Cleaning device and cleaning robot

Abstract

The utility model provides a kind of cleaning device and cleaning robot, and cleaning device includes moving mechanism and cleaning mechanism.Moving mechanism includes chassis, driving part, tire and mounting flange.Driving part is installed on the bottom of chassis and is equipped with output end.Mounting flange is installed on output end, and is equipped with at least two installation sites, and tire is detachably installed in one of all installation sites.Cleaning mechanism includes rolling brush module and disc brush module.Roller brush module and disc brush module are detachably installed on the bottom of chassis.In the present application, when it is necessary to periodically maintain or replace rolling brush module, disc brush module and tire, the components needing maintenance or replacement are correspondingly detached from the chassis, without the need to detach other components on the chassis, to realize the convenient disassembly and maintenance of tire and cleaning mechanism, reduce the difficulty of maintenance and improve user experience.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment, and in particular to a cleaning device and a cleaning robot. Background Technology

[0002] In recent years, the demand for intelligent cleaning robots has increased across various scenarios, resulting in a wider variety of product types and diverse layouts of chassis components and cleaning mechanisms. Since the chassis components and cleaning mechanisms require regular maintenance throughout the cleaning robot's lifecycle, existing cleaning robot technologies suffer from poor ease of disassembly and maintenance, leading to inconvenience. Utility Model Content

[0003] Therefore, it is necessary to provide a cleaning device and a cleaning robot to address the problem that the chassis components or cleaning mechanisms of existing cleaning robots are difficult to disassemble and maintain, resulting in inconvenience in maintenance.

[0004] The technical solution is as follows:

[0005] On the one hand, a cleaning device is provided, comprising:

[0006] A mobile mechanism includes a chassis, a drive unit, a tire, and a mounting flange. The drive unit is mounted on the bottom of the chassis and has an output end. The mounting flange is mounted on the output end and has at least two mounting positions. The tire is detachably mounted on one of the mounting positions.

[0007] The cleaning mechanism includes a roller brush module and a disc brush module, both of which can be detachably installed on the bottom of the chassis.

[0008] The technical solution will be further explained below:

[0009] In one embodiment, each of the mounting positions is annular, and the projected areas of each mounting position are sequentially connected along the radial direction of the mounting flange along the axial direction of the mounting flange.

[0010] In one embodiment, the tire includes an annular tire frame and a tire skin fitted onto the tire frame. The tire frame has at least one mounting through hole on its side and at least one threaded hole on the mounting position. Each threaded hole is correspondingly provided with each mounting through hole. The moving mechanism also includes at least one screw, each screw being configured to pass through each mounting through hole and be threadedly connected to the inner wall of each threaded hole when the tire frame is fitted onto the mounting flange.

[0011] In one embodiment, the moving mechanism further includes auxiliary wheels mounted on the bottom of the chassis.

[0012] In one embodiment, the moving mechanism further includes a driven wheel, a first mounting bracket, and a second mounting bracket. The first mounting bracket is mounted on the bottom of the chassis, the driven wheel is mounted on the bottom of the first mounting bracket, and there are two second mounting brackets and two auxiliary wheels. The two second mounting brackets are respectively mounted on opposite sides of the first mounting bracket along the axial direction of the driven wheel, and the two auxiliary wheels are respectively mounted on the bottom of the two second mounting brackets.

[0013] In one embodiment, the cleaning mechanism further includes a front dust push assembly, which is detachably mounted to the front of the chassis;

[0014] The cleaning mechanism further includes a third mounting bracket, one end of which extends horizontally and is detachably connected to the front sidewall of the first mounting bracket; the other end of which extends vertically and is detachably connected to the front dust push assembly.

[0015] In one embodiment, the roller brush module includes a roller brush assembly, and the cleaning mechanism further includes at least one side brush assembly mounted at at least one end of the roller brush assembly and located in front of the roller brush assembly.

