WO2023185222A1

WO2023185222A1 - Cleaning robot and control method for cleaning robot

Info

Publication number: WO2023185222A1
Application number: PCT/CN2023/072779
Authority: WO
Inventors: 钱富; 张士松; 钟红风; 成效文
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2022-03-31
Filing date: 2023-01-18
Publication date: 2023-10-05
Also published as: CN220141559U

Abstract

A cleaning robot and a control method therefor. The cleaning robot comprises a lifting assembly (410), a separation mechanism, a locking assembly (800) and a mopping module (300), wherein the lifting assembly (410) drives the mopping module (300) to move up and down; the separation mechanism enables the mopping module (300) to be disengaged from the lifting assembly (410) when a force away from a robot body (100) is applied to the mopping module (300); the locking assembly (800) is provided with a lock catch portion for locking the mopping module (300), and the lock catch portion comprises a first state of locking the mopping module (300) and a second state of unlocking the mopping module (300); and a driver (420) is controlled by a controller to provide a driving force for the lifting assembly (410), the separation mechanism and the locking assembly (800). By means of the cooperation of the lifting assembly (410), the separation mechanism, the locking assembly (800) and the driver (420), the functions of lifting, replacing, locking and unlocking the mopping module (300) are realized at the same time, such that the internal structure of the cleaning robot is effectively simplified, thereby facilitating the miniaturization of the cleaning robot, and reducing the costs of the cleaning robot.

Description

清洁机器人和清洁机器人的控制方法Cleaning robot and control method of cleaning robot

本公开要求了申请日为2022年3月31日，申请号为202220724529.8，发明名称为“清洁机器人”、申请日为2022年09月09日，申请号为202211101992.8，发明名称为“清洁机器人”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。This disclosure requires that the application date be March 31, 2022, the application number is 202220724529.8, and the invention name is "Cleaning Robot"; the application date is September 9, 2022, the application number is 202211101992.8, and the invention name is "Cleaning Robot" Priority to the Chinese patent application, the entire contents of which are incorporated into this disclosure by reference.

技术领域Technical field

本公开涉及智能清洁技术领域，特别是涉及清洁机器人。The present disclosure relates to the field of intelligent cleaning technology, and in particular to cleaning robots.

背景技术Background technique

随着智能技术的快速发展，智能机器人广泛应用在不同领域中，比如：清洁领域中，越来越多清洁机器人被研发，替代传统手动清洁方式，以逐步解放消费者的双手，节省清洁时间。With the rapid development of smart technology, smart robots are widely used in different fields. For example, in the cleaning field, more and more cleaning robots are being developed to replace traditional manual cleaning methods to gradually free consumers' hands and save cleaning time.

传统清洁机器人的拖布大部分水平贴合地面，当遇到台阶时，拖布会与台阶边缘接触，导致赃物会被刮蹭重新掉落到地面上。同时，当清洁机器人需回基站充电时，途中脏拖布与地面一直接触，易造成已清洁的地面二次污染。此外，不工作时，拖布一直与地面贴合，无法通风，容易产生异味或滋生细菌。Most of the mops of traditional cleaning robots are horizontally attached to the ground. When encountering steps, the mops will come into contact with the edges of the steps, causing the stolen goods to be scratched and fall back to the ground. At the same time, when the cleaning robot needs to return to the base station for charging, the dirty mop keeps contacting the ground along the way, which can easily cause secondary contamination of the cleaned ground. In addition, when not working, the mop is always attached to the ground and cannot be ventilated, which can easily produce odor or breed bacteria.

为此，现有清洁机器人内置抬升机构，在遇到台阶或者回充电时，利用抬升机构抬起拖布，以解决赃物被刮蹭以及地面二次污染的问题。而对于脏拖布的自动更换，清洁机器人则需依靠内置的拾取机构，利用拾取机构的释放功能，将抬升机构与拖布板分离，以实现自动更换操作。此时，目前清洁机器人需至少内置两种不同机构，才能满足抬升和更换需求，从另一方面考虑，清洁机器人的拖布板能够抬升，其稳定性可能会受到影响，在拖地期间可能会产生晃动，需要考虑将拖布板锁紧在抬升机构上，而在将抬升机构与拖布板分离时，又需要松开拖布板，缩进和松开拖布板也需要另外的机构来实现，这样不仅增加清洁机器人的制作成本，而且还导致主机内结构变得复杂，导致机器体积严重增大。For this reason, existing cleaning robots have a built-in lifting mechanism. When encountering steps or recharging, the lifting mechanism is used to lift the mop to solve the problem of stolen goods being scratched and secondary contamination of the ground. For the automatic replacement of dirty mops, the cleaning robot needs to rely on the built-in pickup mechanism and use the release function of the pickup mechanism to separate the lifting mechanism from the mop plate to achieve automatic replacement operations. At this time, the current cleaning robot needs to have at least two different built-in mechanisms to meet the lifting and replacement needs. On the other hand, if the mopping plate of the cleaning robot can be lifted, its stability may be affected, and it may cause problems during mopping. To prevent shaking, you need to consider locking the mop plate on the lifting mechanism. When separating the lifting mechanism from the mop plate, you need to loosen the mop plate. Indenting and releasing the mop plate also requires another mechanism to achieve it. This not only increases the The manufacturing cost of the cleaning robot also leads to the complexity of the structure within the host machine, resulting in a serious increase in the size of the machine.

发明内容Contents of the invention

基于此，有必要提供一种清洁机器人，利用同一机构同时实现拖地模块升降、更换、锁紧以及松开，简化主机内部结构设计，便于清洁机器人小型化，提升产品性能。Based on this, it is necessary to provide a cleaning robot that uses the same mechanism to simultaneously lift, replace, lock and loosen the mopping module, simplifying the internal structural design of the host, facilitating the miniaturization of the cleaning robot, and improving product performance.

一种清洁机器人，所述清洁机器人包括：机身；移动模块，设于所述机身，用于带动所述机身移动；控制器，与所述移动模块电性连接，并控制所述移动模块驱使所述机身移动；拖地模块，与待清洁表面接触以清洁待清洁表面；所述清洁机器人还包括：升降组件，设置于所述机身，设有与所述拖地模块可拆卸连接以带动所述拖地模块上下运动的连接部；分离机构，设置于所述机身，设有作用于所述拖地模块以使所述拖地模块与所述连接部脱离连接的顶出部；锁紧组件，设有将所述拖地模块锁扣在连接部上的锁扣部，所述锁扣部包括锁紧所述拖地模块的第一状态和与所述拖地模块解除锁紧的第二状态；驱动器，由所述控制器控制工作，以给所述升降组件、分离机构以及锁紧组件提供驱动力。A cleaning robot, the cleaning robot includes: a fuselage; a moving module provided on the fuselage for driving the fuselage to move; a controller electrically connected to the moving module and controlling the movement The module drives the fuselage to move; the mopping module is in contact with the surface to be cleaned to clean the surface to be cleaned; the cleaning robot also includes: a lifting component, which is provided on the fuselage and has a detachable structure with the mopping module. The connecting part is connected to drive the mopping module to move up and down; the separation mechanism is provided on the fuselage and is provided with a push-out that acts on the mopping module to disconnect the mopping module from the connecting part. part; a locking assembly, which is provided with a locking part for locking the mopping module on the connecting part, and the locking part includes a first state of locking the mopping module and a locking part for releasing the mopping module. The second locking state; the driver is controlled by the controller to provide driving force to the lifting component, the separation mechanism and the locking component.

上述的清洁机器人，利用升降组件、分离机构、锁紧组件与驱动器的配合，同时实现拖地模块升降、顶落以及锁紧松开的功能，使得内部结构得到有效简化，便于清洁机器人小型化，从而有利于提升产品性能，同时也能够有效降低清洁机器人的成本。The above-mentioned cleaning robot uses the cooperation of the lifting component, the separation mechanism, the locking component and the driver to simultaneously realize the functions of lifting, lifting and locking the mopping module, effectively simplifying the internal structure and facilitating the miniaturization of the cleaning robot. This will help improve product performance and also effectively reduce the cost of cleaning robots.

在其中一个实施例中，所述控制器与所述驱动器电性连接，由控制器控制工作，以驱动至少部分的所述升降组件抬升，带动所述拖地模块由接触待清洁表面的第一位置运动至脱离待清洁表面的第二位置；并且，驱动所述分离机构的至少部分结构运动，以使所述顶出部抵触并顶落所述拖地模块；以及，驱动所述锁扣部在所述第一状态和第二状态之间切换。In one embodiment, the controller is electrically connected to the driver, and is controlled by the controller to drive at least part of the lifting assembly to lift, driving the mopping module to move from the first contact surface to the surface to be cleaned. The position moves to a second position away from the surface to be cleaned; and, driving at least part of the structural movement of the separation mechanism, so that the ejection part collides with and pushes down the mopping module; and, drives the locking part Switch between the first state and the second state.

在其中一个实施例中，所述锁紧组件设置于所述连接部，跟随所述连接部一同升降。 In one embodiment, the locking component is disposed on the connecting portion and rises and falls along with the connecting portion.

在其中一个实施例中，所述拖地模块位于所述第一位置时，所述锁扣部处于锁紧所述拖地模块的第一状态，所述拖地模块从所述连接部上脱离时，所述锁扣部处于解除锁紧所述拖地模块的第二状态，所述驱动器驱动所述锁扣部在所述第一状态和所述第二状态之间切换。In one embodiment, when the mopping module is in the first position, the locking portion is in a first state of locking the mopping module, and the mopping module is detached from the connecting portion. When , the locking part is in the second state of unlocking the mopping module, and the driver drives the locking part to switch between the first state and the second state.

在其中一个实施例中，所述升降组件包括第一升降结构和第二升降结构结构，所述拖地模块通过所述连接部可拆卸的连接于所述第一升降结构，所述驱动器连接于所述第一升降结构，所述控制器控制所述驱动器驱使所述第一升降结构在所述第二升降结构的表面上抬升，以带动所述拖地模块由所述第一位置向所述第二位置运动。In one embodiment, the lifting assembly includes a first lifting structure and a second lifting structure, the mopping module is detachably connected to the first lifting structure through the connecting part, and the driver is connected to In the first lifting structure, the controller controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module from the first position to the Second position movement.

在其中一个实施例中，所述顶出部设置为所述第二升降结构，所述第二升降结构通过所述第一升降结构间接连接于所述驱动器，所述拖地模块运动至所述第二位置时，所述控制器控制所述驱动器继续驱动所述第一升降结构，以使所述第一升降结构驱动所述第二升降结构相对所述机身朝所述第一位置的方向运动，顶落所述拖地模块。In one embodiment, the ejection part is configured as the second lifting structure, the second lifting structure is indirectly connected to the driver through the first lifting structure, and the mopping module moves to the In the second position, the controller controls the driver to continue driving the first lifting structure so that the first lifting structure drives the second lifting structure in the direction of the first position relative to the fuselage. To move, top and drop the mopping module.

在其中一个实施例中，所述顶出部设置为所述第二升降结构，所述第二升降结构通过所述第一升降结构间接连接于所述驱动器，所述拖地模块运动至所述第二位置后，所述控制器控制所述驱动器继续驱使所述第一升降结构在所述第二升降结构的表面上抬升，以带动所述拖地模块抬升至高于所述第二位置的第三位置，所述拖地模块位于所述第三位置时，所述控制器控制所述驱动器继续驱动所述第一升降结构，以使所述第一升降结构驱动所述第二升降结构相对所述机身朝所述第一位置的方向运动，顶落所述拖地模块。In one embodiment, the ejection part is configured as the second lifting structure, the second lifting structure is indirectly connected to the driver through the first lifting structure, and the mopping module moves to the After the second position, the controller controls the driver to continue to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to lift to a third position higher than the second position. three positions. When the mopping module is in the third position, the controller controls the driver to continue driving the first lifting structure so that the first lifting structure drives the second lifting structure relative to the third position. The fuselage moves in the direction of the first position and pushes down the mopping module.

在其中一个实施例中，所述第一升降结构在所述第二升降结构的表面上升降时，所述第二升降结构相对所述机身不产生位移；所述第二升降结构相对所述机身朝所述第一位置的方向运动时，所述第一升降结构以及所述驱动器相对所述机身不产生位移。In one embodiment, when the first lifting structure rises and falls on the surface of the second lifting structure, the second lifting structure does not produce any displacement relative to the fuselage; the second lifting structure does not move relative to the fuselage; When the fuselage moves in the direction of the first position, the first lifting structure and the driver do not generate displacement relative to the fuselage.

在其中一个实施例中，所述抬升机构包括支撑件，所述支撑件连接于所述机身和所述第二升降结构之间，所述第一升降结构在所述第二升降结构的表面上升降时，所述支撑件支撑并限制所述第二升降结构相对所述机身产生位移；所述清洁机器人还设置有限位结构，在所述第二升降结构相对所述机身朝所述第一位置的方向运动时，所述限位结构向所述连接部施加向下的压力，限制所述连接部以及所述第一升降结构相对所述机身继续向上运动，且所述第一升降结构向所述第二升降结构施加压力，所述第二升降结构按压所述支撑件使其发生形变或位移。In one embodiment, the lifting mechanism includes a support member connected between the fuselage and the second lifting structure, and the first lifting structure is on the surface of the second lifting structure. When rising and falling, the support member supports and limits the displacement of the second lifting structure relative to the fuselage; the cleaning robot is also provided with a limiting structure, when the second lifting structure faces the fuselage relative to the When moving in the direction of the first position, the limiting structure exerts downward pressure on the connecting part, restricting the connecting part and the first lifting structure from continuing to move upward relative to the fuselage, and the first The lifting structure exerts pressure on the second lifting structure, and the second lifting structure presses the support member to cause deformation or displacement.

在其中一个实施例中，所述第一升降结构包括设于所述连接部上的齿轮组，所述第二升降结构包括与部分所述齿轮组啮合的齿条，所述驱动器驱使所述齿轮组在所述齿条上抬升。In one embodiment, the first lifting structure includes a gear set provided on the connecting part, the second lifting structure includes a rack meshing with part of the gear set, and the driver drives the gear The group is raised on the rack.

在其中一个实施例中，所述锁紧组件设置于所述连接部，跟随所述连接部一同升降，所述清洁机器人还包括压力部，所述驱动器驱动所述拖地模块抬升至所述第二位置时，所述压力部被配置为抵触所述锁扣部，以使所述锁扣部由所述第一状态转换为所述第二状态。In one embodiment, the locking component is disposed on the connection part and rises and falls together with the connection part. The cleaning robot further includes a pressure part, and the driver drives the mopping module to lift to the third position. In the second position, the pressure part is configured to resist the locking part, so that the locking part is converted from the first state to the second state.

在其中一个实施例中，所述锁紧组件设置于所述连接部，跟随所述连接部一同升降，所述清洁机器人还包括压力部，所述拖地模块处于所述第二位置时，所述锁扣部处于所述第一状态，所述拖地模块位由所述第二位置运动至所述第三位置时，所述压力部抵触所述锁扣部使其由所述第一状态切换为第二状态。In one embodiment, the locking component is provided on the connecting part and rises and falls together with the connecting part. The cleaning robot further includes a pressure part. When the mopping module is in the second position, The locking part is in the first state. When the mopping module moves from the second position to the third position, the pressure part resists the locking part to cause it to move from the first state. Switch to the second state.

在其中一个实施例中，所述锁扣部包括连接于所述连接部且相对所述连接部可移动的移动件，所述移动件被配置为处于锁紧位置时与所述拖地模块配合锁紧，所述移动件与所述压力部抵触并受到所述压力部的压力时相对所述连接部移动，以从所述锁紧位置移动至松开位置，解除与所述拖地模块的配合锁紧。In one embodiment, the locking part includes a moving part connected to the connecting part and movable relative to the connecting part, and the moving part is configured to cooperate with the mopping module when in the locking position. Locking, the moving part conflicts with the pressure part and moves relative to the connecting part when it is pressed by the pressure part to move from the locking position to the releasing position to release the connection with the mopping module. Fit and lock.

在其中一个实施例中，所述移动件包括钩部，以及一端与所述钩部连接的弹性件，所述弹性件的另一端连接于所连接部；所述拖地模块上设置有与所述钩部配合的凹槽，所述移动件处于所述锁紧位置时，所述钩部伸入所述凹槽并在所述弹性件施予的弹性力的作用下卡紧所述拖地模块，所述钩部的上端受到所述压力部的压力大于所述弹性件施予所述钩部的弹性力时，所述钩部旋转至松开位置，所述钩部处于所述松开位置时至少不干涉所述拖地模块朝向所述第一位置的方向运动。In one embodiment, the moving member includes a hook and an elastic member with one end connected to the hook and the other end of the elastic member connected to the connecting part; the mopping module is provided with a The hook portion fits into the groove. When the moving member is in the locking position, the hook portion extends into the groove and clamps the mopping floor under the action of the elastic force exerted by the elastic member. Module, when the upper end of the hook is subjected to the pressure of the pressure part which is greater than the elastic force exerted by the elastic member on the hook, the hook is rotated to the release position, and the hook is in the release position. When in the open position, it at least does not interfere with the movement of the mopping module toward the first position.

在其中一个实施例中，所述抬升机构还包括离合结构，所述离合结构连接于所述第一升降结构和所述驱动器之间，以使所述第一升降结构和所述驱动器配合或断开配合，所述第一升降结构在所述第二升降结构的表面上下降时，或者，所述拖地模块处于所述第一位置时，所述离合结构处于离合状态，所述第一升降结构和所述驱动器断开配合，所述驱动器驱使所述第一升降结构在所述第二升降结构的表面上抬升时，或者，所述拖地模块处于所述第二位置且所述控制器判断所述拖地模块需要保持抬升状态时，所述离合结构处于接触状态。In one embodiment, the lifting mechanism further includes a clutch structure connected between the first lifting structure and the driver to enable the first lifting structure and the driver to cooperate or disconnect. Open and cooperate, when the first lifting structure descends on the surface of the second lifting structure, or when the mopping module is in the first position, the clutch structure is in a clutch state, and the first lifting structure When the structure and the driver are disconnected, the driver drives the first lifting structure to lift on the surface of the second lifting structure, or the mopping module is in the second position and the controller When it is determined that the mopping module needs to remain in a raised state, the clutch structure is in a contact state.

在其中一个实施例中，所述第一升降结构包括设于所述连接部上的齿轮组，所述第二升降结构包括与部分所述齿轮组啮合的齿条，所述驱动器驱使所述齿轮组在所述齿条上运动；所述齿轮组包括与所述驱动器驱动连接的传动件、与所述齿条啮合的驱动齿轮，所述传动件通过所述离合结构驱使所述驱动齿轮转动，所述离合结构用于允许所述传动件与所述驱动齿轮之间具有预设空行程，以使两者断开配合。In one embodiment, the first lifting structure includes a gear set provided on the connecting part, the second lifting structure includes a rack meshing with part of the gear set, and the driver drives the gear The gear set moves on the rack; the gear set includes a transmission member drivingly connected to the driver and a driving gear meshing with the rack; the transmission member drives the driving gear to rotate through the clutch structure, The clutch structure is used to allow a preset idle stroke between the transmission member and the driving gear to disengage the two.

在其中一个实施例中，所述清洁机器人还包括水箱，以及与所述水箱连通的水管，所述水管具有水口，用于将所述水箱中的水引导至所述拖地模块，所述驱动器、所述水口以及至少部分的所述水管安装于所述连接部上。In one embodiment, the cleaning robot further includes a water tank and a water pipe connected to the water tank. The water pipe has a water inlet for guiding water in the water tank to the mopping module. The driver , the water inlet and at least part of the water pipe are installed on the connecting part.

本公开还提供一种清洁机器人的控制方法，所述清洁机器人包括：机身；移动模块，设于所述机身；控制器，与所述移动模块电性连接，并控制所述移动模块驱使所述机身移动；拖地模块，与待清洁表面接触以清洁待清洁表面；抬升机构，至少部分设置于所述机身内，所述抬升机构包括驱动器以及至少由所述驱动器驱动抬升的升降组件，所述拖地模块可拆卸的连接于所述升降组件的连接部；分离机构以及至少一个锁紧组件；The present disclosure also provides a control method for a cleaning robot. The cleaning robot includes: a body; a mobile module located on the body; and a controller electrically connected to the mobile module and controlling the movement of the mobile module. The fuselage moves; the mopping module is in contact with the surface to be cleaned to clean the surface to be cleaned; a lifting mechanism is at least partially disposed in the fuselage, the lifting mechanism includes a driver and at least a lift driven by the driver Assembly, the mopping module is detachably connected to the connecting portion of the lifting assembly; a separation mechanism and at least one locking assembly;

所述清洁机器人的控制方法包括以下步骤：所述控制器控制所述驱动器驱动至少部分的所述升降组件抬升，进而带动所述拖地模块抬升；所述控制器控制所述驱动器驱动所述锁紧组件的锁扣部由锁紧所述拖地模块的第一状态切换为解除锁紧所述拖地模块的第二状态；所述控制器控制所述驱动器驱动所述分离机构的至少部分结构运动，以在所述锁扣部处于所述第二状态时，使所述拖地模块被施予远离所述机身的力而脱离所述连接部。The control method of the cleaning robot includes the following steps: the controller controls the driver to drive at least part of the lifting assembly to lift, thereby driving the mopping module to lift; the controller controls the driver to drive the lock The locking portion of the fastening assembly switches from a first state of locking the mopping module to a second state of unlocking the mopping module; the controller controls the driver to drive at least part of the structure of the separation mechanism Movement, so that when the locking portion is in the second state, the mopping module is exerted with a force away from the fuselage and disengaged from the connecting portion.

在其中一个实施例中，所述抬升机构包括第一升降结构和第二升降结构结构，所述拖地模块通过所述连接部可拆卸的连接于所述第一升降结构，所述清洁机器人还包括与所述控制器电性连接的第一检测器，所述清洁机器人的控制方法包括：In one embodiment, the lifting mechanism includes a first lifting structure and a second lifting structure, the mopping module is detachably connected to the first lifting structure through the connecting part, and the cleaning robot further Comprising a first detector electrically connected to the controller, the control method of the cleaning robot includes:

所述控制器接收到拖地信号，若所述拖地模块处于脱离待清洁表面的第二位置，则控制所述驱动器运行，以使所述第一升降结构在所述第二升降结构的表面上下降，以带动所述拖地模块由所述第二位置向所述第一位置运动；The controller receives the mopping signal, and if the mopping module is in a second position away from the surface to be cleaned, it controls the driver to operate so that the first lifting structure is on the surface of the second lifting structure. Up and down to drive the mopping module to move from the second position to the first position;

所述第一检测器检测到所述拖地模块处于接触待清洁表面的第一位置，则向所述控制器传递第一检测信号；所述控制器响应于所述第一检测信号控制所述驱动器停止运行，所述拖地模块处于所述第一位置清洁待清洁表面。When the first detector detects that the mopping module is in a first position contacting the surface to be cleaned, it transmits a first detection signal to the controller; the controller controls the mopping module in response to the first detection signal. The driver stops running, and the mopping module is in the first position to clean the surface to be cleaned.

