CN108294699A - A kind of clean robot - Google Patents

Abstract

The invention discloses a cleaning robot, which includes a cleaning device and a walking mechanism; the cleaning device includes a box body, a dust suction module and a floor mopping module; the dust suction module includes a dust suction port, an exhaust port, and a connecting dust suction port and the suction duct of the exhaust port, as well as the dust collection box and the fan on the suction duct, the filter element is arranged at the exhaust port; the mopping module includes cleaning rollers, cleaning water tanks, mop and a The cleaning drive mechanism for the mop to move circularly between the cleaning roller and the cleaning water tank; the mop located at the cleaning roller is in contact with the ground, and the mop located in the cleaning water tank is twisted. The cleaning robot can not only absorb dust, debris and other dirt that is easy to separate from the ground, but also can wipe off the dirt that is not easy to separate from the ground. At the same time, in the process of cleaning the mop It can well remove the dirt on the mop, so that the cleaning effect is better.

Description

a cleaning robot

technical field

The invention relates to a cleaning device, in particular to a cleaning robot.

Background technique

At present, vacuum cleaners are generally used for indoor cleaning work in office places and commercial places, and traditional tools such as brooms and mops are generally still used for general indoor cleaning work. However, if the area that needs to be cleaned is too large (such as large open-air squares, indoor gymnasiums, etc.), if only traditional tools such as brooms and mops are used for large-scale cleaning work, this will increase the labor intensity of the cleaning staff. Very large, and the efficiency of cleaning work is very low.

With the development of science and technology, cleaning robots have also appeared in people's lives. Existing cleaning robots are mainly divided into two categories, one is dust-absorbing cleaning robots, which generate negative pressure through fans to suck away dust, debris and other dirt on the ground that can be easily sucked away, so as to achieve cleaning; The other type is a wiping cleaning robot, which cleans the dirt on the ground by contacting and wiping the ground with a circularly rotating mop. The above two types of cleaning robots have their own deficiencies. For the vacuum cleaning robot, it can only remove the dirt that is easy to be sucked away, and cannot clean the dirt that adheres to the ground; for the wiping cleaning machine, although It has a good ability to remove the dirt that adheres to the ground, but the mop used to wipe the ground should not only clean dust, debris and other dirt that are easy to separate from the ground, but also clean the dirt that is not easy to separate from the ground. This leads to a larger cleaning load of the mop, and more dirt is taken away. Usually, the mop passes through the cleaning water tank at the same time when it is working in a cycle, and the water in the water tank cleans the mop, which leads to cleaning in the water tank. The water gets dirty quickly, and the washing water needs to be changed constantly, otherwise the cleaning effect will be affected.

However, after the mopping is completed, the mop of the mopping machine needs to be manually cleaned, which increases people's labor. Therefore, the invention patent application with the application publication number CN105581739A discloses "a kind of mopping vehicle with two water tanks", which includes a mopping module, a self-cleaning module, a cleaning module and a driving module. When working, the cloth guide wheel rotates under the drive of the motor, and then the cloth guide wheel drives the mop to rotate, and the contact distance between the mop and the ground is controlled by the pressing wheel to realize the function of mopping the floor. The self-cleaning module is composed of a cleaning roller, a water tying wheel and a water tank. When working, the mop rotates under the drive of the cloth guide wheel and passes through the cleaning roller. The dirt on the mop is cleaned by the cleaning roller, cleaned by the water tank, and then tied The water wheel wrings out the mop, thus realizing the self-cleaning function.

However, during the cleaning process of the mop of the above-mentioned double water tank mopping vehicle in the water tank, the resistance encountered when the mop moves in water is F=1/2*C*ρ*v^2*s (wherein, ρ is density, v, is the speed, s is the cross-sectional area in the vertical direction, and C is the drag coefficient), since the area s perpendicular to the moving direction of the mop is the cross-sectional area of the mop itself during the movement of the mop, this will lead to the resistance of the water to the mop It is relatively small, so that the resistance of the water to the mop during the movement of the mop in the water tank cannot remove the dirt on the mop well, so that the mop that has not been cleaned will wipe the ground again, thereby affecting the cleaning effect.

