CN222549139U

CN222549139U - Cleaning equipment, base station and cleaning system

Info

Publication number: CN222549139U
Application number: CN202420466657.6U
Authority: CN
Inventors: 杨轩; 舒忠义; 胡建华; 郑星; 程宁
Original assignee: Dreame Technology Suzhou Co ltd
Current assignee: Dreame Technology Suzhou Co ltd
Priority date: 2024-02-09
Filing date: 2024-03-11
Publication date: 2025-03-04
Anticipated expiration: 2034-03-11
Also published as: CN223208322U; CN118924178A; CN118716943A; CN119235198A; CN223208324U; CN118986219A

Abstract

The utility model discloses a cleaning device, a base station and a cleaning system. Along the forward direction of the body of the cleaning device, the main cleaning module and the auxiliary cleaning module for wet cleaning on the cleaning device are both located behind the dry cleaning module, so that the roller brush of the dry cleaning module performs dry cleaning in front, and the main cleaning component of the main cleaning module for wet cleaning and the auxiliary cleaning component of the auxiliary cleaning module perform wet mopping behind the roller brush, forming a cleaning mode of first dry cleaning and then wet mopping. At the same time, at least part of the auxiliary cleaning component always extends out of the edge of the body to achieve edge cleaning of obstacles or walls, etc. Along the width direction of the body, since there is no missed cleaning between the cleaning areas of the main cleaning component and the auxiliary cleaning component, under the cooperation of the main cleaning component and the auxiliary cleaning combination, edge cleaning is achieved while avoiding missed cleaning between the two, so as to improve the cleaning effect.

Description

Cleaning equipment, base station and cleaning system

Technical Field

The application relates to the technical field of cleaning, in particular to cleaning equipment, a base station and a cleaning system.

Background

There are various embodiments of the conventional cleaning robot for performing the edge cleaning of the obstacle. For example, a cleaning robot disclosed in chinese patent publication No. CN116919259a includes a machine body, a cleaning system and a driving system provided on the machine body. Wherein, along the direction of advance of machine body, the cleaning system is located the place ahead of actuating system, and actuating system includes at least two drive wheels of symmetry setting on the bottom of machine body.

The cleaning system comprises a cleaning head and an auxiliary cleaning head, wherein the auxiliary cleaning head is arranged at the corner position of the forward part of the machine body and is positioned below the buffer (namely, the collision plate at the front part of the machine body), and part of the auxiliary cleaning head exceeds the buffer (namely, exceeds the edge of the machine body), so that the auxiliary cleaning head exceeds the part outside the edge of the machine body, the area outside the machine body can be cleaned, and the cleaning robot can clean the areas such as the wall edge, the corner and the like well.

The cleaning head can be a rolling brush which rotates to sweep the garbage on the ground to the dust collection opening of the dust box so as to realize dry cleaning, or the cleaning head is a cleaning pad which removes the dirt on the ground through the reciprocating vibration of the cleaning head, or the cleaning head is a rolling brush for wet cleaning, and a garbage recycling system for the wet cleaning of the rolling brush. The cleaning heads of the former two modes are used for dry cleaning the ground and have poor cleaning effect, the cleaning heads of the latter two modes can be used for wet cleaning the ground and improving cleaning effect, but the wet cleaning heads are used for synchronously cleaning dry garbage and wet garbage, a recovery system is required to be arranged for recovering the dry garbage and the wet garbage, a scraping strip is required to be arranged for extruding the wet cleaning heads so as to extrude dirt on the cleaning heads, the structure is complex, and if the recovery system is not arranged, the wet cleaning heads are more easy to be polluted by the garbage, the wet cleaning heads are required to be continuously cleaned in a low mode, and the cleaning efficiency is reduced.

Disclosure of Invention

Based on the problems, the utility model provides cleaning equipment, which comprises a machine body, a dry type cleaning module, a main cleaning module and an auxiliary cleaning module, wherein the dry type cleaning module is arranged on the machine body, the main cleaning module and the auxiliary cleaning module are used for wet type cleaning, the dry type cleaning module comprises at least one rolling brush, the main cleaning module comprises at least one main cleaning component, the auxiliary cleaning module comprises at least one auxiliary cleaning component, at least part of the auxiliary cleaning component extends out of the edge of the machine body so as to clean along edges, the main cleaning component and the auxiliary cleaning component are positioned behind the rolling brush along the advancing direction of the machine body, no leakage sweeping area exists between a sweeping area of the main cleaning component and a sweeping area of the auxiliary cleaning component along the width direction of the machine body, and the width direction of the machine body is perpendicular to the advancing direction of the machine body.

Optionally, the cleaning device further comprises a traveling system, wherein the traveling system at least comprises two driving wheels, the two driving wheels are symmetrically arranged on the bottom of the machine body, and the main cleaning assembly and/or the auxiliary cleaning assembly are positioned behind the driving wheels along the advancing direction of the machine body.

The cleaning device comprises a main cleaning disc, a main cleaning piece arranged on the bottom of the main cleaning disc, an auxiliary cleaning assembly, a main cleaning piece and a main cleaning piece, wherein the auxiliary cleaning assembly comprises an auxiliary cleaning disc and an auxiliary cleaning piece arranged on the bottom of the auxiliary cleaning disc, the auxiliary cleaning disc and the main cleaning disc are both circular discs, the diameter of the auxiliary cleaning disc is smaller than that of the main cleaning disc, and the auxiliary cleaning discs are distributed in a first area surrounded by the bottoms of the driving wheel, the main cleaning disc and the machine body, which are adjacent or similar to the auxiliary cleaning disc.

Optionally, the diameter of the main cleaning disc is 2-4 times that of the auxiliary cleaning disc.

Optionally, the cleaning device further comprises an edge brush arranged on the bottom of the front part of the machine body along the advancing direction of the machine body, wherein the edge brush is positioned in front of the rolling brush;

The side brush and the auxiliary cleaning disc are positioned on the right side of the machine body along the width direction of the machine body so as to form right edge cleaning, and the auxiliary cleaning disc is distributed in a first area which is surrounded by the driving wheel positioned on the right side of the machine body, the main cleaning disc and the bottom of the machine body.

Optionally, the cleaning apparatus, along the advancing direction of the main body, the rotation center of the auxiliary cleaning tray is located in front of the rotation center of the main cleaning tray, so that the auxiliary cleaning tray is distributed in the first area adjacent thereto, right above and right behind the driving wheel, and both the main cleaning tray and the auxiliary cleaning tray are located behind the driving wheel.

Optionally, the cleaning device comprises a main cleaning assembly, an auxiliary cleaning assembly and a cleaning assembly, wherein the main cleaning assembly comprises a main cleaning disc and a main cleaning piece arranged on the bottom of the main cleaning disc;

The main cleaning disc and the auxiliary cleaning disc are in clearance, and adjacent edges of the auxiliary cleaning piece and the main cleaning piece are tangent or mutually extruded, so that no clearance exists between the adjacent edges of the main cleaning piece and the auxiliary cleaning piece when the main cleaning disc and the auxiliary cleaning disc are not affected to rotate respectively.

Optionally, the cleaning device, the main cleaning member and the auxiliary cleaning member are rags, the main cleaning member and the auxiliary cleaning member are mutually extruded to form a second interference area, and the maximum width of the second interference area is less than 5mm along a second connecting line of the rotation centers of the main cleaning member and the auxiliary cleaning member.

Optionally, the cleaning device comprises a main cleaning assembly having at least a first portion and a secondary cleaning assembly having at least a second portion, wherein the cleaning areas of the first and second portions have overlapping areas in the forward direction of the body.

Optionally, the cleaning device is arranged in the forward direction of the main body, the first part is located behind the second part, so that the second part of the auxiliary cleaning assembly is cleaned first, the first part of the main cleaning assembly is cleaned later, and the cleaning areas of the first part and the second part are provided with the overlapping area.

and gaps exist between the main cleaning disc and the auxiliary cleaning disc, and adjacent edges of the auxiliary cleaning piece and the main cleaning piece are tangent or mutually extruded, so that no gaps exist between the adjacent edges of the main cleaning piece and the auxiliary cleaning piece when the main cleaning disc and the auxiliary cleaning disc are not affected to rotate respectively.

Optionally, the cleaning device, the main cleaning member is a main wipe, the auxiliary cleaning member is an auxiliary wipe, the auxiliary cleaning plate has the second portion, the main cleaning plate has the first portion, so that the main wipe on the second portion is cleaned first, and the auxiliary wipe on the first portion is cleaned later.

Optionally, the cleaning device, the auxiliary cleaning module further includes a first driving structure for driving the auxiliary cleaning assembly to lift and rotate;

the main cleaning module further comprises a second driving structure for driving the main cleaning assembly to lift and rotate;

The number of the main cleaning components is two, the number of the second driving structures is two, and one second driving structure correspondingly drives one main cleaning component;

The first driving structure and the second driving structure are arranged in the inner cavity of the machine body, and the first driving structure penetrates through the bottom of the machine body and is connected with the auxiliary cleaning assembly so that the auxiliary cleaning assembly is positioned at the bottom of the machine body to be placed down;

The second driving structure is connected to the main cleaning assembly through the bottom of the main body so that the main cleaning assembly is positioned below the bottom of the main body.

Optionally, the dry cleaning module further comprises a dust box and a main fan, wherein the main fan is used for sucking garbage into the dust box, a dust box cavity for the dust box to be installed is arranged in the machine body, and a dust discharging channel communicated with the dust box is also arranged in the machine body and used for sucking the garbage in the dust box into the base station under the action of a dust collecting fan of the base station;

The main fan is arranged in the inner cavity of the machine body and is distributed in a second area surrounded by the dust discharging channel, the dust box cavity and the two second driving structures, and the first driving structures are distributed outside the second area, far away from one side of the dust discharging channel and positioned behind the driving wheels adjacent to or close to the dust discharging channel.

Optionally, the cleaning device further comprises a water supplementing mechanism arranged in the inner cavity of the machine body and used for supplementing water for the main cleaning piece and/or the auxiliary cleaning piece so as to form wet cleaning;

The water supplementing mechanism is arranged on the body away from the first driving structure and is positioned outside the second area.

Optionally, the cleaning device, the water replenishing mechanism includes a water tank and a pump body, a third area is formed between the two second driving structures and the rear side wall of the machine body, and at least one of the water tank and the pump body is arranged in the third area.

Optionally, the cleaning device comprises a water tank and a pump body, a fourth area is formed by surrounding the other driving wheel far away from the auxiliary cleaning assembly, the dust discharging channel and the side wall of the machine body, the water tank is arranged in the third area, and the pump body is arranged in the fourth area.

Optionally, the cleaning device, in the forward direction of the body, the first portion is located rearward of a position where adjacent edges of the auxiliary cleaning member and the main cleaning member are tangential or pressed against each other.

Optionally, the cleaning device further comprises an exhaust pipeline connected with an exhaust outlet of the main fan;

The exhaust pipeline extends out of the second area and extends towards the side wall of the machine body adjacent to the exhaust pipeline so as to be communicated with the outside; the first driving structure is positioned behind the exhaust pipeline along the advancing direction of the machine body.

Optionally, the cleaning device comprises a cleaning device, wherein the vertical projection of the machine body on the surface to be cleaned is rectangular, the long side of the rectangle is positioned in the advancing direction of the machine body, the short side of the rectangle is positioned in the width direction of the machine body, the dust box cavity is distributed between the two driving wheels, and the rolling brush is positioned in front of the driving wheels and the dust box cavity along the advancing direction of the machine body, or

The vertical projection of the machine body on the surface to be cleaned is round, at least part of the rolling brush is positioned between the two driving wheels, and the dust box is positioned behind the rolling brush along the advancing direction of the machine body.

Optionally, the cleaning device comprises a cleaning device, wherein the cleaning device is provided with a machine body, the machine body is provided with a rear part and a front part positioned in front of the rear part along the advancing direction of the machine body, a buffer is arranged on the front part and used for detecting obstacles through collision with the obstacles, and the auxiliary cleaning assembly and the main cleaning assembly are arranged on the rear part of the machine body.

Optionally, the cleaning device further includes a second driving structure, where the second driving structure is a first lifting structure and is at least used to drive the main cleaning assembly to lift and descend, so that the main cleaning assembly is switched between a mopping position and a lifting position;

The auxiliary cleaning module further comprises a first driving structure, wherein the first driving structure is a second lifting mechanism and is at least used for driving the auxiliary cleaning assembly to lift and descend so as to enable the auxiliary cleaning assembly to be switched between a mopping position and a lifting position.

Optionally, the cleaning device, the main cleaning assembly and the auxiliary cleaning assembly are synchronously in a lifting position or a mopping position;

Optionally, the cleaning device, the second driving structure is further used for driving the main cleaning assembly to rotate when in a mopping position so as to clean a surface to be cleaned;

the first driving structure is also used for driving the auxiliary cleaning assembly to rotate when the auxiliary cleaning assembly is at the mopping position so as to clean the surface to be cleaned;

When the cleaning device is at the mopping position, the rotation directions of the adjacent auxiliary cleaning disc and the main cleaning disc are opposite.

Optionally, the cleaning device comprises two main cleaning components, wherein the two main cleaning components are symmetrically arranged on the bottom of the machine body;

The auxiliary cleaning disc is arranged on the right side of the bottom of the machine body to form a right edge, and the auxiliary cleaning disc is adjacent to the main cleaning disc positioned on the right side of the machine body;

In the mopping position, the rotation directions of two adjacent main cleaning discs are opposite, and the rotation direction of the auxiliary cleaning disc rotates anticlockwise.

Optionally, the cleaning device, the first driving structure and/or the second driving structure includes a first motor and a lifting component, the lifting component is connected with the cleaning component, the cleaning component is a main cleaning component or an auxiliary cleaning component, and the lifting component drives the cleaning component to lift and rotate at the towed position.

Optionally, the cleaning device comprises a first driving structure and a second driving structure which share one motor, and further comprises a first transmission mechanism, wherein one end of the first transmission mechanism is connected with a power output shaft of the first motor, the other end of the first transmission mechanism is provided with a first output end and a second output end, the first output end is connected with a lifting component of the first driving structure, and the second output end is connected with a lifting component of the second driving structure, so that one first motor can synchronously drive the main cleaning component and the auxiliary cleaning component to lift and rotate.

Optionally, the lifting assembly drives the cleaning assembly to lift and rotate through the screw mechanism, the rotation directions of the first output end and the second output end are opposite, and the screw direction of the screw mechanism of the first driving structure is the same as the screw direction of the screw mechanism of the second driving structure.

Optionally, the lifting assembly drives the cleaning assembly to lift and rotate through the screw mechanism, the rotation directions of the first output end and the second output end are the same, and the screw direction of the screw mechanism of the first driving structure is opposite to the screw direction of the screw mechanism of the second driving structure.

Optionally, the cleaning device, the lifting assembly comprises

The first fixing body is connected with the power output shaft of the first motor;

the cleaning assembly is a main cleaning assembly or an auxiliary cleaning assembly, and a spiral mechanism is formed between the first fixing body and the second fixing body;

The power output shaft rotates along a first direction, the second fixed body is enabled to move downwards relative to the first fixed body through the spiral mechanism under the action of the power output shaft or at least under the gravity of the second fixed body and the cleaning assembly, and in a mopping position, the power output shaft continues to rotate along the first direction, the second fixed body does not continue to move downwards relative to the first fixed body, and the second fixed body rotates to drive the cleaning assembly to rotate to clean a surface to be cleaned;

The power output shaft rotates along a second direction, and the second fixed body moves upwards relative to the first fixed body through the spiral mechanism under the action of the power output shaft so as to drive the cleaning assembly to ascend.

Optionally, the cleaning device comprises a first sleeve, a first installation cavity recessed upwards is arranged at the bottom of the first sleeve, and the top of the first installation cavity is in driving connection with the power output shaft of the first motor;

The second fixing body comprises a second sleeve and a shell, wherein the top of the second sleeve is provided with a first annular cavity which is sunken downwards, and the bottom of the second sleeve is provided with a second installation cavity which is sunken upwards;

The damping piece is arranged between the inner wall of the shell and the outer wall of the second sleeve so as to enable the rotation speeds of the second sleeve and the first sleeve to be different, and the second sleeve is lifted relative to the first sleeve;

The first sleeve is embedded into the annular cavity through the first mounting cavity, ribs are arranged on the outer wall of the first sleeve, thread grooves matched with the ribs are formed in the inner wall of the second sleeve, and the ribs and the thread grooves form the spiral mechanism; the top of the thread groove is provided with a first limiting part, and in the mopping position, along the spiral direction of the thread groove, the ribs are abutted against the side wall of the first limiting part so as to limit the second sleeve to continuously descend relative to the first sleeve;

The descending movement of the second sleeve relative to the first sleeve is driven by rotation of the power output in a first direction.

Optionally, the damping member is a wool top, one end of the wool top is fixed on the inner wall of the shell, and the other end is in interference abutting joint with the outer wall of the second sleeve to form flexible abutting joint, or

The shell is provided with at least one yielding hole, the yielding hole is internally provided with at least one first bulge, and the first bulge protrudes towards the direction of the second sleeve to be in interference abutting joint with the outer wall of the second sleeve, or

The shell is provided with at least one abdication hole, a rotatable first rotating body is arranged in the abdication hole, and interference butt joint is formed between the first rotating body and the outer wall of the second sleeve; and in the process of lifting and descending the cleaning assembly, the first rotating body does not rotate, and rolling friction is formed between the first rotating body and the second sleeve when the cleaning assembly is in a mopping position.

Optionally, the cleaning device may, in turn,

The first fixing body comprises a first cylinder body and a second cylinder body, wherein the first cylinder body is sleeved outside a power output shaft of the first motor through a first one-way bearing, and the one-way bearing is provided with a transmission state for transmitting the force of the power output shaft to the first cylinder body and a disconnection state for disconnecting the force of the power output shaft from being transmitted to the first cylinder body;

The second fixing body comprises a floating shaft and a second cylinder body, wherein the second cylinder body is rotatably arranged on the outer wall of the floating shaft;

a spiral mechanism is formed between the second cylinder and the first cylinder;

the power output shaft drives the floating shaft to rotate so as to drive the cleaning assembly to rotate, and the second cylinder body moves downwards relative to the first cylinder body under the gravity of the second fixed body and the cleaning assembly;

The power output shaft rotates along a second direction, the first cylinder is in a transmission state, and the power output shaft drives the first cylinder to rotate, so that the second cylinder ascends relative to the first cylinder to drive the floating shaft and the cleaning assembly to ascend.

Optionally, the screw mechanism comprises a first screw thread surface and a first matching piece abutted on the first screw thread surface, one of the first screw thread surface and the first fitting piece is arranged on the first cylinder body, the other is arranged on the second cylinder body, and the first matching piece is a second screw thread surface or a first roller wheel

The cleaning device comprises a first fixing body, a second fixing body, a cleaning assembly, a first reset piece, a second reset piece, a first cylinder body, a second cylinder body and a cleaning assembly, wherein the first reset piece is arranged between the floating shaft and the power output shaft and is used for applying downward reset force to the floating shaft and the cleaning assembly, the power output shaft rotates along a first direction, and the second cylinder body moves downwards relative to the first cylinder body under the driving of the reset force.

The cleaning device comprises a first cylinder, a lifting assembly, a supporting body, a spiral mechanism, a second cylinder, a third cylinder, a cleaning assembly, a first lifting assembly, a second lifting assembly, a third lifting assembly and a third lifting assembly, wherein the first cylinder is sleeved outside a power output shaft of a first motor through a one-way bearing;

When the power output shaft rotates along a first direction, the cleaning assembly is driven to rotate, the third cylinder is in a disconnected state, at least under the gravity of the third cylinder and the cleaning assembly, the third cylinder can move downwards relative to the support body through the spiral mechanism so as to drive the cleaning assembly to move downwards;

When the power output shaft rotates along the second direction, the third cylinder is in a transmission state, and the power output shaft drives the third cylinder to do lifting motion relative to the supporting body through the spiral mechanism so as to drive the cleaning assembly to lift.

Optionally, the screw mechanism comprises a third screw surface and a second matching piece matched with the third screw surface, one of the third screw surface and the second matching piece is arranged on the supporting body, the other is arranged on the outer part of the third cylinder, and the second matching piece is a fourth screw surface or a second roller.

Optionally, the cleaning device, the third thread surface is arranged on the supporting body, and a third limit part is arranged at the bottom of the third thread surface;

And the second matching piece is abutted against the side wall of the third limiting part along the spiral direction of the third thread surface so as to limit the third cylinder body to continuously descend relative to the supporting body at the dragging position.

Optionally, the cleaning device further comprises a first housing and a second reset element;

The first motor, the power output shaft and the third cylinder are arranged on the first shell, and the first shell is vertically and slidably arranged on the support body;

The second reset piece is arranged between the first shell and the supporting body and is used for applying downward second reset force to the first shell;

under the action of gravity of the third cylinder body, the first shell body and the cleaning component and the action of the second reset force, the first shell body is driven to do descending motion relative to the supporting body.

Optionally, the cleaning device further comprises a torsion part, wherein the torsion part is sleeved outside the third cylinder, one end of the torsion part is connected with the support body, the other end of the torsion part is abutted against the third cylinder, and the torsion part is used for applying torque to the third cylinder so that the third cylinder can rotate downwards relative to the support body.

