CN216364940U

CN216364940U - Cleaning robot

Info

Publication number: CN216364940U
Application number: CN202122182925.0U
Authority: CN
Inventors: 钱富; 张士松; 钟红风
Original assignee: Suzhou Letu Intelligent Technology Co ltd
Current assignee: Suzhou Letu Intelligent Technology Co ltd
Priority date: 2021-09-09
Filing date: 2021-09-09
Publication date: 2022-04-26
Anticipated expiration: 2031-09-09

Abstract

The utility model discloses a cleaning robot.A walking module drives a machine body to move along a traveling direction. When the mopping device needs to mop the floor, the first driving piece directly or indirectly drives the first mopping assembly and the second mopping assembly, so that the first mopping assembly and the second mopping assembly can swing, the active mopping on the floor is realized, and the mopping effect is improved. Meanwhile, the first mopping assembly is provided with an independent first swing center, and the second mopping assembly is provided with an independent second swing center, so that the first mopping assembly and the second mopping assembly can swing around the respective swing centers during mopping. Therefore, compared with the condition that two plankers share one motion center, the cleaning robot reduces the swing amplitude of a single mopping component on the premise of meeting the requirement of an effective wiping range, reduces the vibration caused by mopping actions, and ensures that the cleaning robot runs more stably.

Description

Cleaning robot

Technical Field

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

Background

The cleaning robot is used to clean the floor instead of performing a floor cleaning service manually. The cleaning robot drags the floor through the floor dragging module during the cleaning process.

The mopping module is generally passively contacted with the ground, and the movement of the cleaning robot drives the mopping module to rub against the ground so as to realize mopping operation. However, such a cleaning robot has a poor mopping effect, and some cleaning robots in the prior art drive the mop plate to move through a driving device, but the structure is complicated, and many moving parts cause large vibration noise, or the movement of the mop plate affects the walking stability of the robot.

SUMMERY OF THE UTILITY MODEL

Therefore, there is a need for a cleaning robot, which actively mops the floor, improves the cleaning effect, and makes the machine body operate more stably.

The technical scheme is as follows:

a cleaning robot, comprising: a body; the walking module is arranged on the machine body and is used for driving the machine body to move; the mopping module is used for cleaning a surface to be cleaned and comprises a first mopping component and a second mopping component, and the first mopping component and the second mopping component are arranged at the bottom of the machine body and wipe the surface to be cleaned; the first driving piece is arranged on the machine body and used for driving the first mopping assembly and the second mopping assembly to swing, the first mopping assembly swings around a first swing center, and the second mopping assembly swings around a second swing center.

In the cleaning robot, the walking module drives the body to move along the traveling direction. When the mopping device needs to mop the floor, the first driving piece directly or indirectly drives the first mopping assembly and the second mopping assembly, so that the first mopping assembly and the second mopping assembly can swing, the active mopping on the floor is realized, and the mopping effect is improved. Meanwhile, the first mopping assembly is provided with an independent first swing center, and the second mopping assembly is provided with an independent second swing center, so that the first mopping assembly and the second mopping assembly can swing around the respective swing centers during mopping. So, compare a motion center of two plankers sharing, this cleaning machines people is satisfying under the prerequisite of effectively cleaning the scope demand, has balanced the vibrations of two swing center line directions through the reverse swing of two mopping subassemblies, has consequently reduced mopping module itself and has given cleaning machines people's vibrations, guarantees that cleaning machines people's operation is more steady.

The technical solution is further explained below:

in one embodiment, the first and/or second floor-mopping assemblies swing in a horizontal plane, and the swing angle of the first and second floor-mopping assemblies does not exceed 90 degrees.

In one embodiment, the first and second floor mopping assemblies each have a geometric center, the first swing center is disposed within a range of 15mm radius from the geometric center of the first floor mopping assembly as a circular point, and the second swing center is disposed within a range of 15mm radius from the geometric center of the second floor mopping assembly as a circle center.

In one embodiment, the first floor mopping assembly orthographically projects on a plane perpendicular to a traveling direction of the cleaning robot and obtains a first projection area, the second floor mopping assembly orthographically projects on a plane perpendicular to the traveling direction of the cleaning robot and obtains a second projection area, and the first projection area and the second projection area at least partially overlap.

In one embodiment, the first and second mopping assemblies swing in a direction approaching or departing from each other, and the first and second mopping assemblies swing synchronously at the same swing angle.

In one embodiment, the mopping module is detachably connected with the body, and the first driving piece is detachably connected with the mopping module.

In one embodiment, the second mopping assembly is connected with the first mopping assembly through a connecting assembly, the first driving member drives the first mopping assembly to swing along the first swing center, and the first mopping assembly drives the second mopping assembly to swing along the second swing center through the connecting assembly.

In one embodiment, the first driving member is connected with an eccentric assembly, the first mopping assembly is provided with a first driving groove, at least a part of the eccentric assembly is located in the first driving groove, and the first driving member drives the eccentric assembly to rotate and enables the eccentric assembly to be matched with the first driving groove so as to drive the first mopping assembly to swing.

In one embodiment, the mopping module further comprises a guide piece connected with the output end of the eccentric assembly, the guide piece extends into the first driving groove to drive the first mopping assembly to swing, and a circumferential buffer piece is arranged on the periphery of the guide piece.

In one embodiment, when the first driving member is connected to the mopping module, the eccentric assembly rotates to fit into the first driving groove.

In one embodiment, the second floor mopping assembly is provided with a second driving groove, the connecting assembly comprises a driving block, at least one part of the driving block is positioned in the second driving groove, and the driving block is matched with the second driving groove when the first floor mopping assembly swings so as to drive the second floor mopping assembly to swing.

In one embodiment, the first driving member drives the first mopping assembly and the second mopping assembly to swing along the respective swing centers at the same time.

In one embodiment, the first mopping assembly is provided with a first driving groove, the second mopping assembly is provided with a second driving groove, the mopping module further comprises an eccentric assembly, the eccentric assembly is in transmission connection with the first driving piece, at least one part of the eccentric assembly is located in the first driving groove and the second driving groove, the first driving piece drives the eccentric assembly to rotate, so that the eccentric assembly is matched with the first driving groove and the second driving groove to drive the first mopping assembly and the second mopping assembly to swing.

In one embodiment, the mopping module further comprises a mop swab holder for connecting the first and second mopping assemblies together, the mop swab holder being removably connected to the body.

In one embodiment, the first mop assembly and the second mop assembly are respectively provided with a first installation part and a second installation part corresponding to the first swing center and the second swing center, the first mop assembly is installed on the mop bracket through the first installation part and rotates around the first installation part, and the second mop assembly is installed on the mop bracket through the second installation part and rotates around the second installation part.

In one embodiment, a cushioning structure is provided between the first and/or second mop assemblies and the mop support, the first and second mop assemblies being movable up and down relative to the mop support.

