A cleaning robot

Abstract

The utility model discloses a kind of cleaning robots, belong to robot technical field.Cleaning robot includes chassis, clean water tank, sewage tank and cleaning device, clean water tank and sewage tank are located on the top of chassis, sewage tank and clean water tank are arranged along up-down direction, clean water tank can spray liquid to ground, sewage tank can collect ground sewage;Cleaning device is located below chassis, and cleaning device includes first lifting mechanism, first cleaning component and second cleaning component, and first cleaning component includes rolling brush and dust box, and rolling brush is used to sweep sundries into dust box;Second cleaning component includes disc brush, and friction between disc brush and ground can be generated;First cleaning component and second cleaning component are arranged along front-back direction, and first lifting mechanism can drive first cleaning component and second cleaning component to move along vertical direction respectively.The cleaning robot of the utility model realizes the collaborative operation of sweeping floor and washing ground, and reduces the risk of rollover by reasonable layout.

Description

Technical Field

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

[0002] Cleaning robots, as core products for improving household cleaning efficiency and reducing manual labor intensity, have been widely used in various scenarios such as homes, offices, and commercial showrooms. Among related technologies, cleaning robots mainly come in two forms: one is equipped with a roller brush for sweeping up debris on the floor; however, it is ineffective at cleaning stubborn stains. The other is equipped with a disc brush and a water tank. Water is sprayed onto the floor from the water tank, and the disc brush cleans the floor through friction, achieving the removal of stubborn stains. However, solid debris such as hair on the floor easily gets tangled on the disc brush, making it difficult to clean. Additionally, the water tank is installed at the rear of the robot; when the water tank is full, the weight can be concentrated in the rear or other localized areas of the robot, making it unstable and increasing the risk of tipping over. Utility Model Content

[0003] The purpose of this invention is to provide a cleaning robot that can perform sweeping and floor cleaning in a coordinated manner, and reduce the risk of tipping over through a reasonable layout.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] A cleaning robot includes a chassis, a clean water tank, a wastewater tank, and a cleaning device. The clean water tank and the wastewater tank are both located above the chassis, arranged vertically and positioned in the middle of the chassis. The clean water tank can spray liquid onto the ground, and the wastewater tank can collect wastewater from the ground. The cleaning device is located below the chassis and includes a first lifting mechanism, a first cleaning component, and a second cleaning component. The first cleaning component includes a roller brush and a dustbin; the roller brush is used to sweep debris into the dustbin. The second cleaning component includes a disc brush that generates friction with the ground. The first and second cleaning components are arranged longitudinally, and the first lifting mechanism can drive the first and second cleaning components to move vertically.

[0006] In some embodiments, the first lifting mechanism includes a fixed end and two output ends. The fixed end is fixedly connected to the chassis, and the two output ends are respectively connected to the first cleaning component and the second cleaning component.

[0007] In some embodiments, the roller brush rotates about a pivot axis parallel to the horizontal plane, and the first cleaning assembly further includes a side brush that is rotatable about an axis parallel to the vertical direction. The side brush, the roller brush, and the dust box are arranged sequentially from front to back.

[0008] In some embodiments, the cleaning device further includes a squeegee assembly for absorbing wastewater from the ground and conveying it to the wastewater tank to collect the wastewater from the ground, the squeegee assembly being located on the side of the second cleaning assembly away from the first cleaning assembly.

[0009] In some embodiments, the cleaning device further includes a second lifting assembly for driving the squeegee assembly to move vertically.

[0010] In some embodiments, the wastewater tank and the clean water tank form a combined housing, and the cleaning robot further includes an electrical system and a piping system. The electrical system is located on the front side of the combined housing, and the piping system is located on the rear side of the combined housing.

[0011] In some embodiments, the device further includes a front cover, a rear cover, a bottom cover, and a top cover. The front cover is connected to the combined housing and covers the electrical system. The rear cover is connected to the combined housing and covers the piping system. The bottom cover surrounds the cleaning device. The top cover includes a fixed plate and a flip cover. The fixed plate is connected to the top of the wastewater tank. The flip cover covers the opening of the fixed plate. The front side of the flip cover is rotatably connected to the fixed plate, and the rear side can be locked to the fixed plate.

