CN112190189A

CN112190189A - Cleaning robot

Info

Publication number: CN112190189A
Application number: CN202011132266.3A
Authority: CN
Inventors: 管贻生; 黄旭超; 陈大业
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2021-01-08
Anticipated expiration: 2040-10-21
Also published as: CN112190189B

Abstract

The present invention provides a cleaning robot, which includes a mopping module, a cleaning module and a moving wheel, as well as a top cover and a chassis, the top cover and the chassis are connected by a side plate, and the mopping module, the cleaning module and the moving wheel are all provided with On the chassis, the mopping module is provided with a cleaning assembly for cleaning the mopping module, and the chassis is also provided with a water tank for supplying cleaning water to the cleaning assembly and a water tank for collecting the cleaning and mopping modules generated. The sewage tank of the sewage, the chassis is also provided with an electric control assembly, and the electric control assembly is all connected with the mopping module, the cleaning module, the cleaning assembly and the moving wheel. The invention ensures that the mopping cloth will not pollute the water in the water tank in the process of circulating the mopping cloth, thereby improving the efficiency and quality of the mopping.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of robots, in particular to a cleaning robot.

Background

Currently, the internet of things and smart home are key development directions of many scientific and technological industries all over the world, and with the development of artificial intelligence technology and the improvement of requirements of people on living level, the smart home is increasingly demanded. The floor sweeping robot is taken as a daily household appliance, is more and more accepted by the Chinese, and the equipment can become a necessary electric appliance product for every family like an air conditioner and a refrigerator in the future, so that the market prospect is wide, and meanwhile, the functional requirements of consumers on the floor sweeping robot are higher and higher.

In the use process, the mopping and sweeping integrated cleaning robot can simultaneously complete sweeping and mopping operations, and can automatically plan a sweeping route, so that the automatic sweeping and cleaning of the ground of a house can be realized, and the labor and the time are saved. However, the existing sweeping robot has only a sweeping function, or has a mopping function, but the mop cloth is fixed in the mopping process, so that the mop cloth cannot be automatically cleaned, the mopping effect is poor, the efficiency is low, although the design of circularly cleaning the mop cloth is provided in the existing robot, the unreasonable mechanism design causes a series of problems that the mopping mechanism occupies too large space, pollutes a water tank in the mopping process, the mopping mechanism cannot flexibly float, the adaptability to uneven ground is not strong, and the like. Chinese patent publication No.: CN110934543A, published as 2020, 3.31.s, discloses a floor cleaning robot, which is provided with a mopping sponge and a water tank, wherein the water tank is arranged at one side of the tail part of a chassis, the other side of the tail part of the chassis is provided with a direct current motor I, a driving device is arranged beside the direct current motor, the direct current motor I is connected with a link mechanism through a belt transmission mechanism, the link mechanism is connected with a motor supporting plate, the motor supporting plate is provided with a sponge motor, the sponge motor is connected with the mopping sponge, the chassis is provided with an opening between the direct current motor I and the water tank, the mopping sponge extends out of the chassis to clean the ground through the opening and is taken back to the water tank to be cleaned, the moisture on the mopping sponge is dried through the rotation of the sponge motor after being cleaned, the tail part of the chassis is provided with a universal wheel, a direct current motor II is provided with a, the water tank is controlled to be opened and closed through a direct current motor II; although this application has set up the abluent structure of sponge, the water of water tank the inside can be more and more muddy along with the number of times increase of wasing the sponge, leads to mopping the ground sponge and washes dirty more, and clean effect is poor.

Disclosure of Invention

The invention aims to overcome the defect that the mop is washed more and more dirty due to the existing circulating washing of the mop, and provides a cleaning robot. The invention ensures that the mop cloth can not pollute the water in the water tank in the process of circularly cleaning the mop cloth, thereby improving the efficiency and the quality of mopping the floor.

In order to solve the technical problems, the invention adopts the technical scheme that: the cleaning robot comprises a floor mopping module, a cleaning module, a movable wheel, a top cover and a chassis, wherein the top cover is connected with the chassis through a side plate, the floor mopping module, the cleaning module and the movable wheel are arranged on the chassis, a cleaning assembly used for cleaning the floor mopping module is arranged on the floor mopping module, a water tank used for supplying cleaning water to the cleaning assembly and a sewage tank used for collecting sewage generated by the cleaning floor mopping module are further arranged on the chassis, and an electric control assembly is further arranged on the chassis and is connected with the floor mopping module, the cleaning assembly and the movable wheel.

