Mop module and cleaning robot

Abstract

The invention discloses a mop module and a cleaning robot, the mop module comprises a mop assembly, a rotation driving structure and a lifting driving structure, and the rotation driving structure is connected with the mop assembly and drives the mop assembly to rotate; the rotating structure is connected with the mop assembly and drives the mop assembly to ascend and descend. According to the technical scheme, the rotary driving structure is used for driving the mop assembly to rotate, so that the hair adheres to the mop assembly to achieve automatic ground hair cleaning, the lifting driving structure is used for driving the mop assembly to ascend and descend, the hair adhering to the mop assembly is prevented from being wound around other parts of the cleaning robot, and finally the user experience feeling is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and in particular to a mop module and a cleaning robot. Background Art

[0002] With the improvement of living standards, cleaning robots have become important household appliances, bringing convenience to people. Household cleaning robots are generally disc-shaped, with rollers and dust suction structures at the bottom and sensors for detecting obstacles on the body. The cleaning robots can walk on the ground while vacuuming the ground and avoid obstacles at the same time.

[0003] There will inevitably be fallen hair on the floor of a home. The current cleaning mode of cleaning robots can easily cause hair to get tangled in the front roller and the middle roller brush module of the robot. On the one hand, the hair entangled in the roller will cause the cleaning robot to jam. On the other hand, the hair entangled in the roller and the roller brush module needs to be manually cleaned, which reduces the user experience. Summary of the invention

[0004] The main purpose of the present invention is to provide a mop module and a cleaning robot, which are designed to automatically clean the hair on the ground and prevent the hair from being entangled in other parts, without the need for manual cleaning, thereby improving the user experience.

[0005] To achieve the above object, the present invention provides a mop module for a cleaning robot, the mop module comprising:

[0006] Mop assembly;

[0007] A rotation driving structure, the rotation structure is connected to the mop assembly and drives the mop assembly to rotate; and

[0008] The lifting driving structure, the rotating structure is connected with the mop assembly and drives the mop assembly to lift.

[0009] In one embodiment, the mop module also includes a first visual sensor, which is electrically connected to the rotation drive structure and the lifting drive structure; the first visual sensor is used to detect the hair condition on the ground; the rotation drive structure and the lifting drive structure are used to perform corresponding actions according to the first detection result of the first visual sensor.

[0010] In one embodiment, the mop module also includes a humidity sensor, which is electrically connected to the rotating drive structure and the lifting drive structure; the humidity sensor is used to detect the hair humidity on the ground; the rotating drive structure and the lifting drive structure are used to perform a response action according to the second detection result of the humidity sensor.

[0011] In one embodiment, the mop module also includes a second visual sensor, which is electrically connected to the rotation drive structure and the lifting drive structure; the second visual sensor is used to detect the situation of hair sticking to the mop assembly; the rotation drive structure and the lifting drive structure are used to perform corresponding actions according to the third detection result of the second visual sensor.

[0012] In one embodiment, the mop assembly includes:

[0013] A lifting member, the lifting member is connected to the lifting drive structure, and the lifting member is provided with a through hole;

[0014] a rotating member, the rotating member is rotatably connected in the through hole and protrudes out of the through hole; and the rotating member is connected to the rotation driving structure; and

[0015] A mop is connected to an end of the rotating member protruding from the through hole.

[0016] In one embodiment, the rotating member comprises:

[0017] a rotating drum connected to the rotary drive structure; the rotating drum is rotatably connected in the through hole, and one end of the rotating drum away from the rotary drive structure protrudes from the through hole; and

[0018] A mounting plate is connected to one end of the rotating drum protruding from the through hole, and the mop is mounted on a side of the mounting plate facing away from the rotating drum.

[0019] In one embodiment, the outer wall of the lifting member is provided with a limiting groove;

[0020] The mop module further includes a limiting member, and the limiting member includes:

[0021] A limiting rod, the limiting rod is fixed to the bottom of the cleaning robot and movably connected to the limiting sink; and

[0022] A limiting ring is connected to an end of the limiting rod away from the limiting groove, and the limiting ring is used to limit the position of the lifting member in the vertical direction.

[0023] In one embodiment, the rotation drive structure comprises:

[0024] A first driving motor, wherein the first driving motor is arranged at the bottom of the cleaning robot, and an output shaft of the first driving motor is provided with a turbine;

[0025] A transmission gear, the transmission gear is rotatably connected to the bottom of the cleaning robot and meshes with the turbine; and

[0026] A rotating shaft is passed through the transmission gear and connected to the mop assembly.