Contents of the invention

The technical problem to be solved by the present invention is to provide a cleaning robot, which can not only absorb dust, debris and other dirt that is easy to separate from the ground, but also can remove dirt that is not easy to separate from the ground At the same time, the dirt on the mop can be well removed during the cleaning process of the mop, so that the mop can clean the ground well during the mopping process, so that the cleaning effect is better.

The technical scheme that the present invention solves the problems of the technologies described above is:

A cleaning robot, including a cleaning device and a walking mechanism for driving the cleaning device to walk, wherein the cleaning device includes a box body, a dust collection module and a floor mopping module arranged in the box body, wherein,

The dust suction module is arranged in front of the mopping module, and the dust suction module includes a dust suction port at the bottom of the box body, an exhaust port on the side wall of the box body, and a connection between the dust suction port and the exhaust port. A suction duct, a dust collection box and a fan arranged on the suction duct, and a filter element is arranged at the exhaust port;

The mopping module includes a cleaning roller, a cleaning water tank, a mop, and a cleaning driving mechanism for driving the mop to cycle between the cleaning roller and the cleaning water tank, wherein the cleaning roller is arranged at the bottom of the box, and the The box body is provided with a cleaning port at a position corresponding to the cleaning roller; the mop is wrapped around between the cleaning roller and the cleaning water tank, and the two ends of the cleaning water tank are provided with an inlet and an outlet for the mop to enter and exit ; Wherein, the mop located at the cleaning roller is in contact with the ground, and the mop located in the cleaning water tank is twisted.

Preferably, the washing driving mechanism includes a first rotating shaft arranged on both sides of the cleaning roller, a second rotating shaft arranged on both sides of the washing water tank, and a washing motor, wherein the washing motor is installed in the tank, and the The main shaft of the cleaning motor is connected to the cleaning roller through the second synchronous transmission mechanism; after the mop comes out of the cleaning roller, it turns around the first rotating shaft and the second rotating shaft on one side of the cleaning water tank and then enters the cleaning water tank. The mop comes out of the cleaning water tank after being twisted several times in the cleaning water tank, and is connected with the mop on the cleaning roller end to end after going around the second rotating shaft and the first rotating shaft on the other side of the cleaning water tank in turn.

Preferably, the cleaning water tank is provided with two cleaning rotating shafts arranged up and down and cooperating with each other, the two cleaning rotating shafts are rotatably connected in the cleaning water tank, and the mop located in the cleaning water tank passes between the two cleaning rotating shafts. Pass.

Preferably, the mop is centered on the cleaning shaft, and is twisted once by 180 degrees on both sides of the cleaning shaft.

Preferably, the cleaning water tank is provided with a third rotating shaft on both sides of the cleaning rotating shaft, and the third rotating shaft is rotatably connected to the inner wall of the cleaning water tank.

Preferably, the cleaning water tank is provided with a clamping roller set at the outlet, and the clamping roller set includes two clamping rollers arranged up and down and cooperating with each other, and the two clamping rollers are rotatably connected to the On the inner wall of the tank and at a position higher than the outlet of the cleaning water tank, the mop coming out of the outlet of the cleaning water tank passes between the two clamping rollers and wraps around the second rotating shaft.

Preferably, a water guiding piece is provided between the cleaning water tank and the clamping roller set, one end of the water guiding piece is connected to the outlet of the cleaning water tank, and the other end extends obliquely upward to the bottom of the clamping roller set. bottom.

Preferably, the upper end of the cleaning water tank is provided with a water inlet, and the lower end of the cleaning water tank is provided with a drainage mechanism. A connecting valve between the drain pipes, one end of the connecting valve is connected to the drain pipe, and the other end is connected to the drain hole; the box body is provided with a side door at a position corresponding to the drain mechanism.

