CN112971630A

CN112971630A - Cleaning module, cleaning robot and cleaning system

Info

Publication number: CN112971630A
Application number: CN201911281590.9A
Authority: CN
Inventors: 谢明健; 饶尧
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2021-06-18

Abstract

The invention provides a cleaning module, a cleaning robot and a cleaning system, wherein the cleaning module comprises a first bracket; a second bracket detachably attached to the first bracket, having an attached state attached to the first bracket to clamp the cleaning medium between the second bracket and the first bracket, and a separated state at least partially separated from the first bracket to release the cleaning medium; and the clutch executing assembly is arranged on the first bracket and used for driving the second bracket to switch between the attaching state and the detaching state. According to the embodiment of the invention, the cleaning medium can be automatically replaced without user intervention, and the user experience is better.

Description

Cleaning module, cleaning robot and cleaning system

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a cleaning module, a cleaning robot and a cleaning system.

Background

With the continuous pursuit of people for higher quality of life, household cleaning robots including but not limited to floor sweepers, floor mopping machines, window cleaning machines and the like are increasingly used.

Cleaning robots generally perform cleaning operations using cleaning media (e.g., paper towels, mops, etc.), and specifically, the cleaning media are mounted on a cleaning tool (e.g., a mop plate) or a machine body, and the cleaning robot drives the cleaning media to move on a working surface (e.g., a bottom plate, glass) while traveling along a set route, so as to perform the cleaning operations. Inevitably, as the cleaning operation time is prolonged, stains adhered to the cleaning medium increase, and the cleaning effect becomes poor. For this reason, the dirty cleaning medium has to be removed and replaced with a clean cleaning medium.

At present, cleaning robots in the market generally adopt a magic/bristle sticking mode to stick cleaning media to a cleaning tool or a machine body. When the cleaning medium needs to be replaced, the cleaning medium needs to be manually torn off, replaced with a new cleaning medium, and finally mounted on the cleaning tool or the machine body. In this way, manual intervention is required to manually replace the cleaning medium, the hands of a user are easily dirtied during replacement of the cleaning medium, and user experience is poor.

Disclosure of Invention

Based on the foregoing defects in the prior art, embodiments of the present invention provide a cleaning module, a cleaning robot configured with the cleaning module, and a cleaning system including the cleaning robot, which can automatically implement replacement of a cleaning medium without user intervention, thereby improving user experience.

In order to achieve the above object, the present invention provides the following technical solutions.

A cleaning module, comprising: a first bracket; a second bracket detachably attached to the first bracket, having an attached state attached to the first bracket to clamp the cleaning medium between the second bracket and the first bracket, and a separated state at least partially separated from the first bracket to release the cleaning medium; and the clutch executing assembly is arranged on the first bracket and used for driving the second bracket to switch between an attaching state and a detaching state.

A cleaning robot, comprising: a housing; establish at the cleaning module of casing bottom includes: a first bracket; a second bracket detachably attached to the first bracket, having an attached state attached to the first bracket to clamp the cleaning medium between the second bracket and the first bracket, and a separated state separated from the first bracket to release the cleaning medium; and the clutch executing assembly is arranged on the first bracket and used for driving the second bracket to switch between an attaching state and a detaching state.

A cleaning system, comprising: a cleaning robot comprising: a housing; establish at the cleaning module of casing bottom includes: a first bracket; a second bracket detachably attached to the first bracket, having an attached state attached to the first bracket to clamp the cleaning medium between the second bracket and the first bracket, and a separated state separated from the first bracket to release the cleaning medium; the clutch executing assembly is arranged on the first bracket and used for driving the second bracket to switch between an attaching state and a detaching state; the base station for the cleaning robot to stop is provided with a replacement area for placing the second bracket, a recovery area for placing old cleaning media and a storage area for accommodating new cleaning media; the base station is provided with a taking-down mechanism and a replacing mechanism; when the cleaning robot is parked on the base station and the second carriage is in the detached state, the removing mechanism is configured to transfer the old cleaning medium detached in the replacement area to the recovery area, and the replacing mechanism is configured to replace the new cleaning medium in the storage area onto the second carriage located in the replacement area.

The cleaning module of the embodiment of the invention is characterized in that a second bracket detachably attached to the first bracket is arranged, and a clutch executing assembly which is operable to drive the second bracket to switch between an attached state and a detached state is arranged on the first bracket. When the cleaning medium needs to be replaced, the clutch executing assembly can drive the second bracket to be switched from the attachment state of the second bracket attached with the first bracket to the separation state of the second bracket separated from the first bracket, so that the release of the old cleaning medium and the replacement of a new cleaning medium are realized. And the clutch executing assembly is used for restoring the second bracket from the separated state to the attached state attached with the first bracket after the replacement of the cleaning medium is completed. Therefore, manual operation and intervention are not needed for replacing the cleaning medium, and user experience is better.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for facilitating the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. Those skilled in the art, having the benefit of the teachings of this invention, may choose from the various possible shapes and proportional sizes to implement the invention as a matter of case. In the drawings:

FIG. 1 is a schematic view of an assembled structure of a cleaning module according to one non-limiting embodiment of the present invention;

FIG. 2 is an exploded view of the cleaning module of FIG. 1;

FIG. 3 is a schematic side view of the cleaning module of FIG. 1 or 2 with a second bracket in an attached state;

FIG. 4 is a side sectional view of the cleaning module of FIG. 1 or FIG. 2 with a second bracket in an attached state;

FIG. 5 is a side sectional view of the cleaning module of FIG. 1 or FIG. 2 with the second bracket in a detached state;

FIG. 6 is a schematic side view of a cleaning module according to one non-limiting embodiment of the present invention;

FIG. 7 is a schematic view of a structure between the cleaning medium and the second holder when the second holder exists in parallel with the cleaning direction;

fig. 8 is a schematic structural view between the cleaning medium and the second holder when the second holder is not present in parallel with the cleaning direction.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a single embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In this specification, the direction of the cleaning module of the embodiment of the present invention, which is directed toward or facing the working surface in a normal use state, is defined as "lower", and the opposite direction, or the direction facing away from the working surface is defined as "upper". More specifically, an upward direction illustrated in fig. 1 to 5 is defined as "up", and a downward direction illustrated in fig. 1 to 5 is defined as "down".

It should be noted that the definitions of the directions in the present specification are only for convenience of describing the technical solution of the present invention, and do not limit the directions of the cleaning module of the embodiment of the present invention in other scenarios, including but not limited to use, test, transportation, and manufacture, which may cause the orientation of the cleaning module to be reversed or the position of the cleaning module to be changed.

The cleaning module of the embodiment of the invention can be configured in the cleaning robot, and can be dragged by the cleaning robot to move on the working surface along the cleaning direction to perform cleaning operation. Specifically, the cleaning robot may be configured with a housing, and the cleaning module 100 may be provided at the bottom of the housing. The bottom of the housing may further be provided with a traveling mechanism for dragging the cleaning robot to move along the cleaning direction L, and the traveling mechanism may be disposed in front of the cleaning module 100 along the cleaning direction L.

The cleaning robot in the embodiments of the present invention may further include other necessary modules or components such as a roll brush, an edge brush, a suction port, a dust box, a battery, a motor, etc. in order to achieve the basic functions of the cleaning robot. It should be noted that any suitable existing configuration may be used for other necessary modules or components included in the cleaning robot. For clearly and briefly explaining the technical scheme provided by the invention, the parts are not described again, and the drawings in the specification are correspondingly simplified. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended.

The cleaning robot provided with the cleaning module provided by the embodiment of the invention can be applied to cleaning operation scenes including but not limited to sweeping, mopping, window cleaning and the like. For example, in a specific scenario, the cleaning module according to the embodiment of the present invention is configured in a floor mopping robot, and the floor mopping robot can bring the cleaning module into contact with the floor, so as to wipe the floor.

It should be noted that the above-mentioned scenario for mopping is only one possible cleaning operation scenario of the cleaning module according to the embodiment of the present invention. It is contemplated that one skilled in the art may expand the cleaning module of embodiments of the present invention for use in any suitable cleaning scenario, and the embodiments of the present invention are not limited thereto.

As shown in fig. 1 to 5, a cleaning module 100 of an embodiment of the present invention may include a first bracket 1 and a second bracket 2. Wherein the second bracket 2 is detachably attached to the first bracket 1 so that the second bracket 2 has an attached state where it is attached to the first bracket 1 and a detached state where it is at least partially detached from the first bracket 1.

In the present embodiment, the state in which the second bracket 2 is at least partially separated from the first bracket 1 may include: the second bracket 2 is completely separated from the first bracket 1 without a connection or contact relationship therebetween, as in the case illustrated in fig. 5. Alternatively, the second bracket 2 is separated from a portion of the first bracket 1, but still in a partially connected or contacting relationship. Specifically, one side edge of the second bracket 2 may be rotatably connected to the first bracket 1, and the second bracket 2 may rotate around its rotational connection point with the first bracket 1. When the second bracket 2 rotates away from the first bracket 1, the second bracket 2 is switched to the separated state, but the second bracket 2 still has a portion connected to the first bracket 1.

