Cleaning robot

Abstract

The utility model relates to the technical field of cleaning equipment, the utility model provides a cleaning robot, in view of the technical problem that the effective normal pressure of the ground of the existing sweeper is insufficient and the cleaning effect of mopping is influenced because of the gravity center far from the mop module (such as the dishcloth tray), the utility model has optimized the design to the structure layout of the cleaning robot. Its scheme core lies in: the gravity center of the cleaning robot and the wiping piece (dishcloth tray) are arranged on the same side of the walking assembly axis in the advancing direction. The layout significantly shortens the "force arm" of the body gravity transmission to the wiping piece, and more whole machine weight is efficiently converted into the effective down pressure on the wiping piece. Thus, the contact tightness and friction force of the wiping piece and the ground are greatly improved, the cleaning physical basis is directly strengthened, the pain point that the mopping pressure is insufficient due to the disadvantageous gravity center position of the traditional design is effectively solved, and the cleaning effect of the machine is significantly improved.

Description

Technical Field

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

[0002] With the continuous advancement of technology, self-cleaning devices, represented by robotic vacuum cleaners, are becoming increasingly popular and deeply integrated into family life due to their significantly superior convenience and efficiency compared to traditional manual cleaning, becoming an important tool for freeing up users' hands.

[0003] Currently, most robotic vacuum cleaners rely primarily on the friction between the mopping module (such as the mop pad) and the floor to perform their mopping function. However, in existing designs, the mop pad of the mopping module does not exert sufficient positive pressure on the floor, affecting the final mopping and cleaning effect. Utility Model Content

[0004] In view of the shortcomings of the prior art described above, the purpose of this utility model is to propose a cleaning robot to improve the cleaning effect of the cleaning robot.

[0005] To achieve the above and other related objectives, this utility model proposes a cleaning robot, comprising:

[0006] ontology;

[0007] A mopping assembly, the mopping assembly including a mopping element disposed at the bottom of the main body;

[0008] A walking component is located at the bottom of the main body;

[0009] The center of gravity of the cleaning robot and the mopping component are located on the same side of the axis of the walking assembly in a first direction, which is the direction of travel of the main body.

[0010] In an optional embodiment of the present invention, in the first direction, the center of gravity is located behind the walking component, and the dragging component is located behind the center of gravity.

[0011] In an optional embodiment of the present invention, a water tank and / or a solution tank are further included, wherein the water tank and / or solution tank are located on the same side of the axis of the walking assembly in the first direction as the wiping member.

[0012] In an optional embodiment of this utility model, the rear end of the main body is provided with an injection port communicating with the solution tank and the water tank, and a spray port communicating with the solution tank.

[0013] In an optional embodiment of the present invention, a battery assembly is further included, wherein the battery assembly and the wiping member are located on the same side of the axis in the first direction.

[0014] In an optional embodiment of the present invention, the battery assembly includes at least two cell layers, the cell layers are arranged in a vertical direction, and each cell layer includes a plurality of cells arranged in an array.

[0015] In an optional embodiment of this utility model, the mopping component includes two sets of sub-mopping components, which are respectively disposed on both sides of the centerline of the main body along the first direction, and each set of sub-mopping components is provided with a driving unit.

[0016] In an optional embodiment of this invention, the battery assembly is located between the drive units of the two sets of sub-drag members.

[0017] In an optional embodiment of this utility model, a omnidirectional wheel is also included, wherein the center of gravity of the omnidirectional wheel and the cleaning robot are located on the same side of the axis of the walking component in the first direction.

[0018] In an optional embodiment of the present invention, the cleaning robot further includes a dust collection component disposed on the main body. The dust collection component includes a dust box located on the side of the axis of the walking component away from the center of gravity.

[0019] In an optional embodiment of this utility model, a dust cup assembly is provided inside the dust box, the dust cup assembly is used to perform preliminary filtration of the garbage in the dust box, and a filter assembly is provided at the upper end of the dust cup assembly.

[0020] In an optional embodiment of the present invention, the dust collection assembly includes a fan, the fan being connected to the dust box via a suction duct, and the fan and the mopping component being located on the same side of the axis of the walking assembly in the first direction.

[0021] In an optional embodiment of the present invention, the fan is located in the first direction between the drive unit of one of the sub-drag members and the axis.

[0022] In an optional embodiment of the present invention, the dust collection component includes an air outlet connected to a fan, the air outlet being located to the left rear of the main body in the forward direction.

[0023] In an optional embodiment of the present invention, a battery assembly is further included. The mopping assembly includes a water tank, and the fan is located between the water tank and the battery assembly in a second direction, which is located in a horizontal plane and perpendicular to the first direction.

[0024] In an optional embodiment of the present invention, a roller brush assembly is further included, wherein the working unit of the roller brush assembly is located in front of the wiping member in the first direction.

[0025] In an optional embodiment of the present invention, the roller brush assembly is located between the fan and the dust box in a first direction.

