Working module and cleaning robot

Abstract

The invention discloses a working module and a cleaning robot, and relates to the technical field of cleaning robots. The rack is connected with the assembling frame, the assembling frame is rotatably connected with the first mounting frame through a rotating shaft, and the rotating shaft can be driven to drive the first mounting frame to rotate left and right relative to the assembling frame; the second mounting frame is rotatably connected with the first mounting frame, and a cleaning assembly used for cleaning the ground is arranged on the second mounting frame; the lifting push rod is used for driving the assembling frame to vertically swing. According to the working module, the technical problem that the requirement for multi-scene switching cannot be met due to the fact that the moving freedom degree of the cleaning assembly in an existing working module only swings up and down and rotates left and right is solved, and the whole working module can meet the posture adjusting function of three freedom degrees including up-down lifting, up-down swinging and left-right rotating; therefore, multi-direction and multi-angle adjustment of the cleaning assembly is achieved, and the requirement that different types of cleaning assemblies are switched according to corresponding scenes can be met.

Description

Technical Field

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

[0002] There are many target scenarios in which the robot can work, such as epoxy floors, tile floors, terrazzo floors, long-haired carpets and short-haired carpets, etc. The functions required for each scenario are also different. When the robot design goal is to be compatible with most floor scenarios, it will encounter various floor and function combinations, and appropriate adjustments need to be made to ensure the functionality.

[0003] The existing working module structure is mostly based on a single fixed rotation point to lift and lower the cleaning component. The freedom of movement of the cleaning component is limited to up and down swing and left and right rotation. At the same time, some manual floor scrubbers with simpler structures even only retain the freedom of up and down swing, which cannot meet the needs of multi-scene switching. Therefore, a working module and a cleaning robot are proposed to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a working module and a cleaning robot, which solves the technical problem that the existing working module structure is mostly based on a single fixed rotation point to lift and lower the cleaning component, and the freedom of movement of the cleaning component is limited to up and down swinging and left and right rotation, which cannot meet the needs of multi-scene switching.

[0005] To achieve the above object, the present invention provides a working module, comprising:

[0006] frame;

[0007] An assembly frame connected to the frame, the assembly frame being rotatably connected to the first mounting frame via a rotating shaft, and the rotating shaft being capable of being driven to drive the first mounting frame to rotate left and right relative to the assembly frame;

[0008] a second mounting frame, rotatably connected to the first mounting frame, wherein a cleaning component for cleaning the floor is disposed on the second mounting frame;

[0009] A lifting push rod, the top end of which is rotatably connected to the frame, the bottom end of which is rotatably connected to the assembly frame, and the lifting push rod is used to drive the assembly frame to move up and down.

[0010] Preferably, assembly seats are arranged on both sides of the second mounting frame, a receiving cavity is arranged on the top surface of the assembly seat, a support spring is arranged in the receiving cavity, and the upper end of the support spring can abut against the bottom surface of the assembly frame.

[0011] Preferably, a mounting groove is provided at one end of the second mounting frame away from the first mounting frame, and the mounting groove is detachably connected to the cleaning component, and the cleaning component includes: any one of a water pumping box, a dust suction box and a dust pusher.

[0012] Preferably, a plurality of first guide rods are arranged in the installation groove, and a plurality of guide holes are respectively arranged on the sides of the water pump box, the dust suction box and the dust pusher, and each of the guide holes is slidably connected to one of the first guide rods.

[0013] Preferably, locking bolts are provided on both sides of the second mounting frame, and one end of the locking bolts is located in the mounting groove.

[0014] Preferably, the mounting groove is detachably connected to the water pumping box, and a flexible rubber strip is provided on the bottom surface of the water pumping box, and the flexible rubber strip is used to collect ground sewage.

[0015] Preferably, limit plates are respectively provided on both side surfaces of the first mounting frame, and a limit portion is integrally provided on one end of the second mounting frame connected to the first mounting frame, and when the second mounting frame swings relative to the first mounting frame, the limit portion can abut against the limit plate, and a movable gap is reserved between the limit portion and the limit plate to limit the up and down swinging angle of the second mounting frame relative to the first mounting frame.

[0016] Preferably, a plurality of second guide rods are disposed on the top surface of the assembly frame, and the second guide rods are slidably connected to the frame.

