Module installation structure and cleaning robot

Abstract

The present invention provides a modular mounting structure and a cleaning robot, belonging to the field of robotics. The modular mounting structure includes a guide rail mounted on the bottom of a device; a slider mounted on a cleaning module, which can slide into and be fixed in the guide rail; and a connecting assembly comprising a first connecting member and a second connecting member, the first end of the first connecting member being connected to the device, the first end of the second connecting member being connected to the cleaning module, and the second end of the first connecting member being detachably connected to the second end of the second connecting member. This solves the technical problem that existing independent robots can generally only perform one cleaning operation.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a module installation structure and a cleaning robot. Background Art

[0002] A cleaning robot is a robot produced for cleaning the floor. It reduces the labor cost of cleaning while also improving work efficiency and cleanliness. It is indispensable in modern society.

[0003] In the existing technology, a cleaning robot is generally an independent robot that performs a cleaning operation of a single function. If the user has more functional requirements, it is necessary to purchase multiple robots with different functions to meet the needs, which will increase a lot of costs, and the placement of multiple cleaning robots will also become a problem. The robots will take up a lot of space when charging and sleeping, and the idle rate is high, which will have an adverse impact on users. Summary of the Invention

[0004] The embodiments of the present invention provide a module installation structure and a cleaning robot, which solve the technical problems existing in the above-mentioned prior art.

[0005] In view of the above problems, in a first aspect, an embodiment of the present invention provides a module installation structure, the module installation structure comprising:

[0006] A guide rail, the guide rail being installed at the bottom of the equipment;

[0007] A sliding member, the sliding member is installed on the cleaning module, and the sliding member can slide into and be fixed in the guide rail;

[0008] A connecting component includes a first connecting member and a second connecting member, wherein the first end of the first connecting member is connected to the device, the first end of the second connecting member is connected to the cleaning module, and the second end of the first connecting member is detachably connected to the second end of the second connecting member.

[0009] In one embodiment, the module mounting structure further comprises:

[0010] An identity recognition component includes a marking unit and an identification unit. The marking unit is provided on the cleaning module, and the identification unit is provided on the device. The identification unit is used to identify the marking unit to obtain information about the cleaning module.

[0011] In one embodiment, the identification unit includes a first identification unit and a second identification unit;

[0012] The first identification unit is located at a first position of the device, and the second identification unit is located at a second position of the device, wherein the first position and the second position are two different positions;

[0013] The marking unit is provided at a position on the cleaning module corresponding to the first identification unit and / or the second identification unit.

[0014] In one embodiment, the connection assembly is a magnetic coupling, wherein the first connection member includes an outer magnet and the second connection member includes an inner magnet.

[0015] In one embodiment, a telescopic component is provided on the inner side of the guide rail, and the telescopic component is used to push the sliding member to separate from the guide rail.

[0016] In one embodiment, the module mounting structure further comprises:

[0017] an electromagnet connected to the device;

[0018] a magnetic component connected to the cleaning module;

[0019] The electromagnet is used to magnetically connect with the magnetic component to fix the cleaning module to the device.

[0020] In one embodiment, the magnetic component is made of magnetic conductive material, the cleaning module is provided with a position marking unit, the device is connected to a detection switch unit, the detection switch unit has a certain detection sensing range, and the detection switch unit is used to control the demagnetization of the electromagnet when the position marking unit enters the detection sensing range.

[0021] In one embodiment, the guide rail includes a first guide portion and a limiting portion for accommodating the sliding member, and the first guide portion is communicated with the limiting portion;

[0022] One end of the sliding member inserted into the guide rail has a second guide portion, and the sliding member slides from the first guide portion into the limiting portion, wherein the limiting portion is used to limit the sliding member, and the second guide portion and the first guide portion are used to guide the sliding member when it slides into the guide rail.