[0016] In one embodiment, the cleaning device further includes a first lifting assembly, a squeegee assembly, and a rear dust mop assembly. The first lifting assembly is mounted at the rear of the chassis and is detachably connected to either the squeegee assembly or the rear dust mop assembly to drive the squeegee assembly and / or the rear dust mop assembly to lift.

[0017] In one embodiment, the roller brush module includes a second lifting component and a roller brush component. The second lifting component is detachably installed on the bottom of the chassis and connected to the roller brush component to drive the roller brush component to lift and lower.

[0018] And / or, the disc brush module includes a third lifting component and a disc brush component, wherein the third lifting component is detachably installed on the bottom of the chassis and connected to the disc brush component to drive the disc brush component to lift.

[0019] On the other hand, a cleaning robot is provided, including the aforementioned cleaning device.

[0020] In the aforementioned cleaning device and robot, both the roller brush module and the disc brush module can be detachably mounted on the chassis, and the tires can be detachably mounted on the mounting flange. When periodic maintenance or replacement of the roller brush module, disc brush module, and tires is required, the corresponding components to be maintained or replaced can be removed from the chassis without disassembling other components on the chassis. This facilitates convenient assembly, disassembly, and maintenance of the tires and cleaning mechanism, reducing maintenance difficulty and improving user experience. Furthermore, the mounting flange has at least two mounting positions, each for mounting different tires to meet the needs of different cleaning scenarios and enhance the practicality of the cleaning device. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a cleaning device according to one embodiment.

[0024] Figure 2 This is a schematic diagram of the chassis mechanism of one embodiment.

[0025] Figure 3 This is a schematic diagram of the cleaning device according to another embodiment.

[0026] Figure 4 for Figure 3 A bottom view of the cleaning device.

[0027] Figure 5 This is a side view of a cleaning device according to yet another embodiment.

[0028] Explanation of reference numerals in the attached figures:

[0029] 10. Cleaning device; 100. Moving mechanism; 110. Chassis; 120. Drive unit; 130. Tire; 131. Tire frame; 132. Tire skin; 133. Mounting through hole; 140. Mounting flange; 141. Mounting position; 142. Threaded hole; 151. Screw; 161. Auxiliary wheel; 162. Driven wheel; 163. First mounting bracket; 164. Second mounting bracket; 200. Cleaning mechanism; 210. Roller brush module; 211. Roller brush assembly; 212. Second lifting assembly; 213. Trash box; 220. Disc brush module; 221. Third lifting assembly; 222. Disc brush assembly; 231. Side brush assembly; 241. Front dust pusher assembly; 242. Third mounting bracket; 251. First lifting assembly; 252. Squeegee assembly. Detailed Implementation

[0030] 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.

[0031] like Figure 1 As shown, in one embodiment, a cleaning device 10 is provided, including a moving mechanism 100 and a cleaning mechanism 200. The moving mechanism 100 includes a chassis 110, a drive unit 120, a tire 130, and a mounting flange 140. The drive unit 120 is mounted on the bottom of the chassis 110 and has an output end. The mounting flange 140 is mounted on the output end and has at least two mounting positions 141. The tire 130 is detachably mounted to one of the mounting positions 141. The cleaning mechanism 200 includes a roller brush module 210 and a disc brush module 220. Both the roller brush module 210 and the disc brush module 220 are detachably mounted to the bottom of the chassis 110.

[0032] In the cleaning device 10 described above, both the roller brush module 210 and the disc brush module 220 can be detachably mounted on the chassis 110, and the tire 130 can be detachably mounted on the mounting flange 140. When periodic maintenance or replacement of the roller brush module 210, disc brush module 220, and tire 130 is required, the corresponding parts to be maintained or replaced can be removed from the chassis 110 without disassembling other parts on the chassis 110. This allows for convenient disassembly, assembly, and maintenance of the tire 130 and the cleaning mechanism 200, reducing maintenance difficulty and improving user experience. In addition, the mounting flange 140 has at least two mounting positions 141, each for mounting a different tire 130 to meet the needs of different cleaning scenarios and improve the practicality of the cleaning device 10.