[0017] Preferably, a connecting plate is provided on the side of the water pumping box and the dust collecting box away from the first mounting frame, and a bolt hole is provided on the top surface of the connecting plate. The bolt hole is threadedly connected to the adjusting screw, and the bottom end of the adjusting screw is connected to a universal wheel, and the universal wheel is used to abut against the ground.

[0018] A cleaning robot comprises any one of the working modules described above.

[0019] Compared with the above-mentioned background technology, a working module provided by the present invention has the following beneficial effects: the assembly frame is rotatably connected to the first mounting frame through a rotating shaft, the rotating shaft is driven to drive the first mounting frame to rotate left and right relative to the assembly frame, the lifting push rod drives the assembly frame to move up and down, and then the overall working module moves up and down, and at the same time, the second mounting frame is rotatably connected to the first mounting frame, and the second mounting frame can swing up and down relative to the first mounting frame. Through the above three-degree-of-freedom posture adjustment function, the cleaning component can be adjusted in multiple directions and angles, so that different types of cleaning components can be connected to the second mounting frame, thereby meeting the needs of switching different types of cleaning components according to corresponding scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 A three-dimensional structural diagram of a working module provided in an embodiment of the present invention;

[0022] Figure 2 A front view of a working module provided by an embodiment of the present invention;

[0023] Figure 3 A side view of a working module provided by an embodiment of the present invention;

[0024] Figure 4 A three-dimensional structural diagram of a working module provided in the first embodiment of the present invention;

[0025] Figure 5 A front view of a working module provided by a first embodiment of the present invention;

[0026] Figure 6 A three-dimensional structural diagram of a working module provided in a second embodiment of the present invention;

[0027] Figure 7 This is a three-dimensional structural diagram of a working module provided in the third embodiment of the present invention.

[0028] Specifically, 1-assembly frame; 101-articulated frame; 2-rotating axis; 3-first mounting frame; 4-second mounting frame; 401-limiting part; 402-mounting groove; 403-locking bolt; 404-top plate; 405-fixing plate; 5-universal wheel; 6-assembly seat; 601-accommodating chamber; 7-support spring; 8-guide hole; 9-water pumping box; 901-flexible rubber strip; 10-dust suction box; 11-dust pusher; 12-limiting plate; 13-movable gap; 14-first guide rod; 15-second guide rod; 16-positioning shaft; 17-first connecting plate; 170-second connecting plate; 171-bolt hole; 18-adjusting screw. DETAILED DESCRIPTION

[0029] 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.

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] like Figure 1 , Figure 2 and Figure 3 As shown, to achieve the above purpose, the present invention provides a working module, including: a frame (not shown in the figure) for installing the entire working module, an assembly frame 1, a first mounting frame 3 and a second mounting frame 4.

[0032] The frame is connected to the assembly frame 1, and the assembly frame 1 is rotatably connected to the first mounting frame 3 through the rotating shaft 2. Specifically, a power device is arranged on the frame, and the power device can drive the rotating shaft 2 to rotate, thereby driving the first mounting frame 3 to rotate left and right relative to the assembly frame 1, thereby adjusting the posture of the first mounting frame 3.

[0033] The first mounting frame 3 is rotatably connected to the second mounting frame 4. Specifically, a first connection hole is provided at the left end of the first mounting frame 3, and a second connection hole is provided at the right end of the second mounting frame 4. The positioning shaft 16 passes through the first connection hole and the second connection hole to hinge the first mounting frame 3 and the second mounting frame 4 together, wherein the axis of the positioning shaft 16 is the rotation center of the second mounting frame 4. A cleaning component for cleaning the ground is provided on the second mounting frame 4, and the cleaning component contacts the ground to clean the ground.

[0034] A lifting push rod (not shown in the figure) is arranged on the frame, wherein the top end of the lifting push rod is rotatably connected to the frame, and the bottom end of the lifting push rod is rotatably connected to the assembly frame 1. Specifically, an articulated frame 101 is arranged on the top surface of the assembly frame 1, and the articulated frame 101 is connected to the bottom end of the lifting push rod through a pin shaft. By driving the lifting push rod to extend and retract, the first mounting frame 3 and the second mounting frame 4 can be driven to reciprocate up and down.