In one embodiment, the mopping module further comprises a lifting assembly, wherein the lifting assembly is arranged on the machine body and drives the mopping module to lift relative to the machine body so as to enable the mopping module to move between a position contacting with the ground and a position not contacting with the ground; the lifting assembly comprises a lifting buffer member for buffering the vibration transmitted to the machine body by the mopping module through the lifting assembly.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Furthermore, the drawings are not drawn to a 1:1 scale, and the relative sizes of the various elements in the drawings are drawn only by way of example, and not necessarily to true scale.

Fig. 1 is a schematic view of an overall structure of a cleaning robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a first perspective of the mopping module of the embodiment of FIG. 1;

FIG. 3 is a schematic view of a second perspective of the mopping module of the embodiment of FIG. 1;

FIG. 4 is a simplified exploded view of the mop support, first mop assembly and second mop assembly of one embodiment;

FIG. 5 is a detailed exploded view of the mop support, first mop assembly and second mop assembly of the embodiment of FIG. 4;

FIG. 6 is a schematic view of a first state of the first and second mopping assemblies of the embodiment of FIG. 4;

FIG. 7 is a schematic view of a second state of the first and second mopping assemblies of the embodiment of FIG. 4;

FIG. 8 is a structural diagram of the assembly of the lifting assembly and the lifting buffer in the embodiment of FIG. 4;

FIG. 9 is an assembled block diagram of the first and second mopping assemblies of the embodiment of FIG. 4;

FIG. 10 is a block diagram of the assembly of the first mop assembly and mop holder of the embodiment of FIG. 1;

FIG. 11 is a schematic view of a first perspective of a mopping module according to another embodiment;

FIG. 12 is a schematic view of a second perspective of the mopping module of the embodiment of FIG. 11;

FIG. 13 is a simplified exploded view of the mop support, first mop assembly and second mop assembly of the embodiment of FIG. 11;

FIG. 14 is a detailed exploded view of the mop support, first mop assembly and second mop assembly of the embodiment of FIG. 11;

FIG. 15 is a schematic view of the mopping module of the embodiment of FIG. 1 being raised by the lifting assembly;

FIG. 16 is a schematic view of the embodiment of FIG. 1 with the floor module lowered by the lift assembly;

FIG. 17 is a schematic view of the second drive member and slide member of the embodiment of FIG. 15 with the floor module raised;

FIG. 18 is a schematic view of the second drive and slide of the embodiment of FIG. 15 with the floor module lowered;

FIG. 19 is a cross-sectional view of the arrangement of the first drive member of the mopping module in yet another embodiment;

FIG. 20 is a top plan view of the assembly of the mop holder, first slide and second slide of the FIG. 19 embodiment.

Reference is made to the accompanying drawings in which:

100. a body; 110. a chute; 200. a walking module; 300. a mopping module; 310. a first mopping assembly; 311. a first drive slot; 3111. a closing-in part; 312. a first mounting portion; 3121. a third bearing; 3122. a first limiting part; 313. mounting holes; 314. a first convex portion; 320. a second mopping assembly; 321. a second driving groove; 322. a second mounting portion; 3221. a fourth bearing; 3222. a second limiting part; 323. a second convex portion; 330. a first driving member; 340. an eccentric assembly; 341. an eccentric block; 342. a guide member; 3421. a tapered portion; 343. a circumferential buffer; 344. a first bearing; 350. a connecting assembly; 351. a drive block; 352. a second bearing; 353. a buffer ring; 360. a mop bracket; 361. a magnetic member; 362. a first shaft hole; 363. a second shaft hole; 364. a shock absorbing member; 365. a first guide block; 366. a second guide block; 370. a buffer structure; 371. a gland; 3711. perforating; 372. a buffer sleeve; 3721. a skirt edge; 380. a lifting assembly; 381. a second driving member; 382. a slider; 3821. a first mating portion; 3822. a second mating portion; 3823. an opening; 383. a lifting frame; 384. a lifting buffer member; 385. a drive shaft; 386. a cam; 3861. a first contact end; 3862. a second contact end; 3863. a floating spacing; 390. a connecting rod; 391. a first slider; 3911. a first guide groove; 3912. a third driving groove; 392. a second slider; 3921. a second guide groove; 393. an eccentric wheel; 400. a dust collection module; 410. a dust box; 500. and a radar module.

Detailed Description

Embodiments of the present invention are described in detail below with reference to the accompanying drawings:

in order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In one embodiment, referring to fig. 1, 6 and 7, a cleaning robot includes: a body 100; the walking module 200, the walking module 200 is arranged on the machine body 100 and is used for driving the machine body 100 to move; the mopping module 300 is used for cleaning a surface to be cleaned, the mopping module 300 comprises a first mopping assembly 310 and a second mopping assembly 320, and the first mopping assembly 310 and the second mopping assembly 320 are arranged at the bottom of the machine body 100 and wipe the surface to be cleaned; the first driving member 330 is disposed on the body 100 and is used for driving the first and

second mopping assemblies

310 and 320 to swing, the first mopping assembly 310 swings around a first swing center, and the second mopping assembly 320 swings around a second swing center.

In the cleaning robot, the walking module 200 drives the body 100 to move along the traveling direction. When the floor is required to be mopped, the first driving member 330 directly or indirectly drives the first and second

floor mopping assemblies

310 and 320, so that both the first and second

floor mopping assemblies

310 and 320 can swing, active mopping of the floor is realized, and the mopping effect is improved. Meanwhile, since the first mopping assembly 310 has an independent first swing center and the second mopping assembly 320 has an independent second swing center, both the first mopping assembly 310 and the second mopping assembly 320 can swing around the respective swing centers when mopping, which can be referred to in fig. 6 and 7. So, compare a center of motion of two subassemblies that drag ground sharing, this cleaning robot has balanced the vibrations of two swing center line directions through the reverse swing of two subassemblies that drag ground under the prerequisite that satisfies effective range demand of wiping, has consequently reduced and has dragged ground module 300 itself and transmit the vibrations for cleaning robot, guarantees that cleaning robot's operation is more steady.

It should be noted that the first driving element 330 drives the first mopping assembly 310 and the second mopping assembly 320 to swing may be implemented by a direct driving or an indirect driving, such as: the first driving member 330 directly drives the first and

second mopping assemblies

310 and 320 to swing at the same time; alternatively, the first driving member 330 directly drives the first floor mopping assembly 310 to swing, and drives the second floor mopping assembly 320 to swing through the first floor mopping assembly 310; or, the first driving member 330 directly drives the second mopping assembly 320 to swing, and drives the first mopping assembly 310 to swing through the second mopping assembly 320, and so on. The first and second floor scrubbing assemblies may be faced with replaceable disposable mop paper or may be faced with reusable wipes.

It should be noted that the first driving member 330 can be selected from various types, such as: the first driving member 330 can be an electric motor, a hydraulic cylinder, an air cylinder, an electric cylinder, etc. When the first driving member 330 is a telescopic power device such as a hydraulic cylinder, an air cylinder or an electric cylinder, a transmission mechanism is required between the first driving member 330 and the first mopping assembly 310 or the second mopping assembly 320, such as: a slider-crank mechanism, etc.

