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 discharging structure, a collecting structure, a mop and a pre-tightening structure. The discharging structure is connected to the cleaning support; the collecting structure is connected to the cleaning support; the mop is released from the discharging structure and extends into the collecting structure; the pre-tightening structure is rotatably connected to the cleaning support, the pre-tightening structure is drivingly connected to a rotating driver, the pre-tightening structure is located between the discharging structure and the collecting structure, and the pre-tightening structure is used for winding or threading the mop and applying a tension force to the mop. The pre-tightening structure is arranged to apply a continuous tension force to the mop, which can effectively avoid the loosening and wrinkling of the mop due to movement, friction or gravity during the cleaning process, and ensure that the mop always maintains a flat state, thereby fully contacting the cleaning surface.

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 this utility model 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. Utility Model Content

[0004] Therefore, it is necessary to provide a cleaning device and a cleaning robot to address the problem that mops tend to loosen and wrinkle during the cleaning process, leading to a decrease in cleaning effectiveness.

[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, which is released from the discharge structure and extends into the collection structure;

[0010] A pre-tensioning structure is rotatably connected to the cleaning bracket and driven by a rotary driver. The pre-tensioning structure is located between the discharge structure and the take-up structure. The pre-tensioning structure is used for winding or threading the mop and applying tension to the mop.

[0011] In one embodiment, the pre-tensioning structure is located at the discharge end of the discharge structure, and the pre-tensioning structure is used to rotate under the drive of the rotary drive to tension the mop and pull the mop out of the discharge structure.

[0012] In one embodiment, the preload structure includes:

[0013] A pre-tightening shaft, the two ends of which are rotatably connected to the cleaning bracket along its own axis, and the end of the pre-tightening shaft is driven to be connected to the rotary driver;

[0014] A pre-tensioning member is disposed on the outer surface of the pre-tensioning shaft, and the pre-tensioning member is used to contact the mop and tension the mop.

[0015] In one embodiment, the pretensioning shaft includes two pretensioning shafts, and the pretensioning member is an engaging structure. The engaging structure protrudes from the outer surface of the pretensioning shaft, and the engaging structures on the two pretensioning shafts are engaged and connected to each other. The mop is inserted between the two engaging structures.

[0016] In one embodiment, each of the engagement structures extends along the axial direction of the preload shaft to the end of the preload shaft, and each of the engagement structures is arranged around the outer peripheral surface of the preload shaft.

[0017] In one embodiment, the pre-tightening member is a positioning post, which protrudes from the outer surface of the pre-tightening shaft. The mop has a positioning hole extending through it along its thickness direction, and the positioning post passes through the positioning hole.

[0018] In one embodiment, the positioning posts include a plurality of positioning posts, all of which are spaced apart along the outer peripheral surface of the pretension shaft. The positioning holes include a plurality of positioning holes, all of which are spaced apart along the length direction of the mop. Each positioning post passes through one of the positioning holes.

[0019] In one embodiment, the pre-tightening member is a piercing member that protrudes from the outer surface of the pre-tightening shaft and is used to pierce the mop along the thickness direction of the mop.

[0020] In one embodiment, the puncture element comprises a plurality of puncture elements, all of which are spaced apart along the outer peripheral surface of the pre-tightening shaft.

[0021] In one embodiment, the pretensioning member is an adhesive member that covers at least a portion of the outer surface of the pretensioning shaft and is used to adhere the mop.

[0022] In one embodiment, the pre-tightening structure further includes an auxiliary shaft, the two ends of which are rotatably connected to the cleaning bracket along their own axis. The auxiliary shaft is spaced apart on one side of the pre-tightening shaft, and the mop passes between the pre-tightening shaft and the auxiliary shaft.

[0023] In one embodiment, the pretensioning structure further includes a pretensioning stop bar, the two ends of which are connected to the cleaning bracket along their length direction. The pretensioning stop bar is disposed on at least one side of the mop along its thickness direction and is used to abut against the mop.

[0024] In a second aspect, a cleaning robot includes a cleaning device as described in the first aspect.