Optionally, the cleaning device, in a non-edgewise cleaning mode, the auxiliary cleaning plate is in a raised position and the main cleaning plate is in a mopping position, or

The auxiliary cleaning tray is in a mopping position during edgewise cleaning and in a lifting position during non-edgewise cleaning.

Optionally, the rotation center of the auxiliary cleaning disc is located in front of the rotation center of the main cleaning disc, and a first connecting line of the rotation center of the auxiliary cleaning disc and the rotation center of the main cleaning disc intersects with a second connecting line of the rotation centers of the two main cleaning discs.

Optionally, the cleaning device, the main cleaning module further includes a first lifting structure, and the first lifting structure is used for driving the main cleaning assembly to lift;

the auxiliary cleaning module is arranged on the main cleaning assembly and can not swing relative to the machine body, and driven by the first lifting structure, the auxiliary cleaning module synchronously lifts along with the main cleaning assembly so that the main cleaning assembly and the auxiliary cleaning assembly are synchronously located at a lifting position and a mopping position.

Optionally, the cleaning device comprises a main cleaning assembly, an auxiliary cleaning module and a first lifting structure, wherein the main cleaning assembly comprises a mounting seat and a main cleaning cloth arranged on the bottom of the mounting seat, the auxiliary cleaning module is arranged on the mounting seat, and the first lifting structure drives the mounting seat to lift so as to drive the main cleaning assembly and the auxiliary cleaning assembly to lift synchronously.

Optionally, the cleaning device comprises a cleaning seat, wherein the cleaning seat is a flat mop, the flat mop comprises a top plate, a bottom plate arranged on the bottom of the top plate, the bottom plate is provided with a mounting hole or an avoidance hole and a vibrating plate embedded in the mounting hole or the avoidance hole, the main cleaning cloth is arranged on the vibrating plate and the bottom of the bottom plate, and the vibrating plate vibrates or twists in a reciprocating manner so as to drive the main cleaning cloth to move to clean a surface to be cleaned.

Optionally, the cleaning device, the auxiliary cleaning module is disposed on the top plate.

Optionally, the cleaning device has at least a first portion of the main cleaning assembly and at least a second portion of the auxiliary cleaning assembly, the cleaning areas of the first and second portions having overlapping areas in the forward direction of the body.

Optionally, the cleaning device is arranged in the forward direction of the machine body, the first part is located behind the second part, so that the second part of the auxiliary cleaning assembly is cleaned firstly, the first part is cleaned later, and the cleaning areas of the first part and the second part are sequentially provided with the overlapping area;

Optionally, the cleaning device, the auxiliary cleaning assembly comprises an auxiliary cleaning cloth, and no sweeping area is reserved between the cleaning area of the main cleaning cloth and the cleaning area of the auxiliary cleaning cloth along the width direction of the machine body.

Optionally, a cleaning device, the primary wipe having an area greater than the secondary wipe, and/or

The auxiliary cleaning assembly further comprises an auxiliary cleaning disc, the auxiliary cleaning cloth is arranged on the bottom of the auxiliary cleaning disc, the mounting seat is provided with the first portion, the auxiliary cleaning disc is provided with the second portion, so that the auxiliary cleaning cloth on the second portion is cleaned first, the main cleaning cloth on the first portion is cleaned later, and the area of the auxiliary cleaning disc is smaller than that of the mounting seat.

Optionally, the cleaning device, the auxiliary cleaning assembly comprises an auxiliary cleaning tray, and an auxiliary rag arranged on the bottom of the auxiliary cleaning tray;

The auxiliary cleaning module further comprises a first driving structure used for driving the auxiliary cleaning disc to rotate, the second driving structure is arranged on the mounting seat, and the area of the auxiliary cleaning disc is smaller than that of the mounting seat.

Optionally, the cleaning device further comprises an edge brush and a travelling system, wherein the edge brush is arranged on the bottom of the front part of the machine body; the auxiliary cleaning assembly comprises an auxiliary cleaning disc and auxiliary cleaning cloth arranged at the bottom of the auxiliary cleaning disc, wherein the auxiliary cleaning disc and the edge brush are positioned on the right side of the machine body along the width direction of the machine body so as to form a right edge;

The walking system at least comprises two driving wheels, and the two driving wheels are symmetrically arranged on the bottom of the machine body;

The main cleaning assembly is positioned behind the driving wheel along the advancing direction of the machine body, and the auxiliary cleaning disc is positioned in front of the main cleaning assembly;

along the width direction of the machine body, at least part of the auxiliary cleaning disk is positioned in the area outside the right driving wheel.

Optionally, the cleaning device, the first driving structure includes a second motor, and a second transmission mechanism for transmitting the driving force of the second motor to the auxiliary cleaning disc;

The second motor is arranged on the mounting seat, one end, far away from the output shaft of the second motor, of the second transmission mechanism extends towards the right driving wheel and avoids the driving wheel, so that the auxiliary cleaning disc is located in an area outside the right driving wheel.

Optionally, the auxiliary cleaning tray is located in front of the mounting base, so that the auxiliary cleaning cloth is cleaned first and the main cleaning cloth is cleaned later.

Optionally, the cleaning device further comprises an edge brush and a travelling system, wherein the edge brush is arranged on the bottom of the front part of the machine body; the auxiliary cleaning component comprises an auxiliary cleaning cloth, a cleaning device and a cleaning device, wherein the auxiliary cleaning cloth and the side brush are positioned on the right side of the machine body along the width direction of the machine body so as to form a right edge;

the main cleaning assembly is positioned behind the driving wheel along the advancing direction of the machine body, and the auxiliary cleaning cloth is positioned in front of the main cleaning assembly;

And along the width direction of the machine body, at least part of the auxiliary cleaning cloth is positioned in the area outside the right driving wheel.

Optionally, the auxiliary cleaning module further comprises a first driving structure for driving the auxiliary cleaning cloth to rotate to mop the floor;

The first driving structure comprises a second motor and a second transmission mechanism for transmitting the driving force of the second motor to the auxiliary cleaning cloth;

The second motor is arranged on the mounting seat, one end, far away from the output shaft of the second motor, of the second transmission mechanism extends towards the right driving wheel and avoids the driving wheel, so that the auxiliary cleaning cloth is located in an area on the outer side of the right driving wheel.

Optionally, the auxiliary cleaning assembly further comprises an auxiliary cleaning disc, wherein the auxiliary cleaning cloth is arranged on the bottom of the auxiliary cleaning disc, and the auxiliary cleaning disc is positioned in front of the mounting seat so that the cleaning cloth is cleaned firstly and cleaned secondly;

The second transmission mechanism drives the auxiliary cleaning disc to rotate so as to drive the auxiliary cleaning cloth to rotate, and the auxiliary cleaning disc is positioned in the area outside the driving wheel on the right side so that the auxiliary cleaning cloth is positioned in the area outside the driving wheel on the right side.

Optionally, the cleaning device further comprises at least one look-down sensor, wherein one look-down sensor is arranged on the bottom of the chassis of the machine body, and the look-down sensor is positioned between the driving wheel and the mounting seat on the right side along the advancing direction of the machine body.

Optionally, the cleaning apparatus further comprises a water replenishment mechanism for replenishing the primary wipe and the secondary wipe to form a wet clean with the primary wipe and secondary wipe;

The front side brush is used for dry cleaning and the rear auxiliary cloth is used for wet cleaning along the advancing direction of the machine body.

Optionally, the cleaning device comprises an auxiliary cleaning disc and an auxiliary cleaning piece arranged on the bottom of the auxiliary cleaning disc, wherein the pressure applied to the auxiliary cleaning disc by the auxiliary cleaning piece when the surface to be cleaned is 900-1500Pa.

The application also provides a base station, which comprises

The cleaning device comprises a body, a cleaning device and a cleaning device, wherein the body is provided with a cleaning cavity, and at least one main cleaning area and one auxiliary cleaning area are arranged on the cleaning cavity;

When the cleaning device of any of the preceding claims returns to the base station,

The main cleaning area and the auxiliary cleaning area are respectively used for cleaning a main cleaning piece of a main cleaning component and an auxiliary cleaning piece of an auxiliary cleaning component on the cleaning equipment.

The application also provides a cleaning system comprising the cleaning device and the base station.

The beneficial effects are that:

According to the cleaning equipment, the main cleaning module and the auxiliary cleaning module used for wet cleaning on the cleaning equipment are positioned behind the dry cleaning module along the advancing direction of the machine body of the cleaning equipment, so that the rolling brush of the dry cleaning module carries out dry cleaning in front, the main cleaning module and the auxiliary cleaning module of the wet cleaning carry out wet mopping behind the rolling brush to form a cleaning mode of firstly carrying out dry cleaning and then carrying out wet mopping, dry garbage on the ground is prevented from being smeared on the main cleaning module and the auxiliary cleaning module by the cleaning mode, the main cleaning module and the auxiliary cleaning module are smeared, the cleaning frequency of the main cleaning module and the auxiliary cleaning module is reduced, and scraping strips of a recovery system are not required to be arranged in the machine body to scrape dirt on the main cleaning module and the auxiliary cleaning module, so that the structure of a robot is simple. Meanwhile, at least part of the auxiliary cleaning component always extends out of the edge of the machine body so as to realize edge cleaning of obstacles or wall surfaces and the like, and in the width direction of the machine body, no leakage is swept between the cleaning areas of the main cleaning component and the auxiliary cleaning component, so that under the cooperation of the main cleaning component and the auxiliary cleaning component, edge cleaning is realized, and meanwhile, leakage is avoided between the main cleaning component and the auxiliary cleaning component so as to improve the cleaning effect.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view (looking up) of a cleaning apparatus (auxiliary cleaning module is not shown) according to an embodiment of the present application;

Fig. 2 is a schematic view (with the upper case removed) of a cleaning apparatus (auxiliary cleaning module not shown) according to the present embodiment of the application;

FIG. 3 is an enlarged view of a portion of the cleaning apparatus of FIG. 2;

FIG. 4 is a schematic view (bottom view) of a cleaning apparatus according to an embodiment of the present application;

Fig. 5 is a schematic perspective view of a cleaning apparatus according to an embodiment of the present application;

FIG. 6 is a schematic view (with the upper housing removed) of another cleaning apparatus provided in accordance with an embodiment of the present application;

FIG. 7 is an enlarged view of a portion of the cleaning apparatus of FIG. 6;

FIG. 8 is a schematic view of another cleaning apparatus provided in accordance with an embodiment of the present application;

FIG. 9 is a schematic view of the cleaning apparatus of FIG. 8 in a bottom view;

FIG. 10 is a schematic layout view of the internal structure of the cleaning apparatus of FIG. 8;

FIG. 11 is a schematic diagram of a first driving structure according to an embodiment of the present application;

FIG. 12 is a schematic cross-sectional view of a second sleeve of the first drive structure of FIG. 11;

FIG. 13 is an exploded schematic view of the first sleeve and the second sleeve of the first drive arrangement of FIG. 11;

FIG. 14 is a schematic view of another first driving structure according to an embodiment of the present application;

FIG. 15 is a schematic view of a partial explosion of the first drive structure of FIG. 14;

FIG. 16 is an exploded view of the first drive arrangement of FIG. 14;

FIG. 17 is a schematic view of another embodiment of the first driving structure of FIG. 14;

FIG. 18 is a schematic diagram of another first driving structure according to an embodiment of the present application;

FIG. 19 is a schematic view (in top view) of one way of turning the two primary and secondary wipes in an embodiment of the application;

FIG. 20 is a schematic view (top view) of another way of turning the two primary and secondary wipes in an embodiment of the application;

FIG. 21 is a schematic view (top view) of another way of turning the two primary and secondary wipes in an embodiment of the application;

FIG. 22 is a schematic view (top view) of another way of turning the two primary and secondary wipes in an embodiment of the application;

FIG. 23 is another implementation of the cleaning apparatus provided by an embodiment of the present application;

FIG. 24 is a schematic view of the cleaning apparatus of FIG. 23 with the primary wipe removed;

FIG. 25 is an exploded view of the main cleaning assembly of the cleaning device of FIG. 23;

FIG. 26 is a schematic view of an arrangement (in top view) of two primary and secondary wipes according to an embodiment of the present application;

FIG. 27 is a schematic cross-sectional view of the first driving structure of FIG. 11;

FIG. 28 is a schematic view of another cleaning apparatus provided in accordance with an embodiment of the present application;

FIG. 29 is a schematic view showing an arrangement of the inside of another cleaning apparatus according to an embodiment of the present application;

FIG. 30 is a schematic view of one configuration of a first drive configuration of the cleaning apparatus of FIG. 29 in accordance with the present application;

FIG. 31 is a graph of test data for the secondary wipe versus hold-down pressure, service life, and area cleaning rate of a cleaning apparatus according to an embodiment of the present application.

Detailed Description

The application is characterized in that:

As shown in fig. 1 to 4, in the forward direction of the main body 10 of the cleaning apparatus, the main cleaning module 20 and the auxiliary cleaning module 30 for wet cleaning on the cleaning apparatus are located behind the dry cleaning module 40, so that the rolling brush 403 of the dry cleaning module 40 performs dry cleaning in front, and the main cleaning module 202 of the main cleaning module 20 and the auxiliary cleaning module 302 of the auxiliary cleaning module 30 for wet cleaning perform wet cleaning behind the rolling brush 403, forming a cleaning mode of dry cleaning before wet cleaning, which prevents dry garbage on the ground from getting on the main cleaning module 202 and the auxiliary cleaning module 302, and from soiling the main cleaning module 202 and the auxiliary cleaning module 302, reduces the cleaning frequency of the main cleaning module 202 and the auxiliary cleaning module 302, and does not need to provide a scraping bar of a recovery system in the main body 10 to scrape dirt on the main cleaning module 202 and the auxiliary cleaning module 302, so that the robot has a simple structure. Meanwhile, at least part of the auxiliary cleaning assembly 302 always extends out of the edge of the machine body 10 to realize edge cleaning of obstacles or wall surfaces and the like, and in the width direction of the machine body 10, no leakage sweep exists between the cleaning areas of the main cleaning assembly 202 and the auxiliary cleaning assembly 302, so that the edge cleaning is realized and the leakage sweep is avoided between the main cleaning assembly 202 and the auxiliary cleaning assembly under the cooperation of the main cleaning assembly 202 and the auxiliary cleaning assembly, so that the cleaning effect is improved.

Specifically, the main cleaning module 20 includes at least one main cleaning assembly 202 (e.g., one cleaning plate, a flat mop, a track) or two main cleaning assemblies 202 (e.g., two cleaning plates, both circular plates). The auxiliary cleaning module 30 includes at least one auxiliary cleaning member 302, and at least a portion of the auxiliary cleaning member 302 is extended beyond the edge of the main body 10 to perform edge cleaning on the edge of an obstacle or a wall surface. The width direction of the body 10 is perpendicular to the advancing direction of the body 10. In the forward direction of the main body 10 (e.g., in the arrow direction of fig. 9), as shown in fig. 4, the dry cleaning module 40 is located in front of the main cleaning module 20, and the dry cleaning module 40 includes at least one roller brush 403 for sweeping the surface to be cleaned. The surface to be cleaned may be, but is not limited to, a surface or scene of an object such as a floor, a table top, glass, a wall, etc. For convenience of description, the surface to be cleaned hereinafter will be described by taking the floor as an example.

Wherein the area of the secondary cleaning assembly 302 is smaller than the area of the primary cleaning assembly 202. For example, the area of the auxiliary cleaning assembly 302 is less than three-fourths of the area of the main cleaning assembly 202, or less than one-half of the area of the main cleaning assembly 202, or less than one-third, one-fourth, one-fifth, etc., of the area of the main cleaning assembly 202, and the size relationship of the two may be selected as desired.

For example, secondary cleaning assembly 302 includes a secondary cleaning disk 3021 and a secondary cleaning member, and primary cleaning assembly 202 includes a mount 2023 and a primary cleaning member, the above-described area size relationships. One embodiment may be a comparison of the areas of the secondary cleaning disk 3021 and the mount 2023, e.g., the area of the secondary cleaning disk 3021 is smaller than the area of the mount 2023, or alternatively, the area of the secondary cleaning elements may be a comparison of the areas of the secondary cleaning elements and the primary cleaning elements, e.g., the area of the secondary cleaning elements is smaller than the area of the primary cleaning elements. If the primary cleaning assembly 202 includes at least tracks, the secondary cleaning members are correspondingly smaller in area than the tracks. In other words, when the main cleaning member and the auxiliary cleaning member are both rags, the main cleaning member forms a large rag cleaning, the auxiliary cleaning member forms a small rag cleaning, and in the non-edge mode, the main cleaning member is mainly a large rag cleaning, and in the edge cleaning, the small rag cleaning is matched with the main cleaning member and the auxiliary cleaning member so as to realize the edge cleaning, and meanwhile, no sweeping area exists between the large rag and the small rag.

The area is understood to mean the area of the cleaning plate or the cleaning element projected perpendicularly onto the surface to be cleaned, and also the area of the cleaning element of the cleaning assembly that can be cleaned when the body 10 of the robot is stationary in the home position while the body 10 is not walking.

The cleaning device may be a self-moving cleaning robot, or a hand-held cleaner, or a window cleaning robot, etc., the cleaning robot being used as an example to deploy the structure of the cleaning device.

The body 10 is generally formed in a circular, D-shaped, rectangular, square, etc., and the contour of the body 10 refers to a circular contour, D-shaped contour or rectangular contour, square contour, etc. of the body 10, for example, in fig. 1 and 2, the contour of the body 10 is a circular structure, and the range of the contour of the body 10 may be determined according to the projection of the body 10 on a horizontal plane, by way of example. The contour of the body 10 is of a square configuration, and illustratively, the extent of the contour of the body 10 is determined based on the projection of the body 10 onto a horizontal plane (or vertical projection onto a surface to be cleaned).

As shown in fig. 1 and 5, for the main body 10, the main body 10 generally includes at least a chassis 101 and an upper shell 102 connected to the chassis 101, and an inner cavity of the main body 10 is defined between the chassis 101 and the upper shell 102 to form a receiving cavity, and the main cleaning assembly 202 and the auxiliary cleaning assembly 302 are located below the chassis 101.

As shown in fig. 1, 2 and 3, the dry cleaning module 40 at least includes a roller brush 403, a dust box 401 and a main fan 402, and the roller brush 403 is rotatably disposed in a roller brush 403 cavity 109 on the bottom of the chassis 101, so that the cleaning robot cleans the garbage on the floor in the traveling direction. The number of the rolling brushes 403 may be one or two, if there are two rolling brushes 403, the two rolling brushes 403 are rotatably disposed in the rolling brush 403 cavity 109, and the rotation directions of the two rolling brushes 403 are opposite, so that when the two rolling brushes 403 rotate, the garbage on the ground is rolled up towards the dust collection opening direction of the dust box 401.

The dust box 401 and the main fan 402 are respectively arranged in the inner cavity of the machine body 10, the main fan 402 is configured to provide negative pressure wind power for the dust box 401, a dust collection opening communicated with the dust box 401 is formed in the machine body 10, for example, the dust collection opening is formed in the bottom of the machine body 10 and communicated with the cavity 109 of the rolling brush 403, so that the rolling brush 403 is used for collecting garbage on the ground to the dust collection opening, and the negative pressure suction can collect garbage, dust particles and the like into the dust box 401 through the dust collection opening so as to achieve the purpose of cleaning the ground. The main blower 402 includes, but is not limited to, a negative pressure blower, but may be replaced with other negative pressure generating devices, such as a vacuum pump.

As shown in fig. 2, the dry type cleaning module 40 further includes a dust discharging channel 404 provided in the main body 10, the dust discharging channel 404 is connected with a dust collecting fan of a base station, and garbage in the dust box 401 is collected into the base station through the dust discharging channel 404 under the action of the dust collecting fan on the base station, so as to realize automatic discharging of the garbage of the dust box 401. The dust collection blower includes, but is not limited to, a negative pressure blower, but may be replaced with other negative pressure generating devices, such as a vacuum pump.

As shown in fig. 4, the robot further includes a traveling system 80 for driving the body 10 to self-move, and performing a self-moving traveling function on the surface to be cleaned, and the traveling system 80 includes at least a driver and a driving wheel 801, and the driver drives the driving wheel 801 to move. The number of driving wheels 801 may be generally two, and the two driving wheels 801 are symmetrically disposed on the bottom of the body 10. In addition, a traveling system 80 is swingably provided on the main body 10 so that the cleaning apparatus has an obstacle surmounting function during traveling.

As shown in fig. 4 and 6, the main body 10 has a front portion and a rear portion, and a connecting portion or a middle portion connecting the front portion and the rear portion of the main body 10, in the forward direction of the main body 10, bounded by the dust box 401 or the roller brush 403 or the driving wheel 801. The dust box 401 or the roller brush 403 or the driving wheel 801 is provided in the connecting part or in the middle. Or by the line connecting the centers of rotation of the two drive wheels 801, the fuselage 10 has a front and a rear, the front of the fuselage 10 and the rear of the fuselage 10 each comprising a portion of the chassis 101 and a portion of the upper shell 102. The main cleaning assembly 202 and the auxiliary cleaning assembly 302 are both provided at the rear of the main body 10, and are both located behind the roller brush 403.