Preferably, the box body is provided with an exhaust valve, and the exhaust valve is provided with an exhaust hole, and the exhaust hole constitutes the exhaust port; the suction duct is composed of a dust suction section and a dust delivery The dust inlet is arranged at the bottom of the dust suction section, and the dust inlet is aligned with the dust suction port at the bottom of the box; the dust delivery section is a 90° elbow, and the fan is arranged in the dust delivery section ; The dust collection box is a structure that gradually increases from one end to the other end, the smaller end of the dust collection box is connected to the dust delivery section, and the other end is connected to the exhaust valve; the filter element is made of sponge, the filter Parts are arranged between the dust box and the exhaust valve.

Preferably, the traveling mechanism includes traveling wheels arranged at the bottom of the box and a traveling motor for driving the traveling wheels to rotate, wherein the traveling motor is installed in the box, and the traveling motor and the traveling wheels pass through a second A synchronous transmission mechanism is connected, and the first synchronous transmission mechanism includes a first driving synchronous wheel arranged on the main shaft of the traveling motor, a first driven synchronous wheel coaxially connected with the traveling wheel, and a first synchronous belt , wherein, the first synchronous belt is wound around the first driving synchronous wheel and the first driven synchronous wheel; the traveling mechanism also includes universal wheels arranged at the bottom of the box, and the traveling wheels At the rear end of the box body, the universal wheels are arranged at the front end of the box body.

The working principle of the cleaning robot of the present invention is:

When working, the walking mechanism drives the box body to move. During the movement, the dust collection module is located in front, and the dust suction module first sucks away dust, debris and other dirt on the ground that are easy to separate from the ground. The principle is: start the fan, and the fan will discharge the air in the suction duct from the exhaust port, so that a negative pressure is formed in the suction duct, so that the dust on the ground will be discharged under the action of the negative pressure. It enters the suction duct from the dust suction port, and enters the dust box through the suction duct, and the gas is discharged after being filtered by the filter element at the exhaust port, so as to realize the cleaning of the dust on the ground. The mopping module wipes the ground cleaned by the dust suction module to remove the dirt that is not easy to separate from the ground. Specifically, the mop at the cleaning roller is used to wipe the ground. After the mop wipes the ground, the cleaning driving mechanism drives the mop to circulate between the cleaning roller and the cleaning water tank, so that the mop that has wiped the ground at the cleaning roller is replaced by a clean mop, and the mop that has wiped the ground enters the cleaning water tank In this way, it can be ensured that the mop used to wipe the floor in the cleaning roller is always a clean mop, thereby ensuring the cleaning effect. When the mop that has wiped the ground enters the cleaning water tank, the mop is twisted several times in the cleaning water tank and comes out of the cleaning water tank. During this process, the resistance that the mop receives is F=1/2*C*ρ *v^2*s, because the mop has been twisted several times, the area of the projected surface of the mop perpendicular to the direction of motion will be larger than the cross-sectional area of the mop itself, so that the resistance of the water to the mop will become larger. Relatively, The force of water on the dirt attached to the mop will also increase, so that the dirt can be easily removed from the mop, so that the cleaning effect is better, which also ensures that the mop out of the self-cleaning water tank is cleaner, making this The invented cleaning robot cleans better.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. The cleaning robot of the present invention integrates the functions of vacuuming and mopping the floor. It can not only vacuum the ground, but also wipe the ground after vacuuming. The removal of dust and other sundries separated from the ground can remove most of the dirt on the ground and greatly reduce the workload of the subsequent mopping module; on the other hand, the mopping module can be used to wipe the dirt that is difficult to separate on the ground, In order to ensure that all the dirt on the ground is cleaned, because the amount of such dirt is small, the dirt on the mop is relatively small, so that the clean water in the cleaning water tank has a longer working time and does not need to be frequently cleaned. Therefore, through the coordinated work of the dust suction module and the mopping module, the floor can be cleaned efficiently with better cleaning effect.

