly 30 is a component in the cleaning module 100 that specifically provides mopping force to clean the surface to be cleaned. The mopping member 31 is mounted on the mounting base 10 in a detachable or non-detachable manner, thereby indirectly mounting the mopping member 31 onto the body 300. For example, the connection between the mopping member 31 and the mounting base 10 can be a movable connection; for instance, the mopping member 31 can rotate relative to the mounting base 10. When the cleaning module 100 cleans the surface to be cleaned, the mopping member 31 always contacts the surface and wipes it clean by rotating. During the rotation of the mopping member 31, it can remove dirt from the surface to be cleaned, keeping the surface clean. The dirt here can include liquid dirt and solid dirt. In addition, the mopping component 31 includes, but is not limited to, disposable electrostatic mops, disposable wet mops, or reusable fabric mops.

[0079] Please see Figure 3 and Figure 4 ,or Figure 6 and Figure 7 The mopping member 31 is rotatable along a first direction R1 or a second direction R2, where the first direction R1 and the second direction R2 are opposite. The self-cleaning assembly 50 includes a self-cleaning member 51. In some embodiments, when the mopping member 31 rotates along the first direction R1, it cleans the surface to be cleaned; when the mopping member 31 rotates along the second direction R2, the self-cleaning member 51 contacts the mopping member 31 to clean it. In other embodiments, when the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 cleans the mopping member 31. When the mopping member 31 rotates along the second direction R2, it cleans the surface to be cleaned. In still other embodiments, both rotation along the first direction R1 and rotation along the second direction R2 clean the surface to be cleaned.

[0080] Please see Figure 3 and Figure 4 ,or Figure 6 and Figure 7 In some embodiments, the mopping assembly 30 includes a mounting base 10, the mopping element 31 of the mopping assembly 30 is mounted on the mounting base 10, and the self-cleaning assembly 50 is mounted on the mounting base 10. That is, both the mopping element 31 and the self-cleaning assembly 50 of the mopping assembly 30 are mounted on the mounting base 10, and the self-cleaning assembly 50 can clean the mopping assembly 30.

[0081] Please see Figure 3 and Figure 4 ,or Figure 6 and Figure 7The mopping component 31 includes a tracked mopping component, a roller mopping component, or a roller brush. The tracked mopping component, roller mopping component, and roller brush can all rotate to clean the surface to be cleaned. The rotation axis of the mopping component 31 is parallel to the surface to be cleaned and can also be parallel to the width direction X of the machine body. In one embodiment, the mopping component 31 is a tracked mopping component. In this case, the cleaning robot 1000 is a tracked cleaning robot, specifically a tracked mopping robot or a tracked sweeping and mopping robot. The contact area between the mopping component 31 and the surface to be cleaned is relatively large, resulting in a better cleaning effect and higher cleaning efficiency during rotation. Simultaneously, the tracked mopping component with a larger contact area has a larger dirt-holding capacity and is less prone to hair entanglement. In other embodiments, the mopping component 31 is a roller mopping component. In this case, the cleaning robot 1000 is a roller cleaning robot, specifically a roller mopping robot or a roller sweeping and mopping robot. In another embodiment, the mopping component 31 is a roller brush. In this case, the cleaning robot 1000 is a roller brush cleaning robot, specifically a roller brush sweeping robot. The roller brush is relatively small, thus the overall size of the cleaning module 100 can be small, making the cleaning module 100 easy to transport and store. The mopping component 31 of this disclosure is illustrated using a tracked mopping component 31 as an example. When the cleaning robot 1000 is a tracked sweeping and mopping robot, a roller sweeping and mopping robot, or a roller brush sweeping robot, the body 300 is provided with a dust collection chamber 301. The dust collection chamber 301 is used to accommodate a dust collection container, which is used to accommodate dry waste; alternatively, the dust collection chamber 301 is used to accommodate dry waste.

[0082] The self-cleaning component 50 is a structure used to clean the mop 31. After the mop 31 has cleaned a certain area of ​​the surface to be cleaned, some dirt will remain on the mop 31, at which point it needs to be cleaned. After cleaning, the mop 31 continues to clean the surface to be cleaned, thus achieving a better cleaning effect and preventing dirt from falling onto the surface. The cleaning component 51 includes a scraping end 510 and a connecting end 512. The scraping end 510 is a free end and is close to the mop 31 for contacting it. In some embodiments, the end face of the scraping end 510 is an arc shape protruding towards the mop 31, so that the scraping end 510 can smoothly scrape away dirt from the mop 31 and is less likely to trap dirt. The connecting end 512 is the end that is movably connected to the mounting base 10. The self-cleaning component 51 is configured to move relative to the mop 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning component 51 and the mopping component 31 are either not in contact or are in contact with each other at a first interference fit (e.g., Figure 3 or Figure 6As shown, in the second state, the scraping end 510 of the self-cleaning member 51 abuts against the mopping member 31 with a second interference amount (as Figure 4 or Figure 7 shown). The first interference amount is less than the second interference amount.

[0083] It should be noted that the "interference amount" in this article is the contact depth between the self-cleaning member 51 and the mopping member 31. Specifically, the mopping member 31 is a structure with a certain thickness. The contact depth between the self-cleaning member 51 and the mopping member 31 means: when the self-cleaning member 51 and the mopping member 31 are in cooperation (contact), along the thickness direction of the mopping member 31, the deformation amount of the mopping member 31 squeezed by the self-cleaning member 51. The first interference amount being less than the second interference amount means: when the self-cleaning member 51 is in the first state relative to the mopping member 31 (as Figure 3 or Figure 6 shown), when the self-cleaning member 51 and the mopping member 31 are in contact, along the thickness direction of the mopping member 31, the value of the deformation amount of the mopping member 31 squeezed by the self-cleaning member 51 is less than that when the self-cleaning member 51 is in the second state relative to the mopping member 31 (as Figure 4 or Figure 7 shown), when the self-cleaning member 51 and the mopping member 31 are in contact, along the thickness direction of the mopping member 31, the value of the deformation amount of the mopping member 31 squeezed by the self-cleaning member 51.

[0084] Exemplarily, as Figure 3 or Figure 6 shown, when the self-cleaning member 51 is in the first state relative to the mopping member 31, the value range of the contact depth (first interference amount) between the self-cleaning member 51 and the mopping member 31 is a first preset range, and the first preset range can be [0, a]. As Figure 4 or Figure 7 shown, when the self-cleaning member 51 is in the second state relative to the mopping member 31, the value range of the contact depth (second interference amount) between the self-cleaning member 51 and the mopping member 31 is a second preset range, and the second preset range can be [b, c]. The first preset range and the second preset range can satisfy: a < b. When the value of the contact depth between the self-cleaning member 51 and the mopping member 31 is less than a, it is difficult for the self-cleaning member 51 to scrape off the dirt on the mopping member 31 when the self-cleaning member 51 and the mopping member 31 are in contact. When the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is within [b, c], the self-cleaning member 51 can scrape off the dirt on the mopping member 31 to clean the mopping member 31.

[0085] In some embodiments, in the mopping mode of the mopping assembly 30, the rotation direction of the mopping member 31 is the first direction R1 (as Figure 3 and Figure 6As shown); in the mopping and wiping cleaning mode, the rotation direction of the mopping and wiping component 31 is the second direction R2 (as shown). Figure 4 and Figure 7 (As shown). When the mopping component 31 rotates along the second direction R2, the scraping end 510 of the self-cleaning component 51 tends to approach the mopping component 31. Therefore, when the mopping assembly 30 is in the mopping component cleaning mode, controlling the rotation direction of the mopping component 31 to the second direction R2 can make the self-cleaning component 51 better maintain the state of scraping contact with the mopping component 31, thereby better ensuring the dirt removal effect of the scraping end 510 of the self-cleaning component 51 on the mopping component 31.

[0086] like Figure 3 or Figure 6 As shown, when the mopping component 31 rotates along the first direction R1, the self-cleaning component 51 does not contact the mopping component 31 or contacts it with a first interference fit (i.e., the contact depth between the two is shallow). At this time, the deformation of the mopping component 31 squeezed by the self-cleaning component 51 along the thickness direction of the mopping component 31 is small. During the rotation of the mopping component 31 along the first direction R1, the self-cleaning component 51 is difficult to scrape off the dirt from the mopping component 31, thus avoiding the problem of dirt scraped off by the self-cleaning component 51 falling onto the already cleaned surface to be cleaned. The cleaning module 100 has a better cleaning effect on the surface to be cleaned. Moreover, the friction between the self-cleaning component 51 and the mopping component 31 is small at this time, and the rotation of the mopping component 31 is smoother, thus ensuring that the mopping component 31 has a better cleaning effect on the surface to be cleaned.

[0087] like Figure 4 or Figure 7 As shown, when the mopping member 31 rotates along the second direction R2, the self-cleaning member 51 and the mopping member 31 abut with the second interference (i.e., the contact depth between the two is relatively deep). At this time, along the thickness direction of the mopping member 31, the deformation of the mopping member 31 squeezed by the self-cleaning member 51 is relatively large, so the self-cleaning member 51 can scrape off the dirt of the mopping member 31, and the self-cleaning member 51 has a better cleaning effect on the mopping member 31.

[0088] The control device 60 is a device in the cleaning module 100 used to control the operating mode of the mopping assembly 30. Specifically, the operating modes of the mopping assembly 30 include at least two: a mopping mode and a non-mopping mode. Correspondingly, the control device 60 includes a power unit 61, which is a drive component for driving the mopping component 31 to rotate. In the mopping mode, the mopping component 31 contacts the surface to be cleaned, and the control device 60 (power unit 61) controls (i.e. drives) the mopping component 31 to rotate relative to the mounting base 10 and the body 300 to mop the surface to be cleaned. At this time, the self-cleaning component 51 is in a first state relative to the mopping component 31. The non-mopping mode includes at least the cleaning mode of the mop 31. In the cleaning mode of the mop 31, the self-cleaning component 51 is in a second state relative to the mop 31. The control device 60 (power device 61) controls (i.e. drives) the mop 31 to rotate relative to the self-cleaning component 51 so that the self-cleaning component 51 scrapes off the dirt on the mop 31.

[0089] When the mopping component 31 does not need cleaning and the mopping assembly 30 is in mopping mode, the self-cleaning component 51 is in a first state relative to the mopping component 31, that is, the scraping end 510 of the self-cleaning component 51 does not contact the mopping component 31 or abuts with a first interference fit. The control device 60 controls the mopping component 31 to rotate relative to the self-cleaning component 51 along a first direction R1 to mop the surface to be cleaned. When the mopping component 31 needs cleaning (the mopping assembly 30 is in the mopping component 31 cleaning mode), the self-cleaning component 51 is in a second state relative to the mopping component 31, that is, the scraping end 510 of the self-cleaning component 51 abuts with the mopping component 31 with a second interference fit. The control device 60 can control the drive to rotate the mopping component 31 relative to the self-cleaning component 51 along a second direction R2 so that the self-cleaning component 51 scrapes off the dirt on the mopping component 31. In other words, when the self-cleaning component 51 cleans the mop component 31, the self-cleaning component 51 remains stationary relative to the mounting base 10, while the mop component 31 can rotate relative to the mounting base 10 along the second direction R2, thereby allowing the mop component 31 to rotate relative to the self-cleaning component 51. When the mop component 31 rotates relative to the self-cleaning component 51 along the second direction R2, dirt on the mop component 31 can be scraped off by the self-cleaning component 51. In one embodiment, the cleaning robot 1000 can move to a designated drainage position and then drain the waste. At this time, the mop component 31 rotates along the second direction R2, and the dirt on the mop component 31 is scraped off by the self-cleaning component 51. The scraped-off dirt can be discharged into the designated drainage position under the action of gravity. In another embodiment, after the cleaning robot 1000 returns to the base station 3000, it performs waste removal. At this time, the mopping component 31 rotates along the second direction R2, and the dirt on the mopping component 31 is scraped off by the self-cleaning component 51. The scraped dirt can be discharged into the base station 3000 under the action of gravity, and the base station 3000 will process the dirt.