在其中一个实施例中，所述控制器接收到所述拖地信号时，若所述第一检测器直接检测所述拖地模块处于所述第一位置，则向所述控制器传递第一检测信号；所述控制器响应于所述第一检测信号控制清洁机器人执行拖地任务。In one of the embodiments, when the controller receives the mopping signal, if the first detector directly detects that the mopping module is in the first position, it transmits the first signal to the controller. Detection signal; the controller controls the cleaning robot to perform a mopping task in response to the first detection signal.

在其中一个实施例中，所述清洁机器人包括与所述控制器电性连接的第二检测器以及压力部，所述分离机构设有作用于所述拖地模块以使所述拖地模块与所述连接部脱离连接的顶出部，所述顶出部设置为所述第二升降结构，所述清洁机器人的控制方法包括：In one embodiment, the cleaning robot includes a second detector and a pressure part electrically connected to the controller, and the separation mechanism is configured to act on the mopping module to connect the mopping module with The connection part is disconnected from the ejection part, the ejection part is configured as the second lifting structure, and the control method of the cleaning robot includes:

所述控制器判断是否需要更换所述拖地模块，是，则控制所述驱动器驱动所述第一升降结构在所述第二升降结构的表面上抬升，带动所述拖地模块抬升至所述第二位置，所述压力部抵触所述锁扣部使其由所述第一状态切换为第二状态；所述第二检测器检测到所述拖地模块被抬升至所述第二位置，则向所述控制器传递第二检测信号；所述控制器响应于所述第二检测信号控制所述驱动器继续驱动所述第一升降结构，以使所述第一升降结构驱动所述第二升降结构相对所述机身朝所述第一位置的方向运动，顶落所述拖地模块。The controller determines whether the mopping module needs to be replaced, and if so, controls the driver to drive the first lifting structure to the first lifting position. The surface of the two lifting structures rises, driving the mopping module to lift to the second position, and the pressure part resists the locking part to switch from the first state to the second state; the second When the detector detects that the mopping module is lifted to the second position, it transmits a second detection signal to the controller; the controller controls the driver to continue driving the driver in response to the second detection signal. The first lifting structure is such that the first lifting structure drives the second lifting structure to move relative to the fuselage in the direction of the first position, and pushes down the mopping module.

所述控制器判断是否需要更换所述拖地模块，是，则控制所述驱动器驱动所述第一升降结构在所述第二升降结构的表面上抬升，带动所述拖地模块抬升至所述第二位置；所述第二检测器检测到所述拖地模块被抬升至所述第二位置，则向所述控制器传递第二检测信号；所述控制器响应于所述第二检测信号控制所述驱动器继续驱动所述第一升降结构在所述第二升降结构表面抬升，以带动所述拖地模块抬升至高于所述第二位置的第三位置，在所述拖地模块由所述第二位置移动至所述第三位置的过程中，所述压力部抵触所述锁扣部使其由所述第一状态切换为第二状态，并且所述第二检测器持续向所述控制器发送所述第二检测信号；所述控制器响应于所述第二检测信号控制所述驱动器继续驱动所述第一升降结构，以使所述第一升降结构驱动所述第二升降结构相对所述机身朝所述第一位置的方向运动，顶落所述拖地模块。The controller determines whether the mopping module needs to be replaced, and if so, controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position; the second detector detects that the mopping module is lifted to the second position, and then transmits a second detection signal to the controller; the controller responds to the second detection signal The driver is controlled to continue driving the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to a third position higher than the second position. During the process of moving from the second position to the third position, the pressure part resists the locking part to switch from the first state to the second state, and the second detector continues to move toward the The controller sends the second detection signal; the controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second lifting structure Move relative to the fuselage in the direction of the first position, and push down the mopping module.

在其中一个实施例中，所述连接部和所述拖地模块上设置有相互吸附的磁性件，所述清洁机器人的控制方法还包括：In one embodiment, the connecting portion and the mopping module are provided with magnetic components that attract each other, and the control method of the cleaning robot further includes:

所述控制器接收到安装所述拖地模块的信号，则控制所述驱动器运行使所述第一升降结构在所述第二升降结构表面下降，进而使所述拖地模块下降至一个低于所述第二位置高于所述第一位置的位置，所述拖地模块通过磁吸力吸附在所述连接部上。When the controller receives a signal to install the mopping module, it controls the driver to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module to a level lower than The second position is higher than the first position, and the mopping module is adsorbed on the connecting part through magnetic attraction.

在其中一个实施例中，所述抬升机构还包括离合结构，所述离合结构连接于所述第一升降结构和所述驱动器之间，以使所述第一升降结构和所述驱动器配合或断开配合，所述清洁机器人的控制方法还包括，所述控制器响应于所述第一检测信号控制所述驱动器运行预设时间与所述第一升降结构断开配合后，再停止运行，以使所述拖地模块处于所述第一位置，并能够相对所述第一位置浮动。In one embodiment, the lifting mechanism further includes a clutch structure connected between the first lifting structure and the driver to enable the first lifting structure and the driver to cooperate or disconnect. The control method of the cleaning robot also includes: the controller responding to the first detection signal to control the driver to run for a preset time and then stop running after disconnecting from the first lifting structure, so as to The mopping module is placed in the first position and can float relative to the first position.

在其中一个实施例中，所述清洁机器人包括与所述控制器电性连接的第三检测器，所述清洁机器人的控制方法还包括：In one embodiment, the cleaning robot includes a third detector electrically connected to the controller, and the control method of the cleaning robot further includes:

所述第三检测器检测所述清洁机器人的工作情况，并向所述控制器传递第三检测信号；所述控制器基于所述第三控制信号判断是否需要抬升所述拖地模块，是，则控制所述驱动器驱动所述第一升降结构在所述第二升降结构的表面上抬升，带动所述拖地模块抬升至所述第二位置。The third detector detects the working condition of the cleaning robot and transmits a third detection signal to the controller; the controller determines whether the mopping module needs to be lifted based on the third control signal, if so, Then the driver is controlled to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position.

在其中一个实施例中，所述清洁机器人的控制方法还包括，In one embodiment, the control method of the cleaning robot further includes:

所述控制器基于所述第三检测信号判断是否需要降下所述拖地模块，是，则控制所述驱动器运行使所述第一升降结构在所述第二升降结构表面下降，进而使所述拖地模块由所述第二位置下降至所述第一位置。The controller determines whether the mopping module needs to be lowered based on the third detection signal. If so, it controls the driver to operate to lower the first lifting structure on the surface of the second lifting structure, thereby causing the The mopping module is lowered from the second position to the first position.

本公开还提供一种清洁机器人，所述清洁机器人包括：机身；移动模块，设于所述机身上并用于驱使所述机身移动；拖地模块，相对所述机身至少能在第一位置与第二位置之间运动，位于所述第一位置时与待清洁面接触以清洁待清洁面，位于所述第二位置时能与所述待清洁面脱离接触；抬升机构，至少部分设于所述机身内；所述抬升机构包括驱动器及与所述驱动器驱动配合的升降组件，所述拖地模块可拆卸连接于部分所述升降组件，所述驱动器驱使所述升降组件的至少部分结构移动，以带动所述拖地模块在所述第一位置与所述第二位置之间往复运动，在所述拖地模块位于第二位置时，所述驱动器能够驱动所述升降组件的至少部分结构移动，以对所述拖地模块施加远离所述机身的力，使所述拖地模块从所述升降组件上脱离。The present disclosure also provides a cleaning robot. The cleaning robot includes: a fuselage; a moving module provided on the fuselage and used to drive the fuselage to move; and a mopping module that can move at least in the third position relative to the fuselage. Movement between a first position and a second position. When it is in the first position, it is in contact with the surface to be cleaned to clean the surface to be cleaned. When it is in the second position, it can be out of contact with the surface to be cleaned; the lifting mechanism, at least partially The lifting mechanism is provided in the fuselage; the lifting mechanism includes a driver and a lifting component that drives and cooperates with the driver. The mopping module is detachably connected to part of the lifting component. The driver drives at least one part of the lifting component. Part of the structure moves to drive the mopping module to reciprocate between the first position and the second position. When the mopping module is in the second position, the driver can drive the lifting group. At least part of the structure of the component is moved to exert a force away from the fuselage on the mopping module, so that the mopping module is detached from the lifting assembly.

上述的清洁机器人，将抬升机构至少设计为升降组件和驱动器，利用驱动器驱使升降组件动作，以实现拖地模块在第一位置和第二位置之间往复运动。这样，当清洁机器人处于工作时，升降组件驱使拖地模块运动至或超越第一位置，使之与待清洁面接触，实现清洁目的。当清洁机器人遇到台阶或需回程充电时，升降组件驱使拖地模块运动至第二位置，抬高拖地模块，使之与待清洁面脱离接触，以便于解决赃物被刮蹭以及地面二次污染的问题。由于拖地模块位于第二位置时，升降组件在驱动器的继续驱动下能对拖地模块施加远离机身的力，以使拖地模块从升降组件上脱离，因此，更换操作时，抬高拖地模块至第二位置后，通过驱动器继续驱使升降组件动作即可实现拖地模块的拆卸，使得更换更加便捷。由此可知，本清洁机器人利用升降组件与驱动器的配合，同时实现拖地模块升降和更换功能，使得内部结构得到有效简化，便于清洁机器人小型化，从而有利于提升产品性能。In the above-mentioned cleaning robot, the lifting mechanism is designed as at least a lifting component and a driver, and the driver is used to drive the lifting component to move to realize the reciprocating movement of the mopping module between the first position and the second position. In this way, when the cleaning robot is working, the lifting assembly drives the mopping module to move to or beyond the first position so that it contacts the surface to be cleaned to achieve the purpose of cleaning. When the cleaning robot encounters a step or needs to return for charging, the lifting assembly drives the mopping module to move to the second position, raising the mopping module so that it is out of contact with the surface to be cleaned, so as to solve the problem of stolen goods being scratched and the ground being recharged. pollution problem. Because when the mopping module is in the second position, the lifting component can exert a force away from the fuselage on the mopping module under the continued driving of the driver, so that the mopping module can detach from the lifting component. Therefore, during the replacement operation, the mopping module needs to be raised. After the floor module reaches the second position, the driver can continue to drive the lifting assembly to disassemble the floor mopping module, making replacement more convenient. It can be seen that this cleaning robot uses the cooperation of the lifting component and the driver to realize the lifting and replacement functions of the mopping module at the same time, which effectively simplifies the internal structure and facilitates the miniaturization of the cleaning robot, thereby conducive to improving product performance.

在其中一个实施例中，同一所述驱动器驱动所述升降组件不相同的两个部分结构分别移动，以使所述升降组件不相同的两个部分结构分别带动所述拖地模块在所述第一位置与所述第二位置之间往复运动，和顶落所述拖地模块。In one embodiment, the same driver drives the two different partial structures of the lifting assembly to move respectively, so that the two different partial structures of the lifting assembly drive the mopping module respectively in the first position. reciprocating movement between a first position and the second position, and lifting the mopping module.

在其中一个实施例中，所述升降组件包括第一升降结构与第二升降结构，所述第一升降结构和所述第二升降结构之一与所述拖地模块可拆卸连接，且与所述驱动器连接并在其驱动下相对所述机身升降，以带动所述拖地模块在所述第一位置与所述第二位置之间运动，所述第一升降结构和所述第二升降结构中的另一个与所述驱动器直接或间接连接，所述拖地模块位于所述第二位置时，所述驱动器驱动其相对所述机身下降，以将所述拖地模块顶落。In one embodiment, the lifting assembly includes a first lifting structure and a second lifting structure. One of the first lifting structure and the second lifting structure is detachably connected to the mopping module and is connected to the mopping module. The driver is connected and driven to rise and fall relative to the fuselage to drive the mopping module to move between the first position and the second position. The first lifting structure and the second lifting structure Another one of the structures is directly or indirectly connected to the driver. When the mopping module is in the second position, the driver drives it to descend relative to the fuselage to push down the mopping module.

在其中一个实施例中，所述拖地模块可拆卸连接于所述第一升降结构，所述驱动器连接于所述第一升降结构，所述第二升降结构与所述第一升降结构连接，并通过所述第一升降结构连接于所述驱动器，所述驱动器驱使所述第一升降结构在所述第二升降结构的表面上升降，以带动所述拖地模块在所述第一位置与所述第二位置之间运动，所述拖地模块运动至所述第二位置时，所述驱动器继续驱动能驱使所述第二升降结构相对所述第一升降结构朝所述第一位置的方向运动，以顶落所述拖地模块。In one embodiment, the mopping module is detachably connected to the first lifting structure, the driver is connected to the first lifting structure, and the second lifting structure is connected to the first lifting structure, And connected to the driver through the first lifting structure, the driver drives the first lifting structure to rise and fall on the surface of the second lifting structure to drive the mopping module to the first position and the When the mopping module moves to the second position, the driver continues to drive the second lifting structure relative to the first lifting structure toward the first position. directional movement to push down the mopping module.

在其中一个实施例中，所述第一升降结构在所述第二升降结构的表面上升降时，所述第二升降结构相对所述机身不产生位移；所述第二升降结构相对所述第一升降结构朝所述第一位置的方向运动时，所述第一升降结构相对所述机身不产生位移。In one embodiment, when the first lifting structure rises and falls on the surface of the second lifting structure, the second lifting structure does not produce any displacement relative to the fuselage; the second lifting structure does not move relative to the fuselage; When the first lifting structure moves in the direction of the first position, the first lifting structure does not generate any displacement relative to the fuselage.

在其中一个实施例中，所述抬升机构还包括支撑件，在所述拖地模块在所述第一位置和所述第二位置之间往复运动时，所述支撑件用于限制所述第二升降结构相对所述机身产生位移；所述拖地模块运动至所述第二位置时，所述驱动器继续驱动能驱使所述支撑件发生形变或位移，以使所述第二升降结构相对所述第一升降结构朝所述第一位置的方向运动。In one embodiment, the lifting mechanism further includes a support member for limiting the third position when the mopping module reciprocates between the first position and the second position. The two lifting structures are displaced relative to the fuselage; when the mopping module moves to the second position, the driver continues to drive the support member to deform or displace, so that the second lifting structure is relatively The first lifting structure moves toward the first position.

在其中一个实施例中，所述支撑件包括限位弹簧，所述限位弹簧连接于所述第二升降结构与所述机身之间。In one embodiment, the support member includes a limiting spring, and the limiting spring is connected between the second lifting structure and the fuselage.

在其中一个实施例中，所述抬升机构还包括离合结构，所述离合结构连接于所述第一升降结构和所述驱动器之间，以使所述第一升降结构和所述驱动器配合或断开配合，所述拖地模块处于所述第二位置时，所述离合结构处于接触状态，所述第一升降结构和所述驱动器配合，所述拖地模块处于所述第一位置时，所述离合结构处于离合状态，所述第一升降结构和所述驱动器断开配合。In one embodiment, the lifting mechanism further includes a clutch structure connected between the first lifting structure and the driver to enable the first lifting structure and the driver to cooperate or disconnect. When the mopping module is in the second position, the clutch structure is in contact, the first lifting structure cooperates with the driver, and when the mopping module is in the first position, the The clutch structure is in a clutch state, and the first lifting structure and the driver are disconnected.

在其中一个实施例中，所述第一升降结构包括装有所述驱动器的连接部、设于所述连接部的齿轮组，所述第二升降结构包括与部分所述齿轮组啮合的齿条，所述拖地模块可拆卸连接于所述连接部，所述驱动器驱使所述齿轮组在所述齿条上运动，当所述拖地模块运动至所述第二位置，且所述驱动器继续驱动时，所述齿轮组的运动受所述机身内至少一结构限制使其相对所述机身不产生位移，并驱使所述齿条朝所述第一位置的方向运动，以顶落所述拖地模块。In one embodiment, the first lifting structure includes a connecting portion equipped with the driver and a gear set disposed on the connecting portion, and the second lifting structure includes a rack meshing with part of the gear set. , the mopping module is detachably connected to the connecting part, the driver drives the gear set to move on the rack, when the mopping module moves to the second position, and the driver continues When driving, The movement of the gear set is limited by at least one structure in the fuselage so that it does not cause displacement relative to the fuselage, and drives the rack to move in the direction of the first position to push down the mopping floor. module.

在其中一个实施例中，所述齿轮组包括与所述驱动器驱动连接的传动件、与所述齿条啮合的驱动齿轮，所述传动件通过所述离合结构驱使所述驱动齿轮转动，所述离合结构用于允许所述传动件与所述驱动齿轮之间具有预设空行程，以使两者断开配合。In one embodiment, the gear set includes a transmission member drivingly connected to the driver and a driving gear meshing with the rack. The transmission member drives the driving gear to rotate through the clutch structure, and the The clutch structure is used to allow a preset idle stroke between the transmission member and the driving gear to disengage the two.

在其中一个实施例中，所述齿轮组还包括设于所述连接部上的转轴，所述传动件与所述驱动齿轮间隔套设于所述转轴上，且所述传动件通过所述离合结构与所述驱动齿轮连接。In one embodiment, the gear set further includes a rotating shaft provided on the connecting part, the transmission member and the driving gear are sleeved on the rotating shaft at intervals, and the transmission member passes through the clutch. The structure is connected to the drive gear.

在其中一个实施例中，所述清洁机器人还包括间隔设于所述机身上的第一检测器与第二检测器，所述第一检测器与所述第二检测器分别用于对应检测所述拖地模块是否处于所述第一位置、所述第二位置，并控制所述驱动器的启停。In one embodiment, the cleaning robot further includes a first detector and a second detector spaced apart on the body, and the first detector and the second detector are respectively used for corresponding detection. Whether the mopping module is in the first position and the second position, and controls the start and stop of the driver.

在其中一个实施例中，所述拖地模块上至少两处间隔设置的部分均与所述升降组件连接，以在所述升降组件的带动下一起移动。In one embodiment, at least two spaced apart parts of the mopping module are connected to the lifting assembly so as to move together under the driving of the lifting assembly.

附图说明Description of drawings

构成本申请的一部分的附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。The drawings that form a part of this application are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure.

为了更清楚地说明本公开实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

图1为一个实施例中所述的清洁机器人结构示意图；Figure 1 is a schematic structural diagram of the cleaning robot described in one embodiment;

图2为一个实施例中所述的处于第二位置时清洁机器人结构示意图；Figure 2 is a schematic structural diagram of the cleaning robot in the second position according to one embodiment;

图3为图2中所述的清洁机器人内部结构示意图；Figure 3 is a schematic diagram of the internal structure of the cleaning robot described in Figure 2;

图4为一个实施例中所述的处于第一位置时清洁机器人结构示意图；Figure 4 is a schematic structural diagram of the cleaning robot in the first position according to one embodiment;

图5为图4中所述的清洁机器人内部结构示意图；Figure 5 is a schematic diagram of the internal structure of the cleaning robot described in Figure 4;

图6为一个实施例中所述的抬升机构结构示意图一；Figure 6 is a schematic structural diagram of the lifting mechanism described in one embodiment;

图7为一个实施例中所述的抬升机构结构示意图二；Figure 7 is a schematic diagram 2 of the structure of the lifting mechanism described in one embodiment;

图8为一个实施例中所述的升降组件结构示意图；Figure 8 is a schematic structural diagram of the lifting assembly described in one embodiment;

图9为一个实施例中所述的拖地模块顶落示意图一；Figure 9 is a schematic diagram 1 of the top-down mopping module described in one embodiment;

图10为一个实施例中所述的拖地模块顶落示意图二；Figure 10 is a schematic diagram 2 of the top-down mopping module described in one embodiment;

图11为一个实施例中所述的拖地模块顶落示意图三；Figure 11 is a schematic view three of the top-down mopping module described in one embodiment;

图12为一个实施例中所述的锁扣部处于第一状态的示意图；Figure 12 is a schematic diagram of the locking portion in a first state according to an embodiment;

图13为一个是实例中所述的锁扣部处于第二状态的示意图Figure 13 is a schematic diagram of the locking portion in the second state in the example.

图14为一个实施例中所述清洁机器人的拖地模块处于第二位置的示意图；Figure 14 is a schematic diagram of the mopping module of the cleaning robot in a second position in one embodiment;

图15为图14中的清洁机器人的抬升机构自A方向的截面图；Figure 15 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 14 from direction A;

图16为一个实施例中所述清洁机器人的拖地模块处于第三位置的示意图；Figure 16 is a schematic diagram of the mopping module of the cleaning robot in a third position in one embodiment;

图17为图16中的清洁机器人的抬升机构自A方向的截面图；Figure 17 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 16 from direction A;

图18为一个实施例中所述清洁机器人的抬升机构将拖地模块顶落的示意图；Figure 18 is a schematic diagram of the lifting mechanism of the cleaning robot lifting the mopping module in one embodiment;

图19为图18中的清洁机器人的抬升机构自A方向的截面图；Figure 19 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 18 from direction A;

图20为一个实施例中所述清洁机器人的抬升机构处于初始位置的示意图；Figure 20 is a schematic diagram of the lifting mechanism of the cleaning robot in an initial position in one embodiment;

图21为图20中的清洁机器人的抬升机构自A方向的截面图； Figure 21 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 20 from direction A;

图22为一个实施例中所述清洁机器人的抬升机构安装拖地模块的示意图；Figure 22 is a schematic diagram of the lifting mechanism of the cleaning robot installing the mopping module in one embodiment;

图23为图22中的清洁机器人的抬升机构自A方向的截面图；Figure 23 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 22 from direction A;

图24为一个实施例中所述清洁机器人的拖地模块处于第一位置的示意图；Figure 24 is a schematic diagram of the mopping module of the cleaning robot in a first position in one embodiment;

图25为图24中的清洁机器人的抬升机构自A方向的截面图；Figure 25 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 24 from direction A;

图26为一个实施例中所述的抬升机构的结构示意图；Figure 26 is a schematic structural diagram of the lifting mechanism described in one embodiment;

图27为一个实施例中所述的离合结构处于接触状态的示意图；Figure 27 is a schematic diagram of the clutch structure in a contact state in one embodiment;

图28为一个实施例中所述的离合结构处于离合状态的示意图；Figure 28 is a schematic diagram of the clutch structure in a clutch state in one embodiment;

图29为一个实施例中所述第一升降结构在第二升降结构表面下降时，离合结构的状态图；Figure 29 is a state diagram of the clutch structure when the first lifting structure descends on the surface of the second lifting structure in one embodiment;

图30为一个实施例中所述的清洁机器人的控制方法的流程图一；Figure 30 is a flowchart 1 of the control method of the cleaning robot described in one embodiment;

图31为一个实施例中所述的清洁机器人的控制方法的流程图二；Figure 31 is a flowchart 2 of the control method of the cleaning robot described in one embodiment;

图32为一个实施例中所述的清洁机器人的控制方法的流程图三；Figure 32 is a flow chart 3 of the control method of the cleaning robot described in one embodiment;

图33为一个实施例中所述的清洁机器人的控制方法的流程图四；Figure 33 is a flow chart 4 of the control method of the cleaning robot described in one embodiment;

图34为一个实施例中所述的清洁机器人的控制方法的流程图五。Figure 34 is a flowchart 5 of the control method of the cleaning robot described in one embodiment.