[0026] The technical advantages of this invention are as follows: By arranging the center of gravity on the same side as the mopping component, the "lever arm" for transmitting gravity to the mopping component is shortened, allowing more of the machine's weight to be converted into effective downward pressure on the ground. This more effective positive pressure directly improves the contact tightness and friction between the mopping component (mop disc) and the ground, which is the physical basis for improving mopping cleaning power. This design directly solves the problem mentioned in the background art of insufficient pressure caused by the center of gravity being far from the (opposite side) cleaning component, making the machine structure more suitable for the mopping function requirements. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of a cleaning robot according to one embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram showing the center of gravity position of the cleaning robot in one embodiment of the present invention;

[0030] Figure 3 This is a side view of the cleaning robot in one embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the rear structure of a cleaning robot according to one embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the bottom structure of a cleaning robot according to one embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the internal structure of the cleaning robot with the motherboard removed in one embodiment of the present invention;

[0034] Figure 7 This is a cross-sectional view of a cleaning robot according to one embodiment of the present invention.

[0035] Explanation of reference numerals in the attached drawings: 10. Main body; 11. Center of gravity; 12. Injection port; 13. Spray port; 14. Main board; 20. Mopping assembly; 21. Mopping component; 22. Drive unit; 30. Walking assembly; 31. Axis; 40. Water tank; 50. Solution tank; 60. Casters; 70. Battery assembly; 80. Vacuuming assembly; 81. Dust box; 82. Fan; 83. Suction duct; 84. Air outlet; 85. Dust cup assembly; 86. Filter assembly; 90. Roller brush assembly. Detailed Implementation

[0036] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0038] With the continuous development of technology and the growing demand for smart homes, robotic vacuum cleaners, as automated cleaning devices, have gradually entered and become widely used in households. Compared with traditional manual cleaning methods, robotic vacuum cleaners, with their high efficiency and convenience, free up users' hands and have become an indispensable tool in modern homes. Current robotic vacuum cleaners mainly achieve floor cleaning through integrated vacuuming and mopping functions, with mopping playing a crucial role as one of their key cleaning methods.

[0039] However, most current robotic vacuum cleaners rely on the friction between the mopping module (such as the mopping component 21) and the floor to perform the mopping function. Specifically, the mopping component 21 at the bottom of the robot needs to apply appropriate pressure to enhance friction when it contacts the floor, thereby achieving a cleaning effect. Although this design achieves the mopping function to some extent, existing robotic vacuum cleaners generally have a structural defect: the omnidirectional wheels 60 at the front of the machine cause its center of gravity 11 to be located in the front half of the body, especially in front of the drive wheels. This center of gravity 11 layout results in a large distance between the center of gravity 11 and the mopping module (mopping component 21), and poor mechanical transmission between them.

[0040] Based on the lever principle, when the robot vacuum is running, the forward center of gravity 11 cannot effectively transfer sufficient downward pressure to the mopping component 21 at the rear, resulting in insufficient positive pressure exerted by the mopping component 21 on the ground. This insufficient positive pressure directly affects the friction between the mopping component 21 and the ground, significantly reducing the cleaning effect of the robot during mopping. Specifically, during mopping, the machine cannot fully depress the mopping component 21, making it difficult to thoroughly remove stains and dust from the floor, thus affecting cleaning efficiency and quality.

[0041] Therefore, the cleaning effect of the robot vacuum cleaner in the mopping function is limited by the center of gravity 11 design. It is urgent to improve the cleaning ability and efficiency of the mopping module by optimizing the structural design and improving the layout of the center of gravity 11 in order to meet users' needs for efficient and deep cleaning.

[0042] In this application description, "up and down" refers to the vertical direction of the cleaning robot during its working state.

[0043] To achieve the above objectives and other related objectives, such as Figure 1-7 As shown, this utility model proposes a cleaning robot, including a body 10, a mopping component 20, and a walking component 30.

[0044] The main body 10 constitutes the robot's core structure and outer frame. It internally houses the control system, battery pack 70, sensors (such as navigation sensors and obstacle avoidance sensors), main control circuit board, water tank 40 (for wet mopping), and other core functional modules. The main body 10 provides physical support and protection for the entire robot and serves as the core platform for integrating and installing other functional components. The structure, weight, and distribution of other functional components on the main body 10 determine the position of the cleaning robot's overall center of gravity 11. Its design directly affects the robot's operational stability and its integration with the internal functional modules.

[0045] The mopping assembly 20 is a key module for achieving wet or dry floor cleaning. Its core component is the mopping element 21 (e.g., a rotating mop, flat cloth, disposable cleaning pad, etc.), typically made of absorbent or highly effective cleaning materials, which comes into direct contact with the floor. This assembly is mounted on the bottom of the main body 10. In addition to the mopping element 21, this assembly typically includes a mechanism (e.g., a motor) to drive the mopping element 21, a connecting arm (if present), a water supply line / system (for the wet mopping robot) to the mopping element 21, and an interface for connection to the control system. The mopping element 21 cleans by friction against the floor. The cleaning effect is highly dependent on the magnitude of the positive pressure (i.e., the downward force) exerted by the mopping element 21 in contact with the floor. Sufficient positive pressure ensures that the mopping element 21 adheres closely to the floor, providing effective frictional cleaning force to overcome stains and dust.

