Cleaning robot

Abstract

The present application discloses a cleaning robot, comprising a housing, an isolation member, and a cleaning member. The isolation member is movably disposed at the bottom of the housing and has a first state and a second state. In the first state, the isolation member is located below the cleaning member, and in the second state, the isolation member is located above the cleaning member. In the present application, the isolation member and the cleaning member have different position relationships in the first state and the second state, such that in an environment that does not need cleaning by the cleaning member, the isolation member prevents the cleaning member from contacting the ground, thereby avoiding incorrect cleaning actions.

Description

Cleaning robot

[0001] The present application claims priority to Chinese patent applications with application numbers 202411222234.0, 202422146842.X, 202411222520.7, 202422159193.7, 202421105283.1, 202410626623.3, 202421106179.4, 202410626599.3, 202421106186.4, 202421115795.6, 202421105292.0. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning robots, in particular to a cleaning robot. BACKGROUND

[0003] A cleaning robot, also known as an automatic sweeper, an intelligent vacuum cleaner, or a robot vacuum cleaner, is an intelligent household appliance that can automatically clean the floor in a room by using certain artificial intelligence. It generally uses brushing and vacuuming to absorb the debris on the floor into its own garbage storage box, thereby completing the floor cleaning function.

[0004] The existing cleaning robot not only has a sweeping function, but also has a mopping function. During the working process, it may encounter some situations where the floor does not need to be mopped. Therefore, the mopping assembly of the cleaning robot usually has a lifting function to lift up in the scene where mopping is not needed.

[0005] However, in actual application, due to the limited overall space of the cleaning robot, the lifting height of the mopping assembly is usually not very high, usually around 10mm. Therefore, in some cases, the height of the table cannot meet the use requirements. For example, on some floors with carpets, in order to avoid wetting the carpet with the mopping assembly, the mopping assembly is usually lifted at the carpet. Most of the existing carpets are between 5-25mm thick, and in most cases, the lifting of the mopping assembly still cannot completely avoid contact with the carpet. In this case, although it usually does not affect the movement of the cleaning robot, the moisture on the mopping assembly will wet the carpet. In the prior art, there is no better solution except increasing the lifting height of the mopping assembly.

[0006] SUMMARY

[0007] The purpose of the embodiments of the present application is to provide a cleaning robot that covers the cleaning element by horizontal sliding of the isolation element, effectively isolates the cleaning element from the working surface, and avoids incorrect cleaning action of the cleaning element in the case of insufficient lifting height.

[0008] To achieve the above purpose, the present application adopts the following technical solutions:

[0009] In one aspect, a cleaning robot is provided, comprising a housing, a partition movably arranged at the bottom of the housing relative to the housing, having a first state and a second state; in the first state, the partition is below the cleaning element, and in the second state, the partition is above the cleaning element.

[0010] Optionally, the partition is slidingly mounted at the bottom of the housing and can be switched between the first state and the second state by integral horizontal sliding, in the first state, the partition is below the housing; in the second state, at least part of the partition moves outside the vertical space where the cleaning element is located.

[0011] The cleaning element has a first position and a second position, in the first position, the cleaning element is located between the partition and the housing; in the second position, the cleaning element is below the partition.

[0012] Optionally, further comprising a guide mechanism, the guide mechanism comprising a guide portion arranged at the bottom of the housing and a guide groove opened on the partition, the guide groove and the guide portion are in guiding cooperation.

[0013] Optionally, further comprising a traction assembly for switching the partition between the first state and the second state, the bottom of the housing is provided with a fixed pulley, the traction assembly comprises a traction motor and a traction rope, the traction motor is mounted in the housing, the traction rope comprises opposite first and second ends, the first end is connected with the traction motor, the second end passes through the fixed pulley and extends to the partition in the first direction.

[0014] Optionally, the side of the partition away from the fixed pulley is fixedly provided with a traction block, the traction block is provided with a through hole through which the traction rope passes, the second end is provided with an abutting portion which abuts the outer peripheral wall of the through hole.

[0015] Optionally, the bottom of the housing is provided with a protrusion, the protrusion is arranged opposite to the traction block in the first direction, a resilient member is arranged between the protrusion and the traction block, the resilient member makes the partition always have a movement trend towards switching between the first state and the second state.

[0016] Optionally, a power mechanism is further included, which is mounted on the housing, and includes a power member and a power shaft, the power member is connected with the power shaft, the power shaft is connected with the cleaning member, the power member drives the power shaft to move up and down, and in turn synchronously drives the cleaning member to reciprocate between the first position and the second position, the isolation member is provided with an avoiding slot corresponding to the power shaft,

[0017] Or, a first arc-shaped slot is formed in the bottom of the housing, and a second arc-shaped slot corresponding to the first arc-shaped slot is formed in the isolation member, and the first arc-shaped slot and the second arc-shaped slot form a containing space for placing the cleaning member,

[0018] Or, the cleaning member is a wet cleaning module or a dry cleaning module, or the cleaning member includes a wet cleaning module and a dry cleaning module.

[0019] The wet cleaning module is a disc mop, and the disc mop is one or two.

[0020] The disc mop has an inner retracted position and an outer expanded position, in the inner retracted position, the isolation member can be switched between the first state and the second state, and in the outer expanded position, the isolation member is in the second state and cannot be switched to the first state.

[0021] Optionally, the cleaning member is installed in the housing and can roll along an axis parallel to the surface to be cleaned, the housing is provided with a receiving cavity, the cleaning member is installed in the receiving cavity, and the cleaning member is a cleaning roller or a track mop.

[0022] Optionally, at least one end of the receiving cavity in the direction of the rotation axis is provided with an opening, so that the cleaning member can be loaded into the receiving cavity through the opening, or taken out of the receiving cavity through the opening.

[0023] Optionally, an assembly support is further included, which is used to movably install the cleaning member on the housing, the cleaning member is rotatably installed on the assembly support and is lifted relative to the housing through the movement of the assembly support.

[0024] The isolation member is arranged on the assembly support, in the first state, the isolation member is between the cleaning member and the ground, so that the cleaning member cannot directly contact the ground and the objects on the ground at least partially, and in the second state, the isolation member avoids the cleaning member and the ground, so that the working surface of the cleaning member can directly contact the ground and the objects on the ground.

[0025] The cleaning member and the isolation member are driven by different driving mechanisms.

[0026] Optionally, the isolating member is in a state of the first state, the cleaning member is in a state of being raised, the isolating member is in a state of the second state, and the cleaning member is in a state of being lowered.

[0027] Optionally, the assembly support and the shell are hinged through a first hinge structure, and the cleaning member is raised and lowered by swinging the cleaning member around the first hinge structure through the assembly support.

[0028] Optionally, the isolating member and the assembly support are hinged through a second hinge structure, and the isolating member is switched between the first state and the second state by rotating relative to the assembly support.

[0029] Optionally, an opening driving member is arranged between the isolating member and the assembly support, the opening driving member is arranged to always apply an opening force around the rotation axis of the second hinge structure to the isolating member and the assembly support, so that the isolating member is in the first state, and the opening driving member is a torsion spring, a spring, or repelling magnets arranged on the isolating member and the assembly support respectively.

[0030] Optionally, the isolating member has an operating portion located between the cleaning member and the shell, the operating portion abuts against the shell in a state where the assembly support is raised, and the isolating member is moved closer to the assembly support under the reaction force of the bottom of the shell, so that the isolating member is in the second state.

[0031] Optionally, the isolating member includes a cover plate body and two connecting arms arranged at both ends of the cover plate body, the isolating member is hinged to the assembly support through the two connecting arms, and the operating portion is arranged on the connecting arms.

[0032] Optionally, the operating portion is a roller rotatably installed on the connecting arm, the roller is arranged at the highest position of the isolating member, and the highest point of the outer circumferential surface of the roller is higher than the highest point of the isolating member.

[0033] Optionally, further comprising a rotating driving device for driving the isolating member to rotate relative to the assembly support, and the isolating member is switched between the first state and the second state under the driving of the rotating driving device.

[0034] Optionally, the cleaning member is driven by the first driving assembly to be movably arranged in the receiving cavity, and at least partially extends to the outside of the containing cavity to perform cleaning work, so as to extend the cleaning range; when the cleaning member is in the extended position, the isolation member is in the second state and cannot be switched to the first state, and when the cleaning member is in the folded position, the isolation member can be switched between the first state and the second state. Wherein, when the cleaning member is in the extended position, it means that it is entirely extended outside the containing cavity; when the cleaning member is in the folded position, it means that it is entirely folded in the containing cavity.

[0035] Optionally, the connecting bracket for mounting the cleaning member is further included, and a squeegee and a water injection assembly are arranged on the connecting bracket; the connecting bracket and the cleaning member are synchronously movable in the receiving cavity, or the connecting bracket and the cleaning member are respectively movable in the receiving cavity. The beneficial effects of the present application are that, by the different position relationships between the isolation member and the cleaning member in the first state and the second state, the isolation member blocks the cleaning member from contacting the ground in an environment where the cleaning member does not need to clean, so as to avoid the occurrence of incorrect cleaning actions. BRIEF DESCRIPTION OF DRAWINGS

[0036] The present application will be further described in detail below according to the drawings and embodiments.

[0037] Fig. 1 is a front view of the cleaning robot according to the embodiments of the present application;

[0038] Fig. 2 is a cross-sectional view of the cleaning robot according to the embodiments of the present application;

[0039] Fig. 3 is a bottom view of the isolation member in the first state according to the embodiments of the present application;

[0040] Fig. 4 is a bottom view of the isolation member in the second state according to the embodiments of the present application;

[0041] Fig. 5 is a bottom view of the cleaning member in the second position according to the embodiments of the present application;

[0042] Fig. 6 is a cross-sectional view of the isolation member in the first state according to the embodiments of the present application;

[0043] Fig. 7 is a cross-sectional view of the isolation member in the second state according to the embodiments of the present application;

[0044] Fig. 8 is a cross-sectional view of the cleaning member in the second position according to the embodiments of the present application;

[0045] Fig. 9 is a perspective view of the shell according to the embodiments of the present application;

[0046] Fig. 10 is an enlarged view of A in Fig. 9 according to the embodiments of the present application;

[0047] Fig. 11 is a perspective view of the isolation member according to the embodiments of the present application;

[0048] Fig. 12 is a perspective view of the cleaning member and the assembly support, the isolating member, and the housing in an assembled state according to another embodiment of the present application;

[0049] Fig. 13 is another perspective view of the cleaning member and the assembly support, the isolating member, and the housing in an assembled state according to another embodiment of the present application;

[0050] Fig. 14 is a sectional view of the cleaning member and the assembly support, the isolating member, and the housing in an assembled state according to another embodiment of the present application;

[0051] Fig. 15 is an exploded view of the cleaning member and the assembly support, the isolating member, and the housing in an assembled state according to another embodiment of the present application;

[0052] Fig. 16 is another exploded view of the cleaning member and the assembly support, the isolating member, and the housing in an assembled state according to another embodiment of the present application;

[0053] Fig. 17 is a sectional view of the cleaning member and the assembly support, the isolating member, and the housing in an assembled state according to another embodiment of the present application;

[0054] Fig. 18 is a top view of a cleaning device according to another embodiment of the present application;

[0055] Fig. 19 is a view of the cleaning member extending from the body of the cleaning device;

[0056] Fig. 20 is a view of the bottom of the cleaning device;

[0057] Fig. 21 is a perspective view of the cleaning device;

[0058] Fig. 22 is a view of the installation position of a first vacuum pump in the cleaning device;

[0059] Fig. 23 is a view of the position of a second connecting hole provided on the installation housing of the cleaning device;

[0060] Fig. 24 is a view of the cleaning mechanism;

[0061] Fig. 25 is a view of the other side of the cleaning mechanism;

[0062] Fig. 26 is a view of the assembly between the second support and the first locking member;

[0063] Fig. 27 is a view of the second support;

[0064] Fig. 28 is a view of the assembly between the first driving assembly and the connecting support;

[0065] Fig. 29 is an exploded view of the connecting support and the installation support;

[0066] Fig. 30 is a schematic view of the drum being extracted from the cleaning device;

[0067] Fig. 31 is a schematic view of the drum being extracted from the second support;

[0068] Fig. 32 is a schematic view of the drum and the second support being extracted respectively;

[0069] Fig. 33 is a schematic view of the first locking member;

[0070] Fig. 34 is a schematic view of the assembly of the first locking body, the ejecting member and the supporting member;

[0071] Fig. 35 is a schematic view of the first locking body;

[0072] Fig. 36 is a schematic view of the first mounting space of the first locking body;

[0073] Fig. 37 is a schematic view of the assembly of the first locking body and the ejecting member;

[0074] Fig. 38 is a schematic view of the assembly of the ejecting member and the supporting member;

[0075] Fig. 39 is a schematic view of the ejecting member;

[0076] Fig. 40 is a schematic view of the supporting member;

[0077] Fig. 41 is a schematic view of the connection between the first support and the second support through the second locking member;

[0078] Fig. 42 is a front view of the connection between the first support and the second support in Fig. 41 with the cover plate of the second locking body removed;

[0079] Fig. 43 is an enlarged view of part A in Fig. 42;

[0080] Fig. 44 is a schematic view of the wiper;

[0081] Fig. 45 is a schematic view of the other side of the wiper;

[0082] Fig. 46 is a schematic view of the sewage tank;

[0083] Fig. 47 is a schematic view of one side of the liquid storage cavity of the sewage tank;

[0084] Fig. 48 is a schematic view of the mounting block provided on the mounting support;

[0085] Fig. 49 is a schematic view of the side of the mounting block close to the mounting support;

[0086] Fig. 50 is a schematic view of the control method of the cleaning device provided in another embodiment of the present application;

[0087] Figure 51 is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application;

[0088] Figure 52 is a schematic diagram of the bottom structure of the cleaning equipment in Figure 51;

[0089] Figure 53 is a schematic diagram of the sewage tank;

[0090] Figure 54 is a schematic diagram of the sewage tank after the waterproof connecting pipe on the sewage tank is removed, as shown in Figure 53.

[0091] Figure 55 is a schematic diagram of the sewage tank after the first cover plate is removed in Figure 54;

[0092] Figure 56 is a structural schematic diagram of the waterproof connection pipe;

[0093] Figure 57 is a schematic diagram of the internal structure of the sewage tank after the second cover plate is removed, as shown in Figure 54.

[0094] Figure 58 is a top view of the sewage tank;

[0095] Figure 59 is a cross-sectional view of the sewage tank along the AA direction;

[0096] Figure 60 is a cross-sectional view of the sewage tank along the BB direction;

[0097] Figure 61 is a schematic diagram of the connection between the sewage tank and the negative pressure device;

[0098] Figure 62 is a schematic diagram of the connecting nozzles provided on the mounting housing;

[0099] Figure 63 is a schematic diagram of the connection between the nozzle and the suction channel assembly of the sewage tank in Figure 62.

[0100] Figure 64 is a schematic diagram of the connection between the squeegee and the cleaning component;

[0101] Figure 65 is an enlarged schematic diagram of part C in Figure 64;

[0102] Figure 66 is a schematic diagram of the wiper blade structure;

[0103] Figure 67 is a structural schematic diagram of the first side of the wiper blade;

[0104] Figure 68 is a structural schematic diagram of the wiper blade from another angle;

[0105] Figure 69 is a front view of the wiper blade;

[0106] Figure 70 is a cross-sectional view of the wiper blade in the DD direction in Figure 69;

[0107] Figure 71 is a schematic diagram of the installation between the connecting bracket, the wiper blade and the roller drive component;

[0108] Figure 72 is an exploded view of the connecting bracket.

[0109] In FIGS. 1-11: 1, housing; 101, first arc-shaped groove; 2, isolator; 201, second arc-shaped groove; 202, avoiding groove; 3, cleaning piece; 301, mop; 302, middle sweeping roller brush; 4, power mechanism; 401, power piece; 402, power shaft; 5, traction assembly; 501, traction motor; 502, traction rope; 503, abutting portion; 504, elastic piece; 6, guiding mechanism; 601, guiding portion; 602, guiding groove; 603, protrusion; 604, through groove; 7, fixed pulley; 8, traction block; 801, through hole;

[0110] In FIGS. 12-17:

[0111] 100, housing; 200, cleaning piece; 300, assembly support; 310, support body; 311, support arm; 320, first hinged structure; 321, hinged protrusion; 322, hinged groove; 400, isolator; 410, cover body; 420, connecting arm; 500, opening driving piece; 600, second hinged structure; 610, hinged shaft; 620, hinged hole; 700, roller.

[0112] In FIGS. 18-50:

[0113] 10, body; 101, first end; 102, second end; 11, receiving cavity; 12, apex; 13, straight line; 14, opening; 15, mounting shell; 151, second connecting hole; 152, sealing ring; 16, walking assembly; 17, recharging indicator; 20, cleaning mechanism; 21, cleaning piece; 211, driving component; 111, mounting seat; 112, driving motor; 113, second bearing; 114, connecting head; 212, roller; 22, first driving assembly; 221, first driving piece; 222, first transmission piece; 223, second transmission piece; 23, connecting support; 231, first support; 2311, second sliding space; 2312, second buckling groove; 2313, third connecting opening; 232, second support; 2321, first sliding space; 2322, first clamping part; 3221, first buckling groove; 2323, first groove; 2324, fourth groove; 2325, water supply channel; 2326, water spraying opening; 2327, sealing cover; 2328, water receiving nozzle; 24, mounting support; 241, avoiding opening; 242, mounting block; 2421, abutting groove; 2422, strip-shaped opening groove; 243, lifting rope; 25, limiting assembly; 251, first limiting piece; 252, second limiting piece; 253, first limiting switch; 254, second limiting switch; 26, guiding assembly; 261, guiding shaft; 27, first lock piece; 271, first lock main body; 2711, first mounting space; 7111, first notch; 7112, second notch; 2712, connecting plate; 2713, mounting cover; 272, first locking component; 2721, first elastic element; 2722, first buckling part; 7221, buckling block; 7222, plug-in tongue; 2723, actuating element; 7231, connecting block; 7232, actuating block; 273, ejecting component; 2731, connecting body; 7311, first connecting hole; 7312, third groove; 2732, connecting shaft; 2733, second elastic element; 274, supporting component; 2741, second groove; 2742, support body; 2743, protruding column; 2744, first bearing; 28, sliding connecting assembly; 281, sliding groove; 282, sliding boss; 29, second lock piece; 291, second lock main body; 911, cover plate; 9111, first connecting opening; 9112, second connecting opening; 912, pressing block; 9121, pressing part; 9122, main body part; 913, third elastic element; 292, second buckling part; 293, guiding component; 931, guiding hole; 932, fixing shaft; 30, clean water tank; 40, sewage tank; 41, tank body; 411, liquid storage cavity; 4111, top surface; 412, suction passage; 42, water collecting groove; 43, connecting passage; 44, first vacuum pump; 45, air path connecting pipe; 46, sewage suction opening; 50, wiper plate; 51, plate main body; 511, first side surface; 512, second side surface; 52, wiping part; 53, water discharge opening;54, filter hole; 55, water outlet; 60, side brush assembly; 70, dust box; 71, air suction dust collection port; 72, air blowing dust collection port; 73, second vacuum pump; 80, middle sweeping assembly.

[0114] Fig. 51-72:

[0115] 10, body; 11, storage cavity; 12, opening; 13, mounting shell; 131, connecting mouth; 132, sealing ring; 14, recharging indicator;

[0116] 20, cleaning mechanism; 21, cleaning piece; 211, driving component; 111, mounting seat; 112, driving motor; 113, bearing; 114, connecting head; 212, roller; 22, squeegee; 221, plate body; 2211, first side; 2212, second side; 2121, convex arc surface; 213, drainage groove; 2131, flow guide inclined surface; 214, water outlet; 222, squeegee part; 2221, first side wall; 223, drainage port; 224, filter structure; 2241, filter hole; 23, connecting support; 231, first support; 311, sliding space; 312, buckling groove; 232, second support; 233, mounting support; 24, elastic connecting assembly; 241, torsional spring; 242, rotating shaft; 25, sliding connecting assembly; 251, sliding groove; 252, sliding boss; 26, first lock piece; 27, second lock piece;

[0117] 30, clean water tank;

[0118] 40, sewage tank; 41, tank body; 411, liquid storage cavity; 4111, top surface; 412, base; 413, first cover plate; 414, second cover plate; 415, sealing piece; 42, suction passage assembly; 421, suction hole; 423, waterproof connecting pipeline; 4231, connecting piece; 2311, connecting section; 2312, mounting section; 2313, air vent; 4232, buckling cover; 2321, first waterproof groove; 43, water collecting groove; 431, first groove wall; 432, flow guide groove; 433, first groove surface; 434, second groove surface; 44, connecting passage; 441, flow guide hole; 442, connecting pipe; 4421, first connecting section; 4422, second connecting section; 4221, first port; 4222, second port; 45, sewage suction passage; 46, water level detection assembly; 461, floating piece; 462, position sensor; 463, guide column; 47, negative pressure suction device; 471, first vacuum pump; 472, air path connecting pipe; 48, elastic buckle;

[0119] 50, side brush assembly;

[0120] 60, dust box; 61, air suction dust collection port; 62, air blowing dust collection port; 63, second vacuum pump;

[0121] 70, a sweeping assembly;

[0122] 80, a walking assembly. DETAILED DESCRIPTION

[0123] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present application are further described in detail below. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0124] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0125] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0126] As a kind of intelligent household appliance, cleaning robot plays an increasingly important role in the field of household cleaning with its automation and intelligent characteristics. However, with the development of miniaturization design trend of cleaning robot, the space inside the robot is further compressed, which leads to the lifting height of the cleaning part in the current cleaning robot being limited when the cleaning part does not need to work, and the lifting height cannot meet the use requirements in some application scenarios.

[0127] Specifically, when the cleaning member is a wet cleaning module, the traditional cleaning robot faces a significant problem when cleaning the carpet: how to effectively avoid the cleaning member from wetting the carpet. First, there are various types of carpets on the market, and their thicknesses vary from a few millimeters to several tens of millimeters. This thickness difference poses a challenge to the design of the cleaning robot. Traditional cleaning robots usually use brushing and vacuuming to clean the floor, but for carpets, especially thicker carpets, simply relying on the cleaning member to lift to a height of about 10 mm often cannot completely avoid contact between the cleaning member and the carpet, which may cause the carpet to be wet. The reason why the cleaning member can only be lifted to a height of 10 mm is that the robot structure space is limited. In addition, the material and water absorption of the carpet are also factors to be considered. Some carpet materials are prone to water absorption. Once the water on the cleaning member comes into contact with the carpet, it is easy to leave water stains or stains, which not only affects the appearance but also may cause damage to the carpet. At the same time, it may also bring dirt on the cleaning member to the carpet, soiling the carpet.

[0128] To solve the above technical problems, the present embodiment provides a cleaning robot including a housing, a separation member and a cleaning member. The separation member is movably arranged at the bottom of the housing and has a first state and a second state. In the first state, the separation member is below the cleaning member. In the second state, the separation member is above the cleaning member.

[0129] The present application uses the different positional relationships between the separation member and the cleaning member in the first state and the second state, so that in an environment where the cleaning member does not need to clean, the separation member blocks the cleaning member from contacting the ground, thereby avoiding the occurrence of incorrect cleaning actions.

[0130] Specifically, as shown in FIGS. 1-11, in an optional embodiment of the present application, the cleaning robot includes a housing 1, a separation member 2, a cleaning member 3 and a power mechanism 4. The separation member 2 is slidingly installed at the bottom of the housing 1 and has a first state and a second state. It can switch between the first state and the second state by sliding horizontally as a whole. In the first state, the separation member 2 is below the housing 1. In the second state, at least part of the separation member 2 moves to the outside of the vertical space where the cleaning member 3 is located. The cleaning member 3 has a first position and a second position. When in the first position, the cleaning member 3 is located between the separation member 2 and the housing 1. When in the second position, the cleaning member 3 is below the separation member 2. The power mechanism 4 is installed on the housing 1 and connected to the cleaning member 3. The power mechanism 4 can drive the cleaning member 3 to move between the first position and the second position.

[0131] The isolation piece can realize state switching through overall horizontal sliding, thereby effectively isolating the cleaning piece from the work surface, avoiding the situation that the cleaning piece incorrectly contacts in the case of limited lifting height, that is, ensuring that the cleaning piece can perform correct and accurate cleaning work. Moreover, the structure design feasibility of the horizontal sliding of the isolation piece is high, which does not occupy too much installation space of the cleaning robot, and the structure is relatively simple, while ensuring smooth movement.

