A cleaning device and a cleaning robot

Abstract

The application relates to a cleaning device and a cleaning robot. The cleaning device comprises a cleaning support, a material outlet structure, a material collection structure, a mop and a pre-tightening structure. The material outlet structure is connected to the cleaning support; the material collection structure is connected to the cleaning support; the mop extends into the material collection structure after being released from the material outlet structure; and the pre-tightening structure is elastically connected to the material outlet structure or elastically connected to the cleaning support, and is used for applying a tensioning force to the mop. The pre-tightening structure generates force through elastic deformation, and the mop is tensioned, so that the mop always maintains a taut state and is not prone to loosening or wrinkling during the cleaning process.

Description

Technical Field

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

[0002] Currently, cleaning robots mainly rely on mops for cleaning. During the cleaning process, the mops are prone to loosening and wrinkling, resulting in a decrease in cleaning effectiveness.

[0003] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] Therefore, it is necessary to provide a cleaning device and a cleaning robot to address the problem that the mop pads of current cleaning robots are prone to loosening, falling, and wrinkling.

[0005] In a first aspect, a cleaning device includes:

[0006] Cleaning stand;

[0007] A discharge structure, wherein the discharge structure is connected to the cleaning support;

[0008] A material receiving structure, wherein the material receiving structure is connected to the cleaning bracket;

[0009] A mop that extends into the receiving structure after being released from the discharge structure;

[0010] A pre-tensioning structure is elastically connected to the discharge structure or elastically connected to the cleaning bracket, and the pre-tensioning structure is used to apply tension to the mop.

[0011] In one embodiment, a resilient component is resiliently connected to the cleaning bracket;

[0012] A guide shaft assembly, wherein the two ends of the guide shaft assembly are connected to the elastic component along its own axial direction, the mop is wound or passed through the guide shaft assembly, and the elastic component is used to stretch the guide shaft assembly so that the guide shaft assembly applies tension to the mop.

[0013] In one embodiment, the elastic component includes two first elastic members and two second elastic members that are elastically connected to the cleaning bracket. The guide shaft assembly includes a first guide shaft, a second guide shaft, and a third guide shaft. The two ends of the first guide shaft along its own axial direction are respectively connected to the two first elastic members. The two ends of the second guide shaft along its own axial direction are respectively connected to the second elastic members. The third guide shaft is rotatably connected to the cleaning bracket. Along the height direction of the cleaning bracket, the third guide shaft is located between the first guide shaft and the second guide shaft. The mop is sequentially wound around the first guide shaft, the third guide shaft, and the second guide shaft.

[0014] In one embodiment, the elastic component includes two third elastic elements both connected to the cleaning bracket, and the guide shaft assembly includes a fourth guide shaft, a fifth guide shaft, and a sixth guide shaft. The two ends of the fourth guide shaft along its own axial direction are respectively connected to the two third elastic elements. The fifth guide shaft and the sixth guide shaft are rotatably connected to the cleaning bracket. Along the height direction of the cleaning bracket, the fifth guide shaft and the sixth guide shaft are located at the top of the fourth guide shaft. The fifth guide shaft and the sixth guide shaft are arranged side by side along a direction intersecting the height direction of the cleaning bracket. The mop passes between the fifth guide shaft and the sixth guide shaft and then wraps around the fourth guide shaft.

[0015] In one embodiment, the cleaning bracket is provided with a guide groove, the elastic component is located in the guide groove, and the two ends of the guide shaft assembly along its own axial direction are located in the guide groove.

[0016] In one embodiment, the discharge structure includes:

[0017] The discharge roller is provided with a receiving cavity and through holes at both ends communicating with the receiving cavity;

[0018] An inner shaft passes through the receiving cavity, with both ends of the inner shaft extending out of the through hole and connected to the cleaning bracket. The discharge roller is rotatably connected to the inner shaft.

[0019] The pre-tightening structure is located inside the receiving cavity, and the pre-tightening structure abuts against the inner shaft and the cavity wall of the receiving cavity respectively, so that the discharge roller rotates with damping relative to the inner shaft.

[0020] In one embodiment, the preload structure includes:

[0021] A protrusion, which is located within the receiving cavity and protrudes from the outer peripheral surface of the inner shaft;

[0022] A damping assembly is connected to the cavity wall of the receiving cavity and elastically abuts against the protrusion.

[0023] In one embodiment, the damping assembly includes a fourth elastic element located in the receiving cavity, radially along the inner axis, one end of the fourth elastic element being connected to the cavity wall of the receiving cavity, and the other end of the fourth elastic element having a protrusion structure that elastically abuts against the protrusion.

[0024] Alternatively, the damping assembly includes a fifth elastic element and a limiting element located in the receiving cavity. Along the radial direction of the inner axis, one end of the fifth elastic element is connected to the cavity wall of the receiving cavity, and the other end of the fifth elastic element is connected to the limiting element, which elastically abuts against the protrusion.

[0025] Alternatively, the damping assembly includes a sixth elastic element and a plurality of friction elements located in the receiving cavity. Along the radial direction of the inner axis, the outer sides of each friction element are connected to the cavity wall of the receiving cavity, and the inner sides of each friction element abut against the protrusion. Along the axial direction of the inner axis, all the friction elements are adjacent to each other. One friction element near the through hole abuts against the cavity wall of the receiving cavity, and one friction element away from the through hole elastically abuts against one end of the sixth elastic element, the other end of which abuts against the inner axis.

[0026] Alternatively, the damping assembly includes a rubber element located in the receiving cavity, which fills the gap between the protrusion and the cavity wall along the radial direction of the inner axis.

[0027] In one embodiment, the discharge structure further includes a bearing located within the receiving cavity, with the inner ring of the bearing sleeved on the inner shaft and the outer ring of the bearing fixed to the cavity wall of the receiving cavity, the bearing located outside the protrusion.