It should be noted that, the following is a main description scenario in which the second bracket 2 is completely separated from the first bracket 1 as the second bracket 2 is in a separated state, but the scope of the embodiment of the present invention is not limited thereto.

As shown in fig. 1, 3 and 4, the second bracket 2 is in an attached state. Fig. 5 is a schematic structural view of the second bracket 2 in a separated state. When the second bracket 2 is in the attached state, the cleaning medium 3 may be clamped between the second bracket 2 and the first bracket 1. In this case, the cleaning robot may drive the cleaning module 100 to perform the cleaning operation. When the second carriage 2 is in the separated state, the cleaning medium 3 originally clamped between the first carriage 1 and the second carriage 2 is released. Thereby, the cleaning medium 3 can be taken out. The cleaning medium 3 may be any substance or material that can be used to clean a work surface, such as, but not limited to, paper towels, mops, etc., and the embodiment of the present invention is not limited thereto.

In order to switch the second support 2 between the detached state and the attached state, the first support 1 may be provided with a clutch actuator 4, which can drive the second support 2 between the attached state and the detached state. Specifically, the clutch actuator 4 has a rest state and an operating state. When the clutch actuator 4 is switched between the rest state and the working state, the second carrier 2 can be driven to switch between the attached state and the detached state.

The clutch actuator 4 and the second carrier 2 each have two states. The two states of the clutch actuator 4 may correspond to the two states of the second carrier 2, respectively. For example, in a first possible embodiment, the second carrier 2 may be in the attached state when the clutch actuator 4 is in the resting state. Accordingly, when the clutch actuator 4 is in the working state, the second carrier 2 is in the disengaged state.

Thus, when the clutch actuator 4 is switched from the rest state to the working state, the second carrier 2 can be correspondingly driven by the clutch actuator 4 to be switched from the attached state to the detached state. In contrast, when the clutch actuation assembly 4 is switched from the operating state to the resting state, the second carrier 2 can be correspondingly restored from the disengaged state to the attached state.

In this embodiment, the first bracket 1 may exert an attachment force on the second bracket 2, the presence of which causes the second bracket 2 to always have a tendency to be in an attached state, or a tendency to switch movement toward an attached state. Therefore, the second bracket 2 is normally in the attached state without an external force acting in the opposite direction to the attaching force. Accordingly, to switch the second bracket 2 from the attached state to the detached state, the clutch actuator 4 applies a detaching force to the second bracket 2 opposite to the attaching force, and the detaching force should have a value larger than the attaching force.

Therefore, when the clutch actuator 4 is switched from the rest state to the working state, the clutch actuator 4 can apply a separating force to the second carrier 2 to drive the second carrier 2 to be switched from the attached state to the separated state. That is, when the clutch actuator 4 is in a resting state, it does not apply a separating force to the second carrier 2. And when the clutch actuating assembly 4 is in the working state, the separation acting force is applied to the second bracket 2.

And because the attaching acting force is always present, when the clutch actuating assembly 4 is switched from the working state to the rest state, the separating acting force applied to the second bracket 2 by the clutch actuating assembly 4 is removed, so that the second bracket 2 is automatically reset to the attaching state under the driving of the attaching acting force.

Thus, when the clutch actuator 4 is in a resting state, the second holder 2 is in an attached state by the attaching force, and the cleaning medium 3 is clamped between the first holder 1 and the second holder 2. The cleaning robot drags the cleaning module 100 of the present embodiment to move on the work surface, and performs a cleaning operation on the work surface by the cleaning medium 3. When the cleaning work is performed for a predetermined time or after the cleaning work of the work surface is completed, the cleaning medium 3 becomes dirty. At this time, the clutch actuator 4 may be switched from the rest state to the working state to apply a separating force against the attaching force to the second carrier 2, so that the second carrier 2 is switched from the attached state to the separated state, and the cleaning medium 3 is released. Further, the dirty cleaning medium 3 may be removed and replaced with a new or clean cleaning medium 3 on the second frame 2. Then the clutch executing component 4 is switched to a rest state, and the separating acting force applied to the second bracket 2 is removed. The second carriage 2 is automatically returned to the attached state by the driving of the attaching force, thereby clamping the replaced cleaning medium 3 between the second carriage 2 and the first carriage 1. Subsequently, the next cleaning operation can be performed.

In this embodiment, the attachment force may be a field force. Thereby, the purpose of applying the attaching force without using a physical connecting member is achieved, and the structure can be simplified. Also, the field forces, when overcome by the opposing separation forces, do not cause structural changes in the first and

second supports

1, 2, thereby allowing the cleaning module 100 to maintain a better structural integrity.

Further, the field force may be a magnetic field force. In a specific embodiment, as shown in fig. 1 to 4, the first bracket 1 may be provided with a first attaching member 5, and the second bracket 2 may be provided with a second attaching member 6 corresponding to the first attaching member 5. Wherein one of the first attachment element 5 and the second attachment element 6 is a magnetic element and the other is a magnetizable or magnetic element. The attachment force may be the magnetic attraction of the first attachment element 5 to the second attachment element 6.

The magnetic element may be a magnetic element capable of generating a magnetic field, for example, a magnet (such as a permanent magnet or a hard magnet) with its own magnetism, or an electromagnetic element (such as an electromagnet) capable of generating magnetism when energized. The magnetizable element may be made of a magnetizable material, such as iron, cobalt, nickel, etc., which is capable of being attracted by a magnetic force.

In the present embodiment, the first bracket 1 can apply the attaching force to the second bracket 2 by means of magnetic field force, and at least one of the first attaching element 5 and the second attaching element 6 is a magnetic element, and the other is an element capable of generating magnetic force with the magnetic element. For example, one of the first attachment element 5 and the second attachment element 6 is a magnetic element, and the other is a magnetizable element. Alternatively, the first attachment element 5 and the second attachment element 6 are both magnetic elements.

Any magnetic element has two stages (N-pole, S-pole) and any one of the poles of the magnetic element can attract the magnetizable element, while only the unlike poles can attract each other. Therefore, when one magnetic element and the other magnetic element of the first attachment element 5 and the second attachment element 6 are magnetizable elements, the magnetic pole of the magnetic element facing the magnetizable elements may be either the N pole or the S pole. When the first and second attaching

members

5 and 6 are both magnetic members, the polarity of the first attaching member 5 facing the second attaching member 6 is different from the polarity of the second attaching member 6 facing the first attaching member 5. For example, the polarity of the first attachment element 5 facing the second attachment element 6 is N-polar, and the polarity of the second attachment element 6 facing the first attachment element 5 is correspondingly S-polar. And vice versa.

The purpose of the first bracket 1 applying an attaching force to the second bracket 2 is achieved by providing the first attaching member 5 and the second attaching member 6 on the first bracket 1 and the second bracket 2 and causing the first attaching member 5 and the second attaching member 6 to attract each other by means of a magnetic field force. Thus, when the first and

second attachment members

5, 6 are magnetically attracted together, the second bracket 2 is in an attached state (as shown in fig. 3 and 4). And when the first attaching member 5 is separated from the second attaching member 6, the second bracket 2 is in a separated state (as shown in fig. 5).

It is to be noted that, according to the principle that the forces act on each other, by the magnetic attraction force generated by the first and second attaching

members

5 and 6, the first bracket 1 applies the attaching force to the second bracket 2 while the second bracket 2 also applies the reaction force opposite to the attaching force to the first bracket 1. And the values of the attachment force and the reaction force are equal. Specifically, as shown in fig. 3 and 4, the attachment force is upward and the reaction force is downward. Accordingly, the separation force applied by the clutch actuator assembly 4 to the second carrier 2 is directed downward, opposite to the attachment force.

It should be noted that when one of the first attachment element 5 and the second attachment element 6 is a magnetizable element, the magnetizable element may be an additional component, or may be a part of the structure of the first attachment element 5 or the second attachment element 6 itself. For example, the magnetic element is arranged on the first support 1, the magnetizable element is an iron block arranged on the second support 2, or the second support 2 is made of a ferrous material (including the second support 2 as a whole) at least at a portion corresponding to the magnetic element.

In order to increase the attachment force and thus the stability of the second bracket 2 in the attached state, the number of the first and

second attachment elements

5 and 6 may be plural, and the plural first and

second attachment elements

5 and 6 are respectively provided at positions of the first and

second brackets

1 and 2 near the edge. Specifically, as shown in fig. 1 and 2, the first bracket 1 has at least one pair of first side edges disposed opposite to each other, and the second bracket 2 has a second side edge corresponding to the at least one pair of first side edges. A plurality of first attachment elements 5 are distributed on at least one pair of first sides and a plurality of second attachment elements 6 are distributed on at least one pair of second sides. In this manner, the second bracket 2 can be attached to the first bracket 1 along the peripheral edge, so that the attachment strength of the second bracket 2 can be improved. And, the first attaching member 5 and the second attaching member 6 are respectively provided at the edges of the first bracket 1 and the second bracket 2, and do not occupy the middle cleaning working area of the first bracket 1 and the second bracket 2, thereby preventing the first attaching member 5 and the second attaching member 6 from interfering with the cleaning working area of the first bracket 1 and the second bracket 2, and ensuring that the cleaning work can be smoothly performed.

