Cleaning module, cleaning robot, base station and cleaning system

Abstract

This application discloses a cleaning module, a cleaning robot, a base station, and a cleaning system. The cleaning module includes a mopping assembly and a self-cleaning assembly. The mopping assembly includes a mopping element that can rotate in a first direction or a second direction, the first direction being opposite to the second direction. The self-cleaning assembly includes a self-cleaning element. When the mopping element rotates in the first direction, the mopping element is used to clean the surface to be cleaned; when the mopping element rotates in the second direction, the self-cleaning element contacts the mopping element to clean it. Compared with current cleaning modules, the self-cleaning assembly of this application has a smaller matching error between the mopping assembly and the self-cleaning assembly when cleaning the mopping assembly, and the self-cleaning assembly has a better cleaning effect on the mopping assembly.

Description

Technical Field

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

[0002] A cleaning robot is a device used to automatically clean surfaces such as floors, walls, windows, and beds. Applications include home cleaning and cleaning of large venues. Compared to disc-type cleaning robots, tracked cleaning robots offer higher cleaning efficiency. Currently, tracked robots typically lack self-cleaning capabilities for their mopping components. Cleaning of these components is only performed by the cleaning structure within the base station after the robot returns to its base station; for example, scrapers within the base station wash and dry the mopping components. However, the misalignment between the base station's cleaning structure and the robot's mopping components can be significant, making it difficult to guarantee the cleaning effectiveness. Utility Model Content

[0003] This application provides a cleaning module, a cleaning robot, a base station, and a cleaning system, which at least solves the problem that the large mismatch between the cleaning structure of the base station and the dragging and wiping parts of the cleaning robot makes it difficult to ensure the cleaning effect of the cleaning robot.

[0004] In a first aspect, embodiments of this application provide a cleaning module, which includes a mopping assembly and a self-cleaning assembly. The mopping assembly includes a mopping member capable of rotating along a first direction or a second direction, wherein the first direction is opposite to the second direction. The self-cleaning assembly includes a self-cleaning member that, when the mopping member rotates along the first direction, cleans the surface to be cleaned; and when the mopping member rotates along the second direction, the self-cleaning member contacts the mopping member to clean it; wherein the mopping member includes a tracked mopping member or a roller brush.

[0005] In some embodiments, when the mopping member rotates along the first direction, the self-cleaning member is spaced apart from the mopping member.

[0006] In some embodiments, when the mopping member rotates along the first direction, the self-cleaning member contacts the mopping member, and the contact depth between the self-cleaning member and the mopping member is less than the contact depth between the self-cleaning member and the mopping member when the mopping member rotates along the second direction.

[0007] In some embodiments, the self-cleaning component further includes an operating element connected to the self-cleaning component, the operating element being used to control the relative position of the self-cleaning component and the mopping component.

[0008] In some embodiments, the cleaning module includes a drive assembly and a controller, the operating element being connected to the drive assembly and the drive assembly being signal-connected to the controller.

[0009] In some embodiments, the cleaning module includes a body, the mopping assembly mounted on the body, and the self-cleaning assembly mounted on the body.

[0010] In some embodiments, the self-cleaning component further includes a connecting shaft and a linkage. The connecting shaft is rotatably mounted on the body. Both the linkage and the self-cleaning component are disposed on the connecting shaft, and the linkage maintains constant contact with the mopping component.

[0011] 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.

[0012] In some embodiments, when the mopping member rotates along the first direction, the self-cleaning member is in the initial position of the mopping member; the self-cleaning assembly further includes a first reset member, which 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 body, and the first reset member is used to reset the self-cleaning member to the initial position.

[0013] 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.

[0014] 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.

[0015] In some embodiments, the linkage includes at least one linkage portion, and multiple linkage portions are 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.

[0016] In some embodiments, the linkage portion is spaced apart from the self-cleaning portion, and in the height direction of the cleaning module, the self-cleaning portion is closer to the bottom of the cleaning module than the linkage portion.

[0017] In some embodiments, the self-cleaning part includes bristles and a scraper.

[0018] 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, and when the wiping member rotates in the second direction, the wiping member is located between the self-cleaning member and the first roller or the second roller.

[0019] 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 or the second contact side is located.

[0020] Secondly, this application provides a cleaning robot, which includes a body and a cleaning module as described in the above embodiments, wherein the cleaning module is installed on the body.

[0021] In some embodiments, the cleaning robot further includes a power module mounted on the body; the mopping assembly further includes a first bracket, a first roller, a second bracket, and a second roller. The first roller is mounted on the first bracket. The second bracket is connected to the first bracket via a second reset member. The second roller is mounted on the second bracket, the output shaft of the power module is connected to the second roller and used to drive the second roller to rotate, and the mopping member is mounted on the first roller and the second roller, with the second roller driving the first roller to rotate via the mopping member.

[0022] In some embodiments, when the wiping assembly is subjected to an external force that causes the first support and the second support to move away from each other, both the first roller and the second roller are tightly engaged with the wiping member. When the external force disappears, the second reset member drives the first support and the second support to move closer to each other, so that at least one of the first roller and the second roller is loosely engaged with the wiping member.