[0023] In one embodiment,

[0024] The first guide portion is an inclined surface that is arranged from wide to narrow in a direction from the first guide portion to the limiting portion;

[0025] The second guide portion is an inclined surface that is arranged from wide to narrow from both sides of the sliding member to the input end;

[0026] The second guide portion is provided with a sliding roller.

[0027] In a second aspect, an embodiment of the present invention provides a cleaning robot comprising the module mounting structure as described in the above aspects.

[0028] The above-mentioned one or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects: the cleaning module is installed on the bottom of the equipment by using guide rails and sliding parts, and the cleaning module is fixed to the bottom of the equipment by a detachable first connecting part and a second connecting part, so that an independent cleaning robot can install and replace cleaning modules with different functions, achieving the effect of one machine with multiple uses.

[0029] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 This is a schematic diagram of a cleaning module installed on a device in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the bottom three-dimensional structure of the guide rail when it is installed on the equipment in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the three-dimensional structure of the guide rail when it is installed on the bracket in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of a first three-dimensional structure of a first cleaning module in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of a second three-dimensional structure of the first cleaning module in an embodiment of the present invention;

[0036] Figure 6 Schematic diagram of the three-dimensional structure of the second cleaning module in an embodiment of the present invention;

[0037] Figure 7 Schematic diagram of the three-dimensional structure of the guide rail in an embodiment of the present invention;

[0038] Figure 8 A schematic side view of a guide rail in an embodiment of the present invention;

[0039] Figure 9 This is a first perspective schematic diagram of a sliding member in an embodiment of the present invention;

[0040] Figure 10 is a second perspective schematic diagram of a sliding member in an embodiment of the present invention;

[0041] Figure 11 2 is a bottom view of a sliding member in an embodiment of the present invention.

[0042] Explanation of reference numerals: 100, guide rail; 110, first guide portion; 111, third end surface; 112, fourth end surface; 113, fifth end surface; 120, limiting portion; 121, first limiting surface; 122, second limiting surface; 123, third limiting surface; 200, equipment; 300, cleaning module; 3110, first cleaning module; 3120, second cleaning module; 320, sliding member; 321, second guide portion; 3211, sixth end surface; 3212, first Seventh end face; 3213, eighth end face; 322, first end face; 323, sliding roller; 3210, right sliding member; 3220, left sliding member; 410, marking unit; 420, identification unit; 4210, first identification unit; 4220, second identification unit; 510, first connecting member; 520, second connecting member; 600, telescopic member; 700, electromagnet; 800, magnetic member; 910, position marking unit; 920, detection switch unit. DETAILED DESCRIPTION

[0043] The overall idea of ​​the technical solution provided by the present invention is as follows:

[0044] The module installation structure includes: a guide rail 100, which is installed at the bottom of the device 200; a sliding member 320, which is installed on the cleaning module 300, and the sliding member 320 can slide into and be fixed in the guide rail 100; a connecting component, which includes a first connecting member 510 and a second connecting member 520, the first end of the first connecting member 510 is connected to the device 200, the first end of the second connecting member 520 is connected to the cleaning module 300, and the second end of the first connecting member 510 is detachably connected to the second end of the second connecting member 520. In actual use, the cleaning module 300 is connected to the guide rail 100 through the sliding member 320 and is thus connected to the bottom of the device 200. At the same time, the first connecting member 510 and the second connecting member 520 of the connecting assembly fix the cleaning module 300 to the device 200. Since the first connecting member 510 and the second connecting member 520 are detachably connected, when the cleaning module 300 needs to be replaced, the first connecting member 510 and the second connecting member 520 are disconnected, and the cleaning module 300 drives the sliding member 320 to slide out from the guide rail 100. In this way, cleaning modules 300 with different functions can be installed and replaced on the same cleaning robot, achieving the effect of one machine with multiple uses.

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0046] Example 1.

[0047] Please refer to Figures 1 to 11 An embodiment of the present invention provides a module installation structure, which includes: a guide rail 100, a cleaning module 300, a sliding member 320 and a connecting component.

