Mopping mechanism and cleaning robot

Abstract

The present invention relates to a mopping mechanism and a cleaning robot. The mopping mechanism includes: a track assembly, the track assembly including a track and a drive module, the drive module capable of driving the track to rotate forward and reverse, the track being provided with a first hinge; and a flip blade, the flip blade having two opposing side surfaces, respectively, a first surface and a second surface, the first surface being used for mounting a mop, the flip blade being hinged to the track via the first hinge, and the flip blade being capable of flipping relative to the track. The mopping structure can manually or automatically flip the flip blade relative to the track so that the mop is sandwiched between the second surface and the track, thereby achieving a single-sweeping function. This allows the cleaning robot to vacuum on carpets without wetting the carpets, allowing it to move smoothly on the carpets and avoiding travel jams.

Description

Technical Field

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

[0002] With the development of the field of cleaning appliances, cleaning robot technology has emerged. The robot drives the cleaning structures such as the support and disc brush to move, and automatically sweeps and mops the garbage on the ground.

[0003] Traditionally, most household cleaning robots are small and compact, requiring them to simultaneously mop and sweep. While this cleaning method is highly efficient, it's difficult to clean carpeted areas due to resistance from the carpet hair when the robot is positioned, and the drive wheels becoming stuck in the carpet. This often results in the robot becoming stuck and hindering subsequent cleaning. Existing cleaning robots utilize a mop module that raises and lowers to achieve a single sweeping function. However, this operating mode requires complex transmission mechanisms, occupies a large space, increases overall size, and incurs high maintenance costs. Summary of the Invention

[0004] Based on this, it is necessary to provide a mop mechanism and a cleaning robot that can effectively clean the carpet and avoid movement delays.

[0005] The technical solution is as follows: a mopping mechanism, comprising: a track assembly, the track assembly comprising a track and a drive module, the drive module being capable of driving the track to rotate forward and reverse, the track being provided with a first hinge portion; a flip blade, the opposite sides of the flip blade being a first surface and a second surface, the first surface being used for mounting a mop, the flip blade being hinged to the track through the first hinge portion, the flip blade being capable of flipping relative to the track so that the second surface is located between the first surface and the track, or the first surface is located between the second surface and the track.

[0006] During operation, the mop structure described above is driven forward by the drive module, causing the track assembly to rotate the flip blades in the forward direction, allowing the mop on the first surface to mop the floor. When encountering areas with high resistance, such as carpets, the flip blades are manually or automatically flipped relative to the track, allowing the mop to be sandwiched between the second surface and the track. This achieves a single-sweep function, allowing the cleaning robot to vacuum carpets without wetting them, allowing for smooth movement and avoiding jams. The simple and compact structure also helps reduce the overall size of the cleaning robot, lowering maintenance costs and improving the robot's usability.

[0007] In one embodiment, the mopping mechanism further includes a flipping member, which is disposed on the driving module. When the track rotates forward, the second surface is located between the first surface and the track. When the track rotates reversely, the flipping member drives the flipping blade to flip relative to the track so that the first surface is located between the second surface and the track.

[0008] In one embodiment, a mating hook is provided on the flip member along the axial direction of the first hinged portion, the mating hook is spaced apart from the track, and a guide structure is provided on the flip blade. When the track is reversed, the mating hook and the guide structure guide and cooperate to cause the flip blade to flip.

[0009] In one embodiment, the mating hook is arranged at the position where the track changes its rotation direction. When the track rotates forward, the flip blade on the upper track is located on the side of the corresponding first hinged portion facing away from the mating hook and can move relatively in the direction away from the mating hook. When the track is reversed, the flip blade on the upper track is located on the side of the corresponding first hinged portion facing toward the mating hook and can move relatively in the direction of the mating hook. The mating hook contacts and cooperates with the flip blade to drive the flip blade to flip around the first hinged portion.

[0010] In one embodiment, there are at least two mating hooks, and the two mating hooks are respectively arranged at the opposite ends of the flip member along the axial direction of the first hinged part. There are at least two guide structures, and the two guide structures are respectively arranged at the opposite ends of the flip blade along the axial direction of the first hinged part. Each mating hook can correspond to and abut against one guide structure.