For example, the first and

second brackets

1 and 2 have a substantially rectangular shape in plan view, and the first bracket 1 has two pairs of first oppositely disposed sides, and the second bracket 2 also has two pairs of second oppositely disposed sides. The side edges are understood to be the parts of the support near the edges. The plurality of first attachment elements 5 and the plurality of second attachment elements 6 may be evenly distributed on at least one pair of the first side edge and the second side edge. For example, the plurality of first attaching members 5 are equally divided into two groups, respectively provided on a pair of two first side edges. Alternatively, the plurality of first attaching members 5 are equally divided into four groups, respectively provided on two pairs of four first side edges. Likewise, a plurality of second attachment elements 6 may be provided with reference. Also, a plurality of first attaching elements 5 are preferably provided on a surface (lower surface) of the first side facing the second side, and a plurality of second attaching elements 6 are preferably provided on a surface (upper surface) of the second side facing the first side. In this way, obstacles or other foreign objects existing between the first attachment element 5 and the second attachment element 6 can be reduced or even eliminated, weakening of the magnetic attraction between the first attachment element 5 and the second attachment element 6 is avoided, and the magnetic attraction between the first attachment element 5 and the second attachment element 6 is improved.

Further preferably, the first support 1 may have a plurality of first corner points, and the second support 2 may have second corner points corresponding to the plurality of first corner points. The first corner point may be where two first sides intersect, and the second corner point may be where two second sides intersect. At least a first corner point is provided with a first attachment element 5 and at least a second corner point is provided with a second attachment element 6. For example, the number of the first and second corner points is four as illustrated in fig. 2, the number of the first and second attaching

elements

5 and 6 is not less than four (four or more). One first attachment element 5 and one second attachment element 6 are arranged at each of the four first and second corner points, and the remaining first and

second attachment elements

5, 6 may be arranged in a symmetrical manner on the first and second lateral sides, respectively. In this way, the effect of attaching and fixing the second bracket 2 and the first bracket 1 at the corners is improved.

In the present embodiment, the first bracket 1 is configured to be a substantially plate-shaped structure, and the second bracket 2 is configured to be a frame structure having a central hollow area 201, and includes a plurality of sides, and the sides are sequentially connected end to form the central hollow area 201. The shape of the second bracket 2 is matched with that of the first bracket 1, so that the second bracket and the first bracket can be assembled better, the second bracket and the first bracket can be well matched after being assembled, and a relatively complete structure is formed.

For example, the first bracket 1 may have a substantially rectangular plate-like structure having a length direction and a width direction, and including two pairs of oppositely disposed, total four first side edges. The second frame 2 is a substantially rectangular hollow frame structure, which is sized to substantially fit the first frame 1 and comprises two pairs of oppositely disposed, total four second side edges. Of course, the shape of the first support 1 and the second support 2 is not limited to the rectangle listed above, but may be any other feasible shape, such as an ellipse, a sector, a hexagon, a special shape, and the like, which is not limited by the embodiment.

When the second bracket 2 is in the attached state, the first bracket 1 may be at least partially embedded in the central hollowed-out area 201 of the second bracket 2. Moreover, the lower surface of the first frame 1 can be accommodated in the central hollow area 201, and at least a portion of the lower surface of the cleaning medium 3 extends out of the central hollow area 201. That is, when the second bracket 2 is in the attached state and the cleaning medium 3 is sandwiched between the first bracket 1 and the second bracket 2, the lower surface of the first bracket 1 is located inside the central hollow area 201 of the second bracket 2 and does not protrude outside the central hollow area 201, and at least a part of the lower surface of the cleaning medium 3 is located outside the central hollow area 201.

In this way, when the cleaning robot drags the cleaning module 100 to move on the work surface, only the cleaning medium 3 is in contact with the work surface, and the lower surface of the first bracket 1 is not in contact with the work surface since it is received into the middle hollow area 201 of the second bracket 2. Thus, while the cleaning medium 3 is kept in contact with the working surface to realize normal cleaning operation, the first bracket 1 is prevented from touching the ground, the traveling resistance of the cleaning robot is reduced, and mechanical damage or scratch of the first bracket 1 and/or the working surface caused by the contact of the first bracket 1 with the working surface is prevented.

To achieve the above object, the depth of the central hollow area 201 is configured to be greater than the depth of the first holder 1 embedded in the central hollow area 201, and less than the sum of the depth of the first holder 1 embedded in the central hollow area 201 and the thickness of the cleaning medium 3. The depth of the first bracket 1 embedded in the middle hollow area 201 may be the maximum distance between the second bracket 2 and the lower surface of the first bracket 1 corresponding to the upper surface of the embedded portion of the first bracket 1.

For example, in one possible embodiment, the first holder 1 may have a regular rectangular block shape, the lower surface of which is a plane. The second bracket 2 is also in a regular rectangle, and the four second sides are straight sides. When the first bracket 1 is embedded in the middle hollow area 201 of the second bracket 2, the lower surface thereof may be parallel to the second side edge surface or the lower surface of the second bracket 2. The depth of the first bracket 1 embedded in the central hollow area 201 may be a vertical distance between the upper surface of the second bracket 2 and the lower surface of the first bracket 1.

In this embodiment, when the cleaning robot drags the cleaning module 100 to move on the working surface, the cleaning medium 3 is in surface contact with the working surface, and the surface of the cleaning medium 3 exposed out of the central hollow area 201 is attached to the working surface.

Alternatively, in another possible embodiment, the first bracket 1 may have an irregular rectangular block shape, the upper surface of which may be a flat surface, and the lower surface of which may be a curved surface. Specifically, as shown in fig. 5, the lower surface of the first bracket 1 has an arc-shaped longitudinal cross-sectional shape. A pair of two oppositely disposed first side edges of the first bracket 1 perpendicular to the cleaning direction L may be straight side edges, and a pair of two oppositely disposed first side edges parallel to the cleaning direction L may be arc side edges (as shown in fig. 1 and 2). The depth of the first bracket 1 embedded in the central hollow area 201 may be a vertical distance between the upper surface of the second bracket 2 and the lowest point of the arc-shaped lower surface of the first bracket 1.

In this embodiment, when the cleaning robot drags the cleaning module 100 to move on the work surface, the cleaning medium 3 is in contact with the work surface at a portion of the lowest point contact with the arc-shaped lower surface of the first carriage 1, and the contact is a line contact.

Correspondingly, for adapting the curved lower surface of the first holder 1, the second holder 2 has two curved sides 203 on both sides of the cleaning direction L, the upper surfaces of the curved sides 203 being adapted to the lower surface of the first holder 1. In this way, when the second bracket 2 is in the attached state, the arc-shaped side 203 of the second bracket 2 can better fit with the arc-shaped lower surface of the second bracket 2, so that the contact area between the two can be increased, and the attachment strength and stability can be improved.

In addition, as shown in fig. 6, a receiving groove 104 adapted to the arc-shaped side 203 is formed on the lower surface of the first bracket 1, and the thickness of the arc-shaped side 203 is not greater than the depth of the receiving groove 104. When the second bracket 2 is in the attached state, the arc-shaped side 203 is received in the receiving groove 104. Therefore, the cleaning module 100 can prevent the second bracket 2 from contacting the working surface during the cleaning operation, and further can prevent the second bracket 2 and/or the working surface from being mechanically damaged or scratched due to the contact of the second bracket 2 with the working surface.

Further, the cleaning medium 3 may be configured such that a length dimension in the vertical cleaning direction L is larger than a distance between the two container grooves 104. When the second holder 2 is in the attached state, an edge portion of the cleaning medium 3 in the vertical cleaning direction L may be pressed into the receiving groove 104 by the arc-shaped side 203. It is further preferable that both ends of the cleaning medium 3 in the vertical cleaning direction L are located outside the two container grooves 104 when the second bracket 2 is in the attached state. Like this, cleaning medium 3 can take place buckling deformation along with the cell wall of storage tank 104 to can increase the area of contact between cleaning medium 3 and first support 1, the second support 2, improve the contact friction between cleaning medium 3 and first support 1, the second support 2, and then cleaning medium 3 fixed strength is higher, avoids cleaning medium 3 to take place to drop in the cleaning operation in-process.

In order to ensure that the arc-shaped lower surface of the first bracket 1 does not exceed the hollow-out area 201 in the middle of the second bracket 2 when the arc-shaped side 203 of the second bracket 2 is embedded in the accommodating groove 104, the lower surfaces of both ends of the first bracket 1 (the lower surfaces of both ends in the length direction as illustrated in fig. 1 and 2) perpendicular to the cleaning direction L protrude downward to form an arc-shaped boss, and the lower surface of the boss is recessed inward to form the accommodating groove 104. Thus, the height of the receiving groove 104 is at least not higher than the arc surface of the first support 1, so that when the arc-shaped side 203 of the second support 2 is embedded in the receiving groove 104, the lower surface of the first support 1 does not exceed the middle hollow area 201 of the second support 2.