[0048] In this embodiment, please refer to Figure 2 、 Figure 3 、 Figure 7 and Figure 8 The guide rail 100 is installed at the bottom of the device 200. The guide rail 100 can be a straight guide rail. The guide rail 100 should have an input end for allowing the sliding member 320 matched therewith to slide into the guide rail 100.

[0049] Preferably, the guide rail 100 includes a first guide portion 110 and a limiting portion 120 for accommodating the sliding member 320. The first guide portion 110 is connected to the limiting portion 120. The first guide portion 110 is used to guide one end of the sliding member 320 when inserted into the guide rail 100, and the limiting portion 120 is used to limit the guide rail 100 after the sliding member 320 slides into the guide rail 100. The first guide portion 110 is used to achieve a guiding function. The first guide portion 110 can adopt an inclined surface structure. Specifically, the inclined surface structure can guide an object from the input end of the inclined surface to the position of the output end of the inclined surface. The inclined surface can be an arc-shaped inclined surface, or a linear inclined surface. The output end position of the first guide portion 110 should be connected to the input end position of the limiting portion 120, so that the object entering the input end of the first guide portion 110 is guided to the position of the limiting portion 120 under the action of the inclined surface, thereby achieving the guiding effect.

[0050] Specifically, the first guide portion 110 has a third end face 111, a fourth end face 112 and a fifth end face 113. The angles formed by the third end face 111, the fourth end face 112 and the fifth end face 113 with the side face of the limiting portion 120 are all obtuse angles. The side face of the limiting portion 120 here can be understood as the end face of the limiting portion 120 in contact with the sliding member 320, which can be referred to in Figures 1 to 3 、 Figure 7 and Figure 8 , it can be seen from the figure that since the angles formed by the third end face 111, the fourth end face 112 and the fifth end face 113 with the side surface of the limiting portion 120 are all obtuse angles, it can also be understood that the third end face 111, the fourth end face 112 and the fifth end face 113 are inclined surfaces arranged from wide to narrow in the direction from the first guide portion 110 to the limiting portion 120, so the third end face 111 and the fifth end face 113 form a structure similar to the shape of an "eight", and the fourth end face 112 is arranged between the third end face 111 and Between the fifth end face 113, the wider part formed by the third end face 111, the fourth end face 112 and the fifth end face 113 is the input end, and the narrower part is the output end. For example, the sliding member 320 enters from the wider part. When the sliding member 320 enters the first guide portion 110, the angle does not match the angle of entering the limiting portion 120. Under the inclined guidance of the third end face 111, the fourth end face 112 and the fifth end face 113, it can be corrected to an angle that matches the angle of entering the limiting portion 120.

[0051] Specifically, see Figure 7 and Figure 8The limiting portion 120 includes a first limiting surface 121, a second limiting surface 122 and a third limiting surface 123. The first limiting surface 121 is parallel to the second limiting surface 122, and the third limiting surface 123 is vertically arranged between the first limiting surface 121 and the second limiting surface 122. The limiting portion 120 mainly functions to limit the vertical displacement of the sliding member 320, but the limiting portion 120 does not affect the horizontal displacement of the sliding member 320 from the output end to the output end of the limiting portion 120. Therefore, the limiting portion 120 is The first limiting surface 121 and the second limiting surface 122 of 20 are arranged in parallel to achieve the effect of limiting the vertical displacement of the sliding member 320. Of course, the vertical height of the sliding member 320 should match the distance between the first limiting surface 121 and the second limiting surface 122, so that the sliding member 320 can be clamped between the first limiting surface 121 and the second limiting surface 122 and be limited. The third limiting surface 123 is to prevent the sliding member 320 from making horizontal displacement along a direction different from the direction from the output end to the output end of the limiting part 120.