[0012] In some embodiments, the wastewater tank is connected above the clean water tank, and the bottom of the wastewater tank is provided with a drain outlet.

[0013] In some embodiments, a self-cleaning component is also included, comprising a diaphragm pump and a two-way valve. The diaphragm pump is connected to the clean water tank and the wastewater tank via a pipeline, and is capable of pumping water from the clean water tank to the wastewater tank for cleaning the wastewater tank. The two-way valve is located on the pipeline.

[0014] In some embodiments, the system further includes a battery and a charging system. The battery powers the cleaning robot, and the charging system includes electrode plates that enable conductive communication between the battery and an external charging device to charge the battery. The electrode plates are positioned above the water inlet of the clean water tank.

[0015] The beneficial effects of this utility model are:

[0016] This utility model provides a cleaning robot that utilizes a first cleaning component with a roller brush to sweep debris into a dustbin, effectively cleaning solid debris such as hair; a clean water tank sprays water onto the ground, while a second cleaning component's disc brush generates friction against the ground to remove stubborn stains; and a wastewater tank collects wastewater from the ground. A preset program coordinates the actions of the first cleaning component, the clean water tank, the disc brush of the second cleaning component, and the wastewater tank, achieving both sweeping and washing cleaning modes to meet users' needs for comprehensive, efficient, and convenient cleaning. Because the clean water tank and wastewater tank are arranged vertically and located in the center of the chassis, the robot's footprint is reduced, thus minimizing its footprint. Furthermore, it prevents instability caused by the center of gravity being concentrated in localized areas such as the rear of the robot, effectively reducing the risk of tipping over. A first lifting mechanism allows for the raising or lowering of the first and second cleaning components as needed, providing good flexibility. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a handle-less cleaning robot from one perspective, provided by a specific embodiment of this utility model.

[0018] Figure 2 This is a schematic diagram of a handle-less cleaning robot from another perspective provided by a specific embodiment of this utility model;

[0019] Figure 3 This is a schematic diagram of a cleaning robot with a handle from one perspective, provided by a specific embodiment of this utility model;

[0020] Figure 4 This is a schematic diagram of a cleaning robot with a handle from another perspective, provided by a specific embodiment of this utility model.

[0021] In the picture:

[0022] 1. Clean water tank; 11. Water inlet; 2. Wastewater tank; 21. Sewage outlet; 22. Manual drain pipe; 3. Cleaning device; 31. First cleaning component; 311. Roller brush; 312. Side brush; 313. Dust box; 32. Second cleaning component; 321. Disc brush; 33. Squeegee assembly; 4. Chassis; 41. Column; 5. Electrical system; 6. Piping system; 71. Front cover; 73. Bottom cover; 74. Top cover; 741. Fixing plate; 742. Flip cover; 743. Lock; 75. Handle; 8. Self-cleaning component; 9. Electrode plate; 10. Pump assembly. Detailed Implementation

[0023] To make the technical problems solved by this utility model, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0026] like Figures 1-4 As shown, this embodiment provides a cleaning robot, including a chassis 4, a clean water tank 1, a wastewater tank 2, and a cleaning device 3. The clean water tank 1 and the wastewater tank 2 are both located above the chassis 4, and are arranged vertically and in the middle of the chassis 4. The clean water tank 1 can spray liquid onto the ground, and the wastewater tank 2 can collect wastewater from the ground. The cleaning device 3 is located below the chassis 4 and includes a first lifting mechanism, a first cleaning component 31, and a second cleaning component 32. The first cleaning component 31 includes a roller brush 311 and a dust box 313. The roller brush 311 is used to sweep debris into the dust box 313. The second cleaning component 32 includes a disc brush 321, which can generate friction with the ground. The first cleaning component 31 and the second cleaning component 32 are arranged in a front-to-back direction, and the first lifting mechanism can drive the first cleaning component 31 and the second cleaning component 32 to move vertically, respectively.