[0033] The drive component 120 can be configured as a drive motor, drive cylinder, or other drive structure. The number and installation position of the drive components 120 and the number and installation position of the tires 130 can be flexibly adjusted according to actual usage needs. Specifically, in this embodiment, there are two drive components 120 and two tires 130. The two drive components 120 are installed at intervals on the left and right sides of the rear of the chassis 110. The two tires 130 are detachably installed on the two drive components 120 respectively.

[0034] The tire 130 can be installed on the mounting position 141 by snap-fit, plug-in, screw-in, or other detachable connection methods. Specifically, in this embodiment, the bottom of the chassis 110 is provided with a mounting plate. The drive component 120 is a drive motor, which can be installed on the mounting plate by snap-fit, screw-in, or other detachable connection methods.

[0035] like Figure 1 As shown, optionally, each mounting position 141 is annular. Along the axial direction of the mounting flange 140, the projected areas of each mounting position 141 are sequentially fitted together radially along the mounting flange 140. In this way, tires 130 of different sizes can be mounted on the mounting flange 140 through the corresponding mounting positions 141, improving the applicability of the cleaning device 10.

[0036] like Figure 1 As shown, optionally, the tire 130 includes an annular tire frame 131 and a tire skin 132 fitted onto the tire frame 131. The tire frame 131 has at least one mounting through hole 133 on its side. The mounting position 141 has at least one threaded hole 142. Each threaded hole 142 corresponds to a corresponding mounting through hole 133. The moving mechanism 100 also includes at least one screw 151, each screw 151 being configured to pass through each mounting through hole 133 and be threadedly connected to the inner wall of each threaded hole 142 when the tire frame 131 is fitted onto the mounting flange 140. Thus, the tire 130 is fixed to the mounting flange 140 by multiple screws 151, ensuring a uniform distribution of the fixing force between the tire 130 and the mounting flange 140, and improving the reliability of the cleaning device 10.

[0037] In this specific embodiment, there are multiple mounting through holes 133. Each mounting through hole 133 is evenly arranged around the axis of the frame 131.

[0038] like Figure 2 As shown, in one embodiment, the mobile mechanism 100 further includes auxiliary wheels 161. The auxiliary wheels 161 are mounted on the bottom of the chassis 110. Thus, the auxiliary wheels 161 enhance the obstacle-crossing ability and anti-tipping capability of the mobile mechanism 100, improving the reliability of the cleaning device 10.

[0039] The number and installation position of the auxiliary wheels 161 can be flexibly adjusted according to actual usage needs.

[0040] like Figure 2 As shown, optionally, the moving mechanism 100 further includes a driven wheel 162, a first mounting bracket 163, and a second mounting bracket 164. The first mounting bracket 163 is mounted on the bottom of the chassis 110. The driven wheel 162 is mounted on the bottom of the first mounting bracket 163. There are two second mounting brackets 164 and two auxiliary wheels 161. The two second mounting brackets 164 are respectively mounted on opposite sides of the first mounting bracket 163 along the axial direction of the driven wheel 162. The two auxiliary wheels 161 are respectively mounted on the bottom of the two second mounting brackets 164. In this way, the driven wheel 162 is mounted on the chassis 110 via the first mounting bracket 163, and the auxiliary wheel 161 is mounted on the first mounting bracket 163 via the second mounting brackets 164, improving the ease of assembly of the cleaning device 10.

[0041] The second mounting bracket 164 can be installed on the first mounting bracket 163 by screwing, snap-fitting, plugging, or other detachable connection methods. Specifically, in this embodiment, the two second mounting brackets 164 and the two auxiliary wheels 161 are symmetrically arranged on opposite sides of the first mounting bracket 163 along the axial direction of the driven wheel 162. In other embodiments, the second mounting bracket 164 and auxiliary wheels 161 may be installed only on one side of the first mounting bracket 163 along the axial direction of the driven wheel 162, or neither the second mounting bracket 164 nor the auxiliary wheels 161 may be installed on either side of the first mounting bracket 163 along the axial direction of the driven wheel 162 (i.e., the second mounting bracket 164 and auxiliary wheels 161 are not installed on the chassis 110).