Among this technical scheme, automatically controlled subassembly is to mopping the ground module, clean the module, wash the subassembly and remove the wheel and supply power, drags the ground module in the use and cleans ground, and water in the water tank is used for the cleanness to soak and drags the ground module, washs the subassembly and cleans the brush to mopping the ground module, and dirty water that the brush-cleaning produced can get into the bilge pit and collect, just so can not pollute the water in the water tank, has avoided dragging the ground module and has washed more dirty more.

Furthermore, a dust collection module is arranged on one side of the chassis, which is positioned on the cleaning module, the floor mopping module is connected with the chassis through a flexible floating assembly, and the electric control assembly is connected with the dust collection module. During use, the cleaning module can intensively clean dust and garbage to one side, and the dust collection module collects the intensively cleaned dust and garbage. And the chassis is connected with the mopping module through the flexible floating assembly, and the flexible floating assembly can change the angle between the mopping module and the chassis to clean uneven ground when facing the uneven ground.

Furthermore, the mopping module comprises a first motor fixed on the top surface of the chassis, a mop cloth support, a roller arranged on the mop cloth support through a shaft rod, and a carrier roller assembly located below the bottom surface of the chassis, wherein an output shaft of the first motor is connected with the shaft rod, a synchronous belt is arranged between the roller and the carrier roller assembly, a mop cloth is bonded on the synchronous belt, the carrier roller assembly is rotatably connected with the mop cloth support through a connecting rod support, the connecting rod support is connected with the chassis through a flexible floating assembly, a first driver is arranged on the first motor, and an electric control assembly is connected with the first driver. Among this technical scheme, automatically controlled subassembly is to first driver give-out order, make it start first motor, under the drive of first motor, the gyro wheel can take place to rotate, thereby make the mop that bonds at the hold-in range remove on gyro wheel and bearing roller subassembly, the bearing roller subassembly presses the mop to ground, make the mop clean ground, because the bearing roller subassembly is connected through flexible subassembly that floats with the chassis, the bearing roller subassembly passes through the connecting rod support again and is connected with the rotation of mop support, the event bearing roller subassembly can change the angle of oneself and chassis formation according to the topography, make this cleaning robot can clean the uneven ground of topography.

Furthermore, the flexible floating assembly comprises a guide rod and an adjusting spring, a guide hole penetrating through the guide rod is formed in the base plate, one end of the guide rod is fixed on the connecting rod support, the adjusting spring is sleeved on the guide rod between the base plate and the connecting rod support, and the carrier roller assembly comprises a plurality of rollers transversely arranged on the connecting rod support. Among this technical scheme, adjusting spring on the guide bar can make and produce elastic connection between connecting rod support and the chassis, and connecting rod support and mop support rotate to be connected, so when ground produced the slope, connecting rod support can compress adjusting spring, and connecting bracket rotates on mop support simultaneously for bearing roller subassembly and chassis form the angle the same with the slope, clean slope ground.

Further, wash the subassembly including setting up be used for on the mop support with the crowded water roller of gyro wheel cooperation extrusion mop, and locate crowded water roller both sides are used for clearing up the first cleaning brush and the second cleaning brush of mop, crowded water roller, first cleaning brush and second cleaning brush are all hugged closely the mop, the bilge pit is located the bottom of first cleaning brush and crowded water roller. In this technical side, the mop that removes is at first through first cleaning brush, first fixed brush is fixed motionless, and first cleaning brush scrubs the large granule filth from the mop and makes it drop in the bilge pit, then the mop through the squeezing action of crowded water roller, extrude the unnecessary moisture on the mop and flow into the bilge pit, next again through the second cleaning brush, the second cleaning brush carries out the secondary cleaning to the mop, the mop after the cleaning is rolled up by the bottom cylinder again and is pressed ground and realize dragging ground and move.