Specifically, the first driving member 330 is a motor.

Further, referring to fig. 6 and 7, the first and/or

second mopping assemblies

310 and 320 swing in a horizontal plane, wherein the horizontal plane can be understood as a plane parallel to the floor on which the cleaning robot is located. The present embodiment controls the first and/or

second mopping assemblies

310 and 320 to swing in a horizontal plane, so that the swing of the first and

second mopping assemblies

310 and 320 can better fit the surface to be cleaned, thereby improving the cleaning effect. Meanwhile, the swing angles of the first and

second mopping assemblies

310 and 320 do not exceed 90 degrees, so that the swing amplitudes of the first and

second mopping assemblies

310 and 320 are reasonably controlled, thereby ensuring an effective wiping range and ensuring stable operation of the cleaning robot.

It should be noted that, in order to further improve the cleaning effect, it is required to ensure that the first mopping assembly 310 and the second mopping assembly 320 swing on the same horizontal plane. In addition, the swing angle of the first and

second mopping assemblies

310 and 320 can be determined according to the actual product size and the user requirement, such as: the swing angles of the first and

second mopping assemblies

310 and 320 do not exceed 20 degrees, and the like. In the present embodiment, the first and second

floor mopping assemblies

310 and 320 are reciprocally swung left and right in front of the travel direction of the cleaning machine.

Specifically, the first and second

floor mopping assemblies

310 and 320 can swing at an angle of ± 3 degrees, that is, the first and second

floor mopping assemblies

310 and 320 can swing between the-3 degree position and the 3 degree position during operation.

In one embodiment, referring to fig. 6 and 7, the first and

second mopping assemblies

310 and 320 each have a geometric center. The first swing center is located within a range of a circle point, which is a geometric center of the first mopping assembly 310, and a radius of 15 mm. The second swing center is disposed within a range of 15mm as a radius from the geometric center of the second mopping assembly 320. Therefore, the first swing center and the second swing center are controlled within a range of 15mm from the geometric center in the present embodiment, so that the first mopping assembly 310 and the second mopping assembly 320 tend to be more stable when swinging, and the vibration of the operation of the mopping module 300 is prevented from being aggravated due to the excessive edge arrangement of the first swing center and the second swing center.

It should be noted that "geometric center" is understood to mean the position of the center-most of the object with a certain symmetry, such as: the center of a circle, the center of a sphere, the intersection point of two diagonal lines of the parallelogram, and the like. Meanwhile, the shapes of the first and

second mopping assemblies

310 and 320 may be designed according to the user's needs, and the embodiment is not particularly limited thereto. Of course, in order to improve the cleaning effect of the cleaning robot, the first and

second mopping assemblies

310 and 320 may be symmetrically designed, that is, the outer contour of the first mopping assembly 310 is consistent with the outer contour of the second mopping assembly 320.

In other embodiments, the respective "center of gravity" is used as a reference for the irregular or asymmetric first and

second mopping assemblies

310 and 320, such as: the first swing center is disposed within a range of a radius of 15mm from the center of gravity of the first mopping assembly 310. The second swing center is disposed within a range of 15mm as a radius from the center of gravity of the second mopping assembly 320.

In one embodiment, referring to fig. 1, the first mopping assembly 310 performs an orthographic projection on a plane perpendicular to a traveling direction of the cleaning robot and obtains a first projection area. The second floor mopping assembly 320 performs an orthographic projection on a plane perpendicular to the travel direction of the cleaning robot and obtains a second projection area. The first projection area and the second projection area are at least partially overlapped, that is, the first mopping assembly 310 and the second mopping assembly 320 are arranged adjacent to each other, so that the swing ranges of the first mopping assembly 310 and the second mopping assembly 320 are at least partially overlapped, the surface to be cleaned is always completely covered, the area which can not be mopped is avoided, and the cleaning capability is improved.

For ease of understanding, referring to fig. 1, S0 denotes a plane perpendicular to a traveling direction of the cleaning robot; s1 represents a first projection area of the first mopping assembly 310 on the plane; s2 represents a second projection area of the second mopping assembly 320 on the plane; s3 denotes an overlapping portion of the first projection area and the second projection area.

In one embodiment, referring to fig. 6 and 7, the first and second

floor mopping assemblies

310 and 320 swing in a direction toward or away from each other. The first mopping assembly 310 and the second mopping assembly 320 swing synchronously and have the same swing angle, so that the cleaning force on two sides of the cleaning robot is kept consistent in the traveling process, and the cleaning effect is further improved. In addition, the swinging mode can enable the forces applied to the body 100 when the first mopping assembly 310 and the second mopping assembly 320 swing to partially cancel each other, reduce the swinging of the body 100 caused by the swinging of the first mopping assembly 310 and the second mopping assembly 320, further reduce the influence of the swinging of the two mopping assemblies on the walking of the body 100, and enhance the running stability of the cleaning robot.

Further, referring to fig. 4, 5 and 9, the second mopping assembly 320 is connected to the first mopping assembly 310 through a connecting assembly 350. The first driving member 330 drives the first mopping assembly 310 to swing along the first swing center. The first mopping assembly 310 drives the second mopping assembly 320 to swing along the second swing center through the connecting assembly 350. Therefore, the swing of the second mopping assembly 320 is driven by the swing of the first mopping assembly 310, that is, when mopping, the first driving member 330 drives the first mopping assembly 310 to swing around the first swing center; once the first mopping assembly 310 swings, the second mopping assembly 320 is immediately driven by the connecting assembly 350 to swing around the second swing center, so that the two mopping assemblies swing synchronously and at equal angles.

It should be noted that there are various ways of engaging the connecting member 350 between the first mopping assembly 310 and the second mopping assembly 320, and it is only necessary to achieve synchronous swinging between the first mopping assembly 310 and the second mopping assembly 320. Such as: one end of the connecting member 350 is connected to one of the first and

second mopping assemblies

310 and 320, i.e., the connecting member 350 can be a part of the first mopping assembly 310 or a part of the second mopping assembly 320; the other end acts on the other of the first and

second floor modules

310 and 320 in a block and slot engagement or a gear and gear engagement. The connection manner of the connection assembly 350 on the first or

second mopping assembly

310 or 320 can be, but not limited to, bolt connection, snap connection, riveting, pin connection, integral molding, etc.

In addition, when one end of the connecting member 350 acts on the first or

second mopping assembly

310 or 320 in a gear-to-gear engagement manner, the gear of the connecting member 350 can be designed to be an arc-shaped rack structure, and the transmission effect is better.