[0090] In this regard, please combine Figure 13The base station 3000 is a device used for the maintenance and upkeep of the cleaning robot 1000. For example, the base station 3000 can clean the cleaning robot 1000 and charge it. Furthermore, the base station 3000 may also have at least one of the following functions: replenishing water, draining water, and collecting dust from the cleaning robot 1000. For example, when the cleaning robot 1000's battery is low, it returns to the base station 3000 to recharge. When the cleaning robot 1000 is fully charged, it can leave the base station 3000 and continue cleaning the surface to be cleaned. When the cleaning robot 1000 needs to drain water (due to dirt), it returns to the base station 3000 to discharge the wastewater, and then leaves the base station 3000 to continue cleaning the surface to be cleaned.

[0091] Furthermore, in the width direction X of the machine body, the width of the self-cleaning component 51 can be greater than or equal to the length of the mopping component 31. In this case, in the cleaning mode of the mopping component 31, in the length direction X of the mopping component 31, the self-cleaning component 51 can contact the mopping component 31 throughout its length range and scrape off the dirt on the mopping component 31, thus achieving a better cleaning effect on the mopping component 31.

[0092] In the cleaning module 100 of this embodiment, both the mopping component 30 and the self-cleaning component 50 are mounted on the mounting base 10. The self-cleaning component 50 can clean the mopping component 30, and the relative positions of the self-cleaning component 50 and the mopping component 30 remain essentially unchanged. Compared with cleaning robots in related technologies, the self-cleaning component 50 of this disclosure has a smaller matching error between the mopping component 30 and the self-cleaning component 50 when cleaning the mopping component 30, resulting in a better cleaning effect. On the other hand, the cleaning module 100 of this embodiment does not require a wastewater recycling system, and users do not need to maintain a wastewater recycling system. At the same time, the base station 3000 does not need to be equipped with a complex cleaning tank. The self-cleaning component 51 can directly scrape the dirt on the mopping component 31 into a designated sewage discharge position or a relatively simple groove in the base station, which is convenient and simple, improves the cleaning efficiency of the mopping component 31, and also improves the user experience.

[0093] The cleaning module 100 will be further explained below with reference to the accompanying drawings.

[0094] Please see Figure 3 and Figure 4 ,or Figure 6 and Figure 7In some embodiments, in a first state relative to the mopping member 31, the scraping end 510 of the self-cleaning member 51 is spaced apart from the mopping member 31 and does not contact it; in a second state relative to the mopping member 31, the scraping end 510 of the self-cleaning member 51 abuts against the mopping member 31.

[0095] To enable the self-cleaning component 51 to switch between a first state and a second state relative to the mopping component 31.

[0096] Please see Figure 1 , Figure 5 and Figure 10 In some embodiments, the mopping assembly 30 is configured to be movable relative to the body 300 between a lowered position and an elevated position. When the mopping assembly 30 is in the cleaning mode of the mopping member 31, the control device 60 controls the mopping assembly 30 to be in the elevated position relative to the body 300.

[0097] Specifically, the control device 60 is also used to control (drive) the mopping assembly 30 to move relative to the body 300 from a lowered position to an elevated position, thereby switching the self-cleaning component 51 relative to the mopping component 31 from a first state to a second state. More specifically, the control device 60 also includes a drive module 63, which is a drive component for driving the mopping assembly 30 to move up and down relative to the body 300 along the height direction Z of the body 300. When the self-cleaning component 51 is in the first state relative to the mopping component 31 (the scraping end 510 of the self-cleaning component 51 does not contact the mopping component 31 or contacts it with a first interference fit), the mopping assembly 30 is in a lowered position relative to the body 300; when the self-cleaning component 51 is in the second state relative to the mopping component 31 (the scraping end 510 of the self-cleaning component 51 abuts the mopping component 31 with a second interference fit, and the first interference fit is less than the second interference fit), the mopping assembly 30 is in a raised position relative to the body 300, that is, compared with the self-cleaning component 51 being in the first state relative to the mopping component 31, the mopping assembly 30 is further away from the surface to be cleaned when the self-cleaning component 51 is in the second state relative to the mopping component 31. In some embodiments, the drive module 63 may be mounted on the body 300 and connected to the mounting base 10. In this case, the drive module 63 drives the entire mounting base 10 to move up and down along the height direction Z of the body 300, thereby causing the wiping assembly 30 on the mounting base 10 to move up and down relative to the body 300 along the height direction Z of the body 300.

[0098] In the cleaning module 100 of this embodiment, the self-cleaning component 51 can switch between a first state and a second state relative to the wiping component 31 by driving the wiping component 30 to rise and fall through the drive module 63. Since the drive module 63 drives the wiping component 30 to rise and fall, it can not only change the pressure of the wiping component 30 on the ground to enable the wiping component 30 to perform different cleaning operations on different surfaces to be cleaned, but also change the distance between the wiping component 30 and the surface to be cleaned, which can facilitate the cleaning robot 1000 to cross obstacles. That is, the drive module 63 takes into account multiple functions, and the cleaning module 100 does not need to set up a separate device for the wiping component 31 to switch between the first state and the second state, making the overall structure of the cleaning module 100 simple and the cost low.

[0099] Please see Figures 2 to 4 Or refer to Figure 2 , Figure 6 and Figure 7 In some embodiments, the self-cleaning assembly 50 further includes an operating element 52 connected to the self-cleaning component 51. The operating element 52 controls (or adjusts) the relative position of the self-cleaning component 51 and the mopping component 31, so that the self-cleaning component 51 switches from a first state to a second state relative to the mopping component 31. More specifically, the self-cleaning component 51 is rotatably connected to the mounting base 10, and the self-cleaning component 51 is rotated relative to the mounting base 10 by the operating element 52 to switch between the first state and the second state.

[0100] In some other embodiments, the cleaning module 100 may be provided with both the drive module 63 and the operating member 52. In this case, the operating member 52 is disposed on the end of the self-cleaning member 51 opposite to the scraping end 510 (hereinafter the connecting end 512) and protrudes from the mounting base 10. When the drive module 63 drives the wiping assembly 30 to move from the lowered position to the raised position relative to the body 300, the body 300 contacts the operating member 52 and applies force to the operating member 52 so that the operating member 52 drives the self-cleaning member 51 to rotate and switch from the first state to the second state.

[0101] In one embodiment, the operating member 52 may be a lever. When the mopping member 31 rotates along the first direction R1, the lever drives the self-cleaning member 51 connected to it to rotate, thereby controlling the distance between the self-cleaning member 51 and the mopping member 31, or controlling the self-cleaning member 51 to contact the mopping member 31, and the contact depth is within a first preset range. At this time, the self-cleaning member 51 is in a first state relative to the mopping member 31. When the mopping member 31 rotates along the second direction R2, the lever also drives the self-cleaning member 51 connected to it to rotate (the rotation direction here is different from the direction in which the lever drives the self-cleaning member 51 connected to it to rotate), thereby controlling the self-cleaning member 51 to contact the mopping member 31, and the contact depth is within a second preset range. At this time, the self-cleaning member 51 is in a second state relative to the mopping member 31.

[0102] In one example, the lever can be manually controlled. When the wiping component 31 needs to rotate in the first direction R1, the user manually adjusts the lever, which causes the self-cleaning component 51 connected to it to rotate (e.g., from...). Figures 7 to 6 Rotate clockwise, or from Figures 4 to 3 The lever can be rotated clockwise to control the distance between the self-cleaning component 51 and the mopping component 31, or the lever can be used to control the contact between the self-cleaning component 51 and the mopping component 31, and the contact depth is within a first preset range. When the mopping component 31 needs to rotate in the second direction R2, the user manually adjusts the lever, which drives the self-cleaning component 51 connected to it to rotate (e.g., from clockwise rotation). Figures 6 to 7 Rotating counterclockwise, or from Figures 3 to 4 The self-cleaning component 51 is rotated counterclockwise to control the contact between the self-cleaning component 51 and the mopping component 31, and the contact depth is within a second preset range. In one case, the cleaning module 100 does not need to have a complex drive module 63. In this case, instead of using the drive module 63 to drive the mopping component 30 to rise and fall to achieve the switching between the first and second states of the self-cleaning component 51 and the mopping component 31, the self-cleaning component 51 and the mopping component 31 are switched between the first and second states by moving a lever. The cleaning module 100 of this embodiment does not need to have a complex drive module 63, the lever has a simple structure, and the switching cost is low.

[0103] In another example, the cleaning module 100 may also include a drive unit 71 and a controller 73, with an operating element 52 connected to the drive unit 71 and the drive unit 71 signal-connected to the controller 73. If the operating element 52 is a lever, the lever can be controlled by the drive unit 71.

[0104] Specifically, the drive unit 71 is a structure used to control the working state of the operating unit 52. The drive unit 71 can be a motor, including but not limited to DC servo motors, AC servo motors, and stepper motors. The motor is connected to the operating unit 52 and is used to control the operating unit 52 to adjust the contact depth between the self-cleaning unit 51 and the mopping unit 31.

[0105] The controller 73 is communicatively connected to the drive unit 71. The controller 73 issues commands to the drive unit 71, causing the drive unit 71 to control the operating state of the operating unit 52. The communication connection between the drive unit 71 and the controller 73 can be achieved through methods including, but not limited to, Bluetooth, wireless broadband, Near Field Communication (NFC), and infrared communication. The communication connection allows electromagnetic waves to propagate through space, enabling the controller 73 to transmit command information to the drive unit 71. This communication connection offers fast information transmission speeds, eliminates the need for wires connecting the two ends requiring communication, and reduces costs.

[0106] In one example, when the controller 73 detects that the wiping component 31 rotates along the first direction R1, or when the drive module 63 drives the wiping assembly 30 to move from a raised position to a lowered position relative to the body 300, the controller 73 issues a first control command to the drive component 71. Upon receiving the first control command, the drive component 71 controls the operating component 52, which adjusts the contact depth between the self-cleaning component 51 and the wiping component 31 to create a gap between them, or to ensure that the contact depth between the self-cleaning component 51 and the wiping component 31 is within a first preset range. When the controller 73 detects that the wiping component 31 rotates along the second direction R2, or when the drive module 63 drives the wiping assembly 30 to move from a lowered position to a raised position relative to the body 300, the controller 73 issues a second control command to the drive component 71. After receiving the second control command, the drive unit 71 controls the operation unit 52, thereby the operation unit 52 adjusts the contact depth between the self-cleaning unit 51 and the mopping unit 31 so that the self-cleaning unit 51 contacts the mopping unit 31, and the contact depth is within the second preset range.

