CN219422723U - Self-cleaning device for cleaning execution unit and cleaning robot - Google Patents

Abstract

The embodiment of the application discloses self-cleaning device of clean execution unit for clean the clean execution unit of cleaning robot, clean execution unit setting is in cleaning robot's bottom, is used for treating the dirty of clean surface and cleans, its characterized in that includes: the self-cleaning unit is arranged at the bottom of the cleaning robot and is used for cleaning the cleaning execution unit; the self-cleaning unit is arranged in an interference manner with the cleaning execution unit at least in a non-working state of the cleaning execution unit. Through making the automatically cleaning unit, at least when the non-operating condition of clean execution unit, with clean execution unit mutual interference setting, can carry out self-cleaning to clean execution unit, ensured that clean execution unit is in clean condition under the non-operating condition, effectively avoided by clean execution unit from wait to clean the dirty of surface transfer to wait to clean the surface again, avoided secondary pollution, promoted user's use experience greatly.

Description

Self-cleaning device for cleaning execution unit and cleaning robot

Technical Field

The embodiment of the application relates to the technical field of cleaning equipment, in particular to a self-cleaning device for cleaning an execution unit and a cleaning robot.

Background

With the development of social economy, household cleaning gradually enters an intelligent and mechanized age, and the cleaning robot further liberates heavy work of people in household cleaning and relieves the tiredness degree of people in household cleaning.

A cleaning execution unit (e.g., a sweeping module or a mopping module) is generally provided at the left front or the right front both sides of the cleaning robot as an integral part of the cleaning robot. Generally, after the cleaning robot completes the cleaning operation, the cleaning robot needs to return to the base station to clean the main cleaning execution unit, and for some special cleaning execution units, cleaning may be omitted.

However, in some special situations, such as when cleaning liquid stains, the special cleaning implement may be stained with these stains and cannot be detached. Then the cleaning robot is moved around with the dirt as if the bicycle tire were stained with the dirt, leaving a footprint. Therefore, the cleaning robot can leave stains when cleaning rooms, the cleaning effect cannot be ensured, and the user experience is reduced.

Therefore, there is a great need for a device for performing a self-cleaning function on a cleaning execution unit, so as to greatly improve the use experience of users.

Disclosure of Invention

The embodiment of the application provides a self-cleaning device and a cleaning robot of a cleaning execution unit, which can automatically clean stains on the cleaning execution unit and ensure the cleaning effect of the cleaning robot.

To achieve the above object, a cleaning robot according to an embodiment of the present application is configured to clean a cleaning execution unit of the cleaning robot, where the cleaning execution unit is disposed at a bottom of the cleaning robot, and is configured to clean dirt on a surface to be cleaned, and includes:

the self-cleaning unit is arranged at the bottom of the cleaning robot and is used for cleaning the cleaning execution unit; wherein, the liquid crystal display device comprises a liquid crystal display device,

the self-cleaning unit is arranged in an interference manner with the cleaning execution unit at least in a non-working state of the cleaning execution unit.

Further, the self-cleaning unit is separated from the cleaning execution unit when the cleaning execution unit is in an operating state.

Further, the self-cleaning unit comprises:

a guide rail assembly disposed at a bottom of the cleaning robot and adjacent to the cleaning performing unit;

a power assembly slidably disposed on the rail assembly; and

and the self-cleaning assembly is rotatably arranged on the power assembly and is used for cleaning the cleaning execution unit.

Further, the self-cleaning assembly comprises a cleaning brush and a connecting shaft, wherein the cleaning brush is arranged on the power assembly through the connecting shaft.

Further, the power assembly includes a motor and a motor bracket, through which the motor is disposed on the rail assembly.

Further, at least the cleaning brush of the self-cleaning unit is disposed so as to interfere with the cleaning execution unit when the cleaning execution unit is in a non-operating state.

Further, the guide rail assembly comprises a guide rail and a guide rail motor, and the motor bracket is arranged on the guide rail, so that the motor bracket is close to or far away from the cleaning execution unit when the guide rail motor is driven.