[0035] When in use, in the initial state, under the combined action of the gravity of the cleaning component and the gravity of the first mounting frame 3 itself, the second mounting frame 4 swings downward to the limit position, and the lifting push rod extends to drive the assembly frame 1 to move downward relative to the frame until the cleaning component contacts the ground and can complete the cleaning task of the ground at its location. The movement of the frame drives the working module to move on the ground, and the cleaning component contacts the ground and cleans the ground. When the cleaning component moves to the raised ground position, the cleaning component is lifted up, and the second mounting frame 4 swings upward by a certain angle under the supporting action of the cleaning component to ensure that the cleaning component passes the raised ground position smoothly. At the same time, the power device drives the first mounting frame 3 to rotate left and right, flexibly adjusts the posture of the cleaning component, and realizes multi-directional and multi-angle adjustment of the cleaning component, so that different types of cleaning components can be connected to the second mounting frame 4, thereby meeting the needs of switching different types of cleaning components according to corresponding scenes, so that the overall working module is applicable to a wider range of ground types and ranges.

[0036] In one embodiment of the present invention, an assembly seat 6 is provided on both sides of the second mounting frame 4. Specifically, the two sides of the assembly seat 6 are installed on the side surfaces of the second mounting frame 4, the middle part of the assembly seat 6 is cylindrical, and a receiving cavity 601 is provided on the top surface of the assembly seat 6. The receiving cavity 601 is a cavity with an opening on the top surface. A support spring 7 is provided in the receiving cavity 601, and the upper end of the support spring 7 can abut against the bottom surface of the assembly frame 1. It should be noted that an extension portion is provided on the bottom surface of the assembly frame 1, the extension portion is integrally formed with the assembly frame 1, and the extension portion is located directly above the receiving cavity 601, and the horizontal projection surface of the extension portion completely covers the receiving cavity 601, so as to ensure that the support spring 7 can always be located directly below the extension portion during the up and down swinging of the second mounting frame 4, and the extension line of the support spring 7 can always pass through the bottom surface of the extension portion.

[0037] It should be noted that the upper end of the support spring 7 is not fixedly connected to the ground of the extension part. When the top surface of the second mounting frame 4 is parallel to the bottom surface of the assembly frame 1, the top end of the support spring 7 does not contact the bottom surface of the extension part, thereby ensuring that the support spring 7 does not provide a pulling force to the second mounting frame 4; when the cleaning component is lifted up by the ground and the second mounting frame 4 is lifted up by the cleaning component, the support spring 7 contracts under the squeezing action of the extension part and the assembly frame 1 to provide downward pressure to the second mounting frame 4, thereby preventing the second mounting frame 4 from being damaged due to rigid contact with the assembly frame 1, thereby protecting the overall working module.

[0038] It should be noted that the second mounting frame 4 includes: an integrally arranged top plate 404 and a fixed plate 405, the top plate 404 is located on the top surface of the left end portion of the second mounting frame 4, the fixed plate 405 is inclined, and the left end portion of the second mounting frame 4 is higher than the right end portion of the second mounting frame 4; the second mounting frame 4 is provided with a mounting groove 402 at one end away from the first mounting frame 3, specifically, the left end portion of the second mounting frame 4 is provided with a mounting groove 402, the mounting groove 402 is located below the top plate 404, the mounting groove 402 is detachably connected to a cleaning component, and the cleaning component includes: any one of a water pumping box 9, a dust collection box 10 and a dust pusher 11, and according to the usage scenario, any one of the water pumping box 9, the dust collection box 10 and the dust pusher 11 can be installed in the mounting groove 402.

[0039] It should be noted that the cleaning assembly is at the bottom of the second mounting frame 4. After the overall working module is lowered, the cleaning assembly first touches the ground. In the first embodiment of the present invention, when it is necessary to wash the ground, a water pumping box 9 is installed in the mounting groove 402. The water pumping box 9 completes the water absorption function. The water pumping box 9 can be detachably connected to the mounting groove 402. Figure 4 and Figure 5 As shown, the water pumping box 9 collects the sewage remaining on the ground along the forward direction of the frame. Specifically, after the lifting push rod drives the whole working module to descend, the water pumping box 9 first contacts the ground, and then continues to drive the lifting push rod to extend, the ground will further support the cleaning component, and the cleaning component supports the second mounting frame 4. The second mounting frame 4 swings upward under the support of the cleaning component until the support spring 7 is squeezed and contracted a certain distance. The support spring 7 will give the second mounting frame 4 a certain elastic force, so that the water pumping box 9 can stably fit the ground without being damaged by the rigid squeezing force.