For example, taking the roller brush 403 or the dust box 401 as an example, a portion of the body 10 located in front of the roller brush 403 or the dust box 401 is referred to as a front portion of the body 10, and a portion located behind the roller brush 403 or the dust box 401 is referred to as a rear portion of the body 10.

Referring to fig. 1, 3, 4, 5 and 6, the cleaning robot further includes a side brush 100 disposed in front of the roller brush 403 of the dry cleaning module 40 along the advancing direction of the machine body 10, or at least a portion of the side brush is disposed in front of the roller brush 403 of the dry cleaning module 40, and a rotation center of the side brush is disposed in front of the roller brush 403 of the dry cleaning module 40. When the robot cleans, the side brush rotates to gather the garbage on the ground to the inner side of the cleaning robot, so that the dry cleaning module 40 can collect the garbage gathered to the inner side of the cleaning robot into the dust box 401 in the machine body 10 by sucking or the like.

Illustratively, at least part of the side brush may be located in front of the dry cleaning module 40 and near the edge of the main body 10, for example, the side brush may be located at an edge including, but not limited to, the left front, the right front, etc. of the dry cleaning module 40, such that the side brush is located or protrudes out of the contour of the main body 10 when the side brush rotates, so that the side brush may gather garbage out of the contour of the main body 10 toward the inside of the cleaning robot, thereby increasing the cleaning range. The side brush may be an adhesive tape, a brush, or the like, as long as the floor surface can be cleaned, and is not limited herein.

In one embodiment, the main cleaning module 20 and the auxiliary cleaning module 30 are disposed at the rear of the machine body 10, the side brush is disposed at the front of the machine body 10, and the side brush and the auxiliary cleaning module 30 are disposed on the same side of the machine body 10 in the advancing direction of the machine body 10.

As shown in fig. 5 and 6, for example, the side brush and secondary cleaning assemblies 302 are each distributed on the right side of the main body 10 to form a right edge cleaning.

Since the side brush and the auxiliary cleaning assembly 302 are both used for edge cleaning, the side brush is disposed at the front of the machine body 10, the auxiliary cleaning assembly 302 is disposed at the rear of the machine body 10, both are positioned at the right side of the machine body 10, and the side brush is used for dry cleaning in front during edge cleaning, and the auxiliary cleaning assembly 302 is used for wet cleaning in rear, when cleaning the edges of obstacles, wall edges, corner areas (for example, inner right angles) and the like, a cleaning mode of dry cleaning before wet mopping is formed, and the effect of edge cleaning is further improved.

The above-described example in which the side brush and the sub-cleaning unit 302 are located on the right side of the main body 10 is developed, and similarly, when the side brush and the sub-cleaning unit 302 are located on the left side of the main body 10, the side brush and the sub-cleaning unit 302 may be formed in the side cleaning mode.

The sensing system includes sensing devices such as LDS located above the fuselage 10, a bumper 70 (shown in FIG. 2) and vision sensors located at the front of the fuselage 10, edge sensors located at the front side wall of the fuselage 10, ultrasonic sensors located at the bottom of the fuselage 10, down vision sensors, etc. Wherein, LDS, buffer 70, edge sensor can all measure the distance to obtain the distance between the edge of fuselage 10 and the obstacle, and control system controls the cleaning equipment to execute corresponding action according to this distance.

For example, the cleaning device is controlled to avoid obstacles, edges, etc. The ultrasonic sensor is used for recognizing carpet signals, and the control system controls the main cleaning component 202 of the cleaning device to lift up according to the signals, the auxiliary cleaning component 302 to lift up, or the cleaning device to return to a base station, so as to charge the robot, collect dust, clean the main cleaning component, detach and install the main cleaning component 202, and the like. The vision sensor is used for identifying an image of the environment where the cleaning device is located so as to acquire information of an obstacle, and the control system controls the cleaning device to execute actions such as obstacle avoidance, obstacle surmounting, edge cleaning and the like according to the information.

The cleaning apparatus further comprises at least a water replenishing mechanism for replenishing the main cleaning element of the main cleaning assembly 202 to wet the main cleaning element, so that the main cleaning element is in a wet or damp state to mop the floor, thereby forming wet cleaning to improve the cleaning effect. The water replenishing mechanism includes at least a water tank 501, and a conveying mechanism that conveys water in the water tank 501 to the main cleaning member. For example, the conveying mechanism comprises a pump body 502 and a pipeline, one end of the pump body 502 is communicated with the water tank 501 through the pipeline, the other end of the pump body is conveyed into the water separator through the pipeline, the liquid is conveyed onto the main cleaning member through the liquid outlet of the water separator, and the liquid can be uniformly conveyed onto the main cleaning member through the arrangement of the water separator, so that the main cleaning member is wetted more uniformly. Of course, a water separator is not required, and the other end of the pump body 502 directly transmits water to the main cleaning member through a pipeline.

The moisturizing mechanism can also moisturize the auxiliary cleaning members of the auxiliary cleaning assembly 302 to wet the auxiliary cleaning members to cause the auxiliary cleaning members to wet clean the floor.

The auxiliary cleaning module 30 is mainly used for matching with the main cleaning module 20 to assist in cleaning the cleaning-free area of the main cleaning assembly 202.

For the auxiliary cleaning assembly 302, as shown in fig. 9 and 14, the auxiliary cleaning assembly 302 includes an auxiliary cleaning tray 3021, and an auxiliary cleaning member provided on the bottom of the auxiliary cleaning tray 3021. The auxiliary cleaning member may be a rag, a wiper, a cleaning cloth, or the like, the auxiliary cleaning tray 3021 is a circular tray, and the auxiliary cleaning member is a circular auxiliary rag 3022 matching the auxiliary cleaning tray 3021 and is fixed to the bottom of the auxiliary cleaning tray 3021 by means of pasting or the like.

The auxiliary cleaning module 30 further includes a first driving structure 302, configured to drive the auxiliary cleaning disc 3021 to rotate, thereby driving the auxiliary cleaning cloth 3022 to rotate, so as to increase friction between the auxiliary cleaning cloth 3022 and the floor, and improve the cleaning effect along the edge.

The auxiliary cleaning module 30 further includes a second lifting mechanism at least for driving the auxiliary cleaning assembly 302 to lift and lower so that the auxiliary cleaning assembly 302 is in a lifted position to be separated from the floor, or in a mopping position for edge cleaning.

Under the cooperation of the first driving structure 302 and the second lifting mechanism, the auxiliary cleaning tray 3021 is lifted and lowered to a switching position, and is automatically towed to the floor. In view of the limited space of the robot inner body 10, the first driving structure 302 and the second lifting mechanism are driven by one motor, that is, the first driving structure 302 and the second lifting mechanism are the same structure, and for convenience of description, the first driving structure 302 is unfolded by the first driving structure 302, so that the first driving structure 302 can drive the auxiliary cleaning disc 3021 to lift and rotate, and the first driving structure 302 is compact and occupies a small space in the robot inner body 10.

Of course, when the space in the main body 10 is large, the first driving structure 302 and the second lifting mechanism may be two driving structures, and the second lifting mechanism may drive the auxiliary cleaning tray 3021 and the first driving structure 302 to lift integrally, and in the mopping position, the motor of the second lifting mechanism is stopped, and the first driving structure 302 drives the auxiliary cleaning tray 3021 to rotate.

The cleaning apparatus further comprises a second drive structure 201, the second drive structure 201 being disposed in the interior cavity of the main body 10 for driving the main cleaning assembly 202 in motion for mopping the floor, and a first lifting structure for driving the cleaning assembly in a lifting motion for bringing the main cleaning assembly 202 in a mopping or lifting position.

Because the main cleaning assembly 202 is required to be lifted in some situations, for example, when the main body 10 is carpeted, the main cleaning assembly 202 is required to be in a lifted position in order not to wet the carpet, or the main cleaning assembly 202 is required to be in a lifted position in situations such as obstacle crossing and base station returning, so that the main cleaning assembly 202 is prevented from being blocked by an obstacle and is separated from the main body 10. Thus, the cleaning apparatus further comprises a first lifting structure provided within the main body 10 for driving the main cleaning assembly 202 to lift for switching between the mopping position and the lifting position.

For the main cleaning assembly 202, there are various manners of the main cleaning assembly 202, and the main cleaning assembly 202 has different structural forms, and correspondingly, the second driving structure 201 drives the main cleaning assembly 202 to move in a different manner, for example, the mopping motion can be the rotation of the circular main cleaning disc 2021, the reciprocating vibration or twisting of the flat plate mop, and the movement of the caterpillar. When the outer shapes of the robot body 10 are different, correspondingly, the arrangement of the auxiliary cleaning module 30, the dry cleaning module 40, the driving wheel 801, the water supplementing mechanism, the main cleaning module 20 and the auxiliary cleaning module 30 on the robot body 10 are different. That is, each robot has the above-described structure of the body 10, the side brush, the traveling system 80, the water replenishing mechanism, the main cleaning module 20, the auxiliary cleaning module 30, the buffer 70, and the like, and the arrangement of the above-described matters is described in different models clearly, and the following description will be made one by means of specific embodiments.

Example 1

The present embodiment provides a cleaning apparatus, for example, a cleaning robot, as shown in fig. 8, 9, 19, and 28, which includes the body 10, the side brush, the traveling system 80, the dry cleaning module 40, the water replenishing mechanism, the buffer 70, the main cleaning module 20, the auxiliary cleaning module 30, and the sensing system.

As shown in fig. 8, the outer contour of the machine body 10 is rectangular, that is, the vertical projection of the machine body 10 on the surface to be cleaned is rectangular, the long side of the rectangle is located in the advancing direction of the machine body 10, and the short side of the rectangle is located in the width direction of the machine body 10.

As shown in fig. 27, the main cleaning assembly 202 includes a circular main cleaning tray 2021, and a main cloth 2022 mounted on the bottom of the main cleaning tray 2021, the main cloth 2022 is circular, the main cloth 2022 is adhered to the bottom of the main cleaning tray 2021 by using a velcro tape, and the second driving structure 201 is used to drive the main cleaning tray 2021 to spin on the main body 10 so that the main cloth 2022 spins to clean the floor. The first lifting structure is used for driving the main cleaning disc 2021 to perform lifting motion so as to drive the main cleaning piece to lift and descend, so that the main cleaning piece can be switched between a lifting position and a mopping position.

In this embodiment, the number of the main cleaning assemblies 202 is two, two circular main cleaning discs 2021 are symmetrically disposed on the bottom of the main body 10, and the two circular main cleaning discs 2021 spin in opposite directions, for example, one main cleaning disc 2021 rotates clockwise and the other main cleaning disc 2021 rotates counterclockwise to clean the floor. To avoid a weeping area between the two circular main cleaning plates 2021, a gap exists between adjacent edges of the two main cleaning plates 2021, so that the self-rotation of the two main cleaning plates 2021 do not interfere with each other, the adjacent edges of the main cleaning cloth 2022 on the bottom of the two main cleaning plates 2021 are tangent or squeeze each other, or because the main cleaning cloth 2022 is generally flexible and has a certain deformation, the adjacent edges of the two main cleaning cloth 2022 squeeze each other to form a first interference area 905, so that no gap exists between the adjacent edges of the two main cleaning cloth 2022, and the weeping area is avoided.

There is a gap between the two main cleaning plates 2021, which does not affect the rotation of each other, as shown in fig. 26, and there is a certain first interference area 905 between the two main cleaning plates 2022, so as to avoid the problem of missing scanning. The maximum width of the interference region between the two main wipes 2022 may be about 1mm, about 2mm, about 3mm, about 4mm, about 5mm, or about 6mm, and is not particularly limited herein.

The rag has certain deflection, and two rags are at the rotation in-process, and two adjacent parts of rag extrudees each other, does not have the gap to form the interference region, do not influence the normal rotation of rag yet.

For the maximum width of the first interference region 905, which is the second line connecting the rotation centers of the two main cleaning plates 2021, the maximum width of the interference region is the length L1 of the intersection line of the second line and the interference region, as shown in fig. 26.

The auxiliary cleaning disk 3021 of the auxiliary cleaning assembly 302 is a circular disk, and correspondingly, the auxiliary cleaning member is an auxiliary cleaning cloth 3022, and the auxiliary cleaning cloth 3022 is adhered to the auxiliary cleaning disk 3021 by using a velcro tape. Of course, other means of removably positioning the secondary cloth 3022 on the secondary cleaning tray 3021 are possible.

The main cleaning module 20 and the auxiliary cleaning module 30 are all arranged at the rear part of the machine body 10, the side brush is arranged at the front part of the machine body 10, and the side brush and the auxiliary cleaning module 30 are all distributed at the right side of the machine body 10 in the advancing direction of the machine body 10 so as to form right edge cleaning.

Since the side brush is provided at the front of the main body 10, and the auxiliary cleaning assembly 302 is provided at the rear of the main body 10, both of which are positioned at the right side of the main body 10, the side brush performs dry cleaning before the side brush during the side cleaning process, and the auxiliary cleaning assembly 302 performs wet cleaning after the side brush, thereby forming a side cleaning mode of cleaning the edges of obstacles, wall edges, corner areas (e.g., inner right angles) and the like before dry cleaning and then wet mopping, and further improving the effect of the side cleaning.

As shown in fig. 10, the two driving wheels 801 of the traveling system 80 are symmetrically disposed on the bottom of the main body 10, and the dry cleaning module 40 includes the rolling brush 403, the dust box 401 and the main blower 402. Since the body 10 is a square machine, the width of the body 10 of the square machine is smaller than the maximum width (diameter of a circle) of the circular machine, relative to a circular machine in which the body 10 is circular. In the width direction of the machine body 10, the length of the roller brush 403 is longer than the distance between the two driving wheels 801, so in a square machine, the roller brush 403 is positioned in front of the driving wheels 801 in the advancing direction of the machine body 10, and the dust box 401 is distributed between the two driving wheels 801.

The two main cleaning assemblies 202 are located behind the dust box 401 (or the dust box 401 cavity 108 on the machine body 10) and symmetrically distributed under the bottom of the rear part of the machine body 10, and along the advancing direction of the machine body 10, the two main cleaning assemblies 202 are located behind the two driving wheels 801 to form a forward walking of the driving wheels 801, and the main cleaning assemblies 202 drag the ground behind the driving wheels 801, so that the wheel marks of the driving wheels 801 are not remained in the cleaned area of the main cleaning cloth 2022, and the cleaning effect of the main cleaning cloth 2022 is improved.

It should be noted that, in the first mode, as shown in fig. 10, the main cleaning assembly 202 is located at the rear of the driving wheels 801, the main cleaning assembly 202 is located at the rear of the two driving wheels 801 in the forward direction of the main body 10, and in the second mode, the driving wheels 801 and the main cleaning plate 2021 are staggered in the forward direction of the main body 10 and the width direction of the main body 10, the main cleaning plate 2021 is located at the rear of the connecting line between the rotation centers of the two driving wheels 801, and in the width direction of the main body 10, a part of the circular arc of the main cleaning plate 2021 is located at the rear of the driving wheels 801, but a part of the circular arc of the main cleaning plate 2021 is located in the region between the two driving wheels 801, and the rotation of the main cleaning plate 2021 and the running of the driving wheels 801 do not affect each other, so that the length of the main body 10 can be shortened in the forward direction of the main body 10, the driving wheels 801 can be run forward, and the main cleaning cloth 2022 can be cleaned at the rear, and the cleaning effect can be improved.

In order to prevent a cleaning region from being formed between the auxiliary cloth 3022 and the main cloth 2022, in this embodiment, there is no cleaning region between the cleaning region of the main cloth 2022 and the cleaning region of the auxiliary cloth 3022 in the width direction of the main body 10, ensuring high edge cleaning effect and cleaning efficiency.

There are various embodiments of the manner in which the secondary wipe 3022 and the primary wipe 2022 do not have a weeping area, specifically:

In the first embodiment, a gap exists between the auxiliary cleaning disk 3021 and the main cleaning disk 2021, so that the rotation of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 does not affect each other, and no gap exists between the main cleaning cloth 2022 and the auxiliary cleaning cloth 3022, so that no cleaning leakage area exists when the auxiliary cleaning cloth 3022 and the main cleaning cloth 2022 rotate and clean.

For example, the primary cloth 2022 and the secondary cloth 3022 may be tangent to each other at their adjacent edges so that there is no gap therebetween. Since the primary and secondary rags 2022, 3022 are typically flexible and have a deformation that when the primary and secondary rags 2022, 3022 are deformed over time, preventing the occurrence of a gap that may exist between the tangential adjacent edges of the primary and secondary rags 2022, 3022, in order to further ensure a gap between the primary and secondary rags 2022, 3022, in another manner, as shown in fig. 26, the adjacent ends of the primary and secondary rags 2022, 3022 are squeezed to form a small number of second interference regions 906 to ensure a gap between the primary and secondary rags 2022, 3022 without affecting the rotation of the primary and secondary rags 2022, 3022 with the respective cleaning plates, thereby achieving a non-leaky area between the primary and right side cleaning plates 2021, 2021. However, in this embodiment, since the main rag 2022 and the auxiliary rag 3022 are always tangent or pressed against each other, at a position where a tangent line or a pressing line (the second interference area 906) is formed between adjacent edges of the main rag 2022 and the auxiliary rag 3022, when the robot drags the ground, one or more trace lines are easily remained on the ground, so that the ground cannot be cleaned, and the cleaning effect is affected.

The second interference region 906 is similar to the first interference region 905 described above, and the maximum width of the second interference region 906 between the main wipe 2022 and the auxiliary wipe 3022 may be about 1mm, about 2mm, about 3mm, about 4mm, about 5mm, about 6mm, and is not particularly limited herein.

As shown in fig. 26, for the maximum width of the second interference area 906, which is the first line of the rotation center of the right main cleaning tray 2021 and the auxiliary cleaning tray 3021, the maximum width of the second interference area 906 is the length L2 of the intersection line of the first line and the second interference area 906.

Since the radius of the main cleaning disk 2021 is much larger than the radius of the auxiliary cleaning disk 3021, if the maximum width of the second interference area 906 exceeds 5mm, the rotation of the main cleaning disk 2021 is not affected, but the rotation of the auxiliary cleaning disk 3021 is affected, so that the maximum width of the second interference area 906 is selected to be equal to or less than 5mm, and the rotation of the main cleaning disk 2021 and the auxiliary cleaning disk 3021 is not affected while the anti-leak cleaning is realized.

In the second embodiment, there is a gap between the main cleaning plate 2021 and the auxiliary cleaning plate 3021, which does not affect the rotation motion, and there is a gap between adjacent or similar edges of the main cleaning plate 2022 and the auxiliary cleaning plate 3022, and the main cleaning plate 2022 and the auxiliary cleaning plate 3022 do not interfere with each other when the main cleaning plate 2022 and the auxiliary cleaning plate 3022 rotate along with the respective cleaning plates. The primary cleaning plate 2021 has a first portion 901 and the secondary cleaning plate 3021 has a second portion 902, said first portion 901 and second portion 902 having an overlap area 903 in the direction of advance of the body 10, the primary wipe 2022 on the first portion 901 and the secondary wipe 3022 on the second portion 902 also having an overlap area 903 in the direction of advance of the body 10.

Since a portion of the main cleaning plate 2021 extends beyond the edge of the rear portion of the main body 10, in this embodiment, the second portion 902 of the auxiliary cleaning plate 3021 is located in front of the first portion 901 of the main cleaning plate 2021 (or the first portion 901 is located behind the second portion 902) in the forward direction of the main body 10, the auxiliary cleaning cloth 3022 on the second portion 902 of the auxiliary cleaning plate 3021 is cleaned first by the robot during cleaning, the main cleaning cloth 2022 on the first portion 901 of the main cleaning plate 2021 is cleaned first by the robot, and the cleaning areas of the two are sequentially provided with overlapping areas 903 in the forward direction of the main body 10, so that the existence of a missing cleaning area is avoided.

The third embodiment has the first embodiment and the second embodiment, specifically, a gap exists between the main cleaning disc 2021 and the auxiliary cleaning disc 3021, the main cleaning disc 2021 and the auxiliary cleaning disc 3021 do not interfere with each other when rotating, the auxiliary cleaning disc 3022 and the adjacent edges of the main cleaning disc 2022 are tangent or pressed (the second interference area 906 exists), meanwhile, the auxiliary cleaning disc 3021 has the second portion 902, the main cleaning disc 2021 has the first portion 901, the second portion 902 is located in front of the first portion 901, the cleaning area of the auxiliary cleaning disc 3022 of the second portion 902 and the cleaning area of the main cleaning disc 2022 of the first portion 901 are overlapped, the effect of avoiding missing is achieved, the first portion 901 of the main cleaning disc 2021 is located behind the position of the tangent line or the pressing line between the adjacent edges of the auxiliary cleaning disc 3022, and trace lines formed on the ground in the cleaning process can be cleaned by the main cleaning disc 2022 on the first portion of the rear main cleaning disc 2021, and accordingly the cleaning effect of the dual-function of no residual trace is achieved, as shown in fig. 9.