2. Since the mop in the present invention is twisted in the cleaning water tank, like this, according to the formula F=1/2*C*ρ*v^2*s, after the mop is twisted, the mop is perpendicular to the direction of motion. The area of the projected surface of the mop will be greater than the cross-sectional area of the mop itself, so that the resistance of the water to the mop will become larger, and relatively, the force of the water on the dirt pasted on the mop will also become larger, so that it is easy to remove the dirt. Objects are removed from the mop, so that the cleaning effect is better, which also ensures that the mop going out from the cleaning water tank is cleaner, so that the cleaning effect of the cleaning robot of the present invention is better.

Description of drawings

Figures 1-3 are schematic structural views of the cleaning robot of the present invention, wherein Figure 1 is a front view (section), and Figures 2 and 3 are schematic three-dimensional structural views.

Fig. 4 is an exploded view of the dust collection module shown in Fig. 1 .

FIG. 5 is a schematic perspective view of the three-dimensional structure of the cleaning water tank shown in FIG. 1 .

Detailed ways

The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Referring to Fig. 1-Fig. 5, the cleaning robot of the present invention includes a cleaning device and a walking mechanism 2 for driving the cleaning device to walk, wherein the cleaning device includes a box body 1, a dust collection module 4 arranged in the box body 1 and Mopping module 3.

Referring to FIGS. 1-5 , the dust collection module 4 is arranged in front of the mopping module 3 , and the dust collection module 4 includes a suction port 4 - 1 at the bottom of the box body 1 , and a side wall of the box body 1 . The exhaust port 4-2 on the top, the suction duct 4-4 connecting the dust suction port 4-1 and the exhaust port 4-2 and the dust collection box 4-5 and fan 4 located on the suction duct 4-4 -6, the exhaust port 4-2 is provided with a filter element 4-3.

Referring to Fig. 1-Fig. 5, described mopping module 3 comprises cleaning roller 3-1, cleaning water tank 3-2, mop 3-3 and is used to drive mop 3-3 between cleaning roller 3-1 and cleaning water tank 3-2 A cleaning drive mechanism that circulates between them, wherein the cleaning roller 3-1 is arranged at the bottom of the box 1, and the box 1 is provided with a cleaning port at a position corresponding to the cleaning roller 3-1 3-14; the mop 3-3 surrounds between the cleaning roller 3-1 and the cleaning water tank 3-2, and the two ends of the cleaning water tank 3-2 are provided with an entrance for the mop 3-3 to enter and exit and outlet; wherein, the mop 3-3 located at the cleaning roller 3-1 is in contact with the ground, and the mop 3-3 located in the cleaning water tank 3-2 is twisted.

Referring to Fig. 1-Fig. 5, the traveling mechanism 2 includes a traveling wheel 2-1 arranged at the bottom of the box body 1 and a traveling motor 2-2 for driving the traveling wheel 2-1 to rotate, wherein the traveling motor 2-2 is installed in the box body 1, and the travel motor 2-2 is connected with the travel wheel 2-1 through the first synchronous transmission mechanism, and the first synchronous transmission mechanism includes a The first driving synchronous wheel on the main shaft, the first driven synchronous wheel coaxially connected with the road wheel 2-1 and the first synchronous belt, wherein the first synchronous belt is wound around the first driving synchronous wheel and on the first driven synchronous wheel. In this way, the power of the traveling motor 2-2 is transmitted to the traveling wheel 2-1 through the first synchronous transmission mechanism, thereby driving the traveling wheel 2-1 to rotate, and further driving the cleaning robot of the present invention to move.

Referring to Fig. 1-Fig. 5, the traveling mechanism 2 also includes a universal wheel 2-3 arranged at the bottom of the box body 1, the traveling wheel 2-1 is arranged at the rear end of the box body 1, and the universal wheel Wheel 2-3 is arranged on the front end of casing 1. Its purpose is to adjust the movement direction of the cleaning robot of the present invention through the universal wheels 2-3.