[0040] In addition, a flexible rubber strip 901 is provided on the bottom surface of the pumping box 9, and the second mounting frame 4 elastically supports the flexible rubber strip 901, so that the flexible rubber strip 901 can fully contact the ground, thereby being able to more fully gather the sewage on the ground and achieve the best suction effect on the sewage on the ground. When the ground rises to a certain height, the support spring 7 will be further compressed, so that the flexible rubber strip 901 can adapt to the fluctuation of the ground, avoiding frequent adjustment of the overall working module, and being more convenient to use. When the ground rises higher or is deeply concave, exceeding the up and down swing angle of the second mounting frame 4, the overall working module is actively mobilized by the lifting push rod to raise or lower it to a certain height to flexibly adapt to the ground.

[0041] Preferably, the pumping box 9 is in an arc shape as a whole, and the concave surface of the pumping box 9 faces the first mounting frame 3. By designing the pumping box 9 in an arc shape, the water absorbing area of ​​the pumping box can be increased, so that the water on the ground can be absorbed more thoroughly, and water can be prevented from overflowing from both ends of the pumping box 9 as much as possible. In addition, water can be absorbed more efficiently, thereby improving cleaning efficiency.

[0042] In one embodiment of the present invention, limit plates 12 are respectively provided on both side surfaces of the first mounting frame 3, and a limit portion 401 is integrally provided at one end of the second mounting frame 4 connected to the first mounting frame 3, and a movable gap 13 is reserved between the limit portion 401 and the limit plate 12, wherein the limit portion 401 and the limit plate 12 are both rectangular in shape, and when the second mounting frame 4 swings relative to the first mounting frame 3, the right side edge of the limit portion 401 can abut against the left side edge of the limit plate 12, thereby limiting the up and down swinging angle of the second mounting frame 4 relative to the first mounting frame 3, thereby enabling the second mounting frame 4 to be lifted along with the first mounting frame 3, and ensuring that when the cleaning component supports the second mounting frame 4 under the supporting action of the ground, the second mounting frame 4 can generate a certain reaction force on the cleaning component, so that the cleaning component can act stably on the ground.

[0043] It should be noted that the angle at which the second mounting frame 4 swings up and down relative to the first mounting frame 3 is determined by the size of the movable gap 13 reserved between the limiting portion 401 and the limiting plate 12. Preferably, the right side of the limiting portion 401 and the left side of the limiting plate 12 are both rounded, so that the limiting portion 401 and the limiting plate 12 can cooperate more smoothly.

[0044] When the ground is raised higher, the second mounting frame 4 swings upward to reach the limit position. At this time, the limit part 401 abuts against the limit plate 12. In order to further ensure that the limit part 401 abuts against the limit plate 12 and is not damaged due to the large interaction force, a pressure sensor (not shown in the figure) is arranged at the bottom end of the support spring 7. The pressure sensor is connected to the control system, and the control system is connected to the alarm. The extrusion pressure on the support spring 7 is monitored by the pressure sensor. When the limit part 401 abuts against the limit plate 12, the extrusion pressure of the support spring 7 on the pressure sensor reaches the maximum value. At this time, the pressure sensor sends an alarm signal to the control system, and the control system controls the alarm to sound an alarm to remind the staff to control the lifting and retraction to increase the height of the overall working module, thereby protecting the overall working module.

[0045] In one embodiment of the present invention, a plurality of second guide rods 15 are provided on the top surface of the assembly frame 1, and the second guide rods 15 are slidably connected to the frame. When the lifting push rod drives the overall working module to move up and down, the second guide rods 15 can limit and correct the movement path, thereby ensuring that the movement path of the overall working module relative to the frame always remains consistent, thereby improving the stability of the overall working module during movement.