[0028] In one embodiment, the discharge roller includes:

[0029] A drum body, wherein a hollow portion is provided through the drum body, and the inner shaft passes through the hollow portion;

[0030] Two roller end caps, each roller end cap having a through hole communicating with the hollow portion, the roller end caps respectively sealing both ends of the roller body to form the receiving cavity, and the damping assembly being connected to the roller end caps.

[0031] In a second aspect, a cleaning robot includes a cleaning device as described in the first aspect.

[0032] The pre-tensioning structure of the aforementioned cleaning device is elastically connected to the discharge structure or elastically connected to the cleaning bracket. The pre-tensioning structure is used to apply tension to the mop. The pre-tensioning structure generates force through elastic deformation to tension the mop, ensuring that the mop remains taut throughout the cleaning process and is not prone to loosening or wrinkling. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the disclosed drawings without creative effort.

[0034] Figure 1 Image (a) is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application. Figure 1 (b) is a schematic diagram of a partial structure of a cleaning device provided in an embodiment of this application.

[0035] Figure 2 (a) is a schematic diagram of another cleaning device provided in an embodiment of this application. Figure 2 (b) is a schematic diagram of a partial structure of another cleaning device provided in the embodiments of this application.

[0036] Figure 3 Image (a) is a three-dimensional schematic diagram of the first discharge structure provided in the embodiment of this application. Figure 3 (b) is a cross-sectional view of the first discharge structure provided in the embodiment of this application.

[0037] Figure 4 Image (a) is a three-dimensional schematic diagram of the second discharge structure provided in the embodiments of this application. Figure 4 (b) is a cross-sectional view of the second discharge structure provided in the embodiment of this application.

[0038] Figure 5 This is a three-dimensional schematic diagram of the third discharge structure provided in the embodiments of this application.

[0039] Figure 6 (a) is a cross-sectional view of a third discharge structure provided in an embodiment of this application. Figure 6 (b) is another cross-sectional view of the third discharge structure provided in the embodiments of this application.

[0040] Figure 7 Image (a) is a three-dimensional schematic diagram of the fourth discharge structure provided in the embodiments of this application. Figure 7 (b) is a cross-sectional view of the fourth discharge structure provided in the embodiments of this application.

[0041] Explanation of reference numerals in the attached drawings: 100, Cleaning device; 1, Cleaning bracket; 11, Guide groove; 111, First guide groove; 112, Second guide groove; 113, Third guide groove; 2, Discharge structure; 21, Discharge roller; 211, Receiving cavity; 212, Roller body; 2121, Buckle; 2122, Stepped section; 213, Roller end cap; 2131, Through hole; 2132, Buckling protrusion; 2133, First buckling post; 2134, Second buckling post; 2135, Third buckling post; 22, Inner shaft; 23, Bearing; 24, Shaft seat; 241, Shaft hole; 3, Receiving structure; 4, Mop; 5. Pre-tightening structure; 51. Elastic component; 511. First elastic element; 512. Second elastic element; 513. Third elastic element; 52. Guide shaft assembly; 521. First guide shaft; 522. Second guide shaft; 523. Third guide shaft; 524. Fourth guide shaft; 525. Fifth guide shaft; 526. Sixth guide shaft; 53. Protrusion; 54. Damping assembly; 541. Fourth elastic element; 5411. Protrusion structure; 542. Fifth elastic element; 543. Limiting element; 544. Sixth elastic element; 545. Friction element; 546. Internal tooth washer; 547. Rubber component. 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] Currently, cleaning robots mainly rely on mops for cleaning. During the cleaning process, the mops are prone to loosening and wrinkling, resulting in a decrease in cleaning effectiveness.

[0044] Regarding the above issues, firstly, please refer to [the relevant information]. Figure 1 and Figure 2 This application provides a cleaning device 100, including a cleaning bracket 1, a discharging structure 2, a collecting structure 3, a pre-tightening structure 5, and a mop 4. Please refer to... Figure 1 and Figure 2 The discharge structure 2 is connected to the cleaning support 1; the receiving structure 3 is connected to the cleaning support 1; the mop 4 extends into the receiving structure 3 after being released from the discharge structure 2; the pre-tightening structure 5 is elastically connected to the discharge structure 2 (see [reference]). Figures 3 to 7Alternatively, it can be elastically connected to the cleaning bracket 1, and the pre-tensioning structure 5 is used to apply tension to the mop 4. The pre-tensioning structure 5 generates force through elastic deformation to tighten the mop 4, ensuring that the mop 4 remains taut throughout the cleaning process and is not easily loosened or wrinkled. In this invention, the mop refers to a cleaning material that can be used for sweeping and mopping, including dry cleaning materials for sweeping work surfaces and wet cleaning materials for mopping work surfaces. The cleaning material here can be cotton, polyester fiber, or non-woven fabric, etc., and is not limited here. In addition, the work surface in this invention can be a floor, tabletop, or glass surface, that is, the cleaning robot provided by this invention can be a sweeping robot, a tabletop cleaning robot, or a window cleaning robot.

[0045] The specific structure of the pre-tightening structure 5 provided in the embodiments of this application will be described in detail below:

[0046] Please see Figure 1 (a) and Figure 2 In some embodiments, such as (a), the pre-tensioning structure 5 includes an elastic component 51 and a guide shaft assembly 52. ​​The elastic component 51 is elastically connected to the cleaning bracket 1; the guide shaft assembly 52 is connected to the elastic component 51 at both ends along its own axial direction, and the mop 4 is wound or passed through the guide shaft assembly 52. ​​The elastic component 51 is used to stretch the guide shaft assembly 52 so that the guide shaft assembly 52 applies tension to the mop 4. The mop 4 is wound or passed through the guide shaft assembly 52, and the guide shaft assembly 52 is in direct contact with the mop 4. The elastic component 51 is connected to both ends of the guide shaft assembly 52 along its own axial direction, so that the tension of the elastic component 51 can be evenly transmitted to the entire width direction of the mop 4 through the guide shaft assembly 52. ​​Setting the guide shaft assembly 52 can make the tension more uniform, avoid the mop 4 from local wrinkling, displacement or overstretching due to uneven force, ensure that the mop 4 remains flat and taut, and improve the consistency of cleaning effect. The guide shaft assembly 52 not only transmits force but also guides and limits the movement of the mop 4, reducing swaying or deviation of the mop 4 during release or retraction. Because the guide shaft assembly 52 reduces mop 4 deviation, it also reduces frictional wear on the elastic component 51 caused by lateral forces, thus improving the overall service life of the cleaning device 100. The elastic component 51 provides continuous elastic tension, and the guide shaft assembly 52 converts this elastic force into a stable tension force on the mop 4. When the mop 4 experiences slight displacement due to wear, stretching, or encountering obstacles during cleaning, the elastic component 51 can adaptively adjust the tension through extension and retraction, while the guide shaft assembly 52 synchronously follows the changes in the mop 4, always maintaining effective tension on the mop 4 and preventing sudden excessive or insufficient tension.

[0047] In this embodiment, the height direction of the cleaning bracket 1 is as follows: Figure 1 and Figure 2 The Z-direction shown is horizontal. Figure 1 and Figure 2 The X direction is shown in the diagram.

[0048] In the optional implementation, please refer to Figure 1 The elastic component 51 includes two first elastic elements 511 and two second elastic elements 512 that are elastically connected to the cleaning bracket 1. The guide shaft assembly 52 includes a first guide shaft 521, a second guide shaft 522 and a third guide shaft 523. The two ends of the first guide shaft 521 along its own axial direction are respectively connected to the two first elastic elements 511. The two ends of the second guide shaft 522 along its own axial direction are respectively connected to the second elastic elements 512. The third guide shaft 523 is rotatably connected to the cleaning bracket 1. Along the height direction of the cleaning bracket 1, the third guide shaft 523 is located between the first guide shaft 521 and the second guide shaft 522. The mop 4 is sequentially wound around the first guide shaft 521, the third guide shaft 523 and the second guide shaft 522. Thus, the mop 4 is sequentially wound around the first guide shaft 521, the third guide shaft 523, and the second guide shaft 522 to form a zigzag path. This increases the positional stability of the mop 4 along the axial direction of the guide shaft assembly 52, ensuring that the mop 4 always moves along the discharge structure 2 to the take-up structure 3, and reducing the offset of the mop 4 along the axial direction of the guide shaft assembly 52. ​​The third guide shaft 523 serves as the intermediate fulcrum of the first guide shaft 521 and the second guide shaft 522, allowing the first and second guide shafts 521 and 522 to apply tension to the mop 4 from different directions. This achieves bidirectional tensioning of the mop 4, avoiding slack caused by applying tension in only one direction. Simultaneously, the positional distribution of the first guide shaft 521, the second guide shaft 522, and the third guide shaft 523 disperses the tension of the mop 4 to three points, increasing the number of contact points and distributing the force on the mop 4, thus reducing localized wear.

[0049] In an optional embodiment, along the height direction of the cleaning bracket 1, both first elastic elements 511 and the first guide shaft 521 are located above the third guide shaft 523. Horizontally, the first guide shaft 521 and the second guide shaft 522 are located on the same side of the third guide shaft 523. The first elastic element 511 is located on the side of the first guide shaft 521 facing away from the third guide shaft 523, and the second elastic element 512 is located on the side of the second guide shaft 522 facing away from the third guide shaft 523. The extension direction of the first elastic element 511 is angled to the horizontal direction, and the extension direction of the second elastic element 512 is parallel to the horizontal direction. When the first guide shaft 521 and the second guide shaft 522 are located on the same side of the third guide shaft 523, as the mop 4 sequentially passes around the first guide shaft 521, the third guide shaft 523, and the second guide shaft 522, a zigzag path with the third guide shaft 523 as its vertex is formed. This path allows the tension of the first guide shaft 521 and the second guide shaft 522 to be concentrated and transmitted to the mop 4 through the third guide shaft 523, ensuring that the mop 4 has sufficient tension to prevent wrinkling during cleaning. The same-side layout reduces the horizontal span of the guide shaft assembly 52 and the elastic component 51, making the entire cleaning device 100 more compact and suitable for the limited installation space inside the cleaning robot, while also reducing the risk of the mop 4 becoming loose due to an excessively long path. The first elastic element 511 is located on the side of the first guide shaft 521 opposite to the third guide shaft 523, and its tension direction is opposite to the path of the mop 4 winding downwards from the first guide shaft 521 to the third guide shaft 523. This reverse tension can be directly converted into the tension of the mop 4. Similarly, the second elastic element 512 is located on the side of the second guide shaft 522 opposite to the third guide shaft 523, and its tension direction is opposite to the path of the mop 4 winding from the third guide shaft 523 to the second guide shaft 522, further enhancing the overall tension of the mop 4. The first elastic element 511 extends at an angle to the horizontal direction. The elastic force of the first elastic element 511 can be decomposed into a vertical component and a horizontal component. The vertical component is transmitted to the part of the mop 4 in contact with the ground through the first guide shaft 521 and the third guide shaft 523, increasing the pressure of the mop 4 on the ground and improving the cleaning effect. The horizontal component helps the mop 4 maintain tension in the horizontal direction, preventing the mop 4 from shifting left or right or becoming loose in some areas when the cleaning robot moves. The second elastic element 512 extends parallel to the horizontal direction. The tension applied by the second elastic element 512 can be fully applied to the horizontal direction of the mop 4, strengthening the horizontal tension and smoothness of movement, ensuring that the mop 4 maintains stable tension throughout the winding process from the discharge structure 2 to the take-up structure 3, and avoiding local loosening caused by fluctuations in the take-up speed or ground friction.

