CN219070117U - Cleaning robot cleaning assembly and cleaning robot - Google Patents

Abstract

The utility model relates to the technical field of cleaning robots and discloses a cleaning robot cleaning assembly and a cleaning robot. Set up steering wheel and promote control round brush, can effectively clean the dead angle spot at window frame both sides edge, make sanitation and hygiene more thoroughly, when the robot strides the barrier, through the adjustment of angle, carry out timely linking to the clean face of treating behind the obstacle, treat clean face behind the obstacle when realizing that the robot strides the barrier and clean, avoid the production at clean dead angle, reach better cleaning effect.

Description

Cleaning robot cleaning assembly and cleaning robot

Technical Field

The utility model relates to the technical field of cleaning robots, in particular to a cleaning assembly of a cleaning robot and the cleaning robot.

Background

Building glass curtain wall is developed towards energy saving, environment protection, fashion and comfort, and the structure of the glass curtain wall, the size of glass, the shape of the spacing frame, the height and the like are various. At present, the cleaning of the glass curtain wall of the high-rise building mainly depends on manual cleaning, and has low cleaning efficiency and low personal safety coefficient. Although many window cleaning robots have appeared on the market and replace manual cleaning glass curtain wall, but receive glass curtain wall space and dimension's influence, many scene window cleaning robots can't carry out the operation, like cleaning assembly sets up the cleaning robot in the robot bottom, to having window frame etc. of a take altitude with walk the plane to have the clean face of certain angle can't carry out the cleaning, simultaneously, the obstacle crossing robot of present stage can't accomplish to crossing the linking of obstacle back clean face, leads to having certain clean dead angle, has been proposed this application to above-mentioned problem.

Disclosure of Invention

The utility model aims to provide a cleaning robot cleaning assembly and a cleaning robot, and provides a cleaning assembly which is arranged on the front side of the robot and can swing, can clean a surface to be cleaned, which has a certain angle with a walking plane, and can quickly connect the surface to be cleaned after the robot crosses an obstacle, so that dead angles are avoided to the greatest extent.

The utility model is realized by the following technical scheme.

The utility model discloses a cleaning robot cleaning assembly which comprises a rolling brush, a rolling brush motor, a water supply assembly, a scraping strip assembly and a rolling brush lifting assembly, wherein the rolling brush is arranged on a rolling brush supporting frame, the rolling brush motor is connected with the rolling brush, the scraping strip assembly is arranged on the rolling brush supporting frame, the scraping strip assembly comprises a scraping strip, the scraping strip is arranged at the rear side of the rolling brush in the advancing direction, and the rolling brush lifting assembly is connected with the rolling brush supporting frame and is used for enabling the rolling brush supporting frame to swing.

Further, the round brush promotes the subassembly and includes two at least promotion steering wheels, one of them promote the steering wheel with round brush support frame is connected, two it is connected to promote the steering wheel, forms joint structure.

Further, the rolling brush lifting assembly is provided with at least two groups.

Further, two the lifting steering gears are all installed on the lifting steering gear U-shaped support, one lifting steering gear is connected with the rolling brush support frame and is a front side steering gear, and the other lifting steering gear is connected with the lifting steering gear U-shaped support of the front side steering gear.

Further, the scraper bar assembly further comprises a scraper bar height adjusting piece, and the scraper bar height adjusting piece is connected with the scraper bar.

Further, the scraping strip assembly further comprises a scraping strip fixing piece, the scraping strip is detachably installed on the scraping strip fixing piece, and the scraping strip height adjusting piece is connected with the scraping strip fixing piece.

Further, the scraping strip height adjusting part comprises a guide rod, one end of the guide rod is connected with the scraping strip fixing part, the guide rod is slidably mounted on the connecting seat, an elastic part is sleeved on the guide rod, and the connecting seat is connected with the fixing seat.

Further, a long hole is formed in the fixing base, and the connecting base is mounted at the long hole through a bolt.

Further, the water supply assembly and the scraping strip assembly are respectively arranged on the front side and the rear side of the rolling brush.

A cleaning robot comprises a machine body, a walking motion mechanism and the cleaning robot cleaning assembly.