Meanwhile, since there is no gap between the main cloth 2022 and the auxiliary cloth 3022, the auxiliary cleaning sheet 3021 can be vertically projected on the bottom of the main body 10 at the rotation center of the auxiliary cleaning sheet 3021 in the limited first region 103 (mentioned later) on the main body 10, the diameter of the auxiliary cleaning sheet 3021 can be made larger, the portion of the auxiliary cleaning sheet 3021 protruding the edge of the main body 10 is made larger, and the region for edge cleaning is made wider.

With the arrangement of the main cleaning tray 2021 with the drive wheel 801, the chamber 108 of the dust box 401, the roller brush 403, and the side brushes described above, the length and width of the main body 10 are not increased to increase the cleaning area of the main cleaning tray 2021, and a portion of the main cleaning tray 2021 protrudes beyond the edge of the rear portion of the main body 10 (i.e., the rear side wall of the main body 10).

The arrangement of the side brushes, the roller brush 403, the dust box 401, the drive wheel 801, and the two main cleaning plates 2021 on the bottom of the main body 10 (i.e., the chassis 101) is not changed as described above. Since the portion of the main cleaning disc 2021 extends out of the edge of the rear portion of the main body 10, the auxiliary cleaning disc 3021 cannot be distributed behind the main cleaning disc 2021, in order to achieve edge cleaning of the auxiliary cloth 3022 on the auxiliary cleaning disc 3021, the auxiliary cleaning disc 3021 is disposed in the first area 103 enclosed between the rear portion of the right driving wheel 801 and the bottom portion of the right side of the right cleaning disc, and the bottom portion of the right side of the main body 10, and when the chassis 101 is manufactured, only a first avoiding hole needs to be added in the first area 103 on the chassis 101, so that the portion of the first driving structure 302 passes through the first avoiding hole to connect the auxiliary cleaning disc 3021, so that the auxiliary cleaning disc 3021 is located below the chassis 101. That is, when the auxiliary cleaning tray 3021 is provided on the chassis 101 and the auxiliary cleaning tray 3021 is not provided, the arrangement of the side brush, the roller brush 403, the driving wheel 801, the dust box 401 cavity 108, and the main cleaning assembly 202 on the bottom of the chassis 101 is not changed, the manufacturing and processing costs of the chassis 101 are reduced, the chassis 101 is not required to be opened separately, the chassis 101 can be manufactured first, and then the first relief hole 60171 is processed on the chassis 101, and meanwhile, the space for installing the auxiliary cleaning assembly 302 is provided, so that the auxiliary cleaning rag can realize the function of edge cleaning.

If the side brush and the auxiliary cleaning pad 3021 are disposed on the left side of the main body 10 to form a left side edge, the auxiliary cleaning pad 3021 is disposed in the first area 103 defined between the rear of the left driving wheel 801 and the left main cleaning pad 2021, the left bottom of the main body 10 (or the left edge in the width direction of the main body 10). That is, the auxiliary cleaning pad 3021 is disposed in the first area 103 defined between the rear of the driving wheel 801 adjacent thereto or close thereto and the side edges of the main cleaning pad 2021 and the main body 10.

Meanwhile, in order to provide the auxiliary cleaning pad 3021 in the limited first area 103, the diameter of the auxiliary cleaning pad 3021 must be smaller than the diameter of the main cleaning pad 2021, and the radius R2 of the auxiliary cleaning pad 3021 must be at least half of the radius R1 of the main cleaning pad 2021, so that the main cleaning pad 2022 is a large cleaning pad, and the auxiliary cleaning pad 3022 is a small cleaning pad, and in the case of non-edge cleaning, the cleaning is mainly performed by means of the large cleaning pad, and in the case of edge cleaning, the cleaning is mainly performed by means of the small cleaning pad.

For example, the ratio of R1 to R2 is 2, or the ratio of R1 to R2 is 2.5, the ratio of R1 to R2 is 4, or the ratio of R1 to R2 is 3.6. If the diameter of auxiliary cleaning disk 3021 is too small, although it can be edge-cleaned, the intensity of edge-cleaning is insufficient from the practical test point of view, and at least two or more edge-cleaning of auxiliary cleaning disk 3021 is required.

Therefore, considering the limited space of the first area 103, the cleaning strength and the effect of no leakage between the auxiliary cleaning cloth 3022 and the main cleaning cloth 2022, the ratio of R1 to R2 is preferably 2-4 times, if the arrangement of R1 and R2 is beyond this range, one case is that the diameter of the auxiliary cleaning disk 3021 is too small, the cleaning strength is insufficient, multiple edge cleaning is required, and the other case is that the diameter of the auxiliary cleaning disk 3021 is too large, the cleaning strength is sufficient, the rotation center of the auxiliary cleaning disk 3021 is difficult to vertically project in the first area 103, because the two main cleaning disks 2021 are axisymmetrically arranged on the bottom of the machine body 10, the rotation center of the auxiliary cleaning disk 3021 is required to be vertically projected on the bottom of the machine body 10 and does not exceed the edge of the machine body 10, so that the auxiliary cleaning disk 3021 is mounted on the bottom of the machine body 10, on one hand, the inner cavity of the machine body 10 is ensured not to be communicated with the outside because the auxiliary cleaning disk 3021 is arranged, and the stable operation of the first driving structure 302 and the second driving structure 201 is ensured, and the waterproof and dustproof functions are played.

If the rotation center of the auxiliary cleaning disc 3021 exceeds the edge of the machine body 10, the first driving structure 302 for driving the auxiliary cleaning disc 3021 cannot be arranged in the inner cavity of the machine body 10, the side wall of the machine body 10 needs to be provided with an avoidance opening, a part of the first driving structure 302 is located in the inner cavity of the machine body 10, and another part of the first driving structure extends out of the machine body 10 through the avoidance opening, so that the inner cavity of the machine body 10 is communicated with the outside, external water vapor, dust, garbage and the like can enter the inner cavity of the machine body 10, the electric elements in the machine body 10 are affected, the stability of the movement of the first driving structure 302 is also affected, the service life of a product is low, and the structure is complex.

In order to select the radius of the auxiliary cleaning pad 3021 to be relatively large, the rim area of the auxiliary cleaning pad 3022 is increased while no area is left between the cleaning areas of the auxiliary cleaning pad 3022 and the main cleaning pad 2022 in cooperation with the auxiliary cleaning pad 3022, and when the setting position of the main cleaning pad 2021 is not changed, optimally, the rotation center of the auxiliary cleaning pad 3021 is located in front of the rotation center of the main cleaning pad 2021 in the advancing direction of the main body 10 so that the auxiliary cleaning pad 3021 is distributed in the first area 103 on the right upper side of the right main cleaning pad 2021 adjacent thereto, and the adjacent edges of the auxiliary cleaning pad 3022 and the main cleaning pad 2022 are tangent or pressed or have a small amount of the second interference area 906.

That is to say: in both cases where the auxiliary cleaning tray 3021 is not provided and where the auxiliary cleaning tray 3021 is provided, the arrangement of the main cleaning tray 2021, the driving wheel 801, the dust box 401 chamber 108, and the roller brush 403 at the bottom of the main body 10 is the same, and when the arrangement of the main cleaning tray 2021, the driving wheel 801, the dust box 401 chamber 108, and the roller brush 403 at the bottom of the main body 10 is not changed, and the size of the main body 10 is not changed, the auxiliary cleaning tray 3021 is provided in the first area 103 on the upper right side (or upper right corner) of the main cleaning tray 2021 and behind the right driving wheel 801, and since the rotation center of the auxiliary cleaning tray 3021 is located in front of the rotation center of the main cleaning tray 2021, the first line of the rotation center of the auxiliary cleaning tray 3021 and the rotation center of the main cleaning tray 2021 intersects the second line of the rotation centers of the two main cleaning trays 2021, as shown in fig. 9, the second line of the rotation center of the two main cleaning discs 2021 is perpendicular to the center line of the main body 10 in the advancing direction, and the auxiliary cleaning disc 3021 is located behind the right driving wheel 801, when the main cleaning cloth 2022 and the adjacent edge of the auxiliary cleaning cloth 3022 are tangent to each other or squeeze or interfere with each other, the main cleaning disc 2021 must have the first portion 901, the auxiliary cleaning disc 3021 must have the second portion 902, and the first portion 901 of the main cleaning disc 2021 is located behind the tangent line or squeeze line or interfere with the adjacent edge of the main cleaning cloth 2022, and during the cleaning process, the trace line formed by the tangent line or squeeze line or interfere with each other on the ground can be cleaned and covered by the main cleaning cloth 2022 on the first portion 901 cleaned behind the tangent line or interfere with each other, so as to improve the cleaning effect on the ground.

Therefore, in the first region 103 of the upper right corner (or upper right corner) of the limited main cleaning tray 2021, the radius of the auxiliary cleaning tray 3021 is selected to be maximum, the single-pass edge cleaning area is large, the auxiliary cleaning tray 3021 has dual cleaning effect without leakage sweep while realizing the edge cleaning function, no trace line remains on the ground, the cleaning effect on the ground is improved, and the arrangement of the main cleaning tray 2021, the driving wheel 801, the edge brush, the rolling brush 403, the dust box 401 cavity 108 and the realized functions on the chassis 101 are not affected on the premise of not increasing the size of the chassis 101, so that the structural arrangement on the bottom of the machine body 10 is compact.

In another embodiment, the first line and the second line may overlap along the width direction of the main body 10, that is, the auxiliary cleaning pad 3021 is not disposed at the upper right side of the main body 10, that is, the auxiliary cleaning pad 3021 and the two main cleaning pads 2021 are not disposed at the upper right side, that is, the rotation centers of the auxiliary cleaning pad 3021 and the two main cleaning pads 2021 are disposed at the same line (that is, the first line and the second line overlap), in which embodiment, the maximum width of the right main cleaning pad 2021 is smaller than the area of the first area 103 at the upper right side of the main body 10 than the area of the right side edge of the main cleaning pad 2021, so that the diameter of the auxiliary cleaning pad 3021 is small, but the cleaning area is small, that is, the auxiliary cleaning pad 3022 and the main cleaning pad 2022 are tangent to each other or squeeze or interfere with each other, so that there is no leakage, and since the auxiliary cleaning pad 3021 does not have the second portion 902 and the main cleaning pad 2021 does not have the first portion, so that after the machine cleaning pad 2021 is disposed at the right side edge, the right side of the main cleaning pad 2021 has a relatively bad cleaning effect.

As shown in fig. 9, the right and left corners of the rear portion of the main body 10 of the square machine are rounded, the distance between the right edge of the maximum width of the main cleaning tray 2021 and the right edge of the main body 10 is smaller, and if the auxiliary cleaning tray 3021 in which the aforementioned first and second lines coincide (i.e., the rotation centers of the auxiliary cleaning tray 3021 and the two main cleaning trays 2021 fall on the same line) is provided, the diameter of the auxiliary cleaning tray 3021 is selected smaller, and the cleaning efficiency and cleaning effect are relatively weaker.

In this embodiment, when the auxiliary cleaning member cleans the surface to be cleaned, the pressure applied to the auxiliary cleaning plate is preferably 900 to 1500Pa, for example 900Pa, 950Pa, 1000Pa, 1100Pa, 1150Pa, 1200Pa, 1300Pa, 1400Pa, 1450Pa, 1500Pa.

When the rotating speeds of the auxiliary cleaning disc and the main cleaning disc are the same, as the radius of the auxiliary cleaning disc is smaller than that of the main cleaning disc, the linear speed of each nap on the small rag on the auxiliary cleaning disc is smaller than that of the nap of the large rag on the main cleaning disc, and the friction force of the small rag on the cleaning of the spot is increased by increasing the pressing down pressure of the auxiliary cleaning disc and the small rag under the same linear speed, so that the spot is easier to remove, the cleaning effect of the small rag is increased, and the deformation of the nap of the small rag after being pressed is further increased, so that the nap can fully wrap the spot, the contact area of the nap and the spot is increased, and the cleaning liquid can infiltrate the spot more sufficiently, so that the cleaning effect of the small rag is further increased.

The main rag can not clean the dirt in the blind area, and the dirt in the blind area is easy to change from easy-to-clean dirt into stubborn dirt due to low cleaning frequency, and the solid stubborn dirt or the solid stubborn dirt which is formed after being dried and solidified and is originally in a liquid state is mainly contacted and adhered with the surface of an object through intermolecular force, and the adhesive force is mainly from Van der Waals force. In general, the strength of adhesion increases with increasing time, and increases with increasing temperature of the air or object surface. Based on the above, the stains in the blind area of the obstacle are easy to clean and change into stubborn stains along with the time due to low frequency of daily cleaning. In the embodiment of the application, the blind area refers to a gap or an area which is formed between the main rag and the obstacle and is not cleaned by the main rag when the cleaning robot runs along the preset cleaning direction. In consideration of an anti-collision strategy, an anti-sticking strategy or an anti-falling strategy, the cleaning robot needs to keep a preset distance from the obstacle, so that a cleaning blind area formed when the cleaning robot performs a cleaning operation along the edge of the obstacle is cleaned less frequently, and stubborn stains formed in the cleaning area are more difficult to clean along with the passing of the cleaning blind area. In the embodiment of the application, the obstacle can be an object which cannot be spanned by entities such as a wall, furniture, electric appliances and the like, and can also be a suspended easy-falling area such as a suspended area, a step area, a steep slope area, a pit area and the like.

In the prior art, the cleaning friction force on the stubborn stains is improved by increasing the rotating speed of the cleaning disc, so that the stubborn stains can be removed, but the rotating speed of the auxiliary cleaning disc is limited, and can not be infinitely increased, and in addition, the increase of the rotation speed can bring about the effects of increased cost, shortened endurance and shortened service life of the rag disc, and the increase of the rotation speed of the auxiliary cleaning disc cannot obviously improve the linear speed of the auxiliary cleaning disc due to smaller radius of the auxiliary cleaning disc, or even if the rotation speed of the auxiliary cleaning disc is increased, the final linear speed of the auxiliary cleaning disc is insufficient for cleaning the solid intractable stains.

By increasing the pressing pressure of the auxiliary cleaning disc, firstly, the cleaning friction force of the small rag (namely the auxiliary rag) on the auxiliary cleaning disc on the same linear speed on the soil is increased, so that the soil is more easily cleaned, the cleaning effect of the small rag on stubborn soil is increased, secondly, the deformation amount of the small rag fluff after being pressed can be further increased, the small rag fluff can fully wrap the soil, the contact area of the fluff and the soil is increased, the cleaning liquid can fully infiltrate the soil, the cleaning effect of the small rag is further increased, the cleaning area of the small rag can be increased by the increased deformation amount, the small rag can be attached to dead zones such as corners and the like even if the small rag does not need to swing outwards or be expanded, the cleaning range of the small rag disc is further increased, and the cleaning effect is improved. As shown in FIG. 31, the pressing pressure is controlled within the range of 900-1500 Pa, so that the cleaning effect is improved, and the service life of the small rag tray can be controlled within the expected range. If the pressing pressure is lower than 900Pa, the service life of the small rag is long, but the area cleaning rate is reduced, and if the pressing pressure is higher than 1500Pa, the area cleaning rate of the small rag is high, but the service life is reduced, and the pressing pressure of the small rag, the area cleaning rate and the service life of the small rag are combined, so that the pressing pressure of the small rag is controlled to be 900-1500 Pa preferentially. In some alternative embodiments, when the pressing pressure of the small rag is controlled to be about 1000Pa, for example, about 900Pa, 1000Pa or 1100Pa, a better effect can be obtained regardless of the area cleaning rate or the service life of the small rag. The area cleaning rate is the percentage of the residual stain in the cleaning area to the total stain in the cleaning area per unit time.

The pressure of the small rag is increased, and meanwhile, the aim is to achieve anthropomorphic operation. When a person in a household cleans and treats stubborn stains, the person consciously presses the mop to increase the pressure of the mop on the stains, so that a better cleaning effect is realized. The small rag supercharging function is used for simulating the operation of pressing the rag when a person cleans the small rag, so that a good cleaning effect on stubborn stains is achieved. Another aspect is that from the software logic, to achieve more intelligent cleaning, a small rag boosting operation logic is provided to simulate how much pressure is applied to the rag by a human during a cleaning operation using the rag to maximize cleaning efficiency. The software logic is deployed on the sweeper, so that the traditional carpet-type repeated cleaning can be avoided to the greatest extent, and the cleaning with planning and intelligent comparison can be realized.

From industrial manufacturing and environmental protection's angle, promote big rag life with little rag to promote the life of complete machine mopping function on the whole, make the machine still keep good cleaning performance in the middle and late stage of long-term use, reduce the number of times of changing the rag, thereby reduce the carbon emission of sweeping machine life cycle, protect the environment. The carbon emissions are reduced because the sweeper wipes may be made of polyester fiber materials, and the raw materials for producing such fiber materials are typically derived from petrochemical products, which are typically processed to provide higher environmental pollution and carbon emissions.

Because the pushing pressure of the auxiliary cleaning disc is increased, the small rags on the auxiliary cleaning disc can clean along edges, when the cleaning is not along edges, the dirt degree on the ground can be detected, if the dirt degree is larger than a preset value, the controller can control the lifting of the main cleaning disc, and the small rags of the auxiliary cleaning disc clean garbage or dirt with higher dirt degree, so that the small rags can clean along edges and can clean dirt with larger dirt degree.

The rotation directions of the right auxiliary cleaning tray 3021 and the two main cleaning trays 2021 are different, and the corresponding edge cleaning effects are different, specifically:

In the first embodiment, as shown in fig. 19, in the mopping position, the left main cleaning tray 2021 rotates counterclockwise, the right main cleaning tray 2021 rotates clockwise, and the auxiliary cleaning tray 3021 rotates counterclockwise. That is, the rotation directions of the two main cleaning disks 2021 are opposite, and the rotation directions of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 on the right side are opposite. During the cleaning process, as the auxiliary cleaning cloth 3022 rotates anticlockwise, the auxiliary cleaning cloth 3022 continuously drags the garbage at the edge of the obstacle or the wall while driving the garbage towards the right main cleaning cloth 2021, so that the garbage moves to the first front area in front of the adjacent edges of the right main cleaning cloth 2021 and the auxiliary cleaning cloth 3021, and in view of the anti-cleaning function between the auxiliary cleaning cloth 3022 and the main cleaning cloth 2022, the garbage moving from the edge of the obstacle or the wall into the first front area is cleaned, thereby further improving the cleaning effect along the edge.

In the second embodiment, as shown in fig. 20, in the mopping position, the left main cleaning tray 2021 rotates counterclockwise, the right main cleaning tray 2021 rotates clockwise, and the auxiliary cleaning tray 3021 rotates clockwise. That is, the rotation directions of the two main cleaning disks 2021 are opposite, and the rotation directions of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 on the right side are the same. During cleaning, the auxiliary cleaning disk 3021 continuously drives the garbage in the first front area located in front of the adjacent edges of the right main cleaning disk 2021 and the auxiliary cleaning disk 3021 to the edge of the obstacle while the auxiliary cleaning disk 3021 is rotated in the clockwise direction, and the main cleaning disk 2022 continuously drives the garbage in front of the right main cleaning disk 2021 or the garbage in the second front area located in front of the adjacent edges of the two main cleaning disks 2022 to the first front area while the main cleaning disk 2022 is rotated in the clockwise direction, so that the edge of the obstacle is easy to collect the garbage and the edge cleaning effect of the auxiliary cleaning disk 3021 is relatively lowered as cleaning is performed for a while.

In the third embodiment, as shown in fig. 22, in the mopping position, the left main cleaning tray 2021 rotates clockwise, the right main cleaning tray 2021 rotates counterclockwise, and the auxiliary cleaning tray 3021 rotates counterclockwise, that is, the rotation directions of the auxiliary cleaning tray 3021 and the right main cleaning tray 2021 are the same.

During cleaning, similar to the first embodiment, the auxiliary cleaning pad 3022 continuously pulls the garbage at the edge of the obstacle or the wall while the auxiliary cleaning pad 3021 rotates counterclockwise, so that the garbage moves to the first front area in front of the adjacent edges of the main cleaning pad 2021 and the auxiliary cleaning pad 3021, the garbage in the first front area is cleaned in view of the anti-sweeping function between the auxiliary cleaning pad 3022 and the main cleaning pad 2022, the cleaning effect along the edge is improved, even if the garbage in the first front area cannot be cleaned by the adjacent edges of the main cleaning pad 2022 and the auxiliary cleaning pad 3022 or the first portion 901, the garbage in the first front area remains, but the main cleaning pad 2022 continuously pulls the remaining garbage in the first front area to the second front area between the two main cleaning pads 1 while the main cleaning pad 2022 drags counterclockwise, the two main cleaning pads 2022 have the anti-sweeping function, and the two cleaning pads 2022 are further lifted by the cleaning effect along the edge.

The cleaning effect of this embodiment is better than that of the first embodiment, since the main cleaning tray 2021 on the right rotates clockwise in the first embodiment, the main cleaning cloth 2022 drags the ground during the rotation of the main cleaning tray 2021, and at the same time, the main cleaning tray 2021 and the main cleaning cloth 2022 continuously drive the garbage having the front of the main cleaning tray 2021 or the garbage in the second front area between the two main cleaning trays 2021 into the first front area, increasing the cleaning difficulty or strength of the auxiliary cleaning tray 3021 and the main cleaning tray 2021 on the right.