100、机身；101、压力部；102、水箱；110、滑槽；120、第一导向部；130、导向孔；200、移动模块；300、拖地模块；31、第一磁铁；32、擦拭板连接件；321、凹槽；322、擦拭板连接件底面；33、擦拭板；34、擦拭单元；400、抬升机构；410、升降组件；411、第一升降结构；4111、齿轮组；41111、驱动齿轮；41112、传动件；41113、转轴；4112、离合结构；41121、离合块；4113、升降架；41131、升降板；41132、第二磁铁；4114、导向柱；412、第二升降结构；4121、齿条；4122、第二导向部；4123、定位柱；420、驱动器；430、支撑件；431、限位弹簧；500、第一检测器；600、第二检测器；601、触发件；602、触发弹簧；700、待清洁面；800、锁紧组件；801、钩部；802、钩部的上端；803、扭簧。100. Body; 101. Pressure part; 102. Water tank; 110. Chute; 120. First guide part; 130. Guide hole; 200. Mobile module; 300. Mopping module; 31. First magnet; 32. Wiping plate connector; 321, groove; 322, bottom surface of wiping plate connector; 33, wiping plate; 34, wiping unit; 400, lifting mechanism; 410, lifting component; 411, first lifting structure; 4111, gear set; 41111. Driving gear; 41112. Transmission parts; 41113. Rotating shaft; 4112. Clutch structure; 41121. Clutch block; 4113. Lifting frame; 41131. Lifting plate; 41132. Second magnet; 4114. Guide column; 412. Second lifting frame Structure; 4121, rack; 4122, second guide part; 4123, positioning column; 420, driver; 430, support; 431, limit spring; 500, first detector; 600, second detector; 601, Trigger member; 602, trigger spring; 700, surface to be cleaned; 800, locking component; 801, hook; 802, upper end of hook; 803, torsion spring.

具体实施方式Detailed ways

为使本公开的上述目的、特征和优点能够更加明显易懂，下面结合附图对本公开的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本公开。但是本公开能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本公开内涵的情况下做类似改进，因此本公开不受下面公开的具体实施例的限制。In order to make the above objects, features and advantages of the present disclosure more obvious and understandable, specific implementation modes of the present disclosure will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described here, and those skilled in the art can make similar improvements without violating the connotation of the present disclosure. Therefore, the present disclosure is not limited by the specific embodiments disclosed below.

在一个实施例中，请参考图1、图3及图6，一种清洁机器人，清洁机器人包括：机身100、移动模块200、拖地模块300、以及控制器(未图示)。移动模块200设于机身100上，与控制器电性连接并由控制器控制驱使机身100移动。拖地模块300与待清洁表面接触以清洁待清洁表面。In one embodiment, please refer to FIG. 1 , FIG. 3 and FIG. 6 , a cleaning robot includes: a body 100 , a moving module 200 , a mopping module 300 , and a controller (not shown). The mobile module 200 is disposed on the fuselage 100, is electrically connected to the controller, and is controlled by the controller to drive the fuselage 100 to move. The mopping module 300 contacts the surface to be cleaned to clean the surface to be cleaned.

进一步的，清洁机器人还包括抬升机构400、分离机构、锁紧组件800以及驱动器420。所述抬升机构400包括升降组件410，升降组件410设置于机身100，设有与拖地模块300可拆卸连接以带动拖地模块300上下运动的连接部。分离机构设置于机身100，设有作用于拖地模块300以使拖地模块300与连接部脱离连接的顶出部。锁紧组件800设有将拖地模块300锁扣在连接部上的锁扣部，锁扣部包括锁紧拖地模块300的第一状态和与拖地模块300解除锁紧的第二状态；驱动器420由控制器控制工作，以给升降组件410、分离机构以及锁紧组件800提供驱动力。该清洁机器人利用升降组件410、分离机构、锁紧组件800与驱动器420的配合，同时实现拖地模块300升降、顶落以及锁紧松开的功能，使得机身内部结构得到有效简化，便于清洁机器人小型化，从而有利于提升产品性能，同时也能够有效降低清洁机器人的成本。Further, the cleaning robot also includes a lifting mechanism 400, a separation mechanism, a locking assembly 800 and a driver 420. The lifting mechanism 400 includes a lifting component 410. The lifting component 410 is provided on the fuselage 100 and is provided with a connection portion that is detachably connected to the mopping module 300 to drive the mopping module 300 to move up and down. The detachment mechanism is provided on the fuselage 100 and is provided with an ejection portion that acts on the mopping module 300 to disconnect the mopping module 300 from the connection portion. The locking assembly 800 is provided with a locking portion for locking the mopping module 300 on the connecting portion. The locking portion includes a first state for locking the mopping module 300 and a second state for unlocking the mopping module 300; The driver 420 is controlled by the controller to provide driving force to the lifting assembly 410, the separation mechanism and the locking assembly 800. The cleaning robot utilizes the cooperation of the lifting component 410, the separation mechanism, the locking component 800 and the driver 420 to simultaneously realize the functions of lifting, lowering, locking and loosening the mopping module 300, effectively simplifying the internal structure of the fuselage and facilitating cleaning. The miniaturization of robots will help improve product performance and also effectively reduce the cost of cleaning robots.

更进一步的，拖地模块300相对机身100至少能在第一位置与第二位置之间运动，拖地模块300位于第一位置时与待清洁面700接触以清洁待清洁表面。拖地模块300位于第二位置时能与待清洁面700脱离接触。具体的，控制器与驱动器420电性连接，并控制驱动器420驱使升降组件410的至少部分结构抬升，以带动拖地模块300由第一位置运动至第二位置。需要说明的是，升降组件410至少由驱动器420驱动抬升可以是，驱动器420既能驱动升降组件410抬升又能驱动升降组件410降下，例如，驱动器(如电机)正转时驱动抬升组件抬升，反转时驱动升降组件降下；升降组件410至少由驱动器420驱动抬升还可以是，驱动器420仅驱动升降组件410抬升，抬升机构400以及拖地模块300在失去驱动器420的驱动后依靠自身的重力实现降下。Furthermore, the mopping module 300 can at least move between a first position and a second position relative to the body 100. When the mopping module 300 is in the first position, it contacts the surface 700 to be cleaned to clean the surface to be cleaned. When the mopping module 300 is in the second position, it can be out of contact with the surface to be cleaned 700 . Specifically, the controller is electrically connected to the driver 420, and controls the driver 420 to drive at least part of the structure of the lifting assembly 410 to lift, To drive the mopping module 300 to move from the first position to the second position. It should be noted that the lifting component 410 can be driven to be lifted by at least the driver 420. The driver 420 can drive the lifting component 410 to both lift and descend. For example, when the driver (such as a motor) rotates forward, it drives the lifting component to lift, and vice versa. The lifting assembly is driven to lower when turning; the lifting assembly 410 is at least driven and lifted by the driver 420. Alternatively, the driver 420 only drives the lifting assembly 410 to lift, and the lifting mechanism 400 and the mopping module 300 rely on their own gravity to lower after losing the drive of the driver 420. .

分离机构与驱动器420连接，驱动器420驱动分离机构的至少部分结构运动，以使顶出部抵触并顶落拖地模块。需要说明的是，驱动器420驱动分离机构的至少部分结构运动可以是，顶出部被驱动器驱动向下移动，伸出拖地模块300与连接部的连接面，以将拖地模块300向下顶使其与连接部分离；还可以是驱动分离机构向上移动，缩入机身100内部，拖地模块300受到机身100的底面的限制(抵触)，无法跟随连接部继续向上移动，而与连接部分离。那么在该实施例中与拖地模块抵触的部分机身上的结构则为顶出部。还需要说明的是，拖地模块300抬升至第二位置或高于第二位置的第三位置时，被抵触施予远离机身100的外力，从而从升降架4113上脱离。The separation mechanism is connected to the driver 420, and the driver 420 drives at least part of the structure of the separation mechanism to move, so that the ejection part collides with and pushes down the mopping module. It should be noted that at least part of the structural movement of the separation mechanism driven by the driver 420 may be that the ejection part is driven by the driver to move downward, extending out the connection surface between the mopping module 300 and the connecting part, so as to push the mopping module 300 downward. Separate it from the connecting part; it is also possible to drive the separation mechanism to move upward and retract into the fuselage 100. The mopping module 300 is restricted (conflicted) by the bottom surface of the fuselage 100 and cannot follow the connecting part to continue to move upward and connect with the connecting part. Partly separated. Then in this embodiment, the part of the structure on the body that conflicts with the mopping module is the ejection part. It should also be noted that when the mopping module 300 is lifted to the second position or a third position higher than the second position, it is resisted and exerted an external force away from the fuselage 100 , thereby detaching from the lifting frame 4113 .

另外，分离机构可以是单独的一个结构与驱动器进行连。为了实现清洁机器人机身的小型化，同时也为了减小分离机构在机身内部占据的体积，分离机构还可以是抬升机构的一部分结构，下文将会结合具体的实施例对分离机构进行解释，在此不做赘述。In addition, the separation mechanism can be a separate structure connected to the driver. In order to achieve miniaturization of the cleaning robot fuselage and to reduce the volume occupied by the separation mechanism inside the fuselage, the separation mechanism can also be a part of the lifting mechanism. The separation mechanism will be explained below with reference to specific embodiments. No further details will be given here.

请参考图12到图25，锁紧组件800设置于连接部，跟随连接部一同升降。拖地模块300位于第一位置时，锁紧组件800的锁扣部处于锁紧拖地模块300的第一状态，拖地模块300从连接部上脱离时，锁紧组件800的锁扣部处于解除锁紧拖地模块300的第二状态，驱动器420驱动锁扣部在第一状态和第二状态之间切换。在拖地模块300在第一位置时，锁紧组件800被配置为处于第一状态以锁紧拖地模块300，避免拖地模块清洁待清洁表面时产生晃动；在拖地模块300需要从连接部上脱离(如拖地模块处于在第二位置或高于第二位置的第三位置)时，锁紧组件800被配置为处于第二状态，避免妨碍顶出部顶出拖地模块300。为了实现拖地模块的稳定性安装以及升降，在本实施例中，连接部设置为升降架4113，升降架4113连接于升降组件，并跟随升降组件一起运动。在其他实施例中连接部也可以设置为连接绳、连接杆或伸缩杆等等。Please refer to Figures 12 to 25. The locking component 800 is provided at the connection part and rises and falls along with the connection part. When the mopping module 300 is in the first position, the locking portion of the locking assembly 800 is in the first state of locking the mopping module 300. When the mopping module 300 is detached from the connecting portion, the locking portion of the locking assembly 800 is in the first state. To unlock the second state of the mopping module 300, the driver 420 drives the locking portion to switch between the first state and the second state. When the mopping module 300 is in the first position, the locking assembly 800 is configured to be in the first state to lock the mopping module 300 to avoid shaking when the mopping module cleans the surface to be cleaned; when the mopping module 300 needs to be connected from When the mopping module is disengaged (for example, the mopping module is in the second position or a third position higher than the second position), the locking assembly 800 is configured to be in the second state to avoid hindering the ejection part from ejecting the mopping module 300 . In order to achieve stable installation and lifting of the mopping module, in this embodiment, the connecting part is configured as a lifting frame 4113. The lifting frame 4113 is connected to the lifting assembly and moves together with the lifting assembly. In other embodiments, the connecting part may also be configured as a connecting rope, a connecting rod, a telescopic rod, or the like.

上述的清洁机器人，将抬升机构400至少设计为升降组件410和驱动器420。利用驱动器420驱使升降组件410动作，以实现拖地模块300由第一位置向第二位置运动。请参考图4、图5以及图24、图25，当清洁机器人处于工作时，升降组件410驱使拖地模块300运动至或超越第一位置，使之与待清洁面700接触，实现清洁目的。请参考图12以及图24、图25，为了提升拖地模块300拖地时的可靠性，避免晃动，升降组件410驱使拖地模块300运动至或超越第一位置时，锁紧组件800处于第一状态，在该状态下锁紧组件800将拖地模块300锁紧在升降组件410上，使其与待清洁表面接触摩擦的时避免晃动。请参考图2与图3，当清洁机器人遇到地毯、台阶或需回程充电时，升降组件410驱使拖地模块300运动至第二位置，抬高拖地模块300，使之与待清洁面700脱离接触，以便于解决脏物被刮蹭以及地面二次污染的问题。当然，抬升后的拖地模块300也能实现在不污染地毯的情况下给地毯吸尘，以及非工作状态时与待清洁面700之间保持良好通风，减少异味产生。由于拖地模块300位于第二位置或第三位置时，顶出部在驱动器420的驱动下能对拖地模块300施加远离机身100的外力，以使拖地模块300从连接部上脱离，因此，更换操作时，抬高拖地模块300至第二位置后，通过驱动器420驱使顶出部动作即可实现拖地模块300的拆卸，使得更换更加便捷。请参考图13或图16、图17，由于在第一位置时拖地模块300是被锁紧在升降组件410上的，为了实现拖地模块300在第二位置或第三位置时能够从升降组件410上脱离，需要使锁紧组件800先松开拖地模块300，驱动器420驱动锁紧组件800从第一状态转换为第二状态，使锁紧组件800解除锁紧拖地模块300。可以理解的是，锁紧组件800由驱动器420驱动在第一状态和第二状态之间转换，可以是驱动器420直接与锁紧组件800连接，驱动锁紧组件800转换状态，也可以驱动其他部件(如升降组件410)移动，间接使锁紧组件800的状态发生改变，下面会结合具体的实施例说明驱动器420如何驱动锁紧组件800状态改变。In the above-mentioned cleaning robot, the lifting mechanism 400 is at least designed as a lifting component 410 and a driver 420 . The driver 420 is used to drive the lifting assembly 410 to move, so that the mopping module 300 moves from the first position to the second position. Please refer to Figures 4 and 5 as well as Figures 24 and 25. When the cleaning robot is working, the lifting assembly 410 drives the mopping module 300 to move to or beyond the first position so that it contacts the surface 700 to be cleaned to achieve cleaning purposes. Please refer to Figure 12, Figure 24, and Figure 25. In order to improve the reliability of the mopping module 300 when mopping and avoid shaking, when the lifting assembly 410 drives the mopping module 300 to move to or beyond the first position, the locking assembly 800 is in the third position. In this state, the locking assembly 800 locks the mopping module 300 on the lifting assembly 410 to prevent it from shaking when it comes into contact with the surface to be cleaned. Please refer to Figures 2 and 3. When the cleaning robot encounters carpets, steps or needs to return for charging, the lifting assembly 410 drives the mopping module 300 to move to the second position, raising the mopping module 300 so that it is in contact with the surface 700 to be cleaned. Disengage to solve the problem of dirt being scratched and secondary contamination of the ground. Of course, the raised mopping module 300 can also vacuum the carpet without contaminating the carpet, and maintain good ventilation between the mopping module 300 and the surface to be cleaned 700 when not in working state, thereby reducing the generation of odor. When the mopping module 300 is in the second position or the third position, the ejection part, driven by the driver 420, can exert an external force away from the fuselage 100 on the mopping module 300, so that the mopping module 300 can be detached from the connection part. Therefore, during the replacement operation, after raising the mopping module 300 to the second position, the mopping module 300 can be disassembled by driving the ejection part through the driver 420, making the replacement more convenient. Please refer to Figure 13 or Figure 16 or Figure 17. Since the mopping module 300 is locked on the lifting assembly 410 in the first position, in order to realize that the mopping module 300 can be lifted from the second position or the third position. To disengage the assembly 410, the locking assembly 800 needs to be released from the mopping module 300 first. The driver 420 drives the locking assembly 800 to convert from the first state to the second state, so that the locking assembly 800 unlocks the mopping module 300. It can be understood that the locking assembly 800 is driven by the driver 420 to switch between the first state and the second state. The driver 420 is directly connected to the locking component 800 and drives the locking component 800 to change states. It can also drive other components (such as the lifting component 410) to move, thereby indirectly changing the state of the locking component 800. Specific embodiments will be described below. Describe how the driver 420 drives the locking component 800 to change its state.

由此可知，本清洁机器人利用升降组件410、分离机构、锁紧组件800与驱动器420的配合，同时实现拖地模块300升降、更换以及锁紧松开的功能，使得内部结构得到有效简化，便于清洁机器人小型化，从而有利于提升产品性能，同时也能够有效降低清洁机器人的成本。It can be seen that this cleaning robot utilizes the cooperation of the lifting component 410, the separation mechanism, the locking component 800 and the driver 420 to simultaneously realize the functions of lifting, lowering, replacing and locking and releasing the mopping module 300, which effectively simplifies the internal structure and facilitates The miniaturization of cleaning robots will help improve product performance and also effectively reduce the cost of cleaning robots.

需要说明的是，升降组件410动作后能驱使拖地模块300在第一位置和第二位置之间的移动，其实现可有多种，比如：利用齿轮与齿条之间的传动，以带动拖地模块300上下升降；或者，利用曲柄摇杆机构，使得拖地模块300随滑块运动而升降；又或者，利用丝杆传动机构，驱使拖地模块300上下升降等。对此，只需满足升降组件410动作能驱使拖地模块300在第一位置和第二位置之间运动均可。It should be noted that the lifting assembly 410 can drive the mopping module 300 to move between the first position and the second position after action. This can be implemented in many ways, such as using the transmission between the gear and the rack to drive the mopping module 300 to move between the first position and the second position. The mopping module 300 moves up and down; or a crank rocker mechanism is used to make the mopping module 300 move up and down along with the movement of the slider; or a screw transmission mechanism is used to drive the mopping module 300 up and down, etc. In this regard, it is sufficient that the action of the lifting assembly 410 can drive the mopping module 300 to move between the first position and the second position.

控制器可以理解为具有控制功能的嵌入式数字信号处理器(Digital Signal Processor，DSP)、微处理器(Micro Processor Unit，MPU)、特定集成电路(Application Specific Integrated Circuit，ASIC)、微控制单元(Microcontroller Unit；MCU)等等。The controller can be understood as an embedded digital signal processor (Digital Signal Processor, DSP), microprocessor (Micro Processor Unit, MPU), specific integrated circuit (Application Specific Integrated Circuit, ASIC), micro control unit ( Microcontroller Unit; MCU) and so on.

而拖地模块300应理解为具有清洁擦拭功能的结构，其至少包括支架及装设于支架上的擦拭单元。其中，擦拭单元可设计为但不仅限于清洁布、海绵体、塑料丝、编织条、橡胶片等，支架可以设计为擦拭板，擦拭单元可以粘附于擦拭板的底面。同时，根据擦拭单元的材质和擦拭方式不同，本清洁机器人可为拖地机和扫拖一体机。擦拭单元还可以是主动运动的擦拭单元，比如是直线式的往复运动的擦拭单元、旋转式的往复摆动的擦拭单元、连续旋转运动的擦拭单元等，同时擦拭单元可以由多个擦拭组件构成，比如由两个擦拭组件构成，两个擦拭组件做相反的旋转式的往复摆动运动。The mopping module 300 should be understood as a structure with a cleaning and wiping function, which at least includes a bracket and a wiping unit installed on the bracket. The wiping unit can be designed as, but is not limited to, a cleaning cloth, a sponge, a plastic thread, a braided strip, a rubber sheet, etc. The bracket can be designed as a wiping plate, and the wiping unit can be adhered to the bottom surface of the wiping plate. At the same time, depending on the material and wiping method of the wiping unit, this cleaning robot can be a floor mopping machine or an all-in-one sweeping and mopping machine. The wiping unit can also be an actively moving wiping unit, such as a linear reciprocating wiping unit, a rotary reciprocating wiping unit, a continuous rotating wiping unit, etc. At the same time, the wiping unit can be composed of multiple wiping components. For example, it is composed of two wiping components, and the two wiping components perform opposite rotational reciprocating swing motions.

此外，本实施例的第一位置和第二位置有多种设计，如此：第一位置设定在拖地模块300刚与待清洁面700(例如地面等)接触时所处的位置；也可设定在拖地模块300与待清洁面700具有一定压力所处的位置等。同理，第二位置可设定在机身100与待清洁面700(比如：地面等)之间的空间中任一位置上，拖地模块300位于第二位置时还能够相对机身100继续上升；也可设定在拖地模块300相对机身100上升的极限位置上，即拖地模块300无法继续上升的位置上等。In addition, there are various designs for the first position and the second position of this embodiment, such as: the first position is set at the position where the mopping module 300 just comes into contact with the surface 700 to be cleaned (such as the ground, etc.); or it can be It is set at a position where the mopping module 300 and the surface to be cleaned 700 have a certain pressure. Similarly, the second position can be set at any position in the space between the fuselage 100 and the surface to be cleaned 700 (such as the ground, etc.). When the mopping module 300 is located in the second position, it can continue to move relative to the fuselage 100. Rising; it can also be set at the extreme position where the mopping module 300 rises relative to the body 100, that is, the position where the mopping module 300 cannot continue to rise.