[0025] The aforementioned cleaning device features a pre-tensioning structure that applies continuous tension to the mop, effectively preventing it from loosening or wrinkling during cleaning due to movement, friction, or its own weight. This ensures the mop remains flat and makes full contact with the cleaning surface. The pre-tensioning structure also ensures smoother transport of the mop from the discharge to the collection structure, preventing mop movement or deviation from affecting the accuracy of the cleaning path and ensuring the cleaning device operates efficiently along the preset trajectory. Attached Figure Description

[0026] 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.

[0027] Figure 1 This is a perspective view of a cleaning device provided in an embodiment of this application.

[0028] Figure 2 This is a perspective view of another cleaning device provided in an embodiment of this application.

[0029] Figure 3 This is a schematic diagram of the first pre-tightening structure provided in the embodiments of this application.

[0030] Figure 4 This is a schematic diagram of the second pre-tightening structure provided in the embodiments of this application.

[0031] Figure 5 This is a schematic diagram of the third pre-tightening structure provided in the embodiments of this application.

[0032] Figure 6 This is a schematic diagram of the fourth pre-tightening structure provided in the embodiments of this application.

[0033] Explanation of reference numerals in the attached drawings: 100, Cleaning device; 1, Cleaning bracket; 2, Discharge structure; 21, Discharge end; 22, Discharge roller; 23, Discharge box; 3, Receiving structure; 31, Receiving roller; 32, Receiving box; 33, Receiving end; 4, Mop; 41, Positioning hole; 5, Pre-tightening structure; 51, Pre-tightening shaft; 52, Pre-tightening component; 521, Engaging structure; 522, Positioning post; 523, Piercing component; 524, Adhesive component; 53, Auxiliary shaft; 54, Pre-tightening stop bar; 6, Rotary drive. Detailed Implementation

[0034] 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.

[0035] 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.

[0036] Please see Figure 1 and Figure 2 Based on the above-mentioned problems, in a first aspect, embodiments of this application provide a cleaning device 100, including a cleaning bracket 1, a discharging structure 2, a receiving structure 3, a mop 4, and a pre-tensioning structure 5. The discharging structure 2 is connected to the cleaning bracket 1; the receiving structure 3 is connected to the cleaning bracket 1; the mop 4 is released from the discharging structure 2 and extends into the receiving structure 3; the pre-tensioning structure 5 is rotatably connected to the cleaning bracket 1 and is driven by a rotary actuator 6. The pre-tensioning structure 5 is located between the discharging structure 2 and the receiving structure 3, and is used for winding or threading the mop 4 and applying tension to the mop 4. By applying continuous tension to the mop 4, the pre-tensioning structure 5 effectively prevents the mop 4 from loosening or wrinkling during cleaning due to movement, friction, or its own weight, ensuring that the mop 4 always remains flat and thus makes full contact with the cleaning surface. The pre-tensioning structure 5 tensions the mop 4, ensuring a smoother transition of the mop 4 from the discharge structure 2 to the collection structure 3. This prevents the mop 4 from swaying or shifting, which could affect the accuracy of the cleaning path and ensure that the cleaning device 100 operates efficiently along the preset trajectory. In this invention, the mop refers to a cleaning material suitable for sweeping and mopping, including dry cleaning materials for sweeping and wet cleaning materials for mopping. The cleaning material can be cotton, polyester fiber, or non-woven fabric, etc., and is not limited thereto. Furthermore, the working 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.

[0037] In an optional implementation, the rotary drive 6 may be a rotary motor or a rotary cylinder, etc.

[0038] In an optional implementation, the cleaning bracket 1 may be an integrally molded bracket with a flat bottom surface, or a tracked bracket, etc.

[0039] Please see Figure 1 and Figure 3In an optional embodiment, the discharge structure 2 can be a discharge roller 22, which is rotatably connected to the cleaning bracket 1. The discharge roller 22 rolls up the mop 4 and then releases it. Alternatively, please refer to [link to relevant documentation]. Figure 2 and Figures 4 to 6 The discharge structure 2 can be a discharge box 23. The discharge box 23 is provided with a receiving cavity and a discharge port communicating with the receiving cavity. The discharge box 23 is fixed to the cleaning bracket 1. The receiving cavity of the discharge box 23 is used to hold stacked mops 4, and the outlet of the discharge box 23 is used to release the mops 4.