The utility model has the beneficial effects that:

the steering engine lifting control rolling brush is arranged, so that dead angle stains on two side edges of the window frame can be effectively cleaned, and the cleaning and sanitation are more thorough. And be equipped with the joint structure that constitutes through two promotion steering wheels in the round brush lifting unit, can make the round brush carry out angle, altitude mixture control in bigger scope, adapt to complicated clean face situation, when the robot strides the obstacle, through the adjustment of angle, carry out timely linking to the clean face of waiting after the obstacle, clean the clean face of waiting after the obstacle when realizing that the robot strides the obstacle, avoid the production at clean dead angle, reach better cleaning effect.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.

The utility model will be further described with reference to the drawings and examples.

FIG. 1 is a schematic view of the overall structure of a wall climbing cleaning robot according to the present utility model;

FIG. 2 is a schematic diagram of a walking mechanism;

FIG. 3 is a schematic view of a cleaning assembly;

FIG. 4 is a schematic view of a wiper strip assembly;

FIG. 5 is a schematic diagram of the gas circuit system;

FIG. 6 is a schematic view of a safety device;

fig. 7 is a robot barrier-crossing flowchart.

Detailed Description

The utility model is described in detail below with reference to fig. 1-7.

The cleaning assembly is applicable to wall climbing cleaning robots and floor cleaning robots, and the following embodiments are exemplified by wall climbing cleaning robots.

The utility model relates to a wall climbing cleaning robot, as shown in fig. 1, which comprises a shell (not shown in the figure), a machine body 1, a walking motion mechanism 7, a cleaning component 3, a control system 5 and an air path system 8, wherein the machine body 1 is formed by fixedly connecting an upper machine body 1-1 and a lower machine body 1-2 through pins 1-3, the control system 5 is arranged on the machine body 1 and is used for controlling the brain of the robot, and the robot consists of a sensor 5-1, a control panel 5-2 and a circuit 5-3 and controls various actions of the robot; the sensor 5-1 comprises an infrared ranging sensor and an ultrasonic ranging sensor, a communication component is arranged on the control panel 5-2 and connected with a remote controller, such as a WIFI communication module, a Bluetooth communication module or an infrared communication module and the like, the walking motion mechanism 7 and the cleaning component 3 are all installed on the machine body 1, the walking motion mechanism 7 is at least provided with six groups and symmetrically distributed on two sides of the machine body 1, every two groups are respectively provided with a front joint leg, a middle joint leg and a rear joint leg, the walking motion mechanism 7 comprises an arm lifting steering engine 7-1, the arm lifting steering engine 7-1 is installed on the machine body 1, the arm lifting steering engine 7-1 is connected with a steering engine connecting arm 7-2, the joint steering engine 7-3 is connected with a joint supporting frame 7-4, the steering engine connecting arm 7-2 and the joint supporting frame 7-4 swing up and down through the arm lifting steering engine 7-1 and the joint steering engine 7-3, and the machine body 8 are further provided with a driving wheel component, and the driving wheel component is connected with the machine body 8.

The machine body 1 can be provided with a battery module for supplying power, and in addition, the robot can also adopt an external power supply for realizing power supply.

Specifically, the driving wheel assembly comprises a rotating assembly and a roller assembly, the roller assembly is used for realizing walking driving, and the rotating assembly is used for driving the roller assembly to adjust the direction. As shown in fig. 2, the roller assembly comprises a motor mounting frame 7-10, a roller 7-12 and a hub motor 7-11, wherein the roller 7-12 and the hub motor 7-11 are both arranged on the motor mounting frame 7-10, and the hub motor 7-11 is connected with the roller 7-12.

As shown in FIG. 2, the walking assembly further comprises a walking bracket 7-7, the walking bracket 7-7 is connected with the joint support bracket 7-4, and the roller assembly and the sucker assembly are both arranged on the walking bracket 7-7.

As shown in FIG. 2, the rotating assembly comprises a rotating steering engine 7-5, the rotating steering engine 7-5 is connected with a motor mounting frame 7-10, in order to realize higher-efficiency transmission and achieve the effect of protecting the steering engine from the impact of axial force caused by contact of the roller and glass and fully playing the role of the steering engine, the rotating assembly further comprises a gear assembly 7-6, the rotating steering engine 7-5 and the gear assembly 7-6 are nested in a joint supporting frame 7-4, and the rotating steering engine 7-5 is connected with the motor mounting frame 7-10 through the gear assembly 7-6.

Alternatively, the rotary steering engine 7-5 and the gear assembly 7-6 may be mounted on the walking bracket 7-7.

Preferably, the suction cup assembly is provided with at least two groups.