[0023] Thirdly, this application also provides a cleaning robot. The cleaning robot includes a body, a cleaning module, and a self-cleaning component. The cleaning module includes a mopping component, which includes a mopping element capable of rotating in a first direction or a second direction, the first direction being opposite to the second direction. The self-cleaning component is mounted on the body and includes a self-cleaning element. When the mopping element rotates in the first direction, the mopping element cleans the surface to be cleaned; when the mopping element rotates in the second direction, the self-cleaning element contacts the mopping element to clean it.

[0024] In some embodiments, when the mopping member rotates along the first direction, the self-cleaning member is spaced apart from the mopping member.

[0025] In some embodiments, when the mopping member rotates along the first direction, the self-cleaning member contacts the mopping member, and the contact depth between the self-cleaning member and the mopping member is less than the contact depth between the self-cleaning member and the mopping member when the mopping member rotates along the second direction.

[0026] In some embodiments, the cleaning module includes a body, and the mopping assembly is mounted on the body. When the mopping component rotates along the first direction, the self-cleaning component is in the initial position of the mopping component. The self-cleaning assembly further includes a connecting shaft, a linkage, and a first reset component. The connecting shaft is rotatably mounted on the body. The linkage and the self-cleaning component are both disposed on the connecting shaft, and the linkage always maintains contact with the mopping component. The first reset component is sleeved on the connecting shaft, one end of the first reset component is connected to the linkage or the self-cleaning component, and the other end is connected to the body. The first reset component is used to cause the connecting shaft to drive the self-cleaning component to reset to the initial position when the mopping component switches from rotating along the second direction to rotating along the first direction.

[0027] In some embodiments, the linkage includes at least one linkage portion, and multiple linkage portions are 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.

[0028] Fourthly, embodiments of this application also provide a base station for use with a cleaning robot as described in any of the above embodiments, the base station including a docking position for accommodating the cleaning robot.

[0029] Fifthly, this application also provides a cleaning system, which includes a base station and the cleaning robot described in the above embodiments.

[0030] Compared to current cleaning modules, the cleaning module, cleaning robot, base station, and cleaning system of this application have a smaller matching error between the self-cleaning component and the mopping component when cleaning the mopping component, and the self-cleaning component has a better cleaning effect on the mopping component.

[0031] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0032] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0033] Figure 1 This is a perspective view of a cleaning module according to certain embodiments of this application;

[0034] Figure 2 yes Figure 1 A schematic diagram of the cross-section of the cleaning module along line II-II;

[0035] Figure 3 yes Figure 1 A schematic diagram of the cross-section of the cleaning module along line II-II;

[0036] Figure 4 yes Figure 1 A structural diagram of part of the cleaning module;

[0037] Figure 5 yes Figure 1 A structural diagram of part of the cleaning module;

[0038] Figure 6 This is a perspective view of a cleaning robot according to certain embodiments of this application;

[0039] Figure 7 This is a three-dimensional schematic diagram of a cleaning system according to certain embodiments of this application.

[0040] Explanation of key component symbols:

[0041] 10000, Cleaning system; 1000, Cleaning robot; 3000, Base station; 100, Cleaning module; 300, Body; 500, Power module; 10, Main body; 30, Mopping assembly; 31, Mopping component; 311, First end of the mopping component; 313, Second end of the mopping component; 33, First roller; 331, First contact side; 35, Second roller; 351, Second contact side; 37, First support; 39, Second support; 50, Self-cleaning assembly; 51, Self-cleaning component; 511, Connecting part; 513, Self-cleaning part; 53, Connecting shaft; 55, Linkage component; 551, Linkage component; 57, First reset component; 571, Torsion spring. Detailed Implementation

[0042] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0043] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0046] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0047] 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.

[0048] Compared to disc-type cleaning robots, tracked cleaning robots offer superior cleaning performance. Current tracked robots typically lack self-cleaning capabilities for their mop components; cleaning of these components is only 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 mop components makes it difficult to ensure effective cleaning. To address this issue, this application provides a cleaning module 100 (… Figure 1 (as shown), Cleaning Robot 1000 ( Figure 6 (as shown) and cleaning system 10000 ( Figure 7 (As shown).

[0049] Please see Figures 1 to 3In a first aspect, embodiments of this application provide a cleaning module 100, which includes a body 10, a mopping assembly 30, and a self-cleaning assembly 50. The mopping assembly 30 includes a mopping member 31, which is rotatable along a first direction X or a second direction Y, wherein the first direction X is opposite to the second direction Y. The self-cleaning assembly 50 includes a self-cleaning member 51, which cleans the surface to be cleaned when the mopping member 31 rotates along the first direction X; and when the mopping member 31 rotates along the second direction Y, the self-cleaning member 51 contacts the mopping member 31 to clean it.

[0050] Specifically, please combine Figure 6 The cleaning module 100 is a structure applied to the cleaning robot 1000, and 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 application uses a floor as an example for illustration. The cleaning robot 1000 is a device used to clean the surface to be cleaned. For example, the cleaning robot 1000 may include a sweeping robot, a mopping robot, and a combined 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 combined sweeping and mopping robot can integrate the functions of both types of 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. This application uses a combined sweeping and mopping robot as an example to illustrate the cleaning robot 1000.