[0011] In one embodiment, the driving module includes a bracket, a driving member, a driving shaft and a driven shaft, the track is arranged along the circumference of the bracket, the driving shaft and the driven shaft are respectively arranged on the bracket at intervals and respectively cooperate with the track transmission, the driving member is connected to the driving shaft, the driving member is used to drive the driving shaft to rotate, and the flip member is arranged on the bracket.

[0012] In one embodiment, the crawler includes multiple track shoes, and along the traveling direction of the crawler assembly, the second hinge part and the third hinge part are respectively provided on opposite sides of the track shoes. Among two adjacent track shoes, the second hinge part on one track shoe is hinged to the third hinge part of the other track shoe, and each track shoe is provided with a first hinge part. There are multiple flip blades, and each flip blade is hinged to one track shoe through a first hinge part.

[0013] In one embodiment, along the axial direction of the first hinge portion, a fourth hinge portion and a fifth hinge portion are respectively provided at opposite ends of the track shoe, one end of two adjacent track shoes are hingedly matched through the two fourth hinge portions, and the other end of two adjacent track shoes are hingedly matched through the two fifth hinge portions, and the axial direction of the first hinge portion is perpendicular to the traveling direction of the track assembly.

[0014] In one embodiment, each of the track shoes is provided with two first hinge parts, and the two first hinge parts are respectively arranged on opposite sides of the second hinge part along the axial direction of the second hinge part, and the axes of the first hinge part, the second hinge part and the third hinge part on each track shoe are arranged collinearly.

[0015] In one embodiment, it is characterized in that a first hollow structure is provided at a position of the flip blade away from the first hinge portion, and when the crawler track is reversed, the first hollow structure is provided corresponding to the third hinge portion.

[0016] In one embodiment, the flip blade is provided with a buffer layer, and the buffer layer is at least arranged on the first surface, and the buffer layer is used to buffer the impact force between the flip blade and the crawler.

[0017] A cleaning robot comprises a mop and any one of the above-mentioned mop structures, wherein the mop is mounted on the first surface.

[0018] During operation, the above-described cleaning robot, driven forward by the drive module, causes the track assembly to rotate the flip blades in the forward direction, allowing the mop on the first surface to mop the floor. When encountering areas with high resistance, such as carpets, the flip blades are manually or automatically flipped relative to the track assembly, sandwiching the mop between the second surface and the track assembly. This achieves a single-sweep function, allowing the cleaning robot to vacuum carpets without wetting them, allowing for smooth movement and avoiding jamming. The robot also features a simple and compact structure, which helps reduce the overall size of the cleaning robot, lowering maintenance costs and improving the robot's usability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 Schematic diagram of the overall structure of the mopping mechanism described in one embodiment;

[0022] Figure 2 for Figure 1 A structural schematic diagram of the mopping mechanism from another perspective;

[0023] Figure 3 for Figure 2 A magnified schematic diagram of the structure at the center circle A;

[0024] Figure 4 This is a schematic structural diagram of a flip blade according to an embodiment;

[0025] Figure 5 Schematic diagram of the structure of the flip member in one embodiment;

[0026] Figure 6 Schematic diagram of the structure of the track shoe described in one embodiment.

[0027] Description of reference numerals:

[0028] 100. Drag mechanism; 11. Track assembly; 110. Track; 111. First hinge; 112. Second hinge; 113. Third hinge; 114. Fourth hinge; 115. Fifth hinge; 116. Track shoe; 120. Drive module; 121. Bracket; 122. Active shaft; 123. Driven shaft; 130. Flip blade; 131. First surface; 132. Second surface; 133. First hollow structure; 134. Connecting part; 135. Guide structure; 136. Buffer layer; 140. Flip member; 141. Matching hook; 150. Drag; 151. Second hollow structure. DETAILED DESCRIPTION

[0029] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0032] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0033] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0034] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. 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 methods.