The sucking disc subassembly includes sucking disc mounting bracket 7-8 and vacuum chuck 7-9, and sucking disc mounting bracket 7-8 installs on walking support 7-7, and as fig. 2, two sucking disc mounting brackets 7-8 set up respectively in walking support 7-7's two sides, and roller assembly is located between two vacuum chuck 7-9, makes the robot atress even when walking on the glass curtain wall, and the walking is steady, and air cleaner 8-4 is connected with the vacuum pump 8-4 that sets up on the robot organism, and air cleaner 8-4 is connected with vacuum chuck 7-9.

Preferably, a height adjusting structure is arranged between the walking bracket 7-7 and the sucker mounting bracket 7-8 and is used for adjusting the height difference between the vacuum sucker 7-9 and the walking bracket 7-7, and further adjusting the ground clearance of the roller 7-12, specifically, as shown in fig. 2, the height adjusting structure comprises a waist-shaped hole 7-81 and a bolt, which are arranged on the sucker mounting bracket 7-8, the bolt penetrates through the waist-shaped hole 7-81 on the sucker mounting bracket 7-8 and is screwed into the bolt hole on the walking bracket 7-7, the fixing of the sucker mounting bracket is realized, and when the ground clearance of the roller 7-12 is adjusted, the bolt is unscrewed, and the relative height between the sucker mounting bracket 7-8 and the walking bracket 7-7 is adjusted.

As shown in fig. 3, the cleaning assembly 3 includes a rolling brush 3-7, a rolling brush motor 3-5, a water supply assembly 3-8 and a scraping bar assembly 3-9, and the cleaning assembly 3 further includes a rolling brush lifting assembly for adjusting an angle between the rolling brush 3-7 and the machine body 1.

As shown in fig. 3, the rolling brush lifting assembly comprises a lifting steering engine 3-3, and specifically, the cleaning assembly 3 comprises a machine body connecting piece 3-1, a lifting steering engine U-shaped bracket 3-2, a rolling brush supporting frame 3-4, a rolling brush motor 3-5, a transmission gear set 3-6, a rolling brush 3-7, a water supply assembly 3-8 and a scraping strip assembly 3-9; the machine body connecting piece 3-1 is fastened with the upper machine body 1-1 and the lower machine body 1-2, and two sides of the machine body connecting piece are respectively connected with the lifting steering engine 3-3 through the lifting steering engine U-shaped bracket 3-2; the lifting steering engine 3-3 is connected with the other two groups of lifting steering engines 3-3 through a lifting steering engine U-shaped bracket 3-2; the lifting steering engine 3-3 is connected with the rolling brush supporting frame 3-4 to finish lifting and swinging of the rolling brush 3-7; the middle part of the rolling brush supporting frame 3-4 is provided with a rolling brush motor 3-5, a rotating shaft of the rolling brush 3-7 is connected with a transmission gear set 3-6, and the rolling brush motor 3-5 drives the rolling brush 3-7 to rotate through the transmission gear set 3-6. The water supply component 3-8 and the scraping strip component 3-9 are respectively fixed at the front end and the rear end of the rolling brush supporting frame 3-4.

The water supply assembly 3-8 is a plurality of spray heads arranged along the length direction of the rolling brush, the water storage tank can be arranged on the machine body 1 or connected with an external water storage tank through a long pipe, a pump body is arranged in the water storage tank, and the pump body is connected with the spray heads through a pipeline.

Optionally, the water supply assembly 3-8 may also be disposed inside the rolling brush 3-7, where the rolling brush 3-7 is a cylindrical brush, such as through a hard tube having a plurality of water jets formed thereon, and the hard tube is opened from one side of the rolling brush. The water is directly sprayed into the rolling brush, so that more water is prevented from flowing downwards along the glass to cause cost.