[0027] The first cleaning component 31 uses a roller brush 311 to sweep debris into a dust box 313, thus cleaning solid debris such as hair. In one embodiment, the roller brush 311 rotates about an axis parallel to the horizontal plane, and the dust box 313 is located behind the roller brush 311. As the roller brush 311 rolls, solid debris enters the dust box 313. The first cleaning component 31 also includes side brushes 312, which are rotatable about an axis parallel to the vertical direction. The side brushes 312, roller brush 311, and dust box 313 are arranged sequentially from front to back. Exemplarily, there are two side brushes 312, which are arranged in the left-right direction and can rotate towards each other to sweep solid debris into the dust box 313. Specifically, two side brushes 312 are symmetrically distributed at the front of the chassis 4. The side brushes 312 are driven by a motor to rotate in opposite directions. The purpose is to gather solid debris in front of and on both sides of the cleaning robot towards the middle, while pushing the solid debris in the middle backward. Then, the roller brush 311 sweeps the solid debris into the dust box 313 located at the rear, thus realizing the removal and collection of solid debris, and the cleaning effect is good.

[0028] Water tank 1 sprays water, or alternatively, cleaning agent, onto the ground. The disc brush 321 of the second cleaning component 32 generates friction with the ground, effectively removing stubborn stains. As the cleaning robot moves forward, the combined action of water and the disc brush 321 cleans the ground. Specifically, there is pressure between the disc brush 321 and the ground. Driven by a motor, the disc brush 321 rotates at high speed around a shaft parallel to the vertical direction, achieving cleaning of the ground through friction.

[0029] Wastewater tank 2 is used to recycle wastewater from the ground. In one embodiment, the cleaning device 3 further includes a squeegee assembly 33 for absorbing wastewater from the ground and transporting it to the wastewater tank 2 for collection. The squeegee assembly 33 is located on the side of the second cleaning assembly 32 away from the first cleaning assembly 31. Specifically, the wastewater can be existing wastewater on the ground or residual wastewater after water from the clean water tank 1 has been brushed by the disc brush 321. By positioning the squeegee assembly 33 behind the second cleaning assembly 32, both existing and residual wastewater can be absorbed and recycled. Further optionally, the cleaning device 3 also includes a second lifting assembly, which drives the squeegee assembly 33 to move vertically. During operation, the second lifting mechanism lowers the squeegee assembly 33 to a preset position to absorb liquid from the ground. When not in operation or simply moving, the second lifting mechanism raises the squeegee assembly 33 to another preset position for storage, thus protecting the squeegee assembly 33 and reducing friction between the ground and the squeegee assembly 33 during movement, reducing wear and tear, and further providing protection. The second lifting mechanism only needs to drive the squeegee assembly 33 to rise and fall, and will not be elaborated further as it is based on existing technology.

[0030] During operation, the cleaning robot moves along a predetermined trajectory under the control of a preset program. Simultaneously, the roller brush 311 and side brush 312 of the first cleaning component 31 begin to rotate, sweeping solid debris on the ground into the dustbin 313. The disc brush 321 of the second cleaning component 32 rotates at high speed, while the clean water tank 1 sprays water, achieving floor cleaning through friction and the action of water. As the cleaning robot moves forward, the squeegee component 33 at the rear reaches the positions previously passed by the first and second cleaning components 31 and 32, absorbing and recycling the original wastewater and residual wastewater left on the ground by the second cleaning component 32. Through the preset program, the first cleaning component 31, the clean water tank 1, the disc brush 321 of the second cleaning component 32, and the wastewater tank 2 work together to achieve two cleaning modes: sweeping and washing, meeting users' needs for comprehensive, efficient, and convenient cleaning.

[0031] By dividing the chassis 4 into three areas along the front-to-back direction, which are used to install the first cleaning component 31, the second cleaning component 32, and the squeegee component 33 respectively, the robot achieves sweeping, washing, and vacuuming functions, improving the performance and user experience of the cleaning robot. Simultaneously setting up the first cleaning component 31 and the second cleaning component 32 achieves dry and wet separation, effectively preventing hair, paper, and plastic bags from sticking to the ground due to moisture, thus avoiding incomplete cleaning. It also prevents the disc brush 321 from getting tangled with solid debris, improving cleaning efficiency and meeting users' needs for comprehensive, efficient, and convenient cleaning.