Further, referring to fig. 4, 5 and 9, the first driving member 330 is connected to an eccentric assembly 340. The first mop assembly 310 is provided with a first driving slot 311. At least a portion of the eccentric assembly 340 is positioned within the first drive slot 311. The first driving member 330 drives the eccentric assembly 340 to rotate, and the eccentric assembly 340 is engaged with the first driving slot 311 to drive the first mopping assembly 310 to swing, so that the first mopping assembly 310 stably swings around the first swing center. Because the first driving member 330 drives the first mopping assembly 310 to move by utilizing the cooperation of the eccentric assembly 340 and the first driving slot 311, the force transmission between the first driving member 330 and the first mopping assembly 310 can be effectively prevented from being rigid transmission, so that the phenomenon of structural locking between the first driving member 330 and the first mopping assembly 310 can be avoided.

Alternatively, the eccentric assembly 340 may be designed as a cam structure, an eccentric block structure, or the like.

Specifically, referring to fig. 2, 3 and 9, the eccentric assembly 340 includes an eccentric block 341, the first driving member 330 is connected to the eccentric block 341 through an output shaft thereof, and an axis or a center of the eccentric block 341 does not coincide with an axis of the output shaft of the first driving member 330, so as to drive the eccentric block 341 to swing around the axis of the output shaft of the first driving member 330, so that the eccentric block 341 drives the first mopping assembly 310 to swing along the first swing center through the first driving slot 311. The first driving member 330 may be a motor.

In one embodiment, referring to FIG. 9, the mopping module 300 further includes a guide 342 coupled to an output end of the eccentric assembly 340. The guiding member 342 extends into the first driving slot 311 to drive the first floor mopping assembly 310 to swing. In this way, when the cleaning robot automatically installs the first mopping assembly 310, the guide member 342 is matched with the first driving groove 311 as a guide to guide the installation track of the eccentric assembly 340, so that the eccentric assembly 340 is more accurately and rapidly butted in the first driving groove 311, which is beneficial to improving the automatic installation efficiency.

It should be noted that the external shape of the guiding element 342 has various designs, and only needs to satisfy the guiding cooperation with the first driving groove 311, for example: the outer profile of the guiding element 342 is designed in a spherical, conical, elliptical or other shape.

Specifically, referring to fig. 9, the cross-sectional area of at least a portion of the guide member 342 increases from the end of the guide member 342 away from the eccentric assembly 340 and along the direction from the end of the guide member 342 away from the eccentric assembly 340 to the end of the guide member 342 close to the eccentric assembly 340, so as to form a tapered portion 3421. Meanwhile, the cross-sectional area of at least a portion of the first driving groove 311 is gradually decreased from the end of the first driving groove 311 close to the first driving member 330 to the end of the first driving groove 311 far from the first driving member 330, so as to form a close-up portion 3111. In this way, the tapered portion 3421 is engaged with the converging portion 3111, so that the eccentric assembly 340 is better aligned in the first driving groove 311.

Further, referring to fig. 9, a circumferential buffer 343 is disposed around the guide 342. Therefore, the circumferential buffer member 343 is arranged in the circumferential direction of the guide member 342, so that the eccentric assembly 340 has a buffering effect when moving in the first driving groove 311, noise generated when the first mopping assembly 310 swings is reduced, and the use performance of the product is improved. Wherein, the circumferential buffer 343 may be, but not limited to, a rubber ring, a sponge ring, a foam ring, etc.

Further, referring to fig. 9, the mopping module 300 further includes a first bearing 344, and an inner ring of the first bearing 344 is sleeved on the guiding element 342. The circumferential buffer 343 is fitted over the outer race of the first bearing 344. Thus, the friction between the circumferential buffer member 343 and the groove wall of the first driving groove 311 is changed to rolling friction, which effectively reduces the friction loss between the circumferential buffer member 343 and the first driving groove 311, and is beneficial to prolonging the service life of the circumferential buffer member 343.

In one embodiment, the mopping module 300 is removably coupled to the body 100 and the first actuator 330 is removably coupled to the mopping module 300. The floor module 300 is detachably coupled to the body 100 to facilitate maintenance of the floor module 300, and the floor module 300 can be detached from the body 100 when replacement of the floor module 300, disposable paper mops on the floor module 300, or cleaning of mops on the floor module 300 is required. The first drive member 330 is removably coupled to the first and/or

second mopping assemblies

310, 320. The first driving member 330 can be detachably connected to the first mopping assembly 310 and the second mopping assembly 320, respectively, or can be detachably connected to the first mopping assembly 310 and the second mopping assembly 320 at the same time, and when the first driving member 330 is detachably connected to the first mopping assembly 310 and the second mopping assembly 320 at the same time, the first driving member 330 drives the first driving member 330 to simultaneously drive the first mopping assembly 310 and the second mopping assembly 320 to move. Further, taking the first driving member 330 detachably connected to the first mopping assembly 310 as an example, the output shaft of the first driving member 330 is connected to the eccentric assembly 340, and the eccentric assembly 340 is detachably connected to the first driving slot 311. The eccentric assembly 340 has one end connected to the first driving member 330 and the other end extending into the first driving slot 311 for cooperating with the first driving slot 311 to drive the first and

second mopping assemblies

310 and 320 to swing. When the mopping module 300 is detached from the body 100, the eccentric assembly 340 is also detached from the first driving slot 311, and when the mopping module 300 is detached from the body 100, the eccentric assembly 340 is connected to the first driving element 330, i.e. when the mopping module 300 is detached from the body 100, the first driving element 330 and the eccentric assembly 340 are located inside the body 100, and at this time, the mopping module 300 is maintained without affecting the first driving element 330 and the eccentric assembly 340.

Alternatively, the floor module 300 may be mounted to the body 100 by magnetic attraction, snap-fit, pin, bolt, etc.

In one embodiment, when the first driving member 330 is coupled to the mopping module 300, the eccentric assembly 340 rotates to fit into the first driving slot 311. The mopping module 300 is installed on the body 100, the first driving member 330 is connected with the mopping module 300, the eccentric assembly 340 needs to be accurately inserted into the first driving groove 311, the first mopping assembly 310 can swing, when the cleaning robot stops working, the first mopping assembly 310 can stop at any angle, a maintainer can accurately insert the eccentric assembly 340 into the first driving groove 311 when the mopping module 300 is manually disassembled and assembled, and when the mopping module 300 is automatically installed by a base station or other equipment, the eccentric assembly 340 cannot be automatically aligned with the first driving groove 311, therefore, in the process of automatically installing the mopping module 300, the first driving member 330 is simultaneously started and drives the eccentric assembly 340 to rotate, so that the eccentric assembly 340 can be fittingly inserted into the first driving groove 311. The eccentric member 340 may move toward the first driving groove 311 while rotating until the angle of the eccentric member 340 is matched with the first driving groove 311 and inserted into the first driving groove 311.

In one embodiment, referring to fig. 4, 5 and 9, the second floor mopping assembly 320 is provided with a second driving groove 321. The linkage assembly 350 includes a drive block 351. At least a portion of the drive block 351 is located within the second drive slot 321. When the first floor mopping assembly 310 swings, the driving block 351 is matched with the second driving groove 321 to drive the second floor mopping assembly 320 to swing, so that the first floor mopping assembly 310 drives the second floor mopping assembly 320 to swing along the second swing center by utilizing the matching of the driving block 351 and the second driving groove 321 to complete the wiping action of one side.