[0046] The locomotion assembly 30 is the foundation for the robot's autonomous movement. Its main components are one or more wheels, located at the bottom of the robot. The wheels are the robot's primary support points on the ground, and their contact points or pivots define the robot's posture during movement. The axis 31 of the locomotion assembly 30 can be considered as the fulcrum of a lever. The locomotion assembly 30 also includes motors driving the wheels, suspension (in some advanced models), and related transmission and control systems. The axis 31 of the locomotion assembly 30, acting as a fulcrum, determines the posture distribution of the robot body 10 relative to the ground and bears the weight of the robot. Its position directly affects the mechanical effects (lever effect) of the weight / center of gravity 11 applied to other components (especially the mopping component 21), ultimately affecting the mopping pressure.

[0047] Specifically, the center of gravity 11 and the mopping component 21 of the cleaning robot are positioned on the axis 31 of the walking assembly 30 in the direction of travel of the robot body 10 (first direction). Figure 5-6 On the same side of the fulcrum (in the X direction). Considering the axle of the walking wheel 31 as the fulcrum, the overall structure of the cleaning robot can be abstracted as a lever system. When the center of gravity 11 (as the main force point) and the wiping component 21 (as the point of force application) are both located on the same side of the fulcrum (walking wheel axle 31), the gravitational torque generated by the center of gravity 11 (gravity × distance from the center of gravity 11 to the fulcrum) is in the same direction as the torque of the wiping component 21 about the fulcrum. Assume the robot travels in a direction "from the center of gravity 11 to the fulcrum, then from the fulcrum to the wiping component 21" (i.e., the center of gravity 11 is behind the fulcrum, and the wiping component 21 is also behind the fulcrum; or the center of gravity 11 is in front of the fulcrum, and the wiping component 21 is also in front of the fulcrum). At this time, the gravitational torque generated by the center of gravity 11 tends to drive the components behind the fulcrum (including the wiping component 21) downwards. This makes the force of the entire lever system to cause the wiping component 21 to press firmly against the ground (downward pressure). If the center of gravity 11 and the mopping component 21 are located on either side of the fulcrum, the gravitational torque generated by the center of gravity 11 tends to drive the components behind the fulcrum (including the mopping component 21) to lift off the ground (lifting force). This is the fundamental mechanical reason for the insufficient positive pressure of the mopping module in traditional sweeping machines.

[0048] Specifically, such as Figure 2 As shown, the center of gravity 11 is located behind the walking assembly 30 (in the first direction), and the dragging component 21 is located behind the center of gravity 11. Both the center of gravity 11 and the dragging component 21 are rearward and located on the same side (rear) of the walking axis 31. This configuration maximizes the leverage efficiency of transferring the gravity of the center of gravity 11 to the rear dragging component 21. Since the lever arm (the distance of the dragging component 21 from the fulcrum) is shorter than the distance between the center of gravity 11 and the fulcrum, and the torques of the two are superimposed, the effective downward force on the rear dragging component 21 is significantly enhanced.

[0049] like Figure 1-5 , Figure 7As shown, in an optional embodiment of this utility model, a caster wheel 60 is also included. The caster wheel 60 and the center of gravity 11 of the cleaning robot body 10 are located on the same side of the axis 31 of the walking component 30 in the first direction. Specifically, the caster wheel 60 is located below the rear end of the body 10. Existing caster wheels 60 are usually located below the front end of the body 10. After the center of gravity 11 is moved rearward, the caster wheel 60 is moved from the traditional front end to the rear end, so that the caster wheel 60 is close to the rear center of gravity 11. This layout is more in line with the weight distribution after the overall machine is adjusted. The drive wheel usually provides the main driving force and most of the support. The rear-mounted caster wheel 60 serves as an auxiliary support point (i.e., a rear single support point), forming a stable triangular support structure together with the drive wheel. This new three-point support layout (drive wheel + rear caster wheel 60) matches the rear center of gravity 11, ensuring the stability of the overall posture of the machine during various actions (such as forward, backward, turning, starting and stopping), and avoiding the bumping or "nose-lifting" tendency that may be caused by the center of gravity 11 being too light at the rear. The rear-mounted caster wheel 60 serves as a steering wheel, and its position is close to the center of gravity 11 and the main working towing and wiping component 21 (also located at the rear). When steering or adjusting the path, the coordinated movement of the drive wheel and the caster wheel 60 acts more directly on the rear half of the machine, making the steering action more precise, reducing unnecessary body twisting, and helping the towing and wiping component 21 maintain a stable downward pressure and cleaning path.