[0027] In one embodiment, the transmission gear comprises:

[0028] a first gear, the first gear being rotatably connected to the bottom of the cleaning robot and meshingly connected with the turbine; and

[0029] A second gear, the second gear is rotatably connected to the bottom of the cleaning robot and meshed with the first gear; the rotating shaft passes through the second gear and is connected to the rotating member; and the diameter of the second gear is greater than the diameter of the first gear.

[0030] In one embodiment, the rotating member is provided with a first slot;

[0031] The rotating shaft comprises:

[0032] A connecting shaft, one end of which passes through the transmission gear; and

[0033] A shaft sleeve, one end of which is movably inserted into the first slot so that the rotating member can move up and down relative to the shaft sleeve; a second slot is provided at the other end of the shaft sleeve, and one end of the connecting shaft away from the transmission gear is movably inserted into the second slot so that the shaft sleeve can move up and down relative to the connecting shaft.

[0034] In one embodiment, the outer wall of the connecting shaft is provided with a plane; the side wall of the second slot is provided with a spline, and the spline is in contact with the plane so that the connecting shaft drives the sleeve to rotate;

[0035] And / or, the radial cross-sectional shape of the sleeve and the transverse cross-sectional shape of the first slot are both polygonal.

[0036] In one embodiment, a limiting surface is provided on the outer wall of the connecting shaft, and the limiting surface is provided adjacent to an end of the connecting shaft that is cooperatively connected with the transmission gear; the limiting surface is used to limit the displacement of the shaft sleeve rising;

[0037] And / or, a limiting protrusion is provided on the outer wall of one end of the shaft sleeve close to the transmission gear, and the limiting protrusion is located at the end of the shaft sleeve close to the transmission gear, and is used to limit the lifting range of the rotating part.

[0038] In one embodiment, the lifting drive structure includes:

[0039] a second drive motor, the second drive motor being disposed at the bottom of the cleaning robot and spaced apart from the rotary drive structure;

[0040] a connecting rod, one end of which is connected to the output shaft of the second driving motor;

[0041] a slider connected to the other end of the connecting rod; and

[0042] A lifting rod is connected to the outer wall of the lifting member, and the lifting rod is provided with a slide groove, which is extended along the length direction of the lifting rod; the sliding block is slidably connected in the slide groove.

[0043] In one embodiment, the rotary drive structure includes a first drive motor, two transmission gears and two rotating shafts;

[0044] The mop assembly includes two lifting parts, two rotating parts and two mops;

[0045] The first driving motor is connected to the two transmission gears, each rotating shaft is connected to a transmission gear; each rotating member is connected to a rotating shaft, and each mop is connected to a rotating member; the two ends of the lifting rod are respectively connected to the outer walls of the two lifting members.

[0046] The present invention also provides a cleaning robot, the cleaning robot comprising:

[0047] the main body; and

[0048] As mentioned above, the mop module is arranged on the main body.

[0049] The mop module of the technical solution of the present invention includes a mop assembly, a rotating drive structure and a lifting drive structure. The rotating structure is connected to the mop assembly and drives the mop assembly to rotate; the rotating structure is connected to the mop assembly and drives the mop assembly to rise and fall. When it is determined that there is hair on the ground, the lifting drive structure is controlled to drive the mop assembly to descend so that the mop assembly contacts the hair. Then the rotating drive structure is controlled to rotate. The rotating mop assembly applies downward pressure to the hair so that the hair sticks to the mop assembly and the hair is transferred from the ground to the mop assembly. Finally, the lifting drive structure is controlled to drive the mop assembly to rise to prevent the hair from being entangled in other parts of the cleaning robot, so as to automatically clean the hair on the ground and ultimately improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 the structures shown in these drawings without paying creative work.

[0051] Figure 1 This is a schematic diagram of the structure of the cleaning robot of the present invention;

[0052] Figure 2 It is a structural schematic diagram of the mop module of the present invention;

[0053] Figure 3 A top view of the mop module of the present invention;

[0054] Figure 4 for Figure 3 AA cross-section diagram of ;

[0055] Figure 5 It is a schematic structural diagram of the connection between the connecting shaft and the shaft sleeve of the mop module of the present invention.