Preferably, as shown in fig. 4, the wiper strip assembly 3-9 includes a wiper strip 3-9-1, a wiper strip fixing member 3-9-2 and a wiper strip height adjusting member 3-9-3, the wiper strip height adjusting member 3-9-3 is connected with the wiper strip fixing member 3-9-2, the wiper strip 3-9-1 is mounted on the wiper strip fixing member 3-9-2, the wiper strip assembly 3-9 is mounted at the rear end of the roll brush supporting frame 3-4 for wiping off water stains on the glass surface, the wiper strip height adjusting member 3-9-3 can achieve automatic height adjustment by providing an elastic member such as a spring, an elastic block or the like, as shown in fig. 4, a spring is provided between the wiper strip fixing member 3-9-2 and the adapter plate, and a guide rod is provided in the spring, and the guide rod can slide in a hole of the adapter plate, so that the spring applies pressure to the wiper strip fixing member 3-9-2 to enable the wiper strip 3-9-1 to be always abutted against the glass, or by providing a slot on the adapter plate to form a slot (7-8), and fixing the height adjusting structure is similar to that the wiper strip 3-9-8 is mounted by adjusting the height adjusting member. Specifically, the scraping strip height adjusting piece 3-9-3 comprises a guide rod 3-9-31, one end of the guide rod 3-9-31 is connected with the scraping strip fixing piece 3-9-2, the guide rod 3-9-31 is slidably mounted on a connecting seat 3-9-33, an elastic piece 3-9-30 is sleeved on the guide rod 3-9-31, and the connecting seat 3-9-33 is connected with a fixing seat 3-9-32.

As shown in FIG. 5, each set of joint legs corresponds to a set of air passage system 8, and the air passage system 8 comprises a vacuum pump 8-1, a direct-acting electromagnetic valve 8-2, a digital display barometer 8-3, a ten-air filter 8-4, an air pipe 8-5 and an air pipe joint 8-6; the vacuum pump 8-1 is fixed on the upper machine body 1-1 and is a brushless diaphragm pump, and can simultaneously vacuumize four air paths; the direct-acting electromagnetic valve 8-2 is fixed on the upper machine body 1-1 and plays a role in rapidly breaking vacuum in the air path; the digital display barometer 8-3 is fixed on two sides of the machine body 1, can display the negative pressure value in each gas path in real time and transmit the data to the remote controller through the control component for the user to check in real time; the air filter 8-4 is fixed on the sucker mounting frame 7-8, is connected with the vacuum sucker 7-9 through the air pipe 8-5, and provides clean air for the pipeline; the components of each air passage are connected through an air pipe 8-5 and an air pipe joint 8-6.

Optionally, as shown in fig. 6, a safety protection device 6 is provided on the machine body 1, and the safety protection device 6 includes a detachable ring 6-1; the shackle ring 6-1 is arranged at the rear end of the machine body 1, and after the safety rope 6-2 is fixed with a building, the safety rope is firmly connected with the shackle ring 6-1 through the hook 6-3, so that the anti-falling effect is achieved.

As shown in figure 7, when the multi-foot barrier-crossing wall-climbing robot works on a plane glass curtain wall, 12 vacuum suction cups 7-9 are simultaneously adsorbed on the surface of the glass curtain wall, rollers 7-12 are in positive pressure contact with the surface of the glass curtain wall, and the gravity center gesture of the machine body 1 is close to a working surface; by controlling the gesture of the lifting steering engine 3-3, the rolling brush 3-7 is contacted with the glass curtain wall, meanwhile, the rolling brush 3-7 rotates at a high speed under the drive of the rolling brush motor 3-5, the water supply assembly 3-8 sprays water to the surface of the glass curtain wall, and cleaning work is started; under the drive of the hub motor 7-11, the idler wheels 7-12 overcome the friction force with the surface of the glass curtain wall and rotate, so that the robot is driven to move downwards along the curtain wall, and the glass curtain wall is continuously cleaned; when the rolling brush touches the window frame, the sensor 5-1 transmits a signal to the control system 5, and the six walking motion mechanisms 7 jointly act to lift the machine body 1 after receiving the signal, so as to prepare for obstacle crossing; at this time, the vacuum suckers 7-9 of the front two travelling motion mechanisms 7 break vacuum under the action of the direct-acting electromagnetic valve 4-2, quickly lift up the window frame crossing the sensed height, and after crossing the window frame, the rolling brush 3-7 is lowered to be in contact with the next glass curtain wall under the action of the lifting steering engine 3-3, and starts cleaning; after the front two traveling moving mechanisms 7 finish obstacle crossing and suck the next piece of glass, the middle traveling moving mechanism 7 starts to break vacuum and cross the window frame, and the rear two traveling moving mechanisms 7 start to break vacuum and cross the window frame after the middle traveling moving mechanism 7 sucks the next piece of glass; when all the traveling motion mechanisms 7 span the window frame to the same glass, the control system 5 sends instructions, all the traveling motion mechanisms 7 act simultaneously, the gravity center of the machine body 1 is lowered, meanwhile, the lifting steering engine 3-3 acts on the rolling brush 3-7 in a following manner, the height is lowered, and the robot returns to the original posture, so that the distance between the gravity center of the machine body 1 and the glass surface is shortened, the overturning moment is reduced, and the falling risk of the robot is reduced.