Further, the cleaning execution unit at least comprises a base, a cleaning piece and a connecting arm, wherein the cleaning piece is arranged on the base through the connecting arm, and the cleaning piece is a hard cleaning piece or a flexible cleaning piece.

Further, the self-cleaning device further comprises a control unit, wherein the control unit is electrically connected with the self-cleaning unit and used for controlling the self-cleaning unit to be close to or far away from the cleaning execution unit.

The embodiment of the application also provides a cleaning robot comprising the self-cleaning device according to any one of the above.

According to the self-cleaning device of the cleaning execution unit, at least when the cleaning execution unit is in the non-working state, the self-cleaning unit is arranged in a mutually interfering mode with the cleaning execution unit, so that the cleaning execution unit can be automatically cleaned, the cleaning execution unit is ensured to be in the cleaning state in the non-working state, dirt transferred from the surface to be cleaned by the cleaning execution unit is effectively prevented from being transferred to the surface to be cleaned again, secondary pollution is avoided, and the use experience of a user is greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from the structures shown in these drawings without inventive effort to a person of ordinary skill in the art.

Fig. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the present application, in which only a chassis, a cleaning execution unit and a self-cleaning unit are shown, and the cleaning execution unit is in a non-working state;

FIG. 2 is a schematic side view of the cleaning robot provided in the embodiment of FIG. 1;

FIG. 3 is another side schematic view of the cleaning robot provided by the embodiment of the present application of FIG. 1;

fig. 4 is a schematic bottom view of the cleaning robot provided in the embodiment of fig. 1;

fig. 5 is a schematic perspective view of a cleaning robot according to a second embodiment of the present application, where a cleaning execution unit is in a working state;

fig. 6 is a schematic perspective view of a cleaning machine according to a third embodiment of the present application, in which only a chassis, a cleaning performing unit and a self-cleaning unit are shown;

fig. 7 is a schematic view of an overall apparatus of the cleaning robot provided in the embodiment of fig. 6.

Reference numerals illustrate:

the realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is correspondingly changed.

Furthermore, the descriptions of "first," "second," and the like, herein are for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.

The cleaning robots can be classified into commercial cleaning robots and household cleaning robots according to purposes, can be full-automatic cleaning robots such as floor sweepers, mopping machines, floor mopping machines and floor washing machines according to types, and can also be other semi-automatic cleaning equipment which needs manpower assistance, such as semi-automatic cleaning equipment which needs the manual operation direction and the moving position and is provided with an electric-driven cleaning module.

The cleaning member of the cleaning robot for cleaning the surface to be cleaned generally includes a main cleaning performing unit (exemplified by a middle brush assembly) at a middle position of the bottom of the cleaning robot, and an auxiliary cleaning performing unit (exemplified by a side brush assembly) at an edge position of the bottom of the cleaning robot. The middle brush component is generally matched with the fan component and can clean and remove dust on the surface to be cleaned, the main function of the side brush component is to clean objects to be cleaned at corners or at the roots of obstacles, and the side brush component gathers the objects to be cleaned at the corners or the roots of the obstacles in front of the cleaning robot so that the middle brush component can clean the objects to be cleaned. Therefore, the side brush assembly can improve the cleaning width of the cleaning robot and improve the working efficiency of the cleaning robot. The surface to be cleaned can be a floor or carpet surface to be cleaned, and the object to be cleaned can be dust, paper towel, melon seed shell or food residue.

As mentioned above, in some special situations, such as when cleaning liquid stains, the side brush assembly may be stained with such stains, such as hair, dust, and other entanglement, and the like, and cannot be detached. These stains are carried around during the walking of the cleaning robot as if the bicycle tire were stained with the stains, leaving a footprint. This may cause the cleaning robot to leave stains when cleaning a room, and cannot secure a cleaning effect.

Accordingly, as shown in fig. 1 to 4, a first embodiment of the present application provides a self-cleaning device 100 of a cleaning execution unit for cleaning a cleaning execution unit 30 of a cleaning robot, where the cleaning execution unit 30 is disposed at the bottom of the cleaning robot 30 and is used for cleaning dirt on a surface to be cleaned.