[0042] Specifically, in this embodiment, along the forward direction of the moving mechanism 100, the tire 130, the disc brush module 220, the roller brush module 210 and the driven wheel 162 are arranged in sequence.

[0043] like Figure 1 and Figure 3 As shown, in one embodiment, the roller brush module 210 includes a roller brush assembly 211. The cleaning mechanism 200 also includes at least one side brush assembly 231. The side brush assembly 231 is mounted at least one end of the roller brush assembly 211 and is located in front of the roller brush assembly 211. Thus, the side brush assembly 231 can clean the edges of the area to be cleaned, improving the cleaning effect of the cleaning device 10.

[0044] The number of side brush assemblies 231 can be flexibly adjusted according to actual usage needs. Specifically, in this embodiment, there is one side brush assembly 231, which is installed at one end of the roller brush assembly 211 along the axial direction of the tire 130. In other embodiments, there can also be two side brush assemblies 231, with each assembly installed at one end of the roller brush assembly 211 along the axial direction of the tire 130.

[0045] like Figure 3 and Figure 4 As shown, in one embodiment, the cleaning mechanism 200 further includes a front dust push assembly 241. The front dust push assembly 241 is detachably mounted on the front of the chassis 110. In this way, the front dust push assembly 241 can concentrate and gather garbage and dust, so that the roller brush module 210 can clean it, thereby improving the cleaning effect of the cleaning device 10.

[0046] like Figure 3 As shown, specifically in this embodiment, the cleaning mechanism 200 further includes a third mounting bracket 242. One end of the third mounting bracket 242 extends horizontally and is detachably connected to the front sidewall of the first mounting bracket 163. The other end of the third mounting bracket 242 extends vertically and is detachably connected to the front dust push assembly 241.

[0047] like Figure 4 and Figure 5 As shown, in one embodiment, the cleaning device 10 further includes a first lifting assembly 251, a squeegee assembly 252, and a rear dust mop assembly (not shown). The first lifting assembly 251 is mounted at the rear of the chassis 110 and is detachably connected to either the squeegee assembly 252 or the rear dust mop assembly to drive the squeegee assembly 252 and / or the rear dust mop assembly to rise and fall. Thus, the squeegee assembly 252 and the rear dust mop assembly can be flexibly replaced according to actual usage needs. After one of the squeegee assembly 252 and the rear dust mop assembly is connected to the first lifting assembly 251, the first lifting assembly 251 can drive the squeegee assembly 252 to descend for water absorption or rise to not absorb water, or drive the rear dust mop assembly to descend for dust removal or rise to not remove dust, or drive the squeegee assembly 252 and the rear dust mop assembly to descend or rise simultaneously, improving the practicality of the cleaning device 10.

[0048] like Figure 5 As shown, in one embodiment, the roller brush module 210 includes a second lifting assembly 212 and a roller brush assembly 211. The second lifting assembly 212 is detachably mounted on the bottom of the chassis 110 and connected to the roller brush assembly 211 to drive the roller brush assembly 211 to rise and fall. In this way, the second lifting assembly 212 can drive the roller brush assembly 211 to descend for sweeping or rise to not sweep, improving the practicality of the cleaning device 10.

[0049] In this specific embodiment, the roller brush module 210 also includes a trash box 213, which is installed in front of the roller brush assembly 211 and is used to collect the trash raised by the roller brush assembly 211.

[0050] like Figure 5 As shown, optionally, the disc brush module 220 includes a third lifting assembly 221 and a disc brush assembly 222. The third lifting assembly 221 is detachably mounted on the bottom of the chassis 110 and connected to the disc brush assembly 222 to drive the disc brush assembly 222 to rise and fall. In this way, the third lifting assembly 221 can drive the disc brush assembly 222 to descend for floor cleaning or rise to not clean the floor, improving the practicality of the cleaning device 10.