[0132] In addition, when the cleaning module is a wet cleaning module for performing mopping cleaning, the isolation piece can effectively avoid the wet cleaning module from contacting the article plane, such as a carpet. In this case, no matter the thickness of the carpet, it can ensure that the cleaning piece does not wet and dirty the carpet, significantly improving the cleaning effect and user satisfaction. Moreover, the design makes the cleaning robot have stronger adaptability and can cope with various carpets with different thicknesses, and is no longer limited by the lifting height of the cleaning piece. In addition, the structure is simple and reliable, and through the ingenious combination of the isolation piece and the power mechanism, the lifting and isolation functions of the cleaning piece are realized, which not only is easy to manufacture, but also is convenient for subsequent maintenance and use. Finally, this design undoubtedly improves the user experience, avoids the embarrassing situation that the cleaning piece wets and dirties the carpet, and makes the user more worry-free and at ease when using the cleaning robot.

[0133] Based on the above scheme, the cleaning robot ingeniously combines the isolation piece 2 and the power mechanism 4 in design, and realizes the flexible lifting of the cleaning piece 3 through precise mechanical and electronic control. This design is particularly aimed at avoiding the problem of the cleaning piece 3 wetting the carpet when cleaning the carpet, and brings users a more convenient and efficient cleaning experience. Its working principle is as follows: the isolation piece 2 is installed at the bottom of the shell 1 of the cleaning robot, and it can be flexibly switched between the first state and the second state. When the isolation piece 2 is in the first state, it closely cooperates with the bottom of the shell 1 to form a relatively closed containing space. At this time, the cleaning piece 3 is ingeniously contained in this containing space, completely isolated from the ground and the carpet, and unnecessary contact and friction are avoided. The cleaning piece 3 is closely connected with the power end of the power mechanism 4. The close connection here can be that the cleaning piece 3 is directly connected with the power mechanism 4, or it can be indirectly connected through transmission, which is not limited here. In actual use, it can be adjusted according to different design requirements. Through the precise driving of the power mechanism 4, the cleaning piece 3 can realize reciprocating movement between the first position and the second position. When it is necessary to mop the floor, the power mechanism 4 will quickly drive the cleaning piece 3 to move to the second position, so that it extends out of the containing space and closely contacts with the ground for efficient and thorough cleaning. It is particularly important that when the cleaning robot intelligently detects the carpet, the isolation piece 2 will immediately remain in the first state, that is, the containing space remains in the closed state. At the same time, the power mechanism 4 will also respond quickly to keep the cleaning piece 3 in the first position, ensuring that the cleaning piece 3 will not extend and contact with the carpet, thereby effectively avoiding the embarrassing situation of the cleaning piece 3 wetting and dirtying the carpet.

[0134] The above scheme brings significant benefits: first, it effectively isolates the cleaning element 3 from contact with the carpet, regardless of the thickness of the carpet, ensuring that the cleaning element 3 does not wet the carpet, significantly improving cleaning effectiveness and user satisfaction, and users no longer need to worry about the cleaning robot leaving water stains or stains on the carpet, enjoying a cleaner and more tidy home environment. Second, this design makes the cleaning robot more adaptable, as it can handle carpets of various thicknesses and is no longer limited by the lifting height of the cleaning element 3, meaning users do not need to adjust the settings of the cleaning robot or replace different cleaning modules according to the thickness of the carpet, greatly improving the convenience and flexibility of use. In addition, the structure of the cleaning robot is simple and reliable, and through the clever combination of the isolation element 2 and the power mechanism 4, the lifting and isolation functions of the cleaning element 3 are achieved. This design not only facilitates manufacturing and assembly, but also makes subsequent maintenance and use easier. Users can easily clean and maintain the cleaning robot, extending its service life. Finally, this design undoubtedly improves user experience, effectively avoiding the awkward situation of the cleaning element 3 wetting the carpet, allowing users to use the cleaning robot with greater peace of mind, and users no longer need to worry about unnecessary damage or stains caused by the cleaning robot on the carpet, and can focus more on enjoying a clean and comfortable home life. In short, this cleaning robot, with its unique design and outstanding performance, brings users a more convenient, efficient, and worry-free cleaning experience.

[0135] It is worth mentioning that the isolation element 2 is in the second state as long as it is partially moved outside the vertical space where the cleaning element 3 is located. Here, there are at least two cases, the first is that the isolation element 2 moves outside the vertical space where the housing 1 is located, i.e. the isolation element 2 extends beyond the outer edge of the housing 1; the second is that the isolation element 2 is still within the vertical space where the housing 1 is located, but is staggered with the vertical space where the cleaning element 3 is located. In this case, the isolation element 2 will not interfere with the lifting of the cleaning element 3.

[0136] Further, the isolation piece 2 is slidingly installed at the bottom of the shell 1 and can slide to the first state in the first direction or slide to the second state in the opposite direction. The sliding installation mechanism allows the isolation piece 2 to slide smoothly and stably along the preset first direction, thereby realizing the switching of its state. Specifically, when the isolation piece 2 slides in the first direction, it gradually fits closely with the bottom of the shell 1 to form a relatively closed containing space, at this time, the isolation piece 2 is in the first state, and the cleaning piece 3 is safely contained in the containing space and isolated from the external environment. On the contrary, when it is necessary to release the cleaning piece 3 for cleaning, the isolation piece 2 slides in the direction opposite to the first direction, and as the sliding proceeds, the containing space is gradually opened, and when the isolation piece 2 slides to the second state, the containing space is completely opened, and the cleaning piece 3 can be moved from the first position to the second position, that is, the cleaning piece 3 can be extended and exposed, at this time, the cleaning piece 3 can perform normal cleaning work under the drive of the power mechanism 4. The sliding installation design not only makes the switching operation of the isolation piece 2 simple and fast, but also improves the overall stability and reliability of the cleaning robot. By accurately controlling the sliding distance and speed of the isolation piece 2, it can be ensured that the cleaning piece 3 can be accurately extended or retracted when needed, avoiding unnecessary friction or collision with surfaces such as carpets that should not be contacted. By setting the isolation piece 2 to slide horizontally, the space occupied by the isolation piece 2 in the vertical direction is limited, so the size of the cleaning robot in the height direction can be greatly reduced, so that the cleaning robot can more easily enter the bottom of low furniture such as sofas and tea tables for cleaning work. In addition, sliding installation also facilitates maintenance and replacement of the isolation piece 2. When the isolation piece 2 is worn or damaged due to long-term use, the user can easily disassemble it from the bottom of the shell 1 for replacement or maintenance without disassembling the entire cleaning robot. This not only saves the user's time and effort, but also reduces maintenance costs.

[0137] It should be noted that when the cleaning piece 3 is extended, the isolation piece 2 needs to be reset, that is, quickly switched from the second state to the first state, so that the cleaning piece 3 is below the isolation piece 2. The purpose of this design is to avoid the situation that the overall size of the cleaning robot is enlarged when the isolation piece 2 is in the second state, resulting in collision or affecting the movement. Moreover, in addition to being able to drive the cleaning piece 3 to move between the first position and the second position, the power mechanism 4 can also drive the cleaning piece 3 to rotate relatively, thereby achieving the cleaning purpose.

[0138] As an optional specific embodiment, a linkage structure is arranged between the cleaning piece 3 and the isolation piece 2, and the automatic reset of the isolation piece 2 is realized through the linkage structure. When the cleaning piece 3 is extended downward into the containing space, the linkage structure is triggered, and the isolation piece 2 is automatically reset to the first state, and the cleaning piece 3 is directly below the isolation piece 2.

[0139] As a further alternative embodiment, the isolation member 2 can be switched between states in a folding manner, that is, the isolation member 2 is designed to be folded in multiple layers in the first direction, and when the isolation member 2 is folded in the opposite direction, the isolation member 2 is switched to the second state, the accommodation space is opened, and the cleaning member 3 can be extended; when the isolation member 2 is unfolded in the first direction, the isolation member 2 is switched to the first state, and the accommodation space is resealed.

[0140] Based on the scheme that the isolation member 2 is slidingly installed at the bottom of the housing 1, in order to ensure that the isolation member 2 can slide along the predetermined path accurately and smoothly, a guide mechanism 6 is further included, which is connected between the isolation member 2 and the housing 1.

[0141] Specifically, the guide mechanism 6 includes a guide portion 601 provided at the bottom of the housing 1, and a guide groove 602 opened on the isolation member 2, which is in guiding cooperation with the guide portion 601. The guide portion 601 is fixed at the bottom of the housing 1 of the cleaning robot, and is usually in the shape of a long strip or a special shape to adapt to the sliding path of the isolation member 2. The surface of the guide portion 601 is finely processed to ensure its flatness and smoothness, so as to realize smooth sliding cooperation with the guide groove 602 on the isolation member 2. The design of the guide portion 601 also takes into account the wear resistance to cope with the wear problem caused by long-term sliding. The guide groove 602 is a key structure opened on the isolation member 2, which corresponds to the guide portion 601 at the bottom of the housing 1 to form a close guiding cooperation. The shape and size of the guide groove 602 are accurately calculated and designed to ensure that the isolation member 2 can move stably along the predetermined direction during sliding. The sidewall of the guide groove 602 has a certain elasticity or lubricity to reduce the friction between the guide groove 602 and the guide portion 601 and improve the sliding efficiency. When the isolation member 2 slides at the bottom of the housing 1, the guide groove 602 and the guide portion 601 realize close guiding cooperation. This cooperation ensures that the isolation member 2 does not deviate from the predetermined path during sliding, thereby avoiding problems such as shaking, deviation or jamming. At the same time, the guiding cooperation also improves the stability and reliability of the sliding of the isolation member 2, which provides a strong guarantee for the overall performance of the cleaning robot.

[0142] Further, the guide mechanism 6 is provided with three, the three guide mechanisms 6 are uniformly arranged along the second direction, the guide mechanism 6 in the middle position is provided with a traction assembly 5, the traction assembly 5 is used to pull the isolation piece 2 to switch repeatedly between the first state and the second state, wherein the second direction is perpendicular to the first direction in the same plane. The layout of the three guide mechanisms 6 not only enhances the stability of the isolation piece 2 in the sliding process, but also ensures the smoothness of the switching between different states. The traction assembly 5 is particularly arranged in the guide mechanism 6 in the middle position, which is the key driving force for the repeated switching of the isolation piece 2 between the first state and the second state. The traction assembly 5 can make the isolation piece 2 slide smoothly along the guide mechanism 6 to the required position by applying a certain traction force or pushing force. Specifically, when the cleaning robot needs to perform a cleaning task, the control system will issue an instruction to activate the traction assembly 5, and the traction assembly 5 will start to generate a traction force or a pushing force, which acts on the isolation piece 2 to make it slide along the guide mechanism 6 to the second state until the cleaning piece 3 is fully extended and contacts the ground. The traction assembly 5 drives the isolation piece 2 to reset. When the cleaning task is completed or it is necessary to avoid the contact between the cleaning piece 3 and a specific surface (such as a carpet), the control system will issue an instruction again, and the traction assembly 5 drives the isolation piece 2 to switch to the second state to open the containing space, and the cleaning piece 3 is quickly reset to the containing space under the drive of the power mechanism 4, and then the traction assembly 5 works in reverse. At this time, the force generated by the traction assembly 5 will guide the isolation piece 2 to slide along the guide mechanism 6 to the first state, and the cleaning piece 3 is quickly and smoothly retracted into the containing space, thereby avoiding unnecessary contact with the external environment.

[0143] Further, the bottom of the shell 1 is provided with a fixed pulley 7, which is arranged on one side of the guide part 601. The traction assembly 5 includes a traction motor 501 and a traction rope 502. The traction motor 501 is installed in the shell 1. The traction rope 502 includes opposite first and second ends. The first end is connected to the traction motor 501, and the second end passes around the fixed pulley 7 and extends along the direction of the guide groove 602 to be connected to the isolation piece 2. The fixed pulley 7 is installed on one side of the guide part 601. Its position is carefully calculated to ensure that the traction rope 502 can smoothly pass around and extend along the predetermined path. The main function of the fixed pulley 7 is to change the direction of the traction rope 502, so that it can act on the isolation piece 2 along the direction of the guide groove 602, thereby achieving effective traction and resetting. The traction motor 501 is installed in the shell 1 of the cleaning robot and is responsible for providing driving force. The traction rope 502 serves as a transmission medium. Its first end is connected to the traction motor 501. Through the rotating movement of the traction motor 501, a pulling force or a pushing force is generated. The second end passes around the fixed pulley 7 and extends along the direction of the guide groove 602 to be connected to the isolation piece 2, thereby transmitting the power of the motor to the isolation piece 2. When it is necessary to open the containing space and extend the cleaning piece 3, the control system starts the traction motor 501. The traction motor 501 rotates to drive the first end of the traction rope 502 to move. Since the traction rope 502 passes around the fixed pulley 7 and extends along the direction of the guide groove 602, an outward pulling force is generated. This pulling force acts on the isolation piece 2, causing it to slide along the guide mechanism 6 to the second state until the cleaning piece 3 is completely extended and is in the working position.

[0144] Meanwhile, the traction block 8 is fixedly arranged on the side of the guide groove 602 away from the fixed pulley 7. The traction block 8 is provided with a through hole 801 through which the traction rope 502 passes. The second end is provided with an abutting part 503 which abuts against the outer peripheral wall of the through hole 801. In this scheme, the first end of the traction rope 502 passes through the through hole 801 in the traction block 8 from the first direction. In the traction process, the traction force generated by the traction rope 502 is effectively transmitted through the abutting part 503 abutting against the outer peripheral wall of the through hole 801. That is, the traction rope 502 can effectively traction the isolation piece 2 from the first state to the second state, thereby completing the opening action of the containing space.

[0145] In addition, in order to realize the automatic reset of the isolation piece 2 (i.e. automatically switch to the first state), the guide part 601 is provided with a protrusion 603, which is arranged opposite to the traction block 8 in the first direction, and an elastic piece 504 is arranged between the protrusion 603 and the traction block 8, which makes the isolation piece 2 always have a movement trend towards switching to the first state or the second state. The protrusion 603 and the traction block 8 form a relatively stable structure in space, providing clear guidance for the movement of the isolation piece 2. An elastic piece 504 is ingeniously installed between the protrusion 603 and the traction block 8, which can be made of spring, elastic sheet or other materials with restoring force. Its function is to make the isolation piece 2 always have a movement trend towards a certain direction (usually the first state or the second state). When the isolation piece 2 is in the non-locking state, the elastic force of the elastic piece 504 will act on the isolation piece 2, pushing it to move in the preset direction.

[0146] In the automatic reset process, when the traction motor 501 stops working and the traction rope 502 no longer exerts traction force on the isolation piece 2, the elastic force of the elastic piece 504 immediately comes into play. If the isolation piece 2 is currently in the second state (cleaning piece 3 extended state), the elastic piece 504 will push the isolation piece 2 to slide along the guide groove 602 to the first state until it is completely reset. Similarly, if the isolation piece 2 deviates from the preset position for some reason, the elastic piece 504 will quickly pull it back to the correct position. This design not only simplifies the reset mechanism of the isolation piece 2, but also improves the intelligent level of the cleaning robot. Through the elastic force of the elastic piece 504, the isolation piece 2 can realize automatic reset without manual intervention or continuous power input, greatly improving the convenience and efficiency of use.

[0147] It should be noted that in order to avoid the protrusion 603 affecting the threading of the traction rope 502, a through slot 604 is needed to be opened on the protrusion 603 for the traction rope 502 to pass through. The design of this through slot 604 should take into account the diameter, material and movement trajectory of the traction rope 502 to ensure that it can pass through easily without friction or jamming. The position and size of the through slot 604 should be accurately calculated to ensure that it does not interfere with the relative positional relationship between the protrusion 603 and the traction block 8, nor affect the elastic force of the elastic piece 504 on the isolation piece 2. At the same time, the edges of the through slot 604 should be smooth to reduce the wear or noise that may be generated when the traction rope 502 passes through. Through such design, the effective threading of the traction rope 502 is ensured, and the stability and reliability of the isolation piece 2 in the automatic reset process are also ensured.

[0148] As another alternative embodiment, the traction assembly 5 can adopt a double-stroke cylinder structure, the power end of the cylinder is connected with the isolation piece 2, and the cylinder can drive the isolation piece 2 to move to the second state in the first direction and also can drive the isolation piece 2 to move to the first state in the opposite direction, that is, the cylinder can accurately control the repeated switching of the isolation piece 2 between the first state and the second state.

[0149] In some embodiments, the power mechanism 4 includes a power piece 301 and a power shaft 302, the power piece 301 is connected with the power shaft 302, the power shaft 302 is connected with the cleaning piece 3, the power piece 301 drives the power shaft 302 to move up and down, in turn synchronously drives the cleaning piece 3 to reciprocate between the first position and the second position, and the isolation piece 2 is provided with an avoiding groove 202 corresponding to the power shaft 302. The power piece 301 is the core of the entire power system and is responsible for providing the necessary driving force. It can be an electric motor, a cylinder or other devices that can generate linear or rotary motion. The power piece 301 is connected with the power shaft 302 through some connection mode (such as gear, belt, connecting rod, etc.), and transmits power to the power shaft 302. The power shaft 302 is a key component connecting the power piece 301 and the cleaning piece 3. One end of the power shaft 302 is connected with the power piece 301, and the other end is directly or indirectly connected with the cleaning piece 3. When the power piece 301 is activated, it will drive the power shaft 302 to move along a predetermined trajectory (usually up and down), and this movement will synchronously drive the cleaning piece 3 to move accordingly, so as to realize the switching of the cleaning piece 3 between the two positions of extension and retraction.

[0150] In order to avoid the interference between the isolation piece 2 and the power shaft 302 during the reset process, the isolation piece 2 is specially provided with an avoiding groove 202 corresponding to the power shaft 302. The shape and size of the avoiding groove 202 are accurately calculated to ensure that the power shaft 302 can move in the avoiding groove 202 during the switching of the isolation piece 2 from the second state to the first state, that is, the isolation piece 2 and the power shaft 302 will not collide to complete the reset action. At the same time, the avoiding groove 202 and the power shaft 302 can also play a certain guiding role, which ensures the stability and reliability of the isolation piece 2 during movement.

[0151] In order to better accommodate and protect the cleaning element 3, while ensuring the smoothness of the isolation element 2 during movement, the bottom of the shell 1 is ingeniously provided with a first arc-shaped groove 101, and the isolation element 2 is correspondingly provided with a second arc-shaped groove 201. The design of the two arc-shaped grooves not only looks beautiful, but also has high functionality. Specifically, the first arc-shaped groove 101 is located at the bottom of the shell 1, and its shape and size are carefully calculated to match the shape of the cleaning element 3, so that when the cleaning element 3 is installed in the accommodation space, it can tightly fit the contour of the first arc-shaped groove 101, thereby obtaining stable support and positioning. The second arc-shaped groove 201 on the isolation element 2 corresponds to the first arc-shaped groove 101, and when the isolation element 2 is in different positions (such as the cleaning element 3 extending or retracting state), the second arc-shaped groove 201 will form different shapes and sizes of space with the first arc-shaped groove 101, which together constitute the accommodation space of the cleaning element 3, providing a safe and stable storage environment for the cleaning element 3, preventing accidental falling or damage of the cleaning element 3 during the working process of the cleaning robot.

[0152] In addition, the cooperation between the first arc-shaped groove 101 and the second arc-shaped groove 201 also ensures the smoothness of the isolation element 2 during movement. Since the shape and position of the two arc-shaped grooves are matched with each other, the isolation element 2 will not be hindered or rubbed when sliding along the guide mechanism 6, which not only improves the working efficiency of the cleaning robot, but also prolongs the service life of the equipment.

[0153] It is worth mentioning that the cleaning element 3 of the above-mentioned scheme is a wet cleaning module, which includes a rotatable mop 301. The rotatable mop 301 can better fit the ground during work, whether it is smooth ceramic tile, wooden floor, or uneven ground, effective cleaning can be achieved, and the rotating motion of the mop 301 can increase the friction with the ground, thereby more thoroughly removing stains and dust.

[0154] In the specific application of the cleaning robot, two cleaning elements 3 are provided, and the power mechanism 4 can be designed as one or two according to actual needs. In the case of providing two power mechanisms 4, the two cleaning elements 3 work independently, and in the case of providing one power mechanism 4, the two cleaning elements 3 work synchronously, and the two cleaning elements 3 are arranged with the middle guide mechanism 6 as the center line to realize the maximum coverage of the cleaning area; and the isolation element 2 is a cover plate, that is, the cover plate is movably connected with the shell 1. In addition, the cleaning robot also includes a roller, a universal wheel, a camera and other structural elements, which will not be described here.

[0155] As an optional embodiment, specifically when the cleaning component 3 includes a wet cleaning module and a dry cleaning module, simply speaking, the wet cleaning module is used for mopping, and the dry cleaning module is used for sweeping. The wet cleaning module includes a rotatable circular mop 301, or a roller, or a flat mop, or a non-regular shape rotating mop, wherein the non-regular shape mop is specifically like a triangle in overall shape, but the corners are smoothly transitioned with rounded corners. The number of mops 301 can be one or two, and the scheme of providing two mops 301 is referred to as a two-person rotating mop in the industry used in cleaning robots.

[0156] For the above-mentioned scheme of the cleaning component 3, the moving mode of the isolation component 2 includes the following cases. The first case is that the isolation component 2 can simultaneously isolate the wet cleaning module and the dry cleaning module. The second case is that only the wet cleaning module is isolated. The third case is that only the dry cleaning module is isolated.

[0157] Based on the first case, the actual application scenario is that the cleaning robot does not need to perform sweeping and mopping actions on the area during the movement to the set cleaning area. In this case, the isolation component 2 needs to simultaneously isolate the wet cleaning module and the dry cleaning module, so that both modules are separated from the ground or carpet plane. Alternatively, there are many small objects that cannot be avoided in the forward path of the cleaning robot. If the wet cleaning module and the dry cleaning module come into contact with these small objects, they may be entangled or rolled into the interior, causing unnecessary accidents. In this case, the isolation component 2 needs to simultaneously effectively isolate the wet cleaning module and the dry cleaning module.

[0158] Based on the second case, the actual application scenario is the same as the previous embodiment. When it is necessary to avoid wetting the carpet by the wet cleaning module, the wet cleaning module is effectively isolated by the isolation component 2, but the dry cleaning module does not need to be isolated, and the dry cleaning module can effectively clean the carpet.

[0159] The third case can be applied in the case where only mopping is needed, or mopping is needed after sweeping is completed. In general, when the cleaning action of the dry cleaning module interferes with the wet cleaning module, specifically when cleaning stains such as oil stains and water stains, the action of the dry cleaning module will cause the pollution area to expand, and the dry cleaning module will be contaminated. In this case, the isolation component 2 can be used to isolate the dry cleaning module, and also can play a protective role for the dry cleaning module, avoiding the situation that the dry cleaning module is stuck.

[0160] As another optional embodiment, specifically when the cleaning element 2 is a dry cleaning module, there are many charging lines or ropes and similar objects in the space to be cleaned where the cleaning robot is located. Once the cleaning robot moves above these objects, the dry cleaning module will inevitably contact these objects. The charging lines and other objects cannot be easily cut like hair, and once they are entangled, they will cause the dry cleaning module or even the cleaning robot to malfunction. Even if the dry cleaning module is controlled to avoid contact by lifting, as mentioned above, the lifting height is limited due to space constraints, and contact cannot be completely avoided. Therefore, in this case, the isolation element 2 is covered below the dry cleaning module to achieve effective isolation, which can completely avoid the dry cleaning module from contacting the above-mentioned objects. In addition, when the cleaning robot leaves the area, the isolation element 2 switches state so that the dry cleaning module can continue cleaning work.

[0161] On the other hand, a control method of a cleaning robot is also provided, which is specifically applied in the above-mentioned cleaning robot. The control method comprises: controlling the cleaning element 3 to move from the first position to the second position and controlling the cleaning element 3 to move from the second position to the first position; controlling the isolation element 2 to move to the second state before controlling the cleaning element 3 to move; and controlling the isolation element 2 to move to the first state after controlling the cleaning element 3 to move.

[0162] In order to avoid interference between the isolation element 2 and the cleaning element 3 during movement, when the isolation element 2 moves first, the cleaning element 3 needs to be controlled to move after ensuring that the isolation element 2 has moved into position. When the cleaning element 3 has also moved into position, the isolation element 2 is finally controlled to move back to the original position.

[0163] At the same time, for the control logic of the cleaning element 3 reciprocating between the first position and the second position, the following is provided: after the isolation element 2 moves to the second state, the cleaning element 3 is controlled to move between the first position and the second position; or during the movement of the isolation element 2 to the second state, the cleaning element 3 is controlled to move between the first position and the second position. When the isolation element 2 moves to the second state, i.e. the isolation element 2 is not in the vertical space where the cleaning element 3 is located, the cleaning element 3 is controlled to move from the first position to the second position at this time, and the isolation element 2 will not interfere with the lifting of the cleaning element 3. For controlling the cleaning element 3 to move simultaneously during the movement of the isolation element 2, it is necessary to ensure that the isolation element 2 does not block the movement of the cleaning element 3. This can be that the positions of the isolation element 2 and the cleaning element 3 are completely offset when the cleaning element 3 starts to move, or that the cleaning element 3 and the isolation element 2 are completely offset when the cleaning element 3 moves to the height of the isolation element 2.