[0032] Since the clean water tank 1 and the wastewater tank 2 are arranged vertically and located in the middle of the chassis 4, the area occupied by the chassis 4 can be reduced, thereby reducing the overall footprint of the cleaning robot. In addition, it can prevent instability caused by the center of gravity being concentrated in local areas such as the tail of the robot body, effectively reducing the risk of tipping over.

[0033] By setting a first lifting mechanism, when the first cleaning component 31 is working, the first lifting mechanism drives the second cleaning component 32 to rise, reducing friction with the ground and thus reducing wear. When the second cleaning component 32 is working, the first lifting mechanism drives the first cleaning component 31 to rise, reducing friction with the ground and thus reducing wear. When neither the first cleaning component 31 nor the second cleaning component 32 is working, the first lifting mechanism drives both the first cleaning component 31 and the second cleaning component 32 to rise. When both the first cleaning component 31 and the second cleaning component 32 are working, the first lifting mechanism drives both the first cleaning component 31 and the second cleaning component 32 to fall. The lifting state of the first cleaning component 31 and the second cleaning component 32 can be set according to actual needs, providing good flexibility.

[0034] The first cleaning component 31, the second cleaning component 32, and the squeegee component 33 move independently and can be disassembled and assembled independently without interference. The specific structures of the squeegee component 33, the disc brush 321, the roller brush 311, and the side brush 312 can be referred to in the prior art and will not be described in detail here.

[0035] The first lifting mechanism includes a first three-bar linkage assembly, a second three-bar linkage assembly, an electric push rod, and a motor bracket. The electric push rod is hinged to the motor bracket, which is fixed to the chassis 4. The first three-bar linkage assembly includes a first link, a second link, and a third link arranged sequentially and hinged to each other. The first link connects to the chassis 4, and the third link connects to the second cleaning component 32. The output end of the electric push rod is hinged to the second link, allowing the first three-bar linkage assembly to lift smoothly, thereby driving the second cleaning component 32 to lift smoothly. The second three-bar linkage assembly includes a fourth link, a fifth link, and a sixth link arranged sequentially and hinged to each other. The fourth link connects to the chassis 4, and the sixth link connects to the first cleaning component 31. The second cleaning component 32 includes a drive plate, and the first cleaning component 31 includes an overlapping plate. The two have a gap along the vertical direction, and the drive plate is located below the overlapping plate. When the electric actuator drives the second cleaning component 32 to rise, the second cleaning component 32 first rises independently for a short distance before eliminating the gap between the overlapping plate and the drive plate. The drive plate then supports the overlapping plate, thereby driving the first cleaning component 31 to rise. In other words, the first and second cleaning components 31 rise together, achieving different rising strokes for the first and second cleaning components 31 and 32. When it is necessary to lower the second cleaning component 32 and the first cleaning component 31, the electric actuator drives the second cleaning component 32 to descend. As the second cleaning component 32 descends, the drive plate descends, and the first cleaning component 31 descends under its own weight. The first and second cleaning components 31 share a single electric actuator, simplifying the structure, saving space, and reducing costs.

[0036] The wastewater tank 2 and the clean water tank 1 form a combined enclosure. The cleaning robot also includes an electrical system 5 and a piping system 6. The electrical system 5 is located on the front side of the combined enclosure, and the piping system 6 is located on the rear side, achieving water and electricity separation for high safety. Furthermore, the location of the piping system 6 at the rear of the combined enclosure prevents pipe rupture and leakage due to collisions during forward movement, further improving reliability. The electrical system 5 and piping system 6 can be based on existing technology and will not be elaborated further. Optionally, two columns 41 are installed on both the front and rear sides of the chassis 4. Both the electrical system 5 and the piping system 6 are connected to the columns 41, achieving structural fixation and good installation reliability.