Furthermore, a water spraying pipe is arranged on the water tank and is positioned on one side of the first cleaning brush. The spray pipe sprays clean water in the water tank to the mop, and the mop is wetted so that the first cleaning brush and the second cleaning brush can clean the mop. The width of the wringing roller shaft, the first cleaning brush and the second cleaning brush is the same as that of the roller.

Furthermore, the cleaning assembly further comprises a second motor for driving a second cleaning brush to rotate, a second driver is arranged on the second motor, and the electric control assembly is connected with the second driver. The electric control assembly starts the second motor through the second driver, and the second motor is started to drive the second cleaning brush to rotate and clean the mop, so that the mop can be cleaned and brushed more cleanly.

Furthermore, the cleaning module comprises a pair of cleaning brushes with opposite rotation directions so as to form a dust collection area at the rear part of the cleaning brushes, each cleaning brush is correspondingly provided with a third motor, the third motor is positioned on the top surface of the chassis, an output shaft of the third motor penetrates through the chassis to be connected with the cleaning brushes, the third motor is provided with a third driver, and the electric control assembly is connected with the third driver. The electric control assembly starts the third motor through the third driver, the third motor is started to drive the cleaning brushes to rotate, and the two cleaning brushes with opposite rotation directions converge the cleaned garbage into the middle dust collecting area.

Furthermore, the dust collection module comprises an air inlet pipeline, a transition pipeline and a garbage collection box which are arranged on the bottom surface of the chassis, the inlet end of the air inlet pipeline is opposite to a dust collection area of the cleaning module, an impeller and a fourth motor are arranged inside the other end of the air inlet pipeline, an output shaft of the fourth motor is connected with the impeller, one end of the transition pipeline is communicated with one side of the air inlet pipeline, the other end of the transition pipeline is communicated with the garbage collection box, an exhaust pipe is arranged on the garbage collection box, a fourth driver is arranged on the fourth motor, an electric control assembly is connected with the fourth driver, and a filter plate is arranged on one side of the impeller facing the inlet end of the air inlet pipeline. The electric control assembly starts the fourth motor through the fourth driver, the fourth motor is started to drive the impeller connected with the fourth motor to rotate, under the action of the impeller, outside air can be sucked into the air inlet pipeline, garbage in a dust collection area can be sucked into the air inlet pipeline in the process, the air and the garbage form rotary air flow due to the rotation of the impeller, the air flow can enter the transition pipeline and the garbage collection box on one side of the air inlet pipeline, the garbage falls into the garbage collection box, and the air can be discharged from the exhaust pipe, so that the circulation of the air flow is realized. The filter keeps apart rubbish and impeller, avoids the impeller to be twined by rubbish and blocks.

Furthermore, the cross-sectional area of the garbage collection box is larger than that of the transition pipeline, and the inlet end of the air inlet pipeline is provided with a flaring structure. After the air current gets into the rubbish collecting box through transition pipeline, because the cross-sectional area of rubbish collecting box is obvious grow, the velocity of flow of air current obviously descends, and rubbish just deposits in the collecting box, and gaseous follow-up is discharged from the blast pipe, and flaring structure can all get into the inlet duct with the rubbish in dust collecting area as far as possible

Compared with the prior art, the invention has the beneficial effects that:

according to the mop cleaning device, the mop is driven between the carrier roller assembly and the roller, and the water tank and the sewage tank are separately arranged, so that purified water in the water tank is not polluted in the process that the cleaning assembly circularly cleans the mop, and the mopping efficiency and the mopping cleanliness are improved; the mopping module is connected with the chassis through the flexible floating assembly, so that the bottom surface with uneven terrain can be cleaned; the invention uses the air current generated by the rotation of the impeller to suck the garbage collected by the sweeping brush into the garbage collection box.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the present invention with the top cover and the bottom plate removed.

Fig. 3 is a partially enlarged view of a point a in fig. 2.

Fig. 4 is a schematic structural view of the flexible floating assembly of the present invention.

Fig. 5 is a schematic structural diagram of a dust suction module in the invention.

Fig. 6 is a schematic structural view of an impeller according to the present invention.

FIG. 7 is a schematic diagram of the internal structure of the present invention.

FIG. 8 is a schematic view of the operation of the dust collection module of the present invention.