[0052] In this embodiment, please refer to Figure 1 、 Figure 4 Figure 5 and Figure 6 The sliding member 320 is installed on the cleaning module 300, and the sliding member 320 can slide into and be fixed in the guide rail 100, that is, the sliding member 320 is used to cooperate with the guide rail 100, and the cleaning module 300 is used to clean and maintain the floor. Since the sliding member 320 can slide in and out on the guide rail 100, the sliding member 320 plays the role of detachably mounting the cleaning module 300 to the guide rail 100. The cleaning module 300 may include multiple modules with different functions. For example, the cleaning module 300 may include a floor washing module, a polishing module and a dust pushing module, etc., wherein the floor washing module is used to clean the floor, the dust pushing module is used to push away the dust and dirt on the floor, and the polishing module is used to polish the floor. The sliding member 320 detachably mounts the cleaning module 300 to the guide rail 100, so that the same secondary guide rail 100 can match multiple cleaning modules 300 with different functions, realizing the function of one machine with multiple uses.

[0053] Preferably, the end of the slider 320 inserted into the guide rail 100 has a second guide portion 321. The slider 320 slides from the first guide portion 110 into the limiting portion 120. The limiting portion 120 is used to limit the slider 320, and the second guide portion 321 and the first guide portion 110 are used to guide the slider 320 when sliding into the guide rail 100. To achieve a better guiding effect, the end of the slider 320 inserted into the guide rail 100 is provided with a second guide portion 321 that matches the first guide portion 110. For example, the matching here can be that the first guide portion 110 is an inclined surface arranged from wide to narrow in the direction from the first guide portion 110 to the limiting portion 120; the second guide portion 321 is an inclined surface arranged from wide to narrow in the direction from both sides of the sliding member 320 to the input end; wherein the input end of the sliding member 320 is one end when the sliding member 320 is inserted into the guide rail 100, so that the second guide portion 321 can be guided to the correct position under the action of the first guide portion 110, and correspondingly, the first guide portion 110 is also guided to the correct position by the second guide portion 321, and the first guide portion 110 and the second guide portion 321 guide each other at the same time. The guiding effect of this double guide is better than the guiding effect when there is only the first guide portion 110.

[0054] For details, please refer to Figures 9 to 11 The second guide portion 321 includes a sixth end surface 3211, a seventh end surface 3212 and an eighth end surface 3213. The sixth end surface 3211, the seventh end surface 3212 and the eighth end surface 3213 can all be inclined surfaces arranged from the two sides of the sliding member 320 to the input end direction, and the first guide portion 110 is taken as an example. In combination with the above content, the sixth end surface 3211 cooperates with the third end surface 111, the seventh end surface 3212 cooperates with the fourth end surface 112, and the eighth end surface 3213 cooperates with the fifth end surface 113. The two cooperating end surfaces are inclined surfaces that can guide each other to the correct position. Of course, due to gravity, the top of the sliding member 320 does not contact the guide rail 100 many times under the action of gravity, so the end surface of the top of the sliding member 320 can be set to a parallel structure, that is, the sixth end surface 3211 is not inclined. Figure 9 and Figure 10 The sixth end face 3211 in.

[0055] Preferably, see Figure 2 、 Figure 4 、 Figure 6 and Figure 10 The module installation structure provided by an embodiment of the present invention also includes: an identity recognition component, the identity recognition component includes a marking unit 410 and an identification unit 420, the marking unit 410 is set on the cleaning module 300, and the identification unit 420 is set on the device 200, and the identification unit 420 is used to identify the marking unit 410 to obtain information of the cleaning module 300.