[0040] Please see Figures 1 to 3 In an optional embodiment, the receiving structure 3 can be a receiving roller 31, which is rotatably connected to the cleaning bracket 1. The receiving roller 31 rolls up the mop 4 and then releases it. Alternatively, please refer to [link to relevant documentation]. Figures 4 to 6 The receiving structure 3 can be a receiving box 32. The receiving box 32 has a receiving cavity and a receiving port communicating with the receiving cavity. The receiving box 32 is fixed to the cleaning bracket 1. The receiving cavity of the receiving box 32 is used to hold stacked mops 4, and the outlet of the receiving box 32 is used to release the mops 4.

[0041] Please see Figure 1 In some embodiments, the pre-tensioning structure 5 is located at the discharge end 21 of the discharge structure 2. The pre-tensioning structure 5 is used to rotate under the drive of the rotary driver 6 to tension the mop 4 and pull the mop 4 out of the discharge structure 2. In other words, the pre-tensioning structure 5 also has a discharge function and can assist the discharge structure 2 in discharging. If the discharge structure 2 relies solely on the weight of the mop 4 itself or the pulling force of the take-up structure 3 for passive release, it is easy to cause uneven release speed or jamming due to factors such as unstable friction between the mop 4 and the discharge structure 2 and changes in the stiffness of the mop 4 itself. However, the pre-tensioning structure 5 actively rotates and pulls the mop 4 to release under the drive of the rotary driver 6, which can actively overcome the tension of the mop 4 when it is wound during the discharge process and the frictional resistance of the discharge port, making the release of the mop 4 smoother and the speed more stable, and avoiding the slack or sudden tension of the mop 4 caused by poor release. The pre-tensioning structure 5 applies tension directly while pulling the mop 4 to release it, ensuring that the mop 4 is taut from the discharge end 21, reducing the time difference and slack space between release and tension. This release-tensioning setting more promptly prevents wrinkles from forming on the mop 4 due to instantaneous loss of constraint immediately after leaving the discharge structure 2, further ensuring the flatness of the mop 4 throughout the cleaning process. The pre-tensioning structure 5 simultaneously performs the functions of pre-tensioning and assisting discharge, eliminating the need for additional drive components for the discharge structure 2. This reduces the number of parts in the cleaning device 100, simplifies the overall structural layout, reduces assembly difficulty and manufacturing costs, while also reducing the weight of the device and improving energy efficiency.

[0042] Please see Figures 3 to 6It should be noted that the pre-tightening structure 5 provided in this application embodiment may include multiple sets. For example, the cleaning device 100 has two sets of pre-tightening structures 5, one set of which is located at the discharge end 21 of the discharge structure 2, and the other set of which is located at the receiving end 33 of the receiving structure 3. The rotary driver 6 drives the pre-tightening structure 5 connected to the discharge end 21 of the discharge structure 2, and transmits the power of the rotary driver 6 to the receiving end 33 of the receiving structure 3 through transmission components such as belts and pulleys.

[0043] For details, please refer to Figure 1 and Figure 3 The pre-tightening structure 5 at the discharge end 21 of the discharge structure 2 is connected to the rotary driver 6, and the pre-tightening structure 5 at the receiving end 33 of the receiving structure 3 is connected to the pulley. The belt is wound around both the pulley and the output end of the rotary driver 6. The rotary driver 6 rotates to drive the pre-tightening structure 5 at the discharge end 21 and the pre-tightening structure 5 at the receiving end 33 to rotate.