The graphic symbols are illustrated as follows:

1-top cover, 2-side plate, 3-bottom plate, 4-water tank, 401-water spray pipe, 5-mopping module, 501-rolling wheel, 502-mopping cloth, 6-moving wheel, 7-dust suction module, 701-fourth motor, 702-air inlet pipe, 703-transition pipe, 704-garbage collection box, 705 impeller, 706-filter plate, 8-sweeping module, 801-third motor, 802-sweeping brush, 9-sewage tank, 10-first cleaning brush, 11-mopping cloth support, 12 second motor, 13-control plate, 14-distribution plate, 15-second cleaning brush, 16-water squeezing roller shaft, 17-guide rod, 18-adjusting spring, 19-roller and 20-connecting rod support.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.

Examples

Fig. 1 to 8 show an embodiment of a cleaning robot according to the present invention. A cleaning robot comprises a shell, wherein the shell comprises a top cover 1 and a chassis 3, a side plate 2 is arranged between the top cover 1 and the chassis 3, a mopping module 5, a dust collection module 7, a cleaning module 8 and a moving wheel 6 are arranged on the chassis 3, a cleaning assembly is arranged on the mopping module 5, a water tank 4 for supplying cleaning water to the cleaning assembly and a sewage tank 9 for collecting sewage generated by cleaning the mopping module are further arranged on the chassis 3, the cleaning assembly cleans the mopping module 5, and dirty water after cleaning enters the sewage tank 9, so that water in the water tank 4 is not polluted, and the mopping module 5 is prevented from being more dirty when being cleaned. Be equipped with automatically controlled subassembly on chassis 3, wherein automatically controlled subassembly includes switchboard 14 and control panel 13, and switchboard 14 is connected with control panel 13, and control panel 13 carries out connection control to dragging ground module 5, cleaning module 8, washing subassembly, dust absorption module 7 and removal wheel 6, and switchboard 14 is to dragging ground module 5, cleaning module 8, cleaning subassembly, dust absorption module 7 and remove wheel 6 and supply power. The mopping module 5 is connected with the chassis 3 through a flexible floating assembly so that the mopping module 5 can clean an uneven bottom surface.

In this embodiment, mopping module 5 is including being located the first motor on 3 top surfaces of chassis, mop support 11 and gyro wheel 501, still including the bearing roller subassembly that is located 3 bottoms of chassis, gyro wheel 501 passes through the axostylus axostyle and installs on mop support 11, the output shaft and the axostylus axostyle of first motor are connected, be equipped with the hold-in range between gyro wheel 501 and the bearing roller subassembly, mop 502 bonds on the hold-in range, mop 502 follows the hold-in range and forms the belt drive between gyro wheel 501 and the bearing roller subassembly, the bearing roller subassembly transversely sets up on connecting rod support 20, connecting rod support 20 one end is rotated and is connected on mop support 11, connecting rod support 20 is through flexible floating assembly and chassis 3 flexonics, wherein be equipped with first driver on the first motor, control panel 13 and.

In this embodiment, the flexible floating assembly comprises a guide rod 17 and an adjusting spring 18, a guide hole penetrating through the guide rod 17 is formed in the chassis 3, one end of the guide rod 17 is fixed on the connecting rod support 20 through an adjusting nut, the adjusting nut is in threaded fit with the connecting support 20, the adjusting spring 18 is sleeved on the guide rod 17 between the chassis 3 and the connecting rod support 20, when the terrain is uneven and pushes up the mop, the adjusting spring 18 is compressed, the connecting rod support 20 rotates on the mop support 11, so that the mop 502 and the mop support 11 generate elastic displacement, and the adjusting nut can also adjust the tensioning degree of the synchronous belt on the roller 501 and the roller assembly.