[0035] See also Figure 1 、 Figure 2 and Figure 3 , Figure 1 1 shows a schematic diagram of the overall structure of the mopping mechanism 100 according to an embodiment of the present invention; Figure 2 Shown Figure 1 A structural diagram of the mopping mechanism 100 from another perspective, Figure 3 for Figure 2 An enlarged schematic diagram of the structure at the center circle A; one embodiment of the present invention provides a mopping mechanism 100, comprising a track assembly 11 and a flip blade 130. The track assembly 11 includes a track 110 and a drive module 120. The drive module 120 is capable of driving the track 110 in both forward and reverse rotation. The track 110 is provided with a first hinge 111. The flip blade 130 has two opposing side surfaces, a first surface 131 and a second surface 132. The first surface 131 is used to mount a mopping cloth 150. The flip blade 130 is hinged to the track 110 via the first hinge 111. The flip blade 130 can flip relative to the track 110, such that the second surface 132 is positioned between the first surface 131 and the track 110, or the first surface 131 is positioned between the second surface 132 and the track 110.

[0036] During operation, the mop cloth 150 structure described above is driven forward by the drive module 120, causing the track assembly 11 to rotate the flip blade 130 in the forward direction. The mop cloth 150 on the first surface 131 then mops the floor. When encountering areas with high resistance, such as carpets, the flip blade 130 is manually or automatically flipped relative to the track 110, sandwiching the mop cloth 150 between the second surface 132 and the track 110. This achieves a single-sweep function, allowing the cleaning robot to vacuum carpets without wetting them, allowing for smooth movement and avoiding jams. The simple and compact structure also helps reduce the overall size of the cleaning robot, lowering maintenance costs and improving the robot's usability.

[0037] The flipping blades 130 can flip relative to the track 110 by a motor driving the flipping blades 130 to flip actively, or the blades can flip automatically driven by the track 110 .

[0038] See also Figure 1 、 Figure 2 and Figure 5 , Figure 5 The figure shows a schematic diagram of the structure of the flip member 140 according to one embodiment of the present invention. In one embodiment, the mopping mechanism 100 further includes the flip member 140. The flip member 140 is mounted on the drive module 120. When the track 110 rotates forward, the second surface 132 is located between the first surface 131 and the track 110. When the track 110 rotates backward, the flip member 140 drives the flip blade 130 to flip relative to the track 110, so that the first surface 131 is located between the second surface 132 and the track 110. In this way, when the track 110 rotates forward, the mop 150 is located outside the track 110, and the rotation of the track 110 mops the floor. When the crawler 110 rotates, it drives the flip blade 130 to rotate. After the flip member 140 contacts the flip blade 130, the flip blade 130 rotates along the first hinge portion 111, thereby flipping the mop 150 to the inside and turning the second surface 132 outward. At this time, the mop 150 is sandwiched between the crawler 110 and the flip blade 130. Therefore, when the cleaning robot passes over a rough surface such as a carpet, the smooth second surface 132 can reduce resistance, allowing the cleaning robot to pass smoothly. For example, the flip blade 130 can be made of plastic, stainless steel, aluminum alloy, wood, or other materials.

[0039] Specifically, Figure 1 、 Figure 2 and Figure 5 Along the axial direction of the first hinge portion 111, a mating hook 141 is provided on the flip member 140, and the mating hook 141 is spaced apart from the track 110. A guide structure 135 is provided on the flip blade 130. When the track 110 reverses, the mating hook 141 and the guide structure 135 guide and cooperate to cause the flip blade 130 to flip. Thus, as the track 110 drives the flip blade 130 to reverse, the mating hook 141 contacts the guide structure 135, causing a force to act on the flip blade 130. While the track 110 continues to rotate, the flip blade 130 and the mating hook 141 move relative to each other. The mating hook 141 pushes the flip blade 130 to rotate 180 degrees around the first hinge portion until the guide structure 135 disengages from the mating hook 141, completing the rotation.

[0040] In order to further understand and illustrate the axial direction of the first hinge portion 111, Figure 2 For example, the axial direction of the first hinge portion 111 is Figure 2 The direction indicated by any arrow on the center line S1.