As shown in fig. 7, if the second frame 2 has a side parallel to the cleaning direction L, the cleaning module 100 cannot clean the area where the side parallel to the cleaning direction L passes by the cleaning medium 3 during the cleaning operation, so that a dead angle occurs. Therefore, to avoid the above problem, as shown in fig. 8, neither side edge of the second holder 2 is parallel to the cleaning direction L. Bearing in mind the above, the two straight second sides of the second bracket 2 are substantially perpendicular to the cleaning direction L, and therefore neither of the curved sides 203 is parallel to the cleaning direction L.

Thus, even if the front end of the second side in the cleaning direction L appears as an uncleaned area on the working surface due to being uncovered by the cleaning medium 3, the uncleaned area is subsequently cleaned by the cleaning medium 3 on the rear side. Therefore, dead corners which are not cleaned do not occur in the area where the cleaning module 100 passes through, the cleaning medium 3 can be ensured to completely cover the passing area, and the cleaning effect is good.

As shown in fig. 2 to 5, further, the first bracket 1 is formed with a wing portion 101 at an outer side of the arc-shaped lower surface in the cleaning direction L, and the wing portion 101 is higher than the lowest point of the arc-shaped lower surface of the first bracket 1. The second frame 2 has straight sides 202 located at two sides of the arc-shaped side 203 along the cleaning direction L and connected to two ends of the arc-shaped side 203, respectively, and the straight sides 202 are higher than the lowest point of the lower surface of the arc-shaped side 203. The wings 101 are adapted to the straight sides 202, and when the second bracket 2 is in the attached state, the straight sides 202 are mated with the wings 101.

In the present embodiment, the number of the wing portions 101 is two, two wing portions 101 are located at the front side and the rear side of the first bracket 1 along the cleaning direction L, and the wing portions 101 may be specifically a lug or a lug structure formed by horizontally extending the front side edge and the rear side edge of the first bracket 1 outward. Similarly, the number of the straight sides 202 is also two, and the two straight sides 202 are located on the front and rear sides of the second holder 2 in the cleaning direction L.

Since the wing part 101 is higher than the lowest point of the arc-shaped lower surface of the first bracket 1, the wing part 101 does not contact the work surface during the cleaning operation of the cleaning module 100. Likewise, the straight side 202, which is disposed in close contact with the wing 101, does not contact the work surface. Therefore, the structure is designed, when the cleaning module 100 moves on a working surface, only the cleaning medium 3 clamped between the first support 1 and the second support 2 is in contact with the working surface, and the first support 1 and the second support 2 are lifted off the working surface, so that the problems that the movement of the cleaning module 100 is blocked, and the cleaning module 100 and/or the working surface is mechanically damaged or scratched due to the fact that the first support 1 and the second support 2 are scraped with the working surface in the cleaning operation process are avoided.

In addition, since the wing part 101 is higher than the lowest point of the arc-shaped lower surface of the first bracket 1, a first limit step 1011 may be formed at the junction of the wing part 101 and the arc-shaped lower surface of the first bracket 1. Similarly, the straight side 202 matching with the wing 101 is higher than the arc side 203, and a second limit step 2022 matching with the first limit step 1011 is formed between the straight side 202 and the arc side 203. So, when second support 2 is in the attached state, first spacing step 1011 can be gone into to second spacing step 2022 to realize spacing and fixed of second support 2 and first support 1 along clean direction L, avoid appearing second support 2 and first support 1 in the cleaning operation in-process and take place the phenomenon that drops.

And, through the block effect of first spacing step 1011 and second spacing step 2022, can realize the accurate of second support 2 and first support 1 and attach, and then guarantee the accuracy of cleaning medium 3 assembly and centre gripping, solve cleaning medium 3 improper installation or assembly position and inaccurate and lead to the not good enough problem of follow-up clean effect.

On the basis of this embodiment, the first attachment element 5 and the second attachment element 6 can be provided on the wing 101 of the first bracket 1 and on the straight side 202 of the second bracket 2, respectively. As shown in fig. 2 to 4, the lower surface of the wing part 101 may be inwardly recessed to form a plurality of first mounting grooves, and the upper surface of the straight side 202 may be inwardly recessed to form a plurality of second mounting grooves, the first mounting grooves and the second mounting grooves being equal in number and being arranged in one-to-one correspondence. The first attachment element 5 may be fixedly inlaid in the first mounting groove and the second attachment element 6 may be fixedly inlaid in the second mounting groove. Due to the shape matching of the wing part 101 and the straight side 202, when the second bracket 2 is in the attaching state, the first attaching element 5 and the second attaching element 6 respectively arranged on the wing part 101 and the straight side 202 can generate attaching acting force to attract each other, so as to drive the wing part 101 and the straight side 202 to be attached together, thereby preferably realizing the assembly of the first bracket 1 and the second bracket 2, and improving the attaching strength and stability of the first bracket 1 and the second bracket 2.

The electromagnetic element consumes a large amount of electric energy to generate a magnetic field, and the electromagnetic element at least comprises a coil, an electromagnetic armature and other structures, so that the structure is complex and the weight is large. Thus, as a preferred embodiment, the first attachment element 5 and the second attachment element 6 are both magnetic elements, such as permanent magnets. In this way, power consumption costs can be reduced, and the magnetic member can be prepared in a shape suitable for a state, such as a bar shape, a block shape, a circular shape, etc., so that the structure is simple, and thus it is possible to simplify the assembly structure of the first and

second brackets

1 and 2, and to reduce the load-bearing load of the first and

second brackets

1 and 2, and further to reduce the weight of the entire cleaning module 100.

The separation acting force applied by the clutch actuator 4 to the second carrier 2 to urge the second carrier 2 to be switched from the attached state to the detached state or to maintain the second carrier 2 in the detached state may be a field force or a mechanical force. As described above, when the separation force is a field force, the field force may also be a magnetic field force. The second bracket 2 may be switched from the detached state to the attached state or maintained in the attached state by the action of a magnetic force (in particular, a repulsive magnetic force that repels each other), and may also be switched from the attached state to the detached state or maintained in the detached state by the action of a magnetic force (in particular, an attractive magnetic force).

Specifically, when the separation acting force is a field force, the clutch actuating assembly 4 may include a driving element, and the second bracket 2 may be provided with a matching element corresponding to the driving element. Wherein one of the dislodging element and the cooperating element may be an electromagnetic element and the other may be a magnetic element or an electromagnetic element. The method specifically comprises the following steps: one of the dislodging element and the mating element is an electromagnetic element and the other is a magnetic element, and both the dislodging element and the mating element are electromagnetic elements. Wherein, the electromagnetic element and the magnetic element can be explained with reference to the above, and are not described herein.

Likewise, the number of the driving-off elements and the number of the matching elements may be multiple and are respectively arranged on the edges of the first bracket 1 and the second bracket 2, and specifically, may be arranged on the wing part 101 of the first bracket 1 and the straight side 202 of the second bracket 2. And the plurality of dislodging elements are arranged in a staggered manner with the plurality of first attaching elements 5 provided on the wings 101 of the first bracket 1, and likewise the plurality of mating elements are arranged in a staggered manner with the plurality of second attaching elements 6 provided on the straight sides 202 of the second bracket 2.

As described above, the electromagnetic element has a larger weight, a more complex structure and consumes more power than the magnetic element. Also, since the second bracket 2 needs to be attached to the first bracket 1 by means of an attaching force, the attaching force needs to overcome the total weight of the second bracket 2 and the construction (including the cleaning medium 3, the mating member) thereon. Therefore, the total weight of the second bracket 2 and the structure thereon should be minimized.

In view of this, in a preferred embodiment, the dislodging element may be an electromagnetic element, and the cooperating element is a magnetic element. That is, the electromagnetic element with a large weight is provided as the driving element on the first bracket 1, and the magnetic element with a small weight is provided as the matching element on the second bracket 2, so that the second bracket 2 can be reduced in weight to the maximum.

Since the attaching force is always present, the detaching force only needs to be present when the second bracket 2 is switched or kept in the detached state. The dislodging element and the mating element therefore need to be configured not to exert a separating force on the second bracket 2 when the second bracket 2 needs to be switched or kept in the attached state, but to exert a separating force on the second bracket 2 when it needs to be switched or kept in the separated state. At least one of the driving-off element and the matching element is an electromagnetic element, so that the electromagnetic element is electrified or deenergized, and the application or cancellation of the separating acting force can be realized.

Therefore, in the present embodiment, the rest state of the clutch actuation assembly 4 may be a state when the electromagnetic element is not energized, and the operating state may be a state when the electromagnetic element is energized. And when the clutch actuating assembly 4 is in the working state, the polarity of the driving element facing the matching element is the same as that of the matching element facing the driving element, and the separation acting force can be the magnetic repulsion force of the driving element facing the matching element.

