Wiping assembly of cleaning robot and cleaning robot

Abstract

The invention relates to a wiping assembly of a cleaning robot and the cleaning robot. Based on the cleaning robot, the wiping assembly of the cleaning robot can comprise the turnover angle plate rotationally arranged at the disc corner notch of the medium carrying disc, and the medium carrying disc and the turnover angle plate can cooperatively load the wiping medium. When the medium carrying disc is located at the storage position, the turning angle plate can be in the upturning posture of being attached to the arc-shaped edge of the cleaning robot, and the disc angle notch of the medium carrying disc is kept to be matched with the arc-shaped edge of the cleaning robot in shape; when the medium carrying disc is in an outward swinging position swinging outwards relative to the containing position side, the overturning angle plate can be in a flat posture for filling the disc angle notch of the medium carrying disc, and at the moment, the part, attached to the overturning angle plate, of the wiping medium is wiped; according to the invention, the medium gap corresponding to the corner plate gap of the medium carrying plate in the medium region of the wiping medium close to the carrying plate edge of the medium carrying plate can be avoided, so that a cleaning blind area caused by the corner plate gap of the medium carrying plate can be avoided.

Description

Technical Field

[0001] The present application relates to the field of smart home appliances, and in particular to a wiping component of a cleaning robot and a cleaning robot. Background Art

[0002] The robot body of the cleaning robot can be equipped with a roller brush assembly and a wiping assembly. The roller brush assembly can perform a winching operation on the ground area where the cleaning robot passes, so as to suck the scattered dirt on the ground into the dust collection box of the cleaning robot, thereby cleaning the ground area where the cleaning robot passes; the wiping assembly can include a medium carrier for loading a wiping medium such as a rag, so that the contact between the wiping medium and the ground during the movement of the cleaning robot can be used to wipe the ground area where the cleaning robot passes.

[0003] When the cleaning robot approaches a wall and moves along it, it can also clean the corners between the wall and the floor. Specifically, the cleaning robot can swing the media tray outward from its storage position below the robot body, allowing the side edge of the tray to extend beyond the width of the robot body and rest against the wall. Wiping the localized area of ​​media near the edge of the tray can remove accumulated dirt in the corners between the wall and the floor. After completing edge cleaning, the cleaning robot can also drive the media tray back to its storage position.

[0004] Cleaning robots typically feature streamlined designs with curved edges, meaning their main body can also have curved edges. In this case, the media tray has a corner notch at the intersection of the tray's end and side edges, matching the shape of the curved edge. Consequently, the wiping media near the tray's edge will have a notch corresponding to the notch, resulting in a blind spot during edge cleaning.

[0005] Therefore, how to eliminate the cleaning blind spots caused by the corner notches of the medium carrier during the edge cleaning of the cleaning robot has become a technical problem to be solved in the prior art. Summary of the Invention

[0006] Embodiments of the present application provide a wiping assembly for a cleaning robot and a cleaning robot, which help to eliminate cleaning blind spots caused by corner notches of a media carrier during edge cleaning by the cleaning robot.

[0007] In an embodiment of the present application, a wiping assembly of a cleaning robot is provided, comprising:

[0008] a mounting base plate having a curved edge;

[0009] A driving mechanism, mounted on the mounting substrate;

[0010] A medium carrier plate is provided below the mounting base plate and is in transmission connection with the driving mechanism, and has a plate corner notch at the intersection of the carrier plate end edge and the carrier plate side edge;

[0011] A flip angle plate is rotatably mounted on the medium carrier at the notch of the disc angle;

[0012] A traction wire connected between the driving mechanism and the flip angle plate;

[0013] The medium loading tray and the flip angle plate are used to collaboratively load the wiping medium, and:

[0014] When the driving mechanism drives the media tray to swing outward from the storage position to the outward swing position, the driving mechanism pulls the flip corner plate from the upward flip position against the arc edge to the flat position filling the tray corner gap through the pulling wire;

[0015] When the driving mechanism drives the medium loading tray to return to the storage position, the driving mechanism releases the traction of the flip angle plate through the traction wire, so that the flip angle plate elastically returns to the flip-up posture.

[0016] In some examples, optionally, the carrier end edge and the carrier side edge are connected by chamfered bevels; the flip angle plate has an angle plate bottom edge and an angle plate top angle, the angle plate bottom edge is rotatably connected to the chamfered bevels via an angle plate rotating shaft, the angle plate top angle is formed by a pair of angle plate bevels connecting the two ends of the angle plate bottom edge, and the pair of angle plate bevels are aligned with the carrier end edge and the carrier side edge, respectively, when the flip angle plate is in the flat posture.