还需说明的是，分离机构在驱动器420的驱动下，能将拖地模块300在第二位置或第三位置上与连接部脱离，该脱离方式可为但不仅限于顶落、解除磁吸、张开释放等。同时，连接部脱离拖地模块300的方式也有多种设计，只要能满足在第二位置或第三位置上并在驱动器420的作用下驱使拖地模块300发生脱离的方案均属于本申请所保护的范围。比如：当拖地模块300达到第二位置时，继续驱动使得分离机构上的开关被触发，以使其上的电磁铁设备断电，失去对拖地模块300的吸合；或者，使得分离机构上的夹爪结构张开，释放拖地模块300等。另外，驱动器420可为电机，也可为气缸、液压缸或者电缸等伸缩动力设备。It should also be noted that the detachment mechanism, driven by the driver 420, can detach the mopping module 300 from the connection part in the second position or the third position. The detachment method may be but is not limited to top-down, release of magnetic attraction, Open and release etc. At the same time, there are also various designs for the ways in which the connecting part can be detached from the mopping module 300. Any solution that can drive the mopping module 300 to detach under the action of the driver 420 in the second position or the third position is protected by this application. range. For example: when the mopping module 300 reaches the second position, the continuous driving causes the switch on the separation mechanism to be triggered, so that the electromagnet device on it is powered off and the mopping module 300 loses its attraction; or, the separation mechanism is triggered. The clamping claw structure on the upper part opens to release the mopping module 300 and so on. In addition, the driver 420 may be a motor, or a telescopic power device such as a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.

进一步地，请参考图6，同一驱动器420驱动升降组件410不相同的两个部分结构分别移动，以使升降组件410不相同的两个部分结构分别带动拖地模块300在第一位置与第二位置之间往复运动，和顶落拖地模块410。由此可知，升降组件410对拖地模块300的升降和脱离均由同一驱动器420完成，这样不仅有利于减少清洁机器人的设备投入，降低产品生产成本；而且还有利于减少清洁机器人内部结构，缩小抬升机构400在机器内所占空间，有利于产品小型化。当然，在其他实施例中，驱动器420数量也可为多个。比如：一个驱动器420驱动升降组件410在第一位置和第二位置之间往复运动；另一个驱动器420则在第二位置处驱动升降组件410动作，以使拖地模块300实现脱落。Further, please refer to FIG. 6 , the same driver 420 drives the two different partial structures of the lifting assembly 410 to move respectively, so that the two different partial structures of the lifting assembly 410 drive the mopping module 300 in the first position and the second position respectively. reciprocate between positions, and lift the mopping module 410. It can be seen from this that the lifting and disengagement of the mopping module 300 by the lifting assembly 410 is completed by the same driver 420. This not only helps to reduce the equipment investment of the cleaning robot and reduces product production costs; it also helps to reduce the internal structure of the cleaning robot and reduce the size of the product. The space occupied by the lifting mechanism 400 in the machine is conducive to product miniaturization. Of course, in other embodiments, the number of drivers 420 may also be multiple. For example, one driver 420 drives the lifting component 410 to reciprocate between the first position and the second position; the other driver 420 drives the lifting component 410 to move at the second position, so that the mopping module 300 can be detached.

需要说明的是，拖地模块300的升降和脱离均由同一驱动器420，但由升降组件410不同的两个部分结构所触发，例如：驱动器420至少具有两个构件，控制器控制驱动器420驱使其中一个构件移动时，该构件能带动拖地模块300在第一位置和第二位置之间往复运动；控制器控制驱动器420驱使另一个构件移动时，其能顶落拖地模块410。此时分离机构是抬升机构的一部分结构，如此可以减小清洁机器人所需的配件，节约成本，也进一步减小机身的体积，实现清洁机器人的小型化。It should be noted that the lifting and disengagement of the mopping module 300 are triggered by the same driver 420 but by two different partial structures of the lifting assembly 410. For example, the driver 420 has at least two components, and the controller controls the driver 420 to drive them. When a component moves, the The component can drive the mopping module 300 to reciprocate between the first position and the second position; when the controller controls the driver 420 to drive another component to move, it can push down the mopping module 410 . At this time, the separation mechanism is part of the lifting mechanism, which can reduce the accessories required for the cleaning robot, save costs, further reduce the size of the fuselage, and achieve miniaturization of the cleaning robot.

在一个实施例中，清洁机器人还包括水箱102，以及与水箱连通的水管(未图示)，水管具有水口，用于将水箱102中的水引导至拖地模块300，驱动器420、水口以及至少部分的水管安装于连接部(即升降架4113)上。由此，通过连通水箱102的水管能够润湿拖地模块300，湿式清洁待清洁表面，同时水口设置在升降架4113上能够与拖地模块300密切接触，更均匀的润湿拖地模块300。In one embodiment, the cleaning robot further includes a water tank 102, and a water pipe (not shown) connected to the water tank. The water pipe has a water inlet for guiding the water in the water tank 102 to the mopping module 300, a driver 420, a water inlet and at least Part of the water pipe is installed on the connecting part (ie, the lifting frame 4113). Therefore, the mopping module 300 can be wetted through the water pipe connected to the water tank 102, and the surface to be cleaned can be wet-cleaned. At the same time, the nozzle provided on the lifting frame 4113 can be in close contact with the mopping module 300, and the mopping module 300 can be moistened more evenly.

在一个实施例中，请参考图3与图5，升降组件410包括第一升降结构411与第二升降结构412。第一升降结构411和第二升降结构412中的一个与拖地模块300可拆卸连接，且与驱动器420连接并在驱动器420驱动下相对机身100升降，以带动拖地模块300在第一位置与第二位置之间运动。第一升降结构411和第二升降结构412中的另一个与驱动器420直接或间接连接，拖地模块300位于第二位置时，控制器控制驱动器420继续驱动能驱使第一升降结构411和第二升降结构412中的另一个动作，使其相对机身下降，以将拖地模块300顶落，请参考图9至图11。由此可知，第一升降结构411和第二升降结构412中任一个均可在驱动器420的作用下相对机身100上下升降，比如：驱动器420能驱使第一升降结构411升降，以带动拖地模块300运动，此时，拖地模块300应设于第一升降结构411上；或者，驱动器420能驱使第二升降结构412升降，以带动拖地模块300运动，此时，拖地模块300应设于第二升降结构412。In one embodiment, please refer to FIGS. 3 and 5 , the lifting assembly 410 includes a first lifting structure 411 and a second lifting structure 412 . One of the first lifting structure 411 and the second lifting structure 412 is detachably connected to the mopping module 300 and is connected to the driver 420 and is driven by the driver 420 to rise and fall relative to the fuselage 100 to drive the mopping module 300 to the first position. movement between the second position. The other one of the first lifting structure 411 and the second lifting structure 412 is directly or indirectly connected to the driver 420. When the mopping module 300 is in the second position, the controller controls the driver 420 to continue driving to drive the first lifting structure 411 and the second lifting structure 412. Another action in the lifting structure 412 is to lower it relative to the fuselage to push down the mopping module 300. Please refer to Figures 9 to 11. It can be seen that either the first lifting structure 411 or the second lifting structure 412 can move up and down relative to the fuselage 100 under the action of the driver 420. For example, the driver 420 can drive the first lifting structure 411 to move up and down to drive the floor mopping. The module 300 moves. At this time, the mopping module 300 should be located on the first lifting structure 411; or the driver 420 can drive the second lifting structure 412 to lift to drive the mopping module 300 to move. At this time, the mopping module 300 should Provided at the second lifting structure 412.

另外，在顶落过程中，若第二升降结构412负责拖地模块300升降时，第一升降结构411则负责拖地模块300的顶落。比如：当第二升降结构412带动拖地模块300运动至第二位置时，第一升降结构411上具有一顶杆结构，抵触在拖地模块300上。若驱动器420继续驱动时，顶杆结构会对拖地模块300施加一远离机身100的力(比如向下顶力)，以顶落拖地模块300等。In addition, during the lifting process, if the second lifting structure 412 is responsible for lifting the mopping module 300, the first lifting structure 411 is responsible for lifting the mopping module 300. For example: when the second lifting structure 412 drives the mopping module 300 to move to the second position, the first lifting structure 411 has a push rod structure that resists the mopping module 300 . If the driver 420 continues to drive, the push rod structure will exert a force away from the fuselage 100 (such as a downward pushing force) on the mopping module 300 to push down the mopping module 300 and so on.

在本实施例中，将升降组件410设计为第一升降结构411和第二升降结构412，分别对应升降和顶落动作，使得拖地模块300的抬升和更换能有序进行。同时也便于抬升机构400在机身100内合理布置，使得清洁机器人内部结构设计更加合理、有序。In this embodiment, the lifting assembly 410 is designed as a first lifting structure 411 and a second lifting structure 412, respectively corresponding to the lifting and lifting movements, so that the lifting and replacement of the mopping module 300 can be carried out in an orderly manner. At the same time, it is also convenient for the lifting mechanism 400 to be reasonably arranged within the body 100, making the internal structure design of the cleaning robot more reasonable and orderly.

进一步地，请参考图3、图6、图10以及图12到图25，拖地模块300通过连接部(即升降架4113)可拆卸连接于第一升降结构411，驱动器420连接于第一升降结构411。第二升降结构412与第一升降结构411连接，并通过第一升降结构411间接连接于驱动器420。控制器控制驱动器420驱使第一升降结构411在第二升降结构412的表面上抬升，以带动拖地模块300由第一位置运动至第二位置。此时，第一升降结构411相对第二升降结构412升降时，驱动器420也会随第一升降结构411一起升降。Further, please refer to Figures 3, 6, 10 and 12 to 25. The mopping module 300 is detachably connected to the first lifting structure 411 through the connecting part (ie, the lifting frame 4113), and the driver 420 is connected to the first lifting structure. Structure411. The second lifting structure 412 is connected to the first lifting structure 411 and is indirectly connected to the driver 420 through the first lifting structure 411 . The controller controls the driver 420 to drive the first lifting structure 411 to lift on the surface of the second lifting structure 412 to drive the mopping module 300 to move from the first position to the second position. At this time, when the first lifting structure 411 rises and falls relative to the second lifting structure 412, the driver 420 will also rise and fall together with the first lifting structure 411.

请继续参考图3，顶出部设置为第二升降结构412，当拖地模块300运动至第二位置时，控制器控制驱动器420继续驱动第一升降结构411，使得第一升降结构411驱使第二升降结构412相对机身100朝第一位置的方向运动，以顶落拖地模块300。如此，当拖地模块300运动至第二位置时，驱动器420的继续驱动能使得第二升降结构412相对机身4113朝第一位置运动，使得拖地模块300能被有效顶落，保证拖地模块300的更换稳定进行。Please continue to refer to Figure 3. The ejection part is configured as a second lifting structure 412. When the mopping module 300 moves to the second position, the controller controls the driver 420 to continue driving the first lifting structure 411, so that the first lifting structure 411 drives the second lifting structure 412. The two lifting structures 412 move toward the first position relative to the fuselage 100 to push down the mopping module 300 . In this way, when the mopping module 300 moves to the second position, the continued driving of the driver 420 can cause the second lifting structure 412 to move toward the first position relative to the body 4113, so that the mopping module 300 can be effectively pushed down to ensure mopping. The replacement of the module 300 proceeds stably.

或者，请参考图16到图19，顶出部设置为第二升降结构412，拖地模块300运动至第二位置后，控制器控制驱动器420继续驱使第一升降结构411在第二升降结构的表面上抬升，以带动拖地模块300抬升至高于第二位置的第三位置，拖地模块300位于第三位置时，控制器控制驱动器420继续驱动第一升降结构411，以使第一升降结构411驱动第二升降结构相对机身朝第一位置的方向运动，顶落拖地模块300。在不同位置实现拖地模块300的抬升和顶落，一方面能够使清洁机器人的功能划分更加清晰，另一方面，拖地模块300的抬升和顶落需要与锁紧组件800锁紧和松开拖地模块300进行配合，实现更佳的效果，下文会结合实施例详细说明。 Alternatively, please refer to Figures 16 to 19. The ejection portion is configured as a second lifting structure 412. After the mopping module 300 moves to the second position, the controller controls the driver 420 to continue to drive the first lifting structure 411 in the second lifting structure. The surface is lifted to drive the mopping module 300 to a third position higher than the second position. When the mopping module 300 is in the third position, the controller controls the driver 420 to continue driving the first lifting structure 411 so that the first lifting structure 411 drives the second lifting structure to move relative to the fuselage in the direction of the first position, and pushes down the mopping module 300 . The lifting and lowering of the mopping module 300 at different positions can, on the one hand, make the functional division of the cleaning robot clearer. On the other hand, the lifting and lowering of the mopping module 300 requires locking and loosening of the locking assembly 800 The mopping module 300 cooperates to achieve better results, which will be described in detail below with reference to the embodiment.

需要说明的是，第一升降结构411带动拖地模块300运动至第二位置或第三位置时，驱动器420驱动第二升降结构412的驱动方式可为：通过第一升降结构411反作用在第二升降结构412上，以使其向下运动；或者，在驱动器420的输出轴与第二升降结构412之间设置传动结构，比如：跷板与凸轮组合结构等，当驱动器420随第一升降结构411运动至第二位置时，其上的凸轮能顶起跷板一端，下压另一端，以驱使第二升降结构412下移等。It should be noted that when the first lifting structure 411 drives the mopping module 300 to move to the second position or the third position, the driver 420 drives the second lifting structure 412 in a driving manner: the first lifting structure 411 reacts on the second position. on the lifting structure 412 to make it move downward; or, a transmission structure, such as a rocker and cam combination structure, etc., is provided between the output shaft of the driver 420 and the second lifting structure 412. When the driver 420 moves along with the first lifting structure When 411 moves to the second position, the cam on it can push up one end of the rocker and press down the other end to drive the second lifting structure 412 to move downward.

可选地，拖地模块300在升降架4113上的连接方式可为但不仅限于磁吸、卡扣等。更进一步地，第一升降结构411在第二升降结构412的表面上升降时，第二升降结构412相对机身100不产生位移。此时第二升降结构412相当于支撑基础，保证第一升降结构411移动更平稳。另外，第二升降结构412相对第一升降结构411朝第一位置的方向运动时，第一升降结构411相对机身100不产生位移。由此可知，第一升降结构411和第二升降结构412不能同时相对机身100运动，在顶落拖地模块300时，以第一升降结构411为支撑基础，保证第二升降结构412对拖地模块300施加一远离机身100的力，顺利完成顶落动作，提高产品性能。Optionally, the mopping module 300 can be connected to the lifting frame 4113 by, but is not limited to, magnetic attraction, buckles, etc. Furthermore, when the first lifting structure 411 rises and falls on the surface of the second lifting structure 412, the second lifting structure 412 does not generate any displacement relative to the fuselage 100. At this time, the second lifting structure 412 serves as a supporting foundation to ensure that the first lifting structure 411 moves more smoothly. In addition, when the second lifting structure 412 moves toward the first position relative to the first lifting structure 411, the first lifting structure 411 does not generate any displacement relative to the fuselage 100. It can be seen from this that the first lifting structure 411 and the second lifting structure 412 cannot move relative to the fuselage 100 at the same time. When the mopping module 300 is lifted up and down, the first lifting structure 411 is used as a supporting basis to ensure that the second lifting structure 412 can move the mopping module 300 . The ground module 300 exerts a force away from the fuselage 100 to successfully complete the top-down action and improve product performance.

在一个实施例中，请参考图3，抬升机构400还包括支撑件430，支撑件430连接于机身和第二升降结构之间。第一升降结构411在第二升降结构的表面上升降时，支撑件430支撑并限制第二升降结构412相对机身100产生位移。由于拖地模块300在第一位置、第二位置和第三位置之间往复运动时，第一升降结构411也在第二升降结构412上升降运动，因此，本实施例设置支撑件430，使其只在拖地模块300运动于第一位置和第二位置之间，以及运动于第二位置和第三位置之间时，限制第二升降结构412相对机身100运动，为拖地模块300的升降提供稳定支撑，从而保证拖地模块300被稳定抬起。进一步的，清洁机器人还设置有限位结构(未图示)，在第二升降结构相对机身朝第一位置的方向运动时，限位结构向升降架4113施加向下的压力，限制升降架4113以及第一升降结构411相对机身继续向上运动，且第一升降结构411向第二升降结构施加压力，第二升降结构按压支撑件使其发生形变或位移。In one embodiment, please refer to FIG. 3 , the lifting mechanism 400 further includes a support member 430 connected between the fuselage and the second lifting structure. When the first lifting structure 411 rises and falls on the surface of the second lifting structure, the support member 430 supports and limits the displacement of the second lifting structure 412 relative to the fuselage 100 . Since the mopping module 300 reciprocates between the first position, the second position and the third position, the first lifting structure 411 also moves up and down on the second lifting structure 412. Therefore, this embodiment provides a support member 430 so that It only limits the movement of the second lifting structure 412 relative to the fuselage 100 when the mopping module 300 moves between the first position and the second position, and between the second position and the third position. The lifting and lowering provides stable support, thereby ensuring that the mopping module 300 is lifted stably. Furthermore, the cleaning robot is also provided with a limiting structure (not shown). When the second lifting structure moves toward the first position relative to the fuselage, the limiting structure exerts downward pressure on the lifting frame 4113 to limit the lifting frame 4113. And the first lifting structure 411 continues to move upward relative to the fuselage, and the first lifting structure 411 exerts pressure on the second lifting structure, and the second lifting structure presses the support member to cause deformation or displacement.

请参考图9至图11或图18、图19，当拖地模块300运动至第二位置或第三位置时，驱动器420继续驱动能驱使支撑件430发生形变或位移，以使第二升降结构412相对第一升降结构411朝第一位置的方向运动。可知，若需对拖地模块300进行拆卸时，将拖地模块300抬升至第二位置或第三位置后，继续驱动驱动器420，驱使第一升降结构411继续相对第二升降结构412向上爬升，但是由于限位结构的限制，升降架4113受到限位结构施加的向下的压力而无法再向上运动，进而将该压力传递给第二升降结构412，第二升降结构受到的压力增大导致支撑件430无法再支撑其相对机身不移动100，支撑件430发生形变或自身发生相对位移，从而使得第二升降结构412能相对第一升降结构411下移，进而顶落拖地模块300。如此，本实施例巧妙设计支撑件和限位机构，使得第二升降结构412前后实现支撑和下移顶落动作，进一步保证拖地模块300抬升和更换稳定进行。Please refer to Figures 9 to 11 or Figures 18 and 19. When the mopping module 300 moves to the second position or the third position, the driver 420 continues to drive the support member 430 to deform or displace, so that the second lifting structure 412 moves toward the first position relative to the first lifting structure 411 . It can be seen that if the mopping module 300 needs to be disassembled, after the mopping module 300 is raised to the second position or the third position, the driver 420 is continued to be driven to drive the first lifting structure 411 to continue climbing upward relative to the second lifting structure 412. However, due to the limitation of the limiting structure, the lifting frame 4113 is unable to move upward due to the downward pressure exerted by the limiting structure, and then transmits this pressure to the second lifting structure 412. The pressure on the second lifting structure increases, resulting in support The support member 430 can no longer support the movement of 100 degrees relative to the fuselage, and the support member 430 deforms or moves relative to itself, so that the second lifting structure 412 can move downward relative to the first lifting structure 411 and then push down the mopping module 300 . In this way, this embodiment cleverly designs the support and the limiting mechanism, so that the second lifting structure 412 supports and moves down and down forward and backward, further ensuring the stable lifting and replacement of the mopping module 300.

需要说明的是，限位结构设置为相对机身可固定的结构，可以是单独的一个结构，也可以直接利用机身现有的结构，如机身的外壳，第一升降结构411抬升至第二位置或第三位置时，升降架4113抵靠在机身的外壳上，使第一升降结构411无法再继续向上移动，当然除了机身的外壳，只要是相对机身固定的部件均可以作为限位结构。It should be noted that the limiting structure is set as a structure that can be fixed relative to the fuselage. It can be a separate structure, or it can directly use the existing structure of the fuselage, such as the outer shell of the fuselage. The first lifting structure 411 is lifted to the second position. In the second position or the third position, the lifting frame 4113 is against the shell of the fuselage, so that the first lifting structure 411 cannot continue to move upward. Of course, in addition to the shell of the fuselage, any part that is fixed relative to the fuselage can be used as a Limiting structure.

还需要说明的是，支撑件430可设计为具有弹性变形的结构，也可设计为具有复位功能的吸附结构或卡扣结构。当支撑件430设计为具有弹性变形结构时，在驱动器420的作用下，支撑件430发生形变，以允许第二升降结构412能相对下移；当支撑件430设计为具有复位功能的吸附结构或卡扣结构时，驱动器420的驱动力大于支撑件430与机身100之间的吸附力或卡扣力，驱使支撑件430相对机身100下移，以带动第二升降结构412动作等。It should also be noted that the support member 430 can be designed as a structure with elastic deformation, or as an adsorption structure or a buckle structure with a reset function. When the support member 430 is designed to have an elastic deformation structure, under the action of the driver 420, the support member 430 deforms to allow the second lifting structure 412 to move downward relatively; when the support member 430 is designed to have an adsorption structure with a reset function or In the buckle structure, the driving force of the driver 420 is greater than the adsorption force or buckle force between the support member 430 and the fuselage 100, driving the support member 430 to move downward relative to the fuselage 100 to drive the second lifting structure 412 to move.

另外，当支撑件430为具有弹性变形结构时，其可具体为但不仅限于弹性橡胶、弹簧等。 In addition, when the support member 430 has an elastic deformation structure, it may be specifically, but not limited to, elastic rubber, springs, etc.

进一步地，请参考图3，支撑件430包括限位弹簧431。限位弹簧431连接于第二升降结构412与机身100之间，即当拖地模块300在第一位置和第二位置之间运动时，限位弹簧431利用自身弹力支撑第二升降结构412，以防止其产生位移而导致拖地模块300的抬升动作失稳。其中，限位弹簧431提供的向上作用力应足以支撑所有的被支撑物的重量，因此限位弹簧431提供的向上的作用力应至少大于第一升降结构411、第二升降结构412、驱动器420、拖地模块300的重量之和。Further, please refer to FIG. 3 , the support member 430 includes a limiting spring 431 . The limit spring 431 is connected between the second lifting structure 412 and the fuselage 100. That is, when the mopping module 300 moves between the first position and the second position, the limit spring 431 uses its own elastic force to support the second lifting structure 412. , to prevent it from being displaced and causing the lifting action of the mopping module 300 to become unstable. Among them, the upward force provided by the limit spring 431 should be enough to support the weight of all supported objects. Therefore, the upward force provided by the limit spring 431 should be at least greater than the first lifting structure 411, the second lifting structure 412, and the driver 420. , the sum of the weight of the mopping module 300.

需要说明的是，限位弹簧431可利用其拉伸力作用在第二升降结构412上；也可利用其压缩力作用在第二升降结构412上。当限位弹簧431以拉伸力作用在第二升降结构412上时，限位弹簧431至少部分位于第二升降结构412的上方，以使其呈悬挂状态。当限位弹簧431以压缩力作用在第二升降结构412上时，限位弹簧431则压缩在第二升降结构412与机身100之间。It should be noted that the limiting spring 431 can use its tensile force to act on the second lifting structure 412; it can also use its compressive force to act on the second lifting structure 412. When the limiting spring 431 acts on the second lifting structure 412 with a tensile force, the limiting spring 431 is at least partially located above the second lifting structure 412 so that it is in a suspended state. When the limiting spring 431 acts on the second lifting structure 412 with a compressive force, the limiting spring 431 is compressed between the second lifting structure 412 and the fuselage 100 .