[0107] In another example, the user can input commands to the controller 73, which may include: the mopping component 31 cleans the surface to be cleaned, and the self-cleaning component 51 cleans the mopping component 31. When the controller 73 receives the command "the mopping component 31 cleans the surface to be cleaned," and the mopping component 31 rotates along the first direction R1, or when the drive module 63 drives the mopping assembly 30 to move relative to the body 300 from a raised position to a lowered position, the controller 73 issues a first control command to the drive component 71. After receiving the first control command, the drive component 71 controls the operating component 52, thereby adjusting the contact depth between the self-cleaning component 51 and the mopping component 31, so that the self-cleaning component 51 and the mopping component 31 are spaced apart, or the contact depth between the self-cleaning component 51 and the mopping component 31 is within a first preset range. When the controller 73 receives the instruction "self-cleaning component 51 cleans mopping component 31" and the mopping component 31 rotates along the second direction R2, or when the drive module 63 drives the mopping assembly 30 to move from the lowered position to the raised position relative to the body 300, the controller 73 issues a second control instruction to the drive component 71. After receiving the second control instruction, the drive component 71 controls the operating component 52, thereby adjusting the contact depth between the self-cleaning component 51 and the mopping component 31 so that the self-cleaning component 51 contacts the mopping component 31, and the contact depth is within a second preset range.

[0108] In another example, the cleaning module 100 also includes a detector (not shown), which is communicatively connected to the controller 73. The detector is used to detect the rotational state of the mopping component 31 or the height position of the mopping assembly 30 relative to the body 300. When the detector detects that the mopping component 31 is rotating along a first direction R1, or when the drive module 63 drives the mopping assembly 30 to move from a lowered position to a raised position relative to the body 300, the detector transmits a signal to the controller 73. After receiving the signal transmitted by the detector, the controller 73 issues a first control command to the drive component 71. After receiving the first control command, the drive component 71 controls the operating component 52, thereby adjusting the contact depth between the self-cleaning component 51 and the mopping component 31, so that the self-cleaning component 51 and the mopping component 31 are spaced apart, or the contact depth between the self-cleaning component 51 and the mopping component 31 is within a first preset range. When the detector detects that the wiping component 31 rotates along the second direction R2, or when the drive module 63 drives the wiping assembly 30 to move from the lowered position to the raised position relative to the body 300, the detector transmits a signal to the controller 73. After receiving the signal transmitted by the detector, the controller 73 issues a second control command to the drive component 71. After receiving the second control command, the drive component 71 controls the operating component 52, thereby adjusting the contact depth between the self-cleaning component 51 and the wiping component 31 so that the self-cleaning component 51 contacts the wiping component 31, and the contact depth value is within a second preset range.

[0109] Please see Figure 3 and Figure 4 In some embodiments, the self-cleaning assembly 50 further includes a connecting shaft 53 and a first reset member 57. The self-cleaning member 51 is rotatably mounted on the mounting base 10 via the connecting shaft 53. The first reset member 57 is sleeved on the connecting shaft 53, with one end of the first reset member 57 connected to the self-cleaning member 51 and the other end connected to the mounting base 10. When the mopping assembly 30 is in mopping mode, the first reset member 57 is compressed (e.g., ...). Figure 3 As shown); the wiping assembly 30 moves relative to the body 300 from a lowered position to a raised position (e.g., from a lowered position to a raised position). Figure 3 Switch to Figure 4 During the process, the first reset member 57 is used to reset the self-cleaning member 51 to its initial position (with a tendency to reset the self-cleaning member 51 to its initial position), thereby placing the self-cleaning member 51 in a first state (such as...). Figure 3 (As shown).

[0110] In some embodiments, the first reset member 57 may be a torsion spring 571. When the mopping assembly 30 is in mopping mode (at which time the mopping member 31 rotates along the first direction R1), such as... Figure 3As shown, when the wiping component 31 rotates along the first direction R1 (counterclockwise), it pushes the self-cleaning component 51 away, causing the torsion spring 571 to be compressed. When the wiping component 31 needs cleaning, the mounting base 10, driven by the drive module 63, lifts the wiping component 30. The protruding ribs on the body 300 press against the operating component 52, which tends to drive the self-cleaning component 51 connected to it to rotate along the first direction R1 (counterclockwise). When the wiping component 30 moves from the lowered position to the raised position relative to the body 300, and the wiping component 31 rotates along the second direction R2 (clockwise), the self-cleaning component 51 is pushed to the pre-limited position by the clockwise rotation force of the wiping component 31, and remains in the corresponding position when the wiping component 31 does not rotate counterclockwise. At the same time, the first reset component 57 is used to reset the self-cleaning component 51 to the initial position, so that the self-cleaning component 51 is in the first state (e.g., Figure 3 (As shown).

[0111] Please refer to the following: Figures 1 to 7 In some embodiments, the mopping assembly 30 is configured to be movable relative to the body 300 between a lowered position and an raised position. When the cleaning robot 1000 is moving over the surface to be cleaned and the mopping assembly 30 is in the raised state, the self-cleaning component 51 is in a second state relative to the mopping assembly 31, and the mopping assembly 31 does not rotate. For example, when the cleaning robot 1000 is cleaning the surface to be cleaned normally, such as when only sweeping, it needs to raise the mopping assembly 31 to achieve dry and wet separation and facilitate obstacle crossing. To prevent the wastewater on the mopping assembly 31 from being scraped off by the scraper when the mopping assembly 31 is in the raised state, the control device 60 controls the mopping assembly 31 not to rotate (i.e., the power module 61 does not drive the mopping assembly 31 to rotate). In another embodiment, when the cleaning robot 1000 is docked to the base station 3000 and the mopping assembly 30 is in the raised state, the self-cleaning component 51 is in a second state relative to the mopping assembly 31, and the mopping assembly 31 rotates to scrape off the dirt on the mopping assembly 31.

[0112] Furthermore, as mentioned above, in the mopping mode, the rotation direction of the mopping component 31 is the first direction R1; in the cleaning mode, the rotation direction of the mopping component 31 is the second direction R2; the first direction R1 and the second direction R2 are opposite. However, when the cleaning robot 1000 is moving, the first direction R1 is opposite to the rotation direction of the drive wheel 400.

[0113] Please see Figures 6 to 7In other embodiments, the self-cleaning component 51 switches between the first and second states relative to the mopping component 31 simply by rotating the mopping component 31 from the first direction R1 to the second direction R2. In this case, the mopping assembly 30 does not need to move relative to the body 300 between the lowered and raised positions.

[0114] Furthermore, the self-cleaning component 50 may also include a connecting shaft 53 and a linkage 55. The self-cleaning component 51 is rotatably mounted on the mounting base 10 via the connecting shaft 53. Both the linkage 55 and the self-cleaning component 51 are disposed on the connecting shaft 53, and the linkage 55 always maintains contact with the mopping component 31.

[0115] Specifically, both the self-cleaning component 51 and the linkage component 55 are fixedly connected to the connecting shaft 53. The connecting shaft 53 is a structure used to drive the self-cleaning component 51 and the linkage component 55 to rotate relative to the mounting base 10. The linkage component 55 is used to contact the mopping component 31. When the mopping component 31 rotates, the linkage component 55 can drive the connecting shaft 53 and the self-cleaning component 51 to rotate together, thereby automatically adjusting the contact depth between the self-cleaning component 51 and the mopping component 31.

[0116] When the linkage 55 contacts the mopping member 31, and the mopping member 31 rotates along the first direction R1, the linkage 55 tends to rotate in the second direction R2 due to the friction between the mopping member 31 and the linkage 55. The linkage 55 transmits the steering force to the connecting shaft 53, which then transmits the steering force to the self-cleaning member 51, causing the self-cleaning member 51 to tend to rotate in the second direction R2. As the self-cleaning member 51 tends to rotate in the second direction R2, it tends to move away from the mopping member 31, thus maintaining a distance between the self-cleaning member 51 and the mopping member 31, or maintaining the contact depth between the self-cleaning member 51 and the mopping member 31 within a first preset range.

[0117] When the mopping member 31 rotates along the second direction R2, the linkage member 55 can rotate along the first direction R1 under the action of the friction between the mopping member 31 and the linkage member 55. The linkage member 55 transmits the steering force to the connecting shaft 53, and the connecting shaft 53 then transmits the steering force to the self-cleaning member 51, so that the self-cleaning member 51 can rotate along the first direction R1. When the self-cleaning member 51 rotates along the first direction R1, the self-cleaning member 51 moves closer to the mopping member 31, so that the contact depth between the self-cleaning member 51 and the mopping member 31 can be maintained within a second preset range, and the self-cleaning member 51 can clean the mopping member 31.

[0118] Please continue reading. Figure 6 and Figure 7, in some embodiments, the contact depth between the linkage member 55 and the mopping member 31 is less than the contact depth between the self-cleaning member 51 and the mopping member 31 when cleaning the mopping member 31.

[0119] Exemplarily, when the contact depth between the linkage member 55 and the mopping member 31 takes the value of d, the value of d can satisfy: d < b. At this time, the contact depth between the linkage member 55 and the mopping member 31 is relatively shallow, and the linkage member 55 will not scrape off the dirt on the mopping member 31, thus avoiding the problem that the dirt falls onto the surface to be cleaned that has already been cleaned, and the cleaning effect of the cleaning module 100 on the surface to be cleaned is better.

[0120] In some other embodiments, when the mopping member 31 rotates along the first direction R1, the value of the contact depth between the linkage member 55 and the mopping member 31 is within a second preset range. Exemplarily, when the contact depth between the linkage member 55 and the mopping member 31 takes the value of d, the value of d can satisfy: b ≥ d ≥ c. At this time, when the mopping member 31 rotates along the first direction R1, the linkage member 55 can scrape off the dirt on the mopping member 31, and the scraped dirt can enter the sewage tank of the cleaning robot 1000 and then enter the sewage box from the sewage tank. The mopping member 31 can maintain a relatively clean state, and the cleaning effect of the mopping member 31 on the surface to be cleaned is better. When the mopping member 31 rotates along the second direction R2, the linkage member 55 and the self-cleaning member 51 can jointly scrape off the dirt on the mopping member 31, and the cleaning efficiency of the mopping member 31 is higher.

[0121] Please refer to Figure 6 and Figure 7 , in some embodiments, when the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 is at the initial position of the mopping member 31. When the self-cleaning member 51 is at the initial position of the mopping member 31, the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is within a first preset range.

[0122] Please refer to Figure 6 and Figure 7 , in some embodiments, the self-cleaning assembly 50 further includes a first reset member 57. The first reset member 57 is sleeved on the connecting shaft 53. One end of the first reset member 57 is connected to the linkage member 55 or the self-cleaning member 51, and the other end of the first reset member 57 is connected to the mounting base 10. The first reset member 57 is used to make the connecting shaft 53 drive the self-cleaning member 51 to reset to the initial position when the mopping member 31 rotates along the second direction R2 and switches to rotate along the first direction R1.

[0123] Specifically, in one embodiment, one end of the first reset member 57 is connected to the linkage member 55, and the other end is connected to the mounting base 10. When the mopping member 31 rotates along the second direction R2, the dirt on the mopping member 31 is scraped off by the self-cleaning member 51. After the mopping member 31 has finished cleaning, it switches to rotating along the first direction R1 to continue cleaning the surface to be cleaned. During the process of the mopping member 31 switching from rotating along the second direction R2 to rotating along the first direction R1, the first reset member 57 drives the linkage member 55 to reset to the initial position. The linkage member 55 transmits the steering force to the connecting shaft 53, and the connecting shaft 53 then transmits the steering force to the self-cleaning member 51, so that the connecting shaft 53 can drive the linkage member 55 and the self-cleaning member 51 to rotate together to the initial position. At this time, the way the self-cleaning member 51 resets to the initial position is relatively simple, without the need to add other components, and the structure of the self-cleaning component 50 is relatively simple. Moreover, the self-cleaning member 51 can achieve automatic reset without manual operation by the user, resulting in a better user experience.