For example, in one specific embodiment, the dislodging element is an electromagnetic element and the cooperating element is a magnetic element. The magnetic element has an N-pole facing polarity, and the electromagnetic element also has an N-pole facing polarity when the electromagnetic element is energized (i.e., the clutch actuator 4 is in the operating state). When the clutch actuator 4 is in a resting state, the electromagnetic element is not magnetized, and the second bracket 2 is attached to the first bracket 1 by the magnetic attraction of the first and

second attachment elements

5 and 6. When the clutch executing assembly 4 is switched to the working state, the electromagnetic element is electrified to generate magnetism, so that the electromagnetic element and the magnetic element are mutually repelled. And the magnetic repulsion force generated between the repelling element and the mating element is larger than the magnetic attraction force between the first attaching element 5 and the second attaching element 6. Thereby, the second carriage 2 is driven to be separated from the first carriage 1, and is switched to the separated state.

In the embodiment where the separation acting force is a field force, the component (the driving element) included in the clutch actuating assembly 4 may not be in direct physical contact with the second bracket 2 to apply or cancel the separation acting force, thereby implementing the state switching and maintaining of the second bracket 2. In contrast, in the embodiment where the separation force is a mechanical force, the clutch actuator 4 may apply or release the separation force and switch and maintain the state of the second bracket 2 by making direct physical contact with the second bracket 2.

As shown in fig. 1 to 6, in particular, in the embodiment where the separation force is a mechanical force, the clutch actuation assembly 4 may include a driving shaft 401 and a separation cam 402 provided on the driving shaft 401; the separation cam 402 can be driven by the drive shaft 401 to extend or retract its cam surface to the edge of the first carriage 1.

In this embodiment, the driving shaft 401 is disposed on the first bracket 1 in a manner substantially consistent with the length direction of the first bracket 1, and the driving shaft 401 is rotatably connected to the first bracket 1 and can rotate relative to the first bracket 1 to rotate the separation cam 402. The mode of rotating between drive shaft 401 and the first can be for, can be equipped with connecting plate 7 on the first support 1, can be equipped with the shaft hole 701 that supplies drive shaft 401 to wear to establish on the connecting plate 7, and drive shaft 401 can rotate in shaft hole 701 of connecting plate 7. Wherein, the connecting plate 7 can be two or more, and two or more connecting plates 7 are arranged on the upper surface of the first bracket 1 along the length direction of the first bracket 1. Preferably, the number of the connecting plates 7 is two, and the two connecting plates 7 are respectively provided at positions close to both ends of the first bracket 1 in the length direction thereof.

The drive shaft 401 may be driven in rotation by a power mechanism, such as a motor (not shown). Specifically, a driven gear may be disposed on the driving shaft 401, a driving gear is disposed on an output shaft of the motor, and the driving gear is engaged with the driven gear, so that the driving shaft 401 is driven by the rotational motion output by the motor.

The number of the separation cams 402 may be two, and the separation cams are respectively disposed at both ends of the driving shaft 401 and respectively correspond to two oppositely disposed sides of the second carriage 2. Thereby, the separating acting force can be uniformly applied to the second support 2, and the state switching efficiency of the second support 2 is improved. Specifically, the two separating cams 402 may correspond to the two arc-shaped side edges 203 of the second bracket 2, respectively. Since the height of the cam surface of the separation cam 402 is changed during the rotation, the variation in the biasing force applied to the second holder 2 in contact therewith can be realized. In order to allow the cam surface of the separation cam 402 to protrude beyond the edge of the first bracket 1 to apply a biasing force to the second bracket 2, the first bracket 1 is provided with an opening 102 corresponding to the separation cam 402, and the opening 102 penetrates the upper and lower surfaces of the first bracket 1 to face the second bracket 2. In this manner, the separation cam 402 can be moved by the drive shaft 401 to move the cam surface thereof into or out of the opening 102, and contact with or separation from the second carriage 2 can be achieved.

In one embodiment, the clutch actuator assembly 4 may include only the driving shaft 401 and the separation cam 402, and the separation cam 402 rotated by the driving shaft 401 directly applies the separation force to the second carrier 2. In this embodiment, the rest state of the clutch actuator 4 may be a state in which the separation cam 402 does not apply the separation force to the second carrier 2, the operation state may be a state in which the separation cam 402 applies the separation force to the second carrier 2, and the separation force may be a contact force applied directly to the second carrier 2 by the separation cam 402.

In the present embodiment, the state when the separation cam 402 does not apply the separation force to the second carriage 2 includes: the separation cam 402 is not in contact with the second holder 2 and the separation protrusion is only in contact with the second holder 2 but has no interaction force. The separation cam 402 is not in contact with the second bracket 2, and specifically, the separation cam 402 may be spaced from the second bracket 2, for example, the separation cam 402 is rotated by the driving shaft 401 to retract into the opening 102, or the separation cam 402 is partially located in the opening 102, partially located outside the opening 102, and the lowest end of the portion located outside the opening 102 is located above the second bracket 2. The separation protrusion is only in contact with the second bracket 2 but has no interaction force, so that the separation protrusion only overlaps the second bracket 2 without exerting any force on the second bracket 2.

Correspondingly, the state when the separation cam 402 applies the separation acting force to the second bracket 2 may be that the separation cam 402 is rotated by the driving shaft 401 until the cam surface thereof abuts against the second bracket 2, and applies a force deviating from the attachment acting force to the second bracket 2.

In a specific operation scenario, when the separation cam 402 does not apply a separation force to the second bracket 2, i.e. the clutch actuator 4 is in a resting state (as shown in fig. 3 and 4), the separation cam 402 is located in the opening 102 and does not protrude out of the lower edge of the first bracket 1, and the second bracket 2 is attached to the first bracket 1 under the action of the attachment force, and the second bracket 2 is in an attached state. When the drive shaft 401 is rotated (clockwise as viewed in fig. 3 to 5), the disengaging cam 402 is brought to protrude through the opening 102 and contact the curved side 203 of the second bracket 2. The drive shaft 401 continues to rotate, and the height of the cam surface of the separation cam 402 in contact with the second carriage 2 gradually increases, so that the force applied by the separation cam 402 to the second carriage 2 also gradually increases until the attachment force is exceeded, and the second carriage 2 moves downward away from the first carriage 1, switching to the separated state.

This embodiment is a scenario in which the separation cam 402 is in direct contact with the second carriage 2 and applies a separation force to the second carriage 2. Since the detaching cam 402 is required to be in direct contact with the second carriage 2, the detaching cam 402 is also required to be large in size. Thus, the size and weight of the detaching cam 402 are large, which is disadvantageous for assembly. The increase in the size of the release cam 402 also increases the arm of the rotational resistance, which increases the load on the motor that rotates the drive shaft 401. Thus, the power requirement for the motor is high, and even the output power of the motor is insufficient, the driving shaft 401 cannot be driven, and the motor may burn out.

In view of this, in a further embodiment, the clutch actuator 4 may further include a release lever 403, one end of the release lever 403 is rotatably connected to the first bracket 1, and the other end is a free end. The release cam 402 is in contact with a release lever 403, the free end of the release lever 403 abutting against the second holder 2.

As shown in fig. 2, a lever fixing block 103 is detachably (e.g., snap-fit) disposed on the first bracket 1, and an insertion hole 103a is disposed inside the lever fixing block 103. An insertion shaft 403a adapted to the insertion hole 103a is disposed outside one end (upper end) of the release lever 403, and the insertion shaft 403a is inserted into the insertion hole 103a and can rotate in the insertion hole 103 a. Thereby, the rotational connection of the release lever 403 to the first carrier 1 is achieved.

In the present embodiment, the rest state of the clutch actuator 4 may be a state in which the release cam 402 does not apply the release force to the second carrier 2 via the release lever 403, and the operation state may be a state in which the release cam 402 applies the release force to the second carrier 2 via the release lever 403. The separation force may be a pushing contact force that the separation cam 402 indirectly applies to the second carriage 2 through the free end of the separation lever 403.

As described above, the state when the separation cam 402 does not apply the separation force to the second carriage 2 through the separation lever 403 includes: the free end of the separating lever 403 is placed on the second bracket 2, but the separating cam 402 is not in contact with the separating lever 403; alternatively, the free end of the release lever 403 rests on the second carrier 2, and the release cam 402 and the release lever 403 are only in contact but have no interaction force. The separation cam 402 is not in contact with the separation lever 403, and specifically, the separation cam 402 may be spaced from the separation lever 403, for example, the separation cam 402 is rotated by the driving shaft 401 to retract into the opening 102, or the separation cam 402 is partially located in the opening 102, partially located outside the opening 102, and the lowest end of the portion located outside the opening 102 is located above the separation lever 403. The separation protrusion and the separation lever 403 are only in contact but have no interaction force, so that the separation protrusion merely rests on the separation lever 403 without exerting any force on the separation lever 403.