[0050] like Figure 6 As shown, in an optional embodiment of this utility model, the cleaning robot further integrates a water tank 40 and / or a solution tank 50. The addition of the water tank 40 allows for real-time replenishment of water to the mopping component 21 while the robot performs its mopping task, effectively preventing the "dry mopping" problem caused by the mop gradually evaporating during prolonged operation. It also reduces the number of times the robot frequently interrupts its task and returns to the base station simply to replenish water, improving the continuity and overall efficiency of the mopping operation. The solution tank 50 is specifically used to store cleaning fluid with stronger dissolving power and works in conjunction with the spray nozzle. When the robot detects that it has passed through a heavily soiled area or that stubborn stains have not been removed by a single routine mopping, it can precisely spray cleaning fluid onto that specific location through the spray nozzle. After spraying, the wet mop, with its effective downward pressure, wipes the area again. Utilizing the powerful dissolving and emulsifying properties of the cleaning solution, it significantly enhances the removal of stubborn stains such as oil and clumps, thus overcoming the limitations of conventional water mopping. This chemical dissolution further improves the machine's overall cleaning effect and its comprehensive ability to handle complex stains. The combination of these two methods ensures the robot mopping process is efficient, thorough, and intelligent.

[0051] like Figure 6As shown, the water tank 40 and / or solution tank 50 are designed to be positioned on the same side (specifically, rearward) of the axis 31 of the walking assembly 30 in the direction of travel (first direction), together with the mopping component 21. Since the water tank 40 and solution tank 50 themselves have significant weight, placing them at the rear of the machine effectively utilizes their own weight as a natural counterweight, assisting in driving the overall center of gravity 11 to move stably behind the walking axis 31. This layout strategy creates a dual synergistic effect with the core patented design. On the one hand, the heavy water tank 40 / solution tank 50 overlaps with the target center of gravity 11 area, maximizing the effect of the rearward-positioned center of gravity 11. On the other hand, their close proximity to the mopping component 21 further shortens the lever arm for transferring gravity to the cleaning end. Ultimately, not only is the core objective of utilizing the machine's own weight to enhance the effective downward pressure on the mopping component 21 more thoroughly achieved by concentrating the rear mass, but the space compactness of the core components of the mopping function (water / liquid storage module and execution module) is also ensured, optimizing the overall weight distribution efficiency and structural stability.

[0052] like Figure 4 As shown, in an optional embodiment of this utility model, an injection port 12 and a spray port 13 are provided at the rear end of the main body 10. The injection port 12 is used for the replenishment function of the base station. The injection port 12 is designed to be connected to the water tank 40 and the solution tank 50 through different pipes. Its working process is as follows:

[0053] When the robot returns to the base station, an automatic replenishment program is triggered through signal interaction between the main control system and the base station. First, the injection port 12 switches to the path connecting to the water tank 40, activating the base station's built-in water pump to inject clean water into the tank 40. The water injection process is precisely timed and metered according to preset parameters (e.g., water flow rate * time equals total water volume) until the water tank 40 is full. Immediately afterwards, the injection port 12 automatically switches to the path connecting to the solution tank 50, then utilizes the large-capacity cleaning fluid container and its associated pump system stored in the base station to quantitatively add cleaning fluid to the solution tank 50 using the same time-controlled precise metering method. This solution achieves highly intelligent dual-path automatic separation and replenishment of water and cleaning fluid. Its core advantage lies in significantly simplifying the user's operational burden. During a single return to the station, it automatically, reliably, and quantitatively completes two key replenishment tasks: water tank 40 replenishment and cleaning solution tank 50 addition. This ensures that the robot receives sufficient clean water to maintain continuous wet mopping effects, while also storing ample cleaning solution to enhance its ability to remove stubborn stains. This provides strong logistical support for the robot to return to the work area and perform efficient and thorough cleaning tasks.

[0054] Liquid level sensors can be installed in the water tank 40 and the solution tank 50. The liquid level sensors are used to determine the required total amount of water to be injected, whether the water tank 40 and the solution tank 50 are full, and other statuses. The water injection and solution injection process can also be carried out directly based on the liquid level status fed back by the liquid level sensor (for example, continuously injecting water or solution until the liquid level status fed back by the liquid level sensor is full).

[0055] like Figure 6 , Figure 7 As shown, in an optional embodiment of this utility model, a battery assembly 70 is also included. The battery assembly 70 is located on the first side of the same traveling direction as the mopping component 21 (behind the same traveling axis 31). The natural weight of the battery serves as a key counterweight, synergistically reinforcing the rearward shift of the center of gravity 11 and maximizing the effective downward pressure of the rear mopping component 21. The PCBA motherboard 14 is arranged above the battery assembly 70, solution tank 50, and roller brush, forming a compact vertical integration. This fully utilizes the upper space, ensuring that sensitive electronic components are isolated from potential moisture sources (water tank 40 / solution tank 50) and mechanical parts below, improving circuit safety and facilitating heat dissipation. Simultaneously, the water tank 40 and solution tank 50 are symmetrically positioned on both sides of the battery assembly 70, which is arranged along the centerline of the first direction, achieving lateral balance and preventing the machine from tilting left or right, ensuring stable operation, and forming a highly efficient concentrated load area centered on the middle and rear. This layout comprehensively achieves the synergistic optimization of precise positioning of the center of gravity 11, efficient utilization of core component space, and overall dynamic balance, providing solid support for continuous and powerful cleaning.

