A working module and a cleaning robot

Abstract

The present invention discloses a working module and a cleaning robot, relating to the technical field of cleaning robots. The working module includes: a frame; the frame is connected to an assembly frame, and the assembly frame is rotatably connected to a 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 assembly frame; a second mounting frame, which is rotatably connected to the first mounting frame, and a cleaning component for cleaning the ground is arranged on the second mounting frame; a lifting push rod, which is used to drive the assembly frame to swing up and down. The above-mentioned working module solves the technical problem that in the existing working module, the degree of freedom of movement of the cleaning component is only up and down swing and left and right rotation, which cannot meet the requirements of multi-scene switching. The overall working module can meet the attitude adjustment functions of the above three degrees of freedom of up and down lifting, up and down swing and left and right rotation, so as to realize the multi-directional and multi-angle adjustment of the cleaning component, and can meet the requirements of different types of cleaning components to switch according to the corresponding scenes.

Description

Technical Field

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

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

[0003] The existing working module structures are mostly based on a single fixed rotation point as a reference for the up and down lifting of the cleaning components. The movement degrees of freedom of the cleaning components are only up and down swinging and left and right rotation. At the same time, on some manually operated floor scrubbers with relatively simple structures, only the degree of freedom of up and down swinging is retained, thus unable to meet the requirements of multi-scenario switching. Therefore, a working module and a cleaning robot for solving the above problems are proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a working module and a cleaning robot, which solve the technical problem that the existing working module structures are mostly based on a single fixed rotation point as a reference for the up and down lifting of the cleaning components, and the movement degrees of freedom of the cleaning components are only up and down swinging and left and right rotation, and cannot meet the requirements of multi-scenario switching.

[0005] To achieve the above purpose, the present invention provides a working module, including:

[0006] A frame;

[0007] An assembly frame, connected to the frame, the assembly frame is rotatably connected to a 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 assembly frame;

[0008] A second mounting frame, rotatably connected to the first mounting frame, and a cleaning component for cleaning the ground is provided on the second mounting frame;

[0009] A lifting push rod, 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, and the lifting push rod is used to drive the assembly frame to move up and down.

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

[0011] Preferably, one end of the second mounting bracket away from the first mounting bracket is provided with a mounting groove, 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 mop.

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

[0013] Preferably, locking bolts are arranged on both sides of the second mounting bracket, and one end of each locking bolt 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 arranged on the bottom surface of the water pumping box, and the flexible rubber strip is used for gathering sewage on the ground.

[0015] Preferably, limiting plates are respectively arranged on both side surfaces of the first mounting bracket, and a limiting portion is integrally arranged at one end of the second mounting bracket connecting the first mounting bracket. When the second mounting bracket swings relative to the first mounting bracket, 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 angle of the second mounting bracket swinging up and down relative to the first mounting bracket.

[0016] Preferably, 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 machine frame.

[0017] Preferably, connecting plates are respectively arranged on one sides of the water pumping box and the dust suction box away from the first mounting bracket, bolt holes are arranged on the top surfaces of the connecting plates, the bolt holes are threadedly connected to the adjusting screw rods, and the bottom ends of the adjusting screw rods are connected to universal wheels, and the universal wheels are used for abutting against the ground.

[0018] A cleaning robot includes the working module according to any one of the above.

[0019] Compared with the above background art, a working module provided by the present invention has the following beneficial effects: The assembly frame is rotatably connected to the first mounting bracket through a rotating shaft, and the rotating shaft is driven to drive the first mounting bracket 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. At the same time, the second mounting bracket is rotatably connected to the first mounting bracket, and the second mounting bracket can swing up and down relative to the first mounting bracket. Through the attitude adjustment function of the above three degrees of freedom, multi-directional and multi-angle adjustment of the cleaning component is realized, so that different types of cleaning components can be connected to the second mounting bracket, and further the requirements for switching different types of cleaning components according to corresponding scenarios are met. Description of the Drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on the provided drawings.

[0021] Figure 1 The three-dimensional structure diagram of the working module provided by the embodiment of the present invention;

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

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

[0024] Figure 4 The three-dimensional structure diagram of the working module provided by the first embodiment of the present invention;

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

[0026] Figure 6 The three-dimensional structure diagram of the working module provided by the second embodiment of the present invention;

[0027] Figure 7 The three-dimensional structure diagram of the working module provided by the third embodiment of the present invention.