更进一步地，请参考图3与图8，为保证限位弹簧431稳定形变，可在第二升降结构412与机身100上均设置定位柱4123，限位弹簧431分别套接于两侧的定位柱4123上。Furthermore, please refer to Figures 3 and 8. In order to ensure the stable deformation of the limit spring 431, positioning posts 4123 can be provided on both the second lifting structure 412 and the fuselage 100. The limit springs 431 are respectively sleeved on both sides. On the positioning post 4123.

在一个实施例中，请参考图3，为保证第二升降结构412在机身100内稳定移动，在机身100内设置滑槽110，滑槽110的槽壁上设有第一导向部120。第二升降结构412上设有与第一导向部120导向配合的第二导向部4122。如此，通过第一导向部120与第二导向部4122配合，使得第一升降结构411在滑槽110内平稳下移。In one embodiment, please refer to Figure 3. In order to ensure that the second lifting structure 412 moves stably in the fuselage 100, a chute 110 is provided in the fuselage 100, and a first guide portion 120 is provided on the wall of the chute 110. . The second lifting structure 412 is provided with a second guide portion 4122 that guides and cooperates with the first guide portion 120 . In this way, through the cooperation of the first guide part 120 and the second guide part 4122, the first lifting structure 411 moves downward smoothly in the chute 110.

可选地，第一导向部120为槽状结构，第二导向部4122为凸状结构；或者，第一导向部120为凸状结构，第二导向部4122为槽状结构。Optionally, the first guide part 120 has a groove-like structure, and the second guide part 4122 has a convex structure; or, the first guide part 120 has a convex structure, and the second guide part 4122 has a groove-like structure.

在一个实施例中，请参考图6，抬升机构400还包括离合结构。离合结构连接于第一升降结构411和驱动器420之间，以使第一升降结构411和驱动器420配合或断开配合。请参考图26和图27，驱动器420驱使第一升降结构411在第二升降结构的表面上抬升时，或者，拖地模块300处于第二位置且无下降趋势时，离合结构4112处于接触状态，第一升降结构411和驱动器420配合。驱动器420驱使第一升降结构411在第二升降结构的表面上抬升时，需要驱动器420带动第一升降结构411运动；当拖地模块300处于第二位置且控制器判断拖地模块300需要保持抬升状态时，离合结构4112也处于接触状态，使得拖地模块300受驱动器420的作用力保持被抬升支撑。In one embodiment, please refer to FIG. 6 , the lifting mechanism 400 further includes a clutch structure. The clutch structure is connected between the first lifting structure 411 and the driver 420 to enable or disengage the first lifting structure 411 and the driver 420 . Please refer to Figures 26 and 27. When the driver 420 drives the first lifting structure 411 to lift on the surface of the second lifting structure, or when the mopping module 300 is in the second position and has no downward trend, the clutch structure 4112 is in the contact state, The first lifting structure 411 cooperates with the driver 420. When the driver 420 drives the first lifting structure 411 to lift on the surface of the second lifting structure, the driver 420 is required to drive the first lifting structure 411 to move; when the mopping module 300 is in the second position and the controller determines that the mopping module 300 needs to remain elevated. When in the state, the clutch structure 4112 is also in the contact state, so that the mopping module 300 is kept lifted and supported by the force of the driver 420 .

请参考图28，拖地模块300处于第一位置时，离合结构4112处于离合状态，第一升降结构411和驱动器420断开配合，即拖地模块300不受驱动器420的作用力，这样使得拖地模块300具有一定的浮动量，使之与地面接触时为浮动，以适应不同的地面工作。请参考图29，第一升降结构411在第二升降结构的表面上下降时，离合结构4112处于离合状态。当第一升降结构411在第二升降结构的表面上下降时，需要驱动器420给第一升降结构411让位，避免驱动器420限制第一升降结构411下降。Please refer to Figure 28. When the mopping module 300 is in the first position, the clutch structure 4112 is in the clutch state, and the first lifting structure 411 and the driver 420 are disconnected, that is, the mopping module 300 is not affected by the force of the driver 420, so that the mopping The ground module 300 has a certain floating amount so that it floats when in contact with the ground to adapt to different ground operations. Please refer to Figure 29. When the first lifting structure 411 descends on the surface of the second lifting structure, the clutch structure 4112 is in the clutch state. When the first lifting structure 411 descends on the surface of the second lifting structure, the driver 420 needs to give way to the first lifting structure 411 to prevent the driver 420 from restricting the first lifting structure 411 from descending.

需要说明的是，离合结构4112处于离合状态应理解为：离合结构4112中至少两部件相互分离，不接触，使得驱动器420与第一升降结构411之间无法传力，导致驱动器420在一定旋转角度内进行空转，无法驱使第一升降结构411移动。而离合结构4112处于接触状态则理解为：离合结构4112中至少两部件相互接触、受力，此时驱动420可通过离合结构4112向第一升降结构411传力，以使第一升降结构411移动。It should be noted that when the clutch structure 4112 is in a clutch state, it should be understood that at least two components in the clutch structure 4112 are separated from each other and do not contact each other, so that force transmission between the driver 420 and the first lifting structure 411 is impossible, causing the driver 420 to rotate at a certain angle. It is idling inside and cannot drive the first lifting structure 411 to move. When the clutch structure 4112 is in contact, it is understood that at least two components in the clutch structure 4112 are in contact with each other and are stressed. At this time, the drive 420 can transmit force to the first lifting structure 411 through the clutch structure 4112 to make the first lifting structure 411 move. .

在一个实施例中，请参考图3、图14到图25，第一升降结构411包括装有驱动器420的连接部(升降架4113)、设于升降架4113的齿轮组4111。第二升降结构412包括与部分齿轮组4111啮合的齿条4121。拖地模块300可拆卸连接于升降架4113上。驱动器420驱使齿轮组4111在齿条4121上抬升。当拖地模块300运动至第二位置或高于第二位置的第三位置，且驱动器420继续驱动时，升降架4113及齿轮组4111的运动受机身100内的限制结构的限制，使其(即齿轮组4111)相对机身100不产生位移，并驱使齿条4121朝第一位置方向运动，以顶落拖地模块300。 In one embodiment, please refer to Figures 3, 14 to 25. The first lifting structure 411 includes a connecting portion (lifting frame 4113) equipped with a driver 420, and a gear set 4111 provided on the lifting frame 4113. The second lifting structure 412 includes a rack 4121 meshed with a portion of the gear set 4111 . The mopping module 300 is detachably connected to the lifting frame 4113. The driver 420 drives the gear set 4111 to lift on the rack 4121. When the mopping module 300 moves to the second position or a third position higher than the second position, and the driver 420 continues to drive, the movements of the lifting frame 4113 and the gear set 4111 are limited by the restriction structure in the fuselage 100, so that (ie, the gear set 4111) does not produce any displacement relative to the fuselage 100, and drives the rack 4121 to move toward the first position to push down the mopping module 300.

由此可知，请参照图14、图15，在抬升时，齿条4121处于固定状态，驱动器420驱使齿轮组4111旋转，使之在齿条4121上向上运动，以通过升降架4113将第一升降结构411和驱动器420一起抬升，从而带动拖地模块300由第一位置向第二位置运动，脱离待清洁面700。请参照图13、图16到图19，在拆卸拖地模块时，拖地模块300运动至第二位置或者继续抬升至第三位置时，驱动器420继续驱动。由于齿轮组4111的运动受限制，无法继续移动，因此，旋转的齿轮组4111反向作用在齿条4121上，驱使齿条4121朝第一位置方向运动，直至与拖地模块300接触，并将其顶落，以完成更换操作。如此，在升降和顶落时，本实施例巧妙利用齿轮组4111和齿条4121配合，不仅实现齿轮组4111在齿条4121上的移动，而且利用齿轮组4111的限位反向作用齿条4121，以实现拖地模块300稳定顶落，使得抬升机构400设计更加巧妙、紧凑。It can be seen from this that, please refer to Figures 14 and 15, when lifting, the rack 4121 is in a fixed state, and the driver 420 drives the gear set 4111 to rotate, causing it to move upward on the rack 4121, so as to lift the first elevator through the lifting frame 4113. The structure 411 and the driver 420 are lifted together, thereby driving the mopping module 300 to move from the first position to the second position and away from the surface 700 to be cleaned. Please refer to Figures 13, 16 to 19. When the mopping module is disassembled and the mopping module 300 moves to the second position or continues to be raised to the third position, the driver 420 continues to drive. Since the movement of the gear set 4111 is restricted and cannot continue to move, the rotating gear set 4111 acts in reverse on the rack 4121, driving the rack 4121 to move toward the first position until it contacts the mopping module 300, and Lift it down to complete the replacement operation. In this way, during lifting and lifting, this embodiment cleverly utilizes the cooperation between the gear set 4111 and the rack 4121 to not only realize the movement of the gear set 4111 on the rack 4121, but also utilizes the limit of the gear set 4111 to reversely act on the rack 4121 , to realize the stable lifting of the mopping module 300, making the design of the lifting mechanism 400 more clever and compact.

请参考图20、图21，为了实现再次安装拖地模块300，齿条顶落拖地模块300后需要复位，避免阻碍拖地模块300安装在升降架4113。驱动器420反转，为齿轮组4111在齿条上反向旋转让位，齿条逐渐失去齿轮组对其施加的压力，在支撑件430的作用下向上运动，直至齿条回到初始位置。齿轮组继续反转，直至齿轮组运动至拖地模块300安装在升降架4113上并处于第二位置时，齿轮组所处的位置。请参考图22到图23，驱动器420持续反向旋转为驱动齿轮41111让位，避免阻碍驱动齿轮41111在齿条4121上向下运动。驱动齿轮41111在齿条4121上向下运动，以通过升降架4113将第一升降结构411和驱动器420一起下降，进而自动安装第一升降结构411下方的拖地模块300。需要说明的是，驱动器420或驱动齿轮41111的正转、反转并非指其实际旋转方向，而是指驱动器420、驱动齿轮41111在齿条上抬升方向与驱动器420和驱动齿轮41111相对齿条上下降时的旋转方向相反。Please refer to Figures 20 and 21. In order to install the mopping module 300 again, the rack needs to be reset after the mopping module 300 is pushed down to avoid hindering the mopping module 300 from being installed on the lifting frame 4113. The driver 420 reverses to make way for the gear set 4111 to rotate reversely on the rack. The rack gradually loses the pressure exerted by the gear set and moves upward under the action of the support member 430 until the rack returns to its original position. The gear set continues to rotate reversely until the gear set moves to the position where the gear set is when the mopping module 300 is installed on the lifting frame 4113 and is in the second position. Please refer to FIGS. 22 and 23 . The driver 420 continues to rotate in the reverse direction to make way for the driving gear 41111 to avoid hindering the downward movement of the driving gear 41111 on the rack 4121 . The driving gear 41111 moves downward on the rack 4121 to lower the first lifting structure 411 and the driver 420 together through the lifting frame 4113, thereby automatically installing the mopping module 300 below the first lifting structure 411. It should be noted that the forward and reverse rotation of the driver 420 or the drive gear 41111 does not refer to its actual rotation direction, but refers to the lifting direction of the driver 420 and the drive gear 41111 on the rack relative to the driver 420 and the drive gear 41111 on the rack. The direction of rotation is opposite when descending.

需要说明的是，齿轮组4111的运动受机身100内的限制结构限制应理解为：机身100内至少有一结构能限制齿轮组4111继续上升而超越第二位置，其实现方式有多种，比如：机身100上具有一结构，能直接抵触齿轮组4111；或者，机身100上具有一内壁抵住升降架4113或者驱动器420，以间接实现限制齿轮组4111的运动等。其中，驱动器420可为电机或马达。It should be noted that the movement of the gear set 4111 is limited by the limiting structure in the fuselage 100. It should be understood that at least one structure in the fuselage 100 can limit the gear set 4111 to continue to rise and surpass the second position. There are many ways to achieve this. For example, the fuselage 100 has a structure that can directly resist the gear set 4111; or the fuselage 100 has an inner wall that resists the lifting frame 4113 or the driver 420 to indirectly limit the movement of the gear set 4111. The driver 420 may be a motor or motor.

还需说明的是，为了提升第一升降结构411运动的稳定性，可在升降架4113上设置导向孔130，机身100上设有与导向孔130配合导向柱4114；或者，升降架4113上设置导向柱4114，机身100上设有与导向柱4114配合导向孔130。进一步的，为了提高第一升降结构411升降运动的稳定性和可靠性，在升降架4113的长度方向上对称设置了两个导向孔130，在机身100上对应的设有与导向孔130配合的两个导向柱4114，为避免两组导向孔130与导向柱4114在升降过程中出现由于制造、装配误差以及运动不同步导致的卡死现象，两组导向孔130与导向柱4114的配合分别采用不同的滑动配合关系，例如其中一组导向孔130与导向柱4114采用线接触滑动配合，另一组导向孔130与导向柱4114采用点接触的滑动配合(图中未示出)。It should also be noted that in order to improve the stability of the movement of the first lifting structure 411, a guide hole 130 can be provided on the lifting frame 4113, and the fuselage 100 is provided with a guide post 4114 that cooperates with the guide hole 130; or, on the lifting frame 4113, A guide post 4114 is provided, and the fuselage 100 is provided with a guide hole 130 that matches the guide post 4114. Furthermore, in order to improve the stability and reliability of the lifting movement of the first lifting structure 411, two guide holes 130 are symmetrically provided in the length direction of the lifting frame 4113, and corresponding guide holes 130 are provided on the fuselage 100 to cooperate with the guide holes 130. The two guide posts 4114. In order to avoid the two sets of guide holes 130 and the guide posts 4114 from being stuck due to manufacturing and assembly errors and unsynchronized movements during the lifting process, the two sets of guide holes 130 and the guide posts 4114 are coordinated separately. Different sliding fit relationships are adopted, for example, one set of guide holes 130 and the guide pillars 4114 adopt a line contact sliding fit, and the other set of guide holes 130 and the guide pillars 4114 adopt a point contact sliding fit (not shown in the figure).

进一步地，请参考图6、图7和图26到图29，齿轮组4111包括与驱动器420驱动连接的传动件41112、与齿条4121啮合的驱动齿轮41111。传动件41112通过离合结构4112驱使驱动齿轮41111转动。离合结构4112用于允许传动件41112与驱动齿轮41111之间具有预设空行程，以使两者断开配合。由此可知，请参考图27，在开始抬升时，由于离合结构4112具有预设空行程，即传动件41112与驱动齿轮41111之间具有一段时间为断开配合状态，因此，传动件41112在驱动器420的驱动下，空转一段时间才能与驱动齿轮41111配合；配合后，驱使驱动齿轮41111在齿条4121上移动，使得拖地模块300运动至第二位置或第三位置上。在本实施例中，拖地模块300运动至第三位置。Further, please refer to FIGS. 6 , 7 , and 26 to 29 . The gear set 4111 includes a transmission member 41112 that is drivingly connected to the driver 420 and a driving gear 41111 that meshes with the rack 4121 . The transmission member 41112 drives the driving gear 41111 to rotate through the clutch structure 4112. The clutch structure 4112 is used to allow a preset idle stroke between the transmission member 41112 and the driving gear 41111 to disengage the two. It can be seen from this that, please refer to Figure 27, when starting to lift, since the clutch structure 4112 has a preset idle stroke, that is, there is a period of time between the transmission member 41112 and the drive gear 41111 in a disconnected state. Therefore, the transmission member 41112 is in the driver's position. 420 is driven by idling for a period of time before it can cooperate with the driving gear 41111; after matching, the driving gear 41111 is driven to move on the rack 4121, so that the mopping module 300 moves to the second position or the third position. In this embodiment, the mopping module 300 moves to the third position.

请参考图29，当清洁机器人需工作时，驱动器420反向驱动传动件41112，使得传动件41112转至与驱动齿轮41111分离。此时，驱动齿轮41111失去传动件41112的扭力，使得齿轮组4111、驱动器420以及升降架4113在重力下朝第一位置方向运动。另外，驱动齿轮41111在下移的同时，受齿条4121啮合作用反向转动，始终能与传动件41112接触，使得驱动齿轮41111下移时依然受传动件41112限制，避免其下移过快而易导致拖地模块300撞击待清洁面700。Please refer to FIG. 29 . When the cleaning robot needs to work, the driver 420 drives the transmission member 41112 in reverse direction, so that the transmission member 41112 rotates and separates from the driving gear 41111 . At this time, the driving gear 41111 loses the torque of the transmission member 41112, causing the gear set 4111, the driver 420 and the lifting frame 4113 to move toward the first position under gravity. In addition, while the driving gear 41111 moves downward, it is engaged by the rack 4121 By rotating in the reverse direction, it can always be in contact with the transmission member 41112, so that the driving gear 41111 is still restricted by the transmission member 41112 when it moves downward, preventing the mopping module 300 from hitting the surface 700 to be cleaned due to its downward movement too fast.

请参考图28，当拖地模块300运动至第一位置时，驱动器420可驱使传动件41112继续转动，使得传动件41112与驱动齿轮41111之间断开接触，保证驱动齿轮41111能在齿条4121上具有一定的上下移动行程，以实现拖地模块300具有上下浮动功能，从而使得拖地模块300能适应不同工况的待清洁面700。Please refer to Figure 28. When the mopping module 300 moves to the first position, the driver 420 can drive the transmission member 41112 to continue to rotate, so that the transmission member 41112 and the driving gear 41111 break contact, ensuring that the driving gear 41111 can be on the rack 4121. It has a certain up and down movement stroke to realize that the mopping module 300 has an up and down floating function, so that the mopping module 300 can adapt to the surface 700 to be cleaned in different working conditions.

需要说明的是，传动件41112可设计为齿轮结构，也可设计为滚轴结构。当传动件41112设计为滚轴结构时，传动件41112与驱动器420之间的连接可通过皮带传动、链条传动等。It should be noted that the transmission member 41112 can be designed as a gear structure or a roller structure. When the transmission member 41112 is designed as a roller structure, the connection between the transmission member 41112 and the driver 420 can be through belt transmission, chain transmission, etc.

另外，离合结构4112应理解为：在传动件41112与驱动齿轮41111之间具有一结构，使得传动件41112旋转一定角度之前，始终与驱动齿轮41111保持分离状态，无法驱使驱动齿轮41111旋转；一定角度后，传动件41112能与驱动齿轮41111接触，并能带动驱动齿轮41111一起旋转。其结构有多种设计，比如：离合结构4112可为两个离合块41121，请参考图8、图27到图29，一个离合块41121设于传动件41112的端面，另一个离合块41121设于驱动齿轮41111的端面，且两个离合块41121之间至少具有间隙。传动件41112旋转一定角度后，该离合块41121才与另一个离合块41121接触；或者，离合结构4112为滚珠和弧形槽组合结构，滚珠设于传动件41112的端面，弧形槽设于驱动齿轮41111的端面，弧形槽的槽宽沿着驱动齿轮41111的周向逐渐减小。当滚珠随传动件41112旋转时，会在弧形槽内滚动。由于弧形槽的槽宽逐渐减小，因此，旋转一定角度后，滚珠会卡在弧形槽一端，以带动驱动齿轮41111一起旋转等。In addition, the clutch structure 4112 should be understood as: there is a structure between the transmission member 41112 and the driving gear 41111, so that before the transmission member 41112 rotates to a certain angle, it is always separated from the driving gear 41111 and cannot drive the driving gear 41111 to rotate; at a certain angle Finally, the transmission member 41112 can contact the driving gear 41111 and drive the driving gear 41111 to rotate together. There are many designs for its structure. For example, the clutch structure 4112 can be two clutch blocks 41121. Please refer to Figure 8, Figure 27 to Figure 29. One clutch block 41121 is located on the end face of the transmission member 41112, and the other clutch block 41121 is located on the end surface of the transmission member 41112. The end surface of the drive gear 41111, and there is at least a gap between the two clutch blocks 41121. After the transmission member 41112 rotates to a certain angle, the clutch block 41121 contacts another clutch block 41121; alternatively, the clutch structure 4112 is a combination structure of balls and arc-shaped grooves, the balls are provided on the end surface of the transmission member 41112, and the arc-shaped grooves are provided on the drive On the end surface of the gear 41111, the groove width of the arc-shaped groove gradually decreases along the circumferential direction of the driving gear 41111. When the ball rotates with the transmission member 41112, it will roll in the arc groove. Since the groove width of the arcuate groove gradually decreases, after rotating at a certain angle, the ball will get stuck at one end of the arcuate groove to drive the driving gear 41111 to rotate together, etc.

在一个实施例中，请参考图6，拖地模块300上至少两处间隔设置的部分均与升降组件410连接，以在升降组件410的带动下一起移动。如此，使得拖地模块300至少两处受力，保证拖地模块300升降平衡、平稳。In one embodiment, please refer to FIG. 6 , at least two spaced apart parts of the mopping module 300 are connected to the lifting assembly 410 so as to move together under the driving of the lifting assembly 410 . In this way, the mopping module 300 is stressed in at least two places, ensuring that the lifting and lowering of the mopping module 300 is balanced and stable.

需要说明的是，拖地模块300上至少两处间隔设置的部分应理解为拖地模块300上至少具有两处间隔的受力点位。该受力点位的数量可为两个、三个或更多等。当在拖地模块300上，其中两处间隔设置的部分位于拖地模块300的中部两侧时，能使拖地模块300的升降更加平稳。具体到一些实施例中，拖地模块300的相对两端均与升降组件410连接。It should be noted that at least two spaced apart portions on the mopping module 300 should be understood as at least two spaced apart force-bearing points on the mopping module 300 . The number of stress points may be two, three or more. When the two spaced apart parts of the mopping module 300 are located on both sides of the middle part of the mopping module 300, the lifting and lowering of the mopping module 300 can be made more stable. Specifically, in some embodiments, opposite ends of the mopping module 300 are connected to the lifting assembly 410 .

在一个实施例中，请参考图6，齿轮组4111还包括设于升降架4113上的转轴41113。传动件41112与驱动齿轮41111间隔套设于转轴41113上，且传动件41112通过离合结构4112与驱动齿轮41111连接。如此，通过转轴41113，使得传动件41112能稳定驱使驱动齿轮41111旋转，保证拖地模块300的抬升更加平稳。In one embodiment, please refer to FIG. 6 , the gear set 4111 further includes a rotating shaft 41113 provided on the lifting frame 4113 . The transmission member 41112 and the driving gear 41111 are sleeved on the rotating shaft 41113 at intervals, and the transmission member 41112 is connected to the driving gear 41111 through the clutch structure 4112. In this way, through the rotating shaft 41113, the transmission member 41112 can stably drive the driving gear 41111 to rotate, ensuring that the mopping module 300 is lifted more smoothly.