[0051] The mopping assembly 30 is a structure used to clean surfaces to be cleaned. When the cleaning module 100 is cleaning the surface, the mopping member 31 contacts the surface and rotates to wipe it clean. As the mopping member 31 rotates, it moves relative to the surface, thereby removing dirt and debris from the surface to keep it clean. This dirt can include liquid and solid contaminants. The mopping member 31 may be, but is not limited to, a disposable electrostatic mop, a disposable wet mop, or a reusable fabric mop.

[0052] In other embodiments, the mopping member 31 rotates along the first direction X, and the self-cleaning member 51 can clean the mopping member 31. The mopping member 31 rotates along the second direction Y, and the mopping member 31 can clean the surface to be cleaned. In yet another embodiment, both rotation of the mopping member 31 along the first direction X and rotation along the second direction Y can clean the surface to be cleaned.

[0053] Please see Figure 2 and Figure 3In some embodiments, the cleaning module 100 includes a body 10, a mopping assembly 30 mounted on the body 10, and a self-cleaning assembly 50 mounted on the body 10. Both the mopping assembly 30 and the self-cleaning assembly 50 are mounted on the body 10. The self-cleaning assembly 50 can clean the mopping assembly 30, and the relative positions of the self-cleaning assembly 50 and the mopping assembly 30 remain substantially unchanged.

[0054] Please see Figure 2 and Figure 3 In some embodiments, the mopping component 31 includes a tracked mopping component or a roller brush. Both the tracked mopping component and the roller brush can rotate to clean the surface to be cleaned. In one embodiment, the mopping component 31 is a tracked mopping component. In this case, the contact area between the mopping component 31 and the surface to be cleaned is large, thus the tracked mopping component has a better cleaning effect on the surface to be cleaned during rotation. In another embodiment, the mopping component 31 is a roller brush. In this case, the roller brush is smaller in size, thus the overall size of the cleaning module 100 can be smaller, and the cleaning module 100 is easier to transport and store. The mopping component 31 of this application is described using a tracked mopping component 31 as an example.

[0055] 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. When the mop 31 needs cleaning, the self-cleaning component 51 contacts the mop 31 to scrape off the dirt. When the self-cleaning component 51 is cleaning the mop 31, the self-cleaning component 51 remains stationary relative to the body 10, while the mop 31 rotates relative to the body 10 in the second direction Y, allowing the mop 31 to rotate relative to the self-cleaning component 51. While the mop 31 rotates relative to the self-cleaning component 51, the dirt on the mop 31 can be scraped off by the self-cleaning component 51. Furthermore, when the self-cleaning component 51 contacts and scrapes off the dirt from the mopping component 31, the mopping component 31 can rotate in the second direction Y. In one embodiment, the cleaning module 100 can move to a designated drainage position. At this time, the mopping component 31 rotates in the second direction Y, and the dirt on the mopping component 31 is scraped off by the self-cleaning component 51, allowing the dirt to be discharged into the designated drainage position. In another embodiment, after the cleaning module 100 returns to the base station 3000, it performs drainage. At this time, the mopping component 31 rotates in the second direction Y, and the dirt on the mopping component 31 is scraped off by the self-cleaning component 51, allowing the dirt to be discharged into the base station 3000 for treatment.

[0056] In this regard, please combine Figure 7The 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 (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.

[0057] In the width direction W of the mopping member 31, the width of the self-cleaning member 51 can be greater than or equal to the width of the mopping member 31. At this time, when the mopping member 31 rotates along the second direction Y and the self-cleaning member 51 is in contact with the mopping member 31, the self-cleaning member 51 can make complete contact with the mopping member 31 in the width direction W of the mopping member 31 and scrape off the dirt on the mopping member 31, so that the self-cleaning member 51 has a better cleaning effect on the mopping member 31.

[0058] In the cleaning module 100 of this application embodiment, both the mopping component 30 and the self-cleaning component 50 are installed on the main body 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 the current cleaning module 100, the self-cleaning component 50 of this application 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.

[0059] The cleaning module 100 will be further explained below with reference to the accompanying drawings.

[0060] Please see Figure 1 and Figure 2 In some embodiments, when the mopping member 31 rotates along the first direction X, the self-cleaning member 51 is spaced apart from the mopping member 31. At this time, when the mopping member 31 rotates along the first direction X, the self-cleaning member 51 does not contact the mopping member 31, so that the dirt on the mopping member 31 will not be scraped off by the self-cleaning member 51, thereby avoiding the problem of dirt scraped off by the self-cleaning member 51 falling onto the already cleaned surface to be cleaned, and the cleaning module 100 has a better cleaning effect on the surface to be cleaned.

[0061] Please see Figure 2 and Figure 3, in some other embodiments, when the wiping member 31 rotates along the first direction X, the self-cleaning member 51 contacts the wiping member 31, and the contact depth of the self-cleaning member 51 with the wiping member 31 is less than the contact depth of the self-cleaning member 51 with the wiping member 31 when the wiping member 31 rotates along the second direction Y.

[0062] Among them, the wiping member 31 is a structure with a certain thickness. The contact depth between the self-cleaning member 51 and the wiping member 31 refers to: when the self-cleaning member 51 and the wiping member 31 cooperate, along the thickness direction of the wiping member 31, the deformation amount of the wiping member 31 extruded by the self-cleaning member 51. When the wiping member 31 rotates along the first direction X, when the self-cleaning member 51 contacts the wiping member 31, along the thickness direction of the wiping member 31, the value of the deformation amount of the wiping member 31 extruded by the self-cleaning member 51 is less than the value of the deformation amount of the wiping member 31 extruded by the self-cleaning member 51 when the wiping member 31 rotates along the second direction Y.