Referring to Fig. 1-Fig. 5, the cleaning driving mechanism includes a first rotating shaft 3-4 arranged on both sides of the cleaning roller 3-1, a second rotating shaft 3-5 arranged on both sides of the cleaning water tank 3-2 And the cleaning motor 3-6, wherein, the first rotating shaft 3-4 and the second rotating shaft 3-5 are rotationally connected on the casing 1; the cleaning motor 3-6 is installed in the casing 1, and the cleaning The main shaft of the motor 3-6 is connected with the cleaning roller 3-1 through the second synchronous transmission mechanism; after the mop 3-3 comes out from the cleaning roller 3-1, it turns around the first cleaning water tank 3-2 side. After the first rotating shaft 3-4 and the second rotating shaft 3-5 enter the cleaning water tank 3-2, the mop 3-3 comes out from the cleaning water tank 3-2 after being twisted several times in the cleaning water tank 3-2. And after going around the second rotating shaft 3-5 and the first rotating shaft 3-4 on the other side of the cleaning water tank 3-2 in turn, it is connected end to end with the mop 3-3 on the cleaning roller 3-1. In this way, the cleaning motor 3-6 transmits power to the cleaning roller 3-1 through the second synchronous transmission mechanism, thereby driving the cleaning roller 3-1 to rotate, while the cleaning roller 3-1 rotates and also drives the mop 3-3 to circulate , like this, after the mop 3-3 has wiped the ground, the mop 3-3 of this part will enter in the described cleaning water tank 3-2 for cleaning under the drive of the cleaning roller 3-1, and at the same time, the clean The mop 3-3 will reach the cleaning roller 3-1 along with the circular movement of the mop 3-3, so that the mopping module 3 can always use a clean mop 3-3 to wipe the ground, thereby improving the cleaning effect . In addition, the first rotating shaft 3-4 and the second rotating shaft 3-5 are also conducive to tightening the mop 3-3, thereby facilitating the circular movement of the mop 3-3 driven by the cleaning roller 3-1. The second synchronous transmission mechanism may be a synchronous belt transmission mechanism, or a chain transmission mechanism or a gear transmission mechanism.

Referring to Figures 1-5, the cleaning water tank 3-2 is provided with two cleaning rotating shafts 3-7 arranged up and down and cooperating with each other, and the two cleaning rotating shafts 3-7 are rotatably connected to the cleaning water tank 3-2 Inside, the mop 3-3 is located between the two cleaning rotating shafts 3-7. Like this, after the mop 3-3 that enters the cleaning water tank 3-2 passes through the cleaning rotating shaft 3-7, the cleaning rotating shaft 3-7 can remove the dirt on the upper and lower surfaces of the mopping cloth 3-3, thereby achieving the cleaning of the mop 3-3. 3 for the purpose of cleaning.

Referring to Fig. 1-Fig. 5, the mop 3-3 is centered on the cleaning rotating shaft 3-7, and is twisted 180 degrees on both sides of the cleaning rotating shaft 3-7. In this way, the cleaning rotating shaft 3-7 can be used as a transitional positioning mechanism for the twisting of the mop 3-3, so that the mop 3-3 remains in a twisted posture on both sides of the cleaning rotating shaft 3-7, ensuring that the mop 3-3 is always in line with the twisted Stance by cleaning the water tank 3-2.

Referring to Figures 1-5, the cleaning water tank 3-2 is provided with a third rotating shaft 3-8 on both sides of the cleaning rotating shaft 3-7, and the third rotating shaft 3-8 is rotatably connected to the cleaning water tank 3 -2 on the inner wall. The purpose of setting the third rotating shaft 3-8 is to tighten the mop 3-3 located in the cleaning water tank 3-2, so as to facilitate the circular movement of the mop 3-3 driven by the cleaning roller 3-1. In addition, during the rotation of the third rotating shaft 3-8 with the circular movement of the mop 3-3, the relative friction between the third rotating shaft 3-8 and the mop 3-3 can also remove the mop 3. Dirt on -3.