[0124] In another embodiment, one end of the first reset member 57 is connected to the self-cleaning member 51, and the other end is connected to the mounting base 10. When the mopping member 31 rotates along the second direction R2, the dirt on the mopping member 31 is scraped off by the self-cleaning member 51. After cleaning, the mopping member 31 switches to rotating along the first direction R1 to continue cleaning the surface to be cleaned. During the process of switching from rotating along the second direction R2 to rotating along the first direction R1, the first reset member 57 drives the self-cleaning member 51 to reset to its initial position. The self-cleaning member 51 transmits the steering force to the connecting shaft 53, which then transmits the steering force to the linkage member 55. Thus, the connecting shaft 53 drives the linkage member 55 and the self-cleaning member 51 to rotate together to their initial positions. In this case, the method of resetting the self-cleaning member 51 to its initial position is relatively simple, requiring no additional components, and the structure of the self-cleaning assembly 50 is relatively simple. Furthermore, the self-cleaning member 51 can achieve automatic reset without manual operation by the user, resulting in a better user experience.

[0125] Please see Figure 6 and Figure 7 Furthermore, in some embodiments, the first reset member 57 includes a torsion spring 571, which is compressed when the mopping member 31 rotates along the second direction R2, and the self-cleaning member 51 contacts the mopping member 31 to clean the mopping member 31; when the mopping member 31 rotates along the first direction R1, the torsion spring 571 is in its natural state.

[0126] The torsion spring 571 is sleeved on the connecting shaft 53. One end of the torsion spring 571 is connected to the linkage member 55 or the self-cleaning member 51, and the other end of the torsion spring 571 is connected to the mounting base 10. When the wiping member 31 rotates along the first direction R1, the torsion spring 571 is in its natural state and does not apply external force to the self-cleaning member 51. Therefore, the self-cleaning member 51 can be stably positioned in the initial position of the wiping member 31. That is, the contact depth between the self-cleaning member 51 and the wiping member 31 can be stably maintained within the first preset range.

[0127] In one embodiment, when the mopping member 31 rotates along the second direction R2, the self-cleaning member 51 rotates along the first direction R1. At this time, the torsion spring 571 is in a compressed state. Due to the elastic potential energy of the torsion spring 571 itself, the torsion spring 571 applies an external force to the self-cleaning member 51, causing the self-cleaning member 51 to tend to rotate in the second direction R2 to return to its initial position. When the rotation of the mopping member 31 from the second direction R2 to the first direction R1 is switched, the torsion spring 571 returns from the compressed state to its natural state, and the torsion spring 571 can quickly reset the self-cleaning member 51 to its initial position. Since the time it takes for the mopping member 31 to clean the surface to be cleaned (when the mopping member 31 rotates along the first direction R1 and the torsion spring 571 is in its natural state) is usually longer than the time it takes for the self-cleaning member 51 to clean the mopping member 31 (when the mopping member 31 rotates along the second direction R2 and the torsion spring 571 is in its compressed state), the torsion spring 571 does not need to be compressed for a long time, and the service life of the torsion spring 571 is longer.

[0128] In another embodiment, when the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 tends to rotate along the second direction R2. At this time, the torsion spring 571 is in a compressed state. Due to the elastic potential energy of the torsion spring 571 itself, the torsion spring 571 applies an external force to the self-cleaning member 51, thereby causing the self-cleaning member 51 to tend to rotate in the first direction R1. When the rotation of the mopping member 31 from the first direction R1 to the second direction R2 is switched, the torsion spring 571 returns from the compressed state to its natural state. The torsion spring 571 can quickly rotate the self-cleaning member 51 along the first direction R1 until the contact depth of contact with the mopping member 31 is within a second preset range.

[0129] Please see Figures 5 to 7 In some embodiments, the linkage 55 includes at least one linkage part 551, and at least one linkage part 551 is sleeved on the connecting shaft 53. The self-cleaning part 51 includes at least one connecting part 511 and a self-cleaning part 513 extending from the connecting part 511. The connecting part 511 is sleeved on the connecting shaft 53, and one linkage part 551 is arranged adjacent to at least one connecting part 511. Both the linkage part 551 and the self-cleaning part 513 extend toward the mopping member 31.

[0130] Specifically, the linkage 551 is used to contact the mopping component 31 and transmit the steering force to the connecting shaft 53 and the self-cleaning component 51. One end of the linkage 551 is sleeved on the connecting shaft 53, and the other end of the linkage 551 contacts the mopping component 31. The number of linkages 551 can be, but is not limited to, one, two, three, four, or more. When there is only one linkage 551, the total width of the linkage 551 in the longitudinal direction X of the mopping component 31 can be the same as the length of the mopping component 31. In this case, during the rotation of the mopping component 31, the linkage 551 can stably transmit the steering force to the connecting shaft 53 and the self-cleaning component 51. The total width of the linkage 551 can also be less than the length of the mopping component 31. In this case, the material of the linkage 551 can be saved, and the cleaning module 100 is lighter and easier to transport. When there are multiple linkages 551, the multiple linkages 551 can be uniformly or non-uniformly sleeved on the connecting shaft 53 and contact the mopping component 31. During the rotation of the wiping component 31, multiple linkages 551 can simultaneously transmit steering force to the connecting shaft 53 and the self-cleaning component 51.

[0131] The connecting portion 511 is a structure for connecting to the connecting shaft 53, and is provided at the connecting end 512, or is the aforementioned connecting end 512; the self-cleaning portion 513 is a structure for cleaning the mop member 31, and is located at the scraping end 510, or is the aforementioned scraping end 510. The self-cleaning portion 513 extends from the connecting portion 511 toward the mop member 31 by bending. When the mop member 31 rotates in the second direction R2, the end of the self-cleaning portion 513 contacts the mop member 31, and the contact depth is within a second preset range, so that the self-cleaning portion 513 can scrape away dirt from the mop member 31.

[0132] The number of connecting parts 511 may be, but is not limited to, one, two, three, four, or more. The number of self-cleaning parts 513 is the same as the number of connecting parts 511. When there is only one connecting part 511, there is also only one self-cleaning part 513. Preferably, in the longitudinal direction X of the mop member 31, the total width of the self-cleaning parts 513 is greater than or equal to the length of the mop member 31, so that the cleaning part can fully contact the mop member 31 to scrape off the dirt from the mop member 31. In this case, the self-cleaning part 513 has a better cleaning effect on the mop member 31. When there are multiple connecting parts 511, there are also multiple self-cleaning parts 513. Preferably, the total width of the multiple self-cleaning parts 513 is greater than or equal to the length of the mop 31, and there is no gap between adjacent self-cleaning parts 51, so that the self-cleaning parts 513 can fully contact the mop 31 in the length direction X of the mop 31 to scrape off the dirt of the mop 31, and the self-cleaning parts 513 have a better cleaning effect on the mop 31.

[0133] Please refer to the following: Figure 3 andFigure 4 ,or Figures 5 to 7 In some embodiments, the scraping end 510 (for Figures 5 to 7 The illustrated embodiment specifically includes a self-cleaning section 513, comprising bristles and a scraper. When the self-cleaning section 513 is a bristle, it contacts the mop member 31 and removes solid dirt from the mop member 31. When the self-cleaning section 513 is a scraper, it contacts the mop member 31 to scrape away dirt from it.

[0134] Please see Figure 6 and Figure 7 In some embodiments, the self-cleaning part 513 is spaced apart from the linkage part 551. In the height direction Z of the cleaning module 100 (or cleaning robot 1000), the self-cleaning part 513 is closer to the bottom of the cleaning module 100 (and also closer to the surface to be cleaned) than the linkage part 551. That is, during normal use, the position of the self-cleaning part 513 is lower than the position of the linkage part 551. At this time, when the mopping member 31 rotates along the first direction R1, the linkage part 551 can cause the self-cleaning part 513 to tend to rotate along the second direction R2, thereby maintaining a distance between the self-cleaning part 513 and the mopping member 31, or ensuring that the contact depth between the self-cleaning part 513 and the mopping member 31 is within a first preset range. At this time, the self-cleaning part 51 does not obstruct the rotation of the mopping member 31, nor does it scrape off dirt from the mopping member 31. When the mopping member 31 rotates along the second direction R2, the linkage 551 can drive the self-cleaning member 513 to rotate along the first direction R1, so that the end of the self-cleaning member 513 can gradually approach the mopping member 31. When the contact depth between the self-cleaning member 513 and the mopping member 31 is within a second preset range, the self-cleaning member 513 can scrape off the dirt from the mopping member 31 to clean it.

[0135] Please see Figure 3 , Figure 4 , Figure 8 and Figure 9 Or refer to Figures 6 to 9 In some embodiments, when the wiping member 31 is a tracked wiping member, the wiping assembly 30 includes a first roller 33 and a second roller 35. The wiping member 31 is mounted on the first roller 33 and the second roller 35. When the wiping member 31 rotates along the second direction R2, the wiping member 31 is located between the self-cleaning member 51 and the first roller 33, or between the self-cleaning member 51 and the second roller 35.

[0136] The first roller 33 can rotate relative to the mounting base 10 along a first direction R1 and a second direction R2, and the second roller 35 can also rotate relative to the mounting base 10 along the first direction R1 and the second direction R2. The first roller 33 and the second roller 35 can rotate simultaneously and both in the same direction. When the wiping element 31 is mounted on the first roller 33 and the second roller 35, the first roller 33 and the second roller 35 can drive the wiping element 31 to rotate relative to the mounting base 10. When both the first roller 33 and the second roller 35 rotate along the first direction R1, the first roller 33 and the second roller 35 can drive the wiping element 31 to rotate along the first direction R1. When both the first roller 33 and the second roller 35 rotate along the second direction R2, the first roller 33 and the second roller 35 can drive the wiping element 31 to rotate along the second direction R2.

[0137] In the direction from the first roller 33 to the second roller 35, the wiping member 31 includes a first end 311 and a second end 313 facing each other. The inner side of the first end 311 of the wiping member 31 cooperates with the first roller 33, and the inner side of the second end 313 of the wiping member 31 cooperates with the second roller 35. In one embodiment, a self-cleaning member 51 is provided on the outer side of the first end 311 of the wiping member 31. When the wiping member 31 rotates along the second direction R2, and the contact depth between the self-cleaning member 51 and the wiping member 31 is within a second preset range, the first roller 33 and the self-cleaning member 51 jointly squeeze the wiping member 31, thereby the self-cleaning member 51 can scrape away the dirt from the wiping member 31, and the self-cleaning member 51 has a good cleaning effect on the wiping member 31. In another embodiment, the self-cleaning member 51 is provided on the outer side of the second end 313 of the wiping member 31. When the mopping member 31 rotates along the second direction R2, and the contact depth between the self-cleaning member 51 and the mopping member 31 is within the second preset range, the second roller 35 cooperates with the self-cleaning member 51 to squeeze the mopping member 31, so that the self-cleaning member 51 can scrape off the dirt from the mopping member 31, and the self-cleaning member 51 has a good cleaning effect on the mopping member 31.