Correspondingly, the state when the separation cam 402 applies the separation force to the second bracket 2 through the separation lever 403 may be that the separation cam 402 is rotated by the driving shaft 401 until the cam surface thereof abuts against the separation lever 403, the separation lever 403 is rotated around one end thereof by the abutting action of the separation cam 402, and the free end thereof abuts against the second bracket 2 and applies a force deviating from the attachment force to the second bracket 2.

In a specific operation scenario, when the release cam 402 does not apply a release force to the second bracket 2 through the release lever 403, i.e. the clutch actuator 4 is at rest (as shown in fig. 3 and 4), the release cam 402 is located in the opening 102 and does not protrude out of the lower edge of the first bracket 1. And the separation lever 403 is also received in the opening 102, and the second bracket 2 is attached to the first bracket 1 by the attaching force, with the second bracket 2 in the attached state. When the driving shaft 401 rotates (clockwise as shown in fig. 3 to 5), the separating cam 402 is brought to protrude through the opening 102 and abut against the separating lever 403, the separating lever 403 rotates around its upper end under the abutting action of the separating cam 402, and its free end abuts against the second bracket 2 and exerts a force on the second bracket 2 that is directed away from the attachment force. The drive shaft 401 continues to rotate, and the height of the cam surface of the separation cam 402 in contact with the separation lever 403 gradually increases, so that the force applied by the separation cam 402 to the separation lever 403 and the force applied by the separation lever 403 to the second carriage 2 also gradually increase until the attachment force is exceeded, and the second carriage 2 moves downward away from the first carriage 1, and switches to the separated state.

As described above, in order to ensure that the second bracket 2 and the first bracket 1 have better attachment stability when the second bracket 2 is in the attached state, and to avoid the second bracket 2 and the first bracket 1 from falling off, the weight of the second bracket 2 and the structure disposed or supported thereon should be reduced as much as possible. Therefore, when the second bracket 2 is in the attached state, the separation lever 403 does not contact the second bracket 2. Specifically, the free end of the release lever 403 may be located above the second bracket 2. Since the separation cam 402 is located above the separation lever 403, the separation lever 403 does not contact the second holder 2, and the separation lever 403 does not contact the second holder 2. Therefore, when the second bracket 2 is in the attached state, neither the detaching lever 403 nor the detaching cam 402 applies an additional weight load to the second bracket 2, and thus the weight bearing of the second bracket 2 can be reduced, and the second bracket 2 can be stably maintained in the attached state.

To achieve the above purpose, as shown in fig. 6, a reset element 405 may be disposed between the separating lever 403 and the first bracket 1, and the reset element 405 may apply a reset force to the separating lever 403 so that the free end thereof always has a tendency to rotate away from the second bracket 2. The reset element 405 may be a torsion spring, which is sleeved outside the insertion shaft 403a, and has one end abutting against the release lever 403 and the other end abutting against the first bracket 1, and applies a counterclockwise torque to the release lever 403 as illustrated in fig. 3 to 5. Thus, when the release cam 402 is released from the abutting action on the release lever 403, the reset piece 405 can immediately apply a reset force to the release lever 403. The release lever 403 is rotated by this restoring force about its connection point with the first carrier 1, and thus its free end, in a direction away from the second carrier 2 (upwards as illustrated in fig. 3 to 5). Thereby, the separation of the separation lever 403 from the second bracket 2 is achieved.

Further, the cleaning robot equipped with the cleaning module 100 according to the embodiment of the present invention may encounter obstacles (e.g., carpets) during the cleaning operation. Therefore, to ensure that the cleaning operation can be continued, the cleaning module 100 is designed to have an obstacle crossing function. Specifically, the shaft hole 701 provided in the connecting plate 7 for the driving shaft 401 to pass through is a long-strip-shaped opening extending in the up-down direction, and the outer surface of the connecting plate 7 is recessed inward to form a groove 702. The clutch actuator 4 further includes a lift cam 404 provided on the drive shaft 401 and received in the groove 702, and a cam surface of the lift cam 404 is in contact with an upper groove bottom of the groove 702.

The lift cam 404 is disposed opposite the release cam 402, i.e., the lift cam 404 and the release cam 402 are circumferentially different by a phase angle of 180 °. The number of the lifting cams 404 may be two and are provided at both ends of the driving shaft 401, respectively. Accordingly, there are also two connection plates 7, the outer surface of each connection plate 7 is formed with a groove 702, and the two lifting cams 404 are received in the two grooves 702, respectively.

The lifting cam 404 is configured to act prior to the separation cam 402, specifically, the lifting cam 404 pushes the first bracket 1 upward, and then the separation cam 402 pushes the second bracket 2 open. Since the first bracket 1 is moved upward, the second bracket 2 is still attached to the first bracket 1. Therefore, the upward movement of the first frame 1 will bring the second frame 2 upward. Thus, upward movement of the entire cleaning module 100 is achieved.

Specifically, before the drive shaft 401 brings the separation cam 402 into contact with the free end of the separation lever 403 to the second bracket 2 (as illustrated in fig. 3), the height at which the cam surface of the lift cam 404 is in contact with the upper groove bottom of the groove 702 gradually increases. Thus, the drive shaft 401 can move downward in the elongated opening, and the height of the first carriage 1 gradually increases. In this process, however, the second bracket 2 is still in the attached state with the first bracket 1 attached thereto because the free end of the release lever 403 has not yet contacted the second bracket 2. Thus, the entire cleaning module 100 is lifted up. And when the free end of the separation lever 403 in contact comes to the second holder 2 (the state illustrated in fig. 4), the highest point of the cam surface of the lift cam 404 comes into contact with the upper groove bottom of the groove 702. At this point, the cleaning module 100 reaches a maximum lift-up height.

In the specific operation process, when the cleaning robot meets an obstacle in the cleaning operation process and needs to lift the cleaning module 100 integrally to achieve obstacle crossing, the motor drives the driving shaft 401 to rotate, the driving shaft 401 further drives the separation cam 402 and the lifting cam 404 to rotate together, the separation cam 402 pushes the separation shift lever 403 to enable the free end of the separation shift lever to rotate towards the second support 2, and the separation shift lever 403 stops when the free end of the separation shift lever 403 pushes the second support 2. At this time, the cleaning module 100 reaches the maximum upper elevation degree, and the universal wheels arranged at the bottom of the cleaning robot shell are grounded to realize obstacle crossing.

When the cleaning medium 3 needs to be replaced, the driving shaft 401 continues to rotate, the contact height of the cam surface of the lifting cam 404 and the upper groove bottom of the groove 702 gradually decreases, and the height of the first holder 1 gradually decreases. And the contact height of the cam surface of the separation cam 402 and the separation lever 403 gradually increases, so that the free end of the separation lever 403 gradually presses the second bracket 2 until the second bracket 2 is separated from the first bracket 1. Subsequently, the replacement operation of the cleaning medium 3 can be performed.

The above is the first embodiment, in which the second carrier 2 is in the attached state or the detached state when the clutch actuator 4 is in the resting state or the operating state. Of course, the relationship between the state of the second carrier 2 and the switching thereof and the state of the clutch actuator 4 and the switching thereof is not limited to the above-described embodiment. In a second possible embodiment, the second carrier 2 is disengaged when the clutch actuator 4 is at rest. Accordingly, when the clutch actuator 4 is in the operating state, the second carrier 2 is in the attached state.

Thus, in this embodiment, when the clutch actuator 4 is switched from the rest state to the operating state, the second carrier 2 can be switched from the detached state to the attached state. In contrast, when the clutch actuation assembly 4 is switched from the operating state to the resting state, the second carrier 2 can be correspondingly switched from the attached state to the detached state.

In the present embodiment, the clutch actuation assembly 4 may exert an attractive force on the second carrier 2, which may cause the second carrier 2 to always have a tendency to be in the attached state, or a tendency to switch the movement towards the attached state. Specifically, when the clutch actuator 4 is in the operating state, the attractive force is generated or exists. When the clutch actuator 4 is in a rest state, the attractive force disappears.

Therefore, when the clutch actuator 4 is switched from the rest state to the operating state, the second carrier 2 can be restored from the detached state to the attached state by the attraction force applied thereto by the clutch actuator 4. When the clutch executing assembly 4 is switched from the working state to the resting state, the attraction force applied by the clutch executing assembly 4 to the second support 2 disappears, and the second support 2 moves downwards to the separated state under the action of gravity.

That is, in this embodiment, when the clutch actuator 4 is in the working state, the attraction force is applied to the second holder 2, and the attraction force is opposite to the gravity and has a value greater than the sum of the weights of the second holder 2 and the cleaning medium 3. Thus, the attraction force can overcome the gravity of the second holder 2 and its cleaning medium 3, thereby tending or maintaining the second holder 2 in the attached state. And once the clutch executing assembly 4 is in the rest state, the attraction force applied to the second bracket 2 by the clutch executing assembly originally disappears, and the second bracket 2 and the cleaning medium 3 are automatically switched to the separation state under the action of the self gravity.