Alternatively, the driving block 351 may be mounted to the first mop assembly 310 by, but not limited to, screwing, snapping, riveting, welding, bonding, integral molding, etc.

Specifically, referring to fig. 3 and 5, the first mop assembly 310 is provided with a first protrusion 314. The second mop assembly 320 is provided with a second protrusion 323. The first protrusion 314 is located above the second protrusion 323. The first protrusion 314 is provided with a first driving groove 311 and a mounting hole 313 at an interval. The second protrusion 323 is provided with a second driving groove 321. The mounting hole 313 is closer to the second driving groove 321 with respect to the first driving groove 311. One end of the driving block 351 is fixedly disposed in the mounting hole 313, and the other end thereof is engaged with the second driving groove 321. Therefore, through reasonable design, the transmission between the first mopping assembly 310 and the second mopping assembly 320 is smoother, and the wiping action is smoother.

Further, referring to fig. 5 and 9, the connecting assembly 350 further includes a second bearing 352 and a cushion ring 353. The inner race of the second bearing 352 is fitted to the drive block 351. The cushion ring 353 is fitted over the outer ring of the second bearing 352. In this way, the buffer ring 353 is sleeved around the driving block 351 to avoid rigid contact between the driving block 351 and the groove wall of the second driving groove 321, so as to realize effective buffer for the contact between the driving block 351 and the second driving groove 321 and reduce noise generated by contact collision. Meanwhile, the second bearing 352 is arranged between the buffer ring 353 and the driving block 351, so that the friction between the driving block 351 and the second driving groove 321 is favorably converted into rolling friction, the friction loss between the driving block 351 and the second driving groove 321 is reduced, and the service life of the material is prolonged.

In another embodiment, referring to fig. 11 to 14, the first driving element 330 drives the first mopping assembly 310 and the second mopping assembly 320 to swing along the respective swing centers at the same time, that is, the first driving element 330 can directly drive the first mopping assembly 310 and the second mopping assembly 320 to move at the same time, so as to shorten the force transmission path and make the swing response faster.

Further, referring to fig. 11 to 14, the first mopping assembly 310 is provided with a first driving slot 311. The second floor mopping assembly 320 is provided with a second driving groove 321. The mopping module 300 also includes an eccentric assembly 340. The eccentric assembly 340 is drivingly connected to the first drive member 330. At least a portion of the eccentric assembly 340 is located in the first driving groove 311 and the second driving groove 321, and the first driving member 330 drives the eccentric assembly 340 to rotate, so that the eccentric assembly 340 cooperates with the first driving groove 311 and the second driving groove 321 to drive the first mopping assembly 310 and the second mopping assembly 320 to swing. Therefore, the eccentric assembly 340 drives the first mopping assembly 310 to swing along the first swing center through the first driving slot 311, and simultaneously, the eccentric assembly 340 also drives the second mopping assembly 320 to swing along the second swing center through the second driving slot 321, so as to achieve the technical effect that the first driving member 330 simultaneously drives the first mopping assembly 310 and the second mopping assembly 320 to swing synchronously.

With reference to fig. 4, 11-13, the mopping module 300 further includes a mop holder 360 for coupling the first and

second mopping assemblies

310, 320 together in accordance with any of the embodiments described above. The mop holder 360 is detachably coupled to the body 100, so that the first and

second mop assemblies

310 and 320 are stably mounted to the body 100 through the mop holder 360 to ensure stable operation of each. Meanwhile, the first and

second mop assemblies

310 and 320 can be removed together by separating the mop holder 360 from the body 100, so that the first and

second mop assemblies

310 and 320 can be replaced together, thereby improving replacement efficiency.

Alternatively, the mop holder 360 may be mounted to the body 100 by magnetic attraction, snap-fit, pin-joint, bolting, etc.

Specifically, referring to fig. 4 and 12, the mop holder 360 is magnetically attached to the body 100, and the mop holder 360 can be detached from the body 100 when external force is applied thereto. When the mop support 360 and the magnetic member 361 on the body 100 are in the attraction range, the mop support 360 can be automatically adsorbed on the body 100, and the arrangement is convenient for the cleaning robot to automatically replace the mop assembly.

Further, referring to fig. 5 and 13, the first and

second mopping assemblies

310 and 320 are respectively provided with a first mounting portion 312 and a second mounting portion 322 corresponding to the first and second swing centers. The first mop assembly 310 is mounted to the mop frame 360 via the first mounting portion 312 and swings about the first mounting portion 312, and the second mop assembly 320 is mounted to the mop frame 360 via the second mounting portion 322 and swings about the second mounting portion 322.

It should be noted that the first swing center is opposite to the first mounting portion 312, and is understood as follows: the first swing center is located on the first mounting portion 312, such as: the first swing center is overlapped collinearly with the axis line of the first mounting portion 312 so that the first mopping assembly 310 swings around the first swing center while also swinging around the first mounting portion 312. Likewise, the second center of oscillation with respect to the second mounting portion 322 should be understood as: the second swing center is located on the second mounting portion 322, such as: the second swing center is overlapped collinearly with the axis line of the second mounting portion 322 so that the second mopping assembly 320 swings around the second swing center while also swinging around the second mounting portion 322. For easy understanding, taking fig. 5 as an example, the first swing center is denoted by L1 in fig. 5, and the second swing center is denoted by L2 in fig. 5.

Further, referring to fig. 5 and 14, the mop holder 360 is provided with a first shaft hole 362 and a second shaft hole 363 at an interval. At least a portion of the first mounting portion 312 is disposed through the first shaft aperture 362. The third bearing 3121 is sleeved on the first mounting portion 312. The third bearing 3121 is installed on the wall of the first shaft hole 362. In this manner, the first mop assembly 310 swings more smoothly with respect to the mop holder 360 using the third bearing 3121. Meanwhile, at least a portion of the second mounting portion 322 is disposed through the second shaft hole 363. A fourth bearing 3221 is fitted over the second mounting portion 322. The fourth bearing 3221 is installed on the wall of the second shaft hole 363 to make the second mop assembly 320 swing more smoothly relative to the mop frame 360. The first swing center coincides with the axis of the first shaft hole 362, and the second swing center coincides with the axis of the second shaft hole 363.

In addition, in order to ensure stable coupling of the third bearing 3121 and the first mounting portion 312 and stable coupling of the fourth bearing 3221 and the second mounting portion 322, the first mounting portion 312 may be provided with a first stopper portion 3122, and the second mounting portion 322 may be provided with a second stopper portion 3222. At this time, the third bearing 3121 is sleeved on the first installation portion 312, and two opposite sides thereof are respectively in interference fit with the first limiting portion 3122 and the mop cloth bracket 360. The fourth bearing 3221 is sleeved on the second mounting portion 322, and two opposite sides of the fourth bearing are respectively in abutting fit with the second limiting portion 3222 and the mop support 360. The first position-limiting portion 3122 and the second position-limiting portion 3222 may be designed as a pad structure.