Further, the self-cleaning unit 10 is disposed at the bottom of the cleaning robot, and is configured to clean the cleaning execution unit 30, where the self-cleaning unit 10 is disposed to interfere with the cleaning execution unit 30 at least in a non-operating state of the cleaning execution unit. It is understood that the term interference as used herein may be interpreted as: the part is in contact with other parts (the distance is less than the set gap value, not necessarily zero). Further, the interference of the present application may be interpreted as motion interference, which refers to the occurrence of interference situations of parts during motion, such as contact, collision resistance, etc. of adjacent rotating parts during motion.

Specifically, referring to fig. 1, fig. 1 is a schematic perspective view of a self-cleaning device provided at the bottom of a cleaning robot according to an embodiment of the present application, a self-cleaning unit 10 includes: a guide rail assembly 101, a power assembly 102 and a self-cleaning assembly 103, wherein the guide rail assembly 101 is arranged at the bottom of the cleaning robot and is adjacent to the cleaning execution unit 30, the power assembly 102 is slidably arranged on the guide rail assembly 101, and the self-cleaning assembly 103 is rotatably arranged on the power assembly 102 for cleaning the cleaning execution unit 30.

In some embodiments, referring to fig. 3 and the enlarged partial schematic view thereof, the rail assembly 101 includes a rail 1011 and a rail motor 1012, wherein the rail motor 1012 is disposed on one side of the rail 1011 and is used to rotate the rail 1011, so that the rail can guide a device disposed on the rail 1011, for example, the rail may be a screw, a slide bar or a spiral structure. In some embodiments, the guide rail is a screw, and the screw assembly includes a screw motor and a screw, the screw being disposed at a bottom of the cleaning robot, the screw motor being connected to the screw for driving the screw to rotate. In other embodiments, a linear stepper motor (lead screw motor) may be used as the track assembly 101 that rotates when a magnetic rotor core of the linear stepper motor interacts with a pulsed electromagnetic field generated by a stator. So that the linear stepper motor converts the rotational motion inside the motor into a linear motion. More specifically, in one embodiment, the interior of the linear stepper motor includes a rotor (not shown) with internal threads that engage the screw to effect linear motion. In another embodiment, the linear stepper motor uses a screw as the output shaft of the motor, and the linear motion is achieved by engaging the screw with an external drive nut external to the motor.

Through setting up this guide rail assembly in the automatically cleaning unit, can remove certain devices according to the product demand, improve flexibility and the adaptability of product.

In some embodiments, referring to fig. 3 and the enlarged partial schematic view thereof, the power unit 102 includes a motor 1021 and a motor bracket 1022, wherein the motor 1021 is disposed on the rail assembly 101 through the motor bracket 1022, and in particular, the motor bracket 1022 is disposed on the rail 1011 of the rail assembly 101, and approaches or separates from the cleaning execution unit 30 along the rail 1011 when the rail motor 1012 is driven to perform linear motion. In some embodiments, the motor 1021 is a rotating electric machine, and the output shaft of the rotating electric machine is arranged on one side of the rotating electric machine and rotates at a high speed under the drive of the rotating electric machine. In some embodiments, the motor support may also be sleeved on the screw rod (one embodiment of the guide rail), the motor support is provided with a through hole, the inside of the through hole is provided with threads, and the motor support is matched with the screw rod through the threads of the through hole.

In this embodiment, the motor bracket can be close to or far away from the cleaning execution unit 30 through the cooperation of the power assembly 102 and the guide rail assembly 101, so as to adapt to different working states of the cleaning execution unit 30, avoid interfering the working of the cleaning execution unit 30 when the cleaning execution unit 30 is in a working state, or fail to clean dirt on the cleaning execution unit 30 in time when the cleaning execution unit 30 is in a non-working state.