[0046] A connecting plate is provided on the side of the water pumping box 9 and the dust collecting box 10 away from the first mounting frame 3. The top surface of the connecting plate is provided with a bolt hole, the bolt hole is threadedly connected to the adjusting screw, and the bottom end of the adjusting screw is connected to the universal wheel 5, which is used to abut the ground. The universal wheel 5 can form a certain support for the cleaning component to avoid direct contact between the cleaning component and the ground, and play a role in accurately controlling the distance between the cleaning component and the ground.

[0047] Specifically, Figure 4 As shown, a first connecting plate 17 is provided on one side of the water pump box 9, and a bolt hole 171 is provided on the top surface of the first connecting plate 17. The bolt hole 171 is threadedly connected to the adjusting screw 18. The bottom end of the adjusting screw 18 is connected to the universal wheel 5, and the universal wheel 5 is used to abut the ground.

[0048] like Figure 6 As shown, a second connecting plate 170 is provided on one side of the dust collector 10, and a bolt hole 171 is also provided on the top surface of the second connecting plate 170. The bolt hole 171 is threadedly connected to the adjusting screw 18, and the bottom end of the adjusting screw 18 is connected to the universal wheel 5, which is used to abut against the ground.

[0049] The first connecting plate 17 and the second connecting plate 170 can be arranged according to the specific shapes and sizes of the water pumping box 9 and the dust collecting box 10, for example, the first connecting plate 17 is a single-layer plate, and the second connecting plate 170 is a double-layer plate.

[0050] In the second embodiment of the present invention, when it is necessary to vacuum the floor, the dust box 10 is installed in the installation groove 402, and the flexible rubber strip 901 is no longer provided on the bottom surface of the dust box 10. The dust box 10 mainly relies on the universal wheel 5 to adapt to the floor, and the height position of the universal wheel 5 relative to the dust box 10 is adjusted by adjusting the bolt, thereby adjusting the ground clearance of the dust box 10 to ensure that the ground clearance of the dust box 10 is smaller than that of the water pumping box 9, and at the same time ensure that the up and down fluctuation range of the dust box 10 is small, so that the dust box 10 can fully suck the dust on the floor.

[0051] It should be further explained that the dust box 10 is mainly used on carpet surfaces. For long-haired carpets and short-haired carpets, the height of the dust box 10 relative to the ground when working is different. At this time, it is necessary to adjust the height of the dust box 10 relative to the ground in the vertical direction to adapt to the ground. The height of the entire working module relative to the ground can be accurately adjusted through the lifting push rod, effectively ensuring that the dust box 10 fully absorbs the dust on the carpet surface.

[0052] like Figure 7 As shown, when the dust trolley 11 needs to be used to clean the floor, the dust trolley 11 is installed in the installation groove 402, and the dust trolley 11 itself needs to contact the ground. Since the angle requirement of the dust trolley 11 relative to the ground is relatively low, the height of the overall working module relative to the ground can be freely selected when the dust trolley 11 is working.

[0053] In one embodiment of the present invention, a plurality of first guide rods 14 are arranged in the installation groove 402, and a plurality of guide holes 8 are respectively arranged on the sides of the water suction box 9, the dust suction box 10 and the dust pusher 11, and each guide hole 8 is respectively slidably connected to a first guide rod 14. Different types of cleaning components can be quickly installed in the installation groove 402 through the cooperation between the first guide rods 14 and the guide holes 8, thereby effectively improving the switching between different functions of the equipment and improving the working efficiency of the equipment.

[0054] In addition, locking bolts 403 are provided on both sides of the second mounting frame 4, one end of the locking bolts 403 is located in the mounting groove 402, and the end of the locking bolts 403 located in the mounting groove 402 can abut the cleaning component. Furthermore, positioning grooves are provided on both sides of the water pumping box 9, the dust collection box 10 and the dust pusher 11. Taking the installation of the water pumping box 9 as an example, the guide hole on the water pumping box 9 is connected to the first guide rod 14, and the locking bolt 403 is rotated forward. The end of the locking bolt 403 located in the mounting groove 402 is engaged with the positioning groove, and the water pumping box 9 is locked to ensure that it is stably fixed in the mounting groove 402 during operation.