In one embodiment, referring to fig. 5 and 14, a cushioning structure 370 is provided between the first and/or

second mop assemblies

310, 320 and the mop holder 360. The first and

second mopping assemblies

310 and 320 can move up and down relative to the mop holder 360, that is, the first and

second mopping assemblies

310 and 320 have the ability of floating up and down under the action of the buffer structure 370, so as to better adapt to uneven ground and improve the cleaning effect.

It should be noted that the cushioning structure 370 may have a variety of designs, as long as the first mop assembly 310 and/or the second mop assembly 320 can move up and down relative to the mop holder 360. The up-and-down movement may be in a manner that one edge of the first and/or second mopping assemblies 310 and/or 320 contacts the ground and the other edge thereof is lifted, or in a manner that the first and/or second mopping assemblies 310 and/or 320 are moved up or down with respect to the body as a whole. Such as: the buffering structure 370 is designed as a spring structure which is directly disposed between the mop holder 360 and the first and/or

second mop assemblies

310 and 320; alternatively, the cushioning structure 370 may be designed as a rubber, resilient foam, or the like.

Further, referring to fig. 5 and 14, the buffer structure 370 includes a pressing cover 371 and two buffer sleeves 372. The mop support 360 is provided with a first shaft hole 362 and a second shaft hole 363 at intervals. At least a portion of the first mounting portion 312 is disposed through the first shaft aperture 362. At least a portion of the second mounting portion 322 is disposed through the second shaft hole 363. The two cushion sleeves 372 are respectively covered on the first mounting part 312 and the second mounting part 322. The pressing cover 371 is installed on the mop cloth support 360 and presses the buffering sleeve 372 on the mop cloth support 360. As such, when first and/or

second mopping assemblies

310 and 320 are impacted by a raised portion of uneven ground, first and/or second mounting

portions

312 and 322 are forced to move upwardly within the respective axle bores. Since the damping sleeve 372 covers the first mounting part 312 or the second mounting part 322 and is pressed against the mop holder 360 by the pressing cover 371, the movement of the first mounting part 312 and/or the second mounting part 322 acts on the damping sleeve 372 to deform it in a structure so that the first mop assembly 310 and/or the second mop assembly 320 can be moved upward adaptively. When the first and/or

second mopping assemblies

310 and 320 are separated from the raised portion of the uneven ground, the buffer sleeve 372 pushes the first and/or second mounting

portions

312 and 322 to move downward due to the elastic deformation force, so that the first and/or

second mopping assemblies

310 and 320 can move downward adaptively, thereby achieving better floating fit of the first and/or

second mopping assemblies

310 and 320 on the ground. In addition, the buffer sleeve 372 can play a role in buffering and damping in the up-and-down movement, thereby ensuring the stable operation of the mopping module 300.

It should be noted that the material of the cushion 372 can be selected in many ways, so long as the first mopping assembly 310 and the second mopping assembly 320 float up and down to adapt to the ground. Such as: the cushion 372 may be a rubber sleeve or the like. In addition, when the first mounting portion 312 and the second mounting portion 322 are respectively sleeved with the third bearing 3121 and the fourth bearing 3221, the two buffering sleeves 372 are correspondingly covered on the third bearing 3121 and the fourth bearing 3221.

Further, referring to fig. 5 and 14, the cushion sleeve 372 is circumferentially provided with a skirt 3721. When the pressing cover 371 is mounted on the mop holder 360, the skirt 3721 can be pressed against the edge of the first shaft hole 362 or the second shaft hole 363. In addition, two through holes 3711 are formed in the pressing cover 371 at intervals and are in one-to-one correspondence with the buffering sleeves 372. At least a portion of the buffering sleeve 372 is inserted into the through hole 3711, so as to provide a space for the structural deformation of the buffering sleeve 372, thereby ensuring the stable up-and-down movement of the first mopping assembly 310 and the second mopping assembly 320.

It should be noted that, when the mop holder 360 is mounted on the body 100 via the magnetic member 361, the magnetic member 361 may be disposed on the pressing cover 371.

In one embodiment, referring to fig. 10, the mop holder 360 further comprises a shock absorber 364, and the shock absorbers 364 are respectively disposed between the first and

second mop assemblies

310 and 320 and the mop holder 360 to play a role of buffering and damping the first and

second mop assemblies

310 and 320 with respect to the mop holder 360, thereby effectively reducing the operation noise of the mop module 300; meanwhile, the stable operation of the structure is also ensured.

Alternatively, the shock absorbing member 364 may be a spring or a rubber ring.

Specifically, referring to fig. 10, the shock absorbing member 364 is a rubber ring. A rubber ring is disposed on the first mopping assembly 310 and sleeved on the first mounting portion 312. The other rubber ring is disposed on the second mopping assembly 320 and sleeved on the second mounting portion 322. The rubber ring can contact the mop holder 360 when the first and

second mop assemblies

310 and 320 are moved toward the mop holder 360.

In one embodiment, referring to fig. 15-18, the mopping module 300 further includes a lifting assembly 380. The lifting assembly 380 is disposed on the body 100 and drives the mopping module 300 to lift and lower relative to the body 100, so that the mopping module 300 moves between a position contacting the ground and a position not contacting the ground. Accordingly, when mopping, the lifting assembly 380 lowers the mopping module 300 to make the first mopping assembly 310 and the second mopping assembly 320 contact the ground; when mopping is not required, the lift assembly 380 raises the mopping module 300 such that the first and

second mopping assemblies

310 and 320 do not contact the ground.

Further, referring to fig. 8, 9 and 16, the lifting assembly 380 includes a lifting buffer 384 for buffering the vibration of the mopping module 300 transmitted to the body 100 through the lifting assembly 380, so as to achieve the effect of reducing noise.

It should be noted that the lifting cushion 384 can be made of a damping material. For example, the lift bumpers 384 may be rubber connectors to reduce or dampen vibration of the floor module 300 as it is transmitted to the body 100, thereby reducing noise.

In one embodiment, referring to fig. 15 to 18, the lifting assembly 380 includes a second driving member 381, a sliding member 382 and a lifting frame 383, the sliding member 382 is disposed on the lifting frame 383 and slidably engaged with the body 100, and the mopping module 300 is disposed on the lifting frame 383. The second driving member 381 is disposed on the body 100 and is used for driving the sliding member 382 to move up and down with respect to the body 100. Thus, when mopping, the second driving unit 381 is activated to drive the sliding unit 382 to descend relative to the body 100 to lower the mopping module 300 by the lifting frame 383, so that the first and

second mopping assemblies

310 and 320 can contact with the ground. When the mopping is finished or not needed, the slider 382 is driven to ascend relative to the body 100 by the second driving member 381, and the mopping module 300 is lifted, so that the first mopping assembly 310 and the second mopping assembly 320 are disengaged from the ground.