[0056] The slider 320 is the most stable component closest to the device 200. The marking unit 410 is most effectively installed on the slider 320. The identification unit 420 is provided on the device 200 and is used to identify the marking unit 410 to obtain information about the cleaning module 300. Specifically, the device 200 typically needs to identify the function (or type) of the installed cleaning module 300 so that the device 200 can control the cleaning module 300 according to its different functions. Therefore, the marking unit 410 is required to be provided on the cleaning module 300. The information about the cleaning module 300 represents the functional information of the cleaning module 300. Specifically, for example, the device 200 needs to identify the function of the installed cleaning module 300 to determine whether it meets the current cleaning instructions, or transmit the functional information of the cleaning module 300 that needs to be replaced to the controller, so that the controller can notify and prepare to replace it with a new module with the same function. It is understood that the information carried by the marking unit 410 of cleaning modules 300 with different functions varies. Specifically, this can be a change in the position of the marking unit 410 or a change in the information within the marking unit 410 itself. When the identification unit 130 identifies different marking units 410, it can distinguish the function of the cleaning module 300 installed in the device 200. For example, the marking unit 410 can be a tag, and the identification unit 130 can be a reader. Utilizing RFID technology, the identification unit 130 can identify the different data recorded in the marking unit 410, thereby distinguishing cleaning modules 300 with different functions based on the different data. It is understood that RFID stands for Radio Frequency Identification (RFI). Its principle is contactless data communication between a reader and a tag to achieve target identification. After entering the reader, the tag receives the radio frequency signal emitted by the reader and, using the energy obtained from the induced current, transmits the product information stored in the chip (a passive tag). Or the tag actively sends a signal of a certain frequency (ActiveTag, active tag or active tag), the reader reads and decodes the information, and sends it to the controller for relevant data processing.

[0057] Preferably, the identification unit 420 includes a first identification unit 4210 and a second identification unit 4220; wherein the first identification unit 4210 is located at a first position of the device 200, and the second identification unit 4220 is located at a second position of the device 200, and the first position and the second position are two different positions; the marking unit 410 is located at a position on the cleaning module 300 corresponding to the first identification unit 4210 and / or the second identification unit 4220. For details, please refer to Figure 4 and Figure 6The cleaning module 300 may include a first cleaning module 3110 and a second cleaning module 3120 having different functions. Figure 4 is a schematic diagram of the three-dimensional structure of the first cleaning module, Figure 6 is a schematic diagram of the three-dimensional structure of the second cleaning module. Figure 4 In the embodiment, the left and right sides of the top of the cleaning module 300 are provided with sliding members 320, and the marking unit 410 is provided on the right sliding member 3210 of the first cleaning module 3110. Figure 6 In FIG, the marking unit 410 is provided on the left sliding member 3220 of the second cleaning module 3120. Figure 3 In the figure, the first identification unit 4210 is arranged on the right side of the device 200, and the second identification unit 4220 is arranged on the left side of the device 200. The first identification unit 4210 and the second identification unit 4220 with different positions respectively identify the marking units 410 with different positions to distinguish the functions of the cleaning module 300. When the first cleaning module 3110 is installed on the device 200, since only the marking unit 410 is provided on the right sliding member 3210, only the first identification unit 4210 on the right can identify the marking unit 410, and the second identification unit 4220 cannot identify any marking unit 410. At this time, the installed cleaning module is identified as the first cleaning module 3110; and when the second cleaning module 3120 is installed on the device 200, since only the left sliding member 3220 is provided with the marking unit 410, only the second identification unit 4220 on the left can identify the marking unit 410, and the first identification unit 4210 cannot identify any marking unit 410. At this time, the installed cleaning module is identified as the second cleaning module 3120; this identification method does not require writing information in the marking unit 410, but only needs to determine the marking units 410 in different positions to identify the functional information of the cleaning module 300, which can avoid the problem of errors in identifying data of the marking unit 410, and is more convenient to install and use.