In this embodiment, the cleaning assembly includes a squeezing roller 16 disposed on the mop support 11 for pressing the mop in cooperation with the roller 501, and a first cleaning brush 10 and a second cleaning brush 15 disposed on both sides of the squeezing roller 16 for cleaning the mop 502, the squeezing roller 16, the first cleaning brush 10, and the second cleaning brush 15 are all tightly attached to the mop 502, the dirt tray 9 is disposed at the bottom of the first cleaning brush 10 and the squeezing roller 16, a water spray pipe 401 is disposed on the water tank 4, an outlet of the water spray pipe 401 is disposed at one side of the first cleaning brush 10, during the movement of the mop 502 on the roller 501 along with the synchronous belt, water in the water tank 4 is sprayed from the water spray pipe 401 to the mop 502, the first cleaning brush 10 brushes the dust and dirt on the mop 502 and brushes the mop 502, the squeezing roller 16 squeezes out dirty water on the mop 502, the squeezed dirty water and the dirt tray 9 brushed by the first cleaning brush 10 are stored, the mop 502 can complete the cycle cleaning. The width of the wringing roller shaft 16, the first cleaning brush 10, and the second cleaning brush 15 is the same as that of the roller 501. The cleaning assembly further comprises a second motor 12 driving a second cleaning brush 15 to rotate, a second driver is arranged on the second motor 12, the control panel starts the second motor 12 through the second driver, the second cleaning brush 15 is driven by the starting of the second motor 12 to rotate and clean the mop 502, and the mop 502 can be cleaned and brushed more cleanly

In this embodiment, the cleaning module 8 includes a pair of cleaning brushes 802 that turn in opposite directions so as to form a dust collection area behind the cleaning brushes 802, the cleaning brushes 802 are all correspondingly provided with a third motor 801, the third motor 801 is provided with a third driver, the control board 13 and the distribution board 14 are both connected with the third driver, the third driver starts the third motor 801, the third motor 801 drives the cleaning brushes 802 to rotate, the cleaning brushes 802 that turn in opposite directions can collect garbage in the dust collection area, and the dust collection module 7 is convenient for collecting garbage. The third motor is positioned on the top surface of the chassis 3, and an output shaft of the third motor penetrates through the chassis 3 to be connected with the cleaning brush 802. The dust collection module 7 is located in a dust collection area, as shown in fig. 5, the dust collection module 7 includes an air inlet duct 702, an impeller 705 and a fourth motor 701 are arranged inside the air inlet duct 702, an output shaft of the fourth motor 701 is connected with the impeller 705, a transition duct 703 and a garbage collection box 704 which are sequentially connected in a penetrating manner are arranged on one side of the air inlet duct 702, an exhaust pipe is arranged in the garbage collection box 704, a fourth driver is arranged on the fourth motor 701, and the control panel 13 and the distribution panel 14 are both connected with the fourth driver. The fourth motor 701 drives the impeller 705 to rotate, the impeller 705 sucks external air into the air inlet pipeline 702 and sucks garbage gathered by the sweeping brush 802, the impeller 705 drives the air to rotate and form centrifugal rotating air flow, the air flow and the garbage enter the transition pipeline 703 and the garbage collection box 704 arranged on the side surface of the air inlet pipeline 702, the flow rate of the air flow entering the garbage collection box 704 is obviously reduced due to the fact that the cross-sectional area of the garbage collection box 704 is larger than that of the transition pipeline 703, the garbage is deposited in the garbage collection box 704, and then the air is exhausted from the exhaust pipe arranged in the garbage collection box 704, airflow circulation is achieved, and garbage collection is completed. Wherein, the filter plate 706 is arranged on one side of the impeller 705 facing the inlet of the air inlet pipeline 702, and the filter plate 706 can isolate the garbage from the impeller 705 to prevent the garbage from winding the impeller 705.

In one embodiment, a pair of moving wheels 6 is arranged on the chassis 3, a fifth motor is arranged on each moving wheel 6, a fifth driver is arranged on the fifth motor, the distribution board 14 and the control board 13 are both connected with the fifth driver, the control board 13 controls the starting of the fifth motor through the fifth driver, the distribution board 14 provides electric energy for the fifth driver and the fifth motor, the fifth motor is connected with a shaft of the moving wheels 6 through a gear set, the gear set comprises a first gear and a second gear which are meshed with each other, an output shaft of the fifth motor is connected with the first gear, the second gear is connected with the shaft of the moving wheels 6, and an output shaft of the fifth motor sequentially drives the first gear, the second gear and the moving wheels 6 to rotate.