In some embodiments, with continued reference to fig. 3 and the enlarged partial schematic view thereof, self-cleaning assembly 103 includes a connecting shaft 1031 and a cleaning brush 1032, wherein cleaning brush 1032 is disposed on power assembly 102 via connecting shaft 1031. Alternatively, the connection shaft 1031 may be the output shaft of the rotating electrical machine, and the cleaning brush 1032 is directly sleeved or adhered to the output shaft of the rotating electrical machine. Preferably, the connecting shaft 1031 may be a connecting shaft separately provided from the self-cleaning assembly, and is used for being in threaded fit with the output shaft of the rotating electrical machine, so as to ensure the installation stability of the cleaning brush 1032 and the rotating electrical machine. The cleaning brush 1032 can be rotated at a high speed by the rotation of the rotating motor to clean the cleaning performing unit 30. Preferably, the cleaning brush 1032 may be made of a hard brush, such as nylon or hard fiber. Preferably, the cleaning brush 1032 may be a cluster of brushes disposed along the outer circumference of the connection shaft in parallel to the chassis, and an auxiliary cleaning unit (e.g., micro-bristles perpendicular to the brushes, etc.) is disposed on the brushes, so as to further clean dirt on the cleaning performing unit 30. In some embodiments, the direction of rotation of the cleaning brush 1032 of the self-cleaning unit 103 is perpendicular to the direction of rotation of the cleaning execution unit 30 when in the working state, so as to perform overall cleaning of the cleaning execution unit when the cleaning execution unit 30 is in the non-working state. More specifically, the cleaning brush 1032 of the self-cleaning unit 103 rotates about a first axis, which is parallel to the plane in which the chassis 20 lies. And the cleaning implement rotates about a second axis which is perpendicular to the plane of the chassis 20.

In the above manner, the guide rail assembly 101 of the self-cleaning unit 10 can control the left-right movement of the power assembly 102, and the power assembly 102 can drive the self-cleaning assembly 103 to rotate in the direction parallel to the chassis, so that the cleaning brush 1032 can be disposed to interfere with the cleaning execution unit 30 at least when the cleaning execution unit 30 is in the non-operating state, for example, the self-cleaning assembly 103 is located at the position a shown in fig. 3. The self-cleaning unit 10 is separated from the cleaning execution unit 30 and does not interfere with the cleaning execution unit 30 when the cleaning execution unit 30 is in a working state, so that the cleaning brush 1032 is prevented from obstructing the normal operation of the cleaning execution unit 30.

In the embodiment of the present application, the operating state of the cleaning execution unit 30 refers to the cleaning execution unit 30 requiring cleaning of dirt on the surface to be cleaned, and the non-operating state refers to the time other than the cleaning execution unit 30 requiring cleaning of dirt on the surface to be cleaned. In the present embodiment, the self-cleaning device 100 further comprises a control unit (not shown) electrically connected to the self-cleaning unit 10 for controlling the self-cleaning unit 10 to approach or separate from the cleaning performing unit 30. Specifically, the operation state of the cleaning execution unit 30 may be monitored by the control unit (monitoring the operation state of each module of the cleaning robot), and in some embodiments, the control unit may also send an instruction whether the cleaning execution unit 30 needs to be cleaned, for example, control the self-cleaning device to clean the cleaning execution unit 30 within a preset time when the cleaning execution unit 30 is detected to be in the non-operation state. For example, the self-cleaning device is started when the sweeping robot starts to count time, and when the sweeping robot runs for a certain time, the self-cleaning device is started. For example, the preset time may be 5min, and the preset time may be set according to an actual requirement of the user, which is not limited in this application.

Further, referring to fig. 2-4, the cleaning execution unit 30 includes a base 301, a connecting arm 302 disposed on the outer periphery of the base 301, and a cleaning member 303 disposed on the connecting arm 302.