[0041] Furthermore, a magnetic member or suction cup or other adsorption structure (not shown) is provided on the outside of the crawler 110, and the second surface 132 can be magnetically or adsorbed to the crawler 110. In this way, the flip blade 130 can be smoothly flipped to the final position, ensuring that the flip blade 130 on the crawler 110 is flat.

[0042] In one embodiment, see Figure 1 、 Figure 2 and Figure 3 The mating hook 141 is provided at the position where the track 110 changes its rotation direction. When the track 110 rotates forward, the flip blade 130 on the upper track 110 is located on the side of the corresponding first hinge 111 facing away from the mating hook 141 and can move relative to the flip blade 130 in a direction away from the mating hook 141. When the track 110 rotates reversely, the flip blade 130 on the upper track 110 is located on the side of the corresponding first hinge 111 facing the mating hook 141 and can move relative to the mating hook 141. The mating hook 141 contacts and cooperates with the flip blade 130, driving the flip blade 130 to flip around the first hinge 111. The track 110 is divided into upper and lower surfaces, whose movement directions are parallel and opposite to each other to achieve cyclic rotation. The mating hook 141 is provided at the position where the rotation direction changes, so that the mating hook 141 can contact the flip blade 130 and allow the track 110 to pass smoothly, causing the flip blade 130 to move relative to the mating force of the mating hook 141 and flip.

[0043] Further, see Figure 1 、 Figure 2 and Figure 5 There are at least two engaging hooks 141, each disposed at opposite ends of the flip member 140 along the axial direction of the first hinge portion 111. There are at least two guide structures 135, each disposed at opposite ends of the flip blade 130 along the axial direction of the first hinge portion 111. Each engaging hook 141 is capable of abutting against a corresponding guide structure 135. This ensures the stability of the flip member 140 when mated with the flip blade 130, preventing stress concentration from bending or breaking the engaging hooks 141.

[0044] In one embodiment, the flip blade 130 is provided with a connecting portion 134 disposed on the first surface 131. The connecting portion 134 is detachably connected to the mop cloth 150. For example, the connecting portion 134 may be a Velcro, snap fastener, magnetic element, or other detachable connection structure. This allows for easy removal and replacement of the mop cloth 150 from the first surface 131, facilitating ease of use.

[0045] In one embodiment, see Figure 1 and Figure 2The drive module 120 includes a bracket 121, a driving member, a driving shaft 122, and a driven shaft 123. The track 110 is arranged along the circumference of the bracket 121. The driving shaft 122 and the driven shaft 123 are spaced apart and respectively arranged on the bracket 121 and respectively engage with the track 110. The driving member is drivingly connected to the driving shaft 122 and is used to drive the driving shaft 122 to rotate. The flip member 140 is disposed on the bracket 121. For example, the driving member is a motor. The motor drives the driving shaft 122 to rotate, and the driven shaft 123 rotates under the drive of the track 110, thereby supporting the track 110, thereby completing the cyclic rotation of the mop 150 on the flip blade 130.

[0046] See also Figure 1 、 Figure 2 and Figure 6 , Figure 6 The schematic diagram shows the structure of a track shoe 116 according to one embodiment of the present invention. Specifically, the track 110 includes multiple track shoes 116. Along the travel direction of the track assembly 11, the track shoes 116 are provided with a second hinge portion 112 and a third hinge portion 113 on opposite sides thereof. Of two adjacent track shoes 116, the second hinge portion 112 on one track shoe 116 is hingedly connected to the third hinge portion 113 on the other track shoe 116. Each track shoe 116 is provided with a first hinge portion 111. Multiple flip blades 130 are provided, each hingedly connected to a track shoe 116 via a first hinge portion 111. Thus, the multiple track shoes 116 are sequentially hingedly connected via the second hinge portion 112 and the third hinge portion 113 to form the track 110, thereby enabling cyclic rotation on the bracket 121. In addition, each track shoe 116 is provided with a flip blade 130. The track 110 is reversed by the forward and reverse rotation of the driving member. Under the resistance of the flip member 140, a flip blade 130 can flip 180° between two adjacent track shoes 116, thereby realizing rapid switching of the working state of the cleaning robot.