[0050] Please see Figure 1 (a) and Figure 2In some embodiments (a), the cleaning bracket 1 is provided with a guide groove 11, the elastic component 51 is located within the guide groove 11, and both ends of the guide shaft assembly 52 along its own axial direction are located within the guide groove 11. The guide groove 11 constrains the movement path of the elastic component 51 and the guide shaft assembly 52, limiting their movement only along the extension direction of the guide groove 11 and reducing the offset of the guide shaft assembly 52. ​​The guide groove 11 prevents the elastic component 51 from deforming under force and deviating from a preset angle, and prevents the elastic component 51 from being bent or skewed, thus changing the direction of the tension force. At the same time, the guide groove 11 reduces the exposed space of the elastic component 51 and the guide shaft assembly 52, preventing interference between the elastic component 51 and the guide shaft assembly 52 and other components of the cleaning device 100.

[0051] Please see Figure 1 In optional embodiment (a), the guide groove 11 includes a first guide groove 111 and a second guide groove 112 spaced apart. Horizontally, the first guide groove 111 is located on the side of the first guide shaft 521 opposite to the third guide shaft 523. The second guide groove 112 is located on the side of the second guide shaft 522 opposite to the third guide shaft 523. The extension direction of the first guide groove 111 is angled to the horizontal direction, and the extension direction of the second guide groove 112 is parallel to the horizontal direction. A first elastic member 511 is disposed within the first guide groove 111, and both ends of the first guide shaft 521 are located within the first guide groove 111. A second elastic member 512 is disposed within the second guide groove 112, and both ends of the second guide shaft 522 are located within the second guide groove 112.

[0052] Please see Figure 2In some embodiments (a), the elastic component 51 includes two third elastic elements 513 that are both connected to the cleaning bracket 1, and the guide shaft assembly 52 includes a fourth guide shaft 524, a fifth guide shaft 525 and a sixth guide shaft 526. The two ends of the fourth guide shaft 524 along its own axial direction are respectively connected to the two third elastic elements 513. The fifth guide shaft 525 and the sixth guide shaft 526 are rotatably connected to the cleaning bracket 1. Along the height direction of the cleaning bracket 1, the fifth guide shaft 525 and the sixth guide shaft 526 are located at the top of the fourth guide shaft 524. The fifth guide shaft 525 and the sixth guide shaft 526 are arranged side by side along the direction intersecting the height direction of the cleaning bracket 1. The mop 4 passes between the fifth guide shaft 525 and the sixth guide shaft 526 and then wraps around the fourth guide shaft 524. The fifth guide shaft 525 and the sixth guide shaft 526 are arranged side by side to form a gap structure, which can organize and guide the mop 4, ensuring that the mop 4 remains flat before entering the fourth shaft and avoiding wrinkles. When the mop 4 passes between the fifth guide shaft 525 and the sixth guide shaft 526, it can be stably clamped to prevent the mop 4 from shifting left or right or wrinkling during movement, and to ensure that the edge of the mop 4 is aligned with the cleaning path. After the mop 4 passes out from between the fifth guide shaft 525 and the sixth guide shaft 526, it wraps downward to the fourth guide shaft 524. The fourth guide shaft 524 tensions the mop 4 under the action of the third elastic element 513, making the shape of the contact section between the mop 4 and the ground more stable.

[0053] Please see Figure 2 In (b) of the above, in an optional embodiment, the axes of the fifth guide shaft 525 and the fourth guide shaft 524 are aligned along the height direction of the cleaning bracket 1. It is understood that after the mop 4 passes through the gap between the fifth guide shaft 525 and the sixth guide shaft 526, it moves vertically along the fourth guide shaft 524 and is tightened and limited by the fourth guide shaft 524. The tension along the movement path of the mop 4 is closer to a straight line, avoiding tension loss due to height differences, and further improving the tensioning effect on the mop 4.

[0054] Please see Figure 2 In optional embodiments, guide groove 11 further includes a third guide groove 113. Along the height direction of the cleaning bracket 1, the third guide groove 113 is located at the bottom of the fifth guide shaft 525 and the sixth guide shaft 526, and its extension direction is parallel to the horizontal direction. A third elastic member 513 is located within the third guide groove 113, and both ends of the fourth guide shaft 524 are located within the third guide groove 113. The third guide groove 113 can limit the deformation of the third elastic member 513 and the movement of the fourth guide shaft 524, allowing the third elastic member 513 and the fourth guide shaft 524 to move horizontally, reducing the offset of the mop 4 during the tensioning process.

[0055] In an optional embodiment, the first elastic element 511, the second elastic element 512, and the third elastic element 513 may be springs or tension springs, etc.

[0056] Please see Figure 3 , Figure 4 , Figure 5 and Figure 7 In some embodiments, the discharge structure 2 includes a discharge roller 21 and an inner shaft 22. The discharge roller 21 has a receiving cavity 211 and through holes 2131 at both ends communicating with the receiving cavity 211. The inner shaft 22 passes through the receiving cavity 211, with both ends extending out of the through holes 2131 and connected to the cleaning bracket 1. The discharge roller 21 is rotatably connected to the inner shaft 22. A pre-tightening structure 5 is placed inside the receiving cavity 211 and abuts against the inner shaft 22 and the cavity wall of the receiving cavity 211, allowing the discharge roller to rotate with damping relative to the inner shaft. The inner shaft 22 does not rotate while the discharge roller 21 rotates, and the discharge roller 21 experiences resistance when rotating. The outer periphery of the discharge roller 21 is wrapped with a mop, which applies tension to the mop.