[0037] Wastewater tank 2 is connected above clean water tank 1. Specifically, wastewater tank 2 and clean water tank 1 are mutually restrained by the structure of the lower tank body, and they can be directly connected by screws. Initially, the water volume in clean water tank 1 is greater than that in wastewater tank 2. During use, the water volume in clean water tank 1 decreases as it drains, while the water volume in wastewater tank 2 increases as it absorbs water. Since water can be drained from wastewater tank 2 and added to clean water tank 1 at any time during use, it is more likely that the weight of clean water tank 1 will be greater than that of wastewater tank 2 throughout the entire process. The location of clean water tank 1 below wastewater tank 2 lowers the center of gravity and improves the dynamic stability of the entire machine. For example, the volume of clean water tank 1 is 28L, and the volume of wastewater tank 2 is 25L.

[0038] The bottom of the sewage tank 2 is equipped with a drain outlet 21, and a manual drain pipe 22 is connected to the bottom of the drain outlet 21. A manual valve is installed on the manual drain pipe 22, which is set vertically downward. Opening the manual valve facilitates gravity-based drainage. Specifically, the bottom of the sewage tank 2 has two drain outlets 21, one controlled by a solenoid valve and the other by a manual valve, thereby enabling automatic or manual drainage of the sewage tank 2.

[0039] The cleaning robot also includes a self-cleaning component 8, which comprises a diaphragm pump and a two-way valve. The diaphragm pump is connected to the clean water tank 1 and the wastewater tank 2 via pipeline, enabling it to pump water from the clean water tank 1 to the wastewater tank 2 for cleaning. The two-way valve is located on the pipeline; when both the two-way valve and the diaphragm pump are open, it pumps clean water from the clean water tank 1 to the wastewater tank 2 for cleaning. The two-way valve controls the flow of clean water only from the clean water tank 1 to the wastewater tank 2, preventing reverse flow and thus preventing wastewater from flowing back into the clean water tank 1. During cleaning: the two-way valve is energized and opened, and the diaphragm pump starts to pump water from the clean water tank 1 to the wastewater tank 2 for cleaning; when stopping: the diaphragm pump stops first, and the two-way valve is immediately de-energized and closed to prevent wastewater backflow.

[0040] The cleaning robot also includes a housing assembly, which comprises a front cover 71, a rear cover, a bottom cover 73, and a top cover 74. The front cover 71 connects to the combined housing and covers the electrical system 5. The rear cover connects to the combined housing and covers the piping system 6. The bottom cover 73 surrounds the cleaning device 3. The top cover 74 includes a fixed plate 741 and a flip cover 742. The fixed plate 741 is connected to the top of the wastewater tank 2. The flip cover 742 covers the opening of the fixed plate 741. The front side of the flip cover 742 is rotatably connected to the fixed plate 741, and the rear side can be locked to the fixed plate 741. The rear side of the flip cover 742 is provided with a latch 743, which can be a snap-fit. The fixed plate 741 has a slot. The snap-fit ​​and the slot engage to lock the flip cover 742 to the fixed plate 741. The housing assembly provides protection. The flip cover 742 can be opened to expose the internal structure for appropriate operations, such as top maintenance. All housing components are mounted on the combined housing, which is exposed to the outside environment, eliminating the need for a housing cover and simplifying the structure. The housing components are detachably connected to the combined housing using screws or other means, facilitating disassembly and assembly, and enabling easy maintenance and repair of the internal structure. A handle 75 is installed on the housing assembly for manual operation of the cleaning robot, such as manual pushing when the robot is not powered on.

[0041] The clean water tank 1 is equipped with a water inlet 11 and a pump assembly 10. The pump assembly 10 is used to automatically add water to the clean water tank 1. The water inlet 11 is convenient for manual water addition when the cleaning robot does not automatically add water. The inside of the clean water tank 1 can also be manually cleaned with a water gun.

[0042] The cleaning robot also includes a battery and a charging system. The battery powers the cleaning robot, and the charging system includes electrode plates 9. The electrode plates 9 are used to establish a conductive connection between the battery and external charging devices such as chargers or charging stations, thereby enabling battery charging. The electrode plates 9 of the charging system are located above the water inlet 11 of the clean water tank 1, reducing the probability of the electrode plates 9 being contaminated during operations such as adding water to the clean water tank 1.