In this embodiment, the main cleaning plate 2021 on the right rotates counterclockwise, the main cleaning plate 2021 and the main cleaning cloth 2022 rotate to drive the garbage in the first front area into the second front area, and the cleaning capability and the anti-cleaning function of the two main cleaning cloths 2022 are both stronger than those of the main cleaning cloth 2022 and the auxiliary cleaning cloth 3022 on the right because the diameters of the two main cleaning cloths 2022 are large, so that the edge cleaning effect is better under the cooperation of the main cleaning plate 2021 and the auxiliary cleaning plate 3021.

In the fourth embodiment, as shown in fig. 21, in the mopping position, the left main cleaning tray 2021 rotates clockwise, the right main cleaning tray 2021 rotates counterclockwise, and the auxiliary cleaning tray 3021 rotates clockwise. In a similar manner to the second embodiment, since the auxiliary cleaning tray 3021 rotates in the clockwise direction during cleaning, the auxiliary cleaning tray 3021 continuously drives the garbage located in the front area of the adjacent edges of the right main cleaning tray 2021 and the auxiliary cleaning tray 3021 to the edge of the obstacle while mopping the floor along the edge, and the edge cleaning effect of the auxiliary cleaning tray 3021 is relatively lowered as the edge of the obstacle easily gathers the garbage after a period of cleaning. However, in the second embodiment, the right cleaning plate rotates counterclockwise, so that the garbage in the front region can be driven to the front region between the two main wipes 2022, and cleaned by the two main wipes 2022,

The aforementioned second driving structure 201 is used to drive the main cleaning tray 2021 to spin on the main body 10 for mopping. The first lifting structure is used for driving the main cleaning disk 2021 to perform lifting motion, so as to switch between a lifting position and a mopping position. Each of the main cleaning trays 2021 corresponds to a set of the first driving structure 302 and the first elevating structure.

The first driving structure 302 drives the auxiliary cleaning tray 3021 to spin and drag the floor, and the second lifting mechanism is used for driving the auxiliary cleaning tray 3021 to lift and lower so as to switch between the lifting position and the drag position.

During cleaning, the main cleaning tray 2021 and the auxiliary cleaning tray 3021 may be synchronously in the lifted position and synchronously in the mopping position, so that under the cooperation of the main cleaning tray 2021 and the auxiliary cleaning tray 3021, the main cleaning cloth 2022 and the auxiliary cleaning cloth 3022 synchronously drag the ground, the main cleaning cloth 2022 performs non-edge cleaning, the auxiliary cleaning cloth 3022 performs edge cleaning, and a cleaning area between the main cleaning cloth 2022 and the auxiliary cleaning cloth does not have leakage cleaning, so that cleaning effect is improved. When encountering a carpet, a return to base station, etc., both the primary cleaning pad 2021 and the secondary cleaning pad 3021 are in a raised position. The robot return to the base station mainly charges, washes the main cloth 2022 and the auxiliary cloth 3022, collects dust from the dust in the dust box 401, and the like.

Further, in the non-edgewise cleaning mode, the auxiliary cleaning pad 3021 is in the raised position and the main cleaning pad 2021 is in the mopping position, with cleaning of the main cleaning pad 2021 being dominant. Of course, in the non-edge cleaning mode, the auxiliary cleaning tray 3021 and the main cleaning tray 2021 may be both in the mopping position, and the auxiliary cleaning cloth 3022 and the main cleaning cloth 2022 both mop, and in cooperation with the two, the area of single cleaning is large along the width direction of the machine body 10, so that the cleaning time is shortened, and the cleaning efficiency is improved. In the non-edgewise mode, when auxiliary cleaning pad 3021 is in the mopping position, it is easy to be caught by other objects or obstacles in the area to be cleaned, so that auxiliary cleaning pad 3021 is easily detached from main body 10, so that, in general, auxiliary cleaning pad 3021 is in the raised position in the non-edgewise cleaning, and auxiliary cleaning pad 3021 is in the mopping position in the edgewise cleaning.

In the edge cleaning mode, the auxiliary cleaning plate 3021 is in the mopping position, and the main cleaning plate 2021 may be in the raised position, so that cleaning is not performed by mopping, i.e., during edge cleaning, the main cleaning plate 2021 does not cooperate with the auxiliary cleaning plate 3021, and cleaning is performed only by means of the main cleaning cloth 2022, and the cleaning effect is poor compared to the cleaning effect when both the main cleaning cloth 2022 and the auxiliary cleaning cloth 3022 are in the mopping position.

The second driving structure 201 and the first lifting structure are the same structure, and are used for driving the lifting and autorotation of the main cleaning tray 2021, so that the main cleaning tray 2021 is switched between the lifting position and the mopping position, and autorotates at the mopping position, so that the driving structure is compact in structure and occupies a small space. Similarly, the first driving structure 302 and the second lifting mechanism are the same structure, so as to drive the auxiliary cleaning disc 3021 to lift and rotate, so that the auxiliary cleaning disc 3021 is switched between the lifting position and the mopping position, and rotates at the mopping position, so that the driving structure is compact in structure and occupies a small space. I.e., the main cleaning tray 2021 or the auxiliary cleaning tray 3021 is driven to lift and rotate by one motor.

The first driving structure 302 and the second driving structure 201 may have the same structure, or may have different driving structures.

For example, the first and second drive structures 302, 201 may each be screw mechanisms, with the main cleaning pan 2021 being turned in the same direction as when mopped, and the main cleaning pan 2021 being turned in the opposite direction as when lifted.

In the inner cavity of the main body 10, when the auxiliary cleaning module 30 is not provided, the dust box 401 cavity 108 (or the dust box 401) of the dry cleaning module 40, the main blower 402, the dust discharging channel 404, the second driving structure 201 and the water supplementing mechanism are arranged in the main body 10. The main fan 402 is used for sucking garbage into the dust box 401, the dust box 401 cavity 108 for installing the dust box 401 is arranged in the machine body 10, and the dust discharging channel 404 communicated with the dust box 401 is also arranged in the machine body 10 and is used for sucking the garbage in the dust box 401 into the base station under the action of the dust collector of the base station.

The dust box 401 is provided with a dust inlet, an air outlet, an air inlet and a dust exhaust port, wherein the dust inlet is communicated with a dust collection port of the machine body 10, the air outlet is formed in the rear side wall of the cavity 108 of the dust box 401, the main fan 402 is arranged on the air outlet and is positioned behind the cavity 108 of the dust box 401, the air inlet is formed in the right side wall of the dust box 401, the dust exhaust port is formed in the left side wall of the dust box 401 or in a corner between the left side wall and the rear side wall, the dust exhaust channel 404 is communicated with the dust exhaust port, the air inlet is communicated with the inner cavity of the machine body 10, the inner cavity of the machine body 10 is used as an air inlet area, under the suction effect of the dust collection fan, air in the air inlet area opens a valve on the air inlet to enter the dust box 401, and garbage in the dust box 401 is sucked into a dust collection bin of a base station through the dust exhaust channel 404.

Along the advancing direction of the machine body 10, the main fan 402 is positioned in front of the two first driving structures 302 and behind the dust box 401 cavity 108, the dust box 401 cavity 108 is positioned between the two driving wheels 801, the machine body 10 is internally provided with third driving mechanisms which respectively drive the driving wheels 801 to walk, the two third driving mechanisms are distributed on two sides of the dust box 401 cavity 108 and correspond to the driving wheels 801 respectively driven, and the dust discharging channel 404 is generally arranged at the left side of the dust box 401 cavity 108 or at the junction of the left side and the rear side.

In the inner cavity of the machine body 10, the dust discharging channel 404, the dust box 401 cavity 108 and the two second driving structures 201 enclose a second area 104, and the main fan 402 is distributed in the second area 104 in the inner cavity of the machine body 10.

As shown in fig. 10, the dry cleaning module 40 further includes an exhaust duct 405 connected to the air outlet of the main fan 402, where one end of the exhaust duct is located in the second area 104, and the other end extends out of the second area 104, extends toward the right side wall of the main fan 10, is communicated with the air outlet of the right side wall of the main fan 10, and is further communicated with the outside of the main fan 10.

The moisturizing mechanism is used to moisturize the primary cleaning members so that the primary wipe 2022 forms a wet clean. As shown in fig. 28, the water replenishing mechanism comprises a water tank 501 and a pump body 502, wherein the water tank 501 and the pump body 502 are communicated by a pipeline, and the pump body 502 is used for conveying the solution in the water tank 501 to the main cleaning cloth 2022 so as to wet the main cleaning cloth 2022.

In the inner cavity of the machine body 10, a third area 105 is formed between the two second driving structures 201 and the rear side wall of the machine body 10, a fourth area 106 is formed between the left driving wheel 801, the dust discharging channel 404 and the left side wall of the machine body 10, and a fifth area 107 is formed between the right second driving structure 201, the right side wall of the machine body 10 and the air discharging pipeline of the main fan 402.

When the auxiliary cleaning module 30 is not provided, the water tank 501 and the pump body 502 are arranged in the inner cavity of the machine body 10, wherein the water tank 501 is a special-shaped water tank 501, the special-shaped water tank 501 is provided with a first tank 503 and a second tank 504 which is fixed and communicated with the first tank 503, and the two tanks are integrally formed, or the two tanks are not integrally formed. The first tank 503 of the water tank 501 is arranged in the third area 105, the second tank 504 is arranged in the fifth area 107, and the pump body 502 is arranged in the fourth area 106, so that the peristaltic pump is arranged in the fourth area 106 due to the fact that the pump body 502 is a peristaltic pump or other pump bodies 502 with relatively large volumes occupy large space, the water tank 501 is arranged in the third area 105 and the fifth area 107, the capacity of the water tank 501 is ensured, more solution can be contained, and two main cleaning cloth 2022 can be replenished with water. The front side wall of the water tank 501 surrounds the rear of the housings of the two second driving structures 201 and the right side wall of the housing of the right second driving structure 201 to fill the third and fifth areas 105 and 107.

When the aforementioned auxiliary cleaning module 30 is provided, since the auxiliary cleaning tray 3021 is provided behind the right driving wheel 801 and in the first region 103 of the right upper side of the right main cleaning tray 2021. In order to provide the first driving structure 302 in the inner cavity of the main body 10, as shown in fig. 10, the main blower 402, the dust box 401 cavity 108, the dust exhaust channel 404, the two second driving structures 201, the driving structure of the driving wheel 801, and the air exhaust channel of the main blower 402 are unchanged in arrangement in the inner cavity of the main body 10. But the arrangement of the water replenishment mechanism within the main body 10 changes.

As shown in fig. 10, the water replenishing mechanism is set up avoiding the fifth area 107, and reserves a mounting space for the first driving structure 302, and the first driving structure 302 is set up in the fifth area 107, because the fifth area 107 is located at the rear of the right driving wheel 801 and at the right side of the right second driving structure 201, the first driving structure 302 is located directly above or near directly above the auxiliary cleaning disc 3021, and only needs less transmission mechanism between the power output shaft 2031 of the first motor 203 of the first driving structure 302 and the auxiliary cleaning disc 3021, so that the driving force of the first motor 203 can be transmitted to the auxiliary cleaning disc 3021 to drive the auxiliary cleaning disc 3021 to rotate and lift, so that the structure of the first driving structure 302 is compact, the size of the machine body 10, especially the width size of the machine body 10, is not changed, the arrangement of the dust box 401 cavity 108, the main fan 402, the two second driving structures 201, and the dust discharging channel 404 in the inner cavity of the machine body 10 is not changed, and the first driving structure 302 can be set up in the fifth area 107, so as to realize the rotation and lifting of the auxiliary cleaning disc 3021. The first drive structure 302 is integrally formed in a modular fashion to facilitate assembly and manufacture of the first drive structure 302, and the first drive structure 302 may be pre-assembled and later installed within the interior cavity of the fuselage 10 to facilitate installation within the interior cavity of the fuselage 10.

In order to minimize the volume of the water tank 501, the water tank 501 is provided with various embodiments, specifically:

In the first embodiment, as shown in fig. 10, the pump body 502 is still disposed in the fourth area 106, the first tank 503 is still disposed in the third area 105, the second tank 504 is connected and communicated with the first tank 503, the second tank 504 is distributed above the top of the dust exhaust channel 404 and extends toward the fourth area 106, a portion of the second tank 504 may be disposed in the fourth area 106, and the shape of the second tank 504 is changed, the thickness is reduced, but the volume is unchanged, so as to ensure that the water tank 501 supplements water to the two main wipes 2022 and supplements water to the auxiliary wipes 3022.

In the second embodiment, in order to reduce the volume of the water tank 501, the pump body 502 is still disposed in the fourth area 106, the first tank 503 is disposed in the third area 105, the second tank 504 is disposed on top of the housing of one second driving structure 201, for example, above the housing of the second driving structure 201 on the left side, and the second tank 504 is close to the side of the second area 104, so that the connection between the water tank 501 and the pump body 502 is facilitated, and the shape of the second tank 504 is changed, but the volume is not reduced. Further, a portion of the second housing 504 may also cover the dust exhaust passage 404 to increase the volume of the water tank 501 for easier connection with the pump body 502.

Since the water replenishment mechanism not only replenishes the two main wipes 2022, but also needs to replenish the auxiliary wipes 3022, the second tank 504 is optimally distributed over the housings of the two second driving structures 201 to increase the volume of the water tank 501.

Further, when the second driving structure 201 and the first driving structure 302 on the right side share one motor for driving, the shared motor may be disposed in the fifth area 107, and the second driving structure 201 may be provided with no motor, so that a space may be reserved for the second water tank 501 to be installed, thereby increasing the volume of the water tank 501. Of course, the second case 504 may not be provided above the first driving structure 302 on the left side, and the second case 504 may be provided only above the second driving structure on the right side.

In a third embodiment, the pump body 502 is disposed in the third region 105 and the water tank 501 is disposed in the fourth region 106 to ensure that the volume of the water tank 501 is not reduced to meet the water supply requirement.

Or the second tank 504 of the water tank 501 is provided in the fourth region 106, the first tank 503 of the water tank 501 is provided in the third region 105, and the volume of the first tank 503 is reduced to reserve space for the pump body 502 so that the pump body 502 is provided in the third region 105. For example, the pump body 502 is provided in a sub-area enclosed between adjacent edges of the rear portions of the housings of the two second driving structures 201 and the rear side wall of the body 10. Since this sub-region encloses a recessed area in the forward direction of the fuselage 10 behind the adjacent edges of the shells of the two second drive structures 201, the space of this sub-region formed between the recessed area and the rear side wall of the fuselage 10 is large to be able to accommodate a peristaltic pump of greater volume. The first casing 503 is located on the left side of the pump body 502, and covers the dust discharge passage 404 to be connected to and communicate with the second casing 504 in the fourth region 106.

If a peristaltic pump is not used, the pump may be replaced by another small pump, and the pump may be disposed in another sub-region of the third region 105. For example, the pump body 502 is distributed in a sub-area between the rear side wall of the housing of the second driving structure 201 and the rear side wall of the main body 10 on the right and left sides of the dust discharge passage 404, or the pump body 502 is distributed in a sub-area between the rear side wall of the housing of the second driving structure 201 and the rear side wall of the main body 10 on the right side, and correspondingly, the first case 503 is covered above the dust discharge passage 404 and connected with the second case 504.

Fourth embodiment as an alternative embodiment of the water tank 501 of the foregoing three embodiments, the water tank 501 may be provided without the first tank 503 and with only the second tank 504.

Particularly, when the water tank 501 is disposed in the fourth area 106, the first tank 503 is disposed in the third area 105, and the pump body 502 is disposed in the third area 105, the portion of the first tank 503 needs to cover the top of the dust exhaust channel 404, which is connected with the first tank 503, so that the connection of the two tanks is inconvenient, and when the fourth area 106 is not disposed, the second tank 504 fills the fourth area 106 because the space of the fourth area 106 is large enough, and the volume of the second tank 504 is large enough, so that the first tank 503 is not disposed, only the second tank 504 is disposed, and the pump body 502 is disposed in the third area 105 and is closer to the main rag 2022 and the auxiliary rag 3022, so that the pump body 502 can convey the solution to the liquid outlet on the bottom of the machine body 10.

Because the main cleaning tray 2021 and the auxiliary cleaning tray 3021 are provided with a plurality of hollowed-out areas or hollowed-out holes along the circumferential direction thereof, the liquid outlet on the bottom of the machine body 10 corresponds to the hollowed-out areas, the main cleaning cloth 2022 is provided on the bottom of the main cleaning tray 2021, and the main cleaning cloth 2022 covers the bottom of the hollowed-out holes. During rotation of the primary and secondary cleaning plates 2021, 3021, liquid from the liquid outlet drops downward through the hollowed-out area and onto the primary and secondary rags 2022, 3022 to replenish the rags with water. Three liquid outlets are arranged on the bottom of the machine body 10, namely a first liquid outlet, a second liquid outlet and a third liquid outlet, wherein the first liquid outlet on the left side corresponds to the main cleaning disc 2021 on the left side, the second liquid outlet in the middle corresponds to the main cleaning disc 2021 on the right side, and the third liquid outlet on the right side corresponds to the hollow area of the auxiliary cleaning disc 3021.

That is, the arrangement of the cavity 108 of the dust box 401, the dust discharging channel 404, the main fan 402 and the two second driving structures 201 is not changed in the inner cavity of the machine body 10, the position of the first driving structure 302 is reserved by changing the position of the water supplementing mechanism and the shape of the water tank 501 on the basis that the volume of the water tank 501 is not reduced, the first driving structure 302 is arranged in the fifth area 107, and the water supplementing mechanism 50 can supplement water to the main cleaning cloth 2022 and the auxiliary cleaning cloth 3022.

In the fifth embodiment, the water replenishing mechanism shares one pump body 502, but the distribution of the first tank 503 and the second tank 504 in the inner cavity of the machine body 10 is the same as that in the foregoing four embodiments, but the two tanks are independent, the first tank 503 supplements water for the auxiliary cleaning cloth 3022, and the second tank 504 supplements water for the main cleaning cloth 2022.

For example, the second tank 504 is disposed in the fourth area 106, the first tank 503 is disposed in the third area 105, the second tank 504 has a large volume for replenishing two main cleaning cloths 2022, the first tank 503 has a small volume for replenishing the auxiliary cleaning cloths 3022, the pump body 502 is disposed in the third area 105, the first tank 503 is distributed near the first driving structure 302, the pump body 502 is disposed between the first tank 503 and the dust exhaust channel 404, and the pump body 502 is connected and communicated with the first tank 503 and the second tank 504 through pipelines, respectively.

Or the two pump bodies 502 are respectively a first pump body 502 and a second pump body 502, the second box body 504 is arranged in the fourth area 106, the first box body 503 is arranged in the third area 105, the first pump body 502 is arranged in the third area 105 and is used for being connected with the first box body 503, and the solution in the first box body 503 is conveyed to the third liquid outlet so as to supplement water for the auxiliary cleaning cloth 3022. The second pump body 502 may be disposed in the third area 105 or the fourth area 106, and connected to the second tank 504, for delivering the solution in the second tank 504 to the first liquid outlet and the second liquid outlet, so as to supplement water for the two main cleaning cloth 2022.

In another embodiment, the first drive structure 302 is provided with space by changing the exhaust duct of the main blower 402 for installation by the first drive structure 302.

Specifically, the main blower 402 is located behind the dust box 401 and between the two second driving structures 201, and the exhaust duct is not located behind the right driving wheel 801, and extends to the rear side wall of the machine body 10 in the area between the housings of the two second driving structures 201, communicating with the outside. The first driving structure 302 is disposed behind the right driving wheel 801 in the fifth region 107 between the right side wall of the housing of the right second driving structure 201 and the right side wall of the main body 10. The second water tank 501 of the water replenishing mechanism 50 is provided in the fourth area 106, the second water tank 501 and the first water tank 501 are independent, the second water tank 501 replenishing the two main wipes 2022, and the first water tank 501 replenishing the auxiliary wipes 3022. Because the position of the exhaust pipe is changed, the space of the fifth area 107 is increased, at least part of the first water tank 501 is arranged in the fifth area 107, but is positioned behind the first driving structure 302, the pump body 502 is arranged in the third area 105, and can be one for supplementing the solution of two tanks to the main cleaning cloth 2022 and the auxiliary cleaning cloth 3022 respectively, if the pump body 502 is two, the first pump body 502 and the second pump body 502 are respectively arranged, the first pump body 502 is used for supplementing the solution of the first tank 503 to the auxiliary cleaning cloth 3022, and the second pump body 502 is used for supplementing the solution of the second tank 504 to the auxiliary cleaning cloth 3022. Optimally, the first pump body 502 and the second pump body 502 are located on both sides of the exhaust duct.

The first driving structure 302 and the second driving structure 201 may or may not be identical, and preferably, the first driving structure 302 and the second driving structure 201 are identical, and for convenience of description, the first driving structure 302 will be hereinafter described as an example.

The first driving structure 302 includes a first motor 203 and a lifting assembly 60, where the lifting assembly 60 is connected to the auxiliary cleaning disk 3021, and the lifting assembly 60 drives the auxiliary cleaning to lift and rotate at the mopping position to mop the floor.