The method comprises the following specific steps:

s1: normal cleaning: the gravity center of the machine body is adsorbed close to the glass surface by virtue of the adsorption force generated by the vacuum chuck on the joint leg, the state of the roller is as shown in figure 1, at the moment, the rotation center of the roller is vertical to the extension line of the advancing direction of the robot (vertical to the central line of the length direction of the machine body), and the roller is driven to advance forwards; the rolling brush is in pre-pressing contact with the cleaning surface, is driven by the rolling brush motor to rotate rapidly, and simultaneously moves forward along with the machine body to continuously clean the glass surface;

s2: encounter an obstacle: when a sensor arranged on the robot body gives a signal that an obstacle exists in front, the control system calculates the height and the width of the obstacle, gives a crossing command when the rolling brush touches the obstacle for the first time, and rotates the steering engine to control all the rollers to rotate by 90 degrees, as shown in figure 2, so that the rotation center of the rollers is parallel to the extension line of the advancing direction of the robot;

s3: preparing for obstacle crossing: the joint steering engine controls all joint legs to lift the machine body, and after the joint steering engine reaches the height of crossing an obstacle, the rotating steering engine controls all rollers to reset by 90 degrees, so that the advancing posture is kept, and at the moment, the rolling brush cleaning mechanism is lifted along with the machine body;

s4: anterior joint leg obstacle crossing: before the 2 front joint legs touch the obstacle, the vacuum suction disc breaks the cavity, the two legs are lifted rapidly, and the front joint legs and the rear joint legs are driven to move forwards continuously;

s5: the rolling brush spans the obstacle: when a sensor at the position of the rolling brush cleaning mechanism senses that the rolling brush cleaning mechanism passes over an obstacle, the rolling brush steering engine executes a command to lower the rolling brush until the rolling brush contacts the surface of the next piece of glass, and cleaning operation is started;

s6: front joint leg obstacle crossing is completed: along with the forward movement of the robot, after the current joint leg receives a signal for crossing the obstacle, 2 front joint legs are lowered to the roller to contact with the next glass surface and drive the robot to move forward;

s7: middle joint leg obstacle crossing: before the obstacle is touched, 2 middle joint legs break cavities through the vacuum chuck, the two legs are lifted rapidly, and the two legs continue to move forward under the driving of the front joint legs and the rear joint legs; after the middle joint leg receives a signal for crossing the obstacle, the roller is lowered to be contacted with the next glass surface and drives the robot to move forward;

s8: rear joint leg obstacle crossing: before the 2 rear joint legs touch the obstacle, the vacuum suction disc breaks the cavity, quickly lifts the two legs, and continuously moves forward under the drive of the front joint legs and the middle joint legs; after receiving the signal of crossing the obstacle, the rear joint leg lowers the roller to be contacted with the next glass surface and drives the robot to move forward;

s9: and (3) obstacle crossing completion: after all joint legs cross the obstacle, the control system gives out signals, all rotary steering engines control all rollers to rotate by 90 degrees, and the machine body descends to a normal cleaning height; at the moment, the attitude of the rolling brush steering engine is continuously adjusted according to the height of the machine body, so that the pre-pressing contact between the rolling brush and the glass surface is ensured;

s10: restoring normal cleaning: after the machine body and the rolling brush cleaning mechanism are restored to the positions, all the rollers are reset by 90 degrees, the advancing posture is kept, and the glass sheet is continuously moved and cleaned until the glass sheet is finished;

further, in the step S1, the vacuum pump continuously works to vacuumize the inside of the vacuum chuck; the pre-pressing distance between the rolling brush and the cleaning surface is set to be 2-4mm according to the softness degree of the wool.

Further, in the S1 process, the rolling brush motor is a brushless motor, and a reduction transmission gear set is provided.

Further, in the step S2, the rollers of the joint legs on both sides rotate 90 degrees toward the inner side of the vehicle body; this step aims to prevent unnecessary wear caused by the fuselage dragging the vacuum cups and rollers during lifting when the legs retract or extend.