[0028] Specifically, 1 - assembly frame; 101 - hinge frame; 2 - rotating shaft; 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 cavity; 7 - support spring; 8 - guiding hole; 9 - pumping box; 901 - flexible rubber strip; 10 - dust suction box; 11 - dust mop; 12 - limiting plate; 13 - moving gap; 14 - first guiding rod; 15 - second guiding rod; 16 - positioning shaft; 17 - first connecting plate; 170 - second connecting plate; 171 - bolt hole; 18 - adjusting screw. Detailed implementation manners

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0030] To enable those skilled in the art of this technical field to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0031] As Figure 1 , Figure 2 and Figure 3 shown, to achieve the above object, the present invention provides a working module, including: a frame (not shown in the figure) for installing the overall 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 a rotating shaft 2. Specifically, a power device is provided on the frame, and the power device can drive the rotating shaft 2 to rotate, so as to drive the first mounting frame 3 to rotate left and right relative to the assembly frame 1, and then adjust the attitude 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-connect the first mounting frame 3 and the second mounting frame 4 together. Among them, 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 provided on the frame. Specifically, 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, a hinge frame 101 is provided on the top surface of the assembly frame 1, and the hinge frame 101 is connected to the bottom end of the lifting push rod through a pin shaft. By driving the lifting push rod to expand and contract, the first mounting frame 3 and the second mounting frame 4 can be driven to move up and down reciprocally.

[0035] In use, in the initial state, under the combined action of the gravity of the cleaning assembly and the self-gravity of the first mounting bracket 3, the second mounting bracket 4 swings downward to the extreme position. The lifting push rod extends to drive the mounting frame 1 to move downward relative to the machine frame until the cleaning assembly contacts the ground and can complete the cleaning task at the position where it is located. The machine frame travels to drive the working module to move on the ground. The cleaning assembly contacts the ground and cleans the ground. When the cleaning assembly moves to a raised ground position, the cleaning assembly is jacked up, and the second mounting bracket 4 swings upward at a certain angle under the jacking action of the cleaning assembly to ensure that the cleaning assembly can smoothly pass through the raised ground position. At the same time, the power device drives the first mounting bracket 3 to rotate left and right, flexibly adjusting the posture of the cleaning assembly, realizing multi-directional and multi-angle adjustment of the cleaning assembly, enabling different types of cleaning assemblies to be connected to the second mounting bracket 4, and further meeting the requirements of different types of cleaning assemblies to switch according to the corresponding scenarios, so that the overall working module is applicable to a wider variety of ground types and ranges.

[0036] In one embodiment of the present invention, assembly seats 6 are provided on both sides of the second mounting bracket 4. Specifically, the two side parts of the assembly seat 6 are mounted on the side surface of the second mounting bracket 4. The middle part of the assembly seat 6 is columnar, 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 open 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 mounting frame 1. It should be noted that an extension part is provided on the bottom surface of the mounting frame 1. The extension part is integrally formed with the mounting frame 1 and is located directly above the receiving cavity 601. The horizontal projection surface of the extension part completely covers the receiving cavity 601 to ensure that the support spring 7 can always be located directly below the extension part during the up-and-down swinging process of the second mounting bracket 4, and the extension line of the support spring 7 can always pass through the bottom surface of the extension part.

[0037] It should be noted that the upper end of the support spring 7 is not fixedly connected to the bottom surface of the extension part. When the top surface of the second mounting bracket 4 is parallel to the bottom surface of the mounting frame 1, the top end of the support spring 7 does not contact the bottom surface of the extension part, so as to ensure that the support spring 7 does not provide a pulling force to the second mounting bracket 4; when the cleaning assembly is jacked up by the ground and the second mounting bracket 4 is jacked up by the cleaning assembly, the support spring 7 contracts under the extrusion of the extension part and the mounting frame 1 to provide a downward pressure to the second mounting bracket 4, preventing the second mounting bracket 4 from being in rigid contact with the mounting frame 1 and being damaged, playing a role in 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 an embodiment of the present invention, limiting plates 12 are respectively arranged on both side surfaces of the first mounting bracket 3. A limiting portion 401 is integrally arranged at one end of the second mounting bracket 4 connected to the first mounting bracket 3, and an activity gap 13 is reserved between the limiting portion 401 and the limiting plate 12. Among them, both the limiting portion 401 and the limiting plate 12 are rectangular. When the second mounting bracket 4 swings relative to the first mounting bracket 3, the right side of the limiting portion 401 can abut against the left side of the limiting plate 12, thereby limiting the angle of the second mounting bracket 4 swinging up and down relative to the first mounting bracket 3. Furthermore, the second mounting bracket 4 can be lifted along with the first mounting bracket 3. Also, when the cleaning assembly abuts against the second mounting bracket 4 under the action of the ground holding force, the second mounting bracket 4 can generate a certain reaction force on the cleaning assembly, so that the cleaning assembly acts stably on the ground.