[0063] Exemplarily, when the wiping member 31 rotates along the first direction X, the value range of the contact depth of the self-cleaning member 51 with the wiping member 31 is the first preset range, and the first preset range can be [0, a]. When the wiping member 31 rotates along the second direction Y, the value range of the contact depth of the self-cleaning member 51 with the wiping member 31 is the 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 wiping member 31 is less than a, when the self-cleaning member 51 contacts the wiping member 31, it is difficult for the self-cleaning member 51 to scrape off the dirt on the wiping member 31. When the value range of the contact depth between the self-cleaning member 51 and the wiping member 31 is in [b, c], the self-cleaning member 51 can scrape off the dirt on the wiping member 31 to clean the wiping member 31.

[0064] When the wiping member 31 rotates along the first direction X, the contact depth of the self-cleaning member 51 with the wiping member 31 is relatively shallow, and along the thickness direction of the wiping member 31, the deformation amount of the wiping member 31 extruded by the self-cleaning member 51 is small. During the rotation of the wiping member 31, it is difficult for the self-cleaning member 51 to scrape off the dirt on the wiping member 31, thereby avoiding the problem that the dirt scraped off by the self-cleaning member 51 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. And at this time, the frictional force between the self-cleaning member 51 and the wiping member 31 is small, and the rotation of the wiping member 31 is relatively smooth, so the cleaning effect of the wiping member 31 on the surface to be cleaned is better.

[0065] Please refer to Figure 3When the mopping member 31 rotates along the second direction Y, the contact depth between the self-cleaning member 51 and the mopping member 31 is relatively deep. 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 from the mopping member 31, and the self-cleaning member 51 has a good cleaning effect on the mopping member 31.

[0066] Please see Figures 1 to 3 In some embodiments, the self-cleaning component 50 further includes an operating element connected to the self-cleaning component 51, which is used to control the relative position of the self-cleaning component 51 and the mopping component 31.

[0067] In one embodiment, the operating element may be a lever. When the wiping member 31 rotates along the first direction X, the lever is used to control the distance between the self-cleaning member 51 and the wiping member 31, or the lever is used to control the contact between the self-cleaning member 51 and the wiping member 31, and the contact depth is within a first preset range. When the wiping member 31 rotates along the second direction Y, the lever is used to control the contact between the self-cleaning member 51 and the wiping member 31, and the contact depth is within a second preset range.

[0068] In one example, the lever can be manually controlled. When the mopping component 31 rotates along the first direction X, the user manually adjusts the lever to control the distance between the self-cleaning component 51 and the mopping component 31, or the lever is used to control the contact between the self-cleaning component 51 and the mopping component 31, with the contact depth ranging from a first preset range. When the mopping component 31 rotates along the second direction Y, the user manually adjusts the lever to control the contact between the self-cleaning component 51 and the mopping component 31, with the contact depth ranging from a second preset range.

[0069] Please see Figures 1 to 3 In another example, in some implementations, the cleaning module 100 includes a drive assembly and a controller, with an actuation element connected to the drive assembly and the drive assembly signal-connected to the controller. If the actuation element is a lever, the lever can be controlled by the drive assembly.

[0070] Specifically, the drive assembly is a structure used to control the working state of the operating component. The drive assembly 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 component and is used to control the operating component to adjust the contact depth between the self-cleaning component 51 and the wiping component 31.

[0071] The controller communicates with the drive component, issuing commands to it to control the operating state of the actuator. Communication methods between the drive component and the controller include, but are 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 to transmit commands to the drive component. This communication connection offers fast data transmission, eliminates the need for wires connecting the two ends, and is relatively low-cost.

[0072] In one example, when the controller detects that the mopping component 31 rotates in the first direction X, the controller issues a first control command to the drive assembly. Upon receiving the first control command, the drive assembly controls an operating element, which adjusts 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 detects that the mopping component 31 rotates in the second direction Y, the controller issues a second control command to the drive assembly. Upon receiving the second control command, the drive assembly controls an operating element, which adjusts 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 in contact, and the contact depth is within a second preset range.

[0073] In another example, the user can input commands to the controller, 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 receives the command "the mopping component 31 cleans the surface to be cleaned" and the mopping component 31 rotates in the first direction X, the controller issues a first control command to the drive assembly. After receiving the first control command, the drive assembly controls the operating component, 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 receives the command "the self-cleaning component 51 cleans the mopping component 31" and the mopping component 31 rotates in the second direction Y, the controller issues a second control command to the drive assembly. After receiving the second control command, the drive component controls the operating component, 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 come into contact, and the contact depth is within a second preset range.