Further, in the step S3, the elevation of the machine body is based on the lowest point of the travelling wheel.

In the S4 process, 4 vacuum chucks of 2 front joint legs break cavities simultaneously through an electric control air circuit system of the direct-acting electromagnetic valve.

Further, in the S5 process, the 4 rolling brush steering engines jointly act, so that the relative positions of the rolling brush cleaning mechanism and the cleaning surface are guaranteed, and the scraping strip is guaranteed to scrape water all the time.

Further, in the processes of S6, S7 and S8, before the front joint leg is contacted with the glass, the direct-acting electromagnetic valve is powered off, so that the vacuum sucker is ensured to work.

Further, in the S9 process, the machine body is lowered to a normal cleaning height, and the gravity center of the machine body is close to the glass surface, so that the overturning moment is ensured to be small enough, and the risk of falling of the robot is reduced.

The above embodiments are only for illustrating the technical concept and features of the present utility model, and are intended to enable those skilled in the art to understand the present utility model and implement it without limiting the scope of the present utility model. All equivalent changes or modifications made in accordance with the spirit of the present utility model should be construed to be included in the scope of the present utility model.

Claims (10)

1. A cleaning robot cleaning assembly, characterized by: including round brush (3-7), round brush motor (3-5), water supply assembly (3-8), scrape strip subassembly (3-9) and round brush lifting unit, round brush (3-7) are installed on round brush support frame (3-4), round brush motor (3-5) with round brush (3-7) are connected, scrape strip subassembly (3-9) and install on round brush support frame (3-4), scrape strip subassembly (3-9) in including scraping strip (3-9-1), scrape the strip setting and be in round brush (3-7) advancing direction's rear side, round brush lifting unit with round brush support frame (3-4) are connected, are used for making round brush support frame (3-4) swing.

2. A cleaning robot cleaning assembly according to claim 1, wherein: the rolling brush lifting assembly comprises at least two lifting steering engines (3-3), wherein one lifting steering engine (3-3) is connected with the rolling brush supporting frame (3-4), and the two lifting steering engines (3-3) are connected to form a joint structure.

3. A cleaning robot cleaning assembly according to claim 2, wherein: the rolling brush lifting assembly is at least provided with two groups.

4. A cleaning robot cleaning assembly according to claim 2 or 3, characterized in that: two lifting steering engines (3-3) are both arranged on a lifting steering engine U-shaped bracket (3-2), one lifting steering engine (3-3) is connected with the rolling brush supporting frame (3-4) and is a front side steering engine, and the other lifting steering engine (3-3) is connected with the lifting steering engine U-shaped bracket (3-2) of the front side steering engine.

5. A cleaning robot cleaning assembly according to any one of claims 1-3, characterized in that: the scraping strip assembly (3-9) further comprises a scraping strip height adjusting piece (3-9-3), and the scraping strip height adjusting piece (3-9-3) is connected with the scraping strip (3-9-1).

6. A cleaning robot cleaning assembly according to claim 5, wherein: the scraping strip assembly (3-9) further comprises a scraping strip fixing piece (3-9-2), the scraping strip (3-9-1) is detachably arranged on the scraping strip fixing piece (3-9-2), and the scraping strip height adjusting piece (3-9-3) is connected with the scraping strip fixing piece (3-9-2).

7. A cleaning robot cleaning assembly according to claim 6, wherein: the scraping strip height adjusting piece (3-9-3) comprises a guide rod (3-9-31), one end of the guide rod (3-9-31) is connected with the scraping strip fixing piece (3-9-2), the guide rod (3-9-31) is slidably mounted on the connecting seat (3-9-33), the guide rod (3-9-31) is sleeved with an elastic piece (3-9-30), and the connecting seat (3-9-33) is connected with the fixing seat (3-9-32).

8. A cleaning robot cleaning assembly according to claim 7, wherein: the fixing seat (3-9-32) is provided with a long hole, and the connecting seat (3-9-33) is arranged at the long hole through a bolt.

9. A cleaning robot cleaning assembly according to any one of claims 1-3, 6-8, characterized in that: the water supply assembly (3-8) and the scraping strip assembly (3-9) are respectively arranged at the front side and the rear side of the rolling brush (3-7).

10. A cleaning robot, characterized in that: comprising a machine body, a travelling motion mechanism and a cleaning robot cleaning assembly according to any one of claims 1-9.

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