Referring to Figures 1-5, the cleaning water tank 3-2 is provided with a clamping roller set 3-9 at the outlet, and the clamping roller set 3-9 includes two clamping rollers arranged up and down and cooperating with each other , the two clamping rollers are rotatably connected to the inner wall of the box body 1 and are higher than the position of the outlet of the cleaning water tank 3-2, and the mop 3-3 coming out of the outlet of the cleaning water tank 3-2 It passes between the two clamping rollers and wraps around the second rotating shaft 3-5. Its purpose is to squeeze out most of the water from the mop 3-3 coming out of the cleaning water tank 3-2 through the clamping roller group 3-9, so as to avoid water spots on the cleaned ground and make the mopping effect more effective. it is good.

Referring to Fig. 1-Fig. 5, a water guiding piece 3-10 is arranged between the cleaning water tank 3-2 and the clamping roller group 3-9, and one end of the water guiding piece 3-10 is connected to the cleaning water tank 3 -2 is connected to the outlet, and the other end extends obliquely upwards to the bottom of the clamping roller set 3-9. Its purpose is to guide the water squeezed out by the clamping roller group 3-9 back into the cleaning water tank 3-2, thereby preventing the water in the cleaning water tank 3-2 from dripping into the tank with the circulation of the mop 3-3. The bottom of body 1 interferes with cleaning.

Referring to Figures 1-5, the upper end of the cleaning water tank 3-2 is provided with a water inlet 3-11, and the lower end of the cleaning water tank 3-2 is provided with a drainage mechanism, and the drainage mechanism includes a 2 The drain hole at the bottom, the drain pipe 3-13, and the connection valve 3-12 arranged between the drain hole and the drain pipe 3-13, one end of the connection valve 3-12 is connected to the drain pipe 3-13 13, and the other end is connected to the drainage hole; the box body 1 is provided with a side door 1-1 at a position corresponding to the drainage mechanism. In this way, when the water in the cleaning water tank 3-2 needs to be replaced, the side door 1-1 can be opened, the water outlet end of the drainpipe 3-13 is taken out from the inside of the casing 1, and the connection valve 3-12 is opened again, like this, The dirty water in the cleaning water tank 3-2 will be discharged along the drain pipe 3-13. After the dirty water in the cleaning water tank 3-2 was discharged, the connection valve 3-12 was closed, and the drainpipe 3-13 was put into the casing 1 inside, and the side door 1-1 was closed. Open water inlet 3-11 subsequently, and add clear water in this cleaning water tank 3-2. This has just realized the replacement of the water in the cleaning water tank 3-2. Described box body 1 can be provided with dodge door 1-2 at the position corresponding to described water inlet 3-11, when needing to add clear water to cleaning water tank 3-2 like this, can open dodge door 1-2 first, and then Open the water inlet 3-11 of the cleaning water tank 3-2. The advantage of this design is that the cleaning water tank 3-2 is completely wrapped in the box body 1, preventing the cleaning robot of the present invention from colliding with other objects during movement, thereby protecting the cleaning water tank 3-2 well.

Referring to Fig. 1-Fig. 5, the bottom of the box body 1 is provided with a drainage port, so that the sewage dripped from the mop 3-3 into the box body 1 can be discharged. In addition, when the box body 1 needs to be cleaned, the drain port can also discharge the cleaned sewage.

Referring to Fig. 1-Fig. 5, an exhaust valve is arranged on the box body 1, and an exhaust hole is arranged on the exhaust valve, and the exhaust hole constitutes the exhaust port 4-2. Like this, after collecting full dust in dust box 4-5, can open exhaust valve, the dust in dust box 4-5 is removed.

Referring to Fig. 1-Fig. 5, the air suction duct 4-4 is composed of a dust suction section 4-4a and a dust delivery section 4-4b. A dust inlet is arranged at the bottom of the dust suction section 4-4a, and the dust inlet is connected to the dust inlet. The dust suction port 4-1 at the bottom of the box body 1 is aligned; the dust delivery section 4-4b is a 90° elbow, and the fan 4-6 is arranged in the dust delivery section 4-4b; the dust collection box 4-5 has a structure that gradually increases from one end to the other. The smaller end of the dust collecting box 4-5 is connected to the dust delivery section 4-4b, and the other end is connected to the exhaust valve; the filter element 4-3 Made of sponge, the filter 4-3 is arranged between the dust box 4-5 and the exhaust valve.