[0074] In another example, the cleaning module 100 also includes a detector, which is communicatively connected to the controller. The detector is used to detect the rotational state of the mopping member 31. When the detector detects that the mopping member 31 is rotating in a first direction X, the detector transmits a signal to the controller. After receiving the signal transmitted by the detector, the controller issues a first control command to the drive assembly. After receiving the first control command, the drive assembly controls an operating element, which adjusts the contact depth between the self-cleaning member 51 and the mopping member 31 so that the self-cleaning member 51 and the mopping member 31 are spaced apart, or the contact depth between the self-cleaning member 51 and the mopping member 31 is within a first preset range. When the detector detects that the mopping member 31 is rotating in a second direction Y, the detector transmits a signal to the controller. After receiving the signal transmitted by the detector, the controller issues a second control command to the drive assembly. After receiving the second control command, the drive assembly controls an operating element, which adjusts the contact depth between the self-cleaning member 51 and the mopping member 31 so that the self-cleaning member 51 and the mopping member 31 are in contact, and the contact depth is within a second preset range.

[0075] Please see Figures 1 to 3 In other embodiments, the self-cleaning component 50 further includes a connecting shaft 53 and a linkage 55. The connecting shaft 53 is rotatably mounted on the body 10. Both the linkage 55 and the self-cleaning component 51 are disposed on the connecting shaft 53, and the linkage 55 remains in contact with the mopping component 31 at all times.

[0076] 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 body 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.

[0077] When the linkage 55 contacts the mopping member 31, and the mopping member 31 rotates in the first direction X, the linkage 55 tends to rotate in the second direction Y 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 Y. When the self-cleaning member 51 tends to rotate in the second direction Y, 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.

[0078] When the mopping member 31 rotates along the second direction Y, under the action of the frictional force between the mopping member 31 and the linkage member 55, the linkage member 55 can rotate along the first direction X. The linkage member 55 transmits the turning force to the connecting shaft 53, and the connecting shaft 53 then transmits the turning force to the self-cleaning member 51, so that the self-cleaning member 51 can rotate along the first direction X. When the self-cleaning member 51 rotates along the first direction X, the self-cleaning member 51 approaches 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.

[0079] Please refer to Figure 2 and Figure 3 , 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.

[0080] Exemplarily, when the contact depth between the linkage member 55 and the mopping member 31 is 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, so as to avoid the problem that the dirt falls on the surface to be cleaned that has been cleaned, and the cleaning effect of the cleaning module 100 on the surface to be cleaned is better.

[0081] In other embodiments, when the mopping member 31 rotates along the first direction X, 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 is d, the value of d can satisfy: b ≥ d ≥ c. At this time, when the mopping member 31 rotates along the first direction X, 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 Y, 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 relatively high.

[0082] Please refer to Figure 2 and Figure 3 , in certain embodiments, when the mopping member 31 rotates along the first direction X, 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.

[0083] Please refer to Figure 2 and Figure 3In some embodiments, the self-cleaning assembly 50 further includes a first reset member 57, which 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 body 10. The first reset member 57 is used to cause the connecting shaft 53 to drive the self-cleaning member 51 to reset to the initial position when the wiping member 31 switches from rotating in the second direction Y to rotating in the first direction X.

[0084] 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 body 10. When the mopping member 31 rotates along the second direction Y, 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 X to continue cleaning the surface to be cleaned. During the process of the mopping member 31 switching from rotating along the second direction Y to rotating along the first direction X, 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.

[0085] 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 body 10. When the mopping member 31 rotates along the second direction Y, 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 X to continue cleaning the surface to be cleaned. During the process of the mopping member 31 switching from rotating along the second direction Y to rotating along the first direction X, 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, and the connecting shaft 53 then transmits the steering force to the linkage member 55, so that the connecting shaft 53 drives 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 its 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.

[0086] Please see Figure 2 and Figure 3Furthermore, in some embodiments, the first reset member 57 includes a torsion spring 571, which is compressed when the mopping member 31 rotates in the second direction Y, and the self-cleaning member 51 contacts the mopping member 31 to clean the mopping member 31; when the mopping member 31 rotates in the first direction X, the torsion spring 571 is in its natural state.

[0087] 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 body 10. When the wiping member 31 rotates along the first direction X, 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.

[0088] In one embodiment, when the mopping member 31 rotates along the second direction Y, the self-cleaning member 51 rotates along the first direction X. 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 Y to return to its initial position. When the mopping member 31 switches from rotating in the second direction Y to rotating in the first direction X, 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 X 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 Y 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.

[0089] In another embodiment, when the mopping member 31 rotates along the first direction X, the self-cleaning member 51 tends to rotate along the second direction Y. 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 X. When the rotation of the mopping member 31 from the first direction X to the second direction Y 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 X until the contact depth of contact with the mopping member 31 is within a second preset range.

[0090] Please see Figures 1 to 3In some embodiments, the linkage 55 includes at least one linkage part 551, and multiple linkage parts 551 are all 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.

[0091] Specifically, the linkage 551 is used to contact the mopping member 31 and transmit the steering force to the connecting shaft 53 and the self-cleaning member 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 member 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 W of the mopping member 31 can be the same as the width of the mopping member 31. In this case, during the rotation of the mopping member 31, the linkage 551 can stably transmit the steering force to the connecting shaft 53 and the self-cleaning member 51. The width of the linkage 551 can also be smaller than the width of the mopping member 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 member 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.

[0092] 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 Y, 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.

[0093] 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 W 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 on 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 W of the mop 31 to scrape off the dirt on the mop 31, and the self-cleaning parts 513 have a better cleaning effect on the mop 31.