[0056] Label name Label name 10 Mop module 1231a flat 11 Mop components 1232a Limiting surface 111 Lifting parts 123b Bushing 112 Rotating parts 1231b Spline 1121 Rotating drum 1232b Limiting protrusion 1122 Mounting Plate 13 Lifting drive structure 113 Mop 131 Second drive motor 12 Rotary drive structure 132 link 121 First drive motor 133 slider 121a turbine 134 Lifting rod 122 Transmission gear 14 Limiting parts 122a First Gear 141 Limit rod 122b Second gear 142 Limiting ring 123 Shaft 20 Main body 123a Connecting shaft 30 First Vision Sensor

[0057] Description of Figure Numbers:

[0058] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 creative work are within the scope of protection of the present invention.

[0060] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0061] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0062] The present invention provides a mop module 10 .

[0063] In the embodiment of the present invention, please refer to Figure 1 and Figure 2 The mop module 10 includes a mop assembly 11, a rotation drive structure 12 and a lifting drive structure 13. The rotation structure is connected to the mop assembly 11 and drives the mop assembly 11 to rotate; the rotation structure is connected to the mop assembly 11 and drives the mop assembly 11 to lift.

[0064] When it is determined that there is hair on the ground, the lifting drive structure 13 is controlled to drive the mop assembly 11 to descend, so that the mop assembly 11 contacts the hair, and then the rotating drive structure 12 is controlled to rotate. The rotating mop assembly 11 applies downward pressure to the hair, so that the hair sticks to the mop assembly 11, and the hair is transferred from the ground to the mop assembly 11. Finally, the lifting drive structure 13 is controlled to drive the mop assembly 11 to rise, so as to prevent the hair from being entangled in other parts of the cleaning robot, thereby realizing automatic cleaning of the ground hair and ultimately improving the user experience.

[0065] In one embodiment, the mop module 10 also includes a first visual sensor 30, which is electrically connected to the rotation drive structure 12 and the lifting drive structure 13; the first visual sensor 30 is used to detect the hair condition on the ground; the rotation drive structure 12 and the lifting drive structure 13 are used to perform corresponding actions according to the first detection result of the first visual sensor 30.

[0066] The mop module 10 is provided with a first visual sensor 30, which is fixed on the main body 20 of the cleaning robot and arranged opposite to the ground. When the first visual sensor 30 detects that there is hair on the ground, it sends a first detection result to the main controller of the cleaning robot, and the main controller outputs a control instruction according to the first detection result; when the first detection result is that there is hair on the working surface, the main controller controls the lifting drive structure 13 to descend, so that the mop assembly 11 of the mop module 10 descends, and then controls the rotation drive structure 12 to rotate, so that the mop assembly 11 contacts and rotates with the working surface, so that the mop assembly 11 is adsorbed with the hair. When the first detection result is that there is no hair on the working surface, the main controller does not control the operation of the mop module 10; in this way, the first visual sensor 30 is matched with the main controller, and the action of the mop module 10 can be controlled more accurately.

[0067] In one embodiment, the mop module 10 also includes a humidity sensor, which is electrically connected to the rotating drive structure 12 and the lifting drive structure 13; the humidity sensor is used to detect the hair humidity on the ground; the rotating drive structure 12 and the lifting drive structure 13 are used to perform a response action based on the second detection result of the humidity sensor.

[0068] The humidity of the hair specifically refers to the amount of water attached to the surface of the hair. The mop module 10 is provided with a humidity sensor, which is fixed on the main body 20 of the cleaning robot and arranged opposite to the ground. When the first visual sensor 30 detects that there is hair on the ground, and then detects that the hair on the ground is wet through the humidity sensor, the main controller will control the mop module 10 to enter the wet hair cleaning program. When the humidity sensor detects that the hair on the ground is dry hair, the main controller will control the mop module 10 to enter the dry hair cleaning program. With this arrangement, the mop module 10 can perform a more delicate action of absorbing the hair according to the humidity of the hair, thereby improving the cleaning effect of the mop module 10 in cleaning the hair.

[0069] In one embodiment, the mop module 10 also includes a second visual sensor, which is electrically connected to the rotation drive structure 12 and the lifting drive structure 13; the second visual sensor is used to detect the situation of hair sticking to the mop assembly 11; the rotation drive structure 12 and the lifting drive structure 13 are used to perform corresponding actions according to the third detection result of the second visual sensor.