The number of the sliders 382 may be one or more. When the slider 382 is one, the slider 382 may be provided at the middle of the elevation frame 383 so that the elevation frame 383 is balanced in force during the elevation process. When there are a plurality of sliders 382, the plurality of sliders 382 are provided at intervals on the lift 383. In addition, since the lifting frame 383 is provided with the mopping module 300, in order to reduce the vibration transmitted from the mopping module 300 to the body 100, the slider 382 can be connected to the lifting frame 383 through the lifting buffer 384.

Specifically, referring to fig. 15 and 16, at least two sliding members 382 are provided. At least two sliders 382 are provided at intervals on opposite ends of the elevation 383.

It should be noted that the second driving member 381 can drive the sliding member 382 to move in various ways, such as: when the second driving member 381 is a telescopic device such as an air cylinder, a hydraulic cylinder, an electric cylinder, etc., the output shaft of the second driving member 381 may be directly connected to the lifting frame 383 to enable the sliding member 382 to move up and down relative to the body 100; or, when the second driving member 381 is a motor, a transmission structure, such as a gear and rack combination structure, a screw and slider combination structure, a crank and connecting rod 390 combination structure, etc., is added between the second driving member 381 and the lifting frame 383 or the sliding member 382.

Further, referring to fig. 17 and 18, the lifting assembly 380 further includes a transmission shaft 385 and a cam 386. The second driving member 381 is connected to the cam 386 through the transmission shaft 385 to drive the cam 386 to rotate about the axis of the transmission shaft 385. The slider 382 is provided with a first engaging portion 3821 which is in interference engagement with the surface of the cam 386. The cam 386 is located between the first mating portion 3821 and the mopping module 300, and the cam 386 has a first interference end 3861 and a second interference end 3862 which are oppositely arranged. The first interference end 3861 is disposed closer to the axis of the transmission shaft 385 than the second interference end 3862. Referring to fig. 17, when the mopping module 300 is in a lifted state, the second abutting end 3862 abuts against the first mating portion 3821; referring to fig. 18, when the mopping module 300 is in a mopping state, the first abutting end 3861 abuts against the first mating portion 3821.

Therefore, when mopping, the second driving member 381 is activated to drive the cam 386 to rotate through the transmission shaft 385, so that the first engaging portion 3821 moves up and down against the surface of the cam 386. When the cam 386 rotates to the second abutting end 3862 and abuts against the first engaging portion 3821, the first engaging portion 3821 is jacked up to drive the sliding member 382 and the lifting frame 383 to move toward the body 100, so as to separate the floor mopping module 300 from the ground. When the cam 386 rotates to the first abutting end 3861 to abut against the first engaging portion 3821, the first engaging portion 3821 is lowered to drive the sliding member 382 and the lifting frame 383 to move away from the body 100, so that the mopping module 300 contacts with the ground.

It should be noted that the number relationship between the cam 386 and the slider 382 may be a one-to-one correspondence. Such as: when there are two sliders 382, there are also two cams 386. Two cams 386 are provided at opposite ends of the drive shaft 385, respectively, and are in driving engagement with the corresponding sliders 382. Meanwhile, the cam 386, when engaged with the slider 382, may be located on either side of the slider 382. That is, the cam 386 may be located on a side of the slider 382 facing the second driver 381 or on a side of the slider 382 facing away from the second driver 381. When the cam 386 is located on a side of the sliding member 382 opposite to the second driving member 381, the sliding member 382 has an opening 3823 through which the transmission shaft 385 passes and moves. Of course, the number relationship between cam 386 and slider 382 may also be two-to-one, i.e., one slider 382 is provided with two cams 386, and the two cams 386 are respectively located at two opposite sides of slider 382.

Alternatively, the second driving member 381 and the transmission shaft 385 may be engaged by a gear-to-gear engagement, a chain transmission, a belt transmission, or the like. The second driving member 381 is a motor.

Further, referring to fig. 18, the sliding member 382 is further provided with a second engaging portion 3822. The second mating portion 3822 is located between the cam 386 and the mopping module 300. When the mopping module 300 is in a mopping state, the first abutting end 3861 is in abutting engagement with the first engaging portion 3821, and a floating distance 3863 is provided between the second abutting end 3862 and the second engaging portion 3822. I.e., with some floating motion when the mopping module 300 is in the mopping state. Which is resisted by uneven ground while mopping, which drives slider 382 toward fuselage 100. When the sliding member 382 moves upwards for a certain distance, the second engaging portion 3822 will interfere with the second interference end 3862 to limit the excessive floating of the mopping module 300, so as to ensure the stable and effective operation of the mopping module 300.

It should be noted that the cam 386 can be designed in various shapes, and it is only necessary to have the first interference end 3861 and the second interference end 3862 which are oppositely arranged on the cam 386. For example, the cam 386 is a non-standard leno triangular cam 386.

In one embodiment, referring to fig. 16, the body 100 is provided with a chute 110. The sliding member 382 is movably disposed through the sliding slot 110. The cam 386 is located in the slide groove 110 and interference-engages with the first engaging portion 3821. Thus, the sliding chute 110 guides the movement of the sliding piece 382, and the sliding piece 382 can move more stably and smoothly.

Specifically, referring to fig. 16, there are two sliding slots 110, two cams 386 and two sliding members 382. The two sliding grooves 110 are spaced on the body 100. The two sliding members 382 are respectively inserted into the two sliding slots 110. The second driving member 381 and the transmission shaft 385 are located between the two sliding members 382. The two cams 386 are respectively disposed at two opposite ends of the transmission shaft 385 and respectively engaged with the corresponding sliding members 382 in a transmission manner.

In one embodiment, referring to fig. 19 and 20, the movement of the floor module 300 is achieved in a sliding manner, and the floor module 300 includes a mop holder 360, a first slider 391, a second slider 392, a first floor assembly 310, a second floor assembly 320, and a first driving member 330. The first slider 391 and the second slider 392 are spaced apart from each other on the mop holder 360. The first driving member 330 is used for driving the first slider 391 and the second slider 392 to move toward or away from each other. The first mop assembly 310 is disposed on the first slider 391, and the second mop assembly 320 is disposed on the second slider 392. In this manner, the mopping module 300 is enabled to clean in a sliding manner.

It should be noted that the first driving member 330 drives the first slider 391 and the second slider 392 to move relative to each other, which includes at least the following cases: the first driving member 330 simultaneously and directly drives the first slider 391 and the second slider 392 to move relative to each other, for example: the first sliding block 391 and the second sliding block 392 can synchronously slide along opposite directions by utilizing two threads with different rotation directions on the screw rod; alternatively, the first slider 391 and the second slider 392 can move oppositely and synchronously by engaging a gear with two racks. The first driving member 330 drives the first slider 391 or the second slider 392 to move, so as to drive the other slider to move.

Further, referring to fig. 20, the mopping module 300 further includes a link 390. The link 390 is rotatably installed on the mop cloth holder 360. Opposite ends of the link 390 are connected to the first slider 391 and the second slider 392, respectively. The first driving member 330 is drivingly connected to the first slider 391 or the second slider 392. That is, when mopping, the first driving member 330 drives one of the sliders to move, which drives the connecting rod 390 to rotate, so that the other slider is driven by the connecting rod 390 to move along the opposite direction and synchronously.