[0164] Similarly, the cleaning member 3 needs to be moved from the second position to the first position, specifically from the lower position to the upper position, when the cleaning member 3 is in the lower position, the isolation member 2 is above the cleaning member 3, so the isolation member 2 needs to be controlled to move to the second state first, which is equivalent to the containing space being opened, and then the cleaning member 3 can be lifted into the containing space, and then the isolation member 2 is controlled to return to the first state to isolate the cleaning member 3; and the cleaning member 3 starts to move in the process of the movement of the isolation member 2, so a reasonable misalignment is needed to avoid the cleaning member 3 from colliding with the isolation member 2 when it is lifted.

[0165] In addition, the control logic for the return of the isolation member 2 is as follows: during the movement of the cleaning member 3 from the first position to the second position, the isolation member 2 is controlled to move to the first state, or after the movement of the cleaning member 3 from the first position to the second position is completed, the isolation member 2 is controlled to move to the first state; during the movement of the cleaning member 3 from the second position to the first position, the isolation member 2 is controlled to move to the first state, or after the movement of the cleaning member 3 from the second position to the first position is completed, the isolation member 2 is controlled to move to the first state. In order to ensure that there is no interference, the preferred solution is to control the isolation member 2 to move to the first state and return after the cleaning member 3 is moved to the position, where the cleaning member 3 is moved to the position refers to completely reaching the first position or the second position. Of course, the isolation member 2 can also be controlled to move and return during the movement of the cleaning member 3, but this movement control needs to be completed through precise parameter setting, specifically, the isolation member 2 starts to move after the cleaning member 3 starts to move for a certain number of seconds, or the specific position of the cleaning member 3 is detected through a position sensor, and then the movement signal of the isolation member 2 is sent to control the isolation member 2 to move and return; conversely, the specific position of the isolation member 2 is detected through a position sensor, and then the movement of the cleaning member 3 is triggered.

[0166] In some embodiments, when the cleaning member 3 includes a wet cleaning module and a dry cleaning module, and the dry cleaning module is arranged in front of the wet cleaning module in the forward direction of the cleaning robot, the wet cleaning module and the dry cleaning module can be selectively isolated by the isolation member 2 during the movement of the cleaning robot or when a cleaning instruction is executed.

[0167] When the dry cleaning module needs to be isolated in the front area, the isolation member 2 is controlled to move towards the dry cleaning module and move to the lower side of the dry cleaning module to complete the isolation action, at this time the wet cleaning module is in the non-isolated state and can perform mop cleaning.

[0168] When the wet cleaning module needs to be isolated, the isolation member 2 is controlled to move towards the wet cleaning module and move to the lower side of the wet cleaning module to complete the isolation, and the dry cleaning module can normally perform cleaning.

[0169] When it is necessary to isolate the dry cleaning module and the wet cleaning module at the same time, the control moves the isolation piece 2 to the lower side of the dry cleaning module and the wet cleaning module, and the lower side here needs to be that the isolation piece 2 can completely cover the dry cleaning module and the wet cleaning module, and the isolation piece 2 can be integrally moved to the lower side of the dry cleaning module and the wet cleaning module from the side, or integrally moved from the front side to the back side, or integrally moved from the back side to the front side to complete the isolation, which is not specifically limited here.

[0170] It should be noted that the action instructions of the above isolation piece 2, dry cleaning module and wet cleaning module need to be strictly executed according to the above control method, so as to ensure that the movements of the isolation piece 2, dry cleaning module and wet cleaning module do not interfere with each other. Moreover, the moving direction of the isolation piece 2 is determined based on the position of the isolation piece 2 before moving. In short, the installation position of the isolation piece 2 can be adjusted, and is not specifically limited to a fixed position, but can be installed and adjusted according to actual needs, but it needs to be ensured that the wet cleaning module or the dry cleaning module can be completely isolated after moving.

[0171] In the present application, the cleaning piece can be a cleaning roller, a track-type mop, a flat plate mop or a double-disc mop.

[0172] The cleaning roller is a cylindrical rotating cleaning component, which is usually composed of a roller body, a covering material (brush / gel strip / fiber) and a driving device (motor), and removes stains, dust and debris on the ground through rolling friction or adsorption.

[0173] The track-type mop is a circular circulating wiping component, which simulates the structure of a tank track, and is composed of a plurality of detachable cloth units connected into a closed loop track through hinges or buckles. The track is driven to rotate circularly by a motor to realize continuous wiping of the ground.

[0174] The flat plate mop is a flat plate mop assembly designed for cleaning robots such as floor sweeping robots and floor mopping robots, and installed at the bottom of the cleaning robots for ground cleaning (such as wiping and adsorbing dust and stains). It is usually fixed on the water tank or mop support at the bottom of the robot by pasting, buckling and the like, and cooperates with the movement of the cleaning robot to realize automatic floor mopping.

[0175] The double-disc mop is a cleaning component composed of two circular mop discs, and the mop discs are driven to rotate (counter-rotating or co-rotating) by a motor. The surface is covered with fiber cloth or mop, and the ground is wiped by friction and downward pressure.

[0176] As shown in FIGS. 12-17, yet another embodiment of the present application provides a cleaning robot, comprising a cleaning member 200 and a housing 100, further comprising: an assembly support 300, for swingably mounting the cleaning member 200 to the housing 100;

[0177] The cleaning member 200 is rotatably mounted to the assembly support 300 and is raised and lowered relative to the housing 100 by swinging of the assembly support 300;

[0178] An isolation member 400 is disposed on the assembly support 300 and is movable relative to the cleaning member 200, and has a first state and a second state, in the first state, the isolation member 400 is between the cleaning member 200 and the ground, so that the cleaning member 200 cannot directly contact the ground and objects on the ground, in the second state, the isolation member 400 is away from the cleaning member 200 and the ground, so that the cleaning member 200 can contact the ground and objects on the ground.

[0179] In this embodiment, the isolation member 400 is in the first state between the cleaning member 200 and the ground and objects on the ground, so that the cleaning member 200 does not directly contact the ground and the carpet, thus does not wet the ground and the carpet, and in the second state, the isolation member 400 is away from the cleaning member 200 and the ground, so that the cleaning member 200 can work normally, thereby, without increasing the lifting height of the cleaning member 200, the problem of wetting the carpet by the cleaning member 200 is solved, the overall height of the cleaning robot is not increased, and the problem of the cleaning robot being unable to enter the bottom of a table, sofa or bed for cleaning due to the increase in height is avoided.

[0180] In this embodiment, the first state and the second state of the isolation member 400 are related to the working position of the cleaning member 200, specifically, in the state where the isolation member 400 is in the first state, the cleaning member 200 is in a raised state, and in the state where the isolation member 400 is in the second state, the cleaning member 200 is in a lowered state.

[0181] It can be understood that the isolation member 400 can only enter the first state when the cleaning member 200 is in the raised state and is between the cleaning member 200 and the carpet, and when the cleaning member 200 is in the lowered state, the cleaning member 200 usually needs to perform ground cleaning work and does not need to be shielded by the isolation member 400.

[0182] The component support 300 is hinged to the shell 100 through a first hinge structure 320, and the cleaning member 200 is swung around the first hinge structure 320 through the component support 300 to realize lifting. Specifically, the cleaning member 200 is located on one side of the hinged position of the component support 300 and the shell 100, and when the component support 300 rotates around the first hinge structure 320, the cleaning member 200 located on the side thereof is lifted or lowered.

[0183] Referring to FIGS. 14 and 15, the component support 300 comprises a support body 310 and support arms 311 located at both ends of the support body 310. The support arms 311 are both L-shaped, and hinge convexes 321 are arranged on the distal end sides of the support arms 311 opposite to each other. Hinge grooves 322 corresponding to the hinge convexes 321 are arranged on the shell 100, and the hinge convexes 321 and the hinge grooves 322 jointly form the first hinge structure 320. The hinge convexes 321 are installed in the hinge grooves 322 to realize hinging. In the present application, the support arms 311 are elastic structures, which can be relatively opened, and then the hinge convexes 321 are clamped in the hinge grooves through elastic restoring force to keep the hinged position stable.

[0184] In an alternative embodiment of the present application, the isolation member 400 is also connected to the component support 300 through hinging. Specifically, referring to FIGS. 14-16, the isolation member 400 is hinged to the component support 300 through a second hinge structure 600, and the isolation member 400 is rotated relative to the component support 300 to switch between the first state and the second state.

[0185] It can be understood that the cleaning member 200 can be rotated in part in the present application, but the rotation axis thereof is fixed relative to the position of the component support 300, that is, the relative position of the cleaning member 200 and the component support 300 as a whole is fixed and unchanged. Therefore, when the isolation member 400 moves relative to the component support 300, it actually also moves relative to the cleaning member 200.

[0186] Further, the isolation member 400 and the component support 300 are provided with an opening driving member 500, which is arranged to always exert an opening force on the isolation member 400 and the component support 300 around the rotation axis of the second hinge structure 600, so that the isolation member 400 is in the first state. The second hinge structure 600 comprises a hinge shaft 610 and hinge holes 620 arranged on the isolation member 400 and the component support 300 respectively, and the hinge shaft 610 passes through the two hinge holes 620 to realize the hinging of the isolation member 400 and the component support 300.

[0187] The opening driving member 500 applies a force to the isolation member 400 to restore the isolation member 400 to the second state. The opening driving member 500 can be in various forms. In an alternative embodiment of the present application, the opening driving member 500 is a torsion spring, which is sleeved on the hinge shaft 610, one elastic arm of the torsion spring abuts against the isolation member 400, and the other elastic arm abuts against the assembly support 300.

[0188] In other embodiments, the opening driving member 500 can also be a compression spring arranged between the isolation member 400 and the assembly support 300, and the compression spring applies an elastic restoring force to the isolation member 400.

[0189] In another alternative embodiment, the opening driving member 500 is a pair of magnets, which are arranged on the isolation member 400 and the assembly support 300 respectively and repel each other.

[0190] It should be noted that the specific arrangement of the compression spring and the repelling magnets can be appropriately arranged by those skilled in the art according to the actual structure, and will not be described in detail in the present application.

[0191] In order to enable the isolation member 400 to rotate relative to the assembly support 300 during the lifting of the assembly support 300, the isolation member 400 has an operating portion in the present embodiment, which is located between the cleaning member 200 and the bottom of the housing 100. In the lifted state of the assembly support 300, the operating portion abuts against the bottom of the housing 100, and under the reaction force of the bottom of the housing 100, the isolation member 400 is moved closer to the assembly support 300, so that the isolation member 400 is in the second state. In the state that the operating portion does not abut against the bottom of the housing 100, the isolation member 400 and the assembly support 300 are relatively opened under the action of the opening driving member, and the isolation member 400 is in the first state.

[0192] Specifically, referring to FIGS. 15 and 16, the isolation member 400 includes a cover body 410 and two connecting arms 420 arranged at both ends of the cover body 410. The isolation member 400 is hinged to the assembly support 300 through the two connecting arms 420, and the operating portion 700 is arranged on the connecting arms 420. The connecting arms 420 can reduce the overall weight of the isolation member 400, and meanwhile, a space can be formed between the two connecting arms 420 to avoid occupying too much space by using the cover body 410 entirely.

[0193] Preferably, referring to FIGS. 14 and 17, the operation part 700 is a roller rotatably mounted on the connecting arm 420, and the roller is arranged at the highest position of the isolation member 400, and the highest point of the outer circumferential surface of the roller is higher than the highest point of the isolation member 400.

[0194] By arranging the roller as the operation part 700, the relative sliding friction between the isolation member 400 and the bottom of the shell 100 can be converted into relative rolling friction when the isolation member 400 continues to move relative to the bottom of the shell 100, so as to avoid noise and reduce the wear of the components.

[0195] The operation part 700 is arranged to be higher than the highest point of the isolation member 400, so that the operation part 700 first contacts the bottom of the shell 100, thereby enabling the operation part 700 to work normally, avoiding the remaining part of the isolation member 400 from contacting the bottom of the shell 100 and causing friction to wear the bottom of the shell 100.

[0196] Optionally, in another embodiment of the present application, a rotating driving device for driving the isolation member 400 to rotate relative to the assembly support 300 is further included, and the isolation member 400 is switched between the first state and the second state under the driving of the rotating driving device. In this structure, the relative movement between the isolation member 400 and the assembly support 300 is no longer dependent on the driving of the opening driving member and the extrusion of the bottom of the shell 100, and the switching of the isolation member 400 between the first state and the second state can be realized by actively controlling the rotating driving device, so that the flexibility is higher.

[0197] The working process of the isolation member 400 in the present application is as follows: it is assumed that the cleaning member 200 is in the landing state in the initial state, at this time, the isolation member 400 is in the second state, and the cleaning member 200 can directly contact the ground for cleaning and working, when the cleaning member 200 is lifted with the assembly support 300, the isolation member 400 is always in the opening state relative to the assembly support 300 due to the force of the opening driving member when the isolation member 400 does not contact the bottom of the shell 100, that is, the isolation member 400 is still in the second state; when the cleaning member 200 continues to be lifted, the isolation member 400 contacts the bottom of the shell 100, then the isolation member 400 cannot continue to be lifted, and the assembly support 300 and the cleaning member 200 arranged thereon are temporarily not affected and can continue to be lifted, then the assembly support and the isolation member 400 are close to each other, and the isolation member 400 enters the first state, at this time, the cleaning member 200 cannot directly contact the ground and other objects below the cleaning member 200.

[0198] In this state, when the control assembly support 300 swings downward, the cleaning piece 200 falls and the opening force of the driving piece is not released, the isolation piece 400 does not fall, the isolation piece 400 is relatively opened with the assembly support 300, so that the isolation piece 400 changes to the second state until the cleaning piece 200 lands and contacts the ground, and the isolation piece 400 is always in the second state.

[0199] To solve the problem that the current cleaning device cannot clean along the edge of the drum 212 and the cleaning coverage is low, a cleaning device is provided in another optional embodiment of the application.

[0200] First, the directions mentioned in the following text of the embodiment of the application are described as follows:

[0201] The first direction: the first direction is the direction indicated by the arrow X in FIG. 18, that is, the moving direction of the cleaning piece 21 of the cleaning device.

[0202] The second direction: the second direction is the direction indicated by the arrow Y in FIG. 18.

[0203] The third direction: the third direction is the direction indicated by the arrow Z in FIG. 19, that is, the height direction of the cleaning device.

[0204] Please refer to FIGS. 18-25, the cleaning device in the embodiment includes a body 10 and a cleaning mechanism 20. The body 10 is provided with a receiving cavity 11. In the first direction, at least one side of the receiving cavity 11 penetrates the outer peripheral edge of the body 10, and the outer peripheral edge of the body 10 has an apex 12 in the first direction, which is the end point of the outer peripheral edge of the body 10 closest to the blind area. The contour of the outer peripheral edge of the body 10 can include square, circular, elliptical, diamond, polygonal and other special-shaped structures, etc. Regardless of the shape of the body 10, the apex 12 is the end point of the outer peripheral edge of the body 10 closest to the equilateral corner area of the wall surface along the extension direction of the cleaning piece 21 (i.e. the first direction). When the contour of the outer peripheral edge of the body 10 is circular, the apex 12 is the end point of the outer peripheral edge of the circular body 10 in the first direction. The apex 12 of the outer peripheral edge of the body 10 has a straight line 13 passing through the apex 12 and perpendicular to the first direction. When the contour of the outer peripheral edge of the body 10 is circular, the straight line 13 includes the tangent line of the circular contour at the apex 12, and when the contour of the outer peripheral edge of the body 10 is rectangular, the straight line 13 coincides with one side of the rectangular contour in the first direction.

[0205] As shown in FIG. 24 and FIG. 25, the cleaning mechanism 20 comprises a cleaning member 21, a first driving assembly 22 and a connecting bracket 23. The connecting bracket 23 is installed in the receiving cavity 11 and is movable relative to the body 10 along the first direction. The first driving assembly 22 is installed in the receiving cavity 11 and is connected with the connecting bracket 23, and the cleaning member 21 is connected with the connecting bracket 23. The cleaning member 21 has a first position where it moves with the connecting bracket 23 along the first direction to extend beyond or flush with the straight line 13, and a second position where it moves with the connecting bracket 23 to retract into the receiving cavity 11, and the first driving assembly 22 drives the connecting bracket 23 to move the cleaning member 21 between the first position and the second position.

[0206] When the cleaning device travels and moves to a blind area such as a corner of a wall, an edge of a wall or an edge of an obstacle, the cleaning member 21 can be driven by the first driving assembly 22 to move along the first direction to the first position to extend out of the body 10 to abut against the blind area for edge cleaning. Since the cleaning member 21 in the first position is flush with or extends beyond the straight line 13 passing through the apex 12, the part of the cleaning member 21 extending out of the body 10 can clean all areas between the peripheral edge of the body 10 and the wall surface, and there is no case that even if the cleaning member 21 extends out of the body 10, there is still a cleaning blind area between the body 10 and the wall surface, which improves the cleaning coverage of the cleaning device on the surface to be cleaned. When the cleaning device travels to a place without a blind area for cleaning, the cleaning member 21 can be driven by the first driving assembly 22 to retract into the receiving cavity 11 of the body 10. When the cleaning member 21 is a roller 212, the roller 212 retracted into the receiving cavity 11 cleans the surface to be cleaned along the travel path of the cleaning device, and when it encounters a corner area, the roller 212 is again driven by the first driving assembly 22 to move to the first position extending out of the body 10 for edge cleaning. Since the end of the roller 212 close to the wall surface in the first position is flush with or extends beyond the straight line 13 passing through the apex 12 of the body 10, the roller 212 can fully clean the area between the peripheral edge of the body 10 and the wall surface, which improves the cleaning coverage of the roller 212.

[0207] It can be seen that the cleaning device provided in the embodiment comprises a body 10 and a cleaning mechanism 20. The body 10 is provided with a receiving cavity 11. The outer peripheral edge of the body 10 has an apex 12 in the first direction. The apex 12 is provided with a straight line 13 passing through the apex 12 and perpendicular to the first direction. The cleaning member 21 of the cleaning mechanism 20 has a first position in which the connecting bracket 23 moves along the first direction to exceed or flush with the straight line 13. When the cleaning member 21 needs to clean the blind area, the connecting bracket 23 can be driven by the first driving assembly 22 to drive the cleaning member 21 to move to the first position. At this time, since the cleaning member 21 is extended out of the body 10, the area between the cleaning member 21 and the outer peripheral edge of the body 10 can be cleaned, and there is no cleaning blind area. Further, the cleaning coverage rate of the cleaning member 21 on the surface to be cleaned is improved when the cleaning member 21 performs edge cleaning on the blind area. The blind area dead angle is reduced, the ideal cleaning effect is achieved, and the user experience is good. When edge cleaning is not needed, the cleaning member 21 can be retracted to a second position in the receiving cavity 11 by driving the connecting bracket 23 by the first driving assembly 22. That is, the first driving assembly 22 can drive the cleaning member 21 to flexibly switch between the first position and the second position according to the environment of the surface to be cleaned, so as to improve the cleaning coverage rate of the cleaning member 21 on the surface to be cleaned.

[0208] In the second direction, the body 10 of the cleaning device comprises a first end 101 and a second end 102. The distance between the cleaning member 21 and the first end 101 in the second direction is less than the distance between the cleaning member 21 and the second end 102 in the second direction, that is, the cleaning member 21 is located in the rear area of the body 10. Therefore, sufficient installation space is reserved for the body 10 except the area where the cleaning member 21 is located, and the corresponding devices are installed.

[0209] As shown in FIGS. 18-23, the body 10 of the cleaning device in the present embodiment can include a mounting shell 15, a traveling assembly 16, a clean water tank 30, a dirty water tank 40, an edge brush assembly 60, a dust box 70, and a middle sweeping assembly 80. The mounting shell 15 is the main body frame of the cleaning device, and the clean water tank 30 and the dirty water tank 40 are connected in the body 10 through the mounting shell 15, and the clean water tank 30 is above the dirty water tank 40 in the third direction. The traveling assembly 16 is arranged at the bottom of the mounting shell 15, and the traveling assembly 16 is used to drive the cleaning device to travel to the area to be cleaned for cleaning work. The clean water tank 30 is used to provide clean water to the cleaning element 21 to soak the cleaning element 21 and improve the cleaning effect of the cleaning element 21 on the surface to be cleaned. The clean water tank 30 is provided with a clean water injection port, and when the cleaning device enters the base station, the clean water injection port is communicated with the clean water bucket of the base station to inject clean water into the clean water tank 30. The receiving cavity 11 is arranged at the bottom of the mounting shell 15, and the connecting bracket 23 can also be connected with a squeegee plate 50 for squeegeeing the cleaning element 21, and the dirty water tank 40 is below the squeegee plate 50 to collect the dirty water scraped off from the cleaning element 21 by the squeegee plate 50. The dirty water tank 40 is provided with a dirty water suction port 46 on one side, and the dirty water suction port 46 is used to communicate with the dirty water bucket of the base station when the cleaning device enters the base station, so as to discharge the dirty water in the dirty water tank 40 into the dirty water bucket of the base station. The edge brush assembly 60 is one of the core components of the cleaning device, which can be installed at the edge position of the bottom of the mounting shell 15 to clean the blind area such as the corners and the wall edges which are usually ignored.

[0210] The middle sweeping assembly 80 in the present embodiment is arranged at the bottom of the body 10, and the cleaning element 21 is located on one side of the middle sweeping assembly 80 in the second direction. The middle sweeping assembly 80 is the main sweeping component of the cleaning device, which is used to sweep the garbage on the travel path of the cleaning device into the dust box 70. The middle sweeping assembly 80 is usually located at the middle position of the bottom of the body 10, and then the cleaning element 2 is located at the position close to the rear part of the body 10 on one side of the middle sweeping assembly 80, so that the cleaning element 2 can wet clean the area swept by the middle sweeping assembly 80 again.

[0211] Specifically, the middle sweeping assembly 80 of the cleaning device is arranged at the middle region of the bottom surface of the mounting shell 15, and the dust box 70 is arranged at the position of the mounting shell 15 close to the middle sweeping assembly 80. The body 10 is provided with a second vacuum pump 73 for performing negative pressure extraction on the dust box 70, so that the dust box 70 can suck and temporarily store the garbage swept by the middle sweeping assembly 80 and the brush assembly 60 through the negative pressure extraction of the dust box 70 by the second vacuum pump 73. Moreover, the bottom of the body 10 of the embodiment is further provided with an air suction dust collection port 71 and an air blowing dust collection port 72 which are in communication with the dust box 70. The base station is provided with a dust collection fan. After the cleaning device moves to the base station, the air suction dust collection port 71 and the air blowing dust collection port 72 are in communication with the dust collection fan, so as to recycle the garbage in the dust box 70 into the dust collection box of the base station. In addition, the body 10 is further provided with a return charging indicator 17, which is used to indicate the docking of the cleaning device and the base station, so as to return to the base station to perform charging, backwashing, dust collection and other operations.

[0212] As shown in FIGS. 24 and 25, the cleaning mechanism 20 provided by the embodiment further comprises a mounting bracket 24. The mounting bracket 24 is mounted in the receiving cavity 11, and the mounting bracket 24 is provided with an avoiding port 241 penetrating along the second direction. The connecting bracket 23 is mounted on the mounting bracket 24 and can move relative to the mounting bracket 24 along the first direction. The connecting bracket 23 is at least partially arranged on the avoiding port 241, and the first driving assembly 22 is mounted on the mounting bracket 24 and connected with the connecting bracket 23 through the avoiding port 241. Specifically, the connecting bracket 23 comprises a first bracket 231 and a second bracket 232. The first bracket 231 is connected with the mounting bracket 24 and can move relative to the mounting bracket 24 along the first direction, and the first bracket 231 is at least partially arranged on the avoiding port 241. The first driving assembly 22 is mounted on the mounting bracket 24 and connected with the part of the first bracket 231 exposed on the avoiding port 241. The second bracket 232 is connected with the first bracket 231 and the cleaning piece 21 and located between the first bracket 231 and the cleaning piece 21. When the first driving assembly 22 drives the first bracket 231 to move along the first direction, the first bracket 231 drives the cleaning piece 21 on the second bracket 232 to move along the first direction to the first position or the second position.