[0056] In an optional embodiment of this invention, the battery assembly 70 has at least two vertically stacked cell layers, each layer consisting of multiple arrayed cell units arranged closely together. This layered, three-dimensional arrangement significantly improves the space utilization efficiency of the battery compartment, maximizing energy density within a limited installation thickness and providing ample power for the robot's sustained operation. Simultaneously, the arrayed arrangement combined with multi-layer stacking optimizes heat distribution and heat dissipation paths between cells, reducing the risk of localized hotspots. The compact, layered structure facilitates concentrated placement in the target area of ​​the robot body, coordinating with the overall center of gravity 11 planning to stably maintain the dynamic balance and weight requirements of the entire machine. This design, while ensuring high endurance, perfectly meets the comprehensive requirements of the entire machine for compact layout, optimized thermal management, and precise control of the center of gravity 11.

[0057] like Figure 6As shown, in an optional embodiment of this utility model, the mopping component includes two sets of sub-mopping components, which are respectively disposed on both sides of the centerline of the main body 10 along the first direction. Each set of sub-mopping components, symmetrically distributed on both sides, is independently equipped with a dedicated drive unit 22. The drive unit 22 may specifically include a motor and a reducer. This dual-side independent drive design gives the two sets of sub-mopping components the ability to operate differently. The robot can dynamically adjust the rotation direction, speed, or start / stop status of the sub-mopping components on both sides according to real-time working conditions (such as differences in the inner and outer paths when turning, encountering stubborn stains on one side, etc.). This not only greatly enhances the flexibility and adaptability of cleaning and covering complex floors (especially corners and edges), but also enables the initiation of a high-intensity fixed-point cleaning mode for heavily soiled areas. At the same time, the dual drive unit 22 provides balanced and independent driving force to the mops on both sides, ensuring that the downward pressure on both sides is not affected by each other, and completely eliminating torque interference or pressure imbalance caused by the mechanical coupling of the two mops. This design maximizes cleaning efficiency while ensuring stability, responsiveness, and system reliability during dual-sided operation, significantly enhancing the machine's overall ability to handle diverse cleaning scenarios.

[0058] like Figure 6 As shown, in an optional embodiment of this utility model, the battery assembly 70 is located between the drive units 22 of the two sets of sub-mopping components. On the one hand, the battery assembly 70 serves as a centralized counterweight, its central position efficiently supporting and reinforcing the design goal of the rear center of gravity 11 of the entire machine. On the other hand, the battery forms a bidirectional physical barrier and support for the drive units 22 on both sides, effectively preventing mutual interference from heat or vibration that may be generated during the operation of the two drive units 22, improving system reliability, and enhancing the overall rigidity of the central part of the machine through a rigid structure. Simultaneously, the symmetrical layout with the shortest wiring distance allows the high-voltage wiring harness to connect the drive units 22 on both sides along the shortest path, reducing power loss and electromagnetic interference risks. This three-dimensional integrated design, while ensuring high-efficiency counterweight, achieves synergistic effects of heat dissipation isolation, structural reinforcement, and electrical optimization, providing a stable, efficient, and compact operating environment for the dual-sided independent drive mopping system.

[0059] like Figure 6As shown, in an optional embodiment of this utility model, the cleaning robot further includes a vacuuming component 80, which is mounted on the body 10. The vacuuming component 80 includes a dustbin 81, which is located on the side (front) away from the center of gravity 11 of the axis 31 of the walking component 30. This layout makes full use of the spatial characteristics generated by the rear-mounted center of gravity 11 design. Because heavy components such as the battery and water tank 40, as well as core functional modules, are concentrated behind the axis 31, the front space is freed up and has greater longitudinal capacity. The lightweight dustbin 81, positioned at the front, perfectly avoids interference with the key rear counterweight area and efficiently utilizes the redundant front space to maximize the capacity of the dustbin 81. At the same time, this layout forms a natural dynamic counterweight balance—the concentrated mass at the rear steadily increases mopping pressure, while the lightweight dustbin 81 at the front optimizes the overall pitch stability of the robot. The front-mounted dustbin 81 also makes it easy for users to pull it out directly from the front of the robot for cleaning, greatly improving maintenance convenience. This design achieves triple optimization in space utilization, counterweight efficiency, and human-computer interaction, laying the physical foundation for efficient integrated sweeping and mopping.