[0043] It should be noted that the angle of the second mounting bracket 4 swinging up and down relative to the first mounting bracket 3 is determined by the size of the activity gap 13 reserved between the limiting portion 401 and the limiting plate 12. Preferably, rounded corners are arranged on the right side of the limiting portion 401 and the left side of the limiting plate 12, so that the cooperation between the limiting portion 401 and the limiting plate 12 is smoother.

[0044] When the ground bulge is relatively high, the second mounting bracket 4 swings upward to the extreme limit. At this time, the limiting portion 401 abuts against the limiting plate 12. To further ensure that the limiting portion 401 and the limiting plate 12 will not be damaged due to the large mutual acting 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 force received by the support spring 7 is monitored through the pressure sensor. When the limiting portion 401 abuts against the limiting plate 12, the extrusion force of the support spring 7 received by 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 give an alarm, reminding the staff to control the lifting push rod to retract to increase the height of the overall working module, playing a role in protecting the overall working module.

[0045] In an embodiment of the present invention, a plurality of second guiding rods 15 are arranged on the top surface of the assembly frame 1. The second guiding rods 15 are slidably connected to the machine frame. When the lifting push rod drives the overall working module to move up and down, the movement path can be limited and corrected through the second guiding rods 15, and it can be ensured that the movement path of the overall working module relative to the machine frame always remains consistent, 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 suction box 10 away from the first mounting bracket 3. A bolt hole is arranged on the top surface of the connecting plate. The bolt hole is threadedly connected to an adjusting screw rod. The bottom end of the adjusting screw rod is connected to a universal wheel 5, and the universal wheel 5 is used to abut against the ground. The universal wheel 5 can form a certain support for the cleaning assembly, avoiding direct contact between the cleaning assembly and the ground, and playing a role in precisely controlling the distance between the cleaning assembly and the ground.

[0047] Specifically, as Figure 4 shown, one side of the water pumping box 9 is provided with a first connecting plate 17. A bolt hole 171 is arranged on the top surface of the first connecting plate 17. The adjusting screw rod 18 is in threaded connection with the bolt hole 171. The bottom end of the adjusting screw rod 18 is connected with the universal wheel 5, and the universal wheel 5 is used for abutting against the ground.

[0048] As Figure 6 shown, one side of the dust suction box 10 is provided with a second connecting plate 170. A bolt hole 171 is also arranged on the top surface of the second connecting plate 170. The adjusting screw rod 18 is in threaded connection with the bolt hole 171. The bottom end of the adjusting screw rod 18 is connected with the universal wheel 5, and the universal wheel 5 is used for abutting against the ground.

[0049] Regarding the setting modes of the first connecting plate 17 and the second connecting plate 170, they can be adaptively set according to the specific shape and size of the water pumping box 9 and the dust suction box 10. For example, the first connecting plate 17 is a single-layer plate body, and the second connecting plate 170 is a double-layer plate body, etc.

[0050] In the second embodiment of the present invention, when it is necessary to vacuum the ground, the dust suction box 10 is installed in the installation groove 402. The flexible rubber strip 901 is no longer arranged on the bottom surface of the dust suction box 10. The dust suction box 10 mainly relies on the universal wheel 5 to adapt to the ground. The height position of the universal wheel 5 relative to the dust suction box 10 is adjusted by adjusting the bolt, so as to adjust the ground clearance of the dust suction box 10, ensure that the ground clearance of the dust suction 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 suction box 10 is smaller, so that the dust suction box 10 can fully suck the dust on the ground.

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

[0052] As Figure 7 shown, when it is necessary to use the dust mop 11 to clean the ground, the dust mop 11 is installed in the installation groove 402. The dust mop 11 itself needs to contact the ground. Since the angle requirement of the dust mop 11 relative to the ground is relatively low, therefore, when the dust mop 11 works, the height of the overall working module relative to the ground can be freely selected.