[0051] Specifically, in this embodiment, the first lifting component 251 is driven to and independently controls the lifting of the squeegee component 252; the second lifting component 212 is driven to and independently controls the lifting of the roller brush component 211 and the side brush component 231; and the third lifting component 221 is driven to and independently controls the lifting of the disc brush component 222. These components can be combined to form different cleaning modes to address different cleaning scenarios. For example, lowering the roller brush component 211 and the side brush component 231 while raising the disc brush component 222 and the squeegee component 252 allows for sweeping without washing or water absorption. Lowering the roller brush component 211, the side brush component 231, the disc brush component 222, and the squeegee component 252 allows for sweeping first, then washing, and finally water absorption.

[0052] The roller brush assembly 211 can be configured as any existing roller brush structure for sweeping. The disc brush assembly 222 can be configured as any existing disc brush structure for washing. The side brush assembly 231 can be configured as any existing side brush structure capable of cleaning the edges of the area to be cleaned. Both the front dust mop assembly 241 and the rear dust mop assembly can be configured as any existing dust mop structure. The squeegee assembly 252 can be configured as any existing structure for absorbing and wiping water.

[0053] The first lifting assembly 251, the second lifting assembly 212, and the third lifting assembly 221 can all be installed on the bottom of the chassis 110 by means of snap-fit, screw-fit, fastening, plug-in, or other detachable connection methods. The first lifting assembly 251, the second lifting assembly 212, and the third lifting assembly 221 can all be configured as any of the lifting structures in the prior art.

[0054] Specifically, in this embodiment, the third lifting assembly 221 includes a fixed bracket, a lifting bracket, a connecting rod assembly, a drive source, and an elastic component. The fixed bracket is detachably mounted on the bottom of the chassis 110. The lifting bracket is used to mount the disc brush assembly 222. A rotating bracket is movably mounted on the lifting bracket. The connecting rod assembly is movably connected to both the fixed bracket and the lifting bracket. The drive source is driven to the rotating bracket. The drive source is used to drive the rotating bracket to rotate relative to the lifting bracket. The elastic component is located on the side of the rotating bracket away from the disc brush assembly 222. One end of the elastic component is connected to the lifting bracket, and the other end is connected to the rotating bracket. Thus, when cleaning is required, the drive source extends, causing the end of the rotating bracket connected to the drive source to rotate downwards. Under the pulling force of the elastic component, the lifting bracket moves downwards to a set position with the cooperation of the connecting rod assembly, thereby driving the disc brush assembly 222 downwards, realizing the descent of the disc brush assembly 222 so that the disc brush assembly 222 can clean the floor. When cleaning is not required, the drive source retracts, causing the end of the rotating bracket connected to the drive source to rotate upwards. Under the pulling force of the elastic component, the elastic component will first release some tension to shorten its length, so that the rotating bracket and the lifting bracket can directly contact each other. Then, the drive source continues to retract, causing the rotating bracket to lift the lifting bracket together to move upwards to the set position, thereby driving the disc brush assembly 222 to move upwards, realizing the lifting of the disc brush assembly 222. This allows the disc brush assembly 222 to avoid contact with the ground, thereby extending the life of the disc brush assembly 222 and protecting the ground.

[0055] Specifically, in this embodiment, the structure and working principle of the first lifting component 251 and the structure and working principle of the second lifting component 212 are the same as those of the third lifting component 221.

[0056] In one embodiment, a cleaning robot is provided, including the cleaning device 10 of any of the above embodiments.

[0057] In the cleaning robot described above, both the roller brush module 210 and the disc brush module 220 can be detachably mounted on the chassis 110, and the tires 130 can be detachably mounted on the mounting flange 140. When periodic maintenance or replacement of the roller brush module 210, disc brush module 220, and tires 130 is required, the corresponding parts to be maintained or replaced can be removed from the chassis 110 without disassembling other parts on the chassis 110. This allows for convenient disassembly, assembly, and maintenance of the tires 130 and the cleaning mechanism 200, reducing maintenance difficulty and improving user experience. Furthermore, the mounting flange 140 has at least two mounting positions, each for mounting different tires 130 to meet the needs of different cleaning scenarios and improve the practicality of the cleaning device 10.