[0044] Please see Figures 3 to 6 In some embodiments, the pre-tensioning structure 5 includes a pre-tensioning shaft 51 and a pre-tensioning member 52. The two ends of the pre-tensioning shaft 51 are rotatably connected to the cleaning bracket 1 along its own axis, and the end of the pre-tensioning shaft 51 is driven to the rotary actuator 6. The pre-tensioning member 52 is disposed on the outer surface of the pre-tensioning shaft 51 and is used to contact the mop 4 and tension the mop 4. The axial position of the pre-tensioning shaft 51 is fixed, which can guide the mop 4 to form a stable transmission path and prevent the mop 4 from shifting or tangling during tensioning. The pre-tensioning member 52 applies frictional force to the mop 4, which is converted into tension force and discharge forward propulsion for the mop 4, ensuring that the mop 4 is accurately transferred from the discharge structure 2 to the collection structure 3.

[0045] Please see Figure 3In some embodiments, the pretensioning shaft 51 includes two pretensioning members 52, which are meshing structures 521. The meshing structures 521 protrude from the outer surface of the pretensioning shaft 51, and the meshing structures 521 on the two pretensioning shafts 51 are meshed together. The mop 4 passes between the two meshing structures 521. The meshing structures 521 of the two pretensioning shafts 51 interlock, and the mop 4 is sandwiched in the middle, forming a rolling action. The teeth of the meshing structure 521 can simultaneously apply pressure and friction to both sides along the width direction of the mop 4, making the force on the mop 4 more uniform in the width direction and avoiding deviation or local loosening caused by unilateral tension. Even if the mop 4 has local elasticity differences due to moisture or uneven material, the interlocking action of the meshing structure 521 can force the mop 4 to remain flat, significantly reducing the risk of wrinkles. The meshing structure 521 ensures that the rotational speeds of the two pretensioning shafts 51 are perfectly matched, avoiding disordered force on the mop 4 due to speed differences. Meanwhile, the meshing structure 521 has greater and more stable friction with the mop 4, which can provide stronger driving force for the transmission of the mop 4. It is especially suitable for thicker, heavier or wet mops 4, ensuring that the transmission process of the mop 4 from the discharge structure 2 to the collection structure 3 is not stuck.

[0046] Please see Figure 3 In some embodiments, each engagement structure 521 extends along the axial direction of the pretension shaft 51 to the end of the pretension shaft 51, and each engagement structure 521 is arranged around the outer peripheral surface of the pretension shaft 51. The engagement structure 521 surrounding the outer peripheral surface of the pretension shaft 51 forms a full circumferential contact with the mop 4, which can increase the contact area between the engagement structure 521 and the mop 4, so that the mop 4 can be subjected to the frictional force of the engagement structure 521 along its width direction, thereby improving the tensioning effect of the engagement structure 521.

[0047] Please see Figure 4 In some embodiments, the pre-tensioning member 52 is a positioning post 522, which protrudes from the outer surface of the pre-tensioning shaft 51. The mop 4 has a positioning hole 41 extending through it along its thickness direction, and the positioning post 522 passes through the positioning hole 41. The positioning post 522 inserted into the positioning hole 41 on the mop 4 can rigidly constrain the position of the mop 4 on the pre-tensioning shaft 51, effectively preventing the mop 4 from shifting, wrinkling, or slipping due to force during pre-tensioning or winding, thus maintaining the tension and positional accuracy of the mop 4. The cooperation between the positioning post 522 and the positioning hole 41 ensures that the mop 4 moves synchronously with the pre-tensioning shaft 51, improving the consistency of cleaning effect. After the positioning post 522 passes through the positioning hole 41, the connection between the mop 4 and the pre-tensioning shaft 51 is tighter. When the pre-tensioning shaft 51 rotates, it can directly drive the mop 4 to move synchronously through the positioning post 522, reducing the uncertainty of relying solely on friction to transmit force (such as the problem of decreased friction after the mop 4 becomes wet or worn). The pre-tightening force can be applied directly to the mop 4 through the positioning column 522, making the pre-tightening effect more stable and controllable.

[0048] Please see Figure 4 In some embodiments, multiple positioning posts 522 are included, all of which are spaced apart along the outer peripheral surface of the pretensioning shaft 51. Multiple positioning holes 41 are included, all of which are spaced apart along the length direction of the mop 4. Each positioning post 522 passes through a positioning hole 41. The multiple positioning posts 522 are connected one-to-one with each other, which can improve the cooperation effect between the positioning posts 522 and the positioning holes 41, thereby improving the tensioning effect on the mop 4.