[0053] In one embodiment of the present invention, a plurality of first guiding rods 14 are arranged in the installation groove 402. A plurality of guiding holes 8 are respectively provided on the sides of the water pumping box 9, the dust suction box 10 and the dust mop 11. Each guiding hole 8 is slidably connected to a first guiding rod 14. Different types of cleaning components are quickly installed in the installation groove 402 through the cooperation of the first guiding rods 14 and the guiding holes 8, effectively improving the switching between different functions of the device and enhancing the working efficiency of the device.

[0054] In addition, locking bolts 403 are arranged on both sides of the second mounting bracket 4. One end of each locking bolt 403 is located in the installation groove 402, and the end of the locking bolt 403 located in the installation groove 402 can abut against the cleaning component. Further, positioning grooves are provided on both side surfaces of the water pumping box 9, the dust suction box 10 and the dust mop 11. Taking the installation of the water pumping box 9 as an example, the guiding holes on the water pumping box 9 are docked with the first guiding rods 14. The locking bolts 403 are rotated forward, and the ends of the locking bolts 403 located in the installation groove 402 are engaged with the positioning grooves to lock the water pumping box 9 and ensure that it is stably fixed in the installation 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 self-gravity of the first mounting bracket 3, the second mounting bracket 4 swings downward to the extreme position. The lifting push rod extends to drive the assembly frame 1 to move downward relative to the machine frame until the cleaning component contacts the ground. The machine frame moves forward to drive the working module to move on the ground. The cleaning component contacts the ground and cleans the ground. When the cleaning component moves to a raised ground position, the cleaning component is pushed upward, and the second mounting bracket 4 swings upward by a certain angle under the pushing action of the cleaning component to ensure that the cleaning component can smoothly pass through the raised ground position. At the same time, the power device drives the first mounting bracket 3 to rotate left and right to flexibly adjust the position and posture of the cleaning component and complete 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 component, enable different types of cleaning components to be connected to the second mounting bracket 4, and further meet the requirements for switching different types of cleaning components according to corresponding scenarios, and have better practicability.

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

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

[0059] In this article, specific examples are used to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A working module, characterized in that, Comprising: A frame; An assembly frame, connected to the frame, the assembly frame is rotatably connected to a 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 assembly frame; A second mounting frame, rotatably connected to the first mounting frame, and a cleaning component for cleaning the ground is provided on the second mounting frame; A lifting push rod, 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, and the lifting push rod is used to drive the assembly frame to move up and down; 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; Limit plates are respectively arranged on both side surfaces of the first mounting frame, a limiting portion is integrally arranged at one end of the second mounting frame connecting the first mounting frame, when the second mounting frame swings relative to the first mounting frame, the limiting portion can abut against the limit plate, and a movable gap is reserved between the limiting portion and the limit plate to limit the angle of the second mounting frame swinging up and down relative to the first mounting frame; A pressure sensor is arranged at the bottom end of the support spring, and the pressure sensor is connected to a control system.

2. The working module according to claim 1, wherein An installation groove is arranged at one end of the second mounting frame away from the first mounting frame, and the cleaning component is detachably connected to the installation groove, and the cleaning component includes any one of a water pumping box, a dust suction box and a dust mop.

3. The working module according to claim 2, characterized in that, A plurality of first guiding rods are arranged in the installation groove, and a plurality of guiding holes are respectively arranged on the sides of the water pumping box, the dust suction box and the dust mop, and each guiding hole is slidably connected to one of the first guiding rods.

4. A working module according to claim 3, characterized in that, Locking bolts are arranged on both sides of the second mounting frame, and one end of each locking bolt is located in the installation groove.

5. A working module according to claim 2, characterized in that, The installation groove is detachably connected to the water pumping box, and a flexible rubber strip is arranged on the bottom surface of the water pumping box, and the flexible rubber strip is used for gathering sewage on the ground.

6. The working module according to claim 1, wherein A plurality of second guiding rods are arranged on the top surface of the assembly frame, and the second guiding rods are slidably connected to the frame.

7. A working module according to claim 2, characterized in that Connection plates are arranged on one side of the water pumping box and the dust suction box away from the first mounting frame, bolt holes are arranged on the top surface of the connection plates, adjusting screws are threadedly connected to the bolt holes, and universal wheels are connected to the bottom ends of the adjusting screws, and the universal wheels are used to abut against the ground.

8. A cleaning robot, characterized in that, Including the working module according to any one of claims 1-7 above.

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