[0138] Please see Figure 3 and Figure 4 Or refer to Figure 6 and Figure 7 Furthermore, in some embodiments, the first roller 33 includes a first contact side 331 that contacts the wiping member 31, the second roller 35 includes a second contact side 351 that contacts the wiping member 31, and the self-cleaning member 51 is disposed on the side where the first contact side 331 is located or on the side where the second contact side 351 is located.

[0139] In this context, the first contact side 331 of the first roller 33 refers to the side where the first roller 33 contacts the inner surface of the first end 311 of the wiping member 31. During the rotation of the wiping member 31 driven by the first roller 33, different positions of the first roller 33 contact the inner surface of the first end 311 of the wiping member 31, while the position of the first contact side 331 relative to the mounting base 10 remains unchanged. Similarly, the second contact side 351 of the second roller 35 refers to the side where the second roller 35 contacts the inner surface of the second end 313 of the wiping member 31. During the rotation of the wiping member 31 driven by the second roller 35, different positions of the second roller 35 contact the inner surface of the second end 313 of the wiping member 31, while the position of the second contact side 351 relative to the mounting base 10 remains unchanged.

[0140] In one embodiment, the self-cleaning member 51 is disposed on the outer side of the first end 311 of the mop member 31, and corresponds to the position of the first contact side 331. The end face of the self-cleaning part 513 and the first contact side 331 of the first roller 33 jointly press the mop member 31, thereby the self-cleaning member 51 can scrape off the dirt on the mop member 31, and the self-cleaning member 51 has a good cleaning effect on the mop member 31. In another embodiment, the self-cleaning member 51 is disposed on the outer side of the second end 313 of the mop member 31, and corresponds to the position of the second contact side 351. The end face of the self-cleaning part 513 and the second contact side 351 jointly press the mop member 31, thereby the self-cleaning member 51 can scrape off the dirt on the mop member 31, and the self-cleaning member 51 has a good cleaning effect on the mop member 31.

[0141] Please see Figures 1 to 4 and Figures 11(a) to 12(b), or refer to Figures 11(a) to 12(b). Figures 5 to 7 As shown in Figures 11(a) to 12(b), in some embodiments, the wiping assembly 30 may be moved along the width direction X of the body so that at least a portion of the wiping assembly 30 is moved outside the body 300. Specifically, the drive module 63 is also a drive component for driving the wiping assembly 30 to move relative to the body 300 along the width direction X of the body.

[0142] For example, referring to Figures 11(a) to 11(b) and 12(a) to 12(b), as shown in Figures 11(a) and 12(a), when the cleaning robot 1000 is in normal cleaning mode, there is a cleaning blind spot between the right side of the cleaning robot 1000 and the wall. To clean this blind spot, the cleaning module 100 can be driven to move to the right by the drive module 63, so that the cleaning module 100 switches to a side-shifting cleaning mode, as shown in Figures 11(b) and 12(b), thereby switching the mopping assembly 30 from the normal cleaning mode to the side-shifting cleaning mode. When the cleaning module 1000 is in the side-shifting cleaning mode, the right edge of the cleaning module 1000 can fit well against the wall, or the distance between it and the wall can be very small, to eliminate or reduce the cleaning blind spot, thereby enabling the cleaning module 1000 to clean the area along the edge of the wall more effectively.

[0143] Therefore, the cleaning module 100 of the cleaning robot 1000 can not only work in the normal cleaning state, but also in the side-shifting cleaning state, so that the cleaning module 100 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, or the corners), thereby reducing the limitation of the body size 300 and improving the cleaning effect of the cleaning robot 1000.

[0144] Please see Figures 2 to 4 In some embodiments, the mopping assembly 30 further includes a flexible blocking member 37, one end of which is connected to the scraping end 510 of the self-cleaning member 51, and the other end of which is connected to the mounting base 10. Whether the self-cleaning member 51 is in a first state or a second state relative to the mopping member 31, the blocking member 37 prevents dirt on the mopping member 31 from moving into the gap between the self-cleaning member 51 and the mounting base 10.

[0145] The blocking element 37 is a component used to prevent dirt on the mopping element 31 from moving into the gap between the self-cleaning element 51 and the mounting base 10. In some examples, the blocking element 37 may be made of a flexible material, such as rubber or flexible plastic. Thus, the blocking element 37 can deform when the state of the self-cleaning element 51 relative to the mopping element 31 changes. Since the rotation direction of the mopping element 31 also changes when the state of the self-cleaning element 51 relative to the mopping element 31 changes, if the blocking element 37 is made of a hard material, it cannot deform and will always maintain hard contact with the mopping element 31. When the rotation direction of the mopping element 31 changes, it is equivalent to forming reciprocating hard friction. After a certain period of use, the blocking element 37 will wear out and will no longer be able to prevent dirt on the mopping element 31 from moving into the self-cleaning element 51. Eventually, this will cause the self-cleaning element 51 to jam and fail to complete the cleaning function of the mopping element 31. Therefore, in this embodiment, the blocking member 37 is made of a flexible material. On the one hand, when the rotation direction of the mopping member 31 changes, the contact state between the blocking member 37 and the mopping member 31 changes, avoiding reciprocating hard friction between them, thereby extending the service life of the blocking member 37 and ensuring that dirt on the mopping member 31 is prevented from moving toward the self-cleaning member 51, thus ensuring that the self-cleaning member 51 can perform the cleaning function on the mopping member 31 for a long time. On the other hand, regardless of whether the self-cleaning member 51 is in the first state or the second state relative to the mopping member 31, the deformable blocking member 37 can always be connected to the scraping end 510 and the mounting base 10, avoiding being pulled and detached from the scraping end 510 or the mounting base 10. This can always prevent dirt on the mopping member 31 from moving toward the gap between the self-cleaning member 51 and the mounting base 10, preventing foreign objects from jamming the self-cleaning member 51, and thus also ensuring that the cleaning member 51 can perform the cleaning function on the mopping member 31 for a long time.

[0146] Please see Figures 2 to 4 In some embodiments, the self-cleaning component 51 and the blocking component 37 are molded together using a cross-cutting process. Cross-cutting is an injection molding technique that includes three steps: the first step is the first injection molding, where a first material (e.g., plastic) is injected into a mold to form the self-cleaning component 51; the second step is mold transfer, where the semi-finished product from the first molding is transferred to another mold; and the third step is the second injection molding, where a second material (e.g., rubber) is injected into the second mold to combine with the first-molded self-cleaning component 51, forming the blocking component 37 connected to the self-cleaning component 51. This cross-cutting process tightly bonds the self-cleaning component 51 and the blocking component 37, preventing separation.

[0147] Please see Figures 2 to 4 In some embodiments, when the self-cleaning member 51 is in a first state relative to the mopping member 31, the blocking member 37 unfolds and comes into contact with the mopping member 31, such as... Figure 3As shown, when the mopping member 31 rotates along the first direction R1 to mop the surface to be cleaned, it will not be interfered with by the blocking member 37, thus ensuring the cleaning effect of the surface to be cleaned. When the self-cleaning member 51 is in the second state relative to the mopping member 31, the blocking member 37 is folded and at least partially not in contact with the mopping member 31, such as... Figure 4 As shown, when the mopping member 31 rotates along the second direction R2 to achieve self-cleaning, the scraping end 510 focuses on scraping the dirt on the mopping member 31. This ensures cleaning efficiency while avoiding reciprocating hard friction between the mopping member 31 and the blocking member 37, thus extending the service life of the blocking member 37. This ensures that the dirt on the mopping member 31 is prevented from moving toward the self-cleaning member 51, thereby ensuring that the cleaning member 51 can perform the cleaning function on the mopping member 31 for a long time.

[0148] It should be noted that, as mentioned earlier, the width of the self-cleaning component 51 in the width direction X of the machine body can be greater than or equal to the length of the mopping component 31. Correspondingly, the width of the blocking component 37 in the width direction X of the machine body can be greater than or equal to the length of the mopping component 31. In this case, when the mopping component 31 rotates along the second direction R2 and the self-cleaning component 51 is in contact with the mopping component 31, the self-cleaning component 51 can fully contact the mopping component 31 in the width direction X of the machine body and scrape off the dirt on the mopping component 31. The blocking component 37 can also completely prevent all dirt on the mopping component 31 in the width direction X of the machine body from moving towards the self-cleaning component 51.

[0149] Please see Figures 2 to 4 and Figure 13 Furthermore, in some embodiments, the cleaning robot 1000 also includes a soft rubber fastener 38, one end of the blocking member 37 being connected to the mounting base 10 via the soft rubber fastener 38.

[0150] Specifically, in some embodiments, the soft rubber fastener 38 includes a fastening strip 381, positioning portions 383 all disposed on the fastening strip 381, a first fixing portion 385, and a second fixing portion 387. The fastening strip 381 is located below the mounting base 10. The positioning portions 383, the first fixing portions 385, and the second fixing portions 387 are arranged at intervals along the length direction of the fastening strip 381. One end of the blocking member 37 is positioned on the fastening strip 381 by the positioning portion 383 and is clamped and fixed between the fastening strip 381 and the mounting base 10. The fastening strip 381 is connected to the mounting base 10 through the first fixing portion 385 and / or the second fixing portion 387.

[0151] More specifically, in the width direction X of the body, the length of the fixing strip 381 may be greater than or equal to the total width of the mopping member 31 and / or the self-cleaning member 51. In one example, the positioning part 383 is a protrusion extending from the upper surface of the fixing strip 381 away from the surface to be cleaned, and one end of the blocking member 37 may be provided with a positioning groove or positioning hole, the protrusion cooperating with the positioning groove or positioning hole to position the blocking member 37. In another example, the positioning part 383 is a positioning groove or positioning hole formed by a recess in the upper surface of the fixing strip 381, and one end of the blocking member 37 may be provided with a protruding protrusion, the protrusion cooperating with the positioning groove or positioning hole to position the blocking member 37. In some embodiments, the first fixing part 385 may be a stud, the stud passing through the mounting base 10, and a screw locking into the stud from the upper side of the mounting base 10 to connect the fixing strip 381 to the mounting base 10. In some embodiments, the second fixing part 387 is a hook, and the mounting base 10 is provided with a locking hole. The hook passes through the locking hole and engages with a surface of the mounting base 10, thereby connecting the fixing strip 381 to the mounting base 10. In still some embodiments, the fixing strip 381 is connected to the mounting base 10 through the first fixing part 385 and the second fixing part 387. The specific details are the same as before and will not be repeated here.

[0152] Please see Figure 4 , Figures 8 to 10 Or refer to Figures 7 to 10 In some embodiments, the cleaning robot 1000 further includes a power module 61 mounted on the body 300. The mopping assembly 30 also includes a first bracket 37 and a second bracket 39. A first roller 33 is mounted on the first bracket 37, and a second roller 35 is mounted on the second bracket 39. The first bracket 37 is connected to the second bracket 39 via a second reset member 36. The output shaft of the power module 61 is connected to the second roller 35 and is used to drive the second roller 35 to rotate. The second roller 35 drives the first roller 33 to rotate via the mopping member 31.

[0153] Specifically, the first bracket 37 and the second bracket 39 are structures used to install and support the first roller 33 and the second roller 35. When the wiping member 31 is sleeved on the first roller 33 and the second roller 35, the first bracket 37 and the second bracket 39 are used to provide stable support force to the opposite ends of the wiping member 31, so that the rotation of the wiping member 31 is more stable when cleaning the surface to be cleaned.