[0049] Please see Figure 5 In some embodiments, the pre-tensioning member 52 is a piercing member 523, which protrudes from the outer surface of the pre-tensioning shaft 51. The piercing member 523 is used to pierce the mop 4 along the thickness direction of the mop 4. In other examples, the piercing member 523 is at a certain angle to the thickness direction of the mop 4. For example, multiple piercing members 523 have different angles to pierce the mop 4, which can achieve better mop fixing and tensioning effects. Setting the piercing member 523 can provide a strong tensioning effect. After the piercing member 523 directly pierces into the interior of the mop 4, it forms a physical engagement with the mop 4. Even if the surface of the mop 4 is wet, contaminated with oil, or made of a smooth material such as non-woven fabric or microfiber, the piercing member 523 can firmly fix the mop 4 by mechanical piercing, ensuring that the pre-tensioning shaft 51 can drive the mop 4 to move synchronously when it rotates. This is especially suitable for scenarios with high anti-slip requirements, such as high tension pre-tensioning or high-speed winding of the mop 4. Furthermore, the piercing element 523 does not rely on the structure of the mop 4 itself, eliminating the need for additional processing steps on the mop 4, reducing compatibility limitations, and improving the versatility of the mop 4. Additionally, when the mop 4 is released, it only needs to adhere to the surface of the pre-tensioning shaft 51 for the piercing element 523 to naturally penetrate and achieve tension, enabling quick replacement of the mop 4 and simplifying the installation process.

[0050] Please see Figure 5 In some embodiments, the puncture element 523 includes multiple puncture elements 523, all of which are spaced apart along the outer peripheral surface of the pretension shaft 51. Providing multiple puncture elements 523 can increase the contact area between the puncture elements 523 and the mop 4, thereby improving the tensioning effect of the puncture elements 523 on the mop 4.

[0051] Please see Figure 6 In some embodiments, the pre-tightening member 52 is an adhesive member 524, which covers at least a portion of the outer surface of the pre-tightening shaft 51 and is used to adhere the mop 4. The adhesive member 524 physically adsorbs the mop 4, ensuring the integrity of the mop 4, and its structure is simple with low maintenance costs. In optional embodiments, the adhesive member 524 may be a hook-and-loop fastener with barbed edges, capable of adhering to a mop 4 with a rough surface. Alternatively, the adhesive member 524 may be an adhesive, capable of adhering to the mop 4.

[0052] Please see Figures 4 to 6 In some embodiments, the pre-tensioning structure 5 further includes an auxiliary shaft 53. The two ends of the auxiliary shaft 53 are rotatably connected to the cleaning bracket 1 along its own axis. The auxiliary shaft 53 is spaced apart on one side of the pre-tensioning shaft 51, and the mop 4 passes between the pre-tensioning shaft 51 and the auxiliary shaft 53. The pre-tensioning shaft 51 applies tension to the mop 4, while the auxiliary shaft 53, by forming a clamping gap with the pre-tensioning shaft 51, can support the mop 4 from the other side, ensuring that the mop 4 is stably clamped between them. This bidirectional clamping effectively prevents the mop 4 from slipping, wrinkling, or shifting due to external forces during operation, ensuring stable adhesion between the mop 4 and the cleaning surface. The auxiliary shaft 53 can change the stress point of the mop 4 from single-axis contact to dual-axis support contact, making the tension more evenly distributed along the width direction of the mop 4, reducing tearing of the mop 4, and extending the service life of the mop 4.