[0060] like Figure 7 As shown, in an optional embodiment of this utility model, a dust cup assembly 85 (specifically, a cyclone separator dust cup) is provided inside the dust box 81. The dust cup assembly 85 is used for preliminary filtration of the waste in the dust box 81, and a filter assembly 86 (specifically, a HEPA filter assembly) is provided at the upper end of the dust cup assembly 85. The dust cup assembly 85 adopts a structure similar to a cyclone separator. Dust-laden air enters the dust cup tangentially from the side wall of the dust box, forming a high-speed rotating airflow. During the airflow rotation, larger particles (such as hair and debris) are thrown against the cup wall due to centrifugal force and slide down the wall to the bottom. The purified air forms an internal vortex and rises to the top outlet. The filter assembly 86 is located at the top outlet of the dust cup assembly 85 and is usually made of glass fiber or PP cotton with a wavy pleated structure, which captures finer particles through physical interception (sieving).

[0061] The dust cup assembly 85 includes a cyclone separator and a coaxially nested filter cartridge. The axis of the cyclone separator is arranged vertically, and its upper end is used to connect to the fan unit of the cleaning robot. The vertical layout forms a vertical airflow channel, with airflow moving from bottom to top. The upper end is directly connected to the fan to generate a stable negative pressure, driving the dust-laden airflow to flow efficiently upward from the bottom of the cyclone separator, providing a structured spatial basis for subsequent centrifugal separation and filtration. At least one air inlet channel is opened on the wall of the cyclone separator, which communicates with the inner cavity of the dust box. The opening direction of the air inlet channel is tangential to the wall of the cyclone separator. A filter cartridge is added coaxially nested with the cyclone separator outside the cyclone separator, with the cyclone separator located inside the filter cartridge. Multiple through holes are evenly opened on the wall of the filter cartridge. In the radial direction, the cyclone separator and the filter cartridge are arranged at intervals, and the upper end of the cyclone separator and the upper end of the filter cartridge form a closed structure. The through-hole structure forms the first stage of physical interception, preventing large-volume debris (such as paper scraps and hair clumps) in the dust box from directly contacting the cyclone separator, thus avoiding blockage of the air inlet channel or entanglement of the separator. Unintercepted fine dust particles are carried by the airflow through the through-holes into the annular space between the filter cartridge and the cyclone separator, where they undergo secondary centrifugal separation via the tangential air inlet channel of the cyclone separator, forming a staged filtration mechanism. The compact coaxial nested layout balances large particle pre-screening and fine separation functions, reducing maintenance frequency and protecting the core cyclone unit for stable operation.

[0062] like Figure 6 As shown, in an optional embodiment of this utility model, the vacuuming component 80 includes a fan 82, which is connected to the dust box 81 via a suction duct 83. The fan 82 and the mopping component 21 are located on the same side of the axis 31 of the walking component 30 in the first direction. First, the fan 82 overlaps with the rear concentrated counterweight area, further strengthening the rear center of gravity 11 effect of the whole machine and synergistically increasing the effective downward pressure of the mopping component 21 on the ground. Second, the fan 82 is adjacent to the dust box 81 located at the rear (connected via the suction duct 83), which greatly shortens the airflow transmission path, reduces duct bends and pressure loss, and significantly improves vacuuming efficiency and dust collection effect. Furthermore, the fan 82 is arranged in the same area as core components such as the battery component 70 and the drive unit 22, which can share structural support and vibration reduction design, reduce vibration transmission sensitivity, and optimize the overall counterweight balance. This design achieves deep synergy in terms of space, counterweight, and aerodynamic performance, enabling the vacuuming and mopping functions to be efficiently integrated in the rear space, jointly supporting the maximization of cleaning efficiency.

[0063] like Figure 6As shown, in an optional embodiment of this utility model, the fan 82 is located in the first direction between the drive unit 22 of one of the sub-mopping components and the axis 31. The fan 82 is embedded in the area formed by the drive unit 22 and the axis 31, making full use of this compact space and avoiding additional occupation of the core counterweight area volume. Its position in front of the drive unit 22 naturally isolates the direct transmission of vibration from the fan 82 to the precision electronic components, while achieving local absorption and dissipation of vibration energy through shared structural components. More importantly, the weight of the fan 82 is superimposed on the vicinity of the drive unit 22 on this side, specifically strengthening the downward pressure of this sub-mopping component, and further improving the cleaning force on one side in conjunction with the rearward shift of the center of gravity 11. At the same time, due to the centrally symmetrical layout of the battery, the overall lateral balance is still stably maintained. This design simultaneously achieves multiple requirements of vibration reduction, efficiency improvement, counterweight reinforcement, and space optimization within an extremely compact space.

[0064] like Figure 6 As shown, in an optional embodiment of this utility model, the dust collection component 80 includes an air outlet 84 connected to the fan 82, located at the left rear of the main body 10 in the forward direction. This solution avoids the common user operating habits (most users hold the device with their right hand to clean the dust box 81, making the right rear area easily obstructed). The left rear air outlet effectively avoids airflow interference with maintenance operations, improving human-machine interface friendliness. Secondly, it precisely adapts to the internal reconfiguration space of the entire machine (such as the rear fan 82, battery, and other components), utilizing the redundant space in the left rear area to arrange the air duct terminal, shortening the high-energy airflow path and reducing eddies and pressure losses. Furthermore, it forms physical isolation from the base station charging contacts / communication module (usually located at the rear centerline or right side), eliminating the risk of hot air directly blowing on sensitive components and enhancing long-term reliability. This innovative positioning, while maintaining efficient exhaust, systematically coordinates maintenance convenience, internal layout compactness, and electronic protection requirements.