[0154] The first support 37 can be made of, but is not limited to, metallic 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 first support 37 can be made of metallic materials, which increases its structural strength, improves its load-bearing capacity, prevents deformation and damage during the operation of the cleaning module 100, and enhances the stability and reliability of the cleaning module 100. In another example, the first support 37 can be made of non-metallic materials, which makes it lighter, thus contributing to the portability of the cleaning module 100.

[0155] The second support 39 can be made of materials including, but not limited to, metallic 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 second support 39 can be made of metallic materials, which increases its structural strength, enhances its load-bearing capacity, prevents deformation and damage during the operation of the cleaning module 100, and ensures the stability and reliability of the cleaning module 100. In another example, the second support 39 can be made of non-metallic materials, which makes it lighter, thus contributing to the portability of the cleaning module 100.

[0156] The power module 61 drives the second roller 35 to rotate relative to the second support 39, thereby allowing the wiping member 31 to rotate relative to the second support 39. When the wiping member 31 rotates, the first roller 33 rotates relative to the first support 37. Thus, the first roller 33 and the second roller 35 together drive the wiping member 31 to rotate relative to the first support 37 and the second support 39, enabling the wiping member 31 to clean the surface to be cleaned. The power module 61 may include a drive member connected to the second roller 35. This drive member drives the second roller 35 to rotate relative to the second support 39, and the second roller 35 drives the first roller 33 to rotate relative to the first support 37, thereby allowing the first roller 33 and the second roller 35 to together drive the wiping member 31 to rotate relative to the first support 37 and the second support 39. It should be noted that the drive member may be a motor or an electric actuator, etc. The motor includes, but is not limited to, a DC servo motor, an AC servo motor, and a stepper motor.

[0157] Please see Figure 4 , Figures 8 to 10 Or please see Figures 7 to 9 In some embodiments, when the wiping assembly 30 is subjected to an external force that causes the first support 37 and the second support 39 to move away from each other, both the first roller 33 and the second roller 35 are tightly engaged with the wiping member 31. Figure 9As shown), when the external force disappears, the second reset member 36 drives the first bracket 37 and the second bracket 39 to move closer to each other, so that at least one of the first roller 33 and the second roller 35 loosely engages with the wiping member 31. Figure 8 (As shown).

[0158] It should be noted that the external forces acting on the first support member 37 and the second support member 39 may be: the force exerted on the first support member 37 and the second support member 39 by an external mechanical structure; or the force exerted on the first support member 37 and the second support member 39 by the user.

[0159] Specifically, the second reset member 36 is used to restore the first support 37 and the second support 39 to their initial positions when the external force on them disappears. When the cleaning module 100 is installed on the body 300, the first support 37 and the second support 39 are moved away from each other under the action of external force, and the first support 37 and the second support 39 are in a spaced-out state. The gap between the first support 37 and the second support 39 in the spaced-out state is large, that is, the structural dimension formed by the first support 37 and the second support 39 together along the direction from the first support 37 to the second support 39 is large. At this time, both the first roller 33 and the second roller 35 can be tightly engaged with the wiping member 31. With both the first roller 33 and the second roller 35 tightly engaged with the wiping member 31, the cleaning module 100 can be installed on the body 300 so that the cleaning robot 1000 can clean the surface to be cleaned. When the cleaning module 100 is removed from the body 300, the external force on the first support 37 and the second support 39 disappears. At this time, the second reset member 36 can drive the first support 37 and the second support 39 to move closer to each other, so that the first support 37 and the second support 39 can change from a spaced-out state to an initial state. In the initial state, the gap between the first support 37 and the second support 39 is small or even non-existent, and at least one of the first roller 33 and the second roller 35 can loosely engage with the wiping member 31. With at least one of the first roller 33 and the second roller 35 loosely engaged with the wiping member 31, the wiping member 31 can be loaded and unloaded on the first roller 33 and the second roller 35, thereby facilitating its removal for cleaning or replacement when it becomes soiled, ensuring the cleaning effect of the cleaning robot 1000.

[0160] The first roller 33 and the second roller 35 are both tightly fitted with the wiping member 31. When the wiping member 31 is sleeved on the first roller 33 and the second roller 35, the wiping member 31 is in a tensioned state. That is, the fit gap between the wiping member 31 and the first roller 33 and the second roller 35 is very small, or even zero. Under this condition, the wiping member 31 is difficult or even impossible to remove from the first roller 33 and the second roller 35. This can prevent the wiping member 31 from falling off during the operation of the cleaning module 100, thereby improving the stability and reliability of the cleaning module 100. The loose fit between at least one of the first roller 33 and the second roller 35 and the wiping member 31 can be as follows: when the wiping member 31 is disposed on the first roller 33 and the second roller 35, the wiping member 31 is in a relaxed state, that is, the fit gap between the wiping member 31 and the first roller 33, and / or between the wiping member 31 and the second roller 35 is large. In this case, the wiping member 31 can be easily removed from the first roller 33 and the second roller 35, which facilitates the loading and unloading of the wiping member 31 on the first roller 33 and the second roller 35.

[0161] In the cleaning robot 1000 of this embodiment, both the mopping component 30 and the self-cleaning component 50 are mounted on the mounting base 10. The self-cleaning component 50 can clean the mopping component 30, and the relative positions of the self-cleaning component 50 and the mopping component 30 remain essentially unchanged. Compared with cleaning robots of the related art, the self-cleaning component 50 of this disclosure has a smaller matching error between the mopping component 30 and the self-cleaning component 50 when cleaning the mopping component 30, and the self-cleaning component 50 has a better cleaning effect on the mopping component 30.

[0162] Please see Figure 5 , Figure 6 , Figure 7 and Figure 10 Secondly, this disclosure also provides a cleaning robot 1000. The cleaning robot 1000 includes a body 300, a cleaning module 100, and a self-cleaning component 50. The cleaning module 100 includes a mopping component 30, which includes a mopping member 31. The mopping member 31 is rotatable along a first direction R1 or a second direction R2, where the first direction R1 and the second direction R2 are opposite. The self-cleaning component 50 is mounted on the body 300 and includes a self-cleaning member 51. When the mopping member 31 rotates along the first direction R1, it cleans the surface to be cleaned. When the mopping member 31 rotates along the second direction R2, the self-cleaning member 51 contacts the mopping member 31 to clean it.

[0163] Specifically, the cleaning module 100 is installed on the body 300, and the self-cleaning component 51 is also installed on the body 300. The position of the self-cleaning component 51 corresponds to the position of the mopping component 31, so that the self-cleaning component 51 can clean the mopping component 31. The relative position of the self-cleaning component 50 and the mopping component 30 of the cleaning module 100 remains basically unchanged, so the matching error between the self-cleaning component 51 and the mopping component 31 is small, and the cleaning effect of the self-cleaning component 51 on the mopping component 31 is good.

[0164] The body 300 of this embodiment has the same structure as the body 300 of the cleaning robot 1000 of the first aspect. The mounting base 10, the mopping assembly 30 and the self-cleaning assembly 50 of this embodiment have the same structure as the mounting base 10, the mopping assembly 30 and the self-cleaning assembly 50 of the cleaning robot 1000 of the first aspect, and will not be described in detail here.

[0165] Please see Figure 6 In some embodiments, when the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 is spaced apart from the mopping member 31. At this time, the self-cleaning member 51 does not obstruct the rotation of the mopping member 31, and the rotation of the mopping member 31 along the first direction R1 is relatively smooth, resulting in a better cleaning effect on the surface to be cleaned. Furthermore, when the self-cleaning member 51 is spaced apart from the mopping member 31, dirt on the mopping member 31 will not be scraped off by the self-cleaning member 51, thus avoiding the problem of dirt scraped off by the self-cleaning member 51 falling onto the already cleaned surface to be cleaned, resulting in a better cleaning effect on the surface to be cleaned by the cleaning robot 1000.

[0166] Please see Figure 6 and Figure 7 In other embodiments, when the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 contacts the mopping member 31, and the contact depth between the self-cleaning member 51 and the mopping member 31 is less than the contact depth between the self-cleaning member 51 and the mopping member 31 when the mopping member 31 rotates along the second direction R2. In this case, when the mopping member 31 rotates along the first direction R1, the contact depth between the self-cleaning member 51 and the mopping member 31 is shallow. During the rotation of the mopping member 31, the self-cleaning member 51 is less likely to scrape off dirt, thus avoiding the problem of dirt scraped off by the self-cleaning member 51 falling onto the already cleaned surface to be cleaned. The cleaning robot 1000 achieves a better cleaning effect on the surface to be cleaned. Furthermore, the self-cleaning member 51 provides less resistance to the rotation of the mopping member 31 along the first direction R1, allowing the mopping member 31 to rotate more smoothly, resulting in a better cleaning effect on the surface to be cleaned.

[0167] When the mopping member 31 rotates along the second direction R2, the contact depth between the self-cleaning member 51 and the mopping member 31 is relatively deep, so that the self-cleaning member 51 can scrape off the dirt on the mopping member 31, and the cleaning effect of the self-cleaning member 51 on the mopping member 31 is relatively good. At this time, in one embodiment, the resistance of the self-cleaning member 51 to the rotation of the mopping member 31 along the second direction R2 is small, and the rotation of the mopping member 31 is relatively smooth, so that the self-cleaning member 51 can quickly scrape off the dirt on the mopping member 31, and the efficiency of the self-cleaning member 51 in cleaning the mopping member 31 is relatively high. In another embodiment, the self-cleaning member 51 may have a relatively large resistance to the rotation of the mopping member 31 along the second direction R2. At this time, the rotation speed of the mopping member 31 along the second direction R2 is slow, and the self-cleaning member 51 can scrape off the dirt on the mopping member 31 more cleanly, and the cleaning effect of the self-cleaning member 51 on the mopping member 31 is relatively good.

[0168] Exemplarily, when the mopping member 31 rotates along the first direction R1, the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is a first preset range, and the first preset range can be [0, a]. When the mopping member 31 rotates along the second direction R2, the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is a second preset range, and the second preset range can be [b, c]. The first preset range and the second preset range can satisfy: a < b. When the value of the contact depth between the self-cleaning member 51 and the mopping member 31 is less than a, when the self-cleaning member 51 contacts the mopping member 31, the self-cleaning member 51 will not hinder the rotation of the mopping member 31, and the self-cleaning member 51 will not scrape off the dirt on the mopping member 31. When the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is in [b, c], the self-cleaning member 51 can scrape off the dirt on the mopping member 31 to clean the mopping member 31.

[0169] Please refer to Figures 5 to 7 , in some embodiments, the cleaning module 100 includes a mounting base 10, and the mopping assembly 30 is mounted on the mounting base 10. When the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 is at the initial position of the mopping member 31. When the self-cleaning member 51 is at the initial position of the mopping member 31, the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is within the first preset range.

[0170] Please refer to Figures 5 to 7In some embodiments, the self-cleaning assembly 50 further includes a connecting shaft 53, a linkage 55, and a first reset member 57. The connecting shaft 53 is rotatably mounted on the mounting base 10. Both the linkage 55 and the self-cleaning member 51 are disposed on the connecting shaft 53, and the linkage 55 always maintains contact with the mopping member 31. The first reset member 57 is sleeved on the connecting shaft 53, one end of the first reset member 57 is connected to the linkage 55 or the self-cleaning member 51, and the other end is connected to the mounting base 10. The first reset member 57 is used to cause the connecting shaft 53 to drive the self-cleaning member 51 to reset to its initial position when the mopping member 31 switches from rotating in the second direction R2 to rotating in the first direction R1.