It can be seen that, contrary to the first embodiment, the corresponding relationship between the states of the clutch actuation assembly 4 and the second carrier 2 is just reversed in this embodiment. With the solution of the present embodiment, the second rack 2 is switched to the separated state by its own weight, so that it is not necessary to adopt the solution of the first rack 1 having a cam or an electromagnetic element-magnetic element/electromagnetic element that is repulsive after the electricity is communicated, etc. for switching the second rack 2 to the separated state as in the first embodiment. Thus, the structure can be simplified.

In this embodiment, the clutch actuator 4 may include an active attachment element, and the second bracket 2 may be provided with a passive attachment element corresponding to the active attachment element. One of the active attachment element and the passive attachment element is an electromagnetic element and the other is a magnetic element or an electromagnetic element. The method specifically comprises the following steps: one of the active attachment element and the passive attachment element is an electromagnetic element and the other is a magnetic element; and both the active attachment element and the passive attachment element are electromagnetic elements. Wherein, the electromagnetic element and the magnetic element can be explained with reference to the above, and are not described herein. Likewise, the number of the active attachment elements and the passive attachment elements may be multiple and respectively provided on the edges of the first bracket 1 and the second bracket 2, and specifically may be provided on the wing part 101 of the first bracket 1 and the straight side 202 of the second bracket 2.

As described above, the electromagnetic element has a larger weight, a more complex structure and consumes more power than the magnetic element. Also, since the second bracket 2 needs to be attached to the first bracket 1 by means of an attaching force, the attaching force needs to overcome the total weight of the second bracket 2 and the construction thereon (including the cleaning medium 3, the passive attaching member). Therefore, the total weight of the second bracket 2 and the structure thereon is reduced as much as possible. The active attachment element may be an electromagnetic element while the passive attachment element employs a magnetic element. That is, the electromagnetic component with a large weight is disposed on the first bracket 1 as an active attachment component, and the magnetic component with a small weight is disposed on the second bracket 2 as a passive attachment component, so that the second bracket 2 can be reduced in weight to the maximum.

In the present embodiment, the rest state of the clutch actuation assembly 4 may be a state when the electromagnetic element is not energized, and the working state may be a state when the electromagnetic element is energized. And when the clutch actuating assembly 4 is in the working state, the polarity of the active attachment element facing the passive attachment element is different from the polarity of the passive attachment element facing the active attachment element, and the attraction force may be a magnetic attraction force of the active attachment element to the passive attachment element.

For example, in one specific embodiment, the active attachment element is an electromagnetic element and the passive attachment element is a magnetic element. The magnetic element has an N-pole facing polarity, and the electromagnetic element also has an N-pole facing polarity when the electromagnetic element is energized (i.e., the clutch actuator 4 is in the operating state). When the clutch executing assembly 4 is in a resting state, the electromagnetic element does not generate magnetism, and the second bracket 2 and the cleaning medium 3 are separated from the first bracket 1 under the action of self gravity, so that the clutch executing assembly is in a separated state. When the clutch executing assembly 4 is switched to the working state, the electromagnetic element is electrified to generate magnetism, so that the electromagnetic element and the magnetic element are mutually attracted. And, the magnetic attraction force generated between the active attaching member and the passive attaching member is larger than the sum of the weights of the second bracket 2 and the cleaning medium 3. Thus, the second bracket 2 is attached to the first bracket 1 by the magnetic attraction force generated between the active attachment member and the passive attachment member, and is restored to the attached state.

Thus, the cleaning module 100 of the embodiment of the present invention is provided with the second bracket 2 detachably attached to the first bracket 1, and the clutch actuator assembly 4 operable to drive the second bracket 2 to switch between the attached state and the detached state is provided on the first bracket 1. When the cleaning medium 3 needs to be replaced, the clutch actuator assembly 4 can drive the second bracket 2 to be switched from the attachment state of being attached with the first bracket 1 to the separation state of being separated from the first bracket 1, thereby realizing the release of the old cleaning medium 3 and the replacement of the new cleaning medium 3. And functions by the clutch actuator assembly 4 to restore the second bracket 2 from the detached state to the attached state with the first bracket 1 attached thereto after the replacement of the cleaning medium 3 is completed. Therefore, manual operation and intervention are not needed for replacing the cleaning medium 3, and user experience is better.

Based on the same concept, embodiments of the present invention further provide a cleaning robot using or configuring the cleaning module 100 of the above-described embodiments, and a cleaning system including the cleaning robot, such as the following embodiments. Since the principle of the cleaning robot and the cleaning system for solving the problems and the technical effects that can be obtained are similar to the embodiment of the cleaning module 100, the implementation of the cleaning robot and the cleaning system can refer to the implementation of the cleaning module 100, and repeated descriptions are omitted.

It should be clear that the cleaning robot and the cleaning system provided in the embodiments of the present application as independent embodiments can be mutually incorporated by reference with the embodiments of the cleaning module 100 described above, but should not be limited to the effects produced by the cleaning module 100 described above.

Specifically, the cleaning robot includes: a housing, a cleaning module 100 disposed at the bottom of the housing. The cleaning module 100 includes: a first support 1; a second bracket 2 detachably attached to the first bracket 1, having an attached state attached to the first bracket 1 to clamp the cleaning medium 3 between the second bracket 2 and the first bracket 1, and a separated state separated from the first bracket 1 to release the cleaning medium 3; and the clutch executing assembly 4 is arranged on the first bracket 1 and used for driving the second bracket 2 to switch between the attaching state and the detaching state.

Furthermore, the cleaning robot can also comprise a walking mechanism which is arranged at the bottom of the shell and used for dragging the cleaning robot to move along the cleaning direction L; the second frame 2 has a plurality of sides, and the cleaning medium 3 is clamped between the plurality of sides of the second frame 2 and the first frame 1; neither side edge is parallel to the cleaning direction L.

The cleaning system includes: the cleaning robot comprises a cleaning robot and a base station for the cleaning robot to stop. The cleaning robot includes: a housing, a cleaning module 100 disposed at the bottom of the housing. The cleaning module 100 includes: a first support 1; a second bracket 2 detachably attached to the first bracket 1, having an attached state attached to the first bracket 1 to clamp the cleaning medium 3 between the second bracket 2 and the first bracket 1, and a separated state separated from the first bracket 1 to release the cleaning medium 3; and the clutch executing assembly 4 is arranged on the first bracket 1 and used for driving the second bracket 2 to switch between the attaching state and the detaching state.

The base station has a replacement area for the second carriage 2 to be placed, a recovery area for the old cleaning medium 3 to be placed, and a storage area for accommodating the new cleaning medium 3. The base station is provided with a taking-down mechanism and a replacing mechanism. When the cleaning robot is parked on the base station and the second carriage 2 is in the separated state, the removing mechanism is used to transfer the old cleaning medium 3 placed in the replacement area to the recovery area, and the replacing mechanism is used to replace the new cleaning medium 3 in the storage area onto the second carriage 2 located in the replacement area.

It should be noted that, in the description of the present invention, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is considered as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The above description is only a few embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention according to the disclosure of the application document without departing from the spirit and scope of the present invention.

Claims

1. A cleaning module, comprising:

a first bracket;

a second bracket detachably attached to the first bracket, having an attached state attached to the first bracket to clamp the cleaning medium between the second bracket and the first bracket, and a separated state at least partially separated from the first bracket to release the cleaning medium;

and the clutch executing assembly is arranged on the first bracket and used for driving the second bracket to switch between an attaching state and a detaching state.

2. The cleaning module of claim 1, wherein the clutch actuation assembly has a resting state and an operating state;

when the clutch actuating assembly is in a rest state, the second bracket is in an attachment state;

when the clutch executing assembly is in a working state, the second support is in a separated state.

3. The cleaning module of claim 2, wherein the clutch actuator assembly applies a disengagement force to the second bracket to drive the second bracket from the attached state to the detached state when the clutch actuator assembly is switched from the resting state to the operating state;

wherein the direction of the separation force is opposite to the direction of the attachment force applied by the first bracket to the second bracket, and the value of the separation force is greater than the value of the attachment force; the attachment force is configured to cause the second bracket to always have a tendency to switch to or maintain an attached state.

4. The cleaning module of claim 3, wherein when the clutch actuator assembly is switched from the active state to the rest state, the clutch actuator assembly releases the separation force applied to the second carrier, and the second carrier is driven by the attachment force to return from the separated state to the attached state.

5. The cleaning module of claim 3, wherein a first attachment element is provided on the first bracket and a second attachment element corresponding to the first attachment element is provided on the second bracket; one of the first and second attachment elements is a magnetic element and the other is a magnetizable or magnetic element; the attachment force is a magnetic attraction of the first attachment element to the second attachment element.

6. The cleaning module of claim 5, wherein when the first and second attachment elements are both magnetic elements, the polarity of the first attachment element facing the second attachment element is different than the polarity of the second attachment element facing the first attachment element.