In some embodiments, the base 301 is substantially circular, and has a connection hole (not shown) formed at a middle position thereof for transmitting and connecting a driving unit disposed inside the cleaning robot. Specifically, the driving unit is disposed inside the base 301, and the base 301 is rotated by the driving unit. That is, the driving unit is used to drive the cleaning execution unit 30 to rotate in the working state so as to clean dirt on the surface to be cleaned. In some embodiments, the driving assembly may be a driving assembly such as a rotating motor for providing a rotating force, a driving assembly such as a cylinder or a hydraulic cylinder for providing a unidirectional reciprocating force, or a driving assembly implemented by a motor and a transmission mechanism for providing a unidirectional reciprocating force. The transmission mechanism is used for converting rotation into translation, such as a belt transmission mechanism, which is not limited in this application. Preferably, the driving assembly is a rotating motor, the output end of the rotating motor is provided with a flat shaft part, the connecting part is sleeved with the flat shaft part, torque transmission is achieved, the rotating motor can drive the base 301 to horizontally rotate, the connecting arm 302 arranged on the periphery of the base 301 is driven to rotate, and the cleaning piece 303 arranged on the connecting arm 302 is driven to clean the ground.

In some embodiments, the connecting arms 302 may be a plurality, for example, 3, sequentially spaced apart from the outer periphery of the base 301. One side of the connection arm 302 may include a connection portion (not shown) for connecting with an output end of the base 301, where the connection portion may have various shapes capable of performing clamping and torque transmission with the output end, for example, may have a star shape, a triangle shape, or a square shape, or may have other polygonal shapes or other shapes capable of transmitting torque. The connecting part can be of a groove structure or a convex structure. The connecting arm 302 may be a hard rubber arm, for example, it may be made of ABS (i.e., acrylonitrile-butadiene-styrene copolymer) plastic, or a soft rubber arm, for example, it may be made of TPU (thermoplastic polyurethane), which has high toughness, wear resistance, and is beneficial for extending the service life.

In some embodiments, the cleaning member 303 is disposed on the connecting arm 302 and on a bottom surface of the connecting arm 302 facing the floor. The cleaning member 303 is provided to protrude from the length direction of the connection arm 302. In this embodiment, the cleaning member 303 may be a flexible cleaning member, for example, a silica gel strip, and such cleaning member may clean the dirt at the corners of the surface to be cleaned under the drive of high-speed rotation, but the material of the surface to be cleaned, for example, a wooden floor, may not be damaged.

In some embodiments, it will be appreciated that the cleaning execution unit 30 may be slidably disposed on the guide rail, while the self-cleaning unit 10 is fixedly disposed, and when the cleaning execution unit 30 is in the non-operating state, the cleaning execution unit 30 slides to the position of the self-cleaning unit 10 through the guide rail, so as to clean the cleaning execution unit 30, whereas when the cleaning execution unit 30 is in the operating state, the cleaning execution unit 30 is controlled to move to the position far away from the self-cleaning unit.

Referring to fig. 5, fig. 5 is a right side view of a schematic perspective view of a self-cleaning apparatus 200 of a sweeping robot according to a second embodiment of the present disclosure, wherein a cleaning execution unit 30 is in a working state. The overall operation principle of the first and second embodiments will be described below.

When the cleaning robot is in an operating state, particularly, the cleaning member 303 of the cleaning execution unit 30 is driven by the connecting arm 302 and the base 301 through high-speed rotation of the driving unit, so that the cleaning operation of the surface to be cleaned is realized, the control device monitors that the cleaning execution unit 30 is in an operating state, and then the control device controls the self-cleaning device 10 to stay at a position B far from the cleaning execution unit 30. At this time, the self-cleaning device 10 is located at a side position where the cleaning execution unit 30 is not contacted, and does not interfere with the normal operation of the cleaning execution unit 30.

When the control device detects that the cleaning robot is in a non-operating state, for example, the cleaning member 303 is not rotated, and the cleaning robot is in the non-operating state for a preset time, the control device controls the self-cleaning device to clean the cleaning execution unit 30. Specifically, the guide rail motor 1012 is electrified to drive the power assembly 102 to slide from the position B to the position A along the guide rail 1011, when the power assembly 102 is located at the position A, the cleaning brush 1032 on the self-cleaning assembly 103 interferes with the cleaning member 303 of the cleaning execution unit, the motor starts to rotate, and drives the self-cleaning assembly 103 located on the motor bracket to rotate at a high speed, so that the cleaning execution unit 30 is cleaned, stubborn stains (such as oil stains) on the cleaning member 303 of the cleaning execution unit 30 can be cleaned through the cleaning brush 1032, and the phenomenon that the cleaning robot works, the surface to be cleaned is polluted by the stains adhered on the cleaning execution unit 30 is avoided, and the cleaning effect of the cleaning robot is ensured.