[0171] Specifically, in one embodiment, one end of the first reset member 57 is connected to the linkage member 55, and the other end is connected to the mounting base 10. When the mopping member 31 rotates along the second direction R2, the dirt on the mopping member 31 is scraped off by the self-cleaning member 51. After the mopping member 31 has finished cleaning, it switches to rotating along the first direction R1 to continue cleaning the surface to be cleaned. During the process of the mopping member 31 switching from rotating along the second direction R2 to rotating along the first direction R1, the first reset member 57 drives the linkage member 55 to reset to the initial position. The linkage member 55 transmits the steering force to the connecting shaft 53, and the connecting shaft 53 then transmits the steering force to the self-cleaning member 51, so that the connecting shaft 53 can drive the linkage member 55 and the self-cleaning member 51 to rotate together to the initial position. At this time, the way the self-cleaning member 51 resets to the initial position is relatively simple, without the need to add other components, and the structure of the self-cleaning component 50 is relatively simple. Moreover, the self-cleaning member 51 can achieve automatic reset without manual operation by the user, resulting in a better user experience.

[0172] In another embodiment, one end of the first reset member 57 is connected to the self-cleaning member 51, and the other end is connected to the mounting base 10. When the mopping member 31 rotates along the second direction R2, the dirt on the mopping member 31 is scraped off by the self-cleaning member 51. After cleaning, the mopping member 31 switches to rotating along the first direction R1 to continue cleaning the surface to be cleaned. During the process of switching from rotating along the second direction R2 to rotating along the first direction R1, the first reset member 57 drives the self-cleaning member 51 to reset to its initial position. The self-cleaning member 51 transmits the steering force to the connecting shaft 53, which then transmits the steering force to the linkage member 55. Thus, the connecting shaft 53 drives the linkage member 55 and the self-cleaning member 51 to rotate together to their initial positions. In this case, the method of resetting the self-cleaning member 51 to its initial position is relatively simple, requiring no additional components, and the structure of the self-cleaning assembly 50 is relatively simple. Furthermore, the self-cleaning member 51 can achieve automatic reset without manual operation by the user, resulting in a better user experience.

[0173] Please see Figures 5 to 7In some embodiments, the linkage 55 includes at least one linkage part 551, and at least one linkage part 551 is sleeved on the connecting shaft 53. The self-cleaning part 51 includes at least one connecting part 511 and a self-cleaning part 513 extending from the connecting part 511. The connecting part 511 is sleeved on the connecting shaft 53, and one linkage part 551 is arranged adjacent to at least one connecting part 511. Both the linkage part 551 and the self-cleaning part 513 extend toward the mopping member 31.

[0174] Specifically, the linkage 551 is used to contact the wiping component 31 and transmit the steering force to the connecting shaft 53 and the self-cleaning component 51. One end of the linkage 551 is sleeved on the connecting shaft 53, and the other end of the linkage 551 contacts the wiping component 31. The number of linkages 551 can be, but is not limited to, one, two, three, four, or more. When there is only one linkage 551, the width of the linkage 551 in the width direction X of the wiping component 31 can be the same as the width of the wiping component 31. In this case, during the rotation of the wiping component 31, the linkage 551 can stably transmit the steering force to the connecting shaft 53 and the self-cleaning component 51. The width of the linkage 551 can also be smaller than the width of the wiping component 31. In this case, the material of the linkage 551 can be saved, and the cleaning robot 1000 is lighter and easier to transport. When there are multiple linkages 551, the multiple linkages 551 can be uniformly or non-uniformly sleeved on the connecting shaft 53 and contact the wiping component 31. During the rotation of the wiping component 31, multiple linkages 551 can simultaneously transmit steering force to the connecting shaft 53 and the self-cleaning component 51.

[0175] The connecting portion 511 is a structure for connecting to the connecting shaft 53, and the self-cleaning portion 513 is a structure for cleaning the mop member 31. The self-cleaning portion 513 extends from the connecting portion 511 toward the mop member 31 by bending. When the mop member 31 rotates in the second direction R2, the end of the self-cleaning portion 513 contacts the mop member 31, and the contact depth is within a second preset range, so that the self-cleaning portion 513 can scrape off the dirt from the mop member 31.

[0176] The number of connecting parts 511 may be, but is not limited to, one, two, three, four, or more. The number of self-cleaning parts 513 is the same as the number of connecting parts 511. When there is only one connecting part 511, there is also only one self-cleaning part 513. Preferably, in the width direction X of the mopping member 31, the width of the self-cleaning part 513 is greater than or equal to the width of the mopping member 31, so that the cleaning part can fully contact the mopping member 31 to scrape off the dirt from the mopping member 31. In this case, the self-cleaning part 513 has a better cleaning effect on the mopping member 31. When there are multiple connecting parts 511, there are also multiple self-cleaning parts 513. Preferably, the width of the multiple self-cleaning parts 513 is greater than or equal to the width of the mop 31, and there is no gap between adjacent self-cleaning parts 51, so that the self-cleaning parts 513 can fully contact the mop 31 in the width direction X to scrape off the dirt of the mop 31, and the self-cleaning parts 513 have a better cleaning effect on the mop 31.

[0177] In the cleaning robot 1000 of this embodiment, both the mopping component 30 and the self-cleaning component 50 are mounted on the mounting base 10. The self-cleaning component 50 can clean the mopping component 30, and the relative positions of the self-cleaning component 50 and the mopping component 30 remain essentially unchanged. Compared with cleaning robots of related technologies, the self-cleaning component 50 of this embodiment has a smaller matching error between the mopping component 30 and the self-cleaning component 50 when cleaning the mopping component 30, and the self-cleaning component 50 has a better cleaning effect on the mopping component 30.

[0178] Please see Figures 1 to 10 Thirdly, this disclosure provides a cleaning robot 1000, which includes a body 300 and drive wheels 400 for providing driving power to propel the body 300. The cleaning robot 1000 also includes a mopping assembly 30 and a self-cleaning component 51. The mopping assembly 30 includes a mounting base 10 and a mopping component 31 mounted on the mounting base 10. The mounting base 10 is movably disposed on the body 300, and the mopping component 31 is rotatable relative to the mounting base 10. The self-cleaning component 51 is disposed on the mounting base 10, movably connected to the mounting base 10, and configured to move relative to the mopping component 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning component 51 is spaced apart from and does not contact the mopping component 31, or contacts it with a first interference fit. In the second state, the scraping end 510 of the self-cleaning component 51 abuts against the mopping component 31 with a second interference fit, where the first interference fit is smaller than the second interference fit. A flexible blocking member 37 is connected between the scraping end 510 of the self-cleaning component 51 and the mounting base 10. The blocking member 37 is used to prevent foreign objects from entering the connecting end 512 of the self-cleaning component 51.

[0179] In some embodiments, when the self-cleaning member 51 is in a first state or a second state relative to the mopping member 31, the blocking member 37 blocks the gap between the mopping member 31 and the self-cleaning member 51.

[0180] In some embodiments, the self-cleaning component 51 and the blocking component 37 are molded together by a die-casting process.

[0181] In some embodiments, when the self-cleaning member 51 is in a first state relative to the mopping member 31, the blocking member 37 unfolds and comes into contact with the mopping member 31; when the self-cleaning member 51 is in a second state relative to the mopping member 31, the blocking member 37 is folded and at least partially not in contact with the mopping member 31.

[0182] In some embodiments, the cleaning robot 1000 also includes a soft rubber fastener 38, one end of the blocking member 37 being connected to the mounting base 10 via the soft rubber fastener 38.

[0183] Specifically, in some embodiments, the soft rubber fastener 38 includes a fastening strip 381, positioning portions 383 all disposed on the fastening strip 381, a first fixing portion 385, and a second fixing portion 387. The fastening strip 381 is located below the mounting base 10. The positioning portions 383, the first fixing portions 385, and the second fixing portions 387 are arranged at intervals along the length direction of the fastening strip 381. One end of the blocking member 37 is positioned on the fastening strip 381 by the positioning portion 383 and is clamped and fixed between the fastening strip 381 and the mounting base 10. The fastening strip 381 is connected to the mounting base 10 through the first fixing portion 385 and / or the second fixing portion 387.

[0184] For an explanation of the above content, please refer to the explanation in the first aspect of the cleaning robot 1000, which will not be repeated here.

[0185] Please see Figures 1 to 10 Fourthly, this disclosure provides a cleaning robot 1000, which includes a body 300 and a cleaning module 100.

[0186] The body 300 is provided with drive wheels 400 for driving the body 300 forward. The body 300 is also provided with a dust collection chamber 301, which is used to accommodate a dust collection container, which is used to accommodate dry waste, or the dust collection chamber 301 is used to accommodate dry waste.

[0187] The cleaning module 100 includes a mopping assembly 30 and a self-cleaning assembly 50. The mopping assembly 30 includes a mounting base 10 and a mopping member 31 mounted on the mounting base 10. The mopping member 31 is rotatable relative to the mounting base 10. The self-cleaning member 51 is movably connected to the mounting base 10 and is configured to move relative to the mopping member 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning member 51 does not contact the mopping member 31 or contacts it with a first interference fit. In the second state, the scraping end 510 of the self-cleaning member 51 abuts against the mopping member 31 with a second interference fit. The first interference fit is less than the second interference fit.

[0188] The body 300 is provided with a force-applying part for abutting against the connecting part 511 of the self-cleaning component 51. The wiping assembly 30 can move between a lowered position and a raised position relative to the body 300. By moving the wiping assembly 30 relative to the body 300 from the lowered position to the raised position, the connecting part 511 moves toward the force-applying part to apply force to the force-received part, thereby switching the self-cleaning component 51 from the first state to the second state.

[0189] The force-applying part can be any solid structure on the fuselage 300, which can be a plane, a protrusion, or a groove. It is not limited here, as long as it can be used to abut against the connecting part 511.

[0190] In some embodiments, when the mopping member 31 is in contact with the surface to be cleaned and rotates relative to the body 300 to mop the surface to be cleaned, the self-cleaning member 51 is in a first state relative to the mopping member 31; when the mopping member 31 is in a raised position relative to the body 300, the self-cleaning member 51 is in a second state relative to the mopping member 31 to scrape off dirt on the mopping member 31.

[0191] For an explanation of the above content, please refer to the explanation in the first aspect of the cleaning robot 1000, which will not be repeated here.

[0192] Please see Figures 1 to 10 Fifthly, this disclosure provides a cleaning robot 1000, which includes a body 300 and a cleaning module 100.

[0193] The fuselage 300 is equipped with drive wheels 400, which provide driving power to drive the fuselage 300 forward.

[0194] The cleaning module 100 includes a mopping assembly 30 and a self-cleaning component 51. The mopping assembly 30 includes a mounting base 10 and a mopping component 31 mounted on the mounting base 10. The mopping component 31 is rotatable relative to the mounting base 10. The self-cleaning component 51 is movably connected to the mounting base 10 and is configured to move relative to the mopping component 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning component 51 does not contact the mopping component 31 or contacts it with a first interference fit. In the second state, the scraping end 510 of the self-cleaning component 51 abuts against the mopping component 31 with a second interference fit. The first interference fit is less than the second interference fit.

[0195] In the case where the cleaning robot 1000 is in mopping mode, the self-cleaning component 51 is in a first state relative to the mopping component 31; in the case where the cleaning robot 1000 is in non-mopping mode, the self-cleaning component 51 is in a second state relative to the mopping component 31, and the mopping component 31 rotates relative to the robot body 300 and the self-cleaning component 51 so that the self-cleaning component 51 scrapes off the dirt on the mopping component 31.