[0094] Please see Figures 1 to 3 In some embodiments, the self-cleaning part 513 includes bristles and a scraper. When the self-cleaning part 513 is a bristle, it contacts the mop member 31 and is used to remove solid dirt from the mop member 31. When the self-cleaning part 513 is a scraper, it contacts the mop member 31 to scrape away dirt from the mop member 31.

[0095] Please see Figure 2 and Figure 3 In some embodiments, the self-cleaning part 513 is spaced apart from the linkage part 551. In the height direction H of the cleaning module 100, the self-cleaning part 513 is closer to the bottom of the cleaning module 100 than the linkage part 551; that is, 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 X, the linkage part 551 can cause the self-cleaning part 513 to tend to rotate along the second direction Y, 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 Y, the linkage part 551 can cause the self-cleaning part 513 to rotate along the first direction X, thereby allowing the end of the self-cleaning part 513 to gradually approach the mopping member 31. When the contact depth between the self-cleaning unit 513 and the mopping member 31 is within a second preset range, the self-cleaning unit 513 can scrape off the dirt from the mopping member 31 to clean the mopping member.

[0096] Please see Figures 2 to 5In 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, and when the wiping member 31 rotates in the second direction Y, the wiping member 31 is located between the self-cleaning member 51 and the first roller 33 or the second roller 35.

[0097] The first roller 33 can rotate relative to the body 10 along a first direction X and a second direction Y, and the second roller 35 can also rotate relative to the body 10 along the first direction X and the second direction Y. The first roller 33 and the second roller 35 can rotate simultaneously and both in the same direction. When the wiping member 31 is installed on the first roller 33 and the second roller 35, the first roller 33 and the second roller 35 can drive the wiping member 31 to rotate relative to the body 10. When both the first roller 33 and the second roller 35 rotate along the first direction X, the first roller 33 and the second roller 35 can drive the wiping member 31 to rotate along the first direction X. When both the first roller 33 and the second roller 35 rotate along the second direction Y, the first roller 33 and the second roller 35 can drive the wiping member 31 to rotate along the second direction Y.

[0098] 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 surface of the first end 311 of the wiping member 31 engages with the first roller 33, and the inner surface of the second end 313 of the wiping member 31 engages with the second roller 35. In one embodiment, a self-cleaning member 51 is disposed on the outer surface of the first end 311 of the wiping member 31. When the wiping member 31 rotates in the second direction Y, 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 disposed on the outer surface of the second end 313 of the wiping member 31. When the mopping member 31 rotates along the second direction Y, 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.

[0099] Please see Figure 2 and Figure 3 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 or the second contact side 351 is located.

[0100] In this context, the first contact side 331 of the first roller 33 refers to the contact side between the first roller 33 and 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, the first contact side 331 remains constant, as different positions of the first roller 33 contact the inner surface of the first end 311 of the wiping member 31. The position of the first contact side 331 relative to the body 10 remains unchanged. Similarly, the second contact side 351 of the second roller 35 refers to the contact side between the second roller 35 and 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, the second contact side 351 remains constant, as different positions of the second roller 35 contact the inner surface of the second end 313 of the wiping member 31. The position of the second contact side 351 relative to the body 10 remains unchanged.

[0101] In one embodiment, a self-cleaning member 51 is disposed on the outer surface of the first end 311 of the mop member 31, corresponding to the position of the first contact side 331. The end of the self-cleaning part 513 and the first contact side 331 of the first rod 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, a self-cleaning member 51 is disposed on the outer surface of the second end 313 of the mop member 31, corresponding to the position of the second contact side 351. The end 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.

[0102] Please see Figure 6 Secondly, this application provides a cleaning robot 1000, which includes a body 300 and a cleaning module 100 as described above. The cleaning module 100 is mounted on the body 300.

[0103] Please see Figures 3 to 6 In some embodiments, the cleaning robot 1000 further includes a power module 500 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. The output shaft of the power module 500 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] The power module 500 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 500 may include a drive unit connected to the second roller 35. The drive unit 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 unit 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.

[0108] Please see Figures 3 to 5 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 5 As shown), when the external force disappears, the second reset member 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 4 (As shown).

[0109] 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.

[0110] Specifically, the second reset member is used to restore the first support 37 and the second support 39 to their initial positions when the external force on the first support 37 and the second support 39 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 can move the first support 37 and the second support 39 closer together, 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.

[0111] 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 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.

[0112] In the cleaning robot 1000 of this application embodiment, both the mopping component 30 and the self-cleaning component 50 are installed on the main body 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 the current cleaning module 100, the self-cleaning component 50 of this application 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.

[0113] Please see Figure 1 , Figure 2 , Figure 3 and Figure 6 Thirdly, this application 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 element 31. The mopping element 31 is rotatable along a first direction X or a second direction Y, where the first direction X is opposite to the second direction Y. The self-cleaning component 50 is mounted on the body 300 and includes a self-cleaning element 51. When the mopping element 31 rotates along the first direction X, it cleans the surface to be cleaned. When the mopping element 31 rotates along the second direction Y, the self-cleaning element 51 contacts the mopping element 31 to clean it.

[0114] 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.

[0115] The body 300 of this application has the same structure as the body 300 of the second aspect. The body 10, mopping assembly 30 and self-cleaning assembly 50 of this application have the same structure as the body 10, mopping assembly 30 and self-cleaning assembly 50 of the first aspect, and will not be described in detail here.