[0070] In this embodiment, the mop module 10 is provided with a second visual sensor, which is fixed on the main body 20 of the cleaning robot and arranged opposite to the mop assembly 11 of the mop module 10. When the second visual sensor detects that the mop assembly 11 of the mop module 10 absorbs too much hair, the main controller controls the mop module 10 to stop running, and then controls the roller to move, so that the entire cleaning robot moves to the base station, and the hair of the mop module 10 can be cleaned through the base station. When the second visual sensor detects that the mop assembly 11 of the mop module 10 does not have a lot of hair, the main controller continues to control the mop module 10 to clean the hair on the working surface. In this way, the second visual sensor is matched with the main controller, and the situation of the mop module 10 absorbing hair can be detected in real time, so that the hair of the mop module 10 can be cleaned in time.

[0071] In one embodiment, see Figures 2 to 4 The mop assembly 11 includes a lifting member 111, a rotating member 112 and a mop 113. The lifting member 111 is connected to the lifting drive structure 13, and the lifting member 111 is provided with a through hole; the rotating member 112 is rotatably connected in the through hole and protrudes from the through hole; and the rotating member 112 is connected to the rotary drive structure 12; the mop 113 is connected to one end of the rotating member 112 protruding from the through hole.

[0072] When it is determined that there is hair on the ground, the lifting drive structure 13 is controlled to drive the lifting member 111 to descend, and the lifting member 111 drives the rotating member 112 and the mop 113 to descend synchronously until the mop 113 contacts the hair on the ground. Then the rotating drive structure 12 is controlled to drive the rotating member 112 to rotate relative to the lifting member 111, and the rotating member 112 drives the mop 113 to rotate synchronously. The rotating mop 113 will apply downward pressure to the hair on the ground, so that the hair sticks to the mop 113, and the hair on the ground can be transferred to the mop 113, thereby completing the cleaning of the hair on the ground. After the hair sticks to the mop 113, the lifting drive structure 13 is then controlled to drive the lifting member 111 to rise, and the lifting member 111 drives the rotating member 112 and the mop 113 to rise synchronously. In this way, the hair stuck to the mop 113 will not come into contact with other parts of the cleaning robot, thus preventing the hair from being entangled in other parts of the cleaning robot. Manual cleaning is not required by the user, and the rising lifting member 111, rotating member 112 and mop 113 will not block the subsequent operation of the cleaning robot.

[0073] The lifting member 111 and the rotating member 112 in the mop assembly 11 of this embodiment move independently without interfering with each other, and the rotating member 112 is rotatably connected to the through hole in the lifting member 111, so that the structure of the mop assembly 11 is more compact.

[0074] In one embodiment, see Figures 2 to 4 The rotating member 112 includes a rotating drum 1121 and a mounting plate 1122, wherein the rotating drum 1121 is connected to the rotating drive structure 12; the rotating drum 1121 is rotatably connected in the through hole, and one end of the rotating drum 1121 away from the rotating drive structure 12 protrudes from the through hole; the mounting plate 1122 is connected to one end of the rotating drum 1121 protruding from the through hole, and the mop 113 is installed on the side of the mounting plate 1122 facing away from the rotating drum 1121.

[0075] Specifically, a ball bearing or a sliding component is arranged between the outer wall of the rotating drum 1121 and the hole wall of the through hole of the lifting member 111 to realize the rotational connection; the rotating member 112 of this embodiment is divided into a rotating drum 1121 and a mounting plate 1122, the rotating drum 1121 is used for the matching connection between the lifting member 111 and the rotary drive structure 12, and the mounting plate 1122 is used for connecting with the mop 113. With such an arrangement, when the mop 113 needs to be replaced, it is only necessary to directly operate on the side of the mounting plate 1122 facing away from the rotating drum 1121, and there is no need to disassemble the entire rotating member 112 for replacement, thereby improving the convenience of use of the hair cleaning mechanism.

[0076] In one embodiment, see Figures 2 to 4The outer wall of the lifting member 111 is provided with a limiting groove; the mop module 10 also includes a limiting member 14, the limiting member 14 includes a limiting rod 141 and a limiting ring 142, the limiting rod 141 is fixed to the bottom of the cleaning robot and movably connected to the limiting groove; the limiting ring 142 is connected to one end of the limiting rod 141 away from the limiting groove, and the limiting ring 142 is used to limit the position of the lifting member 111 in the vertical direction.