[0213] Therefore, the connecting bracket 23 is movably connected with the mounting bracket 24 so that the connecting bracket 23 can move relative to the mounting bracket 24 along the first direction. Then, the first driving assembly 22 is mounted on the mounting bracket 24 and connected with the connecting bracket 23 through the avoiding opening 241 of the mounting bracket 24 to drive the connecting bracket 23 to move relative to the mounting bracket 24 along the first direction. After the cleaning member 21 is connected with the connecting bracket 23, the mounting bracket 24 is mounted in the receiving cavity 11 to achieve the installation of the cleaning member 21 in the receiving cavity 11 of the body 10, which is low in installation difficulty and efficient in assembly. Moreover, the first driving assembly 22 is connected with the connecting bracket 23 through the avoiding opening 241 of the mounting bracket 24, which not only reduces the assembly difficulty between the connecting bracket 23 and the first driving assembly 22, but also makes the overall structure of the cleaning mechanism 20 more compact and reliable and saves the installation space. Meanwhile, the receiving cavity 11 of the body 10 can be correspondingly provided with a receiving groove for accommodating the first driving assembly 22. When the mounting bracket 24 is mounted in the receiving cavity 11, the first driving assembly 22 is abutted against the receiving groove by the mounting bracket 24, which further improves the compactness and structural reliability between the cleaning mechanism 20 and the body 10.

[0214] Referring to FIG. 25, the first driving assembly 22 in the embodiment includes a first driving member 221, a first transmission member 222, and a second transmission member 223. The first driving member 221 is mounted on the mounting bracket 24. The first transmission member 222 is connected with the first driving member 221. The second transmission member 223 is located in the avoiding opening 241 and connected with the connecting bracket 23. The second transmission member 223 is in transmission connection with the first transmission member 222. The first driving member 221 drives the first transmission member 222 to drive the second transmission member 223 to move along the first direction.

[0215] During the movement of the second transmission member 223 along the first direction, the cleaning member 21 connected with the connecting bracket 23 can be switched back and forth between the first position and the second position. When the cleaning device travels to a blind area such as a corner of a wall or furniture, the first driving member 221 drives the second transmission member 223 to drive the cleaning member 21 to move to the first position at the edge apex 12 of the periphery of the body 10 to make the cleaning member 21 perform edge cleaning and improve the cleaning coverage of the cleaning device. When the cleaning device travels to a wider cleaning area, the first driving member 221 drives the second transmission member 223 to drive the cleaning member 21 to retract to the second position in the body 10 to make the cleaning member 21 clean the cleaning surface on the travel path of the cleaning device. Therefore, the cleaning device in the embodiment can flexibly switch the cleaning member 21 between the first position and the second position through the first driving member 221 according to the environment of the cleaning surface to improve the cleaning coverage of the cleaning device on the cleaning surface.

[0216] The first driving member 221 in the embodiment comprises a motor, the first transmission member 222 comprises a gear, and the second transmission member 223 comprises a rack. The gear is connected with the motor and can rotate along the circumferential direction of the gear under the driving of the motor, and the rack is engaged with the gear. The length of the rack extends along the first direction. During the rotation of the gear driven by the motor, the rack can move along the first direction relative to the gear, and the rack can drive the cleaning member 21 on the connecting bracket 23 to move along the first direction to the first position or the second position. Moreover, as shown in FIG. 25, the length of the rack is less than the length of the avoiding opening 241 along the first direction, so as to ensure that the rack can drive the cleaning member 21 to switch between the first position and the second position along the first direction, and the avoiding opening 241 does not hinder the movement of the cleaning member 21 between the first position and the second position.

[0217] As shown in FIG. 25, in order to prevent the cleaning member 21 from falling off the body 10 or even falling to the ground under the action of moving inertia during the movement of the cleaning member 21 to the first position, the cleaning mechanism 20 in the embodiment further comprises a limiting assembly 25 arranged between the connecting bracket 23 and the mounting bracket 24. The limiting assembly 25 is used to limit the cleaning member 21 at the first position when the cleaning member 21 moves to the first position, and the limiting assembly 25 is used to limit the cleaning member 21 at the second position when the cleaning member 21 moves to the second position, so as to stably keep the cleaning member 21 in the accommodating cavity 11 of the body 10. It can be seen that the embodiment can prevent the cleaning member 21 from falling off the body 10 due to moving inertia when reaching the first position, or prevent the cleaning member 21 from continuing to move under the action of moving inertia when reaching the second position, so as to stably and reliably keep the cleaning member 21 in the accommodating cavity 11 of the body 10.

[0218] The limiting assembly 25 in the embodiment comprises a first limiting member 251 and a second limiting member 252. The first limiting member 251 comprises at least one, and the at least one first limiting member 251 is arranged on one of the connecting bracket 23 and the mounting bracket 24. The second limiting member 252 comprises at least two, and the at least two second limiting members 252 are arranged on the other one of the connecting bracket 23 and the mounting bracket 24 along the first direction. The projection of the first limiting member 251 is located between the projections of the adjacent two second limiting members 252 along the second direction. The projection of the first limiting member 251 at least partially covers the second limiting member 252 along the first direction and can move relative to the second limiting member 252 along the first direction, so that the first limiting member 251 can abut against the second limiting member 252 when moving along the first direction, thereby preventing the cleaning member 21 from continuing to move. When the first limiting member 251 abuts against one of the second limiting members 252 along the first direction, the cleaning member 21 will not continue to move, thereby limiting the cleaning member 21 at the first position or the second position.

[0219] Specifically, the first limiting member 251 can be arranged on the side of the connecting bracket 23 close to the mounting bracket 24 and can move along the first direction with the connecting bracket 23. When the connecting bracket 23 comprises a first bracket 231 connected with the mounting bracket 24, the first limiting member 251 can be arranged on the side of the first bracket 231 close to the mounting bracket 24. The at least two second limiting members 252 are arranged on the side of the mounting bracket 24 close to the connecting bracket 23. Since the first limiting member 251 is located between the adjacent two second limiting members 252 arranged at intervals along the first direction, when the first limiting member 251 moves to the position abutting against any second limiting member 252 along the first direction, the cleaning member 21 can be stopped from continuing to move along the first direction, thereby improving the assembly reliability between the cleaning member 21 and the body 10 during the movement of the cleaning member 21. Moreover, when the first limiting member 251 abuts against the second limiting member 252, since the motor as the first driving member 221 can generate a larger current due to the occurrence of the locked-rotor phenomenon. At this time, in order to avoid the energy consumption of the cleaning device caused by the long-term locked-rotor of the motor, and to avoid the performance reduction or even damage caused by the long-term locked-rotor of the motor, the controller of the cleaning device can detect the current of the motor. When the current of the motor is greater than a predetermined value, the controller controls the motor to stop running. When the motor is started again, the controller controls the motor to rotate in the direction opposite to the last rotation direction (for example, the motor is positively rotated last time, and the motor is reversely rotated when started again), so as to drive the cleaning member 21 to move reversely to the first position or the second position.

[0220] For example, the motor in the embodiment is positively rotated before being stopped running for the first time, and the cleaning member 21 is located at the first position when the motor is stopped running. When the motor is started again, the motor is reversely rotated, and the cleaning member 21 reversely moves to the second position under the driving of the motor. When the cleaning member 21 moves to the second position, the first limiting member 251 abuts against another second limiting member 252 close to the second position, thereby avoiding the cleaning member 21 from continuing to move and colliding with or falling off the body 10. Similarly, when the cleaning member 21 is limited to the second position by the abutting first limiting member 251 and the second limiting member 252, the current of the motor becomes large due to the locked-rotor phenomenon, and the controller controls the motor to stop rotating, so as to avoid the long-term locked-rotor of the motor to increase the energy consumption of the cleaning device and improve the service life of the motor.

[0221] In order to improve the stability of the cleaning member 21 during the movement, the cleaning mechanism 20 in the embodiment further comprises a guide assembly 26 arranged between the connecting bracket 23 and the mounting bracket 24. The guide assembly 26 is used to guide the connecting bracket 23 to stably move along the first direction relative to the mounting bracket 24.

[0222] At least two second limit members 252 in the embodiment are arranged on at least one side of the mounting bracket 24 along the third direction, and at least one first limit member 251 is arranged on the connecting bracket 23 and located between two adjacent second limit members 252. The guide assembly 26 comprises a guide shaft 261, the length of the guide shaft 261 extends along the first direction, and the guide shaft 261 is arranged on at least one side of the mounting bracket 24 along the third direction and fixedly connected with the second limit member 252, and the first limit member 251 is in sliding connection with the guide shaft 261.

[0223] Therefore, by connecting the guide shaft 261 with the first limit member 251 and the second limit member 252, the connecting bracket 23 is movably mounted on the mounting bracket 24, and the connecting bracket 23 can be guided to move stably along the first direction by the guide shaft 261. At the same time, when the first limit member 251 moves along the length direction of the guide shaft 261 during the movement of the connecting bracket 23, the first limit member 251 and the second limit member 252 can be abutted to limit the movement of the cleaning member 21. It can be seen that the connecting bracket 23 and the mounting bracket 24 are connected by the guide shaft 261 to realize the guidance and limit the movement distance of the cleaning member 21, so as to avoid the cleaning member 21 from falling or impacting the body 10 due to excessive movement.

[0224] The guide shaft 261 in the embodiment can comprise at least two guide shafts 261, and the at least two guide shafts 261 are arranged on opposite sides of the mounting bracket 24 along the third direction, so as to improve the firmness and stability of the connecting structure between the mounting bracket 24 and the connecting bracket 23, and guide the connecting bracket 23 to move more stably along the first direction relative to the mounting bracket 24 by the at least two guide shafts 261.

[0225] It can be seen that the first limit member 251 arranged on the connecting bracket 23 and the second limit member 252 arranged on the mounting bracket 24 are connected by the guide shaft 261, which not only improves the assembly efficiency between the connecting bracket 23 and the mounting bracket 24, but also ensures that the connecting bracket 23 can move stably along the first direction relative to the mounting bracket 24. At the same time, the first limit member 251 is abutted with the second limit member 252 on the mounting bracket 24 by the first limit member 251 which can move with the connecting bracket 23, so as to accurately limit the movement distance of the cleaning member 21, and further ensure that the cleaning member 21 can be accurately switched between the first position and the second position.

[0226] As shown in FIG. 25, to further improve the accuracy and timeliness of the control of the operation of the motor, the limiting assembly 25 in the embodiment further comprises a first limit switch 253 and a second limit switch 254. The first limit switch 253 is arranged on the mounting bracket 24 and located at one side of the avoiding opening 241 along the first direction. When the first limiting member 251 contacts one of the two adjacent second limiting members 252 to limit the cleaning member 21 to the first position, the second transmission member 223 contacts the first limit switch 253 to stop the first driving member 221 from working. Specifically, when the first limiting member 251 abuts against the second limiting member 252 close to the first limit switch 253 among the two adjacent second limiting members 252, the second transmission member 223 contacts the first limit switch 253 to trigger the first limit switch 253, and the motor stops operating when the first limit switch 253 is triggered, so that the cleaning member 21 is stably parked at the first position for edge cleaning.

[0227] The second limit switch 254 in the embodiment is arranged on the mounting bracket 24 and located at the other side of the avoiding opening 241 along the first direction. When the first limiting member 251 contacts the other of the two adjacent second limiting members 252 to limit the cleaning member 21 to the second position, the second transmission member 223 contacts the second limit switch 254 to stop the first driving member 221 from working. Specifically, during the process that the motor is started again to drive the cleaning member 21 to move to the second position, when the first limiting member 251 abuts against the second limiting member 252 close to the second limit switch 254 among the two adjacent second limiting members 252, the second transmission member 223 contacts the second limit switch 254 to trigger the second limit switch 254, and the motor stops operating when the second limit switch 254 is triggered, so that the cleaning member 21 is stably parked at the second position for edge cleaning.

[0228] To ensure that the second transmission member 223 can timely and reliably trigger the first limit switch 253 or the second limit switch 254 when the cleaning member 21 is at the first position and the second position, in the embodiment, if the distance that the first limiting member 251 moves along the first direction between the two adjacent second limiting members 252 is a first distance, and the distance that the second transmission member 223 (which can be a rack in the embodiment) moves along the first direction between the first limit switch 253 and the second limit switch 254 is a second distance, the first distance is equal to the second distance, that is, when the first limiting member 251 abuts against the corresponding second limiting member 252, the second transmission member 223 contacts the first limit switch 253 or the second limit switch 254 to trigger the motor to stop operating.

[0229] The first limit switch 253 and the second limit switch 254 in the embodiment can include micro switches, position sensors, etc. The first limit switch 253 and the second limit switch 254 are preferably micro switches, which are a kind of switch with a micro contact interval and a fast-moving mechanism, with a specified stroke and a specified force for switch operation, and with a driving rod outside. Because the contact interval of the switch is relatively small, it is called a micro switch, also called a sensitive switch. The second transmission member 223 (such as a rack) uses very small force to contact the micro switch to trigger the micro switch, with high sensitivity, timely control. Specifically, the motor and the micro switch can be connected to the controller of the cleaning device, and the controller can control the motor to stop running in response to the information that the micro switch is triggered.

[0230] Of course, in some embodiments of the application, the motor can also be stopped by triggering the first limit switch 253 and the second limit switch 254 through the second transmission member 223 (such as a rack), but this way may cause the motor to be unable to stop in time when the first limit switch 253 and / or the second limit switch 254 (such as a micro switch) fails, and the cleaning element 21 may also be unable to stay at the specified position, with relatively high control risk. In the embodiment, the first limiting member 251 and the second limiting member 252 abut to limit the cleaning element 21 at the first position or the second position, which can ensure that the cleaning element 21 moves beyond the predetermined range even if the motor cannot stop in time. Moreover, in the case of detecting the change of the motor current by the controller to control the motor to stop, the first limit switch 253 and the second limit switch 254 are added to further ensure that the motor can stop in time, and this double control method is more secure and reliable.

[0231] When the drum 212 and the support of the cleaning device need to be disassembled for cleaning and maintenance, due to the limitation of the installation mode between the drum 212 and the support in the prior art, the drum 212 needs to be disassembled by reversing the cleaning device, and the support cannot be disassembled from the cleaning device, so the user needs to manually hold the machine to clean the dirt inside the support, which brings great inconvenience to the user. For example, if the support connected with the drum 212 cannot be disassembled, since the driving motor 112 driving the drum 212 to rotate is built in the inner cavity of the drum 212, when the support is directly cleaned on the cleaning device, the driving motor 112 in the drum 212 may be wetted and damaged by water. To this end, the body 10 provided in the embodiment has an opening 14 on at least one side of the receiving cavity 11 along the first direction, that is, the opening 14 is in communication with the receiving cavity 11 and is located on at least one side of the receiving cavity 11 along the first direction. The opening 14 is located at the side of the body 10 along the first direction. The connecting support 23 includes a first support 231 and a second support 232. The first support 231 is installed in the receiving cavity 11 and can move relative to the body 10 along the first direction. The second support 232 is detachably connected with the first support 231 and can move relative to the first support 231 along the first direction to be taken out from the opening 14. The cleaning element 21 is detachably connected with the second support 232 and can move relative to the second support 232 along the first direction to be taken out from the opening 14.

[0232] The cleaning element 21 in the embodiment can include the drum 212, and when the drum 212 needs to be cleaned, the cleaning element 21 (such as the drum 212) can be disassembled from the opening 14 along the first direction for cleaning and maintenance. Secondly, since the second support 232 close to the cleaning element 21 is easy to hide dirt, when the second support 232 needs to be cleaned, the second support 232 can be extracted from the opening 14 of the body 10 along the first direction for cleaning, without reversing the body 10 or holding the relatively heavy body 10 for cleaning the second support 232, which is convenient and saves time and effort. After the cleaning element 21 and the second support 232 are cleaned, the second support 232 is first moved to the position connected with the first support 231 along the first direction from the opening 14, and then the cleaning element 21 is moved to the position connected with the second support 232 along the first direction from the opening 14. Secondly, the cleaning element 21 and the second support 232 can be connected as a whole first, and then the second support 232 connected with the cleaning element 21 is moved to the position connected with the first support 231 along the first direction, which improves the assembly efficiency and convenience of the cleaning element 21 and the second support 232 when installed in the body 10.

[0233] It can be seen that the body 10 of the cleaning device provided in the application is provided with an opening 14 and a receiving cavity 11, the opening 14 is in communication with the receiving cavity 11 and is located at least one side of the receiving cavity 11 along the first direction. The cleaning member 21 of the cleaning device is detachably connected with the second support 232 and can move relative to the second support 232 along the first direction to be taken out from the opening 14, and the second support 232 is detachably mounted in the receiving cavity 11 and can move relative to the body 10 along the first direction to be taken out from the opening 14. Specifically, the first support 231 is mounted in the receiving cavity 11, and the second support 232 is detachably connected with the first support 231 and can move relative to the first support 231 along the first direction to be taken out from the opening 14. That is, the cleaning member 21 and the second support 232 adjacent to the cleaning member 21 in the application can be respectively extracted from the opening 14 of the body 10 without turning over the body 10, which is simple in operation and saves time and effort, so as to clean and maintain the extracted cleaning member 21 and second support 232 respectively.

[0234] When the cleaning member 21 and the second support 232 are disassembled, the cleaning member 21 can be extracted from the opening 14 first, and then the second support 232 is extracted from the opening. The second support 232 can also be extracted from the opening first, and then the cleaning member 21 is extracted from the opening 14. The second support 232 and the cleaning member 21 can also be extracted from the opening 14 together, and then the cleaning member 21 is separated from the second support 232 when it is necessary to clean the second support 232 and the cleaning member 21 respectively. In this regard, the extraction mode of the cleaning member 21 and the second support 232 can be determined according to the actual operation requirement, and the embodiment is not limited to be unique.

[0235] As shown in FIGS. 28-29, the second support 232 of the embodiment is provided with a first sliding space 2321, and the cleaning member 21 can slide in the first sliding space 2321 along the first direction. One of the body 10 (specifically, the first support 231 in the body 10) and the second support 232 is provided with a first clamping part 2322. The cleaning mechanism 20 in the embodiment further includes a first locking member 27, which is arranged at one end of the cleaning member 21 close to the opening 14. The first locking member 27 has a first locking position which is clamped with the first clamping part 2322 under the action of an external force, and a first unlocking position which is separated from the first clamping part 2322.

[0236] The first locking member 27 can lock the cleaning member 21 in the first sliding space 2321 stably and reliably, so that the cleaning member 21 will not fall off the body 10 during normal operation of the cleaning device. In addition, the first locking member 27 can be unlocked to separate the cleaning member 21 from the first support 231 and the second support 232, so that the cleaning member 21 can be extracted from the first sliding space 2321 in the first direction at the opening 14 without reversing the body 10, thereby achieving lateral extraction of the cleaning member 21 conveniently and quickly. When the cleaning member 21 comprises a roller 212, the first locking member 27 can be arranged at one end of the roller 212 close to the opening 14, so that the roller 212 can be locked in the first sliding space 2321 by the first locking member 27. When the roller 212 needs to be removed, the first locking member 27 can be unlocked to extract the roller 212 in the first sliding space 2321 at the opening 14.

[0237] The first clamping portion 2322 is preferably arranged at one end of the second support 232 close to the opening 14. Thus, when the cleaning member 21 is extracted together with the second support 232 at the opening, the cleaning member 21 can be clamped by the first locking member 27 and the first clamping portion 2322 to be kept on the second support 232, so that the cleaning member 21 will not fall off the second support 232 and be damaged. Meanwhile, after the cleaning member 21 and the second support 232 are separated for cleaning, the cleaning member 21 can be clamped by the first locking member 27 and the first clamping portion 2322 on the second support 232 first, and then the second support 232 and the cleaning member 21 are installed as a whole and moved together in the first direction at the opening to be installed in the storage cavity 11. Compared with the installation of the second support 232 and the cleaning member 21 respectively, the installation of the second support 232 and the cleaning member 21 clamped together in the body 10 is more efficient and convenient.

[0238] In addition, since the first locking member 27 is arranged at one end of the cleaning member 21 close to the opening 14 of the body 10, the operator can conveniently unlock the first locking member 27 to separate the first locking member 27 from the first clamping portion 2322. Moreover, since the cleaning member 21 can slide in the first direction relative to the second support 232 in the first sliding space 2321, the cleaning member 21 in the first sliding space 2321 can be extracted at the opening 14 by only unlocking the first locking member 27, so that the operation force required for removing and installing the cleaning member 21 can be reduced. When the second support 232 is a plastic support formed by injection molding, the cleaning member 21 can be removed from the first sliding space 2321 smoothly without using a large force even if the plastic support deforms to a certain extent.

[0239] As shown in FIG. 26, FIG. 33 to FIG. 40, the first locking member 27 in the embodiment comprises a first locking body 271, a first locking component 272 and a pop-up component 273. The first locking component 272 is movably connected to the first locking body 271 to be buckled with the first clamping portion 2322, and the first locking component 272 can be switched between the first locking position and the first unlocking position under the action of external force. When it is needed to extract the cleaning member 21 out of the body 10 for cleaning and maintenance, a certain force can be applied to the first locking component 272 to separate the first locking component 272 from the first clamping portion 2322, so as to pull out the cleaning member 21 from the first sliding space 2321. When it is needed to install the cleaning member 21 in the first sliding space 2321, the cleaning member 21 is slid in the first direction into the first sliding space 2321, and a certain force is applied to the first locking component 272 to buckle the first locking component 272 with the first clamping portion 2322, so as to stably lock the cleaning member 21 in the first sliding space 2321, avoid the cleaning member 21 from sliding relative to the second support 232 or even falling down during the cleaning process, and improve the cleaning effect of the cleaning member 21 on the surface to be cleaned.

[0240] The pop-up component 273 of the first locking member 27 is arranged between the first locking body 271 and the cleaning member 21, wherein when the first locking component 272 is in the first unlocking position, the pop-up component 273 is used to apply a spring force to the first locking body 271 to make the first locking member 27 automatically deviate from the first clamping portion 2322. That is, when the cleaning member 21 needs to be taken out to make the first locking component 272 in the first unlocking position, the first locking member 27 can automatically deviate from the first clamping portion 2322 under the action of the pop-up component 273, which not only facilitates the operator to take out the cleaning member 21 by grabbing the first locking member 27, but also can avoid the first locking component 272 from being buckled with the first clamping portion 2322 again to affect the taking-out operation of the cleaning member 21, thereby improving the taking-out efficiency and operation convenience of the cleaning member 21.

[0241] As shown in FIG. 25 and FIG. 33, the first locking body 271 of the present embodiment is provided with a first mounting space 2711 near one side of the first engaging portion 2322, and the first mounting space 2711 includes a first notch 7111 near the first engaging portion 2322. Specifically, the first locking member 272 includes a first elastic element 2721, a first clamping portion 2722, and a pushing element 2723. One end of the first elastic element 2721 is connected to the side of the first mounting space 2711 away from the first notch 7111. The first clamping portion 2722 is connected to the end of the first elastic element 2721 near the first notch 7111, and the first clamping portion 2722 can at least partially extend out of the first notch 7111 to clamp the first engaging portion 2322 under the elastic force of the first elastic element 2721. The pushing element 2723 is connected to the first clamping portion 2722, and the pushing element 2723 is used to push the first clamping portion 2722 away from the first engaging portion 2322 against the elastic force of the first elastic element 2721.

[0242] When it is necessary to lock the cleaning member 21 in the first sliding space 2321, the first clamping portion 2722 can be clamped to the first engaging portion 2322 in the first locking position at least partially extending out of the first notch 7111 under the elastic force of the first elastic element 2721. When it is necessary to take out the cleaning member 21 from the first sliding space 2321, the pushing element 2723 can be pushed in the compression direction of the first elastic element 2721 until the pushing element 2723 moves the first clamping portion 2722 to the first unlocking position away from the first engaging portion 2322, which is simple and convenient. Of course, when the first clamping portion 2722 is in the first unlocking position, although the cleaning member 21 can be pulled out of the first sliding space 2321 in the first direction at this time, if the pushing element 2723 is not loosened accidentally, the first clamping portion 2722 can be clamped to the first engaging portion 2322 again under the elastic force of the first elastic element 2721. In this regard, since the ejecting member 273 provided in the present embodiment applies an elastic force to the first locking body 271, when the first clamping portion 2722 is in the first unlocking position, the first locking member 272 will be pushed away from the first engaging portion 2322 by the elastic force of the ejecting member 273 to have a certain distance between the first locking member 272 and the first bracket 231 and the second bracket 232, so that even if the pushing element 2723 is loosened for the extraction of the cleaning member 21, the first clamping portion 2722 will not return to the first locking position, thereby facilitating the gripping of the first locking member 27 for the extraction of the cleaning member 21.