7. The cleaning module of claim 5, wherein the second bracket is in an attached state when the first and second attachment elements are magnetically attracted together; the second bracket is in a detached state when the first attachment element is detached from the second attachment element.

8. The cleaning module of claim 5, wherein said first leg has at least one pair of oppositely disposed first sides and said second leg has second sides corresponding to at least one pair of said first sides;

the first and second attachment elements are each a plurality, the first attachment elements being distributed on at least one pair of the first side edges, and the second attachment elements being distributed on at least one pair of the second side edges.

9. The cleaning module of claim 3, wherein the clutch actuation assembly includes a drive shaft, a release cam disposed on the drive shaft; the separation cam can be driven by the driving shaft to enable the cam surface to extend out of or retract into the edge of the first bracket.

10. The cleaning module of claim 9, wherein the resting state is when the separation cam does not apply a separation force to the second bracket, and the operating state is when the separation cam applies a separation force to the second bracket; the separation acting force is a jacking force directly exerted on the second bracket by the separation cam.

11. The cleaning module of claim 9, wherein the clutch actuation assembly further comprises a release lever, one end of the release lever being rotatably connected to the first bracket and the other end being a free end; the separation cam is contacted with the separation deflector rod, and the free end of the separation deflector rod is propped against the second bracket.

12. The cleaning module of claim 11, wherein the resting state is when the separation cam does not apply a separation force to the second bracket via the separation lever, and the operating state is when the separation cam applies a separation force to the second bracket via the separation lever; the separation acting force is a jacking force which is indirectly exerted on the second support by the separation cam through the free end of the separation deflector rod.

13. The cleaning module of claim 11, wherein the disengagement lever is not in contact with the second bracket when the second bracket is in the attached state.

14. A cleaning module according to claim 12 or 13, characterised in that a reset element is provided between the separating lever and the first holder, which reset element exerts a reset force on the separating lever so that its free end always has a tendency to rotate away from the second holder.

15. The cleaning module as claimed in claim 9, wherein the first bracket is provided with a connection plate, an outer surface of the connection plate is recessed inward to form a groove, the connection plate is provided therein with an elongated opening extending in an up-down direction, and the driving shaft is inserted into the elongated opening;

the clutch executing assembly further comprises a lifting cam which is arranged on the driving shaft and contained in the groove, and the cam surface of the lifting cam is in contact with the upper groove bottom of the groove.

16. The cleaning module of claim 15, wherein the height of the cam surface of the lift cam contacting the upper groove bottom of the recess increases gradually before the drive shaft drives the separation cam until the free end of the separation lever contacts the second bracket, the drive shaft moves downward in the elongated opening, and the height of the first bracket increases gradually.

17. The cleaning module of claim 15 or 16, wherein a highest point of the cam surface of the lift cam contacts an upper trough bottom of the recess when a free end of the separation lever contacts the second bracket.

18. The cleaning module of claim 3, wherein the clutch actuator assembly includes a drive-off element, and the second bracket has a mating element thereon corresponding to the drive-off element; one of the driving element and the matching element is an electromagnetic element, and the other one is a magnetic element or an electromagnetic element;

the rest state is a state when the electromagnetic element is not electrified, and the working state is a state when the electromagnetic element is electrified;

when the clutch executing assembly is in a working state, the polarity of the driving element facing the matching element is the same as that of the matching element facing the driving element, and the separating acting force is the magnetic repulsion force of the driving element to the matching element.

19. The cleaning module of claim 1, wherein the second bracket is configured as a frame structure having a central hollowed-out area; the first bracket is at least partially embedded in the central hollowed-out region when the second bracket is in an attached state; the lower surface of the first support is accommodated in the middle hollow area, and at least part of the lower surface of the cleaning medium extends out of the middle hollow area.

20. The cleaning module of claim 19, wherein a depth of the central hollowed-out region is configured to be greater than a depth of the first leg embedded within the central hollowed-out region, and less than a sum of the depth of the first leg embedded within the central hollowed-out region and a thickness of the cleaning medium;

the depth of the first support embedded into the middle hollow area is the maximum distance between the upper surface of the second support corresponding to the first support embedded part and the lower surface of the first support.

21. The cleaning module of claim 1, wherein the cleaning module is capable of being moved in a cleaning direction, and wherein the lower surface of the first bracket has a longitudinal cross-sectional shape that is arcuate; the second support has two arc sides that are located clean direction both sides, the upper surface of arc side with the lower surface looks adaptation of first support.

22. The cleaning module of claim 21, wherein none of said arcuate sides are parallel to said cleaning direction.

23. The cleaning module of claim 21, wherein a receiving groove is formed in a lower surface of the first bracket and is adapted to the curved side, and a thickness of the curved side is not greater than a depth of the receiving groove;

when the second bracket is in an attached state, the arc-shaped side edge is received into the receiving groove.

24. The cleaning module of claim 23, wherein the cleaning medium is configured to have a length dimension perpendicular to the cleaning direction that is greater than a distance between two of the receiving grooves; when the second bracket is in an attached state, the edge part of the cleaning medium along the direction perpendicular to the cleaning direction is pressed into the accommodating groove by the arc-shaped side edge.

25. The cleaning module of claim 21, wherein the first bracket is formed with a wing portion outside of the arcuate lower surface in the cleaning direction, the wing portion being higher than a lowest point of the arcuate lower surface of the first bracket; the second support is provided with straight side edges which are positioned at two sides of the arc-shaped side edge along the cleaning direction and are respectively connected with two ends of the arc-shaped side edge, and the straight side edges are higher than the lowest point of the lower surface of the arc-shaped side edge;

the straight side is mated with the wing when the second bracket is in the attached state.

26. The cleaning module of claim 25, wherein a first limit step is formed at the junction of the wing portion and the arc-shaped lower surface of the first bracket, and a second limit step adapted to the first limit step is formed between the straight side and the arc-shaped side;

when the second bracket is in an attached state, the second limit step is clamped into the first limit step.

27. The cleaning module of claim 1, wherein the clutch actuation assembly has a resting state and an operating state;

when the clutch executing assembly is in a rest state, the second support is in a separated state;

when the clutch executing assembly is in the working state, the second bracket is in the attaching state.

28. The cleaning module of claim 27, wherein the clutch actuator assembly applies an attractive force to the second carrier to return the second carrier from the disengaged state to the attached state when the clutch actuator assembly is switched from the resting state to the operating state;

wherein the direction of the attraction force is opposite to the direction of gravity, and the value of the attraction force is larger than the sum of the weights of the second bracket and the cleaning medium; the attractive force is configured to cause the second bracket to always have a tendency to switch to or maintain an attached state.

29. The cleaning module of claim 28, wherein when the clutch actuator is switched from the active state to the rest state, the attractive force exerted by the clutch actuator on the second support is lost and the second support moves downward under the force of gravity to the disengaged state.

30. The cleaning module of claim 28, wherein the clutch actuation assembly includes an active attachment element, and wherein the second bracket has a passive attachment element thereon corresponding to the active attachment element; one of the active attachment element and the passive attachment element is an electromagnetic element, and the other one is a magnetic element or an electromagnetic element;

when the clutch actuating assembly is in an operating state, the polarity of the active attachment element facing the passive attachment element is different from that of the passive attachment element facing the active attachment element, and the attraction force is the magnetic attraction force of the active attachment element to the passive attachment element.

31. A cleaning robot, characterized by comprising:

a housing;

establish at the cleaning module of casing bottom includes:

a first bracket;

a second bracket detachably attached to the first bracket, having an attached state attached to the first bracket to clamp the cleaning medium between the second bracket and the first bracket, and a separated state separated from the first bracket to release the cleaning medium;

32. The cleaning robot as claimed in claim 31, further comprising a traveling mechanism provided at a bottom of the housing for dragging the cleaning robot to move in a cleaning direction;

the second bracket is provided with a plurality of side edges, and the cleaning medium is clamped between the plurality of side edges of the second bracket and the first bracket; none of the side edges is parallel to the cleaning direction.

33. A cleaning system, comprising:

a cleaning robot comprising:

a housing;

establish at the cleaning module of casing bottom includes:

a first bracket;

a second bracket detachably attached to the first bracket, having a first bracket attached thereto

Attachment form of the second bracket and the first bracket to clamp the cleaning medium together

A state, and a separated state separated from the first supporter to release the cleaning medium;

a clutch executing component arranged on the first bracket and used for driving the second bracket to be attached to

Switching between a connection state and a separation state; the base station for the cleaning robot to stop is provided with a replacement area for placing the second bracket, a recovery area for placing old cleaning media and a storage area for accommodating new cleaning media; the base station is provided with a taking-down mechanism and a replacing mechanism; when the cleaning robot is parked on the base station and the second carriage is in the detached state, the removing mechanism is configured to transfer the old cleaning medium detached in the replacement area to the recovery area, and the replacing mechanism is configured to replace the new cleaning medium in the storage area onto the second carriage located in the replacement area.