[0077] Specifically, the limiting groove is arranged on the outer wall of the lifting member 111 and extends a certain length along the outer wall of the lifting member 111; when the lifting drive structure 13 drives the lifting member 111 to rise and fall, the lifting member 111 can slide in the limiting groove through the limiting rod 141, so that the lifting member 111 uses the groove wall of the limiting groove to limit the lifting position along the vertical direction, and is not easy to deviate to other positions; when the lifting member 111 is driven by the lifting drive structure 13 to rise to a preset height, the limiting ring 142 abuts against the lifting member 111, thereby preventing the lifting member 111 from rising excessively and avoiding the lifting member 111 from colliding with the transmission gear 122, thereby ensuring that the lifting member 111 can operate normally.

[0078] In one embodiment, see Figures 2 to 4 The rotating drive structure 12 includes a first driving motor 121, a transmission gear 122 and a rotating shaft 123. The first driving motor 121 is arranged at the bottom of the cleaning robot, and the output shaft of the first driving motor 121 is provided with a turbine 121a; the transmission gear 122 is rotatably connected to the bottom of the cleaning robot and meshed with the turbine 121a; the rotating shaft 123 is penetrated by the transmission gear 122 and connected to the mop assembly 11.

[0079] The rotary drive structure 12 of the present embodiment realizes the transmission between the first drive motor 121 and the rotating member 112 through the cooperation of the transmission gear 122 and the rotating shaft 123. Since the transmission gear 122 has a constant transmission ratio, the transmission efficiency of the first drive motor 121 to the rotating member 112 is further improved, and the transmission loss is greatly reduced. At the same time, the transmission gear 122 has a compact structure and a small size, and can be easily integrated at the bottom of the cleaning robot to achieve maximum utilization of the bottom space of the cleaning robot.

[0080] For further information, see Figures 2 to 4The transmission gear 122 includes a first gear 122a and a second gear 122b, the first gear 122a is rotatably connected to the bottom of the cleaning robot and meshed with the turbine 121a; the second gear 122b is rotatably connected to the bottom of the cleaning robot and meshed with the first gear 122a; the rotating shaft 123 passes through the second gear 122b and is connected to the rotating member 112; and the diameter of the second gear 122b is greater than the diameter of the first gear 122a.

[0081] In this embodiment, when the first drive motor 121 drives the turbine 121a to rotate, the turbine 121a drives the first gear 122a to rotate, and then the first gear 122a drives the second gear 122b to rotate, and finally the second gear 122b drives the rotating member 112 to rotate through the rotating shaft 123; since the diameter of the second gear 122b is greater than the diameter of the first gear 122a, when the first gear 122a drives the second gear 122b to rotate, according to the principle of gear transmission ratio, the rotation speed of the second gear 122b will slow down, and the force output by the second gear 122b will also increase, thereby increasing the force of the second gear 122b to drive the rotating member 112 to rotate, thereby increasing the transmission force of the first drive motor 121, and finally making the mop 113 easier to rotate.

[0082] In one embodiment, see Figures 2 to 4 The rotating member 112 is provided with a first slot; the rotating shaft 123 includes a connecting shaft 123a and a sleeve 123b, one end of the connecting shaft 123a is inserted into the transmission gear 122; one end of the sleeve 123b is movably inserted into the first slot, so that the rotating member 112 can move up and down relative to the sleeve 123b; the other end of the sleeve 123b is provided with a second slot, and one end of the connecting shaft 123a away from the transmission gear 122 is movably inserted into the second slot, so that the sleeve 123b can move up and down relative to the connecting shaft 123a.

[0083] In this embodiment, the rotating shaft 123 is divided into a connecting shaft 123a and a sleeve 123b. The connecting shaft 123a is actually inserted into the second gear 122b of the transmission gear 122. The connecting shaft 123a and the second gear 122b are fixedly connected. The second gear 122b drives the connecting shaft 123a to rotate. The connecting shaft 123a is movably plugged into the second slot provided with the sleeve 123b, so that the sleeve 123b can be lifted relative to the connecting shaft 123a fixedly connected to the second gear 122b, so that the rotating member 112 connected to the sleeve 123b can be lifted. The first slot is rotatably provided, and the other end of the sleeve 123b away from the transmission gear 122 is movably plugged into the first slot, so that the rotating member 112 can be lifted relative to the sleeve 123b, thereby lifting the mop 113 connected to the rotating member 112. In this way, the mop 113 can be raised and lowered in two stages, thereby making the lifting and lowering adjustment accuracy of the mop 113 higher, making it easier for the mop 113 to contact the hair on the ground, and making it easier for the mop 113 to collect the hair.