Referring to fig. 6, fig. 6 is a schematic perspective view of a self-cleaning device of a sweeping robot at the bottom of a cleaning robot according to a third embodiment of the present application, wherein only a chassis, a cleaning execution unit and a self-cleaning unit are shown. In this embodiment, the self-cleaning unit and the chassis are the same as those of the first embodiment, and the detailed description will refer to the first embodiment, which is not repeated here. Only the cleaning execution unit 30' that is different from the first embodiment will be described in detail.

In this embodiment, the cleaning member 303' is a hard cleaning member, for example, a hard fiber or nylon. By using a hard cleaning member, it is possible to clean a surface to be cleaned of stubborn dirt, such as stubborn oil.

In some embodiments, referring to fig. 6, the cleaning member 303' is disposed on the bottom surface of the connecting arm 302 facing the floor, and is disposed along the length of the side sweep arm, specifically, the cleaning member 303' is disposed sequentially from the outermost end of the connecting arm 302' to a direction approaching the base 11. The cleaning member 303 is inclined with respect to the link arm 302', that is, with respect to the floor, and at the same time, since a hard cleaning member is employed, the cleaning member 303' can be inclined like a toothbrush to brush up the sticky garbage stuck to the floor, enhancing the floor cleaning ability, and the inclined cleaning member 303' forms an inclined guide surface toward the dust suction port (not shown), which gathers and guides the brushed garbage to the dust suction port, effectively removing the floor garbage. In addition, the cleaning member 303 'can adopt a plurality of hard bristle tufts, and in operation, most of the end surfaces of the bristle tufts are in direct contact with the ground, so that the contact area with the ground is increased, and the gravity of the connecting arm 302' can also increase a certain pressure on the bristle tufts, so that the cleaning force is increased, and the cleaning capability is further increased. The cleaning member 303' is inclined with respect to the floor surface, and can press and clamp the granular garbage through gaps between the bristle tufts and feed the granular garbage into the dust suction port, thereby preventing the garbage from being scattered and sucked in the cleaning process, and improving the cleaning efficiency.

In some embodiments, the cleaning elements 303 'may be disposed vertically with respect to the connecting arms 302', the connecting arms 302 'being inclined with respect to the floor, such that the cleaning elements 303' are also able to brush up the sticky debris stuck to the floor like a toothbrush.

Further, as shown in fig. 7, the present disclosure also provides a cleaning robot 1000 including the self-cleaning device 10, the chassis 20, and the cleaning performing unit 30'.

The bottom of the chassis 20 is provided with a dirt suction port 40, and the dirt cleaned by the cleaning execution unit 30' is sucked into the dirt suction port 40 by negative pressure. A driving unit (not shown) is installed between the chassis 20 and the cleaning performing unit. The cleaning execution unit 30' is mounted at the front end of the chassis 20, and the base 3 of the cleaning execution unit 30' is drivingly connected to the driving unit, so that the driving unit drives the cleaning execution unit 30' to rotate.

In some embodiments, the chassis can be elliptical, circular, D-shaped and the like, and various components such as a cleaning module, a walking module (such as a walking wheel), a fan assembly, a water tank, a sewage tank and the like are optionally arranged according to the needs; the cleaning module may include the cleaning execution unit and a mid-brush assembly; in some embodiments, the chassis may further include a collision sensing component (not shown), a distance sensing component (not shown), a control device, a battery, and a button, a screen, and other man-machine interaction devices for man-machine interaction. Wherein a collision sensing assembly (not shown) is used to prevent the cleaning robot from colliding with an obstacle, and in some embodiments, the collision sensing assembly (not shown) is disposed at the front end of the chassis; the distance sensing assembly is used for map scanning to realize the construction and positioning of the cleaning robot, and in some embodiments, the distance sensing assembly (not shown) can be embedded in the upper part and the rear part of the upper shell; the battery is used for providing electric energy for the cleaning robot; the control device is used for controlling various activities of the cleaning robot, such as sensor signal collection, motor driving control, battery management, navigation positioning, map generation, intelligent obstacle avoidance, cleaning path planning and the like.