As shown in fig. 11, the first driving structure 302 includes a first motor 203 and a lifting assembly 60, the lifting assembly 60 is connected with the auxiliary cleaning assembly 302, and the lifting assembly 60 drives the cleaning assembly to lift so as to rotate at the towed position.

The elevating assembly 60 includes a first fixed body connected to the power output shaft 2031 of the first motor 203, and a second fixed body connected to the auxiliary cleaning assembly 302, with a screw mechanism formed between the first and second fixed bodies.

In the first embodiment of the lifting assembly 60, the power output shaft 2031 rotates in a first direction, the second fixed body is made to move downwards relative to the first fixed body through the spiral mechanism, the auxiliary cleaning disc 3021 rotates in the descending process, in the mopping position, the power output shaft 2031 continues to rotate in the first direction, the second fixed body does not continue to move downwards relative to the first fixed body, the second fixed body rotates to drive the cleaning assembly to rotate, the surface to be cleaned is cleaned, and the power output shaft 2031 rotates in a second direction, and the second fixed body is made to move upwards relative to the first fixed body through the spiral mechanism, so that the auxiliary cleaning assembly 302 is driven to ascend.

That is, in the first embodiment, the auxiliary cleaning pad 3021 is driven by the first motor 203 in the descending, ascending, and descending directions.

For example, as shown in fig. 11, 12, 13 and 27, the first fixing body includes a first sleeve 6011, a first installation cavity recessed upward is provided at the bottom of the first sleeve 6011, the top of which is in driving connection with the power output shaft 2031 of the first motor 203, the second fixing body includes a second sleeve 6012 and a housing 6017, a first annular cavity 60122 recessed downward is provided at the top of the second sleeve 6012, a second installation cavity 60122 recessed upward is provided at the bottom of the second sleeve 6012, an installation protrusion 3023 at the top of the auxiliary cleaning tray 3021 is detachably installed in the second installation cavity 60122, and the first sleeve 6011 is embedded in the first annular cavity 60122 through the first installation cavity. The casing 6017 is sleeved outside the second sleeve 6012 and fixed relative to the machine body 10, a damping member is arranged between the inner wall of the casing 6017 and the outer wall of the second sleeve 6012 so that the second sleeve 6012 can rotate relative to the first sleeve 6011 to lift, at least one rib 6014 is arranged on the outer wall of the first sleeve 6011, at least one thread groove 6013 matched with the rib 6014 is arranged on the inner wall of the second sleeve 6012, the rib 6014 and the thread groove 6013 form a screw mechanism, a first limit part 6015 is arranged at the top of the thread groove 6013, and the rib 6014 is abutted against the side wall of the first limit part 6015 along the screw direction of the thread groove 6013 at the mopping position so as to limit the second sleeve 6012 to continuously descend relative to the first sleeve 6011. The first motor 203 may be provided on the housing 6017 to be fixed with respect to the body 10, or the first motor 203 may be provided on the housing 6017 to be fixed with respect to the body 10.

In the lifting assembly 60 of this embodiment, when the power output shaft 2031 of the first motor 203 rotates in the first direction, the first sleeve 6011 is driven to rotate, the rib 6014 on the outer wall of the first sleeve 6011 rotates in the thread groove 6013 on the inner wall of the second sleeve 6012, because the damping member is provided between the housing 6017 and the second sleeve 6012, the rotation speeds of the second sleeve 6012 and the first sleeve 6011 are made different under the action of the damping member, the second sleeve 6012 can move downward relative to the first sleeve 6011, and further drive the auxiliary cleaning disc 3021 to move downward, when the rib 6014 abuts against the first limit portion 6015 on the top of the thread groove 6013, the first limit portion 6014 limits the rib 6014 to continue rotating relative to the second sleeve 6012, the second sleeve 6012 does not continue to move downward, at this time, the power output shaft 2031 of the first motor 203 continues to rotate in the first direction, the second sleeve 6012 and the first sleeve 6011 do not move relative to the first sleeve 6011, and the second sleeve 3022 continues to rotate automatically, and the second cleaning disc 3022 continues to rotate.

In contrast, the first motor 203 rotates along the second direction to drive the first sleeve 6011 to rotate reversely, the ribs 6014 on the outer wall of the first sleeve 6011 rotate in the thread grooves 6013 of the second sleeve 6012, and the second sleeve 6012 moves up relative to the first sleeve 6011 due to the damping member to drive the auxiliary cleaning disc 3021 to move up. In addition, a second limiting portion 6016 is provided at the bottom of the screw groove 6013, and along the screw direction of the screw groove 6013, the rib 6014 abuts against the side wall of the second limiting portion 6016, so that the rising position of the second sleeve 6012 is limited, and the auxiliary cleaning disk 3021 is driven to rise, fall and rotate by one first motor 203.

In this embodiment, a second sleeve 6012 is adopted, the first annular cavity 60122 at the top of the second sleeve 6012 is cooperatively connected with the first sleeve 6011 and forms a screw mechanism to realize lifting motion and autorotation motion, the second mounting cavity 60122 at the bottom of the second sleeve 6012 is connected with the auxiliary cleaning disc 3021, and the first annular cavity 60122 is located at the periphery of the second mounting cavity 60122, so that the height of the lifting assembly 60 is not increased, and meanwhile, the mounting protrusion 3023 at the top of the auxiliary cleaning disc 3021 is arranged in the second mounting cavity 60122, so that the whole lifting assembly 60 is simple and compact in structure, integrally forms a modularized structure, and reduces the space occupied in the inner cavity of the machine body 10.

The auxiliary cleaning disc 3021 is located below the chassis 101 of the machine body 10, the chassis 101 is provided with a first avoiding hole, the first sleeve 6011 and the first motor 203 are both located in an inner cavity of the machine body 10, the bottom of the second sleeve 6012 penetrates through the first avoiding hole, so that the second mounting cavity 60122 is communicated with the outside, and the mounting protrusion 3023 of the auxiliary cleaning disc 3021 is conveniently mounted in the second mounting cavity 60122 outside the machine body 10. The mounting protrusion 3023 may be mounted in the second mounting cavity 60122 by magnetic attraction, or may be fastened by a buckle, a spring post, a groove, or any other detachable fixing means.

For the damping member according to at least three embodiments, the first embodiment of the damping member includes at least one relief hole 60171 formed in the housing 6017, for example, at least two relief holes 60171 are uniformly formed along the circumferential direction of the housing 6017, and at least one first protrusion is disposed in each relief hole 60171, where the first protrusion protrudes toward the second sleeve 6012 and abuts against the outer wall of the second sleeve 6012 with interference, for example, the first protrusion is in a wave shape.

The damping member is a first protrusion, and the first protrusion and the second cylinder 6023 form interference contact, so that the second sleeve 6012 is lifted up and down, and the damping member blocks friction force generated on the second sleeve 6012, so that the rotation speeds of the second sleeve 6012 and the first sleeve 6011 are different, and the second sleeve 6012 can be lifted up and down relative to the first sleeve 6011.

In the second embodiment of the damping member, as shown in fig. 11, at least one relief hole 60171 is formed in the housing 6017, a rotatable first rotating body is disposed in the relief hole 60171, the first rotating body forms interference abutment with the outer wall of the second sleeve 6012, the first rotating body does not rotate during lifting and lowering of the auxiliary cleaning disc 3021, and rolling friction is formed between the first rotating body and the second sleeve 6012 when the cleaning disc is in the mopping position, and the first rotating body is used as the damping member.

In this embodiment, the damping member is a first rotating body, the first rotating body does not rotate during the lifting process of the second sleeve 6012, sliding friction is formed between the second sleeve 6012 and the first rotating body, when the second sleeve 6012 drives the auxiliary cleaning disc 3021 to spin and drag the floor, the second sleeve 6012 rotates to drive the first rotating body to rotate, so that rolling friction is formed between the second sleeve 6012 and the first rotating body, and compared with the embodiment 1, when the second sleeve 6012 drives the auxiliary cleaning disc 3021 to spin, friction force between the first protrusion 60181 and the second sleeve 6012 is reduced, abrasion to the damping member and the second sleeve 6012 is reduced, and the service life of the lifting assembly 60 is prolonged.

In a third embodiment of the damping member, the damping member is a wool top, one end of the wool top is fixed on the inner wall of the housing 6017, and the other end of the wool top is in interference abutting connection with the outer wall of the second sleeve 6012, so as to form flexible abutting connection. The wool tops are implanted or adhered on the inner peripheral wall surface of the shell 6017 to serve as damping pieces, when the second sleeve 6012 drives the auxiliary cleaning disc 3021 to lift and rotate, flexible friction force is formed between the second sleeve 6012 and the damping pieces, and compared with the hard friction force between the damping pieces and the second sleeve 6012 in the two previous embodiments, abrasion between the second sleeve 6012 and the wool tops is reduced, the wool tops and the second sleeve 6012 are protected, the damping pieces play a damping role, the service life of the second sleeve 6012 is prolonged, and the fact that the lifting assembly 60 can drive the auxiliary cleaning disc 3021 to lift and rotate under the driving of the first motor 203 is guaranteed. In addition, since the first driving structure 302 is disposed in the inner cavity of the body 10, the upper shell 102 of the body 10 needs to be opened for replacement or maintenance of the lifting assembly 60, which results in inconvenient replacement and maintenance of the lifting assembly 60, and the wool tops are adopted as damping elements, so that the service life of the lifting assembly 60 can be prolonged and the maintenance frequency can be reduced.

In the second embodiment of the lifting assembly 60, the auxiliary cleaning disc 3021 is lowered by the second fixing body and the gravity of the auxiliary cleaning disc 3021 and the auxiliary cleaning cloth 3022, the auxiliary cleaning disc 3021 rotates by the first motor 203 in the first direction, the auxiliary cleaning disc 3021 is lifted by the first motor 203 in the second direction to rotate the first fixing body, and the second fixing body drives the auxiliary cleaning disc 3021 to lift.

Specifically, as shown in fig. 18, the first fixed body comprises a first cylinder 6021, a first one-way bearing 6024 and a second one-way bearing 6024, wherein the first one-way bearing 6024 is arranged outside a power output shaft 2031 of the first motor 203, and has a transmission state for transmitting the force of the power output shaft 2031 to the first cylinder 6021 and a disconnection state for disconnecting the transmission of the force of the power output shaft 2031 to the first cylinder 6021;

The second fixing body comprises a floating shaft 6022 and a second cylinder 6023, the second cylinder 6023 is rotatably sleeved on the outer wall of the floating shaft 6022, the top of the floating shaft 6022 is connected with a power output shaft 2031, and the bottom of the floating shaft 6022 is connected with a mounting protrusion 3023 at the top of the auxiliary cleaning disc 3021. A screw mechanism is formed between the second cylinder 6023 and the first cylinder 6021.

The top of the second cylinder 6023 is provided with a second annular cavity 60231 which is recessed downwards, the lower part of the first cylinder 6021 is embedded into the second annular cavity 60231, the upper part of the first cylinder 6021 is positioned outside the second annular cavity 60231 and sleeved outside the one-way bearing, at least one first spiral surface 6025 is arranged on the outer wall surface of the lower part of the first cylinder 6021, at least one first roller 6026 is arranged on the inner wall of the second annular cavity 60231 of the second cylinder 6023, the first rollers 6026 are in one-to-one correspondence with the first spiral surfaces 6025, the first rollers 6026 are abutted to the first spiral surfaces 6025, and the first spiral surfaces 6025 and the first rollers 6026 form the spiral mechanism. The bottom of the first spiral surface 6025 is provided with a third limiting part, and the top of the first spiral surface 6025 is provided with a fourth limiting part.

When the power output shaft 2031 of the first motor 203 rotates along the first direction, the first cylinder 6021 is in a disconnected state under the action of the unidirectional bearing, the power output shaft 2031 drives the floating shaft 6022 to rotate, and the floating shaft 6022 is rotatably connected with the second cylinder 6023, for example through the bearing, so that the floating shaft 6022 rotates, the second cylinder 6023 does not rotate to drive the auxiliary cleaning disk 3021 to rotate, and simultaneously, under the gravity of the second cylinder 6023, the floating shaft 6022, the auxiliary cleaning disk 3021 and the auxiliary cleaning disk 3022, the first roller 6026 on the second cylinder 6023 moves downwards along the first spiral surface 6025 to drive the second cylinder 6023, the floating shaft 6022 and the auxiliary cleaning disk 3021 to move downwards integrally, and when the first roller 6026 abuts against the third limiting part, the third limiting part blocks the first roller 6026 to move downwards so as to reach the mopping position, and at the mopping position, the power output shaft 2031 of the first motor 203 continues to rotate along the first direction to drive the second cylinder 6022 and the auxiliary cleaning disks 3021 and 3022 to rotate to realize mopping.

When the power output shaft 2031 of the first motor 203 rotates in the second direction, the force of the power output shaft 2031 is transmitted to the first cylinder 6021 under the action of the unidirectional bearing, the first cylinder 6021 is in a transmission state, the power output shaft 2031 drives the first cylinder 6021 to rotate, meanwhile, the floating shaft 6022 is driven to rotate, when the first cylinder 6021 rotates, the first roller 6026 of the second cylinder 6023 rotates on the first spiral surface 6025, the second cylinder 6023 drives the floating shaft 6022 and the auxiliary cleaning disc 3021 to do ascending motion, when the first roller 6026 abuts on the fourth limiting portion, the first roller 6026 does not continue to ascend, and the auxiliary cleaning disc 3021 is at the bottom lifting position, so that the lifting and autorotation of the auxiliary cleaning disc 3021 are achieved by adopting a spiral mechanism of the first motor 203 and the lifting assembly 60.

Alternatively, the positions of the first thread surface and the first roller 6026 may be reversed, or the first roller 6026 may be replaced with a second thread surface.

Further, the lifting assembly 60 further includes a first reset member 6027 disposed between the floating shaft 6022 and the power output shaft 2031, for applying a downward reset force to the floating shaft 6022 and the cleaning assembly, so that the auxiliary cleaning cloth 3022 of the auxiliary cleaning disc 3021 can always keep abutting with the ground, and friction force is increased, so that the auxiliary cleaning cloth 3022 can clean the ground conveniently.

The first restoring member 6027 may be a compression spring disposed between the third mounting cavity 20311 of the power take-off shaft 2031 and the top of the floating shaft 6022.

In order to facilitate the installation of the compression spring, the floating shaft 6022 and the power output shaft 2031 are connected in two ways, in the first way, as shown in fig. 18, a third installation cavity 20311 is formed at the bottom of the power output shaft 2031, an inner hole of the floating shaft 6022 is a fourth installation cavity 60221, the floating shaft 6022 is arranged in the third installation cavity 20311, an installation protrusion 3023 at the top of the auxiliary cleaning disc 3021 is detachably arranged in the fourth installation cavity 60221, an annular step surface can be arranged in the fourth installation cavity 60221, one end of the compression spring is abutted to the top of the third installation cavity 20311 of the power output shaft 2031, and the other end is abutted to the step surface.

In the second embodiment, when the floating shaft 6022 is not provided in the third installation cavity 20311 of the power output shaft 2031, the floating shaft 6022 is sleeved on the outer periphery of the power output shaft 2031, the fourth installation cavity 60221 is located on the outer periphery of the third installation cavity 20311, the compression spring is sleeved on the outer periphery of the floating shaft 6022, the top of the compression spring is provided on the power output shaft 2031, and the other end of the compression spring is provided on the floating shaft 6022 sleeve, so that downward acting force is applied to the floating shaft 6022 sleeve. For example, the outer wall of the power take-off shaft 2031 is provided with an annular stepped surface on which the top of the compression spring abuts. The bottom of the mounting projection 3023 is provided on the bottom inner wall of the fourth mounting chamber 60221 to achieve connection of the auxiliary cleaning tray 3021 with the floating shaft 6022.

In the mopping position, the mounting protrusion 3023 of the auxiliary cleaning disk 3021 is located in the fourth mounting cavity 60221, and may partially extend into the third mounting cavity 20311, or may not extend into the third mounting cavity 20311, i.e., the fourth mounting cavity 60221 is located below the third mounting cavity 20311, and in the lifted position, the fourth mounting cavity 60221 is located at the outer periphery of the third mounting cavity 20311, and the compression spring is in a compressed state, so that the mounting protrusion 3023 of the auxiliary cleaning disk 3021 extends into the third mounting cavity 20311, thereby making the floating shaft 6022, the power output shaft 2031, and the compression spring compact, occupying a small space, and having a higher lifting height relative to the first embodiment in which the floating shaft 6022 is connected to the power output shaft 2031.

14-16, The lifting assembly 60 comprises a third cylinder 6031, a second one-way bearing sleeved outside the power output shaft 2031 of the first motor 203, wherein the second one-way bearing has a transmission state for transmitting the force of the power output shaft 2031 to the third cylinder 6031 and a disconnection state for disconnecting the transmission of the force of the power output shaft 2031 to the third cylinder 6031;

The support body 6032 is fixed relative to the machine body 10, the support body 6032 is located at the outer side of the third cylinder 6031, and a screw mechanism is formed between the support body 6032 and the third cylinder 6031.

For example, the screw mechanism includes a third screw face 6034 and a second mating member that mates with the third screw face, the second mating member being a fourth screw face or a second roller. Taking the second mating member as the fourth screw surface 60351 for example, one of the third screw surface and the fourth screw surface 60351 is disposed on the support body 6032, and the other is disposed on the outer portion of the third cylinder 6031. For example, the fourth screw surface 60351 is provided on the outer wall surface of the third cylinder 6031, a projection 6035 is projected from the outer wall of the third cylinder 6031, a fourth screw surface 60351 is provided on the bottom of the projection 6035, the third screw surface 6034 is provided on the support 6032, and the third screw surface 6034 and the fourth screw surface 60351 are in contact with each other.

When the power output shaft 2031 of the first motor 203 rotates along the first direction, since the auxiliary cleaning disc 3021 is connected to the power output shaft 2031, the power output shaft 2031 drives the auxiliary cleaning disc 3021 to rotate, under the action of the unidirectional bearing, the third cylinder 6031 is in a disconnected state, the third spiral surface 6034 of the third cylinder 6031 rotates on the fourth spiral surface 60351 under the gravity of the third cylinder 6031, the auxiliary cleaning disc 3021 and the auxiliary cleaning cloth 3022, and performs a descending motion, so as to drive the auxiliary cleaning disc 3021 to perform a descending motion, and when the auxiliary cleaning disc 3021 descends to the mopping position, in the mopping position, the power output shaft 2031 of the first motor 203 continues to rotate along the first direction, the third cylinder 6031 does not continue to descend relative to the supporting body 6032, and the power output shaft 2031 drives the cleaning assembly to rotate.

When the power output shaft 2031 of the first motor 203 rotates in the second direction, the third cylinder 6031 is in a transmission state, the third cylinder 6031 rotates and the auxiliary cleaning disk 3021 both rotate, and the third spiral surface 6034 on the third cylinder 6031 rotates under the fourth spiral of the support body 6032 to drive the third cylinder 6031 and the auxiliary cleaning disk 3021 to do an ascending motion relative to the support body 6032 so as to drive the auxiliary cleaning disk 3021 to ascend.

Because the support body 6032 is fixed relative to the machine body 10, the bottom of the power output shaft 2031 is connected to the auxiliary cleaning disk 3021, and the third cylinder 6031 is arranged outside the power output shaft 2031 through the second one-way bearing, so that the lifting assembly 60 integrally moves up and down relative to the support body 6032 in the lifting process of the third cylinder 6031 driving the auxiliary cleaning disk 3021. The first motor 203 and the lifting assembly 60 are both arranged on the housing, and the first motor 203 and the housing are both lifted synchronously.

In the first and second embodiments of the lifting assembly 60, the first motor 203, the housing to which the first motor 203 is mounted, and the third cylinder 6031 or the first sleeve 6011 of the lifting assembly 60 are not lifted, and the second cylinder 6023 or the second sleeve 6012 connected to the auxiliary cleaning tray 3021 do lifting motion.

In order to limit the continuous descending of the third cylinder 6031 at the towed position, a third threaded surface is arranged on the support body 6032, a third limiting part is arranged at the bottom of the third threaded surface 6034, and the second matching part is abutted against the side wall of the third limiting part along the spiral direction of the third threaded surface so as to limit the continuous descending of the third cylinder 6031 relative to the support body 6032 at the towed position.

Similar to the second embodiment, the cleaning device further comprises a first shell 6037 and a second reset piece 6036, wherein the first motor 203, the power output shaft 2031 and the third cylinder 6031 are arranged on the first shell 6037, the first shell 6037 is arranged on the supporting body 6032 in a vertical sliding mode, the second reset piece 6036 is arranged between the first shell 6037 and the supporting body 6032, the second reset piece 6036 is used for applying downward second reset force to the first shell 6037, the second reset force is applied to the shell and then acts on the auxiliary cleaning disc 3021 to enable the auxiliary cleaning disc 3022 on the bottom of the auxiliary cleaning disc 3021 to be kept in contact with the ground, and meanwhile, due to the fact that the shell, the first motor 203 and the lifting assembly 60 are integrally lifted, when the first motor 203 rotates in the first direction, the combined action of the gravity of the third cylinder 6031, the shell and the cleaning assembly is used for driving the shell to integrally move downwards relative to the supporting body 6032, and the second reset force is used for enabling the shell to integrally lift the auxiliary cleaning disc 3021 to move downwards, and the cleaning driving force is increased.