[0084] For further information, see Figure 2 and Figure 5 The outer wall of the connecting shaft 123a is provided with a plane 1231a; the side wall of the second slot is provided with a spline 1231b, and the spline 1231b is in contact with the plane 1231a so that the connecting shaft 123a drives the sleeve 123b to rotate; the radial cross-sectional shape of the sleeve 123b and the transverse cross-sectional shape of the first slot are both polygonal.

[0085] Specifically, a plane 1231a is set on the outer wall of the connecting shaft 123a, so that when the connecting shaft 123a drives the sleeve 123b to rotate, the sleeve 123b uses the mutual limitation of the spline 1231b and the plane 1231a to prevent the sleeve 123b from slipping relative to the connecting shaft 123a, thereby allowing the connecting shaft 123a to effectively drive the sleeve 123b to rotate.

[0086] The radial cross-sectional shape of the sleeve 123b and the transverse cross-sectional shape of the first slot are both hexagonal. With such arrangement, when the sleeve 123b drives the rotating member 112 to rotate, the outer wall of the sleeve 123b and the side wall of the first slot of the rotating member 112 can limit each other, thereby not only avoiding the sleeve 123b and the rotating member 112 from slipping on each other, but also ensuring that the rotating member 112 slides on the outer wall of the sleeve 123b through the side wall of the first slot, thereby realizing the lifting and lowering of the rotating member 112 relative to the sleeve 123b.

[0087] For further information, see Figure 2 and Figure 5A limiting surface 1232a is provided on the outer wall of the connecting shaft 123a, and the limiting surface 1232a is arranged near the end of the connecting shaft 123a where it is matched with the transmission gear 122; the limiting surface 1232a is used to limit the rising displacement of the sleeve 123b; a limiting protrusion 1232b is provided on the outer wall of one end of the sleeve 123b close to the transmission gear 122, and the limiting protrusion 1232b is located at the end of the sleeve 123b close to the transmission gear 122, and is used to limit the lifting and lowering range of the rotating member 112.

[0088] Specifically, the limiting surface 1232a is arranged along the radial extension of the connecting shaft 123a, that is, the limiting surface 1232a is arranged along the horizontal direction; when the lifting drive structure 13 drives the sleeve 123b to rise, and until the top end surface of the sleeve 123b abuts against the limiting surface 1232a of the connecting shaft 123a, the limiting surface 1232a blocks the sleeve 123b from continuing to move upward, thereby preventing the sleeve 123b from excessively rising and colliding with the second gear 122b of the transmission gear 122; the limiting protrusion 1232b is arranged around the outer wall of the sleeve 123b, and when the lifting drive structure 13 drives the rotating member 112 to rise, and until the top end surface of the rotating member 112 abuts against the limiting protrusion 1232b, the limiting protrusion 1232b blocks the rotating member 112 from continuing to move upward, thereby preventing the rotating member 112 from excessively rising and pushing the sleeve 123b to collide with the second gear 122b.

[0089] In one embodiment, see Figure 2 and Figure 3 The lifting drive structure 13 includes a second drive motor 131, a connecting rod 132, a slider 133 and a lifting rod 134. The second drive motor 131 is arranged at the bottom of the cleaning robot and is spaced apart from the rotating drive structure 12; one end of the connecting rod 132 is connected to the output shaft of the second drive motor 131; the slider 133 is connected to the other end of the connecting rod 132; the lifting rod 134 is connected to the outer wall of the lifting member 111, and the lifting rod 134 is provided with a slide groove, which extends along the length direction of the lifting rod 134; the slider 133 is slidably connected in the slide groove.

[0090] In this embodiment, when it is necessary to drive the lifting member 111 to move up and down, it is only necessary to control the operation of the lifting drive member, and the lifting drive member drives the connecting rod 132 to rotate, so that the slider 133 also rotates with the connecting rod 132, and the slider 133 will slide in the slide groove of the lifting rod 134 during the rotation process, and drive the lifting rod 134 to move up and down, and the lifting rod 134 drives the lifting member 111 and the rotating member 112 to move up and down synchronously. The slider 133 and the lifting rod 134 in the lifting transmission member of this embodiment cooperate to slide in the horizontal direction, while realizing the lifting of the lifting member 111, it can also further reduce the installation space required for the lifting transmission member in the vertical direction, thereby preventing the lifting transmission member from colliding with the ground and affecting the transmission of the lifting transmission member.