进一步地，请参考图6，驱动齿轮41111与齿条4121均为至少两个。至少两个驱动齿轮41111分别间隔套设于转轴41113上，并分别位于传动件41112的相对两侧。至少两个齿条4121分别间隔设于机身100内，并与驱动齿轮41111一一对应啮合，如此，使得抬升机构400在升降时受力更加平衡。Further, please refer to FIG. 6 , there are at least two driving gears 41111 and racks 4121 . At least two driving gears 41111 are respectively sleeved on the rotating shaft 41113 at intervals, and are respectively located on opposite sides of the transmission member 41112. At least two racks 4121 are spaced apart in the fuselage 100 and mesh with the driving gears 41111 one by one. In this way, the lifting mechanism 400 receives a more balanced force when lifting.

在一个实施例中，请参考图12、和图13，清洁机器人还包括压力部101，驱动器420驱动拖地模块300抬升至第二位置时，压力部101被配置为抵触锁紧组件800的锁扣部，以使锁扣部由第一状态转换为第二状态。具体地，第二位置设定为：拖地模块300相对机身100无法继续上升时所处的位置。锁紧组件800设置于升降架4113上，在升降架4113的带动下被驱动器420驱动升降。在驱动器420驱动驱动齿轮41111在齿条表面抬升的过程中，拖地模块300由第一位置向第二位置运动，压力部101抵触在锁扣部上并向其施予压力，使其状态改变，直至拖地模块300运动至第二位置，压力部101对锁扣部的抵触达到极限，锁扣部的状态完全转换至第二状态，松开拖地模块300。此时，控制器可以控制齿轮组4111停转，使拖地模块300静止在第二位置，控制器控制驱动器420也可以继续驱动驱动齿轮41111旋转，使驱动齿轮41111驱动齿条4121朝第一位置方向运动，将拖地模块300顶落。由此实现，锁紧组件800与升降组件配合在同一位置(也即是第二位置)抬升、解除锁紧以及顶落拖地模块300。无需将解除锁紧以及顶落拖地模块300的功能实现在高于抬升位置(也即是第二位置)的位置，因此无需增加齿条的高度以及齿轮组4111及驱动器420活动的空间，也就可以不额外增加清洁机器人内部的高度空间，减小清洁机器人的高度。In one embodiment, please refer to Figures 12 and 13, the cleaning robot further includes a pressure part 101. When the driver 420 drives the mopping module 300 to lift to the second position, the pressure part 101 is configured to resist the lock of the locking assembly 800. The buckle portion is configured to convert the lock portion from the first state to the second state. Specifically, the second position is set to the position where the mopping module 300 cannot continue to rise relative to the body 100 . The locking component 800 is arranged on the lifting frame 4113, and is driven up and down by the driver 420 under the driving of the lifting frame 4113. When the driver 420 drives the driving gear 41111 to lift on the rack surface, the mopping module 300 moves from the first position to the second position, and the pressure part 101 resists the locking part and exerts pressure on it to change its state. , until the mopping module 300 moves to the second position, the resistance of the pressure part 101 to the locking part reaches the limit, the state of the locking part is completely converted to the second state, and the mopping module 300 is released. At this time, the controller can control the gear set 4111 to stop, so that the mopping module 300 is stationary in the second position. The controller can also control the driver 420 to continue to drive the drive gear 41111 to rotate, so that the drive gear 41111 drives the rack 4121 toward the first position. directional movement to push down the mopping module 300. In this way, the locking assembly 800 and the lifting assembly cooperate in the same position (that is, the second position) to lift, unlock, and lift the mopping module 300 . No need to unlock and lift to mop the floor The function of the module 300 is implemented at a position higher than the raised position (that is, the second position), so there is no need to increase the height of the rack and the space for the gear set 4111 and the driver 420 to move, and there is no need to increase the height inside the cleaning robot. space and reduce the height of the cleaning robot.

在另一个实施例中，请参考图14到图25，拖地模块300运动至第二位置后，控制器控制驱动器420继续驱使第一升降结构411在第二升降结构的表面上抬升，以带动拖地模块300抬升至高于第二位置的第三位置。拖地模块300处于第二位置时，锁扣部处于第一状态，拖地模块300位由第二位置运动至第三位置时，压力部101抵触锁扣部使其由第一状态切换为第二状态。锁紧组件800在升降架4113的带动下被驱动器420驱动升降，在驱动器420驱动驱动齿轮41111在齿条表面抬升的过程中，拖地模块300由第一位置向第二位置运动。当拖地模块300抬升至第二位置时，控制器可以控制齿轮组4111停转，使拖地模块300静止在第二位置。清洁机器在越障、过坎、清洁地毯或回归基站时，控制器可以控制拖地模块300静止在第二位置，避免拖地模块300阻碍清洁机器人越障过坎、回归基站拖地模或弄脏地毯。此时，锁扣部仍处于第一状态，将拖地模块300锁紧在升降架4113上，从而避免拖地模块300在越障、过坎、清洁地毯或回归基站时被碰撞掉落，增强了可靠性。当拖地模块300抬升至第二位置时，控制器还可以控制齿轮组4111继续在齿条表面抬升，拖地模块300则由齿轮组4111带动由第二位置向第三位置运动，此时，压力部101抵触在锁扣部上并向其施予压力，使其状态改变，直至拖地模块300运动至第三位置，压力部101对锁扣部的抵触达到极限，锁扣部的状态完全转换至第二状态，松开拖地模块300。进一步的，控制器控制驱动器420继续驱动驱动齿轮41111旋转，使齿轮组4111驱动齿条4121朝第一位置方向运动，将拖地模块300顶落。由此实现，锁紧组件800与升降组件配合在不同位置抬升和解除锁紧以及顶落拖地模块300，功能划分更加清晰，同时能够避免拖地模块300在处于抬升状态(即位于第二位置)时无锁紧组件800的锁紧而产生晃动或脱落。In another embodiment, please refer to Figures 14 to 25. After the mopping module 300 moves to the second position, the controller controls the driver 420 to continue to drive the first lifting structure 411 to lift on the surface of the second lifting structure to drive The mopping module 300 is raised to a third position higher than the second position. When the mopping module 300 is in the second position, the locking part is in the first state. When the mopping module 300 moves from the second position to the third position, the pressure part 101 resists the locking part to switch from the first state to the third position. Two states. The locking assembly 800 is driven up and down by the driver 420 driven by the lifting frame 4113. When the driver 420 drives the driving gear 41111 to lift on the rack surface, the mopping module 300 moves from the first position to the second position. When the mopping module 300 is raised to the second position, the controller can control the gear set 4111 to stop rotating so that the mopping module 300 remains stationary in the second position. When the cleaning machine is overcoming obstacles, overcoming obstacles, cleaning carpets, or returning to the base station, the controller can control the mopping module 300 to remain stationary in the second position to prevent the mopping module 300 from hindering the cleaning robot from overcoming obstacles, overcoming obstacles, returning to the base station, mopping the floor, or making a mess. Dirty carpet. At this time, the locking part is still in the first state, locking the mopping module 300 on the lifting frame 4113, thereby preventing the mopping module 300 from being collided and dropped when crossing obstacles, crossing ridges, cleaning carpets, or returning to the base station, and enhances the reliability. When the mopping module 300 is lifted to the second position, the controller can also control the gear set 4111 to continue to lift on the rack surface, and the mopping module 300 is driven by the gear set 4111 to move from the second position to the third position. At this time, The pressure part 101 resists the lock part and exerts pressure on it to change its state until the mopping module 300 moves to the third position. The resistance of the pressure part 101 to the lock part reaches the limit, and the lock part is in a complete state. Switch to the second state and release the mopping module 300. Further, the controller controls the driver 420 to continue to drive the driving gear 41111 to rotate, so that the gear set 4111 drives the rack 4121 to move toward the first position, and the mopping module 300 is pushed down. In this way, the locking component 800 cooperates with the lifting component to lift and unlock the mopping module 300 at different positions, making the functional division clearer and preventing the mopping module 300 from being in a lifted state (i.e., in the second position). ), there is no locking of the locking assembly 800 and may cause shaking or falling off.

具体的，锁扣部包括连接于连接部(即升降架4113)且相对连接部可移动的移动件，移动件被配置为处于锁紧位置时与拖地模块300配合锁紧，移动件与压力部101抵触并受到压力部101的压力时，相对升降架4113移动，以从锁紧位置移动至松开位置，解除与拖地模块300的配合锁紧。可以理解的，移动件可以设置为旋转件，移动件未受到压力部101的压力时，处于卡紧拖地模块300的位置，一旦受到压力部101的压力，则会相对升降架4113发生旋转，直至旋转至松开位置。当然锁紧组件800也可以设置为其他结构，例如夹爪结构或卡扣结构，夹爪结构与驱动器420直接或间接连接，由驱动器420驱动在抓紧和张开之间切换，配合拖地模块300所处的位置，驱动器420驱动夹爪结构的状态转换，同理，卡扣结构也可以与驱动器420直接或间接连接，在驱动器420的带动下能够产生水平位移，进而卡紧和松开拖地模块300。Specifically, the locking part includes a moving part connected to the connecting part (i.e., the lifting frame 4113) and movable relative to the connecting part. The moving part is configured to lock with the mopping module 300 when it is in the locking position. The moving part and the pressure When the part 101 resists and receives pressure from the pressure part 101, it moves relative to the lifting frame 4113 to move from the locking position to the releasing position to release the locking with the mopping module 300. It can be understood that the moving member can be configured as a rotating member. When the moving member is not pressured by the pressure part 101, it is in a position to clamp the mopping module 300. Once it is pressured by the pressure part 101, it will rotate relative to the lifting frame 4113. Turn until it reaches the release position. Of course, the locking assembly 800 can also be configured as other structures, such as a clamping claw structure or a buckle structure. The clamping claw structure is directly or indirectly connected to the driver 420, and is driven by the driver 420 to switch between grasping and opening, matching the position of the mopping module 300. position, the driver 420 drives the state transition of the clamping claw structure. In the same way, the buckle structure can also be directly or indirectly connected to the driver 420. Driven by the driver 420, it can generate horizontal displacement, thereby clamping and releasing the mopping module 300. .

进一步的，请参考图12和图13以及图14到图25，移动件包括钩部801，以及一端与钩部801连接的弹性件，弹性件的另一端连接于升降架4113；拖地模块300上设置有与钩部801配合的凹槽321，移动件处于锁紧位置时，钩部801伸入凹槽321并在弹性件施予的弹性力的作用下卡紧拖地模块300，钩部的上端802受到压力部101的压力大于弹性件施予钩部801的弹性力时，钩部801旋转至松开位置，钩部801处于松开位置时至少不干涉拖地模块300朝向第一位置的方向运动。Further, please refer to Figures 12 and 13 and Figures 14 to 25. The moving member includes a hook 801, and an elastic member with one end connected to the hook 801, and the other end of the elastic member connected to the lifting frame 4113; the mopping module 300 There is a groove 321 matching the hook part 801. When the moving member is in the locking position, the hook part 801 extends into the groove 321 and clamps the mopping module 300 under the action of the elastic force exerted by the elastic member. The hook part When the pressure on the upper end 802 of the pressure part 101 is greater than the elastic force exerted by the elastic member on the hook 801, the hook 801 rotates to the release position. When the hook 801 is in the release position, it at least does not interfere with the mopping module 300 moving towards the first position. direction movement.

在本实施例中，拖地模块300包括擦拭板33以及擦拭板连接件32，擦拭板33连接于擦拭板连接件32，并通过擦拭板连接件32连接于升降架4113，凹槽321设置于擦拭板连接件32上。升降机构的升降架4113包括升降板41131，升降板41131设置在升降架4113底部，以与擦拭板连接件32连接。由于本实施例中擦拭板33具有两块，因此通过擦拭板连接件32，将两块擦拭板连接后再连接到升降板41131，以此能够更加简便的将整个拖地模块300从升降板41131上拆装，在其他实施例中，若只具有一块擦拭板，则可以不通过擦拭板连接件32直接将擦拭板连接至升降板41131即可，相应的凹槽321可以直接设置于擦拭板。需要说明的是，凹槽的形式可以是通孔，钩部801处于锁紧位置时穿透该通孔。擦拭板33的底面连接有擦拭单元34，优选的将擦拭单元34粘附于擦拭板33的底面。对于擦拭单元34的选取，可以但不仅限于一次或多次使用的清洁纸、清洁布、海绵体、塑料丝、编织条、橡胶片等。In this embodiment, the mopping module 300 includes a wiping plate 33 and a wiping plate connecting piece 32. The wiping plate 33 is connected to the wiping plate connecting piece 32 and is connected to the lifting frame 4113 through the wiping plate connecting piece 32. The groove 321 is provided on Wipe plate connector 32 on. The lifting frame 4113 of the lifting mechanism includes a lifting plate 41131. The lifting plate 41131 is provided at the bottom of the lifting frame 4113 to connect with the wiping plate connector 32. Since there are two wiping plates 33 in this embodiment, the two wiping plates are connected through the wiping plate connector 32 and then connected to the lifting plate 41131, so that the entire mopping module 300 can be more easily moved from the lifting plate 41131. In other embodiments, if there is only one wiping plate, the wiping plate can be directly connected to the lifting plate 41131 without the wiping plate connector 32, and the corresponding groove 321 can be directly provided on the wiping plate. It should be noted that the groove may be in the form of a through hole, and the hook 801 penetrates the through hole when it is in the locking position. The wiping unit 34 is connected to the bottom surface of the wiping plate 33 , and the wiping unit 34 is preferably adhered to the bottom surface of the wiping plate 33 . For the selection of wiping unit 34, it is possible but not Cleaning paper, cleaning cloth, sponge, plastic wire, woven strip, rubber sheet, etc. limited to one or multiple uses.

钩部801通过一转轴可旋转的连接于升降架4113，并可绕转轴旋转以在锁紧位置和松开位置间转动，而弹性件一端连接于钩部801，另一端连接于升降架4113的升降板41131，在钩部801处于锁紧位置时弹性件施予钩部801张紧力，钩部801在该张紧力的作用下穿过擦拭板连接件32上的凹槽321并张紧拖地模块300，在钩部801由锁紧位置向松开位置运动时时，钩部的上端802受到压力部101的压力，当钩部的上端802受到的压力大于弹性件的张紧力时，钩部801开始旋转，直至旋转到与不干涉拖地模块300能够脱离升降板41131的位置。The hook part 801 is rotatably connected to the lifting frame 4113 through a rotating shaft, and can rotate around the rotating shaft to rotate between the locking position and the releasing position. One end of the elastic member is connected to the hook part 801, and the other end is connected to the lifting frame 4113. Lifting plate 41131, when the hook 801 is in the locking position, the elastic member exerts a tension on the hook 801, and the hook 801 passes through the groove 321 on the wiping plate connector 32 and is tightened under the action of the tension. In the mopping module 300, when the hook 801 moves from the locking position to the releasing position, the upper end 802 of the hook is pressed by the pressure part 101. When the pressure on the upper end 802 of the hook is greater than the tension of the elastic member, The hook part 801 begins to rotate until it rotates to a position where the mopping module 300 can be separated from the lifting plate 41131 without interfering with it.

需要说明的是，压力部101可以是机身内部单独设置的相对机身可固定的结构，是单独的一个结构，也可以是机身内部原有的其他结构，例如在本实施例中，压力部101为安装在清洁机器人中的水箱102，在其他实施例中压力部101可以是根据清洁机器人机身内的布局，处于移动件上方的任意部件。具体的，弹性件可以设置为具有扭转力的扭簧803，弹性件也可以是其他的具有弹性的结构，如弹性绳、压簧、拉簧等等。优选的，钩部801处于锁紧位置时，钩部801的下端向擦拭板连接件32的方向延伸，钩部801的下端穿过擦拭板连接件上的凹槽321后，反向向擦拭板连接件底面322延伸，以进一步锁紧擦拭板连接件32以及擦拭板33，避免在清洁机器人在执行清洁任务时拖地模块300撞击到障碍物脱落。It should be noted that the pressure part 101 can be a structure that is separately provided inside the fuselage and can be fixed relative to the fuselage. It can be a separate structure, or it can be other original structures inside the fuselage. For example, in this embodiment, the pressure part 101 The pressure part 101 is a water tank 102 installed in the cleaning robot. In other embodiments, the pressure part 101 may be any component located above the moving part according to the layout of the cleaning robot body. Specifically, the elastic member can be configured as a torsion spring 803 with torsional force, and the elastic member can also be other elastic structures, such as elastic ropes, compression springs, tension springs, etc. Preferably, when the hook 801 is in the locked position, the lower end of the hook 801 extends in the direction of the wiping plate connector 32. After the lower end of the hook 801 passes through the groove 321 on the wiping plate connector, it reverses toward the wiping plate. The bottom surface 322 of the connecting member extends to further lock the wiping plate connecting member 32 and the wiping plate 33 to prevent the mopping module 300 from hitting an obstacle and falling off when the cleaning robot performs a cleaning task.

升降架和拖地模块300上设置有相互吸附的磁性件，控制器接收到安装拖地模块300的信号，则控制驱动器420运行使第一升降结构411在第二升降结构表面下降，进而使拖地模块300下降至一个低于第二位置高于第一位置的位置，拖地模块300通过磁吸力吸附在升降架上。在本实施例中，通过在升降板41131上设置第二磁铁41132，以及在拖地模块300上设置第一磁铁31，使第一磁铁31和第二磁铁41132相互吸附，进而使拖地模块300安装在升降组件410上。具体的，请参考图12到图25，第一磁铁31固定在擦拭板连接件32上设置的槽中，第二磁铁41132固定在升降板41131上设置的槽中。当然，可以采用其他的方式，例如，在升降机构上设置夹爪结构，夹爪结构张开，释放拖地模块300。The lifting frame and the mopping module 300 are provided with magnetic components that attract each other. When the controller receives a signal to install the mopping module 300, it controls the driver 420 to operate to lower the first lifting structure 411 on the surface of the second lifting structure, thereby causing the mopping The floor module 300 descends to a position lower than the second position and higher than the first position, and the mopping module 300 is adsorbed on the lifting frame through magnetic attraction. In this embodiment, by arranging the second magnet 41132 on the lifting plate 41131 and arranging the first magnet 31 on the mopping module 300, the first magnet 31 and the second magnet 41132 are attracted to each other, so that the mopping module 300 Installed on the lifting assembly 410. Specifically, please refer to Figures 12 to 25. The first magnet 31 is fixed in the groove provided on the wiping plate connector 32, and the second magnet 41132 is fixed in the groove provided on the lifting plate 41131. Of course, other methods can be adopted, for example, a clamping claw structure is provided on the lifting mechanism, and the clamping claw structure is opened to release the mopping module 300 .

优选的，锁紧组件800设置有两个以上。在本实施例中，锁紧组件800设置有两个，且在拖地模块300安装在升降组件410时，锁紧组件800相对于拖地模块300的几何中心对称，如此，能够使拖地模块300在拖地时的受力更加均匀，减小拖地模块300产生的晃动。当然锁紧组件800设置的越多，拖地模块300的锁紧效果越好，在拖地时越不容易产生晃动。Preferably, there are more than two locking assemblies 800 provided. In this embodiment, two locking assemblies 800 are provided, and when the mopping module 300 is installed on the lifting assembly 410, the locking assemblies 800 are symmetrical with respect to the geometric center of the mopping module 300. In this way, the mopping module can be The force received by the mopping module 300 is more even when mopping the floor, thereby reducing the shaking of the mopping module 300. Of course, the more locking assemblies 800 provided, the better the locking effect of the mopping module 300 will be, and the less likely it is to shake when mopping the floor.

在一个实施例中，请参考图6和图15，清洁机器人还包括间隔设于机身100上的第一检测器500与第二检测器600。第一检测器500与第二检测器600分别用于对应检测拖地模块300是否处于第一位置、第二位置，并控制驱动器420的启停。由此可知，当拖地模块300运动至第一位置时，第一检测器500被触发，向控制模块发送信号，以控制驱动器420进行启停或者正反转动作。比如：驱动器420停止工作，使得拖地模块300能与待清洁面700保持接触，实现清洁目的；或者，驱动器420启动并反向转动，抬高拖地模块300，以避开高台阶或实现回程移动等。具体的，第一检测器设置为位置传感器，如霍尔元件。当拖地模块300运动至第二位置时，第二检测器600被触发，向控制模块发生信号，以控制驱动器420进行启停。比如：驱动器420停止工作，使得拖地模块300与待清洁面700保持一定间距；或者，驱动器420启动并正向转动，驱使升降组件410(比如齿条4121)将拖地模块300脱落；又或者，驱动器420启动并反向转动，驱使拖地模块300朝第一位置方向运动等。具体的，请参考图15，第二检测器600设置为微动开关，升降架4113与微动开关之间设置有触发开关，当拖地模块300运动至第二位置时，升降架4113推动触发开关抵触在微动开关上，使微动开关产生第二检测信号，并传递至控制器。触发开关包括触发弹簧602和触发件601，当拖地模块300在由第二位置运动至第三位置的过程中，触发弹簧602被升降架4113压缩，触发件601始终抵触在微动开关上，使微动开关持续向控制器输出第二检测信号。In one embodiment, please refer to FIG. 6 and FIG. 15 , the cleaning robot further includes a first detector 500 and a second detector 600 spaced apart on the body 100 . The first detector 500 and the second detector 600 are respectively used to detect whether the mopping module 300 is in the first position and the second position, and to control the starting and stopping of the driver 420. It can be seen from this that when the mopping module 300 moves to the first position, the first detector 500 is triggered and sends a signal to the control module to control the driver 420 to start and stop or rotate forward and reverse. For example: the driver 420 stops working so that the mopping module 300 can maintain contact with the surface 700 to be cleaned to achieve the cleaning purpose; or the driver 420 starts and rotates reversely to raise the mopping module 300 to avoid high steps or achieve a return trip. Mobile etc. Specifically, the first detector is configured as a position sensor, such as a Hall element. When the mopping module 300 moves to the second position, the second detector 600 is triggered and generates a signal to the control module to control the driver 420 to start and stop. For example: the driver 420 stops working so that the mopping module 300 maintains a certain distance from the surface to be cleaned 700; or the driver 420 starts and rotates forward to drive the lifting assembly 410 (such as the rack 4121) to drop the mopping module 300; or , the driver 420 starts and reversely rotates, driving the mopping module 300 to move toward the first position, and so on. Specifically, please refer to Figure 15. The second detector 600 is set as a micro switch, and a trigger switch is set between the lifting frame 4113 and the micro switch. When the mopping module 300 moves to the second position, the lifting frame 4113 pushes the trigger. The switch resists the micro switch, causing the micro switch to generate a second detection signal and transmit it to the controller. The trigger switch includes a trigger spring 602 and a trigger member 601. When the mopping module 300 moves from the second position to the third position, the trigger spring 602 is compressed by the lifting frame 4113, and the trigger member 601 always resists the micro switch. The micro switch is caused to continuously output the second detection signal to the controller.