As shown in fig. 16, the device further comprises a torsion member, for example, the torsion member is a torsion spring 6038, one end of the torsion spring 6038 is sleeved outside the third cylinder 6031 and connected with the support body 6032, the other end of the torsion spring 6038 abuts against the third cylinder 6031, the torsion member is used for applying torque to the third cylinder 6031 so as to enable the third cylinder 6031 to rotate downwards relative to the support body 6032, and in the descending process, the third spiral surface 6034 or the second roller on the third cylinder 6031 is driven to rotate on the fourth spiral surface 60351 on the outer wall of the support body 6032 through the torque generated by the torsion spring 6038. Further, one of the third screw surface 6034 and the second mating member may be replaced with a screw groove 6013, the other may be replaced with a screw thread or rib 6014, and when the boss 6035 of the third cylinder 6031 rotates downward in the screw groove 6013, the rib 6014 has a tendency to rotate spirally due to the force applied to the rib 6014 by the top of the screw groove 6013, and the torsion spring 6038 may not be provided.

As shown in fig. 17, a reduction gearbox is generally disposed between the first motor 203 and the power output shaft 2031, in order to change the rotation speed ratio of the power output shaft 2031 for driving the auxiliary cleaning disk 3021, a sun gear 60391, a planet gear 60393, a gear ring 60392 and a planet carrier 60394 are disposed on the power output shaft 2031, wherein the sun gear 60391 is sleeved on the power output shaft 2031 through a one-way bearing, the planet carrier is used as a third cylinder 6031, and a bump 6035 is disposed outside the third cylinder 6031, and a fourth spiral surface 60351 or a second roller is disposed. The gear ring 60392 serves as a first housing 6037, the outer wall of which is provided with an extension 603941, and an extension 603941 is slidably provided on the support body 6032.

Optionally, the second driving structure 201 of the main cleaning disk 2021 on the right and the first driving structure 302 of the auxiliary cleaning disk 3021 are identical in structure, and share one first motor 203, so as to reduce the cost and reduce the space occupied by the two driving structures in the inner cavity of the main body 10.

Specifically, one end of the first transmission mechanism is connected with the power output shaft 2031 of the first motor 203, and the other end of the first transmission mechanism is provided with a first output end and a second output end;

The first output end is connected with the lifting assembly 60 of the first driving structure 302, and the second output end is connected with the lifting assembly 60 of the second driving structure 201, so that one of the first motors 203 synchronously drives the main cleaning assembly 202 and the auxiliary cleaning assembly 302 to lift and rotate.

For example, when the lifting assembly 60 is the first embodiment, the first output end is connected to the first sleeve 6011 of the lifting assembly 60 of the first driving structure 302, and the second output end is connected to the first sleeve 6011 of the lifting assembly 60 of the second driving structure 201, so that the first motor 203 rotates in the first direction, the first sleeves 6011 of the two lifting assemblies 60 rotate, and the second sleeve 6012 performs lifting motion to realize the synchronous lifting and synchronous mopping function, and the control of the first motor 203 is also marginal. The first transmission mechanism may be belt transmission, gear set transmission, or the like.

In the case of the second embodiment or the third embodiment of the lifting assembly 60, one third cylinder 6031 of the two lifting assemblies 60 is sleeved on the first output end through a one-way bearing, and the other third cylinder 6031 is sleeved on the second output end through a one-way bearing.

Based on the foregoing steering of the two main cleaning disks 2021 and the auxiliary cleaning disk 3021, when driven by one first motor 203, the steering of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 may be in the same direction or in opposite directions, and at least two embodiments may be implemented correspondingly.

In the first embodiment, the spiral directions of the spiral mechanisms of the two lift assemblies 60 are the same, and the rotation directions of the first output end and the second output end are opposite, taking the case that the rotation directions of the auxiliary cleaning tray 3021 and the right main cleaning tray 2021 are opposite as an example. For example, the transmission mechanism makes the first output end and the second output end turn differently by providing different numbers of gears. In the second embodiment, the spiral directions of the spiral mechanisms of the two lifting assemblies 60 are opposite, and the rotation directions of the first output end and the second output end are the same.

Similarly, when the turns of the auxiliary cleaning pad 3021 and the right main cleaning pad 2021 are the same, the aforementioned turning directions of the first output end and the second output end are the same, and the screw directions of the screw mechanisms of the two lift assemblies 60 are also the same.

For example, as shown in fig. 6 and 7, fig. 6 and 7 schematically illustrate a circular machine, but the first driving structure and the second driving structure may be the same, and the transmission mechanism is a gear set, for example, the gear set includes a main gear 604 and four transmission gears 605, and a main gear on a power output shaft 2031, where one transmission gear is meshed with the main gear, an inner hole of the transmission gear has a first output shaft, the first output shaft has a first output end, three transmission gears are meshed with the main gear, an inner hole of an endmost one transmission gear fixes a second output shaft, and the second output shaft has a second output end, so that the first output end and the second output end turn to be the same.

If the second output end and the first output end turn differently, the number of transmission gears between the main gear and the end gear of the first output end or the second output end is changed.

Or the first output and the second output are turned in opposite directions, while the screw mechanisms of the two lifting assemblies 60 are turned in opposite directions.

The power output shaft 2031 of the first motor 203 rotates in one of the first direction and the second direction in the clockwise direction and in the counterclockwise direction.

In addition, in the prior art cleaning robot, the buffer 70 positioned in front of the robot body first encounters an obstacle and is impacted by the obstacle in the advancing process of the robot, and the controller controls the driving system of the robot to act according to the signal of the buffer 70 or the corresponding signal triggered by the buffer 70 so as to realize the actions of avoiding the obstacle, along the edge, crossing the obstacle and the like. Because the auxiliary cleaning head is partially beyond the buffer 70 and is arranged at the corner of the machine body, the auxiliary cleaning head is partially beyond the buffer 70 in the advancing direction and the width direction of the machine body, so that when a robot encounters an obstacle, the auxiliary cleaning head impacts the obstacle earlier than the buffer 70, the auxiliary cleaning head is easily damaged after being impacted, the effect of edge cleaning is affected, and even the auxiliary cleaning head is blocked by the obstacle, so that the buffer 70 cannot impact the obstacle, the existence of the obstacle cannot be detected, and the planning of a cleaning path of the robot is affected.

In the cleaning robot of the present embodiment, the main body 10 has a rear portion and a front portion located in front of the rear portion in the forward direction of the main body 10, a bumper 70 is provided on the front portion of the main body 10 to detect an obstacle by collision with the obstacle, and the auxiliary cleaning tray 3021 and the two main cleaning trays 2021 are provided on the rear portion of the main body 10.

Since the auxiliary cleaning tray 3021 is provided at the rear of the main body 10 and the buffer 70 is provided at the front of the main body 10, the buffer 70 encounters an obstacle earlier than the auxiliary cleaning tray 3021 in the advancing process of the main body 10 to detect the obstacle, thereby providing the auxiliary cleaning module 30 without affecting the function of the buffer 70 to detect the obstacle, so that the edge cleaning effect is ensured and the detection of the obstacle by the buffer 70 is not affected.

As an alternative embodiment of example 1, the vertical projection of the main body 10 on the floor is circular, that is, a circular machine, and since the edge of the main body 10 of the square machine of example 1 is straight, the portion of the auxiliary cleaning tray 3021 is beyond the edge of the main body 10, so that the edge cleaning can be achieved. In the circular machine, since the maximum width of the body 10 is the diameter of the body 10 in the width direction of the body 10, when the body 10 is a circular machine, it is preferable that the edge portion of the auxiliary cleaning tray 3021 protrude from the edge of the maximum width of the body 10 to achieve the edge cleaning, and of course, the edge portion of the auxiliary cleaning tray 3021 protrude outside the body 10 but do not exceed the edge of the maximum width of the body 10, and although the edge cleaning can be achieved, the area of the edge cleaning is relatively small.

As shown in fig. 4 to 7, since the width of the square machine is smaller than the length of the forward direction of the main body 10, the rolling brush 403 of the dry cleaning module 40 is located in front of the driving wheel 801 in the forward direction of the main body 10, and when the main body 10 is a circular machine, the maximum width of the main body 10 of the circular machine > the maximum width of the main body 10 of the square machine, the space between the two driving wheels 801 can accommodate the rolling brush 403, so that at least part of the rolling brush 403 is disposed in the area between the two driving wheels 801, the dust box 401 is disposed behind the rolling brush 403, and furthermore, the arrangement of the exhaust duct of the main blower 402 is preferentially disposed between the two housings of the second area 104, and other structures (such as the side brush, the second driving structure 201, the water replenishing mechanism 50, the buffer 70, the driving wheel 801, and the dust exhaust duct 404) are the same as those of the square machine, and are described in embodiment 1, and will not be repeated.

Example 2

The present embodiment provides a cleaning robot, which includes the aforementioned machine body 10, dry cleaning module 40, main cleaning module 20, auxiliary cleaning module 30, side brush, water replenishing mechanism 50, sensing system, traveling system 80, buffer 70, etc.

The main body 10 is a circular machine, and the main cleaning module 20 includes a second driving structure 201, a first lifting structure and a main cleaning assembly 202, wherein the first lifting structure drives the main cleaning assembly 202 to do lifting motion, and the second driving structure 201 is used for driving the main cleaning assembly 202 to vibrate or twist reciprocally so as to make the main cleaning assembly 202 drag the ground. The second driving structure 201 and the first lifting structure may be driven by one motor, or may be driven by two motors, one motor drives the main cleaning assembly 202 to lift and the other motor drives the main cleaning assembly 202 to vibrate or twist reciprocally.

As shown in fig. 29, the first lifting structure 303 may be a pull rope structure, where two ends of the pull rope are connected to the mounting base, and the mounting base is driven to do lifting motion by winding and releasing the pull.

As shown in fig. 23, 24, 25 and 29, the main cleaning assembly 202 is a flat mop including a mounting base 2023, a vibration plate 20232 provided on the mounting base 2023, and a main cleaning member, such as a main wiper 2022, provided at least on the bottom of the vibration plate 20232. The second driving structure 201 is disposed on the mounting base 2023 or the main body 10, and is used for driving the vibration plate 20232 to vibrate or twist reciprocally, so that the main cleaning member is in friction force with the floor, and the cleaning effect is improved. The first lifting structure drives the mounting base 2023 to lift so as to drive the whole flat plate to drag and lift. Vibrating plate 20232

The auxiliary cleaning module 30 is integrally disposed on the mounting base 2023, and when the first lifting structure drives the mounting base 2023 to lift, the auxiliary cleaning module 30 is lifted synchronously with the flat mop to be in the lifting position and the mopping position synchronously, and in the mopping position, the main cleaning cloth 2022 and the auxiliary cleaning cloth 3022 of the auxiliary cleaning assembly 302 synchronously mop the floor. Because the auxiliary cleaning module 30 integrally lifts along with the flat mop, the auxiliary cleaning module 30 does not need to be provided with the second lifting mechanism to drive the auxiliary cleaning tray 3021 to lift, and only needs to be provided with the first driving structure 302 to drive the auxiliary cleaning tray 3021 to automatically drag the floor. That is, the auxiliary cleaning module 30 includes a first driving structure 302 and an auxiliary cleaning assembly 302, and the first driving structure 302 drives the auxiliary cleaning assembly 302 to spin and drag the floor. The auxiliary cleaning assembly 302 includes a circular auxiliary cleaning tray 3021, and an auxiliary cloth 3022 provided on the bottom of the auxiliary cleaning tray 3021, as the auxiliary cleaning assembly 302 in embodiment 1.

With respect to the arrangement of the mount 2023 and the vibration plate 20232, preferably, the mount 2023 includes a top plate 20231, a bottom plate 20233 is fixed to the bottom of the top plate 20231, the bottom plate 20233 is provided with mounting holes, the vibration plate 20232 is fitted in the mounting holes, and the main cloth 2022 is adhered to the vibration plate 20232 and the bottom plate 20233, and the main cloth 2022 covers the bottom surfaces of the vibration plate 20232 and the bottom plate 20233, so that the main cloth 2022 includes a main portion corresponding to the vibration plate 20232 and an auxiliary portion corresponding to the bottom plate 20233, and the auxiliary portion surrounds the outer circumference of the main portion. The second driving structure 201 is arranged on the machine body 10 or the top plate 20231, and drives the vibrating plate 20232 to vibrate or twist in a reciprocating manner, the vibrating plate 20232 drives the main part on the main cleaning cloth 2022 to vibrate or twist in a reciprocating manner, so that the friction force between the main part and the ground is increased, and the auxiliary part of the main cleaning cloth 2022 is subjected to a part of force under the action of the reciprocating vibration or twisting of the main part, but the auxiliary part is kept on the bottom plate 20233 relative to the main part, and can drag the ground synchronously with the main part due to the fact that the auxiliary part and the main part are positioned on the same plane.

In this embodiment, preferably, the second driving structure 201 is disposed on the top plate 20231 and is located below the chassis 101 of the fuselage 10, or is located in an avoidance recess area of the chassis 101 that is recessed upward toward the inner cavity of the fuselage 10, and the first lifting structure is located in the avoidance recess area, so that when in the lifted position, the top surface of the top plate 20231 is flush with or close to the bottom surface of the chassis 101, and the first lifting structure does not occupy a height space, so that the lifting height of the flat plate is higher, and correspondingly, the first lifting structure is disposed in the inner cavity of the fuselage 10, and drives the whole mounting seat 2023 to lift so as to drive the second driving structure 201 to lift.

Alternatively, the mount 2023 is provided with only the top plate 20231 without providing the bottom plate 20233, the inside of the top plate 20231 is provided with a mounting hole, and the vibrating plate 20232 is fitted into the mounting hole, and similarly, the main cloth 2022 has a main portion corresponding to the vibrating plate 20232 and an auxiliary portion corresponding to the bottom surface of the top plate 20231. Since the top plate 20231 is provided with a mounting hole for mounting the vibration plate 20232, the second driving structure 201 and the first lifting structure are both arranged in the inner cavity of the machine body 10, and are of the same structure and share a motor.

In order to provide no missed sweep between the cleaning areas of the primary and secondary wipes 2022, 3022, and in a second embodiment of example 1, the mounting bracket 2023 has a first portion 901, the secondary cleaning pad 3021 has a second portion 902, and the cleaning areas of the first portion 901 and the second portion 902 have an overlap area 903H along the forward direction of the body 10.

In the forward direction of the main body 10, since the main cleaning cloth 2022 occupies the rear portion of the main body 10, no space is reserved for the auxiliary cleaning cloth 3021 in the rear portion of the main body 10, so as not to affect the cleaning area and cleaning effect of the main cleaning cloth 2022, in the forward direction of the main body 10, the auxiliary cleaning cloth 3021 is located in front of the mounting base 2023, the auxiliary cleaning cloth 3022 on the auxiliary cleaning cloth 3021 is cleaned first, the main cleaning cloth 2022 is cleaned second, the first portion 901 of the mounting base 2023 is cleaned first, the main cleaning cloth 2022 on the second portion 902 is cleaned second, and the cleaning areas of the first portion 901 and the second portion have the overlapping area 903 so as to avoid the occurrence of the cleaning omission phenomenon.

Preferably, since the vibration plate 20232 seat on the flat plate is twisted or vibrated reciprocally, unlike the rotation movement of the auxiliary cleaning disk 3021, in order not to affect the twisting or vibration of the vibration plate 20232 reciprocally, in this embodiment, there is a gap between the auxiliary cleaning disk 3021 and the mounting seat 2023 in the advancing direction of the main body 10, and the rotation of the auxiliary cleaning disk 3021 and the twisting or reciprocating movement of the vibration plate 20232 on the mounting seat 2023 do not affect each other independently. Or auxiliary cleaning pad 3021 may be positioned adjacent or proximate to mount 2023, but each may be independently movable without affecting the other.

The side brush and the bumper 70 are provided on the bottom of the front of the body 10, the auxiliary cleaning pad 3021 and the side brush are provided on the right side of the body 10 in the width direction of the body 10 to form a right edge, and the two driving wheels 801 of the traveling system 80 are symmetrically provided on the bottom of the body 10.

The flat pallet is positioned behind the driving wheels 801 in the forward direction of the main body 10, the auxiliary cleaning pad 3021 is positioned in front of the flat pallet in the width direction of the main body 10, and at least a portion of the auxiliary cleaning pad 3021 is positioned in the area outside the driving wheels 801 on the right side so that a portion of the auxiliary cleaning pad 3021 protrudes beyond the edge of the maximum width of the main body 10 to achieve edge cleaning.

Because the main cleaning cloth 2022 of the flat mop covers the rear portion of the machine body 10, in order not to affect the normal cleaning of the flat mop, the auxiliary cleaning disc 3021 is arranged on the outer side of the driving wheel 801 on the right side, the operation of the driving wheel 801 on the right side is not affected while the auxiliary cleaning cloth 3022 realizes the edge cleaning, and no other structure is usually arranged in the outer side area of the driving wheel 801 on the right side on the chassis 101, so that the arrangement and the function of other structures cannot be affected by the auxiliary cleaning disc 3021 arranged in the outer side area of the driving wheel 801 on the right side.

Even if the lower view sensor is arranged on the area, located outside the right driving wheel 801, of the chassis 101, in order to arrange the auxiliary cleaning disc 3021, the lower view sensor can be arranged on the area, located between the right driving wheel 801 and the flat mop, of the chassis 101, and the functions of the lower view sensor cannot be affected, namely, the arrangement of the driving wheel 801, the flat mop and the rolling brush 403 (part or all of the rolling brush 403 is located between the two driving wheels 801) and the side brush on the chassis 101 is not changed, so that the auxiliary cleaning disc 3021 can be arranged to achieve the edge cleaning effect, and the structural arrangement on the whole chassis 101 is compact.

Further, the roller brush 403 is located in front of the auxiliary cleaning tray 3021 along the advancing direction of the main body 10, so as to ensure that the roller brush 403 and the side brush of the dry cleaning module 40 are both dry cleaned before, and then the wet type flat mop and the auxiliary cleaning tray 3021 are used for mopping.

Because the auxiliary cleaning module 30 is arranged on the mounting seat 2023, the second lifting structure is not required to be arranged for lifting, the mounting seat 2023 is positioned below the chassis 101, and the chassis 101 is provided with the first avoidance area, so that the first driving structure 302 is arranged on the top of the mounting seat 2023 and extends into the inner cavity of the machine body 10 through the first avoidance area.

As shown in fig. 30, the first driving structure 302 includes a second motor, and a second transmission mechanism 204 that transmits a driving force of the second motor to the auxiliary cleaning tray 3021 to drive the auxiliary cleaning tray 3021 to spin.

Preferably, the chassis 101 is provided with a first avoiding hole, the output end of the second transmission mechanism is provided with a fifth installation cavity recessed upwards, and the output end passes through the first avoiding hole and is connected with the installation protrusion 3023 of the auxiliary cleaning disc 3021, so that the auxiliary cleaning disc 3021 is located below the chassis 101. The mounting boss 3023 of the auxiliary cleaning disk 3021 is detachably mounted in the fifth mounting chamber by magnetic attraction or snap fitting. One end of the second transmission mechanism, which is far away from the output shaft of the second motor, extends towards the right driving wheel 801 and avoids the driving wheel 801, so that the auxiliary cleaning disc 3021 is positioned in the area outside the right driving wheel 801, and the second transmission mechanism can be in gear transmission so as to reduce the rotation speed of the auxiliary cleaning disc 3021. Similar to example 1, the area of the secondary cleaning pad 3021 is smaller than the area of the mounting socket 2023 so that the secondary wipe 3022 forms a small wipe and the primary wipe 2022 forms a large wipe.

Other structures in the inner cavity of the machine body 10 are arranged, the main fan 402 of the dry cleaning module 40 is distributed behind the cavity 108 of the dust box 401, the dust exhaust channel 404 is distributed at the left corner or left side of the dust box 401, the second driving structure 201 is located in an avoidance concave area of the chassis 101 (namely, an avoidance boss 304 is correspondingly arranged in the inner cavity of the machine body 10), as shown in fig. 29, the air exhaust channel of the main fan 402 is distributed near the dust exhaust channel 404, the avoidance boss is distributed on the right side of the main fan 402, and the first lifting structure is distributed on the left side of the main fan 402.

When the cleaning module 30 is not assisted, the air inlet channel at the right side of the main fan 402 in the machine body 10 is communicated with the air inlet of the dust box 401, the air blowing end of the dust suction fan on the base station is communicated with the air inlet channel, and the air suction end is communicated with the dust discharge channel 404 to form a blowing and sucking dust collection mode.

When the auxiliary cleaning module 30 is disposed, in order to avoid the space for the first driving structure 302, an air inlet channel may not be disposed, so that the second transmission mechanism of the first driving structure 302 extends toward the outer side of the right driving wheel 801. When the machine body 10 is communicated with the outside, the area communicated with the air inlet can be used as an air inlet area.

As an alternative to embodiment 2, where the main cleaning assembly 202 is not a flatbed mop, it is a track, the mount 2023 is a track cover, the main cleaning member is a track rotatably mounted on the track cover and below the track cover, the second drive mechanism drives the track to move to clean the floor waiting cleaning surface, the auxiliary cleaning pad 3021 is also provided on the outside of the right drive wheel 801, and the side brushes are on the same side to form a right side edge mode.