[0047] In one embodiment, see Figure 1 and Figure 6 Along the axial direction of the first hinge portion 111, the track shoes 116 are provided with a fourth hinge portion 114 and a fifth hinge portion 115 at opposite ends thereof. One end of two adjacent track shoes 116 is hingedly coupled via the two fourth hinge portions 114, and one end of two adjacent track shoes 116 is hingedly coupled via the two fifth hinge portions 115. These hinges are mutually perpendicular to the travel direction of the track assembly 11 along the axial direction of the first hinge portion 111. In this way, in addition to the hinged connection between the second hinge portion 112 and the third hinge portion 113, two adjacent track shoes 116 are also hingedly coupled via the two fourth hinge portions 114 and the two fifth hinge portions 115, thereby ensuring the rotational stability and smoothness of the track shoes 116 and preventing deformation of the track 110.

[0048] Further, see Figure 6 Each track shoe 116 has two first hinges 111, which are located on opposite sides of the second hinge 112 along its axial direction. The axes of the first hinge 111, second hinge 112, and third hinge 113 on each track shoe 116 are collinear. This ensures that the reversible blades 130 can rotate 180° between adjacent track shoes 116 without misalignment, facilitating smooth rotation of the multiple reversible blades 130.

[0049] See also Figure 1 、 Figure 2 and Figure 4 , Figure 4 A schematic diagram of the structure of the flip blade 130 according to one embodiment of the present invention is shown. In one embodiment, the flip blade 130 is provided with a first hollow structure 133 at a position away from the first hinge 111, and the mop 150 is provided with a second hollow structure 151 corresponding to the first hollow structure 133. When the track 110 is reversed, the first hollow structure 133 is arranged to correspond to the third hinge 113. Because the second hinge 112 and the third hinge 113 form protrusions on the track shoe 116, when the flip blade 130 drives the support portion to flip left or right, the first hollow structure 133 and the second hollow structure 151 can give way to the second hinge 112 and the third hinge 113, thereby ensuring a flat surface of the track assembly 11 and improving the smooth movement of the cleaning robot.

[0050] In one embodiment, the flip blade 130 is provided with a buffer layer 136 (not shown). The buffer layer 136 is provided on at least the first surface 131. The buffer layer 136 is used to buffer the impact force between the flip blade 130 and the crawler track 110. Thus, when the flip blade 130 flips, the inertia will cause an impact on the crawler shoe 116. The buffer layer 136 on the first surface 131 helps to mitigate the impact force, improve service life, and reduce noise.

[0051] For example, the buffer layer 136 is buffer foam, shock-absorbing rubber, air bag, spring structure or other buffer materials or structures.

[0052] Specifically, the buffer layer 136 is a rubber layer. Furthermore, the buffer layer 136 is wrapped around the flip blade 130 and positioned between the mop 150 and the flip blade 130. Alternatively, the flip blade 130 is a rubber member. This further enhances the buffering effect. This embodiment provides only one specific implementation of the buffer layer 136, but is not intended to be limiting.

[0053] In one embodiment, a cleaning robot (not shown) includes a mop 150 and any one of the mop 150 structures described above, and the mop 150 is installed on the first surface 131 .

[0054] During operation, the above-described cleaning robot, driven by the forward drive of the drive module 120, causes the track assembly 11 to rotate the flip blades 130 in the forward direction, and the mop 150 on the first surface 131 mops the floor. When encountering areas with high resistance, such as carpets, the flip blades 130 are manually or automatically flipped relative to the track 110, so that the mop 150 is sandwiched between the second surface 132 and the track 110. This achieves a single-sweep function, allowing the cleaning robot to vacuum carpets without wetting them, allowing for smooth movement on carpets and avoiding jamming. The robot also has a simple and compact structure, which helps reduce the overall size of the cleaning robot, lowering maintenance costs and improving the robot's usability.

[0055] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A mopping mechanism, characterized in that: The mopping mechanism comprises: A crawler track assembly, the crawler track assembly comprising a crawler track and a drive module, the drive module being capable of driving the crawler track to rotate forward and reverse, the crawler track being provided with a first hinge portion; and A flip blade, wherein the opposite sides of the flip blade are respectively a first surface and a second surface, the first surface is used to install a mop, and the flip blade is hinged to the crawler through the first hinge portion. The flip blade can be flipped relative to the crawler so that the second surface is located between the first surface and the crawler, or the first surface is located between the second surface and the crawler.