[0057] In some examples, the pre-tightening structure 5 includes a protrusion 53 and a damping assembly 54. The protrusion 53 is located within the receiving cavity 211 and protrudes from the outer peripheral surface of the inner shaft 22; the damping assembly 54 is connected to the cavity wall of the receiving cavity 211 and elastically abuts against the protrusion 53. The inner shaft 22 is fixed to the cleaning bracket 1, and the discharge roller 21 is rotatably sleeved on the inner shaft 22 via a bearing 23 or a sliding fit. The discharge roller 21 is used to rotate relative to the inner shaft 22 to release the mop 4 wound on its surface. Both the protrusion 53 and the damping assembly 54 are located within the receiving cavity 211 of the discharge roller 21, making them less susceptible to impact damage and allowing for a compact structure of the cleaning device 100. Understandably, when the mop 4 is pulled, the discharge roller 21 needs to overcome the friction between the protrusion 53 and the damping component 54 to rotate. This prevents the discharge roller 21 from rotating on its own without external force, which would cause the mop 4 to sag or pile up due to its own weight. This allows for precise control of the release of the mop 4, avoiding the release of too much mop 4 at once and extending the usage time of a single roll of mop 4. Furthermore, the interaction between the protrusion 53 and the damping component 54 can limit the rotational speed of the discharge roller 21, preventing the mop 4 from being released too quickly and becoming loose. The diameter of the mop 4 wound on the discharge roller 21 gradually decreases as the cleaning process progresses, causing changes in the torque of the discharge roller 21. However, the elastic damping component 54 can automatically adjust the contact pressure between the discharge roller 21 and the mop 4 through deformation, maintaining a stable damping effect. Furthermore, the protrusion 53 and damping assembly 54 ensure that the mop 4 remains taut throughout the release process, reducing relative slippage between the mop 4 and the roller surface, preventing wrinkles or loosening of the mop 4, and ensuring closer contact between the mop 4 and the floor to be cleaned, thus improving the wiping effect. This stable damping effect also applies to the use of composite mops 4, providing stable tension for both wet and dry mops 4.

[0058] Please see Figure 3 , Figure 4 , Figure 5 and Figure 7In some embodiments, the discharge structure 2 further includes a bearing 23, which is located within the receiving cavity 211. The inner ring of the bearing 23 is fitted onto the inner shaft 22, and the outer ring of the bearing 23 is fixed to the cavity wall of the receiving cavity 211. The bearing 23 is located outside the protrusion 53. The bearing 23 allows the discharge roller 21 to rotate relative to the inner shaft 22. The bearing 23 isolates frictional interference. The elastic contact between the damping component 54 and the protrusion 53 generates a certain amount of friction. The low friction characteristics of the bearing 23 ensure that the damping force is primarily determined by the contact between the protrusion 53 and the damping component 54, and is not affected by friction between the discharge roller 21 and the inner shaft 22, resulting in a more stable pre-tightening effect. At the same time, the bearing 23 can limit the radial and axial displacement of the discharge roller 21 along the inner shaft 22, prevent the discharge roller 21 from running off-center, keep the relative position between the discharge roller 21 and the inner shaft 22 stable, and thus prevent the contact position between the damping assembly 54 and the protrusion 53 from shifting, avoid local wear, and extend the service life of the damping assembly 54 and the protrusion 53.

[0059] Please see Figure 3 , Figure 4 , Figure 5 and Figure 7 In some embodiments, the discharge roller 21 includes a roller body 212 and two roller end caps 213. The roller body 212 has a hollow portion through which an inner shaft 22 passes. Each roller end cap 213 has a through hole 2131 communicating with the hollow portion. The roller end caps 213 respectively cover both ends of the roller body 212 to form a receiving cavity 211. A damping assembly 54 is connected to the roller end cap 213. The hollow portion of the roller body 212 provides pre-installation space for the inner shaft 22, allowing the inner shaft 22 to be placed inside before the roller end cap 213 is sealed and fixed, facilitating assembly. The damping assembly 54 is mounted on the roller end cap 213, allowing it to be directly installed after the roller end cap 213 is machined, and then the roller end cap 213 is assembled onto the roller body 212, so that the damping assembly 54 elastically abuts against the protrusion 53. This eliminates the need for complex assembly operations inside the enclosed discharge roller 21, improving production assembly efficiency. The roller end cap 213 has high strength, which can provide a stable support base for the damping assembly 54 and reduce its shaking or deformation due to force during elastic contact. Furthermore, the damping assembly 54 can be provided on one or both sides of the roller end cap 213 according to the pre-tightening requirements. For example, the damping assembly 54 can be provided on only one side of the roller end cap 213, or the damping assembly 54 can be symmetrically provided on both sides to enhance the damping effect.

[0060] Please see Figure 3 , Figure 4 , Figure 5 and Figure 7In an optional embodiment, the outer wall of the roller body 212 is provided with a snap 2121, and the inner wall of the roller end cap 213 is provided with a snap protrusion 2132. The snap protrusion 2132 snaps into the snap 2121 so that the roller end cap 213 snaps onto the roller body 212, and at least part of the roller end cap 213 is sleeved on the outer surface of the roller body 212, which can increase the contact area between the roller end cap 213 and the roller body 212, thereby improving the connection stability between the two.

[0061] Please see Figure 3 , Figure 4 , Figure 5 and Figure 7 In an optional embodiment, the inner wall of the roller body 212 is provided with a stepped portion 2122, the outer ring of the bearing 23 is fixed to the cavity wall of the hollow portion of the roller body 212, and one end face of the bearing 23 abuts against the stepped portion 2122. The stepped portion 2122 can limit the bearing 23 axially along the inner shaft 22.

[0062] Please see Figure 3 , Figure 4 , Figure 5 and Figure 7 In an optional embodiment, the discharge structure 2 further includes two bearing seats 24, each bearing seat 24 having a through bearing hole 241, into which an inner shaft 22 protruding from the drum end cover 213 is inserted. The bearing seats 24 provide overall support for the discharge drum 21, improving the support effect of the inner shaft 22 on the discharge drum 21.

[0063] In optional embodiments, the protrusion 53 can be a rectangular spline, involute spline, triangular spline, trapezoidal spline, tapered tooth spline, curved tooth spline, etc. In other words, the key teeth of the protrusion 53 can be of different shapes.