[0058] Specifically, the marking unit 410 is a permanent magnet, and the first identification unit 4210 and the second identification unit 4220 are Hall sensors. It is understandable that the voltage of the Hall sensor changes with the change in the strength of the magnetic field of the permanent magnet. The stronger the magnetic field, the higher the voltage, and the weaker the magnetic field, the lower the voltage. The Hall voltage value is very small, usually only a few millivolts, but after being amplified by the amplifier in the integrated circuit, the voltage can be amplified to a level sufficient to output a strong signal, thereby achieving the recognition effect. Hall devices have many advantages. They have a strong structure, small size, light weight, long life, easy installation, low power consumption, vibration resistance, and are not afraid of pollution or corrosion from dust, oil, water vapor, salt spray, etc., and have a longer service life. More preferably, the sliding member 320 can be provided with a mounting groove for mounting the permanent magnet, that is, the permanent magnet can be mounted in the mounting groove on the sliding member 320.

[0059] In this embodiment, please refer to Figures 1 to 6 The connecting component includes a first connecting member 510 and a second connecting member 520. The first end of the first connecting member 510 is connected to the equipment 200, and the first end of the second connecting member 520 is connected to the cleaning module 300. The second end of the first connecting member 510 is detachably connected to the second end of the second connecting member 520. The first connecting member 510 and the second connecting member 520 are used to fix the cleaning module 300 on the guide rail 100. Since the limiting portion 120 of the guide rail 100 can only limit the vertical movement of the cleaning module 300, the cleaning module 300 needs to be further fixed. After the sliding member 320 slides into the guide rail 100, the positions of the first connecting member 510 and the second connecting member 520 are aligned, and then the first connecting member 510 and the second connecting member 520 are detachably connected, so that the cleaning module 300 is fixed on the guide rail 100, avoiding the horizontal movement of the sliding member 320 in the guide rail 100.

[0060] Preferably, the connecting assembly is a magnetic coupling, wherein the first connecting member 510 includes an external magnet and the second connecting member 520 includes an internal magnet. It is understood that the magnetic coupling is a non-contact coupling, generally consisting of two inner and outer magnets. The inner magnet is connected to the driven member in the cleaning module, and the outer magnet is connected to the power member in the device 200. When the sliding member 320 is inserted into the guide rail 100 so that the inner magnet enters the magnetic force range of the outer magnet, the outer magnet automatically attracts the outer magnet and fixes it in the specified position, making guidance more convenient. In addition, the power member in the device 200 can drive the outer magnet to rotate, and the outer magnet drives the inner magnet to rotate through the magnetic force, thereby operating the driven member in the cleaning module.

[0061] Preferably, a telescopic member 600 is provided on the inner side of the guide rail 100, and is used to push the slider 320 away from the guide rail 100. Specifically, the inner side of the guide rail 100 is the side of the guide rail 100 away from the entrance of the guide rail 100. When the slider 320 slides into the guide rail 100 from the entrance of the guide rail 100, the slider 320 abuts against a side of the device 200. Optionally, the telescopic member 600 can also be provided in a direction perpendicular to the mutual attraction between the first connecting member 510 and the second connecting member 520. The telescopic member 600 is used to separate the first connecting member 510 and the second connecting member 520 from each other after the first connecting member 510 and the second connecting member 520 are detachably connected (e.g., magnetically connected), thereby separating the cleaning module 300 from the guide rail 100. Because the magnetic attraction between the first and second connectors 510, 520 is very strong, separating the magnetically attached first and second connectors 510, 520 becomes difficult. In this case, the telescopic member 600 is used to push the cleaning module 300 apart, thereby pushing the slider 320 away from the guide rail 100. This thrust can be generated by the telescopic end of the telescopic member 600, which can be an electric push rod. The telescopic member 600 can be fixed to the device 200. When extended, the telescopic end of the telescopic member 600 can push the cleaning module 300 toward the outside of the guide rail 100. For example, the thrust generated by the telescopic member 600 pushes the cleaning module 300 apart, thereby moving the second connector 520 away from the first connector 510 to a certain distance. As will be appreciated, when the second connector 520 reaches a certain distance from the first connector 510, the magnetic attraction between the two connectors decreases dramatically, making it easier to remove the slider 320.