The chassis 3 is provided with a battery box, the battery box is connected with a distribution board 14, batteries are arranged in the battery box and provide electric energy, and the distribution board 14 distributes the electric energy to other components needing electricity.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A cleaning robot, comprising a mopping module, a cleaning module and a moving wheel, as well as a top cover and a chassis, the top cover and the chassis are connected through a side plate, and the mopping module, the cleaning module and the moving wheel are all arranged on The chassis is characterized in that: the mopping module is provided with a cleaning component for cleaning the mopping module, and the chassis is also provided with a water tank for supplying cleaning water to the cleaning component and a water tank for collecting cleaning mop A sewage tank for the sewage generated by the floor module, the chassis is also provided with an electric control assembly, and the electric control assembly is connected with the mopping module, the cleaning module, the cleaning assembly and the moving wheel.

2 . The cleaning robot according to claim 1 , wherein the chassis is provided with a dust collection module on one side of the cleaning module, and the mopping module is connected with the chassis through a flexible floating assembly, so the The electronic control assembly is connected to the dust suction module.

3 . The cleaning robot according to claim 2 , wherein the mopping module comprises a first motor fixed on the top surface of the chassis, a mopping support, and a roller mounted on the mopping support through a shaft, 3 . It also includes an idler assembly located under the bottom surface of the chassis, the output shaft of the first motor is connected with the shaft, a synchronous belt is arranged between the roller and the idler assembly, and a mop is adhered to the synchronous belt. , the idler assembly is rotatably connected to the mop support through a link bracket, the link bracket is connected to the chassis through the flexible floating assembly, the first motor is provided with a first driver, and the electronic control assembly connected to the first driver.

4 . The cleaning robot according to claim 2 , wherein the flexible floating assembly comprises a guide rod and an adjusting spring, the chassis is provided with a guide hole passing through the guide rod, and the guide rod One end of the connecting rod bracket is fixed on the connecting rod bracket, the adjusting spring is sleeved on the guide rod between the chassis and the connecting rod bracket, and the idler assembly includes several rollers arranged laterally on the connecting rod bracket cylinder.

5 . The cleaning robot according to claim 2 , wherein the cleaning assembly comprises a water squeezing roller shaft arranged on the mopping cloth support for squeezing the mopping cloth in cooperation with the roller, and a water squeezing roller shaft disposed on the mopping cloth support. 6 . Both sides of the water squeezing roller are used to clean the first cleaning brush and the second cleaning brush of the mop, the water squeezing roller, the first cleaning brush and the second cleaning brush are all close to the mop, and the sewage tank is located in the The first cleaning brush and the bottom of the squeezing roller shaft.

6 . The cleaning robot according to claim 4 , wherein the water tank is provided with a water spray pipe, and the water spray pipe is located on one side of the first cleaning brush. 7 .

7 . The cleaning robot according to claim 4 , wherein the cleaning assembly further comprises a second motor that drives the second cleaning brush to rotate, the second motor is provided with a second driver, and the electric The control assembly is connected to the second driver.

8 . The cleaning robot according to claim 1 , wherein the cleaning module comprises a pair of cleaning brushes with opposite directions to form a dust collecting area behind them, and a third cleaning brush is correspondingly provided on each cleaning brush. 9 . a motor, the third motor is located on the top surface of the chassis, the output shaft of the third motor is connected to the cleaning brush through the chassis, a third driver is provided on the third motor, and the motor The control assembly is connected to the third driver.

9 . The cleaning robot according to claim 7 , wherein the dust suction module comprises an air inlet duct, a transition duct and a garbage collection box arranged on the bottom surface of the chassis, and the inlet of the air inlet duct has an inlet. 10 . An impeller and a fourth motor are arranged inside the other end of the air inlet duct, the output shaft of the fourth motor is connected to the impeller, and one end of the transition duct is connected to the One side of the air inlet duct is communicated, and the other end of the transition duct is communicated with the garbage collection box, the garbage collection box is provided with an exhaust pipe, the fourth motor is provided with a fourth driver, the The electronic control assembly is connected to the fourth driver, and a filter plate is provided on the side of the impeller facing the inlet end of the air inlet duct.

10 . The cleaning robot according to claim 9 , wherein the cross-sectional area of the garbage collection box is larger than the cross-sectional area of the transition duct, and the inlet end of the air inlet duct is provided with a flared opening. 11 . structure.