[0058] In other implementations, the cleaning device 10 can also be applied to sweepers, mops, or other cleaning equipment.

[0059] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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.

[0060] Furthermore, where the terms "first" and "second" appear, these terms are 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 with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] 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 based on the specific circumstances.

[0062] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via 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. Similarly, "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.

[0063] It should be noted that if 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. If 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. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0064] It should also be understood that, in interpreting the connection or positional relationships of components, although not explicitly described, connection and positional relationships are interpreted to include a range of error, which should be within the acceptable deviation range of a specific value as determined by a person skilled in the art. For example, "approximately," "about," or "substantially" can mean within one or more standard deviations, without limitation herein.

[0065] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above embodiments merely illustrate 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 application. 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 device, characterized in that, include: A mobile mechanism includes a chassis, a drive unit, a tire, and a mounting flange. The drive unit is mounted on the bottom of the chassis and has an output end. The mounting flange is mounted on the output end and has at least two mounting positions. The tire is detachably mounted on one of the mounting positions. The cleaning mechanism includes a roller brush module and a disc brush module, both of which can be detachably installed on the bottom of the chassis.

2. The cleaning device according to claim 1, characterized in that, Each of the mounting positions is annular, and the projected areas of each mounting position are sequentially connected along the radial direction of the mounting flange along the axial direction of the mounting flange.

3. The cleaning device according to claim 2, characterized in that, The tire includes a ring-shaped tire frame and a tire skin fitted onto the tire frame. The tire frame has at least one mounting through hole on its side and at least one threaded hole at the mounting position. Each threaded hole is correspondingly provided with each mounting through hole. The moving mechanism also includes at least one screw, each screw being configured to pass through each mounting through hole and be threadedly connected to the inner wall of each threaded hole when the tire frame is fitted onto the mounting flange.

4. The cleaning device according to claim 1, characterized in that, The moving mechanism also includes auxiliary wheels, which are mounted on the bottom of the chassis.

5. The cleaning device according to claim 4, characterized in that, The moving mechanism further includes a driven wheel, a first mounting bracket, and a second mounting bracket. The first mounting bracket is mounted on the bottom of the chassis, the driven wheel is mounted on the bottom of the first mounting bracket, and there are two second mounting brackets and two auxiliary wheels. The two second mounting brackets are respectively mounted on opposite sides of the first mounting bracket along the axial direction of the driven wheel, and the two auxiliary wheels are respectively mounted on the bottom of the two second mounting brackets.

6. The cleaning device according to claim 5, characterized in that, The cleaning mechanism also includes a front dust push assembly, which is detachably mounted on the front of the chassis; The cleaning mechanism further includes a third mounting bracket, one end of which extends horizontally and is detachably connected to the front sidewall of the first mounting bracket; the other end of which extends vertically and is detachably connected to the front dust push assembly.

7. The cleaning apparatus according to any one of claims 1 to 6, characterized in that, The roller brush module includes a roller brush assembly, and the cleaning mechanism further includes at least one side brush assembly, which is mounted at at least one end of the roller brush assembly and is located in front of the roller brush assembly.

8. The cleaning apparatus according to any one of claims 1 to 6, characterized in that, The cleaning device further includes a first lifting assembly, a squeegee assembly, and a rear dust mop assembly. The first lifting assembly is installed at the rear of the chassis and is detachably connected to either the squeegee assembly or the rear dust mop assembly to drive the squeegee assembly and / or the rear dust mop assembly to lift.

9. The cleaning apparatus according to any one of claims 1 to 6, characterized in that, The roller brush module includes a second lifting component and a roller brush component. The second lifting component is detachably installed on the bottom of the chassis and connected to the roller brush component to drive the roller brush component to lift and lower. And / or, the disc brush module includes a third lifting component and a disc brush component, wherein the third lifting component is detachably installed on the bottom of the chassis and connected to the disc brush component to drive the disc brush component to lift.

10. A cleaning robot, characterized in that, Includes the cleaning device as described in any one of claims 1 to 9.

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