[0243] As shown in FIG. 32, the first mounting space 2711 on the first lock body 271 further comprises a second notch 7112, which is located on the side of the first notch 7111 away from the first clamping portion 2322 and on the side of the first lock body 271 close to the opening 14 of the body 10. As shown in FIG. 36, the push element 2723 in the present embodiment comprises a connecting block 7231 and a push block 7232. The connecting block 7231 is located in the first mounting space 2711 and connected with the first clamping portion 2722. The push block 7232 is connected with the connecting block 7231 and located outside the second notch 7112, and is used to move the first clamping portion 2722 in the first mounting space 2711 in the compression direction of the first elastic element 2721 to move the first clamping portion 2722 to the first unlocking position away from the first clamping portion 2322. Since the push block 7232 is located outside the second notch 7112 and close to the opening 14, it is convenient for the operator to move the push block 7232 to separate the cleaning element 21 from the first support 231 and the second support 232 to perform the extraction operation of the cleaning element 21. The outer surfaces of the connecting block 7231 and the push block 7232 away from the first mounting space 2711 are provided with a plurality of convex points, which can increase the friction when the hand touches the connecting block 7231 and the push block 7232, facilitating the movement of the push element 2723.

[0244] Specifically, as shown in FIGS. 27 and 34, in the present embodiment, the second support 232 is provided with a first recess 2323 on the side close to the first locking member 272, and the first clamping portion 2322 is arranged in the first recess 2323. The first lock body 271 comprises a connecting plate 2712 and a mounting cover 2713. One side of the connecting plate 2712 is connected with the cleaning element 21, and the other side of the connecting plate 2712 is arranged opposite to the second support 232. The mounting cover 2713 is buckled on the side of the connecting plate 2712 opposite to the second support 232 and forms the first mounting space 2711 with the connecting plate 2712, and the shape of the mounting cover 2713 is matched with the inner wall surface of the first recess 2323. Therefore, when the first clamping portion 2322 on the second support 232 is buckled with the first clamping portion 2722 of the first locking member 272 to lock the cleaning element 21 in the first sliding space 2321, the mounting cover 2713 where the first mounting space 2711 is located can be embedded in the first recess 2323 to buckle the first clamping portion 2722 of the first locking member 272 with the first clamping portion 2322 in the first recess 2323, which not only makes the assembly structure between the cleaning element 21 and the second support 232 more compact and stable, but also reduces the distance between the cleaning element 21 and the corner area of the wall, further improving the cleaning coverage rate when the cleaning element 21 extends out of the body 10 for edge cleaning.

[0245] One of the first engaging portion 2322 and the first buckling portion 2722 in the embodiment can include a convex structure, and the other one can include a concave structure. The shape of the first engaging portion 2322 and the first buckling portion 2722 can be set according to actual design requirements, and the embodiment is not limited to this. In a specific embodiment of the application, as shown in FIG. 27, the first engaging portion 2322 can include a first buckling groove 3221. At this time, the first buckling portion 2722 can include a buckling block 7221 and a plug-in tongue 7222. The buckling block 7221 is located in the first mounting space 2711 and is connected with the first elastic element 2721 and the push element 2723. The size of the buckling block 7221 is larger than the size of the first slot 7111, so as to limit the buckling block 7221 in the first mounting space 2711, avoiding increasing the difficulty of buckling operation due to the buckling block 7221 extending out of the first mounting space 2711. The plug-in tongue 7222 is located on the side of the buckling block 7221 close to the first slot 7111 and is arranged opposite to the first slot 7111. The size of the plug-in tongue 7222 is smaller than the size of the first slot 7111 and is matched with the first buckling groove 3221, so that the plug-in tongue 7222 can be pushed by the buckling block 7221 to the first locking position inserted in the first buckling groove 3221 under the elastic force of the first elastic element 2721. When it is needed to unlock the cleaning piece 21 to extract it out, the plug-in tongue 7222 can be separated from the first buckling groove 3221 by pushing the push element 2723 in the direction away from the first buckling groove 3221. The buckling mode of inserting the plug-in tongue 7222 into the first buckling groove 3221 in the embodiment not only is convenient to operate, but also is easy to process, so as to reduce the assembly difficulty between the cleaning piece 21 and the second support 232. The first elastic element 2721 in the embodiment is preferably a compression spring, which is cheap and easy to install.

[0246] As shown in FIG. 38 and FIG. 39, the ejecting component 273 in the present embodiment comprises a connecting body 2731, a connecting shaft 2732 and a second elastic element 2733. The connecting body 2731 is connected with the cleaning member 21. The connecting shaft 2732 is installed on the connecting body 2731. The first locking body 271 is connected with the connecting shaft 2732 and can rotate around the axis of the connecting shaft 2732. The second elastic element 2733 is connected between the connecting body 2731 and the first locking body 271. When it is needed to lock the cleaning member 21 in the first sliding space 2321 by the first locking component 27, the first locking body 271 can be pushed to rotate around the axis of the connecting shaft 2732 against the elastic force of the second elastic element 2733 to approach the first groove 2323 until the installation cover 2713 of the first locking body 271 is located in the first groove 2323 and the first buckling part 2722 is buckled with the first clamping part 2322. When it is needed to extract the cleaning member 21, the pushing element 2723 is pushed in the compression direction of the first elastic element 2721 to make the first buckling part 2722 separate from the first clamping part 2322, the first locking body 271 can rotate around the axis of the connecting shaft 2732 to the position away from the second support 232 under the elastic force of the second elastic element 2733, at this time, the operator can take the first locking body 271 to extract the cleaning member 21 from the first sliding space 2321 in the first direction, which is simple and convenient, and the hand of the operator does not need to reach into the storage cavity 11 to grab the cleaning member 21 to take out the cleaning member 21.

[0247] The second elastic element 2733 can comprise a torsion spring (as shown in FIG. 39). The torsion spring is sleeved on the connecting shaft 2732 and abuts between the connecting body 2731 and the first locking body 271 to pop the first locking body 271 away from the second support 232 by the torsion spring. In order to improve the connection reliability between the torsion spring and the connecting body 2731 and the first locking body 271, avoid the torsion spring from sliding along the axis of the connecting shaft 2732 to other positions which are difficult to abut the connecting body 2731 and the first locking body 271 at the same time under the elastic force of the torsion spring to affect the secondary locking of the cleaning member 21, a first connecting hole 7311 is arranged at the end of the connecting body 2731 close to the connecting shaft 2732, and one end of the torsion spring is fixed in the first connecting hole 7311 to avoid the torsion spring from sliding along the axis of the connecting shaft 2732 to other positions which are difficult to abut the connecting body 2731 and the first locking body 271 at the same time.

[0248] Specifically, as shown in FIGS. 28-32, the cleaning member 21 in the present embodiment includes a driving component 211 and a roller 212. Specifically, the driving component 211 is fixed to one end of the first support 231 in the first direction within the body 10 and located in the first sliding space 2321 (i.e., on the side of the second support 232 away from the first support 231). The roller 212 is detachably sleeved on the driving component 211 and can rotate around its own axis under the driving of the driving component 211. The driving component 211 in the present embodiment can include a mounting seat 111, a driving motor 112, a second bearing 113, and a connecting head 114. The mounting seat 111 is fixedly connected to the end of the first support 231 away from the first locking member 27 of the cleaning member 21, the driving motor 112 is connected to the mounting seat 111, the connecting head 114 is connected to the rotating shaft of the driving motor 112, and the second bearing 113 is sleeved on the mounting seat 111 and located on the side of the driving motor 112 away from the connecting head 114 in the first direction. The roller 212 is provided with a connecting structure (such as a groove and / or a protrusion, etc.) adapted to the connecting head 114, the roller 212 is movably sleeved on the driving component 211 (at this time, the second bearing 113, the driving motor 112, and the connecting head 114 are all located in the roller 212), and the driving motor 112 rotates to drive the roller 212 to rotate around its own axis through the connecting head 114, so that the roller 212 can achieve efficient cleaning of the surface to be cleaned during rotation.

[0249] As shown in FIG. 33, the first locking member 27 in the present embodiment further includes a supporting component 274, which is sleeved in the roller 212 and located at the end of the roller 212 away from the driving component 211 in the first direction. The supporting component 274 is connected to the connecting body 2731 and can rotate around the axis of the roller 212 relative to the connecting body 2731, so that the first locking body 271 connected to the connecting body 2731 does not interfere with the rotating movement of the roller 212. At the same time, the supporting component 274 and the driving component 211 are sleeved in the opposite ends of the roller 212 along its length direction to support the opposite ends of the roller 212, so that the opposite ends of the roller 212 in the first direction are not in a suspended state, which can improve the stability of the roller 212 during rotation and movement.

[0250] Specifically, as shown in FIG. 38 and FIG. 40, the support component 274 is provided with a second groove 2741 close to one side of the connecting body 2731, and the connecting body 2731 is arranged in the second groove 2741 and rotationally connected with the support component 274. Since the connecting body 2731 can rotate relative to the support component 274, in the process of rotating the roller 212, the support component 274 connected with the connecting body 2731 can rotate with the roller 212, so as not to interfere with the rotation of the roller 212, and improve the stability of the roller 212 in the process of moving and / or rolling. Moreover, since the connecting body 2731 is arranged in the second groove 2741 of the support component 274, the structure of the whole first lock piece 27 can be more compact and reliable. Moreover, when the support component 274 is arranged in the roller 212 to support the roller 212, the connecting body 2731 of the first lock piece 27 does not increase the distance between the roller 212 and the wall surface along the first direction, so as to realize the support of the roller 212 by the support component 274, and reduce the cleaning blind area, so that the roller 212 can clean along the edge, and improve the cleaning coverage of the roller 212.

[0251] As shown in FIG. 39, the connecting body 2731 is provided with a third groove 7312 away from one side of the first lock body 271. As shown in FIG. 40, the support component 274 includes a support body 2742, a protruding column 2743 and a first bearing 2744. The support body 2742 is arranged in the roller 212 and abuts against the inner wall surface of the roller 212, and the second groove 2741 is arranged on one side of the support body 2742 close to the connecting body 2731. The support body 2742 can include a cylindrical structure, a prism structure, and specifically can include a cylindrical structure matched with the inner wall surface of the roller 212, so as to arrange the support body 2742 in the roller 212 to support the roller 212, while avoiding the interference of the first lock piece 27 with the rotation of the roller 212 when the first lock piece 27 is buckled with the second support 232. The protruding column 2743 is arranged at the groove bottom of the second groove 2741 in the support body 2742. The inner periphery surface of the first bearing 2744 is fixed on the protruding column 2743 and located in the third groove 7312, and the outer periphery surface of the first bearing 2744 is connected with the inner wall surface of the third groove 7312. In the process of rotating the roller 212, the roller 212 will drive the support body 2742 to rotate, and since the connecting body 2731 is rotationally connected with the support body 2742 through the first bearing 2744, the first lock body 271 connected with the connecting body 2731 will not interfere with the rotational movement of the roller 212.

[0252] As shown in FIG. 29 and FIG. 32, the first support 231 in the embodiment is installed in the receiving cavity 11 through the installation support 24, and the first support 231 is provided with a second sliding space 2311, and the second support 232 can slide in the first direction in the second sliding space 2311. For this purpose, in order to improve the stability of the second support 232 after being slidably installed in the second sliding space 2311, the cleaning mechanism 20 provided in the embodiment further comprises a sliding connection assembly 28, which is arranged between the first support 231 and the second support 232. The second support 232 has a first sliding position connected to the second sliding space 2311 through the sliding connection assembly 28 under the action of an external force, and a second sliding position separated from the first support 231.

[0253] It can be seen that the second support 232 can be slidably installed in the second sliding space 2311 of the first support 231 through the sliding connection assembly 28. When it is necessary to take out the second support 232 for cleaning and maintenance of the second support 232, the second support 232 is pulled out of the body 10 at the opening 14 relative to the first support 231 in the first direction. When it is necessary to install the second support 232 back into the second sliding space 2311, the second support 232 is pushed into the second sliding space 2311 in the first direction and connected to the first sliding position in the second sliding space 2311 through the sliding connection assembly 28. It can be seen that the second support 232 is slidably connected to the second sliding space 2311 through the sliding connection assembly 28, which improves the convenience of extracting and installing the second support 232.

[0254] The sliding connection assembly 28 comprises a sliding groove 281 and a sliding boss 282. The sliding groove 281 is arranged on at least one side of the second sliding space 2311 in the third direction. The sliding boss 282 is arranged on the side of the second support 232 close to the first support 231 and corresponds to the sliding groove 281. Thus, when the second support 232 is installed into the second sliding space 2311, the sliding boss 282 is slidably inserted into the sliding groove 281 in the second sliding space 2311. When it is necessary to extract the second support 232, the second support 232 is pulled in the first direction until the sliding boss 282 is separated from the sliding groove 281. Of course, the sliding groove 281 in the embodiment can also be arranged on the side of the second support 232 close to the first support 231, and the sliding boss 282 is arranged in the second sliding space 2311, or the sliding boss 282 and the sliding groove 281 can be arranged on the second support 232 and the first support 231 respectively, so as to stably slidably connect the second support 232 to the second sliding space 2311.

[0255] In another embodiment of the present application, regardless of whether the cleaning member 21 can be extracted from the opening 14 of the body 10, the second bracket 232 can be extracted from the side of the body 10 without turning over the cleaning machine, thereby solving the problem that the garbage on the bracket cannot be cleaned completely because the bracket cannot be detached from the cleaning machine in the prior art.

[0256] In order to enable the second bracket 232 to be extracted alone, the cleaning device in the embodiment includes the body 10 and the cleaning mechanism 20. The body 10 is provided with the opening 14 and the receiving cavity 11. The opening 14 is in communication with the receiving cavity 11 and is located on at least one side of the receiving cavity 11 along the first direction. The cleaning mechanism 20 includes the cleaning member 21 and the second bracket 232. The cleaning member 21 is installed in the receiving cavity 11 and forms the second sliding space 2311 together with the body 10. The second bracket 232 is detachably connected to the body 10 and is located in the second sliding space 2311. The second bracket 232 can slide in the second sliding space 2311 along the first direction to be extracted from the opening 14.

[0257] It can be seen that, because the cleaning member 21 is installed in the receiving cavity 11 and forms the second sliding space 2311 together with the body 10, the second bracket 232 is detachably connected to the body 10 and is located in the second sliding space 2311. The second bracket 232 can slide in the second sliding space 2311 along the first direction to be extracted from the opening 14. That is, the second bracket 232 in the embodiment can be extracted from the opening 14 of the body 10 without turning over the body 10. The operation is simple, time-saving and labor-saving. The second bracket 232 extracted can be easily cleaned and maintained, and the garbage on the second bracket 232 can be completely cleaned.

[0258] In order to further improve the stability of the second bracket 232 relative to the first bracket 231 when the second bracket 232 is connected in the second sliding space 2311 and avoid the second bracket 232 from being separated from the first bracket 231 under the action of an external force, the embodiment further includes a second clamping portion on the first bracket 231 of the body 10. As shown in FIGS. 29, 41-43, the cleaning mechanism 20 further includes a second locking member 29. The second locking member 29 is arranged at one end of the second bracket 232 close to the opening 14. The second locking member 29 has a second locking position at which the second locking member 29 is clamped with the second clamping portion under the action of an external force and a second unlocking position at which the second locking member 29 is separated from the second clamping portion. Thus, when the second bracket 232 is connected in the second sliding space 2311, the second bracket 232 can be fixed with the first bracket 231 by the second locking member 29, thereby avoiding the second bracket 232 from sliding off the first bracket 231.

[0259] It can be seen that the second locking member 29 arranged on the second bracket 232 can stably and reliably lock the second bracket 232 in the second sliding space 2311, so as to ensure that the second bracket 232 connected with the cleaning member 21 will not fall off the body 10 during normal operation of the cleaning device, and improve the stability and firmness of the connection between the second bracket 232 and the first bracket 231. When the second bracket 232 needs to be taken out, the second locking member 29 can be unlocked to separate the second bracket 232 from the first bracket 231, so as to extract the second bracket 232 from the second sliding space 2311 along the first direction from the opening 14. Therefore, the second bracket 232 can be conveniently and quickly extracted in the lateral direction without reversing the body 10.

[0260] Secondly, since the second locking member 29 is located at the end of the second bracket 232 close to the opening 14 of the body 10, the operator can conveniently unlock the first locking member 27 to unlock the second locking member 29 to the second unlocking position away from the second clamping part. Moreover, since the second bracket 232 can slide relative to the first bracket 231 in the first direction in the second sliding space 2311, after unlocking the second locking member 29, the second bracket 232 located in the second sliding space 2311 can be extracted from the opening 14, thereby improving the convenience of taking out and installing the second bracket 232.

[0261] Specifically, in the embodiment, the cleaning mechanism 20 further comprises the first bracket 231 installed in the receiving cavity 11, the cleaning member 21 is connected with the first bracket 231 through the driving member 211 and surrounds the first bracket 231 to form the second sliding space 2311, the second clamping part is arranged on the first bracket 231, and the second bracket 232 is buckled with the second clamping part through the second locking member 29 to be locked in the second sliding space 2311. Therefore, when the second bracket 232 is slid into the second sliding space 2311 along the first direction after being taken out and cleaned, the second bracket 232 is firmly and reliably retained in the second sliding space 2311 by buckling the second clamping part on the first bracket 231 through the second locking member 29, so that the second bracket 232 is not easy to slide out of the second sliding space 2311.

[0262] The second locking member 29 in the embodiment comprises a second locking body 291 and a second locking portion 292. The second locking portion 292 is movably connected to the second locking body 291 to be locked with the second engaging portion. The second locking portion 292 can be switched between the second locking position and the second unlocking position by an external force. When the second support 232 needs to be extracted from the body 10 for cleaning and maintenance, an external force can be applied to the second locking portion 292 to separate the second locking portion 292 from the second engaging portion, so as to pull out the second support 232 from the second sliding space 2311. When the second support 232 needs to be installed in the second sliding space 2311, after the second support 232 is slid along the first direction to be connected to the second sliding space 2311 through the sliding connection assembly 28, an external force is applied to the second locking portion 292 to lock the second locking portion 292 with the second engaging portion, so as to stably lock the second support 232 in the second sliding space 2311, avoid the second support 232 from sliding or even falling down during the cleaning work of the cleaning member 21, and improve the stability of the connection between the second support 232 and the first support 231.

[0263] As shown in FIG. 27, the second support 232 is provided with a fourth groove 2324 at one end close to the opening 14, and the fourth groove 2324 is located in the second direction opposite to the first support 231. As shown in FIG. 43, the second locking body 291 is installed in the fourth groove 2324, so as to avoid increasing the installation space between the first support 231 and the second support 232 due to the existence of the second locking body 291, make the overall structure of the cleaning mechanism 20 installed in the receiving cavity 11 more compact, and improve the structural strength of the cleaning mechanism 20. Moreover, the fourth groove 2324 is located at one side of the first groove 2323 in the third direction, and the two are adjacent to each other, which is convenient for processing and improves the compactness of the structure of the second support 232.

[0264] Specifically, as shown in FIGS. 41-43, the second locking body 291 of the second locking member 29 comprises a cover plate 911, a pressing block 912, and a third elastic element 913. The cover plate 911 is buckled on the second support 232 and surrounds the second support 232 to form a second installation space. Specifically, the cover plate 911 is buckled on the fourth groove 2324 and surrounds the fourth groove 2324 to form the second installation space. The second installation space is provided with a first connecting opening 9111 and a second connecting opening 9112. The first connecting opening 9111 is located on one side of the second installation space along the third direction, and the second connecting opening 9112 is located on the side of the second installation space close to the second clamping portion. The pressing block 912 comprises a pressing portion 9121 and a main body portion 9122. The main body portion 9122 is located in the second installation space, and the pressing portion 9121 is connected to the side of the main body portion 9122 close to the first connecting opening 9111 and is located outside the second installation space, i.e., the pressing portion 9121 is located at the bottom of the second support 232 along the third direction. This not only reduces the transverse length of the second support 232 along the first direction, but also facilitates the operator to press the pressing portion 9121 along the third direction to unlock the second clamping portion 292.

[0265] Specifically, the second clamping portion 292 is connected to the side of the main body portion 9122 close to the second connecting opening 9112 and is buckled with the second clamping portion. The third elastic element 913 is connected between the side of the main body portion 9122 away from the pressing portion 9121 and the inner wall surface of the second installation space. When the second support 232 needs to be extracted, the main body portion 9122 can be pushed to drive the second clamping portion 292 to move away from the second clamping portion by pressing the pressing portion 9121 to overcome the elastic force of the third elastic element 913. When the second support 232 needs to be locked in the second sliding space 2311, the second clamping portion 292 can be buckled with the second clamping portion.

[0266] Specifically, referring to FIG. 43, the first bracket 231 is provided with a third connecting opening 2313 near the position of the second buckling part 292, the third connecting opening 2313 is in communication with the second connecting opening 9112, the second buckling part includes a second buckling groove 2312 (as shown in FIG. 29), and the second buckling groove 2312 is arranged on one side of the third connecting opening 2313 along the third direction. At this time, the second buckling part 292 includes a buckling protrusion structure matched with the second buckling groove 2312, and the width of the second buckling part 292 along the third direction is less than the width of the third connecting opening 2313 along the third direction, so that the second buckling part 292 can move along the third direction to leave the second buckling groove 2312 to achieve unlocking under the pushing action of the pressing block 912. The third elastic element 913 includes a spring, the axis of the spring is parallel to the third direction and is connected to the main body part 9122 of the pressing block 912 and the side of the second mounting space away from the main body part 9122 along the third direction. Thus, when it is needed to lock the second bracket 232 in the second sliding space 2311, the distance between the pressing part 9121 of the pressing block 912 and the third connecting opening along the third direction is adjusted until the second buckling part 292 can enter the third connecting opening and be buckled with the second buckling groove 2312 under the elastic force of the third elastic element 913. When it is needed to take out the second bracket 232, the pressing part 9121 is pushed along the compression direction of the third elastic element 913 to separate the second buckling part 292 from the second buckling groove 2312, and then the second bracket 232 can be extracted along the first direction.

[0267] As shown in FIG. 43, in order to improve the smoothness and accuracy of the process of pushing and pulling the second buckling part 292 by the pressing block 912, the second locking part 29 in the embodiment further includes a guide part 293 arranged in the second mounting space. The guide part 293 includes a first guide part and a second guide part. The first guide part is arranged on the main body part 9122, and the second guide part is arranged on the second bracket 232. The first guide part cooperates with the second guide part to guide the movement of the main body part 9122 relative to the second bracket 232 along the extension and retraction direction of the third elastic element 913, so as to avoid the main body part 9122 deviating from the predetermined track during the process of pushing and moving the main body part 9122 by the pressing part 9121, and thus improve the smoothness of the movement of the main body part 9122.

[0268] Specifically, the first guide member in the embodiment includes a guide hole 931 provided through the main body portion 9122 in the second direction, and the second guide member includes a fixing shaft 932. The length of the guide hole 931 extends in the third direction, the size of the fixing shaft 932 in the third direction is smaller than the size of the guide hole 931 in the third direction, the size of the fixing shaft 932 in the first direction is adapted to the size of the guide hole 931 in the first direction, and the fixing shaft 932 is provided in the guide hole 931 and connected with the cover plate 911. Thus, through the cooperation between the guide hole 931 and the fixing shaft 932, not only the stability of the main body portion 9122 in moving in the third direction against the third elastic element 913 can be guided, but also the moving distance of the main body portion 9122 can be limited.

[0269] It can be seen that the cleaning device provided in the embodiment can extract the cleaning member 21 and the second support 232 respectively, and when the cleaning member 21 and the second support 232 are both installed in the receiving cavity 11 of the body 10 to perform cleaning work under the driving of the cleaning device, the first driving assembly 22 can drive the cleaning member 21 to move to the first position in the first direction to extend out of the body 10 to abut against the corner of the wall for edge cleaning. Since the cleaning member 21 in the first position is flush with or exceeds the straight line 13 passing through the apex 12, the part of the cleaning member 21 extending out of the body 10 can clean all areas between the peripheral edge of the body 10 and the wall surface, and there is no case that even if the cleaning member 21 extends out of the body 10, there is a cleaning blind area between the body 10 and the wall surface, thereby improving the cleaning coverage of the cleaning device on the surface to be cleaned. When the cleaning device travels to a place without a corner area for cleaning, the first driving assembly 22 can drive the cleaning member 21 to retract into the receiving cavity 11 of the body 10. When the cleaning member 21 is a roller 212, the roller 212 retracted into the receiving cavity 11 cleans the surface to be cleaned along the travel path of the cleaning device, and when a corner area is encountered, the first driving assembly 22 drives the roller 212 to move to the first position extending out of the body 10 again to perform edge cleaning. Since the end of the roller 212 in the first position close to the wall surface is flush with or exceeds the straight line 13 passing through the apex 12 of the body 10, the roller 212 can fully clean the area between the peripheral edge of the body 10 and the wall surface, thereby improving the cleaning coverage of the roller 212.