[0196] In some embodiments, when the mopping member 31 is in contact with the surface to be cleaned and rotates relative to the mounting base 10 and the body 300 to mop the surface to be cleaned, the self-cleaning member 51 is in a first state relative to the mopping member 31; when the mopping member 31 is in a raised position relative to the body 300, the self-cleaning member 51 is in a second state relative to the mopping member 31, and the mopping member 31 rotates relative to the body 300 and the self-cleaning member 51 so that the self-cleaning member 51 scrapes off the dirt on the mopping member 31.

[0197] For an explanation of the above content, please refer to the explanation in the first aspect of the cleaning robot 1000, which will not be repeated here.

[0198] Please see Figure 13 In a sixth aspect, the present disclosure also provides a base station 3000 for use in conjunction with the cleaning robot 1000 described in any of the above embodiments. The base station 3000 includes a docking position for accommodating the cleaning robot 1000.

[0199] Please continue reading. Figure 13 In a seventh aspect, this disclosure also provides a cleaning system 10000, which includes a base station 3000 and a cleaning robot 1000 according to any of the above embodiments. The cleaning system 10000 is a device for cleaning surfaces. The cleaning system 10000 of this disclosure can automatically clean surfaces, and can also automatically clean the mop / wiping component 31 and perform charging functions, effectively freeing the user's hands and providing a better user experience.

[0200] In the cleaning system 10000 of this embodiment, both the mopping component 30 and the self-cleaning component 50 are mounted on the mounting base 10. The self-cleaning component 50 can clean the mopping component 30, and the relative positions of the self-cleaning component 50 and the mopping component 30 remain basically unchanged. Compared with cleaning robots of related technologies, the self-cleaning component 50 of this disclosure has a smaller matching error between the mopping component 30 and the self-cleaning component 50 when cleaning the mopping component 30, and the self-cleaning component 50 has a better cleaning effect on the mopping component 30. On the other hand, the cleaning module 100 of this embodiment does not require a wastewater recycling system, and the user does not need to maintain the wastewater recycling system; at the same time, the base station 3000 does not need to be equipped with a complex cleaning tank. The self-cleaning component 51 can directly scrape the dirt on the mopping component 31 into the designated sewage discharge position or a relatively simple groove in the base station, which is convenient and simple, improves the cleaning efficiency of the mopping component 31, and also improves the user experience.

[0201] 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.

[0202] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are 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 disclosure, and these all fall within the scope of protection of this disclosure. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A cleaning robot, the cleaning robot comprising a body, the body being provided with drive wheels, the drive wheels being used to provide driving power to drive the body to move; wherein, The cleaning robot also includes: Mounting base, the mounting base being movably disposed on the fuselage; A mopping assembly, including a mopping member mounted on the mounting base, the mopping member being rotatable relative to the mounting base; A self-cleaning assembly includes a self-cleaning member movably connected to the mounting base, the self-cleaning member being configured to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member is spaced apart from or in contact with the mopping member with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts against the mopping member with a second interference fit, the first interference fit being smaller than the second interference fit. A control device for controlling the operating mode of the mopping assembly; In the mopping mode, the mopping component contacts the surface to be cleaned, and the control device controls the mopping component to rotate relative to the mounting base and the body to mop the surface to be cleaned. The self-cleaning component is in the first state relative to the mopping component. In the mopping component cleaning mode, the self-cleaning component is in the second state relative to the mopping component, and the control device controls the mopping component to rotate relative to the self-cleaning component so that the self-cleaning component scrapes off the dirt on the mopping component.

2. The cleaning robot according to claim 1, wherein, The machine body is provided with a dust collection chamber, which is used to accommodate a dust collection container, which is used to accommodate dry waste; or, the dust collection chamber is used to accommodate dry waste. The axis of rotation of the mopping component is parallel to the surface to be cleaned; The wiping component includes tracked wiping components and / or roller-type wiping components.

3. The cleaning robot according to claim 1, wherein, The mopping assembly is configured to move between a lowered position and an elevated position relative to the body. When the mopping assembly is in the mopping cleaning mode, the control device controls the mopping assembly to be in the elevated position relative to the body.

4. The cleaning robot according to claim 1, wherein, The mopping assembly is configured to be movable relative to the body between a lowered position and an raised position. The control device is also used to control the mopping assembly to move relative to the body from the lowered position to the raised position, thereby causing the self-cleaning component to switch relative to the mopping component from the first state to the second state.

5. The cleaning robot according to any one of claims 1-4, wherein, The self-cleaning component is also connected to an operating component, which is used to adjust the relative position of the self-cleaning component and the mopping component, so that the self-cleaning component switches from being in the first state to being in the second state relative to the mopping component.

6. The cleaning robot according to claim 5, wherein, The self-cleaning component is rotatably connected to the mounting base, and the self-cleaning component is driven by the operating component to rotate relative to the mounting base, switching between the first state and the second state.

7. The cleaning robot according to claim 6, wherein, The operating element is disposed on the self-cleaning component at the end opposite to the scraping end and protrudes from the mounting base. When the mopping assembly can move relative to the body from a lowered position to a raised position, the body contacts the operating element and applies force to the operating element, so that the operating element drives the self-cleaning component to rotate and switch from the first state to the second state.

8. The cleaning robot according to claim 6, wherein, The cleaning robot further includes: a drive unit and a controller disposed on the mounting base and / or the body, the operating unit being connected to the drive unit, the drive unit being signal-connected to the controller, and being used to drive the operating unit to rotate the self-cleaning component in response to the control signal of the controller to adjust the relative position of the self-cleaning component and the mopping component.

9. The cleaning robot according to claim 7 or 8, wherein, The self-cleaning component is also connected to: A connecting shaft, wherein the self-cleaning component is rotatably mounted to the mounting base via the connecting shaft; and A first reset component is sleeved on the connecting shaft, one end of the first reset component is connected to the self-cleaning component, and the other end of the first reset component is connected to the mounting base. When the mopping assembly is in mopping mode, the first reset member is compressed. During the process of the mopping assembly moving from the lowered position to the raised position relative to the body, the first reset member is used to reset the self-cleaning member to the initial position, so that the self-cleaning member is in the first state.

10. The cleaning robot according to claim 1, wherein, The wiping assembly is configured to be movable relative to the body between a lowered position and an raised position; When the cleaning robot is moving on the surface to be cleaned and the mopping assembly is in the raised position, the self-cleaning component is in the second state relative to the mopping component, and the control device controls the mopping component not to rotate. When the cleaning robot is docked with the base station and the mopping assembly is in the raised position, the self-cleaning component is in the second state relative to the mopping component, and the mopping component rotates to scrape off the dirt on the mopping component.

11. The cleaning robot according to claim 1, wherein, In the mopping mode, the rotation direction of the mopping component is a first direction; in the mopping component cleaning mode, the rotation direction of the mopping component is a second direction; the first direction is opposite to the second direction; when the mopping component rotates along the second direction, the scraping end of the self-cleaning component tends to approach the mopping component. When the cleaning robot is moving, the first direction is opposite to the rotation direction of the drive wheel.

12. The cleaning robot according to claim 1, wherein, The mopping assembly is movable along the width of the body so that at least a portion of the mopping assembly moves laterally outside the body.

13. The cleaning robot according to claim 1, wherein, The mopping assembly also includes: A flexible blocking member, one end of which is connected to the scraping end of the self-cleaning member, and the other end of which is connected to the mounting base; When the self-cleaning component is in the first state or the second state relative to the mopping component, the blocking component prevents dirt on the mopping component from moving into the gap between the self-cleaning component and the mounting base.

14. The cleaning robot according to claim 13, wherein, When the self-cleaning component is in the first state relative to the mopping component, the blocking component unfolds and comes into contact with the mopping component. When the self-cleaning component is in the second state relative to the mopping component, the blocking component is folded and at least partially not in contact with the mopping component.

15. The cleaning robot according to claim 13, wherein, The cleaning robot also includes: A soft rubber fastener is provided, and one end of the blocking member is connected to the mounting base via the soft rubber fastener.

16. The cleaning robot according to claim 15, wherein, The soft rubber fastener includes: A fixing strip is located below the mounting base; and The positioning part, the first fixing part, and the second fixing part are provided on the fixing strip. The positioning part, the first fixing part, and the second fixing part are arranged at intervals along the length direction of the fixing strip. One end of the blocking member is positioned on the fixing strip through the positioning part and is clamped and fixed between the fixing strip and the mounting base. The fixing strip is connected to the mounting base through the first fixing part and / or the second fixing part.

17. The cleaning robot according to claim 1, wherein, The end face of the scraping end is an arc shape that protrudes towards the wiping component.

18. A cleaning robot, the cleaning robot comprising a body, the body being provided with drive wheels, the drive wheels being used to provide driving power to drive the body to move; wherein, The cleaning robot includes: Mounting base, the mounting base being movably disposed on the fuselage; A mopping assembly, including a mopping member mounted on the mounting base, the mopping member being rotatable relative to the mounting base; The self-cleaning assembly includes a self-cleaning member movably connected to the mounting base, and the self-cleaning member is configured to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member is spaced apart from the mopping member without contact or in contact with the mopping member with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts against the mopping member with a second interference fit, wherein the first interference fit is less than the second interference fit. A flexible blocking member is connected between the scraping end of the self-cleaning component and the mounting base. The blocking member is used to prevent foreign objects from entering the connection end of the self-cleaning component.

19. A cleaning robot, wherein, include: The machine body is equipped with drive wheels for driving the machine body forward. The machine body is equipped with a dust collection chamber for accommodating a dust collection container. The dust collection container is used to accommodate dry waste, or the dust collection chamber is used to accommodate dry waste. and A cleaning module includes a mounting base, a mopping assembly, and a self-cleaning assembly. The mounting base is movably disposed on the body. The mopping assembly includes a mopping member mounted on the mounting base, which is rotatable relative to the mounting base. The self-cleaning assembly includes a self-cleaning member movably connected to the mounting base. The self-cleaning member is configured to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member does not contact the mopping member or contacts it with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts against the mopping member with a second interference fit. The first interference fit is less than the second interference fit. The body is provided with a force-applying part for abutting against the connecting part of the self-cleaning component. The mopping assembly can move between a lowered position and a raised position relative to the body. By moving the mopping assembly relative to the body from the lowered position to the raised position, the connecting part moves toward the force-applying part until it is subjected to a force by the force-applying part, thereby switching the self-cleaning component from a first state to a second state.

20. A cleaning robot, wherein, include: The fuselage is equipped with drive wheels, which provide driving power to propel the fuselage forward. and A cleaning module includes a mounting base, a mopping assembly, and a self-cleaning assembly. The mounting base is movably disposed on the body. The mopping assembly includes a mopping member mounted on the mounting base, which is rotatable relative to the mounting base. The self-cleaning assembly includes a self-cleaning member movably connected to the mounting base. The self-cleaning member is configured to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member does not contact the mopping member or contacts it with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts against the mopping member with a second interference fit. The first interference fit is less than the second interference fit. When the cleaning robot is in mopping mode, the self-cleaning component is in the first state relative to the mopping component. When the cleaning robot is in non-mopping mode, the self-cleaning component is in a second state relative to the mopping component, and the mopping component rotates relative to the robot body and the self-cleaning component so that the self-cleaning component scrapes off the dirt on the mopping component.

21. A cleaning system, wherein, include: Base station; and The cleaning robot according to any one of claims 1-20.

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