需要说明的是，第一检测器500和第二检测器600在检测时，不一定分别与拖地模块300直接作用。第一检测器500和第二检测器600也可分别与抬升机构400中至少一结构配合，以间接检测拖地模块300的位置信息，比如：第一检测器500和第二检测器600分别与驱动器420配合，以间接检测拖地模块300的位置等。其中，第一检测器500和第二检测器600均可为接触式传感器或者光敏传感器等。It should be noted that the first detector 500 and the second detector 600 do not necessarily directly interact with the mopping module 300 respectively during detection. The first detector 500 and the second detector 600 can also cooperate with at least one structure in the lifting mechanism 400 to indirectly detect the position information of the mopping module 300. For example, the first detector 500 and the second detector 600 can cooperate with at least one structure in the lifting mechanism 400, respectively. The driver 420 cooperates to indirectly detect the position of the mopping module 300 and the like. Wherein, both the first detector 500 and the second detector 600 may be contact sensors or photosensitive sensors.

在一个实施例中，请参考图30，一种清洁机器人的控制方法，清洁机器人可以是上述任一实施例中的清洁机器人。In one embodiment, please refer to FIG. 30 , which is a control method of a cleaning robot. The cleaning robot can be the cleaning robot in any of the above embodiments.

具体的，清洁机器人包括：机身；移动模块，设于机身；控制器，与移动模块电性连接，并控制移动模块驱使机身移动；拖地模块，与待清洁表面接触以清洁待清洁表面；抬升机构，至少部分设置于机身内，抬升机构包括驱动器以及至少由驱动器驱动抬升的升降组件，拖地模块可拆卸的连接于升降组件的连接部；分离结构以及至少一个锁紧组件；Specifically, the cleaning robot includes: a fuselage; a mobile module located on the fuselage; a controller that is electrically connected to the mobile module and controls the mobile module to drive the fuselage to move; a mopping module that contacts the surface to be cleaned to clean it. Surface; a lifting mechanism, at least partially disposed in the fuselage, the lifting mechanism includes a driver and at least a lifting component driven and lifted by the driver, the mopping module is detachably connected to the connecting portion of the lifting component; a separation structure and at least one locking component;

清洁机器人的控制方法包括以下步骤：S1:控制器控制驱动器驱动至少部分的升降组件抬升，进而带动拖地模块抬升；The control method of the cleaning robot includes the following steps: S1: The controller controls the driver to drive at least part of the lifting assembly to lift, thereby driving the mopping module to lift;

S2:控制器控制驱动器驱动锁紧组件的锁扣部由锁紧拖地模块的第一状态切换为解除锁紧拖地模块的第二状态；S2: The controller controls the driver to drive the locking portion of the locking component to switch from the first state of locking the mopping module to the second state of unlocking the mopping module;

S3:控制器控制驱动器驱动分离机构的至少部分结构运动，以在锁紧组件处于第二状态时，使拖地模块被施予远离机身的力而脱离连接部。S3: The controller controls the driver to drive at least part of the structural movement of the separation mechanism, so that when the locking assembly is in the second state, the mopping module is exerted a force away from the fuselage to disengage from the connection part.

由此可知，本清洁机器人的控制方法利用驱动器420一同驱动升降组件410、锁紧组件800，实现拖地模块300升降、更换以及锁紧松开的功能，使得内部结构得到有效简化，便于清洁机器人小型化，从而有利于提升产品性能，同时也能够有效降低清洁机器人的成本。It can be seen from this that the control method of the cleaning robot uses the driver 420 to drive the lifting assembly 410 and the locking assembly 800 together to realize the functions of lifting, replacing, locking and releasing the mopping module 300, effectively simplifying the internal structure and making it convenient for the cleaning robot. Miniaturization will help improve product performance and also effectively reduce the cost of cleaning robots.

抬升机构包括第一升降结构和第二升降结构结构，拖地模块通过连接部可拆卸的连接于第一升降结构，清洁机器人还包括与控制器电性连接的第一检测器，请参考图31，清洁机器人的控制方法还包括：The lifting mechanism includes a first lifting structure and a second lifting structure. The mopping module is detachably connected to the first lifting structure through a connecting part. The cleaning robot also includes a first detector electrically connected to the controller. Please refer to Figure 31 , the control method of the cleaning robot also includes:

S11:控制器接收到拖地信号时，若拖地模块处于脱离待清洁表面的第二位置，则控制驱动器运行，以使第一升降结构在第二升降结构的表面上下降，以带动拖地模块由第二位置向接触待清洁表面的第一位置运动；S11: When the controller receives the mopping signal, if the mopping module is in the second position away from the surface to be cleaned, it controls the driver to operate so that the first lifting structure descends on the surface of the second lifting structure to drive the mopping The module moves from the second position to the first position contacting the surface to be cleaned;

S12:第一检测器检测到拖地模块处于第一位置，则向控制器传递第一检测信号；S12: The first detector detects that the mopping module is in the first position, and then transmits the first detection signal to the controller;

S13:控制器响应于第一检测信号控制驱动器停止运行，拖地模块处于第一位置清洁待清洁表面。S13: The controller controls the driver to stop running in response to the first detection signal, and the mopping module is in the first position to clean the surface to be cleaned.

需要说明的是，清洁机器人在执行拖地任务时，控制器会接收到拖地信号。如清洁机器人处于拖地模式或处于扫拖模式时，控制器接收到上述拖地信号。It should be noted that when the cleaning robot performs a mopping task, the controller will receive a mopping signal. For example, when the cleaning robot is in mopping mode or sweeping and mopping mode, the controller receives the above-mentioned mopping signal.

清洁机器人的控制方法还可以包括，S11’：控制器接收到所述拖地信号时，若第一检测器直接检测拖地模块处于所述第一位置，则向控制器传递第一检测信号；控制器响应于第一检测信号控制清洁机器人执行拖地任务。当拖地模块处于第一位置时，拖地模块可以直接执行拖地任务，无需升降。The control method of the cleaning robot may also include, S11': when the controller receives the mopping signal, if the first detector directly detects that the mopping module is in the first position, then transmits the first detection signal to the controller; The controller controls the cleaning robot to perform a mopping task in response to the first detection signal. When the mopping module is in the first position, the mopping module can directly perform mopping tasks without lifting.

若第一检测器无法检测到位于第一位置的拖地模块，即控制器始终无法接收到第一检测信号，控制器控制清洁机器人报错，如控制清洁机器人报警或向外部设备推送报错信息。If the first detector cannot detect the mopping module located at the first position, that is, the controller cannot receive the first detection signal, the controller controls the cleaning robot to report an error, such as controlling the cleaning robot to alarm or push error information to an external device.

请参考图32，当抬升机构设置有离合结构时，离合结构连接于第一升降结构和驱动器之间，以使第一升降结构和驱动器配合或断开配合，上述的步骤S13可以替换为S13’:控制器响应于第一检测信号控制驱动器运行预设时间与第一升降结构断开配合后，再停止运行，以使拖地模块处于第一位置，并能够相对第一位置浮动。Please refer to Figure 32. When the lifting mechanism is provided with a clutch structure, the clutch structure is connected between the first lifting structure and the driver to enable the first lifting structure and the driver to cooperate or disconnect. The above step S13 can be replaced with S13' : In response to the first detection signal, the controller controls the driver to run for a preset time and then stop cooperating with the first lifting structure, so that the mopping module is in the first position and can float relative to the first position.

需要说明的是，在本实施例中，驱动器运行使第一升降结构在第二升降结构的表面上抬升，是指驱动器(电机)正转驱动驱动齿轮41111正转在齿条表面爬升，而驱动器运行使第一升降结构在第二升降结构的表面上下降，是指升降架依靠安装在自身上的齿轮组4111以及电机的重力驱使驱动齿轮41111反转在齿条表面下降，此时电机需要反转，避免阻碍驱动齿轮41111在齿条表面下降。当有离合结构设置于驱动齿轮41111和驱动器之间时，驱动器需要反转使得离合结构始终处于离合状态，为驱动齿轮41111让位使其能够反转在齿条表面下降。当拖地模块下降到第一表面时，电机继续反转预设时间，以使离合结构继续处于离合状态，为驱动齿轮41111让位，使得拖地模块有一个可上下浮动的空间。当然，在其他实施例中，驱动器可以直接驱动齿轮组4111在齿条表面抬升或下降，无需依靠齿轮组4111及驱动器自身的重力。It should be noted that in this embodiment, the driver operates to lift the first lifting structure on the surface of the second lifting structure, which means that the driver (motor) rotates forward to drive the drive gear 41111 to climb forward on the surface of the rack, and the driver Operation to make the first lifting structure descend on the surface of the second lifting structure means that the lifting frame relies on the gear set 4111 installed on itself and the gravity of the motor to drive the driving gear 41111 to reversely rotate and descend on the surface of the rack. At this time, the motor needs to reverse Turn to avoid blocking the drive gear 41111 from descending on the rack surface. When a clutch structure is provided on the drive When between the gear 41111 and the driver, the driver needs to reverse rotation so that the clutch structure is always in the clutch state, making way for the drive gear 41111 so that it can reverse and descend on the rack surface. When the mopping module drops to the first surface, the motor continues to reverse for a preset time, so that the clutch structure continues to be in the clutch state, making way for the driving gear 41111, so that the mopping module has a space to float up and down. Of course, in other embodiments, the driver can directly drive the gear set 4111 to raise or lower on the rack surface without relying on the gravity of the gear set 4111 and the driver itself.

进一步的，清洁机器人包括与控制器电性连接的第二检测器以及压力部，分离机构设有作用于拖地模块以使拖地模块与连接部脱离连接的顶出部，顶出部设置为第二升降结构，请继续参考图32，清洁机器人的控制方法还包括：Further, the cleaning robot includes a second detector and a pressure part that are electrically connected to the controller. The separation mechanism is provided with an ejection part that acts on the mopping module to disconnect the mopping module from the connection part. The ejection part is configured as For the second lifting structure, please continue to refer to Figure 32. The control method of the cleaning robot also includes:

S14:控制器判断是否需要更换拖地模块，是，则控制驱动器驱动第一升降结构在第二升降结构的表面上抬升，带动拖地模块抬升至第二位置，压力部抵触锁扣部使其由第一状态切换为第二状态；S14: The controller determines whether the mopping module needs to be replaced. If yes, it controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position, and the pressure part resists the locking part to make it Switch from the first state to the second state;

S15:第二检测器检测到拖地模块被抬升至第二位置，则向控制器传递第二检测信号；S15: The second detector detects that the mopping module is lifted to the second position, and then transmits the second detection signal to the controller;

S16:控制器响应于第二检测信号控制驱动器继续驱动第一升降结构，以使第一升降结构驱动第二升降结构相对机身朝第一位置的方向运动，顶落拖地模块。S16: The controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second lifting structure to move relative to the fuselage toward the first position, and lifts the mopping module.

由此实现，锁紧组件与升降组件配合在同一位置(也即是第二位置)抬升、解除锁紧以及顶落拖地模块。无需将解除锁紧以及顶落拖地模块的功能实现在高于抬升位置(也即是第二位置)的位置，因此无需增加齿条的高度以及齿轮组4111及驱动器活动的空间，也就可以不额外增加清洁机器人内部的高度空间，减小清洁机器人的高度。In this way, the locking component and the lifting component cooperate in the same position (that is, the second position) to lift, unlock, and lift the mopping module. There is no need to realize the functions of unlocking and lifting the mopping module at a position higher than the raised position (that is, the second position). Therefore, there is no need to increase the height of the rack and the space for the gear set 4111 and the driver to move. No additional height space inside the cleaning robot is required, and the height of the cleaning robot is reduced.

更进一步的，连接部和拖地模块上设置有相互吸附的磁性件，清洁机器人的控制方法还包括：Furthermore, the connecting part and the mopping module are provided with magnetic parts that attract each other. The control method of the cleaning robot also includes:

S17:控制器接收到安装拖地模块的信号，则控制驱动器运行使第一升降结构在第二升降结构表面下降，进而使拖地模块下降至一个低于第二位置高于第一位置的位置，拖地模块通过磁吸力吸附在连接部上。当拖地模块需要更换时，清洁机器人驶回维护其的基站，并将拖地模块顶落(拆卸)在基站内，待基站为其准备好干净的拖地模块时，基站的控制器与清洁机器的控制器通信，即清洁机器人的控制器接收到安装拖地模块的信号，控制器控制驱动器运行使第一升降结构在第二升降结构表面下降，进而将拖地模块吸附在连接部(升降架)上，清洁机器人在基站内完成拖地模块的更换。S17: When the controller receives a signal to install the mopping module, it controls the driver to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module to a position lower than the second position and higher than the first position. , the mopping module is adsorbed on the connecting part through magnetic attraction. When the mopping module needs to be replaced, the cleaning robot drives back to the base station where it is maintained, and drops (disassembles) the mopping module into the base station. When the base station prepares a clean mopping module for it, the controller of the base station communicates with the cleaning robot. The controller of the machine communicates, that is, the controller of the cleaning robot receives the signal to install the mopping module, and the controller controls the driver to operate so that the first lifting structure descends on the surface of the second lifting structure, and then adsorbs the mopping module to the connection part (lifting structure). (rack), the cleaning robot completes the replacement of the mopping module in the base station.

在上述实施例中，清洁机器人可以不在第二位置实现拖地模块的解锁及顶落，具体的请参考图33，清洁机器人的控制方法还包括：In the above embodiment, the cleaning robot does not need to realize the unlocking and lifting of the mopping module in the second position. Please refer to Figure 33 for details. The control method of the cleaning robot also includes:

S18:控制器判断是否需要更换拖地模块，是，则控制驱动器驱动第一升降结构在第二升降结构的表面上抬升，带动拖地模块抬升至第二位置；S18: The controller determines whether the mopping module needs to be replaced. If yes, it controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position;

S19:第二检测器检测到拖地模块被抬升至第二位置，则向控制器传递第二检测信号；S19: The second detector detects that the mopping module is lifted to the second position, and then transmits the second detection signal to the controller;

S20:控制器响应于第二检测信号控制驱动器继续驱动第一升降结构在第二升降结构表面抬升，以带动拖地模块抬升至高于第二位置的第三位置，在拖地模块由第二位置移动至第三位置的过程中，压力部抵触锁扣部使其由第一状态切换为第二状态，并且第二检测器持续向控制器发送第二检测信号；S20: The controller controls the driver in response to the second detection signal to continue to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to lift to a third position higher than the second position. When the mopping module moves from the second position to During the movement to the third position, the pressure part resists the locking part to switch from the first state to the second state, and the second detector continues to send a second detection signal to the controller;

S21:控制器响应于第二检测信号控制驱动器继续驱动第一升降结构，以使第一升降结构驱动第二升降结构相对机身朝第一位置的方向运动，顶落拖地模块。由此可知，第二位置仅时拖地模块抬升并静止的位置，便于拖地模块越障、清洁地毯或回归基站等等，拖地模块的解锁以及顶落在高于第二位置的第三位置实现，锁紧组件与升降组件配合在不同位置抬升和解除锁紧以及顶落拖地模块，功能划分更加清晰，同时能够避免拖地模块在处于抬升状态(即位于第二位置)时无锁紧组件的锁紧而产生晃动或脱落。S21: The controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second lifting structure to move toward the first position relative to the fuselage, and lifts the mopping module. It can be seen from this that the second position is only a position where the mopping module is raised and stationary, which is convenient for the mopping module to overcome obstacles, clean carpets or return to the base station, etc., and the mopping module can be unlocked and placed on a third position higher than the second position. Position realization, the locking component and the lifting component cooperate to lift and unlock the mopping module at different positions, and lift the mopping module. The functional division is clearer, and it can also avoid the mopping module from being unlocked when it is in the raised state (that is, in the second position). Rocking or falling off due to the locking of the tightening components.

S22:控制器接收到安装拖地模块的信号，则控制驱动器运行使第一升降结构在第二升降结构表面下降，进而使拖地模块下降至一个低于第二位置高于第一位置的位置，拖地模块通过磁吸力吸附在连接部上。S22: When the controller receives a signal to install the mopping module, it controls the driver to operate to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module to a position lower than the second position and higher than the first position. , the mopping module is adsorbed on the connecting part through magnetic attraction.

在一个实施例中，请参考图34，清洁机器人包括与控制器电性连接的第三检测器，清洁机器人的控制方法还包括： In one embodiment, please refer to Figure 34, the cleaning robot includes a third detector electrically connected to the controller, and the control method of the cleaning robot also includes:

S23:第三检测器检测清洁机器人的工作情况，并向控制器传递第三检测信号；S23: The third detector detects the working condition of the cleaning robot and transmits the third detection signal to the controller;

S24:控制器基于第三控制信号判断是否需要抬升拖地模块，是，则控制驱动器驱动第一升降结构在第二升降结构的表面上抬升，带动拖地模块抬升至第二位置。第三检测器可以是视觉传感器、下视传感器、红外传感器、超声波传感器中的一种或几种。第三检测器检测到清洁机器在越障、过坎、清洁地毯或回归基站时，控制器判断需要抬升拖地模块，进而可以控制拖地模块抬升并静止在第二位置，避免拖地模块阻碍清洁机器人越障过坎、回归基站拖地模或弄脏地毯。S24: The controller determines whether the mopping module needs to be lifted based on the third control signal. If so, the controller controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to the second position. The third detector may be one or more of a visual sensor, a downward-looking sensor, an infrared sensor, and an ultrasonic sensor. When the third detector detects that the cleaning machine is overcoming obstacles, crossing ridges, cleaning carpets, or returning to the base station, the controller determines that the mopping module needs to be raised, and then controls the mopping module to be raised and stationary in the second position to avoid obstruction by the mopping module. The cleaning robot jumps over obstacles, returns to the base station to mop the floor, or stains the carpet.

S25:控制器基于第三检测信号判断是否需要降下拖地模块，是，则控制驱动器运行使第一升降结构在第二升降结构表面下降，进而使拖地模块由第二位置下降至第一位置。当第三检测器检测到需要拖地模块抬升的情形消失，控制器控制拖地模块下降至第一位置，继续清洁待清洁表面。S25: The controller determines whether the mopping module needs to be lowered based on the third detection signal. If so, it controls the driver to operate to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module from the second position to the first position. . When the third detector detects that the need to lift the mopping module disappears, the controller controls the mopping module to drop to the first position to continue cleaning the surface to be cleaned.

以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.

以上所述实施例仅表达了本公开的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对公开专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本公开构思的前提下，还可以做出若干变形和改进，这些都属于本公开的保护范围。因此，本公开专利的保护范围应以所附权利要求为准。The above-described embodiments only express several implementation modes of the present disclosure, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the disclosed patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the patent disclosed should be determined by the appended claims.

在本公开的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axis" The orientation or positional relationship indicated by "radial direction", "circumferential direction", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying the device or device to which it is referred. Elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations on the disclosure.

此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

在本公开中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。In this disclosure, unless otherwise explicitly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated into one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise specified restrictions. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

在本公开中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In this disclosure, unless otherwise expressly stated and limited, a first feature being "on" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features may be in indirect contact through an intermediary. touch. Furthermore, the terms "above", "above" and "above" the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "below" and "beneath" the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.

需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。 It should be noted that when an element is referred to as being "mounted" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may also be intervening elements present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation manner.