[0062] Preferably, see Figure 2 、 Figure 3 、 Figure 5 and Figure 6The module mounting structure further includes an electromagnet 700 and a magnetic component 800. The electromagnet 700 is connected to the device 200, and the magnetic component 800 is connected to the cleaning module 300. The electromagnet 700 is used to magnetically connect with the magnetic component 800 to fix the cleaning module 300 to the device 200. To ensure that the sliding member 320 does not move after entering the guide rail 100, the electromagnet 700 is added. The electromagnet 700 is used to attract the magnetic component 800, thereby fixing the cleaning module 300 to the device 200, achieving the effect of further fixing the cleaning module 300. In order to ensure that the use of the telescopic component 600 is not affected, the electromagnet 700 can be set on both sides of the output end of the telescopic component 600, that is, the telescopic direction of the telescopic component 600 is parallel to the suction direction of the electromagnet 700 and the magnetic component 800. The telescopic end of the telescopic component 600 pushes away the cleaning module 300, so that the electromagnet 700 and the magnetic component 800 are disengaged, and the first connecting member 510 and the second connecting member 520 are also disengaged.

[0063] Preferably, see Figures 2 to 4 The magnetic component 800 is made of a magnetically conductive material. The electromagnet 700 has the characteristics of demagnetization when powered on and restoration of magnetism when powered off. The cleaning module 300 is provided with a position marking unit 910. The device 200 is connected to a detection switch unit 920. The detection switch unit 920 has a certain detection sensing range. The detection switch unit 920 is used to control the demagnetization of the electromagnet 700 when the position marking unit 910 enters the detection sensing range. For example, the position marking unit 910 can be a permanent magnet, and the detection switch unit 920 can be a Hall sensor. When the permanent magnet enters the magnetic sensing range of the Hall sensor, the Hall sensor sends an electrical signal to the switch circuit, which controls the power supply of the electromagnet 700. Since the electromagnet 700 has magnetic force when the power is normally off, in order to prevent the magnetic component 800 from being directly attracted by the electromagnet 700 and impacting the cleaning module 300 when the cleaning module 300 is installed in the guide rail 100, thereby causing damage to the cleaning module 300, a position marking unit 910 is provided on the cleaning module 300. When the sliding member 320 of the cleaning module 300 slides into the guide rail 100 and moves a certain distance relative to the guide rail 100, the detection switch unit 920 detects the position marking unit 910 and controls the electromagnet 700 to be energized so that It is demagnetized. When the sliding member 320 continues to slide in the guide rail 100 and drives the position marking unit 910 to leave the detection range of the detection switch unit 920, the detection switch unit 920 controls the electromagnet 700 to cut off the power, so that the electromagnet 700 generates magnetic force again and attracts the magnetic component 800 on the cleaning module 300. This can prevent the cleaning module 300 from being quickly attracted by the electromagnet 700 and damaging the cleaning module 300, and also avoids the magnetic component 800 of the cleaning module 300 hitting the electromagnet 700 and generating noise.

[0064] Preferably, see Figure 9 and Figure 10 The second guide portion 321 of the sliding member 320 is provided with a sliding roller 323. Specifically, the top end of the sliding member 320 inserted into the guide rail 100 is the first end surface 322, and the end of the sliding member 320 facing the inner wall of the guide rail 100 when the sliding member 320 is inserted into the guide rail 100 is the second end surface. The sliding roller 323 is arranged at the angle formed by the first end surface 322 and the second end surface. It can be understood that the second end surface here can be any end surface facing the inner wall of the guide rail 100 when the sliding member 320 is inserted into the guide rail 100. In actual use, when the sliding member 320 is inserted into the guide rail 100, When the movable member 320 is inserted into the guide rail 100, the angle formed by the first end face 322 and the second end face will hit the side wall of the first guide portion 110 of the guide rail 100. When the sliding roller 323 hits the side wall of the first guide portion 110 of the guide rail 100 at the angle formed by the first end face 322 and the second end face, the sliding roller 323 rotates and moves the sliding member 320 along the guide surface of the first guide portion 110, thereby driving the sliding member 320 to the correct position. The sliding roller 323 plays an anti-collision and guiding role.