[0053] Please see Figures 3 to 6 In some embodiments, the pre-tensioning structure 5 further includes a pre-tensioning baffle 54. The two ends of the pre-tensioning baffle 54 are connected to the cleaning bracket 1 along its length. The pre-tensioning baffle 54 is located on at least one side of the mop 4 along its thickness direction and is used to abut against the mop 4. The pre-tensioning baffle 54 can form a barrier on both sides or one side of the mop 4 along its thickness direction, directly preventing the mop 4 from sliding to the side, ensuring that the mop 4 is always conveyed within a preset path, and avoiding pre-tensioning force imbalance or failure of the pre-tensioning component 52 due to deviation. Furthermore, the pre-tensioning baffle 54 can assist in positioning the mop 4 and the pre-tensioning component 52 on the pre-tensioning shaft 51, improving pre-tensioning accuracy. At the same time, the pre-tensioning baffle 54 can approach the edge of the mop 4 from the side, providing support to the edge of the mop 4 through slight contact or limiting action, reducing wrinkles or curling, and maintaining stable pre-tensioning force.

[0054] Secondly, embodiments of this application provide a cleaning robot, which includes the cleaning device 100 of the first aspect, and the cleaning robot has all the technical effects of the cleaning device 100.

[0055] In an alternative implementation, the cleaning robot may be a floor-washing robot or a window-wiping robot.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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, which is released from the discharge structure and extends into the collection structure; A pre-tensioning structure is rotatably connected to the cleaning bracket and driven by a rotary driver. The pre-tensioning structure is located between the discharge structure and the take-up structure. The pre-tensioning structure is used for winding or threading the mop and applying tension to the mop.

2. The cleaning device according to claim 1, characterized in that, The pre-tensioning structure is located at the discharge end of the discharge structure. The pre-tensioning structure is used to rotate under the drive of the rotary driver to tension the mop and pull the mop out of the discharge structure.

3. The cleaning device according to claim 1, characterized in that, The pre-tightening structure includes: A pre-tightening shaft, the two ends of which are rotatably connected to the cleaning bracket along its own axis, and the end of the pre-tightening shaft is driven to be connected to the rotary driver; A pre-tensioning member is disposed on the outer surface of the pre-tensioning shaft, and the pre-tensioning member is used to contact the mop and tension the mop.

4. The cleaning device according to claim 3, characterized in that, The pretensioning shaft includes two pretensioning shafts. The pretensioning member is an interlocking structure. The interlocking structure protrudes from the outer surface of the pretensioning shaft. The interlocking structures on the two pretensioning shafts are interlocked and connected to each other. The mop is inserted between the two interlocking structures.

5. The cleaning device according to claim 4, characterized in that, Each of the engagement structures extends along the axial direction of the preload shaft to the end of the preload shaft, and each of the engagement structures is arranged around the outer peripheral surface of the preload shaft.

6. The cleaning device according to claim 3, characterized in that, The pre-tightening component is a positioning post, which protrudes from the outer surface of the pre-tightening shaft. The mop has a positioning hole extending through it along its thickness direction, and the positioning post passes through the positioning hole.

7. The cleaning device according to claim 6, characterized in that, The positioning posts include a plurality of them, all of which are spaced apart along the outer circumferential surface of the pretensioning shaft. The positioning holes include a plurality of them, all of which are spaced apart along the length of the mop. Each positioning post is inserted into one of the positioning holes.

8. The cleaning device according to claim 3, characterized in that, The pre-tightening component is a piercing member, which protrudes from the outer surface of the pre-tightening shaft and is used to pierce the mop.

9. The cleaning device according to claim 8, characterized in that, The puncture element comprises a plurality of elements, all of which are spaced apart along the outer circumferential surface of the pre-tightening shaft.

10. The cleaning device according to claim 3, characterized in that, The pre-tightening component is an adhesive component, which is applied to at least a portion of the outer surface of the pre-tightening shaft and is used to adhere the mop.

11. The cleaning apparatus according to any one of claims 3 to 10, characterized in that, The pre-tightening structure also includes an auxiliary shaft, which is rotatably connected to the cleaning bracket at both ends along its own axis. The auxiliary shaft is spaced apart on one side of the pre-tightening shaft, and the mop passes through the pre-tightening shaft and the auxiliary shaft. Or / and, the pre-tensioning structure further includes a pre-tensioning baffle, the two ends of which are connected to the cleaning bracket along their length direction, the pre-tensioning baffle being disposed on at least one side of the mop along its thickness direction, the pre-tensioning baffle being used to abut against the mop.

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

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