[0091] In another embodiment, see Figure 2 and Figure 3 The rotary drive structure 12 includes a first drive motor 121, two transmission gears 122 and two rotating shafts 123; the mop assembly 11 includes two lifting members 111, two rotating members 112 and two mops 113; the first drive motor 121 is in transmission connection with the two transmission gears 122, and each rotating shaft 123 is connected to a transmission gear 122; each rotating member 112 is connected to a rotating shaft 123, and each mop 113 is connected to a rotating member 112; the two ends of the lifting rod 134 are respectively connected to the outer walls of the two lifting members 111.

[0092] In this embodiment, the two transmission gears 122 and the two rotating shafts 123 are both arranged at the bottom of the device body and are arranged side by side. Through the above arrangement, a rotating driving member synchronously drives the two lifting members 111, the two rotating members 112 and the two mops 113 of the mop assembly 11 to rotate through the two transmission gears 122 and the two rotating shafts, so that the two mops 113 of the mop assembly 11 can rotate and rise and fall at the same time, which can improve the cleaning efficiency of the mop module 10 and simplify the structure of the mop module 10.

[0093] The present invention also provides a cleaning robot, see Figure 1 and Figure 2 The cleaning robot includes a main body 20, a visual sensor 30 and the mop module 10 as described above. The visual sensor 30 is installed on the main body 20 and is used to detect whether there is hair on the ground; the mop module 10 is arranged on the main body 20 and is spaced apart from the visual sensor 30.

[0094] The main body 20 includes a shell, a main controller, a roller and a roller brush dust suction assembly. The main controller and the first visual sensor 30 are installed in the shell. The roller is rotatably connected to the bottom of the shell. The roller brush dust suction assembly is installed at the bottom of the shell and is spaced apart from the roller. The roller brush dust suction assembly is used to absorb other garbage except hair from the ground. A accommodating space is provided at the bottom of the shell. The mop module is installed in the accommodating space. The main controller is electrically connected to the first drive motor 121 of the rotating drive structure 12, the second drive motor 131 of the lifting drive structure 13 and the first visual sensor 30.

[0095] When the first visual sensor 30 detects hair on the ground, the main controller determines that there is hair on the ground based on the detection result of the first visual sensor 30, and the main controller first controls the roller to turn around so that the mop module 10 originally located at the rear is adjusted to the front, and then controls the roller to drive the cleaning robot to move above the hair, and controls the mop module 10 to rise and fall, and the lowest descending position of the mop module 10 is flush with the bottom of the roller, and controls the mop module 10 to clean the hair. After the mop module 10 completes the hair cleaning, the mop module 10 is finally controlled to rise into the accommodating space to avoid position interference between the mop module 10 and the roller brush suction component, which affects the roller brush suction component's cleaning of garbage other than hair on the ground.

[0096] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A mop module for a cleaning robot, characterized in that: The mop module comprises: Mop assembly; A rotation driving structure, the rotation structure is connected to the mop assembly and drives the mop assembly to rotate; and The lifting driving structure, the rotating structure is connected with the mop assembly and drives the mop assembly to lift.

2. The mop module according to claim 1, characterized in that: The mop module also includes a first visual sensor, which is electrically connected to the rotation drive structure and the lifting drive structure; the first visual sensor is used to detect the hair condition on the ground; the rotation drive structure and the lifting drive structure are used to perform corresponding actions according to the first detection result of the first visual sensor.

3. The mop module according to claim 2, characterized in that: The mop module also includes a humidity sensor, which is electrically connected to the rotation drive structure and the lifting drive structure; the humidity sensor is used to detect the hair humidity on the ground; the rotation drive structure and the lifting drive structure are used to perform a response action according to the second detection result of the humidity sensor.

4. The mop module according to claim 2, characterized in that: The mop module further includes a second visual sensor, which is electrically connected to the rotation drive structure and the lifting drive structure; the second visual sensor is used to detect whether the mop assembly is sticky with hair; The rotation driving structure and the lifting driving structure are used to perform corresponding actions according to the third detection result of the second visual sensor.