[0065] An embodiment of the present invention also provides a cleaning robot, including a module installation structure as in the aforementioned embodiment. The various variations and specific embodiments in the aforementioned embodiment are also applicable to a cleaning robot in this embodiment. Through the aforementioned detailed description of a module installation structure, those skilled in the art can clearly know the implementation method of a cleaning robot in this embodiment. For the sake of brevity of the specification, it will not be described in detail here.

[0066] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0067] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if such changes and modifications of the embodiments of the present invention fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A module installation structure, characterized in that: include: A guide rail, the guide rail being installed at the bottom of the equipment; A sliding member, the sliding member is installed on the cleaning module, and the sliding member can slide into and be fixed in the guide rail; a connecting assembly, the connecting assembly comprising a first connecting member and a second connecting member, wherein a first end of the first connecting member is connected to the device, a first end of the second connecting member is connected to the cleaning module, and a second end of the first connecting member is detachably connected to a second end of the second connecting member; The cleaning module includes multiple modules with different functions. The sliding member detachably mounts the cleaning module to the guide rail, so that the same secondary guide rail can match multiple cleaning modules with different functions. The guide rail includes a first guide portion and a limiting portion for accommodating the sliding member, and the first guide portion is communicated with the limiting portion; One end of the sliding member inserted into the guide rail has a second guide portion, and the sliding member slides from the first guide portion into the limiting portion, wherein the limiting portion is used to limit the sliding member, and the second guide portion and the first guide portion are used to guide the sliding member when sliding into the guide rail; A telescopic component is provided on the inner side of the guide rail, and the telescopic component is used to push the sliding member to separate from the guide rail; The connecting component is a magnetic coupling, in which the first connecting part includes an external magnet, and the second connecting part includes an internal magnet. The inner magnet is connected to the transmitted part in the cleaning module, and the outer magnet is connected to the power part in the equipment. When the sliding part is inserted into the guide rail so that the inner magnet enters the magnetic force range of the outer magnet, the outer magnet will automatically attract the inner magnet and fix it in the specified position. The power part in the equipment can drive the external magnet to rotate, and the external magnet drives the inner magnet to rotate through magnetic force, thereby making the transmitted part in the cleaning module work.

2. The module installation structure according to claim 1, characterized in that: Also includes: An identity recognition component includes a marking unit and an identification unit. The marking unit is provided on the cleaning module, and the identification unit is provided on the device. The identification unit is used to identify the marking unit to obtain information about the cleaning module.

3. The module installation structure according to claim 2, characterized in that: The identification unit includes a first identification unit and a second identification unit; The first identification unit is located at a first position of the device, and the second identification unit is located at a second position of the device, wherein the first position and the second position are two different positions; The marking unit is provided at a position on the cleaning module corresponding to the first identification unit and / or the second identification unit.

4. The module installation structure according to any one of claims 1 to 3, characterized in that: Also includes: an electromagnet connected to the device; a magnetic component connected to the cleaning module; The electromagnet is used to magnetically connect with the magnetic component to fix the cleaning module to the device.

5. The module installation structure according to claim 4, characterized in that: The magnetic component is made of magnetic conductive material, the cleaning module is provided with a position marking unit, the device is connected to a detection switch unit, the detection switch unit has a certain detection sensing range, and the detection switch unit is used to control the demagnetization of the electromagnet when the position marking unit enters the detection sensing range.

6. The module installation structure according to claim 1, characterized in that: The first guide portion is an inclined surface that is arranged from wide to narrow in a direction from the first guide portion to the limiting portion; The second guide portion is an inclined surface that is arranged from wide to narrow from both sides of the sliding member to the input end; The second guide portion is provided with a sliding roller.

7. A cleaning robot, comprising the module mounting structure according to any one of claims 1 to 6.

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