[0065] like Figure 6 As shown, in an optional embodiment of this utility model, the fan 82 is located between the water tank 40 and the battery assembly 70 in a second direction, which is located in a horizontal plane and perpendicular to the first direction, i.e., the direction of axis 31. Figure 5-6(in the Y direction). The fan 82 is tightly sandwiched between two heavy components, significantly optimizing the weight distribution—the liquid load of the water tank 40 and the solid mass of the battery provide bidirectional mass stability for the fan 82, avoiding torque imbalance caused by vibration of the fan 82 during operation, and enhancing the overall density of the rear center of gravity zone 11. In terms of three-dimensional space, the fan 82 makes full use of the structural gap between the water tank 40 and the battery assembly 70, achieving zero redundancy in three-dimensional space and maintaining the compactness of the entire unit. In terms of thermal management, the heat from the battery operation can be carried away by the airflow passing through the fan 82, while the low-temperature characteristics of the water tank 40 assist in neutralizing heat dissipation, forming a natural passive heat dissipation cycle. Structurally, the fan 82 directly uses the wall of the water tank 40 and the battery casing as physical support and acoustic isolation layers to suppress noise propagation. This integrated design achieves multiple benefits simultaneously, including enhanced weight distribution, maximum space utilization, optimized heat dissipation, and noise control, while maintaining an ultra-thin form.

[0066] like Figure 7 As shown, in an optional embodiment of this utility model, a roller brush assembly 90 is further included. The roller brush assembly 90 includes a core roller brush body, a drive mechanism, and a protective structure. The overall width of the roller brush covers more than 90% of the effective cleaning path in the robot's direction of travel. A hollow shaft design is adopted to optimize the airflow channel, forming a "sweeping and suction integrated" structure with the negative pressure suction port at the bottom of the chamber. The drive module is compactly encapsulated above the roller brush shaft side to avoid spatial interference with the walking wheels.

[0067] like Figure 7 As shown, the roller brush assembly 90 is located in front of the mopping assembly 20. This forms a coordinated "sweeping-mopping" workflow. The roller brush first disturbs and rolls up solid debris (such as hair and crumbs) on the ground, which is then wiped clean by the rear mopping component 21, effectively preventing contaminants from getting tangled in the mop or causing secondary pollution.

[0068] like Figure 7 As shown, in an optional embodiment of this utility model, the roller brush assembly 90 is located between the fan 82 and the dust box 81 in the first direction. Debris lifted by the roller brush is sucked into the dust box 81 by the negative pressure of the fan 82 over a very short distance, significantly shortening the waste transport path and significantly reducing airflow pressure loss and blockage risks. Simultaneously, the roller brush and fan 82 work together to create a vacuum adsorption enhancement effect, improving the removal of micro-dust from deep crevices in the floor. At the same time, the roller brush physically isolates the air inlet of the fan 82 from the dust box 81, reducing the risk of damage caused by large particles entering the fan 82. This compact, linearly connected layout of the three functional units (roller brush-dust box 81-fan 82) simultaneously optimizes cleaning efficiency, dust collection reliability, and overall integration under zero space redundancy conditions.

[0069] In summary, this utility model comprehensively enhances the overall efficiency of the cleaning robot through systematic structural innovation. It innovatively positions the machine's center of gravity 11 and the mopping component 21 on the same side of the walking wheel axis 31 in the direction of travel, and coordinates and optimizes the rearward layout of the center of gravity 11 (including rearward placement of heavy components such as the battery, water tank 40 / solution tank 50, and the rearward design of the omnidirectional wheels 60). Based on the lever principle, it completely transforms the machine's own weight into efficient downward pressure for the mopping component 21, fundamentally solving the persistent problem of insufficient mopping pressure caused by the forward-positioned center of gravity 11 in traditional machines. The accompanying dual-sided independent drive sub-mopping component design strengthens the transmission of downward pressure on one side while eliminating cleaning blind spots and torque imbalance, simultaneously improving cleaning coverage and overall machine stability. Multiple spatial integration strategies achieve three-dimensional compact integration of core components, maintaining an ultra-thin form while maximizing functional density. An intelligent liquid supply system (including time-controlled dual-liquid replenishment coordinated by a base station) ensures long-lasting wet mopping and the ability to dissolve stubborn stains. The front-mounted dustbin 81 optimizes dynamic weight balance and human-machine interaction, while the asymmetrical rear-left layout of the air outlet 84 reduces wind resistance, isolates thermal interference, and avoids operational interference. Ultimately, this achieves a leap in efficiency across the entire sweeping-vacuuming-mopping process, achieving comprehensive breakthroughs in powerful stain removal (physical friction + chemical dissolution), stable operation, long battery life, convenient maintenance, and low-noise experience.