[0064] Please see Figure 3 In some embodiments, the damping assembly 54 includes a fourth elastic element 541 located in the receiving cavity 211. One end of the fourth elastic element 541 is connected to the cavity wall of the receiving cavity 211 radially along the inner shaft 22, and the other end of the fourth elastic element 541 has a protruding structure 5411 that elastically abuts against a protrusion 53. The fourth elastic element 541 provides continuous elastic force through its own deformation, keeping the protruding structure 5411 in contact with the protrusion 53. When the discharge roller 21 rotates relative to the inner shaft 22, a damping force is generated between the protruding structure 5411 and the protrusion 53 due to contact. The magnitude of this damping force can be adjusted by the material and deformation parameters of the fourth elastic element 541, thereby controlling the rotational resistance of the discharge roller 21 and adjusting the tension on the mop 4.

[0065] Please see Figure 3In (b), further, the fourth elastic element 541 is a spring sheet, with one end of the spring sheet away from the cavity wall of the receiving cavity 211 recessed towards the protrusion 53 to form a protruding structure 5411. The protruding structure 5411 and the protrusion 53 form a concave-convex fit. The elasticity of the spring sheet allows the protruding structure 5411 to continuously apply stable pressure to the protrusion 53. The concave-convex fit between the protruding structure 5411 and the protrusion 53 can precisely limit their relative positions and prevent the contact point from shifting. Even if there is slight vibration or displacement during the rotation of the discharge roller 21, the elastic deformation of the spring sheet can adaptively adjust to ensure that the protruding structure 5411 and the protrusion 53 always maintain reliable contact, ensuring the continuity of the damping effect. When the protruding structure 5411 rotates relative to the protrusion 53, it forms a regular engagement / disengagement cycle, avoiding slippage or free rotation, making the damping effect more controllable and stable.

[0066] Please see Figure 3 In optional embodiment (b), the fourth elastic element 541 comprises multiple spaced-apart elements, all of which are centrally symmetrically distributed around the axis of the inner shaft 22, forming a windmill-like distribution. The symmetrically distributed multiple fourth elastic elements 541 can apply a uniform circumferential damping force to the protrusion 53, making the overall damping effect more stable and reducing jamming or slippage caused by the failure of a single contact point. The circumferentially distributed fourth elastic elements 541 can form multiple buffer fulcrums around the protrusion 53, distributing the impact force and reducing the deformation fatigue of a single fourth elastic element 541. When the discharge roller 21 exerts a large load on the mop 4, the combined force of the multiple fourth elastic elements 541 can provide a more sufficient damping effect, fully tightening the mop 4.

[0067] Please see Figure 3 In (b) of the example, the fourth elastic element 541 may be two, three, four, five, six, or the like.

[0068] Please see Figure 3 In optional embodiment (b), a plurality of first locking posts 2133 are protruding on the inner wall of the roller end cover 213, each locking post is provided with a locking slot, and each fourth elastic member 541 is correspondingly locked in the locking slot. The first locking posts 2133 can increase the contact area with the fourth elastic member 541 and can ensure the connection stability of the fourth elastic member 541.

[0069] Please see Figure 4In some embodiments, the damping assembly 54 includes a fifth elastic element 542 and a limiting element 543 located in the receiving cavity 211. Along the radial direction of the inner shaft 22, one end of the fifth elastic element 542 is connected to the cavity wall of the receiving cavity 211, and the other end is connected to the limiting element 543, which elastically abuts against the protrusion 53. The fifth elastic element 542 provides elastic force through elastic deformation, and the limiting element 543, as an intermediate component, directly forms elastic abutment with the protrusion 53 under the action of the fifth elastic element 542. Through the combination of elastic drive and rigid contact, vibration can be buffered by the deformation of the fifth elastic element 542, and the reliability of contact with the protrusion 53 can be maintained by the limiting element 543, preventing slippage or displacement.

[0070] In an optional embodiment, the fifth elastic element 542 may be a spring or a tension spring, etc.

[0071] Please see Figure 4 In optional embodiments, (b) the surface of the limiting member 543 that contacts the protrusion 53 can be curved or flat. The outer periphery of the outer surface of the limiting member 543 is adapted to the outer periphery of the protrusion 53 to form a concave-convex fit, which can improve the damping effect.

[0072] Please see Figure 4 In optional embodiment (b), the fifth elastic element 542 and the limiting element 543 include multiple spaced-apart components, all of which are centrally symmetrically distributed along the axis of the inner shaft 22. The symmetrically distributed multiple fifth elastic elements 542 and limiting elements 543 can apply a uniform circumferential damping force to the protrusion 53, making the overall damping effect smoother and reducing jamming or slippage caused by the failure of a single contact point. When the discharge roller 21 exerts a large load on the mop 4, the combined force of the multiple fifth elastic elements 542 and limiting elements 543 can provide a more sufficient damping effect, fully tightening the mop 4.

[0073] Please see Figure 4 In (b) of the example, the fifth elastic member 542 and the limiting member 543 may be two, three, four, five, six, etc.

[0074] Please see Figure 4 In optional embodiment (b), a plurality of second locking posts 2134 are protruding on the inner wall of the roller end cover 213. Each second locking post 2134 is provided with a locking channel. The fifth elastic member 542 and part of the limiting member 543 are located in the locking channel. The second locking posts 2134 can limit the fifth elastic member 542 and the limiting member 543, preventing the fifth elastic member 542 and the limiting member 543 from shifting or tilting during rotation, thereby ensuring a stable damping effect.