[0270] When the cleaning device in the embodiment further includes the sewage tank 40, the clean water tank 30 and the squeegee 50, the sewage tank 40 is arranged on the body 10 and located on the side of the cleaning member 21 away from the second support 232, and the sewage tank 40 is used for collecting sewage on the cleaning member 21. The clean water tank 30 is arranged on the body 10 and located on the side of the cleaning member 21 away from the ground in the third direction, so that the clean water and / or cleaning liquid in the clean water tank 30 can be transmitted to the cleaning member 21 at a close distance through the pipeline to soak the cleaning member 21.

[0271] The wiper plate 50 is connected to the second support 232 and abuts against the surface of the cleaning member 21, and is used to scrape the dirty water on the cleaning member 21 and then deliver the dirty water to the dirty water tank 40 for temporary storage. In the process of scraping the dirty water, the garbage on the cleaning member 21 will be deposited on the side of the wiper plate 50 close to the cleaning member 21. Since the wiper plate 50 is difficult to be detached from the cleaning device, the garbage is also difficult to be cleaned from the wiper plate 50. In this embodiment, the wiper plate 50 is connected to the second support 232, so that when the second support 232 is extracted, the wiper plate 50 can also be extracted with the second support 232, thereby facilitating the full cleaning of the extracted wiper plate 50, and the cleaning effect of the wiper plate 50 is good.

[0272] Please refer to FIG. 26 and FIG. 27, the second support 232 of the embodiment is also provided with a water supply channel 2325 and a plurality of water spray openings 2326, and the water supply channel 2325 is laid in the second support 232 along the first direction. The water spray openings 2326 are arranged on the side of the second support 232 close to the cleaning member 21 and are in communication with the water supply channel 2325, and at least one or more water spray openings 2326 are arranged opposite to at least part of the cleaning member 21 extending out of the body 10. When the water supply channel 2325 is supplied with water and / or cleaning liquid, the water and / or cleaning liquid can be sprayed through the water spray openings 2326 to the cleaning member 21 located in the first sliding space 2321 of the second support 232, so that the cleaning member 21 is fully wetted and self-cleaning to better clean the surface to be cleaned, and the cleaning effect and cleaning efficiency of the cleaning member 21 on the surface to be cleaned are improved. The water and / or cleaning liquid can be stored in the clean water tank 30, and the clean water tank 30 is in communication with the water supply channel 2325 through a connecting pipeline to inject clean water, cleaning liquid, etc. into the water supply channel 2325. At the same time, since at least one or more water spray openings 2326 are arranged opposite to at least part of the cleaning member 21 extending out of the vertex 12, when the cleaning member 21 sweeps along the edge, the part of the cleaning member 21 extending out of the vertex 12 can also be wetted and self-cleaned to achieve better cleaning effect and cleaning efficiency. The second support 232 is provided with a sealing cover 2327 covering the water supply channel 2325, and the sealing cover 2327 is provided with a water inlet nozzle 2328 in communication with the water supply channel 2325, and the water inlet nozzle 2328 can be in communication with the clean water tank 30 through a connecting pipeline, so that the clean water and cleaning liquid in the clean water tank 30 can enter the water supply channel 2325 through the water inlet nozzle 2328.

[0273] As the existing wiper 50 can cause garbage on the cleaning member 21 to be discharged from the drain port 53 of the wiper 50 into the sump 40 when the wiper 50 scrapes the sewage on the cleaning member 21 and discharges the sewage into the sump 40, the garbage can block the sewage inlet of the sump 40, thereby reducing the sewage collection efficiency of the sump 40 or causing the sewage to overflow the sump 40 to contaminate the surface to be cleaned again. To this end, as shown in FIGS. 43 and 44, in this embodiment, the wiper 50 of the cleaning device includes a wiper body 51 connected to the connecting bracket 23. Specifically, the wiper body 51 is connected to the second bracket 232. The wiper body 51 has oppositely arranged first and second side surfaces 511 and 512. The wiper body 51 is provided with a wiper portion 52, a drain port 53, and a filtering structure. The wiper portion 52 is protruded from the first side surface 511 and located at a side edge of the drain port 53 in the second direction, and abuts against the cleaning member 21, so that the wiper portion 52 can scrape the sewage on the cleaning member 21. The drain port 53 is arranged through the thickness direction of the wiper body 51 to at least guide the sewage on the first side surface 511 to the second side surface 512, so that the sewage is guided from the second side surface 512 to the sump 40. The filtering structure is arranged in the drain port 53 to filter the garbage during the process of guiding the sewage from the drain port 53 to the second side surface 512. The garbage filtered by the filtering structure will not enter the sump 40, thereby improving the sewage collection efficiency of the sump 40 and avoiding the sewage from flowing to the ground to cause secondary pollution due to the failure of the sump 40 to collect the sewage in time.

[0274] The filtering structure in this embodiment can specifically include a filter screen arranged in the drain port 53, or can include a plurality of micro filter holes 54 having a size smaller than that of the drain port 53. When the filtering structure includes the plurality of filter holes 54, the plurality of filter holes 54 can be arranged on the wiper body 51 and arranged through the wiper body 51. At this time, the filter holes 54 can guide the sewage from the first side surface 511 to the second side surface 512 as the drain port 53, and then discharge the sewage into the sump 40. The second side surface 512 is provided with a water outlet 55 on the side away from the first bracket 231 in the second direction. The sewage guided by the filter holes 54 to the second side surface 512 flows into the sump 40 through the water outlet 55. Moreover, the axis of the filter hole 54 can be inclined toward the water outlet 55, so that the sewage can be better guided to the water outlet 55, and then discharged into the sump 40 through the water outlet 55.

[0275] The water outlet 55 in the embodiment can be arranged at the middle position region of the plate body 51. However, in some embodiments of the present application, since the wiper plate 50 needs to extend out of the body 10 together with the cleaning member 21 to clean the cleaning blind area (such as the blind area between the body 10 and the wall, obstacles, etc.), in order to ensure that the sewage can still be discharged into the sump 42 of the sewage tank 40 after the wiper plate 50 extends out of the body 10 together with the cleaning member 21, the plate body 51 can extend out of the side of the body 10, and the water outlet 55 in the embodiment can be arranged at the side of the plate body 51 away from the side where the plate body 51 extends out. Specifically, the distance from the water outlet 55 to one end of the plate body 51 in the first direction can be less than the distance from the water outlet 55 to the other end of the plate body 51 in the first direction, so that even if the end of the plate body 51 away from the water outlet 55 extends out of the body 10, the water outlet 55 can still correspond to the sump 42, so that the sewage scraped off the cleaning member 21 by the wiper plate 50 can be discharged into the sump 42, and the sewage discharged from the water outlet 55 of the wiper plate 50 can be prevented from falling to the ground when the cleaning member 21 extends out of the body 10.

[0276] The length of the plate body 51 in the embodiment extends in the length direction of the cleaning member 21 (i.e., the roller 212). The length direction of the plate body 51 is the first direction in the embodiment. In order to improve the filtration efficiency of the sewage scraped off by the wiper part 52, the plurality of filter holes 54 in the embodiment are arranged in at least one row (such as one row, two rows, three rows, four rows, etc.) in the length direction of the plate body 51, so that the plurality of filter holes 54 in the at least one row can simultaneously filter the sewage, thereby improving the filtration efficiency of the sewage. The filtered garbage can be left in the space between the wiper part 52 and the overflow hole, or directly fall to the ground. When the garbage falls to the ground, it can be swept and collected into the dust box 70 by the middle sweeping assembly 80 of the cleaning device. Since most of the garbage has been swept and collected by the side brush assembly 60 and the middle sweeping assembly 80 before the cleaning member 21 cleans the surface to be cleaned, the garbage on the cleaning member 21 is generally not too much and has a small volume, so that the garbage scraped off by the wiper part 52 from the cleaning member 21 can be temporarily left in the space between the wiper part 52 and the filter hole 54. Since the second bracket 232 is detachable and removable, the wiper plate 50 connected with the second bracket 232 can also be removed together with the second bracket 232, so that the garbage left on the first side surface 511 of the removed wiper plate 50 can be cleaned.

[0277] The filter holes 54 in the embodiment can include at least one of a circular hole, a square hole, and a diamond hole. The maximum width of the filter holes 54 is not less than 1 mm and not greater than 2 mm, that is, the maximum width of the filter holes 54 can include one of 1 mm, 1.1 mm, 1.2 mm, 1.3 mm, 1.4 mm, 1.5 mm, 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, 2 mm, etc. Thus, the garbage is filtered through the filtering of the above size range. The filter holes 54 in the embodiment are preferably circular holes, which are convenient to process. When the filter holes 54 include circular holes, the maximum width is the diameter of the filter holes 54, that is, the diameter of the filter holes 54 is not less than 1 mm and not greater than 2 mm. The minimum spacing between the two adjacent filter holes 54 is not less than 1 mm, and the maximum spacing between the two adjacent filter holes 54 is not greater than 2 mm, that is, the spacing between the two adjacent filter holes 54 is between 1 mm and 2 mm, and the spacing between the two adjacent filter holes 54 can specifically include one of 1 mm, 1.1 mm, 1.2 mm, 1.3 mm, 1.4 mm, 1.5 mm, 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, 2 mm, etc. If the spacing between the two adjacent filter holes 54 is too small (e.g., less than 1 mm), the structural strength of the wiper 52 will be reduced, and if the spacing is too large, the filtering efficiency of the garbage will be poor. Therefore, the spacing between the two adjacent filter holes 54 in the embodiment is set within the above range, which can ensure the structural strength of the wiper 50 and improve the filtering efficiency of the filtering structure on the garbage.

[0278] As shown in FIGS. 46 and 47, the sewage tank 40 of the present embodiment is arranged on the body 10 and located at the side of the cleaning member 21 away from the connecting bracket 23. The sewage tank 40 comprises a tank body 41 and a water collecting groove 42. The tank body 41 is internally provided with a liquid storage cavity 411. The top of the tank body 41 is provided with a suction passage 412 communicating with the liquid storage cavity 411. The liquid storage cavity 411 comprises a top surface 4111, which is the top internal cavity wall of the liquid storage cavity 411 close to the top of the clean water tank 30 in the third direction. The water collecting groove 42 is arranged outside the tank body 41 and below the squeegee 50. The water collecting groove 42 is used to collect the sewage scraped off the cleaning member 21 by the squeegee 50. A connecting passage 43 is arranged between the water collecting groove 42 and the liquid storage cavity 411. The port of the connecting passage 43 communicating with the water collecting groove 42 has a predetermined distance from the top surface 4111. The suction passage 412 of the sewage tank 40 of the present embodiment can be communicated with a negative pressure extraction device. The negative pressure extraction device is used to extract negative pressure from the liquid storage cavity 411 so that the air pressure of the liquid storage cavity 411 is lower than that of the water collecting groove 42. When the water collecting groove 42 collects a certain amount of sewage and the air pressure of the liquid storage cavity 411 is lower than that of the water collecting groove 42, the sewage will enter the liquid storage cavity 411 through the connecting passage 43 for storage. Since the liquid storage cavity 411 is a relatively closed structure and the port of the connecting passage 43 communicating with the water collecting groove 42 has a predetermined distance from the top surface 4111, the sewage tank 40 is not prone to water spilling under the conditions of turning over the cleaning device body 10 or performing a large intensity shaking operation, thereby avoiding the outflow of sewage to cause secondary pollution or damage to the electrical devices in the cleaning device.

[0279] As shown in FIG. 23, the negative pressure extraction device of the present embodiment can specifically comprise a first vacuum pump 44 and an air path connecting pipe 45. The first vacuum pump 44 is installed in the body 10 and located at one side of the dust box 70. The air path connecting pipe 45 is connected between the suction port of the first vacuum pump 44 and the suction passage 412. Starting the first vacuum pump 44 can perform vacuum extraction operation on the liquid storage cavity 411 of the sewage tank 40, so as to collect the sewage in the water collecting groove 42 into the liquid storage cavity 411 in time, preventing the sewage from spilling out to avoid secondary pollution. Specifically, since the sewage tank 40 is installed on the cleaning member 21 side through the mounting shell 15 of the body 10, the mounting shell 15 is provided with a second connecting hole 151 adapted to the air path connecting pipe 45 at the position close to the suction passage 412 of the sewage tank 40. The second connecting hole 151 communicates with the suction passage 412 and is provided with a sealing ring 152 at the communicating position of the second connecting hole 151 and the suction passage 412, so as to improve the air tightness between the air path connecting pipe 45 and the suction passage 412 during the negative pressure extraction process.

[0280] Further, the mounting bracket 24 in the embodiment is rotatably connected with the body 10 and can rotate away from the surface to be cleaned, and a torsion spring is in abutment between the mounting bracket 24 and the body 10, which can apply a force to the mounting bracket 24 towards the surface to be cleaned, so that the mounting bracket 24 can better abut against the surface to be cleaned under the pushing force of the torsion spring when the cleaning member 21 is normally working, thereby improving the cleaning strength of the cleaning member 21 when cleaning the surface to be cleaned. The cleaning device further comprises a lifting rope 243 and a mounting block 242, one end of the lifting rope 243 is connected with a fixing block, and the other end of the lifting rope 243 will be connected with a second driving assembly arranged in the body 10. The mounting block 242 is arranged on the mounting bracket 24 and has a gap with the mounting bracket 24. Referring to FIGS. 48 and 49, the side of the mounting block 242 close to the mounting bracket 24 is provided with an abutment groove 2421, and the mounting block 242 is further provided with a strip-shaped opening groove 2422 for the lifting rope 243 to pass through. The strip-shaped opening groove 2422 is in communication with the abutment groove 2421, the fixing block is matched with the inner wall surface of the abutment groove 2421 and is in abutment in the abutment groove 2421 under the pulling force of the lifting rope 243. Thus, the lifting rope 243 and the mounting block 242 are not locked by using a locking member, and the operation is convenient and the connection is reliable. The second driving assembly is installed in the body 10 and can comprise a motor (which is different from the motor as the first driving member 221) and a roller, the other end of the lifting rope 243 is wound on the roller, and the motor drives the roller to rotate to wind the lifting rope 243. During the winding of the lifting rope 243, since the fixing block is in abutment in the abutment groove 2421, the mounting bracket 24 can be pulled to rotate away from the surface to be cleaned, so that the cleaning member 21 is separated from the surface to be cleaned, thereby avoiding the cleaning member 21 from contacting the carpet to pollute the carpet when the surface to be cleaned is a ground surface (such as a carpet) which is not suitable for cleaning by the cleaning member 21.

[0281] The second embodiment of the present application provides a control method of a cleaning device, which is described by taking the cleaning device as an example. The structure of the cleaning device is specifically described in the first embodiment of the present application, which will not be repeated here. Referring to FIG. 50, the control method provided by the embodiment comprises the following steps:

[0282] Step S11: controlling the motor of the first driving assembly 22 to rotate according to the received first signal, so as to drive the cleaning member 21 of the cleaning device to move to one of the first position and the second position.

[0283] Step S12: in response to the second signal when the cleaning member 21 reaches one of the first position and the second position, controlling the motor to stop rotating, and when the motor is started again, controlling the motor to rotate in the direction opposite to the last rotating direction, so as to drive the cleaning member 21 to move to the other of the first position and the second position.

[0284] Therefore, the embodiment can drive the cleaning member 21 to switch between the first position and the second position by controlling the motor of the first driving assembly 22 to rotate, thereby improving the cleaning coverage of the cleaning member 21 on the surface to be cleaned.

[0285] The second signal in the embodiment includes a current value generated by the motor. In step S12, the step of controlling the motor to stop rotating can specifically include: determining whether the current value is greater than a predetermined value, and if so, controlling the motor to stop rotating. When the first limiting member 251 and the second limiting member 252 of the cleaning device abut, the motor can generate a larger current due to the occurrence of a locked-rotor phenomenon. At this time, in order to avoid the energy consumption caused by the locked-rotor phenomenon of the motor to the cleaning device, and to avoid the performance degradation or damage of the motor caused by the long-term locked-rotor phenomenon, the embodiment can detect the current value generated by the motor, and when the current value of the motor is greater than a predetermined value, control the motor to stop rotating. When the motor is started again, the motor is controlled to rotate in the direction opposite to the last rotation direction (for example, the motor is controlled to reverse rotation when the last rotation direction of the motor is forward rotation), so as to drive the cleaning member 21 to move reversely to the first position or the second position. The control mode is reliable and timely.

[0286] The second signal in the embodiment can also include a trigger signal that the first limiting switch 253 or the second limiting switch 254 is triggered by the second transmission member 223 of the first driving assembly 22. In step S12, the step of controlling the motor to stop rotating can also include: in response to the received trigger signal, controlling the motor to stop rotating. That is, the embodiment can control the motor to stop rotating by the received trigger signal that the first limiting switch 253 or the second limiting switch 254 is triggered, so that the cleaning member 21 can be stably and reliably stopped at the first position or the second position. Moreover, the embodiment can control the motor to stop rotating by combining the received trigger signal with the detection of the current change of the motor, which is not only more accurate and reliable, but also can ensure that the cleaning member 21 can always be stopped at the specified first position or second position.

[0287] The third embodiment of the present application also provides a base station, which includes a cleaning device. The structure of the cleaning device is specifically as disclosed in the first embodiment of the present application, which will not be described here again.

[0288] Please refer to FIGS. 51 to 63, another embodiment of the present application provides a sewage tank 40. The sewage tank 40 in the embodiment can be arranged in a cleaning device. As shown in FIGS. 51 and 52, the cleaning device mainly includes a body 10 and a cleaning mechanism 20. The body 10 is provided with a receiving cavity 11. The cleaning mechanism 20 includes a cleaning member 21 and a squeegee 22. The cleaning member 21 and the squeegee 22 are both installed in the receiving cavity 11, and the squeegee 22 abuts against the cleaning member 21. The sewage tank 40 is arranged in the body 10 and located at one side of the cleaning member 21. The sewage tank 40 is used to collect the sewage scraped off from the cleaning member 21 by the squeegee 22.

[0289] Specifically, please see FIGS. 53-57, the sewage tank 40 includes a tank body 41 and a water collecting groove 43 for receiving the sewage scraped off the cleaning member 21 by the squeegee 22. The tank body 41 is provided with a storage cavity 411, and the top of the tank body 41 is provided with a suction passage assembly 42 communicating with the storage cavity 411. The water collecting groove 43 is arranged outside the tank body 41 and communicates with the storage cavity 411. In this embodiment, a negative pressure suction device 47 can be connected to the suction passage assembly 42 to perform a negative pressure suction operation on the storage cavity 411 by the negative pressure suction device 47, so that the air pressure in the storage cavity 411 is lower than that in the water collecting groove 43, so that the sewage in the water collecting groove 43 can be quickly sucked into the storage cavity 411 under the action of the negative pressure in the storage cavity 411 for storage. The sewage can be fully sucked into the storage cavity 411, and there is no sewage left in the water collecting groove. The sewage tank 40 of the relative gravity collection mode has better structural sealing, and the sewage is less likely to leak out. The sewage collection efficiency and effect are better.

[0290] Moreover, since the suction passage assembly 42 is located at the top of the tank body 41, it can ensure that the storage cavity 411 stores a certain amount of sewage without contacting the suction passage assembly 42, preventing the sewage from entering the suction passage assembly 42 and affecting the negative pressure suction operation. The storage cavity 411 includes a top surface 4111 located at the top end of the tank body 41 and inside the storage cavity 411. The water collecting groove 43 is arranged outside the tank body 41, and a connecting passage 44 is arranged between the water collecting groove 43 and the storage cavity 411. The port of the connecting passage 44 communicating with the water collecting groove 43 has a predetermined distance from the top surface 4111. Thus, after the sewage tank 40 is turned over by 180 degrees, the sewage in the sewage tank 40 is less likely to flow out of the storage cavity 411 due to the predetermined distance between the port of the connecting passage 44 communicating with the water collecting groove 43 and the top surface 4111. The storage of the sewage is more secure and reliable before the cleaning equipment enters the base station for the base station to recover the sewage.

[0291] It can be seen that the sewage tank 40 provided in the embodiment mainly comprises a tank body 41 and a water collecting tank 43 arranged outside the tank body 41. The tank body 41 is internally provided with a liquid storage cavity 411. The top of the tank body 41 is provided with a suction passage assembly 42 in communication with the liquid storage cavity 411. The liquid storage cavity 411 comprises a top surface 4111 located at the top end of the tank body 41 and inside the liquid storage cavity 411. The water collecting tank 43 and the liquid storage cavity 411 are provided with a connecting passage 44 therebetween, so that the sewage collected in the water collecting tank 43 can enter the liquid storage cavity 411 for storage along the connecting passage 44. Since the port of the connecting passage 44 in communication with the water collecting tank 43 has a predetermined distance from the top surface 4111, after the cleaning equipment provided with the sewage tank 40 is turned over, the top surface 4111 of the liquid storage cavity 411 will be located at the bottom after the cleaning equipment is turned over, and the port of the connecting passage 44 in communication with the water collecting tank 43 will be located at the upper part after the cleaning equipment is turned over, that is, the water level of the port of the connecting passage 44 in communication with the water collecting tank 43 is higher than that of the top surface 4111. At this time, the sewage in the sewage tank 40 will not easily flow out of the liquid storage cavity 411. Even if the sewage tank 40 is shaken with great intensity, the sewage tank 40 is not prone to water spilling and leaking, thereby avoiding secondary pollution caused by sewage flowing out and even damaging electrical devices in the cleaning equipment.

[0292] As shown in FIGS. 51 and 52, the body 10 of the cleaning equipment can comprise a mounting shell 13. The cleaning equipment further comprises a walking assembly 80, a clean water tank 30, an edge brush assembly 50, a dust box 60, and a middle sweeping assembly 70. The mounting shell 13 is the main body frame of the cleaning equipment. The clean water tank 30 and the sewage tank 40 are both connected to the body 10 through the mounting shell 13. The walking assembly 80 is arranged at the bottom of the mounting shell 13 and is located in the receiving cavity 11. The walking assembly 80 is used to drive the cleaning equipment to travel to the area to be cleaned for cleaning work. The clean water tank 30 is used to provide clean water to the cleaning element 21 to soak the cleaning element 21 and improve the cleaning effect of the cleaning element 21 on the surface to be cleaned. The clean water tank 30 is provided with a clean water inlet. When the cleaning equipment enters the base station, the clean water inlet is in communication with the clean water bucket of the base station, so that the base station injects clean water into the clean water tank 30. The receiving cavity 11 is arranged at the bottom of the mounting shell 13. The water collecting tank 43 of the sewage tank 40 is located below the squeegee 22 to collect the sewage scraped off the cleaning element 21 by the squeegee 22. The tank body 41 of the sewage tank 40 is provided with a sewage suction passage 45. The sewage suction passage 45 is used to communicate with the sewage bucket of the base station when the cleaning equipment enters the base station, so as to discharge the sewage stored in the liquid storage cavity 411 into the sewage bucket of the base station. The edge brush assembly 50 is one of the core components of the cleaning equipment and is installed at the edge position of the bottom of the mounting shell 13 to sweep the areas such as corners and walls that are usually ignored.

[0293] The middle sweeping assembly 70 of the cleaning device is arranged at the bottom surface of the mounting shell 13 and is located in the middle region of the receiving cavity 11. The middle sweeping assembly 70 is the main sweeping component of the cleaning device and is used to sweep the garbage on the travel path of the cleaning device into the dust box 60. The dust box 60 is arranged at the position close to the middle sweeping assembly 70 of the mounting shell 13. The body 10 is provided with a second vacuum pump 63 for performing negative pressure extraction on the dust box 60. The dust box 60 can suck and temporarily store the garbage swept by the middle sweeping assembly 70 and the brush assembly 50 through the negative pressure extraction operation of the second vacuum pump 63 on the dust box 60. Moreover, the bottom of the body 10 of the embodiment is further provided with a suction dust collection port 61 and a blowing dust collection port 62 which are in communication with the dust box 60. The base station is provided with a dust collection fan. After the cleaning device moves to the base station, the suction dust collection port 61 and the blowing dust collection port 62 are in communication with the dust collection fan, so as to recycle the garbage in the dust box 60 into the dust collection box of the base station. In addition, the body 10 is further provided with a return charging indicator 14. The return charging indicator 14 is used to indicate that the cleaning device needs to return to the base station to supplement the power due to insufficient power.

[0294] Please refer to FIGS. 54-56. The suction passage assembly 42 arranged at the top of the sewage tank 40 includes a suction hole 421 and a waterproof connecting pipeline 423. The suction hole 421 is arranged through the tank 41 to communicate the liquid storage cavity 411 in the tank 41 with the external environment. The waterproof connecting pipeline 423 is in communication with the suction hole 421 and is used to prevent the liquid in the liquid storage cavity 411 from flowing out along the suction hole 421. Thus, although the negative pressure extraction device 47 can be directly communicated with the suction hole 421 to perform negative pressure extraction operation on the liquid storage cavity 411, the negative pressure extraction device 47 is preferably communicated with the waterproof connecting pipeline 423 because the risk of sewage flowing into the negative pressure extraction device 47 along the suction hole 421 is relatively large. Since the waterproof connecting pipeline 423 can prevent the liquid in the liquid storage cavity 411 from flowing out along the suction hole 421, it can also prevent sewage from entering the negative pressure extraction device 47, thereby avoiding pollution and even damage of the negative pressure extraction device 47 by the sewage, improving the service life of the negative pressure extraction device 47, and further ensuring the sewage collection efficiency of the entire sewage tank 40.