[0116] Please see Figure 2 In some embodiments, when the mopping member 31 rotates along the first direction X, 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, allowing the mopping member 31 to rotate smoothly along the first direction X, thus improving the cleaning effect of the mopping member 31 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 is not scraped off by the self-cleaning member 51, thereby 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 of the cleaning robot 1000 on the surface to be cleaned.

[0117] Please see Figure 2 and Figure 3 In other embodiments, when the mopping member 31 rotates along the first direction X, 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 Y. In this case, the contact depth between the self-cleaning member 51 and the mopping member 31 is shallower when the mopping member 31 rotates along the first direction X. During the rotation of the mopping member 31, the self-cleaning member 51 is less likely to scrape off dirt from the mopping member 31, 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 X, allowing the mopping member 31 to rotate more smoothly, resulting in a better cleaning effect on the surface to be cleaned.

[0118] When the mopping member 31 rotates along the second direction Y, 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 Y is relatively 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 resistance of the self-cleaning member 51 to the rotation of the mopping member 31 along the second direction Y can be relatively large. At this time, the rotation speed of the mopping member 31 along the second direction Y is relatively 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 in cleaning the mopping member 31 is relatively good.

[0119] Exemplarily, when the mopping member 31 rotates along the first direction X, 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 Y, 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.

[0120] Please refer to Figures 1 to 3 , in some embodiments, the cleaning module 100 includes a main body 10, and the mopping assembly 30 is installed on the main body 10. When the mopping member 31 rotates along the first direction X, 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.

[0121] Please refer to Figures 1 to 3In 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 body 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 body 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 Y to rotating in the first direction X.

[0122] 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 body 10. When the mopping member 31 rotates along the second direction Y, 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 X to continue cleaning the surface to be cleaned. During the process of the mopping member 31 switching from rotating along the second direction Y to rotating along the first direction X, 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.

[0123] 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 body 10. When the mopping member 31 rotates along the second direction Y, 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 X to continue cleaning the surface to be cleaned. During the process of the mopping member 31 switching from rotating along the second direction Y to rotating along the first direction X, 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, and the connecting shaft 53 then transmits the steering force to the linkage member 55, so that the connecting shaft 53 drives 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 its 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] Please see Figures 1 to 3In some embodiments, the linkage 55 includes at least one linkage part 551, and multiple linkage parts 551 are all 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.

[0125] 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 W 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.

[0126] 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 Y, 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.

[0127] 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 W 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 on 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 W of the mop 31 to scrape off the dirt on the mop 31, and the self-cleaning parts 513 have a better cleaning effect on the mop 31.

[0128] In the cleaning robot 1000 of this application embodiment, both the mopping component 30 and the self-cleaning component 50 are installed on the main body 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 the current cleaning module 100, the self-cleaning component 50 of this application 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.

[0129] Fourthly, this application also provides a base station 3000 for use with the cleaning robot 1000 as described in the above embodiments. The base station 3000 includes a docking position for accommodating the cleaning robot 1000.

[0130] Please see Figure 7 Fifthly, this application also provides a cleaning system 10000, which includes a base station 3000 and the cleaning robot 1000 described above. The cleaning system 10000 is a device for cleaning surfaces. The cleaning system 10000 of this application 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.

[0131] In the cleaning system 10000 of this application embodiment, both the mopping component 30 and the self-cleaning component 50 are installed on the main body 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 the current cleaning module 100, the self-cleaning component 50 of this application 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.

[0132] 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.

[0133] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A cleaning module, characterized in that, include: A mopping assembly, comprising a mopping member rotatable along a first direction or a second direction, wherein the first direction is opposite to the second direction; and The self-cleaning assembly includes a self-cleaning component, which is used to clean the surface to be cleaned when the mopping component rotates in the first direction. When the mop rotates in the second direction, the self-cleaning component contacts the mop to clean it. The mopping component includes a tracked mopping component or a roller brush.

2. The cleaning module according to claim 1, characterized in that, When the mopping component rotates along the first direction, the self-cleaning component is spaced apart from the mopping component; or When the mopping member rotates along the first direction, the self-cleaning member contacts the mopping member, and the contact depth between the self-cleaning member and the mopping member is less than the contact depth between the self-cleaning member and the mopping member when the mopping member rotates along the second direction.

3. The cleaning module according to claim 1, characterized in that, The self-cleaning component also includes: An operating component is connected to the self-cleaning component and is used to control the relative position of the self-cleaning component and the mopping component.

4. The cleaning module according to claim 3, characterized in that, The cleaning module includes a drive component and a controller. The operating element is connected to the drive component, and the drive component is signal-connected to the controller.

5. The cleaning module according to claim 1, characterized in that, The cleaning module includes a main body, a mopping component mounted on the main body, and a self-cleaning component mounted on the main body.

6. The cleaning module according to claim 5, characterized in that, The self-cleaning component also includes: A connecting shaft, which is rotatably mounted on the body; and The linkage component and the self-cleaning component are both mounted on the connecting shaft, and the linkage component and the mopping component are always in contact.

7. The cleaning module according to claim 6, characterized in that, The contact depth between the linkage component 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.