[0075] Please see Figure 5 In some embodiments, the damping assembly 54 includes a sixth elastic element 544 and a plurality of friction elements 545 located in the receiving cavity 211. Along the radial direction of the inner shaft 22, the outer side of each friction element 545 is connected to the cavity wall of the receiving cavity 211, and the inner side of each friction element 545 abuts against the protrusion 53. Along the axial direction of the inner shaft 22, all friction elements 545 are adjacent to each other. One friction element 545 near the through hole 2131 abuts against the cavity wall of the receiving cavity 211, and one friction element 545 away from the through hole 2131 elastically abuts against one end of the sixth elastic element 544. The other end of the sixth elastic element 544 abuts against the inner shaft 22. The plurality of friction elements 545 can increase the friction area, thereby enhancing the stability of the damping. The sixth elastic element 544 applies a preload force along the axial direction of the inner shaft 22 to the multiple friction elements 545, so that all friction elements 545 can tightly abut against the protrusion 53 and fit against the cavity wall of the receiving cavity 211. This solves the problem of loose contact caused by wear or assembly gaps of the friction elements 545. Even if the surface of the friction elements 545 wears due to long-term use, the elastic force of the sixth elastic element 544 can automatically compensate for the gap and maintain stable pressure, so that the damping of the multiple friction elements 545 can remain effective.

[0076] Please see Figure 5 For example, friction elements 545 may be two, three, or four, etc.

[0077] Please see Figure 5 and Figure 6 In an optional embodiment, the friction element 545 is a friction ring, and the inner circumference of the friction ring forms friction with the protrusion 53, so that the damping formed by the friction element 545 and the protrusion 53 is more uniform.

[0078] Please see Figure 5 and Figure 6 In an optional embodiment, the damping assembly 54 further includes a plurality of internal toothed washers 546, which are staggered and adjacent to the friction element 545 along the axial direction of the inner shaft 22. The inner ring of the internal toothed washer 546 is provided with teeth, which engage with the protrusion 53 (see [reference]). Figure 6 (a)). Friction element 545 provides sliding friction through surface contact with protrusion 53 (see (a)). Figure 6 In (b) of the diagram, the internal toothed washer 546 forms a mechanical stop through the interlocking of its teeth with the protrusion 53. During relative motion, meshing friction is generated between the tooth surfaces. Simultaneously, the squeezing and separation process between the teeth of the internal toothed washer 546 and the protrusion 53 also generates a certain amount of jamming damping. The superposition of these two damping forms ensures that the total damping force has both the continuity of sliding friction and the staged nature of meshing friction, which can better adapt to the dynamic working conditions such as acceleration, deceleration, and reversal when the protrusion 53 rotates, reducing the impact sensation.

[0079] Please see Figure 5 For example, the internal toothed washer 546 can be two, three, four, etc.

[0080] Please see Figure 6 In an optional embodiment, a plurality of third retaining posts 2135 protrude from the inner wall of the roller end cap 213, and the plurality of third retaining posts 2135 are spaced apart along the axial direction of the inner shaft 22. Each third retaining post 2135 has a plurality of retaining grooves along the axial direction of the inner shaft 22. The outer periphery of the friction member 545 is inserted into the retaining groove, and the inner tooth washer 546 is located outside the retaining groove, with the outer periphery of the inner tooth washer 546 abutting against the groove wall. In other words, along the radial direction of the inner shaft 22, the diameter of the inner tooth washer 546 is smaller than the diameter of the friction member 545. Along the axial direction of the inner shaft 22, the distance between two adjacent retaining grooves is equal to the thickness of the inner tooth washer 546. Therefore, the third locking pin 2135 can engage the friction element 545, making the friction element 545 tightly abut against the protrusion 53, ensuring a stable output of sliding friction force; at the same time, it can also radially limit the outer periphery of the inner tooth washer 546, ensuring that the inner tooth washer 546 and the protrusion 53 always maintain a concave-convex fit, making the fixing of the friction element 545 and the inner tooth washer 546 more stable.

[0081] Please see Figure 7 In some embodiments, the damping assembly 54 includes a rubber element 547 located in the receiving cavity 211, filling the gap between the protrusion 53 and the cavity wall of the receiving cavity 211 along the radial direction of the inner shaft 22. The rubber element 547 has good elasticity; when the discharge roller 21 rotates relative to the inner shaft 22, the protrusion 53 squeezes the rubber element 547, causing deformation. The rubber element 547 generates a reaction force through its own elastic restoring force, forming damping and thus tightening the mop 4. The rubber element 547 can achieve a seal, reducing the entry of impurities into the receiving cavity 211 of the discharge roller 21.

[0082] The cleaning bracket 1, the material collection structure 3, and the mop 4 of the cleaning device 100 will be described in detail below:

[0083] In an optional embodiment, the cleaning bracket 1 can be an integrated flat bracket. After the mop 4 is released from the discharge structure 2, it extends along the plane of the flat bracket and cleans the ground under the action of the plane of the flat bracket. The cleaned mop 4 then extends into the receiving structure 3. In other optional embodiments, the cleaning bracket 1 may include a mounting bracket and a track bracket. The track bracket is detachably mounted on the mounting bracket. The discharge structure 2, the receiving structure 3, and the pre-tensioning structure 5 can all be mounted on the mounting bracket. After the mop 4 is released from the discharge structure 2, it cleans the ground under the action of the track bracket and then extends into the receiving structure 3. In other optional embodiments, the mop 4 between the discharge structure 2 and the receiving structure 3 can directly clean the ground after being taut.

[0084] In an optional embodiment, when the pre-tensioning structure 5 includes an elastic component 51 and a guide shaft assembly 52, the discharge structure 2 can be a discharge roller 21 or a discharge box. After the discharge roller 21 rotates to release the mop 4, it enters the pre-tensioning structure 5 and is tightened. In this embodiment, the discharge roller 21 can also be provided with a protrusion 53 and a damping component 54 to further tighten the mop 4. The mop 4 is stacked inside the discharge box, and after being released from the discharge box, it enters the pre-tensioning structure 5 and is tightened.

[0085] In an optional embodiment, the receiving structure 3 includes a receiving roller and a receiving drive motor. The main body of the receiving drive motor is mounted on the cleaning bracket 1, and the drive end of the receiving drive motor is connected to the receiving roller. Under the drive of the receiving drive motor, the receiving roller winds up the dirty mop 4 to collect the mop 4.