[0055] When the present invention is in use, in the initial state, under the combined action of the gravity of the cleaning component and the gravity of the first mounting frame 3 itself, the second mounting frame 4 swings downward to the limit position, the lifting push rod extends to drive the assembly frame 1 to move downward relative to the frame until the cleaning component contacts the ground, the frame moves and drives the working module to move on the ground, the cleaning component contacts the ground and cleans the ground, when the cleaning component moves to the raised ground position, the cleaning component is lifted up, and the second mounting frame 4 swings upward by a certain angle under the supporting action of the cleaning component to ensure that the cleaning component passes the raised ground position smoothly. At the same time, the power device drives the first mounting frame 3 to rotate left and right, flexibly adjusts the position and posture of the cleaning component, and completes the cleaning of the ground.

[0056] In summary, the overall working module can meet the posture adjustment functions of three degrees of freedom, namely, up and down lifting, up and down swinging, and left and right rotation, so as to realize the multi-directional and multi-angle adjustment of the cleaning components, so that different types of cleaning components can be connected to the second mounting bracket 4, thereby meeting the needs of switching different types of cleaning components according to corresponding scenes, and having better practicality.

[0057] In addition to the above-mentioned working module, the present invention also provides a cleaning robot including the working module disclosed in the above-mentioned embodiment. For the structures of other parts of the cleaning robot, please refer to the prior art and will not be described in detail herein.

[0058] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0059] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A working module, characterized in that: include: frame; An assembly frame connected to the frame, the assembly frame being rotatably connected to the first mounting frame via a rotating shaft, and the rotating shaft being capable of being driven to drive the first mounting frame to rotate left and right relative to the assembly frame; a second mounting frame, rotatably connected to the first mounting frame, wherein the second mounting frame is provided with a cleaning component for cleaning the floor; A lifting push rod, the top end of which is rotatably connected to the frame, the bottom end of which is rotatably connected to the assembly frame, and the lifting push rod is used to drive the assembly frame to move up and down.

2. A working module according to claim 1, characterized in that: Assembly seats are arranged on both sides of the second mounting frame, a receiving cavity is arranged on the top surface of the assembly seat, a support spring is arranged in the receiving cavity, and the upper end of the support spring can abut against the bottom surface of the assembly frame.

3. A working module according to claim 1, characterized in that: An installation slot is provided at one end of the second installation frame away from the first installation frame, and the installation slot is detachably connected to the cleaning component, and the cleaning component includes: any one of a water pumping box, a dust suction box and a dust pusher.

4. A working module according to claim 3, characterized in that: A plurality of first guide rods are arranged in the installation groove, and a plurality of guide holes are respectively arranged on the sides of the water pumping box, the dust collecting box and the dust pusher, and each of the guide holes is slidably connected to one of the first guide rods.

5. A working module according to claim 4, characterized in that: Locking bolts are arranged on both sides of the second mounting frame, and one end of the locking bolts is located in the mounting groove.

6. A working module according to claim 3, characterized in that: The mounting groove is detachably connected to the water pumping box. A flexible rubber strip is arranged on the bottom surface of the water pumping box, and the flexible rubber strip is used for collecting ground sewage.

7. A working module according to any one of claims 1-6, characterized in that: Limiting plates are respectively arranged on both sides of the first mounting frame, and a limiting portion is integrally arranged on one end of the second mounting frame connected to the first mounting frame. When the second mounting frame swings relative to the first mounting frame, the limiting portion can abut against the limiting plate, and a movable gap is reserved between the limiting portion and the limiting plate to limit the up and down swinging angle of the second mounting frame relative to the first mounting frame.

8. A working module according to claim 7, characterized in that: A plurality of second guide rods are arranged on the top surface of the assembly frame, and the second guide rods are slidably connected to the frame.

9. A working module according to claim 3, characterized in that: The water pumping box and the dust collecting box are both provided with a connecting plate on one side away from the first mounting frame, and the top surface of the connecting plate is provided with a bolt hole, the bolt hole is threadedly connected to an adjusting screw, and the bottom end of the adjusting screw is connected to a universal wheel, and the universal wheel is used to abut against the ground.

10. A cleaning robot, characterized in that: The working module comprises any one of claims 1 to 9.

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