[0070] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

[0071] Throughout this description, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of these specific details or by other devices, systems, components, methods, parts, materials, components, etc. In other instances, well-known structures, materials, or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0072] Throughout this specification, references to "an embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the present invention can be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the present invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the present invention.

[0073] It should also be understood that one or more of the elements shown in the figures may be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0074] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a separation or combination capability that is unclear, a combination of components or steps will also be considered as indicated.

[0075] As used herein and throughout the claims below, unless otherwise specified, “a” and “the” include the plural references. Similarly, as used herein and throughout the claims below, unless otherwise specified, “in” means “in” and “on”.

[0076] The above description of the embodiments shown in this utility model (including the content set forth in the abstract of the specification) is not intended to be an exhaustive enumeration or to limit the utility model to the precise forms disclosed herein. Although specific embodiments and examples of the utility model have been described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the utility model, as will be recognized and understood by those skilled in the art. As indicated, these modifications can be made to the utility model in accordance with the above description of the embodiments described herein, and such modifications will be within the spirit and scope of the utility model.

[0077] This document has generally described the systems and methods in detail to aid in understanding the present invention. Furthermore, various specific details have been set forth to provide a general understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention can be practiced without one or more specific details, or using other devices, systems, accessories, methods, components, materials, parts, etc. In other instances, well-known structures, materials, and / or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0078] Therefore, although the present invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the scope of the above disclosure, and it should be understood that in some cases, certain features of the present invention may be adopted without departing from the scope and spirit of the invention and without corresponding use of other features. Thus, many modifications can be made to adapt a particular environment or material to the essential scope and spirit of the present invention. The present invention is not intended to be limited to the specific terms used in the following claims and / or the specific embodiments disclosed as the best mode of carrying out the present invention, but the present invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the present invention will be determined only by the appended claims.

Claims

1. A cleaning robot, characterized in that, include: ontology; A mopping assembly, the mopping assembly including a mopping element disposed at the bottom of the main body; A walking component is located at the bottom of the main body; The center of gravity of the cleaning robot and the mopping component are located on the same side of the axis of the walking assembly in a first direction, which is the direction of travel of the main body.

2. The cleaning robot according to claim 1, characterized in that, In the first direction, the center of gravity is located behind the walking component, and the dragging component is located behind the center of gravity.

3. The cleaning robot according to claim 1, characterized in that, It also includes a water tank and / or a solution tank, which are located on the same side of the axis of the walking assembly in the first direction as the wiping member.

4. The cleaning robot according to claim 3, characterized in that, The rear end of the main body is provided with an injection port communicating with the solution tank and the water tank, and a spray port communicating with the solution tank.

5. The cleaning robot according to claim 1, characterized in that, It also includes a battery assembly, which and the wiping element are located on the same side of the axis in the first direction.

6. The cleaning robot according to claim 5, characterized in that, The battery assembly includes at least two cell layers arranged vertically, and each cell layer includes a plurality of cells arranged in an array.

7. The cleaning robot according to claim 5, characterized in that, The mopping component includes two sets of sub-mopping components, which are respectively disposed on both sides of the centerline of the main body along the first direction, and each set of sub-mopping components is provided with a drive unit.

8. The cleaning robot according to claim 7, characterized in that, The battery assembly is located between the drive units of the two sets of sub-drag members.

9. The cleaning robot according to claim 1, characterized in that, It also includes omnidirectional wheels, the center of gravity of which is located on the same side of the axis of the walking component in the first direction as the center of gravity of the cleaning robot.

10. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a dust collection component, which is mounted on the main body. The dust collection component includes a dust box, which is located on the side of the axis of the walking component away from the center of gravity.

11. The cleaning robot according to claim 10, characterized in that, The dust box is equipped with a dust cup assembly, which includes a cyclone. At least one air inlet channel is provided on the wall of the cyclone. The opening direction of the air inlet channel is tangential to the wall of the cyclone. A filter assembly is provided at the upper end of the dust cup assembly.

12. The cleaning robot according to claim 10, characterized in that, The dust collection assembly includes a fan, which is connected to the dust box via a suction duct. The fan and the mopping component are located on the same side of the axis of the walking assembly in the first direction.

13. The cleaning robot according to claim 12, characterized in that, The fan is located in the first direction between the drive unit of the dragging member and the axis.

14. The cleaning robot according to claim 12, characterized in that, The dust collection assembly includes an air outlet connected to a fan, the air outlet being located to the left rear of the main body in the forward direction.

15. The cleaning robot according to claim 12, characterized in that, It also includes a battery assembly, the mopping assembly includes a water tank, and the fan is located in a second direction between the water tank and the battery assembly, the second direction being in a horizontal plane and perpendicular to the first direction.

16. The cleaning robot according to claim 12, characterized in that, It also includes a roller brush assembly, wherein, in the first direction, the working unit of the roller brush assembly is located in front of the wiping member.

17. The cleaning robot according to claim 16, characterized in that, The roller brush assembly is located between the fan and the dust box in a first direction.

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