[0043] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A cleaning robot, characterized in that, The system includes a chassis (4), a clean water tank (1), a wastewater tank (2), and a cleaning device (3). The clean water tank (1) and the wastewater tank (2) are both located above the chassis (4). The wastewater tank (2) and the clean water tank (1) are arranged vertically and located in the middle of the chassis (4). The clean water tank (1) can spray liquid onto the ground, and the wastewater tank (2) can collect wastewater from the ground. The cleaning device (3) is located below the chassis (4). The cleaning device (3) includes a first lifting mechanism, a first cleaning component (31), and a second... The cleaning components (32) include a first cleaning component (31) comprising a roller brush (311) and a dust box (313), wherein the roller brush (311) is used to sweep debris into the dust box (313); the second cleaning component (32) comprises a disc brush (321) which can generate friction with the ground; the first cleaning component (31) and the second cleaning component (32) are arranged in a front-back direction, and the first lifting mechanism can drive the first cleaning component (31) and the second cleaning component (32) to move in the vertical direction respectively.

2. The cleaning robot according to claim 1, characterized in that, The first lifting mechanism includes a fixed end and two output ends. The fixed end is fixedly connected to the chassis (4), and the two output ends are respectively connected to the first cleaning component (31) and the second cleaning component (32).

3. The cleaning robot according to claim 1, characterized in that, The roller brush (311) rotates about a pivot parallel to the horizontal plane. The first cleaning component (31) also includes a side brush (312), which can rotate about an axis parallel to the vertical direction. The side brush (312), the roller brush (311), and the dust box (313) are arranged sequentially from front to back.

4. The cleaning robot according to claim 1, characterized in that, The cleaning device (3) further includes a squeegee assembly (33) for adsorbing sewage from the ground and conveying it to the sewage tank (2) to collect the sewage from the ground. The squeegee assembly (33) is located on the side of the second cleaning assembly (32) away from the first cleaning assembly (31).

5. The cleaning robot according to claim 4, characterized in that, The cleaning device (3) further includes a second lifting component, which is used to drive the squeegee assembly (33) to move in the vertical direction.

6. The cleaning robot according to claim 1, characterized in that, The sewage tank (2) and the clean water tank (1) form a combined tank. The cleaning robot also includes an electrical system (5) and a pipeline system (6). The electrical system (5) is located on the front side of the combined tank, and the pipeline system (6) is located on the rear side of the combined tank.

7. The cleaning robot according to claim 6, characterized in that, It also includes a front cover plate (71), a rear cover plate, a bottom cover plate (73), and a top cover plate (74). The front cover plate (71) is connected to the combined housing and covers the electrical system (5). The rear cover plate is connected to the combined housing and covers the piping system (6). The bottom cover plate (73) surrounds the cleaning device (3). The top cover plate (74) includes a fixed plate (741) and a flip cover (742). The fixed plate (741) is connected to the top of the sewage tank (2). The flip cover (742) covers the opening of the fixed plate (741). The front side of the flip cover (742) is rotatably connected to the fixed plate (741), and the rear side can be locked to the fixed plate (741).

8. The cleaning robot according to claim 1, characterized in that, The sewage tank (2) is connected above the clean water tank (1), and the bottom of the sewage tank (2) is provided with a sewage outlet (21).

9. The cleaning robot according to claim 1, characterized in that, It also includes a self-cleaning component (8), which includes a diaphragm pump and a two-way valve. The diaphragm pump is connected to the clean water tank (1) and the sewage tank (2) through a pipeline, and can pump water from the clean water tank (1) to the sewage tank (2) for cleaning the sewage tank (2). The two-way valve is located on the pipeline.

10. The cleaning robot according to any one of claims 1-9, characterized in that, It also includes a battery and a charging system. The battery is used to power the cleaning robot. The charging system includes an electrode plate (9) for making conductive connection between the battery and an external charging device to charge the battery. The electrode plate (9) is located above the water inlet (11) of the clean water tank (1).

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