[0295] Specifically, as shown in FIG. 56, the waterproof connecting pipeline 423 in the embodiment can include a connecting piece 4231 and a cover part 4232. The connecting piece 4231 is inserted into the suction hole 421, and a vent hole 2313 is arranged through the connecting piece 4231, which connects the liquid storage cavity 411 and the outside of the box body 41. The end of the connecting piece 4231 away from the liquid storage cavity 411 is located outside the box body 41, and the negative pressure extraction device 47 is connected to the end of the connecting piece 4231 outside the box body 41 and communicates with the vent hole 2313 in the connecting piece 4231. The cover part 4232 is connected to the connecting piece 4231 and located in the liquid storage cavity 411, and a first waterproof groove 2321 is arranged on the side of the cover part 4232 close to the top surface 4111, and the vent hole 2313 communicates with the first waterproof groove 2321. The groove of the first waterproof groove 2321 abuts against the top surface 4111 and has a predetermined gap with the top surface 4111, so that the liquid storage cavity 411 can communicate with the negative pressure extraction device 47 along the predetermined gap, and it is ensured that the negative pressure extraction device 47 can extract air from the liquid storage cavity 411 until the air pressure in the liquid storage cavity 411 is lower than the air pressure of the water collecting groove 43 (since the water collecting groove 43 is located outside the box body 41, the air pressure of the water collecting groove 43 is atmospheric pressure). Since the groove of the first waterproof groove 2321 abuts against the top surface 4111, i.e., the groove of the first waterproof groove 2321 will be away from the sewage water surface in the liquid storage cavity 411, in the case that the sewage water surface is lower than the top surface 4111, the sewage will not enter the first waterproof groove 2321 along the groove of the first waterproof groove 2321, and will not enter the negative pressure extraction device 47 along the vent hole 2313 communicating with the first waterproof groove 2321, which improves the waterproof performance of the negative pressure extraction device 47 and avoids the negative pressure extraction device 47 being polluted or even damaged by the flowing sewage.

[0296] Please refer to Figure 61, the negative pressure extraction device 47 in the embodiment can specifically include an air extraction component and an air path connecting pipe 472. The air extraction component includes an air extraction port, and the air path connecting pipe 472 is connected between the air extraction port and the suction passage assembly 42, so that the air extraction component can perform a negative pressure extraction operation on the liquid storage cavity 411 through the air path connecting pipe 472. The air path connecting pipe 472 is specifically connected with the waterproof connecting pipe 423. Since the waterproof connecting pipe 423 can prevent the liquid in the liquid storage cavity 411 from flowing into the air path connecting pipe 472 through the suction hole 421, the air extraction component is prevented from being polluted by sewage. The air extraction component in the embodiment can include one of a fan, a first vacuum pump 471, and the like. Since the fan can provide a smaller negative pressure, it is mainly applied to occasions with low vacuum degree requirements. Since the embodiment has a higher requirement for the vacuum degree of the liquid storage cavity 411, it is ensured that the sewage in the water collecting tank 43 can be efficiently and timely sucked into the liquid storage cavity 411 when the air pressure in the liquid storage cavity 411 is lower than that in the water collecting tank 43. Therefore, the air extraction component in the embodiment preferably includes the first vacuum pump 471, which can specifically include one of a liquid ring type, a rotary vane pump, a dry screw vacuum pump, and the like. The first vacuum pump 471 can extract air from the liquid storage cavity 411 to obtain a vacuum in the liquid storage cavity 411, so that the sewage in the water collecting tank 43 can be efficiently and timely sucked into the liquid storage cavity 411 for storage.

[0297] As shown in Figure 56, in the embodiment, the connecting component 4231 of the waterproof connecting pipe 423 includes a connecting section 2311 and a mounting section 2312. The connecting section 2311 is inserted into the suction hole 421 and connected with the cover portion 4232. The mounting section 2312 is connected with the end of the connecting section 2311 away from the cover portion 4232 and located outside the box body 41. The ventilation hole 2313 is arranged through the connecting section 2311 and the mounting section 2312, so that when the mounting section 2312 is connected with the air path connecting pipe 472 of the negative pressure extraction device 47, the liquid storage cavity 411 can be connected with the air path connecting pipe 472 through the ventilation hole 2313. The connecting component 4231 has a simple structure and is convenient to install.

[0298] To further improve the waterproof performance of the waterproof connecting pipe 423 and prevent sewage from entering the negative pressure extraction device 47, a second waterproof groove is arranged at the position of the top surface 4111 of the liquid storage cavity 411 close to the first waterproof groove 2321, and the slot of the first waterproof groove 2321 abuts against the groove bottom of the second waterproof groove. That is, the predetermined gap between the first waterproof groove 2321 and the top surface 4111 is located at the groove bottom of the second waterproof groove, and the groove wall of the second waterproof groove can prevent sewage from splashing into the predetermined gap, further ensuring that the sewage cannot enter the negative pressure extraction device 47 along the connecting component 4231 from the predetermined gap.

[0299] As shown in FIG. 55 and FIG. 59, the water collecting groove 43 in the embodiment is located at the bottom of the box 41, and the water collecting groove 43 comprises a first groove wall 431 close to the liquid storage cavity 411. The connecting channel 44 comprises a flow guide hole 441 which is arranged through the first groove wall 431 to communicate the water collecting groove 43 with the liquid storage cavity 411. Since the water collecting groove 43 is located at the bottom of the box 41, the water collecting groove 43 has a certain distance from the top surface 4111 of the liquid storage cavity 411, so that the port of the flow guide hole 441 communicating with the water collecting groove 43 and the top surface 4111 have a predetermined distance, and the water level of the flow guide hole 441 is higher than the water level of the top surface 4111 after the sewage tank 40 is turned over, so that the sewage in the liquid storage cavity 411 is not easy to flow out from the flow guide hole 441.

[0300] The axis of the flow guide hole 441 is inclined towards the direction close to the top surface 4111. Thus, in the case that the sewage tank 40 is not turned over, after the sewage is sucked into the liquid storage cavity 411 along the flow guide hole 441, the sewage is not easy to flow back to the water collecting groove 43 along the flow guide hole 441.

[0301] If the port of the connecting channel 44 located in the liquid storage cavity 411 is low, such as located at the bottom of the liquid storage cavity 411, after the sewage enters, the port of the connecting channel 44 located in the liquid storage cavity 411 can be covered by the sewage, affecting the subsequent entry of the sewage, especially when there are solid waste such as soil particles in the sewage, after the port of the connecting channel 44 located in the liquid storage cavity 411 is blocked, the sewage is difficult to enter the liquid storage cavity 411. For this purpose, the connecting channel 44 in the embodiment further comprises a connecting pipe 442 located in the liquid storage cavity 411. The connecting pipe 442 is in communication with the port of the flow guide hole 441 located in the liquid storage cavity 411, and the end of the connecting pipe 442 away from the flow guide hole 441 is closer to the top surface 4111 than the flow guide hole 441, so as to improve the water inlet position of the sewage in the liquid storage cavity 411 through the connecting pipe 442, and avoid the water inlet port of the connecting channel 44 located in the liquid storage cavity 411 from being covered by the sewage.

[0302] Specifically, referring to FIG. 55, FIG. 57 and FIG. 59, the connecting pipe 442 comprises a first connecting section 4421 which is in communication with the flow guide hole 441 and is arranged in the direction close to the top surface 4111. Thus, in the case that the sewage tank 40 is not turned over, the first connecting section 4421 can further avoid the backflow of the sewage along the connecting pipe 442 back to the water collecting groove 43.

[0303] The connecting pipe 442 in the embodiment also includes a second connecting section 4422, which includes a first port 4221 and a second port 4222, the first port 4221 being in communication with the first connecting section 4421, and the second port 4222 being closer to the top surface 4111 than the first port 4221. As shown in FIG. 57, the second connecting section 4422 is in a bent shape and has the second port 4222 farther away from the first connecting section 4421 than the first port 4221, so as to pull up the water inlet position of the sewage in the liquid storage cavity 411, and the second port 4222 is less likely to be covered by the sewage, ensuring that the subsequent sewage can smoothly enter the liquid storage cavity 411, and the bent second connecting section 4422 is also less likely to cause the sewage to flow to the outside.

[0304] As shown in FIGS. 58-60, the water collecting groove 43 in the embodiment is provided with a flow guide groove 432 in communication with the flow guide hole 441. When the water collecting groove 43 is located at the bottom of the box body 41, since the flow guide hole 441 is in communication with the flow guide groove 432 at the bottom of the water collecting groove 43, it can be ensured that the flow guide hole 441 has a relatively large predetermined distance between the port in the liquid storage cavity 411 and the top surface 4111, and when the liquid storage cavity 411 of the sewage tank 40 stores a large amount of sewage, the sewage is less likely to flow out of the liquid storage cavity 411 when the sewage tank 40 is turned over.

[0305] As shown in FIG. 60, the bottom of the water collecting groove 43 includes a first groove surface 433 and a second groove surface 434, which are respectively located at opposite sides of the flow guide groove 432. The side of the first groove surface 433 away from the flow guide groove 432 is inclined upward toward the direction close to the top surface 4111, and the side of the second groove surface 434 away from the flow guide groove 432 is inclined upward toward the direction close to the top surface 4111. Thus, after the sewage enters the water collecting groove 43, it will be quickly guided to the flow guide groove 432 along the first groove surface 433 and the second groove surface 434, so as to cause the sewage to gather at the flow guide groove 432, ensuring that all the sewage is sucked into the liquid storage cavity 411.

[0306] In addition, as shown in FIG. 51, FIG. 55 and FIG. 61, the box 41 of the present embodiment is further provided with a sewage suction passage 45, which is in communication with the liquid storage cavity 411. When the cleaning device enters the base station, the sewage suction passage 45 is used to connect the sewage tank 40 with the sewage bucket of the base station, so that the base station can recycle and process the sewage in the liquid storage cavity 411 of the sewage tank 40 (the processing methods include directly discharging into the sewer, or purifying the sewage and then delivering it to the clean water tank 30 of the cleaning device for secondary use). The sewage tank 40 further comprises a one-way valve, which is arranged in the sewage suction passage 45. When the sewage suction passage 45 is connected with the sewage bucket of the base station, the one-way valve is opened. During the process of collecting sewage by the negative pressure extraction device 47, the one-way valve is always closed to prevent the leakage of the liquid storage cavity 411 from affecting the negative pressure extraction effect. Moreover, to improve the air tightness of the liquid storage cavity 411, a sealing ring 132 can be arranged at the installation gap between the one-way valve and the sewage suction passage 45.

[0307] As shown in FIG. 55, FIG. 57 and FIG. 61, the sewage tank 40 of the present embodiment further comprises a water level detection assembly 46, which is used to detect the amount of liquid in the liquid storage cavity 411, so that when the amount of sewage in the liquid storage cavity 411 reaches a certain amount, the controller of the cleaning device controls the negative pressure extraction device 47 to stop working and makes the cleaning device return to the base station for recycling and processing of the sewage. At the same time, by monitoring the amount of sewage through the water level detection assembly 46, it can be avoided that the liquid storage cavity 411 is damaged due to storing too much amount of sewage, or the first vacuum pump 471 is damaged due to the sewage entering the negative pressure extraction device 47 under pressure. The amount of liquid can be measured by the height or volume of the liquid in the sewage tank 40, and usually the amount of liquid in the sewage tank 40 is measured by the height of the liquid.

[0308] As shown in FIG. 57 and FIG. 61, the water level detection assembly 46 in the embodiment includes a float 461 and a position sensor 462. The float 461 is arranged in the liquid storage cavity 411 and can move up and down with the liquid level in the liquid storage cavity 411, that is, the position of the float 461 in the liquid storage cavity 411 changes with the change of the amount of sewage. The position sensor 462 is arranged on the box body 41, and the position sensor 462 is used to detect the position of the float 461 in the liquid storage cavity 411. The position sensor 462 can be electrically connected with the controller of the cleaning device, that is, the position sensor 462 and the first vacuum pump 471 are located in the same control loop of the cleaning device. When the amount of sewage is large, the float 461 will float to a position close to the top surface 4111, at this time, the position sensor 462 detects the float 461, and the controller responds to the information that the position sensor 462 detects the float 461 to control the first vacuum pump 471 to stop working. At this time, the cleaning device can enter the base station, and the base station recycles and processes the sewage in the liquid storage cavity 411 through the sewage suction passage 45 on the sewage tank 40. The float 461 in the embodiment can be a magnetic float ball, and the position sensor 462 includes a magnetic induction switch. The magnetic induction switch is an electronic switch that uses the principle of magnetic field induction. When the magnetic float ball approaches the magnetic induction switch, the state of the contacts of the magnetic induction switch changes, and finally realizes the function of on / off control. The magnetic induction switch is preferably a Hall switch because the magnetic field detection method of the Hall switch is stable and reliable, and the external interference is small. Specifically, the Hall switch can be arranged on the side of the mounting shell 13 close to the sewage tank 40 and arranged opposite to the magnetic float ball in the sewage tank 40, so as to accurately and timely detect the magnetic float ball.

[0309] In the process of the float 461 (such as a magnetic float ball) rising to a position close to the top surface 4111 with the increase of the amount of sewage, the position of the float 461 relative to the position sensor 462 (such as a Hall switch) can deviate greatly, so that the position sensor 462 cannot accurately detect the float 461. To this end, the water level detection assembly 46 provided in the embodiment further includes a guide column 463 arranged in the liquid storage cavity 411. The float 461 is sleeved on the guide column 463 and can move relative to the guide column 463 along the axial direction of the guide column 463. The guide column 463 limits the movement track of the float 461 in the lifting process, avoids the deviation of the float 461 from the position sensor 462, and improves the accuracy of the water level detection assembly 46 in detecting the amount of water.

[0310] Specifically, please refer to FIG. 54 and FIG. 55, the box 41 in the embodiment includes a base 412, a first cover plate 413, a second cover plate 414 and a sealing member 415. The sealing member 415 can include one of a silica gel sealing ring, a fluorine rubber sealing ring and the like. The water collecting groove 43 is arranged on the base 412. The first cover plate 413 is arranged on one side of the water collecting groove 43 and surrounded by the outer wall surface of the water collecting groove 43 to form a liquid storage groove. The second cover plate 414 is buckled on the liquid storage groove to form a liquid storage cavity 411 with the groove wall of the liquid storage groove. The first groove wall 431 of the water collecting groove 43 is located on the side of the base 412 close to the liquid storage cavity 411. The top surface 4111 of the liquid storage cavity 411 is located on the side of the first cover plate 413 away from the base 412. The suction channel 45 is arranged on the side of the second cover plate 414 away from the water collecting groove 43. The sealing member 415 is surrounded between the first cover plate 413 and the second cover plate 414 and the water collecting groove 43. The sealing member 415 is used to seal the installation gap between the first cover plate 413 and the second cover plate 414 and the water collecting groove 43, thereby improving the air tightness of the liquid storage cavity 411 and improving the negative pressure extraction efficiency of the negative pressure extraction device 47.

[0311] The embodiment of the present application also provides a sewage collecting mechanism, which includes the sewage tank 40 and the negative pressure extraction device 47 as above. The negative pressure extraction device 47 is in communication with the suction channel assembly 42 of the sewage tank 40. The negative pressure extraction device 47 is used to extract negative pressure from the liquid storage cavity 411 to make the air pressure of the liquid storage cavity 411 lower than the air pressure of the water collecting groove 43. When the air pressure in the liquid storage cavity 411 is lower than the air pressure of the water collecting groove 43, the sewage in the water collecting groove 43 can be sucked into the liquid storage cavity 411. The sewage is stored in the liquid storage cavity 411, which reduces the risk of spilling of the sewage out of the sewage tank 40. Even if the sewage tank 40 is turned over or shaken with great strength, the sewage tank 40 is not easy to appear the phenomenon of spilling and leaking of the sewage, thereby avoiding the secondary pollution caused by the outflow of the sewage and even damaging the electrical devices in the cleaning equipment.

[0312] The negative pressure extraction device 47 in the embodiment includes an air extraction member and an air path connecting pipe 472. The air extraction member includes an air extraction port, and the air path connecting pipe 472 is connected between the air extraction port and the suction passage assembly 42, so that the air extraction member can perform a negative pressure extraction operation on the liquid storage cavity 411 through the air path connecting pipe 472. The air path connecting pipe 472 is specifically connected with the waterproof connecting pipe 423 of the sewage tank 40. Since the waterproof connecting pipe 423 can prevent the liquid in the liquid storage cavity 411 from flowing into the air path connecting pipe 472 through the suction hole 421, the air extraction member is prevented from being polluted by sewage. The air extraction member in the embodiment can include one of a fan, a first vacuum pump 471, and the like. Since the fan can provide a smaller negative pressure, it is mainly applied to occasions with a low requirement for vacuum degree. Since the embodiment has a high requirement for the vacuum degree of the liquid storage cavity 411, it is ensured that the sewage in the sump 43 can be efficiently and timely sucked into the liquid storage cavity 411 when the air pressure in the liquid storage cavity 411 is lower than that in the sump 43. Therefore, the air extraction member in the embodiment preferably includes the first vacuum pump 471. The first vacuum pump 471 can be arranged on the mounting shell 13 of the cleaning device and located on one side of the dust box 60. The first vacuum pump 471 specifically can include one of a liquid ring type, a rotary vane pump, a dry screw vacuum pump, and the like. The first vacuum pump 471 can extract air from the liquid storage cavity 411 to obtain a vacuum in the liquid storage cavity 411, so that the sewage in the sump 43 can be efficiently and timely sucked into the liquid storage cavity 411 for storage.

[0313] Specifically, referring to FIGS. 62 and 63, the specific manner in which the air path connecting pipe 472 is connected with the waterproof connecting pipe 423 of the sewage tank 40 in the embodiment can include that a connecting nozzle 131 adapted to the air path connecting pipe 472 is arranged on the mounting shell 13 near the tank body 41. One end of the connecting nozzle 131 is connected with the air path connecting pipe 472, and the other end is connected with the waterproof connecting pipe 423. In addition, a sealing ring 132 is arranged between the port of the connecting nozzle 131 and the waterproof connecting pipe 423 and the connecting gap between the connecting nozzle 131 and the waterproof connecting pipe 423, so as to improve the air tightness when the connecting nozzle 131 is connected with the waterproof connecting pipe 423.

[0314] The cleaning device provided in the embodiment of the present application includes a body 10, a cleaning mechanism 20, and the sewage collection mechanism described above. The body 10 is provided with a receiving cavity 11, and the cleaning mechanism 20 includes a cleaning member 21 and a squeegee 22. The cleaning member 21 and the squeegee 22 are both arranged in the receiving cavity 11, and the squeegee 22 abuts against the cleaning member 21 to scrape off the sewage on the cleaning member 21. The cleaning member 21 includes a roller 212. During the process of rotating to clean the ground, the generated sewage is scraped off by the squeegee 22, and then the cleaning tank of the cleaning device sprays clean water or cleaning liquid onto the roller 212, thereby enhancing the cleaning effect of the roller 212 on the surface to be cleaned.

[0315] The sewage tank 40 of the sewage collecting mechanism is arranged in the body 10 and located at one side of the cleaning member 21. Specifically, the sewage tank 40 is provided with a snap buckle 48 at the top, and the sewage tank 40 is detachably buckled in the body 10 through the snap buckle 48. The water collecting groove 43 of the sewage tank 40 is used to collect the sewage scraped off the cleaning member 21 by the squeegee 22. In this process, the negative pressure pumping device 47 of the sewage collecting mechanism will perform negative pressure pumping operation on the storage cavity 411 in the tank body 41 of the sewage tank 40, so that the sewage in the water collecting groove 43 can be pumped into the storage cavity 411 in time for storage, avoiding spilling of the sewage.

[0316] Since the squeegee 22 on the existing cleaning equipment will also discharge the garbage on the cleaning member 21 into the sewage tank 40 along with the sewage when scraping the sewage on the cleaning member 21 and discharging it into the sewage tank 40, the garbage may block the sewage inlet of the sewage tank 40, thereby reducing the collection efficiency of the sewage tank 40 for the sewage, and even causing the sewage to overflow the sewage tank 40 to cause secondary pollution to the surface to be cleaned.

[0317] Please refer to FIGS. 64-72. In view of the above problems, the squeegee 22 provided by the embodiment of the application includes a plate body 221 having a first side surface 2211 and a second side surface 2212 arranged oppositely. The plate body 221 is provided with a squeegee portion 222, a water discharge port 223, and a filter structure 224. The squeegee portion 222 is protruded from the first side surface 2211 and located at the side edge of the water discharge port 223. The water discharge port 223 is arranged through the thickness direction of the plate body 221 to at least guide the sewage on the first side surface 2211 to the second side surface 2212. The filter structure 224 is arranged in the water discharge port 223 to filter and intercept the garbage in the sewage when the sewage is guided from the first side surface 2211 to the second side surface 2212 by the water discharge port 223, avoiding the garbage entering the sewage tank 40 along with the sewage. Thus, the filter structure 224 is not needed to be arranged in the sewage tank 40 to filter the garbage, and the sewage tank 40 can also realize efficient collection of the sewage.

[0318] As can be seen, since the filter structure 224 is arranged in the water discharge port 223 of the squeegee 22, the garbage can be filtered by the filter structure 224 when the sewage is guided from the first side surface 2211 to the second side surface 2212 by the water discharge port 223 of the squeegee 22. The garbage filtered by the filter structure 224 will not enter the sewage tank 40, thereby improving the sewage collection efficiency of the sewage tank 40 and avoiding the sewage flowing to the ground to cause secondary pollution due to the sewage tank 40 being blocked.

[0319] The garbage filtered by the filtering structure 224 is either left in the space between the wiper part 222 and the filtering structure 224 or directly falls to the ground. When the garbage falls from the wiper plate 22 to the ground, it can be swept and collected into the dust box 60 by the middle sweeping assembly 70 of the cleaning device. Since most of the garbage has been swept and collected by the side brush assembly 50, the middle sweeping assembly 70, etc. before the cleaning member 21 cleans the surface to be cleaned, the garbage on the cleaning member 21 is generally not too much and small in size. Therefore, the garbage scraped off from the cleaning member 21 by the wiper part 222 can be temporarily left in the space between the wiper part 222 and the filtering structure 224, and after a certain amount of garbage is stored, the wiper plate 22 can be removed and cleaned. When the cleaning member 21 includes the roller 212, the garbage can also be brought out by driving the roller 212 to reverse, and after the garbage brought out by the reversed roller 212 falls to the ground, it can be swept again into the dust box 60 by the middle sweeping assembly 70.

[0320] The filtering structure 224 in the embodiment can specifically include a filter screen arranged in the drain port 223. At this time, the drain port 223 can be provided with one or more, so that the filter screen is arranged in the drain port 223 to filter the garbage. As shown in FIGS. 66-68, the filtering structure 224 in the embodiment can also include a plurality of micro filter holes 2241 of small size, which are distributed and arranged on the plate body 221 and penetrate the plate body 221. At this time, the filter holes 2241 play the filtering function of filtering garbage and also serve as the drain port 223 to guide the sewage from the first side 2211 to the second side 2212. That is, the filter holes 2241 and the drain port 223 are integrally formed in the embodiment, and compared with the structure in which a plurality of filter screens are arranged in the drain port 223 to filter garbage, the filtering structure 224 is directly provided with a plurality of micro filter holes 2241, so that the plate body 221 is more convenient to process. When the filtering structure 224 includes a filter screen, the filter screen needs to be first processed on the plate body 221, and then installed in the drain port 223. For this reason, the assembly of the filter screen is relatively complicated, and it is easy to flow out defective products. For this reason, the embodiment directly processes a plurality of micro filter holes 2241 on the plate body 221, so as to guide the sewage from the first side 2211 to the second side 2212 through the filter holes 2241 while filtering the garbage, thereby simplifying the processing steps of the plate body 221 and improving the processing efficiency and the yield of the plate body 221.

[0321] In order to improve the filtering efficiency of the silt filtered by the silt filtering structure 224, the plurality of filtering holes 2241 of the silt filtering structure 224 are arranged in at least one row along the length direction of the plate body 221. For example, the plurality of filtering holes 2241 are arranged in one row, two rows, three rows, four rows, or the like along the length direction of the plate body 221, so that the silt is filtered by the plurality of filtering holes 2241 in at least one row at the same time, thereby improving the filtering efficiency of the silt.