Further, referring to fig. 20, the mop holder 360 has a first guide block 365 and a second guide block 366, the first guide block 365 and the second guide block 366 being spaced apart from each other; the first slider 391 is provided with a first guide groove 3911, the first guide block 365 is guided to be engaged with the first guide groove 3911, the second slider 392 is provided with a second guide groove 3921, and the second guide block 366 is guided to be engaged with the second guide groove 3921. The first and

second guide grooves

3911 and 3921 extend in the same direction on the mop holder 360 to ensure that the first and

second sliders

391 and 392 reciprocate in the same line.

In one embodiment, referring to fig. 19, the output end of the first driving member 330 has an eccentric 393. The first slider 391 is further provided with a third driving groove 3912, and the eccentric 393 is in driving fit with the third driving groove 3912.

Therefore, when the first driving member 330 drives the eccentric wheel 393 to rotate, the eccentric wheel 393 is matched with the third driving groove 3912 to drive the first sliding block 391 to move, and the first guiding groove 3911 of the first sliding block 391 is in guiding fit with the first guiding block 365, so that the first sliding block 391 moves linearly; meanwhile, the first slider 391 moves and transfers the motion to the second slider 392 through the link 390, so that the second slider 392 linearly moves while being limited by the second guide groove 3921 and the second guide block 366, and the second slider 392 moves in the opposite direction to the first slider 391. So configured, under the action of the first driving member 330, the first slider 391 and the second slider 392 are linearly reciprocated in opposite directions, so that the first mopping assembly 310 and the second mopping assembly 320 are linearly reciprocated in opposite directions to perform mopping operations.

When the first driving member 330 drives the eccentric 393 to rotate, the first slider 391 on the left side can move left and right, and the second slider 392 on the right side can also move left and right through the action of the connecting rod 390, and the moving directions of the second slider 392 and the first slider 391 are opposite, so that the first mopping assembly 310 and the second mopping assembly 320 perform linear reciprocating movements in opposite directions.

In one embodiment, referring to fig. 1, the cleaning robot further includes a dust suction module 400 and a radar module 500, the dust suction module 400 and the mopping module 300 are respectively disposed on a lower surface of the body 100, and the dust suction module 400 and the mopping module 300 are disposed in tandem in a traveling direction.

Specifically, referring to fig. 1, the radar module 500 is an LDS module.

Further, referring to fig. 1, the dust suction module 400 has a dust box 410, and the dust box 410 is mounted on the body 100 for collecting and storing the cleaned trash.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "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," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A cleaning robot, characterized by comprising:

a body;

the walking module is arranged on the machine body and is used for driving the machine body to move;

the mopping module is used for cleaning a surface to be cleaned and comprises a first mopping component and a second mopping component, and the first mopping component and the second mopping component are arranged at the bottom of the machine body and wipe the surface to be cleaned;

the first driving piece is arranged on the machine body and used for driving the first mopping assembly and the second mopping assembly to swing, the first mopping assembly swings around a first swing center, and the second mopping assembly swings around a second swing center.

2. The cleaning robot of claim 1, wherein the first and/or second floor scrubbing assemblies oscillate in a horizontal plane, and wherein the oscillation angle of the first and second floor scrubbing assemblies does not exceed 90 degrees.

3. The cleaning robot of claim 1, wherein the first and second mopping assemblies each have a geometric center, the first swing center is disposed within a 15mm radius from the geometric center of the first mopping assembly, and the second swing center is disposed within a 15mm radius from the geometric center of the second mopping assembly.

4. The cleaning robot of claim 1, wherein the first floor mopping assembly orthographically projects on a plane perpendicular to a direction of travel of the cleaning robot and results in a first projected area, wherein the second floor mopping assembly orthographically projects on a plane perpendicular to the direction of travel of the cleaning robot and results in a second projected area, and wherein the first projected area and the second projected area at least partially overlap.

5. The cleaning robot of claim 1, wherein the first and second floor mopping assemblies oscillate in a direction toward or away from each other, and the first and second floor mopping assemblies oscillate synchronously at the same oscillation angle.

6. The cleaning robot of claim 1, wherein the mopping module is removably coupled to the body, and the first drive member is removably coupled to the mopping module.

7. The cleaning robot as claimed in any one of claims 1 to 6, wherein the second floor mopping assembly is connected to the first floor mopping assembly by a connecting assembly, the first driving member drives the first floor mopping assembly to swing along the first swing center, and the first floor mopping assembly drives the second floor mopping assembly to swing along the second swing center by the connecting assembly.

8. The cleaning robot as recited in claim 7, wherein an eccentric assembly is coupled to the first driving member, wherein the first mopping assembly defines a first driving slot, at least a portion of the eccentric assembly is disposed in the first driving slot, and wherein the first driving member drives the eccentric assembly to rotate and engage the eccentric assembly with the first driving slot to swing the first mopping assembly.

9. The cleaning robot as claimed in claim 8, wherein the mopping module further comprises a guide member connected to the output end of the eccentric assembly, the guide member extends into the first driving groove to drive the first mopping assembly to swing, and a circumferential buffer member is disposed around the guide member.

10. The cleaning robot of claim 8 or 9, wherein the eccentric assembly rotates to fit into the first drive slot when the first drive member is coupled to the mopping module.

11. The cleaning robot as claimed in claim 7, wherein the second floor mopping assembly is provided with a second driving groove, the connecting assembly includes a driving block, at least a portion of the driving block is located in the second driving groove, and the driving block is engaged with the second driving groove when the first floor mopping assembly swings to drive the second floor mopping assembly to swing.

12. The cleaning robot of any of claims 1-5, wherein the first drive member simultaneously drives the first and second floor mopping assemblies to oscillate about respective oscillation centers.

13. The cleaning robot of claim 12, wherein the first mopping assembly is provided with a first driving slot, the second mopping assembly is provided with a second driving slot, the mopping module further comprises an eccentric assembly, the eccentric assembly is in transmission connection with the first driving member, at least a portion of the eccentric assembly is located in the first driving slot and the second driving slot, the first driving member drives the eccentric assembly to rotate, so that the eccentric assembly is matched with the first driving slot and the second driving slot to drive the first mopping assembly and the second mopping assembly to swing.

14. A cleaning robot according to any of claims 1-5, further comprising a mop bracket for connecting the first and second mop assemblies together, the mop bracket being removably connected to the body.

15. A cleaning robot according to claim 14, wherein the first floor mopping assembly and the second floor mopping assembly are provided with a first mounting part and a second mounting part corresponding to the first swing center and the second swing center, respectively, the first floor mopping assembly is mounted on the mop frame through the first mounting part and swings around the first mounting part, and the second floor mopping assembly is mounted on the mop frame through the second mounting part and swings around the second mounting part.