5. The mop module as claimed in claim 1, characterized in that: The mop assembly comprises: A lifting member, the lifting member is connected to the lifting drive structure, and the lifting member is provided with a through hole; a rotating member, the rotating member is rotatably connected in the through hole and protrudes out of the through hole; and the rotating member is connected to the rotation driving structure; and A mop is connected to an end of the rotating member protruding from the through hole.

6. The mop module as claimed in claim 5, characterized in that: The rotating member comprises: a rotating drum connected to the rotary drive structure; the rotating drum is rotatably connected in the through hole, and one end of the rotating drum away from the rotary drive structure protrudes from the through hole; and A mounting plate is connected to one end of the rotating drum protruding from the through hole, and the mop is mounted on a side of the mounting plate facing away from the rotating drum.

7. The mop module as claimed in claim 5, characterized in that: The outer wall of the lifting member is provided with a limiting sink groove; The mop module further includes a limiting member, and the limiting member includes: A limiting rod, the limiting rod is fixed to the bottom of the cleaning robot and movably connected to the limiting sink; and A limiting ring is connected to an end of the limiting rod away from the limiting groove, and the limiting ring is used to limit the position of the lifting member in the vertical direction.

8. The mop module as claimed in claim 1, characterized in that: The rotary drive structure comprises: A first driving motor, wherein the first driving motor is arranged at the bottom of the cleaning robot, and an output shaft of the first driving motor is provided with a turbine; A transmission gear, the transmission gear is rotatably connected to the bottom of the cleaning robot and meshes with the turbine; and A rotating shaft is passed through the transmission gear and connected to the mop assembly.

9. The mop module according to claim 8, characterized in that: The transmission gear comprises: a first gear, the first gear being rotatably connected to the bottom of the cleaning robot and meshingly connected with the turbine; and A second gear, the second gear is rotatably connected to the bottom of the cleaning robot and meshed with the first gear; the rotating shaft passes through the second gear and is connected to the rotating member; and the diameter of the second gear is greater than the diameter of the first gear.

10. The mop module according to claim 8, characterized in that: The rotating member is provided with a first slot; The rotating shaft comprises: A connecting shaft, one end of which passes through the transmission gear; and A shaft sleeve, one end of which is movably inserted into the first slot so that the rotating member can move up and down relative to the shaft sleeve; a second slot is provided at the other end of the shaft sleeve, and one end of the connecting shaft away from the transmission gear is movably inserted into the second slot so that the shaft sleeve can move up and down relative to the connecting shaft.

11. The mop module according to claim 10, characterized in that: The outer wall of the connecting shaft is provided with a plane; the side wall of the second slot is provided with a spline, and the spline is in contact with the plane so that the connecting shaft drives the sleeve to rotate; And / or, the radial cross-sectional shape of the sleeve and the transverse cross-sectional shape of the first slot are both polygonal.

12. The mop module according to claim 10, characterized in that: The outer wall of the connecting shaft is provided with a limiting surface, and the limiting surface is arranged adjacent to the end of the connecting shaft that is matched with the transmission gear; the limiting surface is used to limit the displacement of the shaft sleeve rising; And / or, a limiting protrusion is provided on the outer wall of one end of the shaft sleeve close to the transmission gear, and the limiting protrusion is located at the end of the shaft sleeve close to the transmission gear, and is used to limit the lifting range of the rotating part.

13. The mop module according to any one of claims 1 to 12, characterized in that: The lifting drive structure comprises: a second drive motor, the second drive motor being disposed at the bottom of the cleaning robot and spaced apart from the rotary drive structure; a connecting rod, one end of which is connected to the output shaft of the second driving motor; a slider connected to the other end of the connecting rod; and A lifting rod is connected to the outer wall of the lifting member, and the lifting rod is provided with a slide groove, which is extended along the length direction of the lifting rod; the sliding block is slidably connected in the slide groove.

14. The mop module according to claim 13, characterized in that: The rotary drive structure includes a first drive motor, two transmission gears and two rotating shafts; The mop assembly includes two lifting parts, two rotating parts and two mops; The first driving motor is connected to the two transmission gears, each rotating shaft is connected to a transmission gear; each rotating member is connected to a rotating shaft, and each mop is connected to a rotating member; the two ends of the lifting rod are respectively connected to the outer walls of the two lifting members.

15. A cleaning robot, characterized in that: The cleaning robot comprises: the main body; and The mop module according to any one of claims 1 to 14, wherein the mop module is arranged on the main body.

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