8. The cleaning module according to claim 6, characterized in that, When the mopping component rotates along the first direction, the self-cleaning component is in the initial position of the mopping component; The self-cleaning component also includes: A first reset component is sleeved on the connecting shaft. One end of the first reset component is connected to the linkage component or the self-cleaning component, and the other end of the first reset component is connected to the body. The first reset component is used to reset the self-cleaning component to the initial position.

9. The cleaning module according to claim 8, characterized in that, 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.

10. The cleaning module according to claim 8, characterized in that, The first reset element includes a torsion spring. When the mopping member rotates in the second direction, the torsion spring is compressed, and the self-cleaning member contacts the mopping member to clean the mopping member; When the wiping member rotates in the first direction, the torsion spring is in its natural state.

11. The cleaning module according to claim 6, characterized in that, The linkage component includes at least one linkage part, and multiple linkage parts are sleeved on the connecting shaft. The self-cleaning component includes at least one connecting part and a self-cleaning part that bends and extends from the connecting part. The connecting part is sleeved on the connecting shaft, and one linkage part is arranged adjacent to at least one connecting part. Both the linkage part and the self-cleaning part extend toward the mopping component.

12. The cleaning module according to claim 11, characterized in that, The linkage part is spaced apart from the self-cleaning part, and in the height direction of the cleaning module, the self-cleaning part is closer to the bottom of the cleaning module than the linkage part.

13. The cleaning module according to claim 11, characterized in that, The self-cleaning part includes bristles and a scraper.

14. The cleaning module according to claim 1, characterized in that, The wiping component is a tracked wiping component. The wiping assembly includes a first roller and a second roller. The wiping component is mounted on the first roller and the second roller. When the wiping component rotates in the second direction, the wiping component is located between the self-cleaning component and the first roller or the second roller.

15. The cleaning module according to claim 1, characterized in that, The wiping component is a tracked wiping component. The wiping assembly includes a first roller and a second roller. The wiping component is mounted on the first roller and the second roller. The first roller includes a first contact side that contacts the wiping component. The second roller includes a second contact side that contacts the wiping component. The self-cleaning component is disposed on the side where the first contact side or the second contact side is located.

16. A cleaning robot, characterized in that, include: body; and The cleaning module according to any one of claims 1-15, wherein the cleaning module is installed on the body.

17. The cleaning robot according to claim 16, characterized in that, The cleaning robot also includes a power module installed on the body; the mopping assembly also includes: First support; The first roller is mounted on the first bracket; A second bracket, wherein the second bracket is connected to the first bracket via a second reset member; and The second roller is mounted on the second bracket. The output shaft of the power module is connected to the second roller and is used to drive the second roller to rotate. The dragging and wiping component is mounted on the first roller and the second roller. The second roller drives the first roller to rotate through the dragging and wiping component.

18. The cleaning robot according to claim 17, characterized in that, When the wiping assembly is subjected to an external force that causes the first support and the second support to move away from each other, both the first roller and the second roller are tightly engaged with the wiping member. When the external force disappears, the second reset member drives the first support and the second support to move closer to each other, so that at least one of the first roller and the second roller is loosely engaged with the wiping member.

19. A cleaning robot, characterized in that, include: body; A cleaning module, the cleaning module including a mopping assembly, the mopping assembly including a mopping element, the mopping element being rotatable along a first direction or a second direction, the first direction being opposite to the second direction; and The self-cleaning component is installed on the body and includes a self-cleaning element. When the mopping element rotates in the first direction, the mopping element is used to clean the surface to be cleaned. When the mopping element rotates in the second direction, the self-cleaning element contacts the mopping element to clean it.

20. The cleaning robot according to claim 19, characterized in that, When the mopping component rotates along the first direction, the self-cleaning component is spaced apart from the mopping component; or When the mopping member rotates along the first direction, the self-cleaning member contacts the mopping member, and the contact depth between the self-cleaning member and the mopping member is less than the contact depth between the self-cleaning member and the mopping member when the mopping member rotates along the second direction.

21. The cleaning robot according to claim 19, characterized in that, The cleaning module includes a body, and the mopping assembly is mounted on the body. When the mopping component rotates along the first direction, the self-cleaning component is in the initial position of the mopping component. The self-cleaning component also includes: A connecting shaft, which is rotatably mounted on the body; A linkage component, wherein both the linkage component and the self-cleaning component are mounted on the connecting shaft, and the linkage component maintains constant contact with the mopping component; and A first reset component is sleeved on the connecting shaft. One end of the first reset component is connected to the linkage component or the self-cleaning component, and the other end is connected to the body. The first reset component is used to cause the connecting shaft to drive the self-cleaning component to reset to the initial position when the wiping component switches from rotating along the second direction to rotating along the first direction.

22. The cleaning robot according to claim 21, characterized in that, The linkage component includes at least one linkage part, and multiple linkage parts are sleeved on the connecting shaft. The self-cleaning component includes at least one connecting part and a self-cleaning part that bends and extends from the connecting part. The connecting part is sleeved on the connecting shaft, and one linkage part is arranged adjacent to at least one connecting part. Both the linkage part and the self-cleaning part extend toward the mopping component.

23. A base station, characterized in that, For use in conjunction with a cleaning robot as described in any one of claims 16-22, the base station includes a docking station for accommodating the cleaning robot.

24. A cleaning system, characterized in that, include: Base station; and The cleaning robot according to any one of claims 16-22.

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