2. The mopping mechanism according to claim 1, characterized in that: The mopping mechanism further includes a flipping member, which is disposed on the driving module. When the crawler track rotates forward, the second surface is located between the first surface and the crawler track. When the crawler track rotates backward, the flipping member drives the flipping blade to flip relative to the crawler track so that the first surface is located between the second surface and the crawler track.

3. The mopping mechanism according to claim 2, characterized in that: Along the axial direction of the first hinged portion, a matching hook is provided on the flip member, and the matching hook is spaced apart from the track. A guide structure is provided on the flip blade. When the track is reversed, the matching hook and the guide structure guide and cooperate to flip the flip blade.

4. The mopping mechanism according to claim 3, characterized in that: The mating hook is provided at a position where the crawler changes its rotation direction. When the crawler rotates forward, the flip blade on the upper crawler is located on the side of the corresponding first hinge portion facing away from the mating hook, and can move relatively in the direction away from the mating hook. When the crawler is reversed, the flip blade on the upper crawler is located on the side of the corresponding first hinge portion facing toward the mating hook and can move relatively in the direction of the mating hook. The mating hook contacts and cooperates with the flip blade to drive the flip blade to flip around the first hinge portion.

5. The mopping mechanism according to claim 3, characterized in that: There are at least two mating hooks, and the two mating hooks are respectively arranged at the opposite ends of the flip member along the axial direction of the first hinged part. There are at least two guide structures, and the two guide structures are respectively arranged at the opposite ends of the flip blade along the axial direction of the first hinged part. Each mating hook can correspond to and abut against one guide structure.

6. The mopping mechanism according to claim 2, characterized in that: The driving module includes a bracket, a driving member, a driving shaft and a driven shaft. The track is arranged along the circumference of the bracket. The driving shaft and the driven shaft are respectively arranged on the bracket at intervals and respectively cooperate with the track transmission. The driving member is connected to the driving shaft and is used to drive the driving shaft to rotate. The flip member is arranged on the bracket.

7. The mopping mechanism according to claim 6, characterized in that: The crawler includes multiple track shoes. Along the traveling direction of the crawler assembly, the second hinge part and the third hinge part are respectively provided on opposite sides of the track shoes. Among two adjacent track shoes, the second hinge part on one track shoe is hinged to the third hinge part of the other track shoe. Each track shoe is provided with a first hinge part. There are multiple flip blades, and each flip blade is hinged to a track shoe through a first hinge part.

8. The mopping mechanism according to claim 7, characterized in that: Along the axial direction of the first hinge part, the fourth hinge part and the fifth hinge part are respectively provided at the opposite ends of the track shoe, one end of the two adjacent track shoes are hingedly matched through the two fourth hinge parts, and the other end of the two adjacent track shoes are hingedly matched through the two fifth hinge parts, and the axial direction of the first hinge part is perpendicular to the traveling direction of the track assembly.

9. The mopping mechanism according to claim 7, characterized in that: Each track shoe is provided with two first hinge parts, and the two first hinge parts are respectively arranged on opposite sides of the second hinge part along the axial direction of the second hinge part, and the axes of the first hinge part, the second hinge part and the third hinge part on each track shoe are arranged collinearly.

10. The mopping mechanism according to any one of claims 7 to 9, characterized in that: A first hollow structure is provided at a position of the flip blade away from the first hinge portion. When the crawler track is reversed, the first hollow structure is provided corresponding to the third hinge portion.

11. The mopping mechanism according to claim 10, characterized in that: The flip blade is provided with a buffer layer, and the buffer layer is at least arranged on the first surface. The buffer layer is used to buffer the impact force between the flip blade and the crawler.

12. A cleaning robot, characterized in that: The cleaning robot includes a mop and the mop structure according to any one of claims 1 to 11, and the mop is installed on the first surface.

Images