[0086] It should be noted that since the receiving structure 3 is equipped with a receiving drive motor, the release and retraction of the mop 4 can be achieved under the action of the receiving drive motor. Therefore, neither the discharging structure 2 nor the pre-tensioning structure 5 needs to be equipped with an additional drive motor to drive the mop 4, which can reduce the number of motors and simplify and compact the structure of the cleaning device 100.

[0087] Secondly, embodiments of this application also provide a cleaning robot. This cleaning robot includes the cleaning device 100 as described in the first aspect. The cleaning robot can be a floor-washing robot or a window-wiping robot, etc.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 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: Cleaning stand; A discharge structure, wherein the discharge structure is connected to the cleaning support; A material receiving structure, wherein the material receiving structure is connected to the cleaning bracket; A mop that extends into the receiving structure after being released from the discharge structure; A pre-tensioning structure is elastically connected to the discharge structure or elastically connected to the cleaning bracket, and the pre-tensioning structure is used to apply tension to the mop.

2. The cleaning device according to claim 1, characterized in that, The pre-tightening structure includes: An elastic component, which is elastically connected to the cleaning bracket; A guide shaft assembly, wherein the two ends of the guide shaft assembly are connected to the elastic component along its own axial direction, the mop is wound or passed through the guide shaft assembly, and the elastic component is used to stretch the guide shaft assembly so that the guide shaft assembly applies tension to the mop.

3. The cleaning device according to claim 2, characterized in that, The elastic component includes two first elastic elements and two second elastic elements that are elastically connected to the cleaning bracket. The guide shaft assembly includes a first guide shaft, a second guide shaft, and a third guide shaft. The two ends of the first guide shaft along its own axial direction are respectively connected to the two first elastic elements. The two ends of the second guide shaft along its own axial direction are respectively connected to the second elastic elements. The third guide shaft is rotatably connected to the cleaning bracket. Along the height direction of the cleaning bracket, the third guide shaft is located between the first guide shaft and the second guide shaft. The mop is sequentially wound around the first guide shaft, the third guide shaft, and the second guide shaft.

4. The cleaning device according to claim 2, characterized in that, The elastic component includes two third elastic elements connected to the cleaning bracket. The guide shaft assembly includes a fourth guide shaft, a fifth guide shaft, and a sixth guide shaft. The two ends of the fourth guide shaft along its own axial direction are respectively connected to the two third elastic elements. The fifth guide shaft and the sixth guide shaft are rotatably connected to the cleaning bracket. Along the height direction of the cleaning bracket, the fifth guide shaft and the sixth guide shaft are located at the top of the fourth guide shaft. The fifth guide shaft and the sixth guide shaft are arranged side by side along a direction intersecting the height direction of the cleaning bracket. The mop passes between the fifth guide shaft and the sixth guide shaft and then wraps around the fourth guide shaft.

5. The cleaning device according to claim 2, characterized in that, The cleaning bracket is provided with a guide groove, the elastic component is located in the guide groove, and the two ends of the guide shaft assembly along its own axial direction are located in the guide groove.

6. The cleaning apparatus according to any one of claims 1 to 5, characterized in that, The discharge structure includes: The discharge roller is provided with a receiving cavity and through holes at both ends communicating with the receiving cavity; An inner shaft passes through the receiving cavity, with both ends of the inner shaft extending out of the through hole and connected to the cleaning bracket. The discharge roller is rotatably connected to the inner shaft. The pre-tightening structure is located inside the receiving cavity, and the pre-tightening structure abuts against the inner shaft and the cavity wall of the receiving cavity respectively, so that the discharge roller rotates with damping relative to the inner shaft.

7. The cleaning device according to claim 6, characterized in that, The pre-tightening structure includes: A protrusion, which is located within the receiving cavity and protrudes from the outer peripheral surface of the inner shaft; A damping assembly is connected to the cavity wall of the receiving cavity and elastically abuts against the protrusion.

8. The cleaning device according to claim 7, characterized in that, The damping component also includes one of the following implementation methods: The damping assembly includes a fourth elastic element located in the receiving cavity. Along the radial direction of the inner axis, one end of the fourth elastic element is connected to the cavity wall of the receiving cavity, and the other end of the fourth elastic element is provided with a protruding structure, which elastically abuts against the protruding element. Alternatively, the damping assembly includes a fifth elastic element and a limiting element located in the receiving cavity. Along the radial direction of the inner axis, one end of the fifth elastic element is connected to the cavity wall of the receiving cavity, and the other end of the fifth elastic element is connected to the limiting element, which elastically abuts against the protrusion. Alternatively, the damping assembly includes a sixth elastic element and a plurality of friction elements located in the receiving cavity. Along the radial direction of the inner axis, the outer sides of each friction element are connected to the cavity wall of the receiving cavity, and the inner sides of each friction element abut against the protrusion. Along the axial direction of the inner axis, all the friction elements are adjacent to each other. One friction element near the through hole abuts against the cavity wall of the receiving cavity, and one friction element away from the through hole elastically abuts against one end of the sixth elastic element, the other end of which abuts against the inner axis. Alternatively, the damping assembly includes a rubber element located in the receiving cavity, which fills the gap between the protrusion and the cavity wall along the radial direction of the inner axis.

9. The cleaning device according to claim 7, characterized in that, The discharge structure also includes a bearing, which is located inside the receiving cavity. The inner ring of the bearing is sleeved on the inner shaft, and the outer ring of the bearing is fixed to the cavity wall of the receiving cavity. The bearing is located outside the protrusion.

10. The cleaning device according to claim 7, characterized in that, The discharge roller includes: A drum body, wherein a hollow portion is provided through the drum body, and the inner shaft passes through the hollow portion; Two roller end caps, each roller end cap having a through hole communicating with the hollow portion, the roller end caps respectively sealing both ends of the roller body to form the receiving cavity, and the damping assembly being connected to the roller end caps.

11. A cleaning robot, characterized in that, The cleaning robot includes the cleaning device as described in any one of claims 1 to 10.

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