Claims

一种清洁机器人，所述清洁机器人包括：A cleaning robot, the cleaning robot includes:

机身；body;

移动模块，设于所述机身，用于带动所述机身移动；A mobile module, located on the fuselage, is used to drive the fuselage to move;

控制器，与所述移动模块电性连接，并控制所述移动模块驱使所述机身移动；A controller, electrically connected to the mobile module, and controlling the mobile module to drive the fuselage to move;

拖地模块，与待清洁表面接触以清洁待清洁表面；The mopping module is in contact with the surface to be cleaned to clean the surface to be cleaned;

其特征在于，所述清洁机器人还包括：It is characterized in that the cleaning robot also includes:

升降组件，设置于所述机身，设有与所述拖地模块可拆卸连接以带动所述拖地模块上下运动的连接部；A lifting assembly is provided on the fuselage and is provided with a connection portion that is detachably connected to the mopping module to drive the mopping module to move up and down;

分离机构，设置于所述机身，设有作用于所述拖地模块以使所述拖地模块与所述连接部脱离连接的顶出部；A separation mechanism is provided on the fuselage and is provided with an ejection portion that acts on the mopping module to disconnect the mopping module from the connection portion;

锁紧组件，设有将所述拖地模块锁扣在所述连接部上的锁扣部，所述锁扣部包括锁紧所述拖地模块的第一状态和与所述拖地模块解除锁紧的第二状态；A locking assembly is provided with a locking portion for locking the mopping module on the connecting portion. The locking portion includes a first state for locking the mopping module and a locking portion for releasing the mopping module. The second locked state;

驱动器，由所述控制器控制工作，以给所述升降组件、分离机构以及锁紧组件提供驱动力。The driver is controlled by the controller to provide driving force to the lifting component, the separation mechanism and the locking component.
根据权利要求1所述的清洁机器人，其特征在于，所述控制器与所述驱动器电性连接，由控制器控制工作，以驱动至少部分的所述升降组件抬升，带动所述拖地模块由接触待清洁表面的第一位置运动至脱离待清洁表面的第二位置；并且，驱动所述分离机构的至少部分结构运动，以使所述顶出部抵触并顶落所述拖地模块；以及，驱动所述锁扣部在所述第一状态和第二状态之间切换。The cleaning robot according to claim 1, wherein the controller is electrically connected to the driver, and is controlled by the controller to drive at least part of the lifting assembly to lift, driving the mopping module to move by The first position contacting the surface to be cleaned moves to a second position away from the surface to be cleaned; and driving at least part of the structural movement of the separation mechanism to cause the ejection part to resist and push down the mopping module; and , driving the locking portion to switch between the first state and the second state.
根据权利要求1所述的清洁机器人，其特征在于，所述锁紧组件设置于所述连接部，跟随所述连接部一同升降。The cleaning robot according to claim 1, wherein the locking component is provided on the connecting part and rises and falls along with the connecting part.
根据权利要求1所述的清洁机器人，其特征在于，所述拖地模块位于所述第一位置时，所述锁扣部处于锁紧所述拖地模块的第一状态，所述拖地模块从所述连接部上脱离时，所述锁扣部处于解除锁紧所述拖地模块的第二状态，所述驱动器驱动所述锁扣部在所述第一状态和所述第二状态之间切换。The cleaning robot according to claim 1, wherein when the mopping module is in the first position, the locking portion is in a first state of locking the mopping module, and the mopping module When detached from the connecting part, the locking part is in a second state for unlocking the mopping module, and the driver drives the locking part between the first state and the second state. switch between.
根据权利要求2所述的清洁机器人，其特征在于，所述升降组件包括第一升降结构和第二升降结构结构，所述拖地模块通过所述连接部可拆卸的连接于所述第一升降结构，所述驱动器连接于所述第一升降结构，所述控制器控制所述驱动器驱使所述第一升降结构在所述第二升降结构的表面上抬升，以带动所述拖地模块由所述第一位置向所述第二位置运动。The cleaning robot according to claim 2, wherein the lifting assembly includes a first lifting structure and a second lifting structure, and the mopping module is detachably connected to the first lifting structure through the connecting part. structure, the driver is connected to the first lifting structure, and the controller controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module from the The first position moves to the second position.
根据权利要求5所述的清洁机器人，其特征在于，所述顶出部设置为所述第二升降结构，所述第二升降结构通过所述第一升降结构间接连接于所述驱动器，所述拖地模块运动至所述第二位置时，所述控制器控制所述驱动器继续驱动所述第一升降结构，以使所述第一升降结构驱动所述第二升降结构相对所述机身朝所述第一位置的方向运动，顶落所述拖地模块。The cleaning robot according to claim 5, wherein the ejection part is configured as the second lifting structure, the second lifting structure is indirectly connected to the driver through the first lifting structure, and the When the mopping module moves to the second position, the controller controls the driver to continue driving the first lifting structure so that the first lifting structure drives the second lifting structure toward the fuselage relative to the fuselage. The directional movement of the first position pushes down the mopping module.
根据权利要求5所述的清洁机器人，其特征在于，所述顶出部设置为所述第二升降结构，所述第二升降结构通过所述第一升降结构间接连接于所述驱动器，所述拖地模块运动至所述第二位置后，所述控制器控制所述驱动器继续驱使所述第一升降结构在所述第二升降结构的表面上抬升，以带动所述拖地模块抬升至高于所述第二位置的第三位置，所述拖地模块位于所述第三位置时，所述控制器控制所述驱动器继续驱动所述第一升降结构，以使所述第一升降结构驱动所述第二升降结构相对所述机身朝所述第一位置的方向运动，顶落所述拖地模块。The cleaning robot according to claim 5, wherein the ejection part is configured as the second lifting structure, the second lifting structure is indirectly connected to the driver through the first lifting structure, and the After the mopping module moves to the second position, the controller controls the driver to continue to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to a level higher than In the third position of the second position, when the mopping module is in the third position, the controller controls the driver to continue driving the first lifting structure, so that the first lifting structure drives all The second lifting structure moves relative to the fuselage in the direction of the first position, and pushes down the mopping module.
根据权利要求6或7所述的清洁机器人，其特征在于，所述第一升降结构在所述第二升降结构的表面上升降时，所述第二升降结构相对所述机身不产生位移；所述第二升降结构相对所述机身朝所述第一位置的方向运动时，所述第一升降结构以及所述驱动器相对所述机身不产生位移。The cleaning robot according to claim 6 or 7, characterized in that when the first lifting structure rises and falls on the surface of the second lifting structure, the second lifting structure does not generate displacement relative to the body; When the second lifting structure moves toward the first position relative to the fuselage, the first lifting structure and the driver do not generate displacement relative to the fuselage.
根据权利要求8所述的清洁机器人，其特征在于，所述抬升机构包括支撑件，所述支撑件连接于所述机身和所述第二升降结构之间，所述第一升降结构在所述第二升降结构的表面上升降时，所述支撑件支撑并限制所述第二升降结构相对所述机身产生位移；所述清洁机器人还设置有限位结构，在所述第二升降结构相对所述机身朝所述第一位置的方向运动时，所述限位结构向所述连接部施加向下的压力，限制所述连接部以及所述第一升降结构相对所述机身继续向上运动，且所述第一升降结构向所述第二升降结构施加压力，所述第二升降结构按压所述支撑件使其发生形变或位移。The cleaning robot according to claim 8, wherein the lifting mechanism includes a support member connected between the body and the second lifting structure, and the first lifting structure is at the When the surface of the second lifting structure rises and falls, the support member Support and limit the displacement of the second lifting structure relative to the fuselage; the cleaning robot is also provided with a limiting structure, when the second lifting structure moves relative to the fuselage in the direction of the first position, The limiting structure applies downward pressure to the connecting portion, restricting the connecting portion and the first lifting structure from continuing to move upward relative to the fuselage, and the first lifting structure moves toward the second lifting structure. The structure exerts pressure, and the second lifting structure presses the support member to cause deformation or displacement.
根据权利要求9所述的清洁机器人，其特征在于，所述第一升降结构包括设于所述连接部上的齿轮组，所述第二升降结构包括与部分所述齿轮组啮合的齿条，所述驱动器驱使所述齿轮组在所述齿条上抬升。The cleaning robot according to claim 9, wherein the first lifting structure includes a gear set provided on the connecting part, and the second lifting structure includes a rack meshing with part of the gear set, The drive drives the gear set upward on the rack.
根据权利要求6所述的清洁机器人，其特征在于，所述锁紧组件设置于所述连接部，跟随所述连接部一同升降，所述清洁机器人还包括压力部，所述驱动器驱动所述拖地模块抬升至所述第二位置时，所述压力部被配置为抵触所述锁扣部，以使所述锁扣部由所述第一状态转换为所述第二状态。The cleaning robot according to claim 6, wherein the locking component is provided on the connecting part and rises and falls along with the connecting part, the cleaning robot further includes a pressure part, and the driver drives the mop When the ground module is lifted to the second position, the pressure part is configured to resist the locking part, so that the locking part is converted from the first state to the second state.
根据权利要求7所述的清洁机器人，其特征在于，所述锁紧组件设置于所述连接部，跟随所述连接部一同升降，所述清洁机器人还包括压力部，所述拖地模块处于所述第二位置时，所述锁扣部处于所述第一状态，所述拖地模块位由所述第二位置运动至所述第三位置时，所述压力部抵触所锁扣部使其由所述第一状态切换为第二状态。The cleaning robot according to claim 7, wherein the locking component is disposed on the connecting part and rises and falls along with the connecting part. The cleaning robot further includes a pressure part, and the mopping module is in the position of the connecting part. In the second position, the locking part is in the first state, and when the mopping module moves from the second position to the third position, the pressure part resists the locking part to cause the mopping module to move from the second position to the third position. Switch from the first state to the second state.
根据权利要求11或12中所述的清洁机器人，其特征在于，所述锁扣部包括连接于所述连接部且相对所述连接部可移动的移动件，所述移动件被配置为处于锁紧位置时与所述拖地模块配合锁紧，所述移动件与所述压力部抵触并受到所述压力部的压力时相对所述连接部移动，以从所述锁紧位置移动至松开位置，解除与所述拖地模块的配合锁紧。The cleaning robot according to claim 11 or 12, wherein the locking part includes a moving part connected to the connecting part and movable relative to the connecting part, and the moving part is configured to be in the locking position. When in the tight position, it is locked with the mopping module. When the moving member is in conflict with the pressure part and is pressed by the pressure part, it moves relative to the connecting part to move from the locking position to the release position. position, and release the locking with the mopping module.
根据权利要求13所述的清洁机器人，其特征在于，所述移动件包括钩部，以及一端与所述钩部连接的弹性件，所述弹性件的另一端连接于所连接部；所述拖地模块上设置有与所述钩部配合的凹槽，所述移动件处于所述锁紧位置时，所述钩部伸入所述凹槽并在所述弹性件施予的弹性力的作用下卡紧所述拖地模块，所述钩部的上端受到所述压力部的压力大于所述弹性件施予所述钩部的弹性力时，所述钩部旋转至松开位置，所述钩部处于所述松开位置时至少不干涉所述拖地模块朝向所述第一位置的方向运动。The cleaning robot according to claim 13, wherein the moving member includes a hook and an elastic member with one end connected to the hook, and the other end of the elastic member is connected to the connecting part; the drag The ground module is provided with a groove that matches the hook portion. When the moving member is in the locking position, the hook portion extends into the groove and is acted upon by the elastic force exerted by the elastic member. The mopping module is clamped downward. When the upper end of the hook is subjected to the pressure of the pressure part which is greater than the elastic force exerted by the elastic member on the hook, the hook rotates to the release position. When the hook portion is in the released position, it at least does not interfere with the movement of the mopping module toward the first position.
根据权利要求5所述的清洁机器人，其特征在于，所述抬升机构还包括离合结构，所述离合结构连接于所述第一升降结构和所述驱动器之间，以使所述第一升降结构和所述驱动器配合或断开配合，所述第一升降结构在所述第二升降结构的表面上下降时，或者，所述拖地模块处于所述第一位置时，所述离合结构处于离合状态，所述第一升降结构和所述驱动器断开配合，所述驱动器驱使所述第一升降结构在所述第二升降结构的表面上抬升时，或者，所述拖地模块处于所述第二位置且所述控制器判断所述拖地模块需要保持抬升状态时，所述离合结构处于接触状态。The cleaning robot according to claim 5, wherein the lifting mechanism further includes a clutch structure, the clutch structure is connected between the first lifting structure and the driver, so that the first lifting structure When the first lifting structure descends on the surface of the second lifting structure, or when the mopping module is in the first position, the clutch structure is in the clutch state. state, the first lifting structure and the driver are disconnected, and the driver drives the first lifting structure to lift on the surface of the second lifting structure, or the mopping module is in the third state. When the controller determines that the mopping module needs to remain in a raised state, the clutch structure is in a contact state.
根据权利要求15所述的清洁机器人，其特征在于，所述第一升降结构包括设于所述连接部上的齿轮组，所述第二升降结构包括与部分所述齿轮组啮合的齿条，所述驱动器驱使所述齿轮组在所述齿条上运动；所述齿轮组包括与所述驱动器驱动连接的传动件、与所述齿条啮合的驱动齿轮，所述传动件通过所述离合结构驱使所述驱动齿轮转动，所述离合结构用于允许所述传动件与所述驱动齿轮之间具有预设空行程，以使两者断开配合。The cleaning robot according to claim 15, wherein the first lifting structure includes a gear set provided on the connecting part, and the second lifting structure includes a rack meshing with part of the gear set, The driver drives the gear set to move on the rack; the gear set includes a transmission member drivingly connected to the driver and a driving gear meshing with the rack; the transmission member passes through the clutch structure The driving gear is driven to rotate, and the clutch structure is used to allow a preset idle stroke between the transmission member and the driving gear to disengage the two.
根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括水箱，以及与所述水箱连通的水管，所述水管具有水口，用于将所述水箱中的水引导至所述拖地模块，所述驱动器、所述水口以及至少部分的所述水管安装于所述连接部上。The cleaning robot according to claim 1, characterized in that the cleaning robot further includes a water tank and a water pipe connected to the water tank, the water pipe having a water port for guiding water in the water tank to the In the mopping module, the driver, the water inlet and at least part of the water pipe are installed on the connecting part.
一种清洁机器人的控制方法，其特征在于，所述清洁机器人包括：A control method for a cleaning robot, characterized in that the cleaning robot includes:

机身；body;

移动模块，设于所述机身； A mobile module located on the fuselage;

控制器，与所述移动模块电性连接，并控制所述移动模块驱使所述机身移动；A controller, electrically connected to the mobile module, and controlling the mobile module to drive the fuselage to move;

拖地模块，与待清洁表面接触以清洁待清洁表面；The mopping module is in contact with the surface to be cleaned to clean the surface to be cleaned;

抬升机构，至少部分设置于所述机身内，所述抬升机构包括驱动器以及至少由所述驱动器驱动抬升的升降组件，所述拖地模块可拆卸的连接于所述升降组件的连接部；A lifting mechanism, at least partially disposed in the fuselage, the lifting mechanism includes a driver and a lifting component driven and lifted by at least the driver, and the mopping module is detachably connected to the connecting portion of the lifting component;

分离机构以及至少一个锁紧组件；a decoupling mechanism and at least one locking component;

所述清洁机器人的控制方法包括以下步骤：The control method of the cleaning robot includes the following steps:

所述控制器控制所述驱动器驱动至少部分的所述升降组件抬升，进而带动所述拖地模块抬升；The controller controls the driver to drive at least part of the lifting assembly to lift, thereby driving the mopping module to lift;

所述控制器控制所述驱动器驱动所述锁紧组件的锁扣部由锁紧所述拖地模块的第一状态切换为解除锁紧所述拖地模块的第二状态；The controller controls the driver to drive the locking portion of the locking component to switch from a first state of locking the mopping module to a second state of unlocking the mopping module;

所述控制器控制所述驱动器驱动所述分离机构的至少部分结构运动，以在所述锁扣部处于所述第二状态时，使所述拖地模块被施予远离所述机身的力而脱离所述连接部。The controller controls the driver to drive at least part of the structural movement of the separation mechanism, so that when the locking part is in the second state, the mopping module is exerted with a force away from the fuselage. and disengage from the connecting part.
根据权利要求18所述的清洁机器人的控制方法，其特征在于，所述抬升机构包括第一升降结构和第二升降结构结构，所述拖地模块通过所述连接部可拆卸的连接于所述第一升降结构，所述清洁机器人还包括与所述控制器电性连接的第一检测器，所述清洁机器人的控制方法包括：The control method of a cleaning robot according to claim 18, wherein the lifting mechanism includes a first lifting structure and a second lifting structure, and the mopping module is detachably connected to the connecting part through the connecting part. A first lifting structure, the cleaning robot further includes a first detector electrically connected to the controller, and the control method of the cleaning robot includes:

所述控制器接收到拖地信号时，若所述拖地模块处于脱离待清洁表面的第二位置，则控制所述驱动器运行，以使所述第一升降结构在所述第二升降结构的表面上下降，带动所述拖地模块由所述第二位置向接触待清洁表面的第一位置运动；所述第一检测器检测到所述拖地模块处于所述第一位置，则向所述控制器传递第一检测信号；所述控制器响应于所述第一检测信号控制所述驱动器停止运行，所述拖地模块处于所述第一位置清洁待清洁表面。When the controller receives the mopping signal, if the mopping module is in a second position separated from the surface to be cleaned, the controller controls the driver to operate so that the first lifting structure moves between the second lifting structure and the mopping module. Descending on the surface, driving the mopping module to move from the second position to the first position contacting the surface to be cleaned; the first detector detects that the mopping module is in the first position, and then moves to the first position. The controller transmits a first detection signal; the controller controls the driver to stop running in response to the first detection signal, and the mopping module is in the first position to clean the surface to be cleaned.
根据权利要求19所述的清洁机器人的控制方法，其特征在于，所述控制器接收到所述拖地信号时，若所述第一检测器直接检测所述拖地模块处于所述第一位置，则向所述控制器传递所述第一检测信号；所述控制器响应于所述第一检测信号控制清洁机器人执行拖地任务。The control method of a cleaning robot according to claim 19, wherein when the controller receives the mopping signal, if the first detector directly detects that the mopping module is in the first position, , the first detection signal is transmitted to the controller; the controller controls the cleaning robot to perform a mopping task in response to the first detection signal.
根据权利要求19所述的清洁机器人的控制方法，其特征在于，所述清洁机器人包括与所述控制器电性连接的第二检测器以及压力部，所述分离机构设有作用于所述拖地模块以使所述拖地模块与所述连接部脱离连接的顶出部，所述顶出部设置为所述第二升降结构，所述清洁机器人的控制方法包括：The control method of a cleaning robot according to claim 19, wherein the cleaning robot includes a second detector and a pressure part electrically connected to the controller, and the separation mechanism is configured to act on the mop The floor module is provided with an ejection portion that disconnects the mopping module from the connection portion. The ejection portion is configured as the second lifting structure. The control method of the cleaning robot includes:

所述控制器判断是否需要更换所述拖地模块，是，则控制所述驱动器驱动所述第一升降结构在所述第二升降结构的表面上抬升，带动所述拖地模块抬升至所述第二位置，所述压力部抵触所述锁扣部使其由所述第一状态切换为第二状态；所述第二检测器检测到所述拖地模块被抬升至所述第二位置，则向所述控制器传递第二检测信号；所述控制器响应于所述第二检测信号控制所述驱动器继续驱动所述第一升降结构，以使所述第一升降结构驱动所述第二升降结构相对所述机身朝所述第一位置的方向运动，顶落所述拖地模块。The controller determines whether the mopping module needs to be replaced, and if so, controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the In the second position, the pressure part resists the lock part to switch from the first state to the second state; the second detector detects that the mopping module is lifted to the second position, Then a second detection signal is transmitted to the controller; the controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second The lifting structure moves relative to the fuselage in the direction of the first position, and pushes down the mopping module.
根据权利要求19所述的清洁机器人的控制方法，其特征在于，所述清洁机器人包括与所述控制器电性连接的第二检测器以及压力部，所述分离机构设有作用于所述拖地模块以使所述拖地模块与所述连接部脱离连接的顶出部，所述顶出部设置为所述第二升降结构，所述清洁机器人的控制方法包括：The control method of a cleaning robot according to claim 19, wherein the cleaning robot includes a second detector and a pressure part electrically connected to the controller, and the separation mechanism is configured to act on the mop The floor module is configured to have an ejection portion that disconnects the mopping module from the connection portion. The ejection portion is configured as the second lifting structure. The control method of the cleaning robot includes:

所述控制器判断是否需要更换所述拖地模块，是，则控制所述驱动器驱动所述第一升降结构在所述第二升降结构的表面上抬升，带动所述拖地模块抬升至所述第二位置；所述第二检测器检测到所述拖地模块被抬升至所述第二位置，则向所述控制器传递第二检测信号；所述控制器响应于所述第二检测信号控制所述驱动器继续驱动所述第一升降结构在所述第二升降结构表面抬升，以带动所述拖地模块抬升至高于所述第二位置的第三位置，在所述拖地模块由所述第二位置移动至所述第三位置的过程中，所述压力部抵触所述锁扣部使其由所述第一状态切换为第二状态，并且所述第二检测器持续向所述控制器发送所述第二检测信号；所述控制器响应于所述第二检测信号控制所述驱动器继续驱动所述第一升降结构，以使所述第一升降结构驱动所述第二升降结构相对所述机身朝所述第一位置的方向运动，顶落所述拖地模块。The controller determines whether the mopping module needs to be replaced, and if so, controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position; the second detector detects that the mopping module is lifted to the second position, and then transmits a second detection signal to the controller; the controller responds to the second detection signal The driver is controlled to continue driving the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to a third position higher than the second position. During the process of moving from the second position to the third position, the pressure part resists the locking part to switch from the first state to the second state, and the second detector continues to move toward the The controller sends the second detection signal; the controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second lifting structure toward the fuselage relative to the The directional movement of the first position pushes down the mopping module.
根据权利要求21或22中所述的清洁机器人的控制方法，其特征在于，所述连接部和所述拖地模块上设置有相互吸附的磁性件，所述清洁机器人的控制方法还包括：The control method of a cleaning robot according to claim 21 or 22, characterized in that the connecting part and the mopping module are provided with magnetic parts that attract each other, and the control method of the cleaning robot further includes:

所述控制器接收到安装所述拖地模块的信号，则控制所述驱动器运行使所述第一升降结构在所述第二升降结构表面下降，进而使所述拖地模块下降至一个低于所述第二位置高于所述第一位置的位置，所述拖地模块通过磁吸力吸附在所述连接部上。When the controller receives a signal to install the mopping module, it controls the driver to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module to a level lower than The second position is higher than the first position, and the mopping module is adsorbed on the connecting part through magnetic attraction.
根据权利要求19所述的清洁机器人的控制方法，其特征在于，所述抬升机构还包括离合结构，所述离合结构连接于所述第一升降结构和所述驱动器之间，以使所述第一升降结构和所述驱动器配合或断开配合，所述清洁机器人的控制方法还包括，所述控制器响应于所述第一检测信号控制所述驱动器运行预设时间与所述第一升降结构断开配合后，再停止运行，以使所述拖地模块处于所述第一位置，并能够相对所述第一位置浮动。The control method of a cleaning robot according to claim 19, wherein the lifting mechanism further includes a clutch structure, the clutch structure is connected between the first lifting structure and the driver, so that the third lifting mechanism A lifting structure is engaged or disconnected from the driver. The control method of the cleaning robot also includes the controller controlling the driver to operate for a preset time and the first lifting structure in response to the first detection signal. After the coupling is disconnected, the operation is stopped so that the mopping module is in the first position and can float relative to the first position.
根据权利要求19所述的清洁机器人的控制方法，其特征在于，所述清洁机器人包括与所述控制器电性连接的第三检测器，所述清洁机器人的控制方法还包括：The method of controlling a cleaning robot according to claim 19, wherein the cleaning robot includes a third detector electrically connected to the controller, and the method of controlling a cleaning robot further includes:

所述第三检测器检测所述清洁机器人的工作情况，并向所述控制器传递第三检测信号；所述控制器基于所述第三控制信号判断是否需要抬升所述拖地模块，是，则控制所述驱动器驱动所述第一升降结构在所述第二升降结构的表面上抬升，带动所述拖地模块抬升至所述第二位置。The third detector detects the working condition of the cleaning robot and transmits a third detection signal to the controller; the controller determines whether the mopping module needs to be lifted based on the third control signal, and if so, Then the driver is controlled to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position.
根据权利要求25所述的清洁机器人的控制方法，其特征在于所述清洁机器人的控制方法还包括，The control method of the cleaning robot according to claim 25, characterized in that the control method of the cleaning robot further includes:

所述控制器基于所述第三检测信号判断是否需要降下所述拖地模块，是，则控制所述驱动器运行使所述第一升降结构在所述第二升降结构表面下降，进而使所述拖地模块由所述第二位置下降至所述第一位置。 The controller determines whether the mopping module needs to be lowered based on the third detection signal. If so, it controls the driver to operate to lower the first lifting structure on the surface of the second lifting structure, thereby causing the The mopping module is lowered from the second position to the first position.