[0322] The filtering hole 2241 in the embodiment includes at least one of a circular hole, a square hole, and a rhombic hole. The structure of the filtering hole 2241 can be determined according to actual processing requirements or existing processing facilities, and the embodiment is not limited to this.

[0323] The maximum width of the filtering hole 2241 in the embodiment is not less than 1 mm and not greater than 2 mm. That is, the maximum width of the filtering hole 2241 can include one of 1 mm, 1.1 mm, 1.2 mm, 1.3 mm, 1.4 mm, 1.5 mm, 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, and 2 mm. The filtering hole 2241 with the above size range in the embodiment can not only filter the solid waste in the silt, but also ensure that the silt can flow from the first side surface 2211 to the second side surface 2212 of the plate body 221, and then flow into the silt tank 40 from the second side surface 2212. The filtering hole 2241 in the embodiment is preferably a circular hole, which is convenient to process. When the filtering hole 2241 includes a circular hole, the maximum width is the diameter of the filtering hole 2241, that is, the diameter of the circular hole is not less than 1 mm and not greater than 2 mm.

[0324] The minimum distance between the adjacent two filtering holes 2241 is not less than 1 mm, and the maximum distance between the adjacent two filtering holes 2241 is not greater than 2 mm. That is, the distance between the adjacent two filtering holes 2241 is between 1 mm and 2 mm, and the distance between the adjacent two filtering holes 2241 can include one of 1 mm, 1.1 mm, 1.2 mm, 1.3 mm, 1.4 mm, 1.5 mm, 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, and 2 mm. If the distance between the adjacent two filtering holes 2241 is too small (for example, less than 1 mm), the structural strength of the silt scraping part 222 will be reduced, and the silt cannot be smoothly guided to the second side surface 2212. If the distance is too large, the filtering effect on the garbage is poor, and small garbage cannot be intercepted and filtered. Therefore, the distance between the adjacent two filtering holes 2241 is set in the above range, which can not only ensure the structural strength of the silt scraping plate 22 and the smooth guiding of the silt, but also improve the filtering efficiency of the silt filtering structure 224 on the garbage.

[0325] In the embodiment, the bottom surface of the drain port 223 can be inclined downward toward the outer edge of the plate body 221, so that when the sewage filtered by the filtering structure 224 is guided by the drain port 223 to the second side surface 2212, the sewage can directly flow into the sewage tank 40 along the bottom surface of the drain port 223 toward the outer edge of the plate body 221. At the same time, the axis of the filtering hole 2241 can be inclined toward the outer edge of the plate body 221, so that when the sewage filtered by the filtering structure 224 is guided by the drain port 223 to the second side surface 2212, the sewage can be gathered toward the outer edge of the plate body 221 and directly flow into the sewage tank 40.

[0326] Referring to FIGS. 66 and 68, the plate body 221 of the embodiment is provided with a drain groove 213, which is arranged on the second side surface 2212 and located on one side of the filtering hole 2241. The drain groove 213 is provided with a water outlet 214 on the side wall away from the filtering hole 2241. The drain groove 213 is used to guide the sewage flowing out of the filtering hole 2241 to the water outlet 214, so as to discharge the sewage into the sewage tank 40 through the water outlet 214. As shown in FIG. 70, the axis of the filtering hole 2241 is inclined toward the water outlet 214, so that the sewage guided by the filtering hole 2241 to the second side surface 2212 can flow and gather toward the water outlet 214, facilitating efficient discharge of the sewage.

[0327] The water outlet 214 in the embodiment can be arranged at the middle position region of the plate body 221. However, in some embodiments of the application, since the squeegee plate 22 needs to be extended out of the body 10 together with the cleaning member 21 to clean the cleaning blind area (such as the blind area between the body 10 and the wall, obstacles, etc.), in order to ensure that the sewage can still be discharged into the collecting groove 43 of the sewage tank 40 after the squeegee plate 22 is extended out of the body 10 together with the cleaning member 21, the plate body 221 can be extended out of the body 10 on one side, which is referred to as the extended side. In the embodiment, the water outlet 214 can be arranged on the side of the plate body 221 away from the extended side. Specifically, the distance from the water outlet 214 to one end of the plate body 221 in the first direction can be less than the distance from the water outlet 214 to the other end of the plate body 221 in the first direction. Thus, even if the end of the plate body 221 far away from the water outlet 214 is extended out of the body 10, the water outlet 214 can still correspond to the collecting groove 43, so as to discharge the sewage into the collecting groove 43.

[0328] As shown in FIG. 68, the groove bottom of the drainage groove 213 is provided with a flow guide slope 2131 located between the filter hole 2241 and the water outlet 214 to guide the water flowing out of the filter hole 2241 to the water outlet 214, so as to avoid the sewage from gathering at the second side surface 2212 except the water outlet 214 and timely drain the sewage into the sewage tank 40 through the water outlet 214. Specifically, the groove bottom of the drainage groove 213 is in a V-shaped structure, the water outlet 214 is located at the bottom end of the V-shaped structure, and the flow guide slope 2131 is formed by the side walls on the opposite sides of the water outlet 214, so that after the sewage is guided to the second side surface 2212 by the filter hole 2241, the sewage can quickly flow into the water outlet 214 at the bottom end of the V-shaped structure along the flow guide slope 2131 to timely drain the sewage through the water outlet 214.

[0329] As shown in FIG. 70, the second side surface 2212 in the embodiment includes a convex arc surface 2121 located on the side of the drainage groove 213 away from the water outlet 214, and the filter hole 2241 is arranged through the convex arc surface 2121 to the first side surface 2211. Since the port of the filter hole 2241 located on the second side surface 2212 is located on the convex arc surface 2121, when the sewage enters the second side surface 2212, it will flow into the water outlet 214 along the convex arc surface 2121 or along the flow guide slope 2131 under the action of gravity, so as to facilitate the sewage to gather at the water outlet 214 and improve the drainage efficiency of the water outlet 214. Of course, the plate body 221 in the embodiment can be an arc plate body structure matched with the outer side surface of the roller 212, so that the water scraping part 222 of the first side surface 2211 of the plate body 221 can more reliably abut on the roller 212 to efficiently scrape the sewage.

[0330] The water scraping part 222 in the embodiment includes a first side wall 2221 located on the side of the water scraping part 222 close to the filter structure 224. The first side wall 2221 is in a V-shaped side wall structure to facilitate the gathering of the sewage and then guide the gathered sewage to the second side surface 2212 through the filter structure 224. In addition, the arrangement line formed by the at least one filter hole 2241 in the embodiment is in a V-shaped arrangement line, and the bottom end of the V-shaped arrangement line is oppositely arranged with the water outlet 214, so that the sewage guided to the second side surface 2212 can be better gathered in the direction of the water outlet 214 to improve the drainage efficiency of the water outlet 214.

[0331] The application further provides a cleaning device, which comprises a body 10 provided with a receiving cavity 11 and a cleaning mechanism 20. The cleaning mechanism 20 comprises a cleaning piece 21 and the wiper 22 described above, and the cleaning piece 21 and the wiper 22 are both installed in the receiving cavity 11, and the wiper 22 abuts against the cleaning piece 21 to scrape the sewage on the cleaning piece 21 into the sewage tank 40 during the rotating movement of the cleaning piece 21.

[0332] Please refer to FIGS. 71 and 72, the cleaning mechanism 20 of the embodiment further comprises a connecting bracket 23 and an elastic connecting assembly 24. The connecting bracket 23 is installed in the receiving cavity 11, and the wiper 22 and the cleaning piece 21 are both installed on the connecting bracket 23. The elastic connecting assembly 24 is connected between the connecting bracket 23 and the wiper 22, and is used to apply an abutting force of the wiper 22 towards the cleaning piece 21, so that when the cleaning piece 21 is abraded and its size is reduced due to long-time work, the wiper 22 can still firmly and reliably abut against the cleaning piece 21 under the abutting force of the elastic connecting assembly 24, so as to scrape the sewage on the cleaning piece 21 and guide it into the sewage tank 40. The elastic connecting assembly 24 of the embodiment specifically comprises a torsion spring 241 and a rotating shaft 242, the wiper 22 is rotationally connected with the connecting bracket 23 through the rotating shaft 242, and the torsion spring 241 is sleeved on the rotating shaft 242 and abuts between the wiper 22 and the connecting bracket 23, so as to always abut the wiper 22 against the cleaning piece 21 (such as the roller 212) through the torsion spring 241.

[0333] The main body 10 is provided with an opening 12 at least one side of the receiving cavity 11 along the first direction. The connecting bracket 23 in the embodiment can include a first bracket 231 and a second bracket 232. The first bracket 231 can be installed in the receiving cavity 11 through the mounting bracket. The second bracket 232 is detachably connected with the first bracket 231 and can move along the first direction relative to the first bracket 231 to be taken out from the opening 12. The cleaning element 21 is connected with the first bracket 231 at one end along the first direction and located at the side of the second bracket 232 away from the first bracket 231. The squeegee 22 is installed on the second bracket 232. Since the squeegee 22 and the second bracket 232 close to the cleaning element 21 are easy to accumulate dirt, the second bracket 232 and the squeegee 22 need to be taken out for cleaning. The cleaning element 21 includes a driving component 211 and a roller 212. The roller 212 is connected with the first bracket 231 at one end along the first direction through the driving component 211 and located at the side of the second bracket 232 away from the first bracket 231. The other end of the roller 212 along the first direction is detachably connected with the second bracket 232 through the first locking component 26. The first locking component 26 has a locking position for buckling with the second bracket 232 under the action of an external force and an unlocking position for separating from the second bracket 232. When the second bracket 232 needs to be taken out, the first locking component 26 can be unlocked to separate the second bracket 232 from the cleaning element 21.

[0334] Specifically, the roller 212 is detachably sleeved on the driving component 211 and can rotate around its own axis under the driving of the driving component 211. The squeegee 22 is installed on the second bracket 232 and abuts against the outer peripheral surface of the roller 212. When the second bracket 232 is taken out, the squeegee 22 can be taken out. Thus, the garbage accumulated on the first side surface 2211 of the squeegee 22 can be cleaned at the same time when the second bracket 232 is cleaned. In addition to taking out the squeegee 22 to clean the filtered garbage, when the cleaning element 21 includes the roller 212, if the roller 212 rotates counterclockwise under the driving of the driving component 211 when performing cleaning work, the driving component 211 can be used to drive the roller 212 to rotate clockwise. During the clockwise rotation of the roller 212, the garbage accumulated on the first side surface 2211 of the squeegee 22 can be carried to the ground by the roller 212. The garbage falling on the ground can be swept into the dust box 60 by the middle sweeping assembly 70 of the cleaning device again.

[0335] As shown in FIG. 71, the driving component 211 in the embodiment can include a mounting base 111, a driving motor 112, a bearing 113, and a connecting head 114. The mounting base 111 is fixedly connected to one end of the first bracket 231 away from the first locking piece 26 of the cleaning member 21, the driving motor 112 is connected to the mounting base 111, the connecting head 114 is connected to the rotating shaft 242 of the driving motor 112, and the bearing 113 is sleeved on the mounting base 111 and located on the side of the driving motor 112 away from the connecting head 114 in the first direction. The roller 212 is provided with a connecting structure (such as a groove and / or a protrusion, etc.) matched with the connecting head 114, the roller 212 is movably sleeved on the driving component 211 (at this time, the bearing 113, the driving motor 112, and the connecting head 114 are located in the roller 212), and the driving motor 112 rotates to drive the roller 212 to rotate around its own axis through the connecting head 114. The roller 212 realizes efficient cleaning of the surface to be cleaned in the rotating process.

[0336] The first bracket 231 in the embodiment is provided with a sliding space 311, and the second bracket 232 is slidably connected in the sliding space 311 through the sliding connection assembly 25. The second bracket 232 has a first sliding position connected in the sliding space 311 through the sliding connection assembly 25 under the action of an external force and a second sliding position separated from the first bracket 231.

[0337] It can be seen that the second bracket 232 in the embodiment is slidably installed in the sliding space 311 of the first bracket 231 through the sliding connection assembly 25. When it is necessary to take out the second bracket 232 to clean and maintain the second bracket 232 and the squeegee plate 22 connected thereto, the second bracket 232 is pulled out of the opening 12 of the body 10 relative to the first bracket 231 in the first direction. When it is necessary to install the second bracket 232 and the squeegee plate 22 connected thereto back into the sliding space 311, the second bracket 232 is pushed into the sliding space 311 in the first direction and connected to the first sliding position in the sliding space 311 through the sliding connection assembly 25. The second bracket 232 in the embodiment is slidably connected in the sliding space 311 through the sliding connection assembly 25, which improves the convenience of extracting and installing the second bracket 232 and the squeegee plate 22 connected thereto.

[0338] As shown in FIG. 72, the sliding connection assembly 25 includes a sliding groove 251 and a sliding boss 252. The sliding groove 251 is arranged on at least one side of the sliding space 311 along the second direction (the second direction is the direction indicated by the arrow Y in FIG. 72, i.e. the height direction of the first support 231). The sliding boss 252 is arranged on the side of the second support 232 close to the first support 231 and is arranged in one-to-one correspondence with the sliding groove 251. Thus, when the second support 232 is installed into the sliding space 311, the sliding boss 252 is slidably inserted into the sliding groove 251 in the sliding space 311. When it is necessary to extract the second support 232, the second support 232 is pulled in the first direction until the sliding boss 252 is separated from the sliding groove 251. Of course, in the present embodiment, the sliding groove 251 can also be arranged on the side of the second support 232 close to the first support 231, and the sliding boss 252 is arranged in the sliding space 311, or the sliding boss 252 and the sliding groove 251 can be arranged on both the second support 232 and the first support 231, so as to stably slide the second support 232 into the second sliding space 311.

[0339] In order to further improve the stability of the second support 232 relative to the first support 231 when the second support 232 is connected into the sliding space 311, and to prevent the second support 232 from being separated from the first support 231 under the action of external force, the second locking member 27 arranged on the second support 232 can be used to detachably connect the second support 232 with the first support 231. The second locking member 27 is arranged on the end of the second support 232 close to the opening 12. The first support 231 is provided with a buckling groove 312. The second locking member 27 has a locking position buckled with the buckling groove 312 under the action of external force and an unlocking position separated from the buckling groove 312. Thus, when the second support 232 is connected into the sliding space 311, the second locking member 27 can be used to lock the second support 232 in the sliding space 311 of the first support 231, so as to prevent the second support 232 from falling off the first support 231.

[0340] It can be seen that the second locking member 27 arranged on the second support 232 in the present embodiment can stably and reliably lock the second support 232 in the sliding space 311, so as to ensure that the second support 232 will not fall off the body 10 when the cleaning device is normally working, and to improve the stability and firmness of the connection between the second support 232 and the first support 231. When it is necessary to take out the second support 232, the second locking member 27 can be unlocked to separate the second support 232 from the first support 231, so as to extract the second support 232 from the sliding space 311 along the first direction from the opening 12. Without turning over the body 10, the second support 232 and the squeegee 22 thereon can be conveniently and quickly extracted in the lateral direction.

[0341] Secondly, since the second locking piece 27 is located at the second support 232 close to the opening 12 of the body 10, the operator can easily operate the first locking piece 26, and the second locking piece 27 is unlocked to the unlocking position separated from the buckling groove 312. Moreover, since the second support 232 can slide relative to the first support 231 in the sliding space 311 in the first direction, after the second locking piece 27 is unlocked, the second support 232 in the sliding space 311 can be extracted from the opening 12, improving the convenience of the second support 232 during extraction and installation.

[0342] The application also provides a base station, which comprises a cleaning device, and specific structures of the cleaning device are described above, which will not be described here.

[0343] In the description herein, it should be understood that the terms "upper", "lower", "left", "right", and the like orientation or position relationship are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0344] In the description of the present specification, the description referring to the terms "an embodiment", "an example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0345] In addition, it should be understood that although the present specification is described in terms of embodiments, each embodiment does not necessarily contain only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

[0346] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only for the purpose of explaining the principles of the present application, and cannot be interpreted in any way as a limitation on the scope of protection of the present application. Based on the explanation here, those skilled in the art do not need to make creative efforts to think of other specific embodiments of the present application, and these embodiments will fall within the scope of protection of the present application.

Claims

1. A cleaning robot, characterized in that, The utility model provides a kind of cleaning device, including shell (100, 1), isolator (400, 2) and cleaning piece (200, 3), the isolator (400, 2) is arranged in the bottom of the shell (100, 1) relative to the shell (100, 1) mobile, with first state and second state;The first state, the isolator (400, 2) is below the cleaning piece (200, 3), the second state, the isolator (400, 2) is above the cleaning piece (200, 3).

2. The cleaning robot according to claim 1, wherein, The isolator (400, 2) is slidably installed on the bottom of the shell (100, 1) and can be switched between the first state and the second state by integral horizontal sliding, in the first state, the isolator (400, 2) is below the shell (100, 1);In the second state, at least part of the isolator (400, 2) moves to the vertical space outside the cleaning piece (200, 3); The cleaning piece (200, 3) has a first position and a second position, in the first position, the cleaning piece (200, 3) is located between the isolator (400, 2) and the shell (100, 1);In the second position, the cleaning piece (200, 3) is below the isolator (400, 2).

3. The cleaning robot according to claim 2, wherein, It also includes a guide mechanism (6), the guide mechanism (6) includes a guide part (601) arranged at the bottom of the shell (100, 1), and a guide groove (602) opened on the isolator (400, 2), the guide groove (602) is guided and matched with the guide part (601).

4. The cleaning robot according to claim 2, wherein, It also includes a traction assembly (5) for switching the isolator (400, 2) between the first state and the second state, the bottom of the shell (100, 1) is provided with a fixed pulley (7), the traction assembly (5) includes a traction motor (501) and a traction rope (502), the traction motor (501) is installed in the shell (100, 1), the traction rope (502) includes opposite first end and second end, the first end is connected with the traction motor (501), and the second end passes through the fixed pulley (7) and extends to the isolator (400, 2) in the first direction.

5. The cleaning robot according to claim 4, wherein, The side of the isolator (400, 2) away from the fixed pulley (7) is fixedly provided with a traction block (8), the traction block (8) is provided with a through hole (801) for the traction rope (502) to pass through, and the second end is provided with an abutting portion (503) abutting the outer peripheral wall of the through hole (801).

6. The cleaning robot according to claim 5, wherein, The bottom of the shell (100, 1) is provided with a protrusion (603), the protrusion (603) is arranged opposite to the traction block (8) in the first direction, and an elastic member (504) is arranged between the protrusion (603) and the traction block (8), so that the isolation member (400, 2) always has a motion trend switching to the first state or the second state.

7. The cleaning robot according to any one of claims 1-5, wherein, Further comprising a power mechanism (4) mounted on the shell (100, 1), the power mechanism (4) comprises a power member (401) and a power shaft (402), the power member (401) is connected with the power shaft (402), the power shaft (402) is connected with the cleaning member (200, 3), the power member (401) drives the power shaft (402) to move up and down, in turn synchronously drives the cleaning member (200, 3) to reciprocate between the first position and the second position, the isolation member (400, 2) is provided with an avoiding groove (202) corresponding to the power shaft (402), Or, the bottom of the shell (100, 1) is provided with a first arc-shaped groove (101), the isolation member (400, 2) is provided with a second arc-shaped groove (201) opposite to the first arc-shaped groove (101), and the first arc-shaped groove (101) and the second arc-shaped groove (201) form a containing space for placing the cleaning member (200, 3), Or, the cleaning member (200, 3) is a wet cleaning module or a dry cleaning module, or the cleaning member (200, 3) comprises a wet cleaning module and a dry cleaning module; The wet cleaning module is a disc mop, and the disc mop comprises at least one; the disc mop has an inner retracted position and an outer expanded position, the isolation member (400, 2) can switch between the first state and the second state when the disc mop is in the inner retracted position; the disc mop has an inner retracted position close to the shell (100, 1) and an outer expanded position beyond the outer edge of the shell (100, 1), and in the projection of the height direction of the shell (100, 1), the area of the disc mop beyond the outer edge of the shell (100, 1) when the disc mop is in the outer expanded position is greater than the area of the disc mop beyond the outer edge of the shell (100, 1) when the disc mop is in the inner retracted position.

8. The cleaning robot of claim 1, wherein, The cleaning member (200, 3) can be mounted on the shell (100, 1) and can roll along an axis parallel to the surface to be cleaned; the shell (100, 1) is provided with a receiving cavity (11), and the cleaning member is mounted in the receiving cavity (11); the cleaning member (200, 3) is a cleaning roller or a track mop. 9.The cleaning robot according to claim 8, wherein, The receiving cavity (11) is provided with an opening (12, 14) at least at one end along the rotation axis direction, so that the cleaning member can be loaded into the receiving cavity (11) through the opening (12, 14), or taken out of the receiving cavity (11) through the opening (12, 14).

10. The cleaning robot according to claim 1 or 8, wherein, Further comprising an assembly support (300) for movably mounting the cleaning member (200, 3) to the housing (100, 1), the cleaning member (200, 3) being rotatably mounted to the assembly support (300) and being lifted and lowered relative to the housing (100, 1) by movement of the assembly support (300); The spacer (400, 2) is arranged on the assembly support (300), in the first state, the spacer (400, 2) is between the cleaning member (200, 3) and the ground, so that the cleaning member (200, 3) cannot directly contact the ground and objects on the ground, in the second state, the spacer (400, 2) is away from the cleaning member (200, 3) and the ground, so that the working surface of the cleaning member (200, 3) can directly contact the ground and objects on the ground; The cleaning member (200, 3) and the spacer (400, 2) are driven by different driving mechanisms or by the same driving mechanism.

11. The cleaning robot according to claim 1 or 8, wherein, In the state that the spacer (400, 2) is in the first state, the cleaning member (200, 3) is in the raised state, and in the state that the spacer (400, 2) is in the second state, the cleaning member (200, 3) is in the lowered state.

12. The cleaning robot of claim 10, wherein, The assembly support (300) and the housing (100, 1) are hinged by a first hinge structure (320), and the cleaning member (200, 3) is lifted and lowered by rotating and swinging the assembly support (300) around the first hinge structure (320).

13. The cleaning robot of claim 10, wherein, The spacer (400, 2) and the assembly support (300) are hinged by a second hinge structure (600), and the spacer (400, 2) is switched between the first state and the second state by rotating relative to the assembly support (300).

14. The cleaning robot according to claim 13, wherein, A spreading driving member (500) is arranged between the spacer (400, 2) and the assembly support (300), the spreading driving member (500) is arranged to always exert a relative spreading force on the spacer (400, 2) and the assembly support (300) around the rotation axis of the second hinge structure (600), so that the spacer (400, 2) is in the first state, the spreading driving member (500) is a torsional spring, a spring or repelling magnets arranged on the spacer (400, 2) and the assembly support (300) respectively.

15. The cleaning robot of claim 10, wherein, The spacer (400, 2) has an operating portion between the cleaning member (200, 3) and the housing (100, 1), in the state that the assembly support (300) is raised, the operating portion abuts against the housing (100, 1), under the reaction force of the bottom of the housing (100, 1), the spacer (400, 2) is mutually approached relative to the assembly support (300), so that the spacer (400, 2) is in the second state.

16. The cleaning robot according to claim 15, wherein, The isolating piece (400, 2) comprises a cover plate body (410) and two connecting arms (420) arranged at both ends of the cover plate body (410), the isolating piece (400, 2) is hinged with the assembly support (300) through the two connecting arms (420), and the operation part is arranged on the connecting arm (420).

17. The cleaning robot of claim 16, wherein, The operation part is a roller (700) rotatably arranged on the connecting arm (420), the roller (700) is arranged at the highest position of the isolating piece (400, 2), and the highest point of the outer circumferential surface of the roller (700) is higher than the highest point of the isolating piece (400, 2).

18. The cleaning robot of claim 10, wherein, Further comprising a rotating driving device for driving the isolating piece (400, 2) to rotate relative to the assembly support (300), and the isolating piece (400, 2) is switched between the first state and the second state under the driving of the rotating driving device.

19. The cleaning robot of claim 9, wherein, The cleaning piece (200, 3) is driven by a first driving assembly (22) to be movably arranged in the receiving cavity (11) and at least partially extend to the outside of the receiving cavity (11) to perform cleaning work, so as to extend the cleaning range; when the cleaning piece is in the extended position, the isolating piece is in the second state and cannot be switched to the first state, and when the cleaning piece is in the folded position, the isolating piece can be switched between the first state and the second state.

20. The cleaning robot of claim 19, wherein, Further comprising a connecting support (23) for mounting the cleaning piece (200, 3), the connecting support (23) is provided with a squeegee (50) and a water injection assembly, and the connecting support (23) and the cleaning piece (200, 3) can be synchronously moved in the receiving cavity (11), or the connecting support (23) and the cleaning piece (200, 3) can be respectively moved in the receiving cavity (11).

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