Referring to Fig. 1-Fig. 5, the working principle of the cleaning robot of the present invention is:

When working, the traveling mechanism 2 drives the box body 1 to move. During the movement, the dust suction module 4 is located in front, and the dust suction module 4 first sucks dust, debris and other dirt on the ground that are easy to separate from the ground. In addition, the principle of sucking is: start the fan 4-6, and the fan 4-6 will discharge the air in the suction duct 4-4 from the exhaust port 4-2, so that the suction duct 4- Negative pressure is formed in 4, like this, the dust etc. on the ground will enter in the suction pipe 4-4 from described dust suction port 4-1 under the effect of negative pressure, and enter into through suction pipe 4-4. In the dust collecting box 4-5, the gas is discharged after being filtered by the filter element 4-3 at the exhaust port 4-2 place, thereby realizing the cleaning of the ground dust. The floor mopping module 3 wipes the ground cleaned by the dust suction module 4 to remove the dirt that is difficult to separate from the ground, specifically by cleaning the mop 3-3 at the roller 3-1 against the ground. Wipe, when the mop 3-3 at the cleaning roller 3-1 wipes the ground, the cleaning drive mechanism drives the mop 3-3 to circulate between the cleaning roller 3-1 and the cleaning water tank 3-2, so that the cleaning roller 3 The mop 3-3 that has wiped the ground at -1 is replaced by a clean mop 3-3, and the mop 3-3 that has wiped the ground enters the cleaning water tank 3-2, so that the cleaning roller 3-1 can be guaranteed The mop 3-3 used to wipe the ground is always a clean mop 3-3, thereby ensuring the cleaning effect. After the mop 3-3 that had wiped the ground entered the cleaning water tank 3-2, the mop 3-3 was twisted several times in the cleaning water tank 3-2 and came out from the cleaning water tank 3-2. The resistance that the mop 3-3 is subjected to is F=1/2*C*ρ*v^2*s, because the mop 3-3 is twisted several times, the area of the projected surface of the mop 3-3 perpendicular to the direction of motion Will be greater than the cross-sectional area of mop 3-3 self, the resistance of water to mop 3-3 will become bigger like this, relatively, the active force of water to the dirt that is pasted on the mop 3-3 also will become bigger, like this Dirt is easily removed from the mop 3-3, thereby making the cleaning effect better, which also ensures that the mop 3-3 going out from the cleaning water tank 3-2 is cleaner, making the cleaning effect of the cleaning robot of the present invention better it is good.

The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above content, and any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention are all Replacement methods that should be equivalent are all included within the protection scope of the present invention.

Claims (10)