The cleaning performing unit 30' may be disposed at an edge position of the chassis 20 to clean a position where the middle brush assembly cannot cover, and roll up the cleaning object at the position, so as to facilitate suction of the negative pressure port of the middle brush assembly.

The middle brush assembly is arranged outside the dirt sucking port 40 at the bottom of the chassis 20 and used for cleaning the surface to be cleaned, which is driven by the cleaning robot. It generally comprises a rolling brush and a rolling brush holder rotatably connected to the rolling brush, the rolling brush holder being floatingly provided at the bottom of the machine body.

Through setting up clean execution unit on cleaning robot, clean the position that cleaning execution unit covered that cleaning robot's bottom was walked, can play the effect of supplementary cleaning to cleaning robot's cleaning, improve the unable clean problem of cleaning robot's marginal zone, improve cleaning efficiency.

According to the self-cleaning device of the cleaning execution unit, the self-cleaning unit is arranged in a mutually interfering mode with the cleaning execution unit at least when the cleaning execution unit is in a non-working state, so that the cleaning execution unit can be self-cleaned, the cleaning execution unit is ensured to be in a cleaning state under the non-working state, dirt transferred from the surface to be cleaned by the cleaning execution unit is effectively prevented from being transferred to the surface to be cleaned again, secondary pollution is avoided, and the use experience of a user is greatly improved.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the claims, and all equivalent structural changes made in the present application and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the present application.

Claims (10)

1. A self-cleaning device of a cleaning execution unit for cleaning the cleaning execution unit of a cleaning robot, the cleaning execution unit being arranged at the bottom of the cleaning robot for cleaning dirt on a surface to be cleaned, characterized by comprising:

the self-cleaning unit is arranged at the bottom of the cleaning robot and is used for cleaning the cleaning execution unit; wherein, the liquid crystal display device comprises a liquid crystal display device,

the self-cleaning unit is arranged in an interference manner with the cleaning execution unit at least in a non-working state of the cleaning execution unit.

2. Self-cleaning device according to claim 1, wherein the self-cleaning unit is separated from the cleaning execution unit in the operating state of the cleaning execution unit.

3. Self-cleaning device according to claim 1, wherein the self-cleaning unit comprises:

a guide rail assembly disposed at a bottom of the cleaning robot and adjacent to the cleaning performing unit;

a power assembly slidably disposed on the rail assembly; and

and the self-cleaning assembly is rotatably arranged on the power assembly and is used for cleaning the cleaning execution unit.

4. A self-cleaning device as claimed in claim 3, wherein the self-cleaning assembly comprises a cleaning brush and a connecting shaft, the cleaning brush being arranged on the power assembly via the connecting shaft.

5. A self-cleaning apparatus as claimed in claim 3, wherein the power assembly comprises a motor and a motor mount, the motor being disposed on the rail assembly by the motor mount.

6. The self-cleaning apparatus according to claim 4, wherein the cleaning brush of the self-cleaning unit is disposed so as to interfere with the cleaning execution unit in a non-operating state of the cleaning execution unit.

7. The self-cleaning apparatus of claim 5, wherein the rail assembly includes a rail and a rail motor, the motor mount being disposed on the rail such that the motor mount is moved toward or away from the cleaning implement by the rail motor.

8. The self-cleaning apparatus according to claim 1, wherein the cleaning execution unit includes at least a base, a cleaning member and a connection arm, the cleaning member being provided on the base via the connection arm, the cleaning member being a hard cleaning member or a flexible cleaning member.

9. The self-cleaning apparatus of claim 1, further comprising a control unit electrically connected to the self-cleaning unit for controlling the self-cleaning unit to approach or depart from the cleaning execution unit.

10. A cleaning robot comprising a self-cleaning device according to any one of claims 1 to 9.