The auxiliary cleaning module 30 is integrally arranged on the crawler belt cover, and the first lifting structure drives the crawler belt cover to lift and drive the auxiliary cleaning module 30, the crawler belt cover and the crawler belt to synchronously lift.

In summary, the auxiliary cleaning assembly 302 does not swing, the auxiliary cleaning assembly 302 is fixed to the main body 10 or the main cleaning assembly 202, and at least part of the auxiliary cleaning assembly 302 is always located outside the edge of the main body 10 to achieve edge cleaning. The main cleaning assembly 202 and the auxiliary cleaning assembly 30210 realize a non-leakage sweeping function, and the arrangement of the water replenishing mechanism 50 is not changed or only changed so as to provide a mounting avoidance space for the auxiliary cleaning module 30, so that the auxiliary cleaning elements on the auxiliary cleaning tray 3021 realize edge along with little or no influence on other structures on the machine body 10.

As an alternative embodiment of example 2, the auxiliary cleaning module 30 (a flat mop or a crawler belt) may be provided on the main body 10 instead of the mounting base 2023, and the first driving structure 302 may be the first driving structure 302 of example 1, so as to drive the auxiliary cleaning tray 3021 to spin and lift.

As an alternative implementation of any of the foregoing embodiments, the auxiliary cleaning disc 3021 may not rotate, the first driving structure 302 is not provided, the second lifting mechanism is provided, and the auxiliary cleaning disc 3021 is driven to lift, so that when the cleaning disc 3021 is towed, it is possible to implement edge cleaning without rotating.

Example 3

The present embodiment provides a base station, comprising

The body is provided with a cleaning cavity, and at least one main cleaning area and one auxiliary cleaning area are arranged on the cleaning cavity;

When either the cleaning device of example 1 or example 2 is returned to the base station,

The primary cleaning zone and the secondary cleaning zone are used to clean the primary wipe 2022 of the primary cleaning assembly 202 and the secondary wipe 3022 of the secondary cleaning assembly 302, respectively, on the cleaning device.

The base station of this embodiment corresponds to the two main cleaning discs 2021 and the auxiliary cleaning disc 3021 of example 1, and two main cleaning areas and two auxiliary cleaning areas are provided on the body, when the main cleaning cloth 2022 and/or the auxiliary cleaning cloth 3022 need to be cleaned, the robot returns to the basic accommodation cavity of the base station, the bottom of the accommodation cavity is provided with a cleaning cavity, each main cleaning area corresponds to one main cleaning cloth 2022, and the auxiliary cleaning area corresponds to the auxiliary cleaning cloth 3022, so as to clean the two main cleaning cloths 2022 and the auxiliary cleaning cloth 3022. The arrangement of the primary and secondary cleaning zones corresponds to the arrangement of the two primary and secondary wipes 2022, 3022 of example 1.

Specifically, at least one main convex rib protruding upwards is arranged in each main cleaning area, the main cleaning cloth 2022 is cleaned through friction between the main convex rib and the main cleaning cloth 2022, at least one auxiliary convex rib protruding upwards is arranged in each auxiliary cleaning area, and the auxiliary cleaning cloth 3022 is cleaned through friction between the auxiliary convex rib and the auxiliary cleaning cloth 3022.

Or the bottom of the accommodating cavity of the machine body 10 is provided with a cleaning disc, a main cleaning area and an auxiliary cleaning area are arranged on the cleaning disc, at least one main convex rib protruding upwards is arranged in each main cleaning area, the main cleaning cloth 2022 is cleaned through friction between the main convex rib and the main cleaning cloth 2022, at least one auxiliary convex rib protruding upwards is arranged in the auxiliary cleaning area, and the auxiliary cleaning cloth 3022 is cleaned through friction between the auxiliary convex rib and the auxiliary cleaning cloth 3022. The main convex ribs and the auxiliary convex ribs are arranged on the cleaning disc, so that the cleaning disc can be conveniently taken out from the accommodating cavity of the base station to clean the cleaning disc.

In order to improve the cleaning effect, during the cleaning process, the main cleaning disc 2021 drives the main cleaning cloth 2022 to rotate, so that the main cleaning cloth 2022 and the main ribs form rotational friction, and the friction cleaning effect is improved. Or the main cleaning disc does not rotate, and the main ribs rotate, so that rotational friction is formed between the main ribs and the main cleaning cloth 2022.

Similarly, during the cleaning process, the auxiliary cleaning disc 3021 drives the auxiliary cleaning cloth 3022 to rotate, so that the auxiliary cleaning cloth 3022 and the auxiliary ribs form rotational friction, and the friction cleaning effect is improved. Or the auxiliary cleaning disc does not rotate, and the auxiliary ribs rotate, so that rotation friction is formed between the auxiliary ribs and the auxiliary cleaning cloth 3022.

In the base station of this embodiment, when the flat mop and the auxiliary cleaning disc 3021 correspond to the embodiment 2, a main cleaning area and an auxiliary cleaning area are provided on the body, and when the main cleaning cloth 2022 and/or the auxiliary cleaning cloth 3022 need to be cleaned, the robot returns to the basic accommodating cavity of the base station, the bottom of the accommodating cavity is provided with the cleaning cavity, the main cleaning area corresponds to the main cleaning cloth 2022, and the auxiliary cleaning area corresponds to the auxiliary cleaning cloth 3022, so as to implement the cleaning of the main cleaning cloth 2022 and the auxiliary cleaning cloth 3022 respectively. The arrangement of the primary and secondary cleaning zones is the same as that of the primary and secondary wipes 2022, 3022 of example 2.

Or the bottom of the accommodating cavity of the machine body 10 is provided with a cleaning disc, a main cleaning area and an auxiliary cleaning area are arranged on the cleaning disc, at least one main convex rib protruding upwards is arranged in the main cleaning area, the main cleaning cloth 2022 is cleaned by friction between the main convex rib and the main cleaning cloth 2022, at least one auxiliary convex rib protruding upwards is arranged in the auxiliary cleaning area, and the auxiliary cleaning cloth 3022 is cleaned by friction between the auxiliary convex rib and the auxiliary cleaning cloth 3022. The main convex ribs and the auxiliary convex ribs are arranged on the cleaning disc, so that the cleaning disc can be conveniently taken out from the accommodating cavity of the base station to clean the cleaning disc.

In order to improve the cleaning effect, in the cleaning process, the vibrating plate 20232 vibrates or twists reciprocally to drive the main cleaning cloth 2022 to vibrate or twist reciprocally, so that the main cleaning cloth 2022 and the main ribs form sliding friction, and the friction cleaning effect is improved. Or the vibration plate 20232 does not drive the main rag 2022 to vibrate or twist in a reciprocating manner, so that sliding friction is formed between the main rib and the main rag 2022, and dirt on the main rag 2022 dragged by the flat plate is scraped.

Example 4

This example provides a cleaning system comprising the cleaning apparatus of any one of the embodiments of example 1 or example 2, and any one of the base stations of example 3.

The cleaning system of this embodiment, including the cleaning device of example 1 or example 2, and the base station of example 3, allows the cleaning system to extend all the way out of the edge of the main body 10 through the portion of the auxiliary cleaning pad 3021, allowing the cleaning device to return to the base station for self-cleaning of the main wipe 2022 and the auxiliary wipe 3022 while performing edge-based cleaning.

It should be noted that the above embodiments are merely for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. The cleaning equipment is characterized by comprising a machine body, a dry type cleaning module arranged on the machine body, and a main cleaning module and an auxiliary cleaning module for wet type cleaning;

the dry cleaning module comprises at least one rolling brush;

the main cleaning module comprises at least one main cleaning component;

The auxiliary cleaning module comprises at least one auxiliary cleaning component, and at least part of the auxiliary cleaning component extends out of the edge of the machine body so as to clean along edges;

the main cleaning component and the auxiliary cleaning component are positioned behind the rolling brush along the advancing direction of the machine body;

And no leakage sweeping area is arranged between the sweeping area of the main cleaning assembly and the sweeping area of the auxiliary cleaning assembly along the width direction of the machine body, wherein the width direction of the machine body is perpendicular to the advancing direction of the machine body.

2. The cleaning apparatus of claim 1, further comprising a traveling system comprising at least two drive wheels symmetrically disposed on a bottom of the main body, wherein the primary and/or secondary cleaning assemblies are located rearward of the drive wheels in a forward direction of the main body.

3. A cleaning apparatus as claimed in claim 2, wherein,

The main cleaning assembly comprises a main cleaning disc and a main cleaning member arranged on the bottom of the main cleaning disc;

The auxiliary cleaning component comprises an auxiliary cleaning disc and an auxiliary cleaning piece arranged on the bottom of the auxiliary cleaning disc;

The auxiliary cleaning discs and the main cleaning discs are round discs, the diameters of the auxiliary cleaning discs are smaller than those of the main cleaning discs, and the auxiliary cleaning discs are distributed in a first area which is formed by encircling the adjacent or similar bottom parts of the driving wheel, the main cleaning discs and the machine body.

4. A cleaning apparatus according to claim 3, wherein the diameter of the primary cleaning disc is 2-4 times the diameter of the secondary cleaning disc.

5. A cleaning device according to claim 3, further comprising an edge brush provided on the bottom of the front of the body in the forward direction of the body, the edge brush being located in front of the roller brush;

6. The cleaning apparatus according to claim 5, wherein the rotation center of the auxiliary cleaning tray is located in front of the rotation center of the main cleaning tray in the advancing direction of the main body such that the auxiliary cleaning tray is distributed in the first area right above and right of the main cleaning tray adjacent thereto and rearward of the driving wheel, and the main cleaning tray and the auxiliary cleaning tray are both located rearward of the driving wheel.

7. The cleaning apparatus of any one of claims 3-6, wherein a gap exists between the primary and secondary cleaning plates, and adjacent edges of the secondary and primary cleaning members are tangential or pressed against each other to provide a gap between adjacent edges of the primary and secondary cleaning members without affecting the respective rotation of the primary and secondary cleaning plates.

8. The cleaning apparatus of claim 7, wherein the primary cleaning member and the secondary cleaning member are wipes, and wherein the primary cleaning member and the secondary cleaning member are pressed against each other to form a second interference zone, and wherein a maximum width of the second interference zone is <5mm along a second line of rotation centers of the primary cleaning member and the secondary cleaning member.

9. The cleaning apparatus of any one of claims 1-6, wherein the primary cleaning assembly has at least a first portion and the secondary cleaning assembly has at least a second portion, the cleaning regions of the first and second portions having overlapping regions in the direction of travel of the body.

10. The cleaning apparatus of claim 9, wherein the first portion is positioned rearward of the second portion in the forward direction of the main body such that the second portion of the secondary cleaning assembly cleans first and the first portion of the primary cleaning assembly cleans second, the cleaning regions of the two sequences having the overlap region.

11. The cleaning apparatus of claim 10, wherein the primary cleaning assembly comprises a primary cleaning plate and a primary cleaning member disposed on a bottom of the primary cleaning plate, and wherein the secondary cleaning assembly comprises a secondary cleaning plate and a secondary cleaning member disposed on the secondary cleaning plate;

12. The cleaning apparatus of claim 11, wherein the primary cleaning member is a primary wipe and the secondary cleaning member is a secondary wipe, the secondary cleaning plate having the second portion, the primary cleaning plate having the first portion such that the primary wipe on the second portion cleans first and the secondary wipe on the first portion cleans later.

13. The cleaning apparatus of any one of claims 3-6, wherein the secondary cleaning module further comprises a first driving structure for driving the secondary cleaning assembly to lift and spin;

14. The cleaning device according to claim 13, wherein the dry cleaning module further comprises a dust box and a main fan, wherein the main fan is used for sucking garbage into the dust box, a dust box cavity for installing the dust box is arranged in the machine body, and a dust discharging channel communicated with the dust box is further arranged in the machine body and used for sucking the garbage in the dust box into the base station under the action of a dust collecting fan of the base station;

15. The cleaning apparatus of claim 14, further comprising a moisturizing mechanism disposed in the interior cavity of the body for moisturizing the primary and/or secondary cleaning elements to form a wet clean;

16. The cleaning apparatus defined in claim 15, wherein the water replenishment mechanism comprises a water tank and a pump body, a third region being formed between the two second drive structures and the rear side wall of the main body, at least one of the water tank and the pump body being disposed in the third region.

17. The cleaning apparatus of claim 16, wherein a fourth region is defined between the other drive wheel remote from the secondary cleaning assembly and the side wall of the dust discharge passage, the body, the water tank being disposed in the third region, and the pump body being disposed in the fourth region.

18. The cleaning apparatus defined in claim 11, wherein the first portion is located rearward of a point where adjacent edges of the secondary cleaning elements and primary cleaning elements are tangential or pressed against each other in a forward direction of the body.

19. The cleaning apparatus of claim 14, further comprising an exhaust duct connected to an exhaust of the main blower;

20. The cleaning apparatus of claim 14, wherein the vertical projection of the main body on the surface to be cleaned is rectangular, a long side of the rectangular is located in the advancing direction of the main body, a short side of the rectangular is located in the width direction of the main body, the dust box chamber is distributed between the two driving wheels, the roller brush is located in front of the driving wheels and the dust box chamber along the advancing direction of the main body, or

21. The cleaning apparatus of any one of claims 1 to 6, wherein the main body has a rear portion and a front portion located in front of the rear portion in a forward direction of the main body, a bumper is provided on the front portion, the bumper detecting an obstacle by collision with the obstacle, and the auxiliary cleaning assembly and the main cleaning assembly are provided on the rear portion of the main body.

22. The cleaning apparatus of any one of claims 3-6, wherein the main cleaning module further comprises a second drive structure, the second drive structure being a first lifting structure, at least for driving the main cleaning assembly up and down to switch the main cleaning assembly between a mopping position and a lifting position;

23. The cleaning apparatus defined in claim 22, wherein the primary cleaning assembly and the secondary cleaning assembly are in a raised or mopped position in synchrony.

24. The cleaning apparatus of claim 22, wherein the second drive structure is further configured to drive the main cleaning assembly to spin in a mopping position to clean a surface to be cleaned;

25. The cleaning apparatus of claim 22, wherein the number of main cleaning assemblies is two, and the two main cleaning assemblies are symmetrically disposed on the bottom of the main body, and there is no gap between the main cleaning members of the two main cleaning assemblies in the width direction of the main body, and the auxiliary cleaning tray is disposed on the right side of the bottom of the main body to form a right edge;

26. The cleaning apparatus of claim 22, wherein the cleaning device comprises a cleaning device,

The first driving structure and/or the second driving structure comprises a first motor and a lifting assembly, the lifting assembly is connected with the cleaning assembly, the cleaning assembly is a main cleaning assembly or an auxiliary cleaning assembly, and the lifting assembly drives the cleaning assembly to lift and rotate at a mopping position.

27. The cleaning apparatus of claim 22, wherein in the non-edgewise cleaning mode, the auxiliary cleaning plate is in a raised position and the main cleaning plate is in a mopped position, or

28. The cleaning apparatus of claim 25, wherein the rotation center of the auxiliary cleaning tray is located in front of the rotation center of the main cleaning tray, and a first line connecting the rotation center of the auxiliary cleaning tray and the rotation center of the main cleaning tray intersects a second line connecting the rotation centers of the two main cleaning trays.

29. The cleaning apparatus defined in claim 26, wherein the lifting assembly comprises

30. The cleaning apparatus of claim 29, wherein the cleaning device comprises a cleaning device,

31. The cleaning apparatus of claim 1, wherein the main cleaning module further comprises a first lifting structure for driving the main cleaning assembly to lift;

32. The cleaning apparatus of claim 31, wherein the primary cleaning assembly comprises a mounting base and a primary wipe disposed on a bottom of the mounting base, the secondary cleaning module is disposed on the mounting base, and the first lifting mechanism is configured to drive the mounting base to lift the primary cleaning assembly and the secondary cleaning assembly synchronously.

33. The cleaning apparatus of claim 32, wherein the mounting base is a flat mop, the flat mop comprises a top plate, a bottom plate arranged on the bottom of the top plate, the bottom plate is provided with mounting holes or avoiding openings, and a vibrating plate embedded in the mounting holes or the avoiding openings, the main cleaning cloth is arranged on the vibrating plate and the bottom of the bottom plate, and the vibrating plate vibrates or twists reciprocally to drive the main cleaning cloth to move so as to clean the surface to be cleaned.

34. The cleaning apparatus defined in claim 33, wherein the secondary cleaning module is disposed on the top plate.

35. The cleaning apparatus defined in claim 33, wherein the primary cleaning assembly has at least a first portion and the secondary cleaning assembly has at least a second portion, and wherein the sweep areas of the first and second portions have overlapping areas in the forward direction of the body.

36. The cleaning apparatus defined in claim 35, wherein the first section is positioned rearward of the second section in the forward direction of the main body such that the second section of the secondary cleaning assembly cleans first and the first section cleans later, the cleaning regions of the two sequences having the overlap region.

37. The cleaning apparatus of claim 36, wherein the secondary cleaning assembly comprises a secondary wipe, and wherein there is no sweep area between the cleaning area of the primary wipe and the cleaning area of the secondary wipe along the width of the body.

38. The cleaning apparatus of claim 37, wherein the primary wipe has an area greater than the secondary wipe, and/or

39. The cleaning apparatus defined in any one of claims 32-36, wherein the secondary cleaning assembly comprises a secondary cleaning tray and a secondary wipe disposed on a bottom of the secondary cleaning tray;

the auxiliary cleaning module further comprises a first driving structure used for driving the auxiliary cleaning disc to rotate, the first driving structure is arranged on the mounting seat, and the area of the auxiliary cleaning disc is smaller than that of the mounting seat.

40. The cleaning apparatus of any one of claims 32-36, further comprising an edge brush and a traveling system, the edge brush being disposed on a bottom of a front portion of the main body, the auxiliary cleaning assembly comprising an auxiliary cleaning pan and an auxiliary wipe disposed on the bottom of the auxiliary cleaning pan;

41. The cleaning apparatus of claim 39, wherein the cleaning device comprises a cleaning device,

The first driving structure comprises a second motor and a second transmission mechanism for transmitting the driving force of the second motor to the auxiliary cleaning disc;

The second motor is arranged on the mounting seat, one end, far away from the output shaft of the second motor, of the second transmission mechanism extends towards the right driving wheel and avoids the driving wheel, so that the auxiliary cleaning disc is located in an area on the outer side of the right driving wheel.

42. The cleaning apparatus of claim 40, wherein the secondary cleaning plate is positioned in front of the mounting block such that the secondary wipe cleans first and the primary wipe cleans later.

43. The cleaning apparatus defined in any one of claims 32-36, further comprising an edge brush and a travel system, the edge brush disposed on a bottom of a front portion of the body, the auxiliary cleaning assembly comprising an auxiliary wipe, the auxiliary wipe and the edge brush each being located on a right side of the body in a width direction of the body to form a right edge;

44. The cleaning apparatus of claim 43, wherein the secondary cleaning module further comprises a first drive mechanism for driving the secondary wipe to spin to mop the floor;

45. The cleaning apparatus of claim 44, wherein the secondary cleaning assembly further comprises a secondary cleaning plate, the secondary cleaning plate being positioned on a bottom of the secondary cleaning plate, the secondary cleaning plate being positioned in front of the mounting base such that the cleaning plate cleans first and the primary cleaning plate cleans later;

46. The cleaning apparatus of claim 40, further comprising at least one look-down sensor, wherein one of the look-down sensors is disposed on a bottom of a chassis of the body, the look-down sensor being located between the drive wheel and the mount on the right side along a forward direction of the body.

47. The cleaning apparatus of claim 40, further comprising a moisturizing mechanism for moisturizing the primary wipe and the secondary wipe to cause the primary wipe and secondary wipe to form a wet clean;

48. The cleaning apparatus defined in any one of claims 1-6, wherein the secondary cleaning assembly comprises a secondary cleaning tray and a secondary cleaning element disposed on a bottom of the secondary cleaning tray;

the pressure applied to the auxiliary cleaning disc when the auxiliary cleaning piece cleans the surface to be cleaned is 900-1500Pa.

49. A base station, comprising

When the cleaning apparatus of any one of claims 1-48 is returned to the base station,

50. The base station of claim 49, wherein at least one upwardly projecting primary rib is disposed in said primary cleaning zone for cleaning said primary cleaning member by friction of said primary rib with said primary cleaning member;

At least one upward protruding auxiliary rib is arranged in the auxiliary cleaning area, and the auxiliary cleaning piece is cleaned through friction between the auxiliary rib and the auxiliary cleaning piece.

51. The base station of claim 50, wherein one of the primary cleaning member and the primary ribs rotates or reciprocates during cleaning to create rotational or sliding friction between the primary ribs and the primary cleaning member, and/or

During the cleaning process, one of the auxiliary cleaning member and the auxiliary rib rotates or reciprocates, so that rotational friction or sliding friction is formed between the auxiliary rib and the auxiliary cleaning member.

52. A cleaning system comprising a cleaning apparatus defined in any one of claims 1-48, and a base station defined in any one of claims 49-51.