1. A cleaning robot, characterized in that it includes a cleaning device and a walking mechanism for driving the cleaning device to walk, wherein the cleaning device includes a box body, a dust suction module and a floor mopping module arranged in the box body, wherein, The dust suction module is arranged in front of the mopping module, and the dust suction module includes a dust suction port at the bottom of the box body, an exhaust port on the side wall of the box body, and a connection between the dust suction port and the exhaust port. A suction duct, a dust collection box and a fan arranged on the suction duct, and a filter element is arranged at the exhaust port; The mopping module includes a cleaning roller, a cleaning water tank, a mop, and a cleaning driving mechanism for driving the mop to cycle between the cleaning roller and the cleaning water tank, wherein the cleaning roller is arranged at the bottom of the box, and the The box body is provided with a cleaning port at a position corresponding to the cleaning roller; the mop is wrapped around between the cleaning roller and the cleaning water tank, and the two ends of the cleaning water tank are provided with an inlet and an outlet for the mop to enter and exit ; Wherein, the mop located at the cleaning roller is in contact with the ground, and the mop located in the cleaning water tank is twisted. 2. The cleaning robot according to claim 1, wherein the cleaning drive mechanism comprises a first rotating shaft arranged on both sides of the cleaning roller, a second rotating shaft arranged on both sides of the cleaning water tank, and a cleaning motor , wherein, the cleaning motor is installed in the box, and the main shaft of the cleaning motor is connected with the cleaning roller through the second synchronous transmission mechanism; After the rotating shaft and the second rotating shaft enter into the cleaning water tank, the mop comes out from the cleaning water tank after being twisted several times in the cleaning water tank, and then wraps around the second rotating shaft and the first rotating shaft on the other side of the cleaning water tank in turn and then connects with the cleaning water tank. The mop on the cleaning roller is connected end to end. 3. The cleaning robot according to claim 2, wherein the cleaning water tank is provided with two cleaning rotating shafts arranged up and down and cooperating with each other, and the two cleaning rotating shafts are rotatably connected in the cleaning water tank, located at The mop in the cleaning water tank passes between the two cleaning rotating shafts. 4 . The cleaning robot according to claim 3 , wherein the mop is centered on the cleaning shaft, and is twisted once by 180 degrees on both sides of the cleaning shaft. 5 . 5 . The cleaning robot according to claim 4 , wherein the cleaning water tank is provided with a third rotating shaft on both sides of the cleaning rotating shaft, and the third rotating shaft is rotatably connected to an inner wall of the cleaning water tank. 6. The cleaning robot according to claim 2, wherein the cleaning water tank is provided with a clamping roller set at the outlet, and the clamping roller set includes two clamping rollers arranged up and down and cooperating with each other , the two clamping rollers are rotatably connected to the inner wall of the box and are higher than the outlet of the cleaning water tank, and the mop coming out of the outlet of the cleaning water tank passes between the two clamping rollers Pass through and wrap around the second rotating shaft. 7. The cleaning robot according to claim 6, wherein a water guiding piece is arranged between the cleaning water tank and the clamping roller group, one end of the water guiding piece is connected to the outlet of the cleaning water tank, The other end extends obliquely upwards to the bottom of the clamping roller set. 8. The cleaning robot according to claim 1, characterized in that, the upper end of the cleaning water tank is provided with a water inlet, and the lower end of the cleaning water tank is provided with a drainage mechanism, and the drainage mechanism includes a A drain hole, a drain pipe, and a connecting valve arranged between the drain hole and the drain pipe, one end of the connecting valve is connected to the drain pipe, and the other end is connected to the drain hole; A side door is provided at a corresponding position of the drainage mechanism. 9. The cleaning robot according to claim 1, wherein an exhaust valve is arranged on the box body, and an exhaust hole is arranged on the exhaust valve, and the exhaust hole constitutes the exhaust port The suction duct is composed of a dust suction section and a dust delivery section, the bottom of the dust suction section is provided with a dust inlet, and the dust inlet is aligned with the dust suction port at the bottom of the box; the dust delivery section is 90° An elbow, the fan is arranged in the dust delivery section; the dust collection box has a structure that gradually increases from one end to the other end, the smaller end of the dust collection box is connected to the dust delivery section, and the other end is connected to the exhaust air The door is connected; the filter is made of sponge, and the filter is arranged between the dust box and the exhaust valve. 10. The cleaning robot according to claim 1, wherein the traveling mechanism includes traveling wheels arranged at the bottom of the box and a traveling motor for driving the traveling wheels to rotate, wherein the traveling motor is mounted on Inside the box, the travel motor is connected to the travel wheels through a first synchronous transmission mechanism, and the first synchronous transmission mechanism includes a first active synchronous wheel arranged on the main shaft of the travel motor, coaxial with the travel wheels The connected first driven synchronous wheel and the first synchronous belt, wherein, the first synchronous belt is wound on the first driven synchronous wheel and the first driven synchronous wheel; Universal wheels at the bottom of the box, the traveling wheels are arranged at the rear end of the box, and the universal wheels are arranged at the front end of the box.