[0017] In some examples, optionally, a support guide wheel is installed on the outer side of the angle plate shaft facing away from the chamfered edge, and the traction wire passes through the bottom of the angle plate shaft and the outer side of the support guide wheel.

[0018] In some examples, optionally, the angle plate rotation shaft is equipped with a return torsion spring, and the return torsion spring generates an elastic return force that causes the flip angle plate to elastically return to the flip-up posture.

[0019] In some examples, optionally, the driving of the medium carrier by the driving mechanism triggers a winding change of the traction wire in the driving mechanism, and the traction and release of the flip angle plate by the driving mechanism are triggered by the winding change of the traction wire.

[0020] In some examples, optionally, the driving mechanism includes a swinging drive motor and a wire winding drum, and both ends of the traction wire are fixed to the wire winding drum and the flip angle plate, respectively; wherein: the wire winding drum is used to rotate switchably in a first rotation direction or a second rotation direction opposite to the first rotation direction under the drive of the swinging drive motor; the rotation of the wire winding drum in the first rotation direction is associated with the outward swing of the medium carrier to the outward swing position, and the rotation of the wire winding drum in the second rotation direction is associated with the recovery of the medium carrier to the storage position; the rotation of the wire winding drum in the first rotation direction overcomes the elastic reset force of the flip angle plate, and triggers the winding increment of the traction wire on the wire winding drum, so that the flip angle plate is pulled to the flat posture when the winding increment reaches the target amount; the rotation of the wire winding drum in the second rotation direction triggers the reduction of the winding increment, so that the flip angle plate is reset to the upward posture by the elastic reset force when the winding increment is reduced to zero.

[0021] In some examples, optionally, the driving mechanism further includes an active output gear and a driven output gear, the active output gear is coaxially fixedly connected to the output shaft of the swing drive motor, the wire winding drum is coaxially assembled with the active output gear, the driven output gear is coaxially assembled with the active output gear, and the driven output gear is transmission-connected to the medium carrier; wherein: the active output gear is used to drive the wire winding drum to rotate switchably in the first rotation direction or the second rotation direction under the drive of the swing drive motor; the rotation of the active output gear in the first rotation direction is used to drive the medium carrier to swing outward to the outward position through the driven output gear; the rotation of the active output gear in the second rotation direction is used to drive the medium carrier to return to the storage position through the driven output gear.

[0022] In some examples, optionally, the driven output gear and the wire winding drum are both coaxially fixedly connected to the active output gear, so that: the outward swing of the medium carrier toward the outward swing position is synchronized with the traction of the flip angle plate by the driving mechanism through the traction wire; the return of the medium carrier to the storage position is synchronized with the release of the flip angle plate by the driving mechanism.

[0023] In some examples, optionally, the driven output gear is coaxially coupled with the active output gear, and the wire winding drum is coaxially fixedly connected to the active output gear, so that: the outward swing of the medium carrier to the outward swing position is delayed than the traction of the flip angle plate by the driving mechanism through the traction wire; the return of the medium carrier to the storage position is asynchronous with the release of the flip angle plate by the driving mechanism.

[0024] In some examples, optionally, the traction wire is connected to the flip angle plate via a traction spring; wherein the traction spring is used to maintain the flip angle plate being pulled to the flat posture during the outward swing of the media tray to the outward swing position.

[0025] In some examples, optionally, during the period when the active output gear rotates in the first rotation direction: the active output gear has an outward swing idling stroke relative to the driven output gear before the winding increment reaches the target amount, and the driven output gear starts to rotate synchronously with the active output gear in the first rotation direction in response to the end of the outward swing idling stroke when the winding increment reaches the target amount, so that the outward swing of the medium carrier toward the outward swing position is started in response to the flip angle plate being pulled to the flat posture; the wire winding drum follows the continued rotation of the active output gear in the first rotation direction and the outward swing of the medium carrier after the end of the outward swing idling stroke, so that the winding increment produces a redundant amount exceeding the target amount, and the traction spring compensates for the redundant amount through elastic deformation, so that the flip angle plate pulled to the flat posture remains in the flat posture.

[0026] In some examples, optionally, during the period when the active output gear rotates in the second rotation direction: the active output gear has a return idle stroke relative to the driven output gear, and the driven output gear starts to rotate synchronously with the active output gear in the second rotation direction in response to the end of the return idle stroke, so that the medium carrier is started to return to the storage position; the winding increment is reduced in response to the wire winding drum following the synchronous rotation of the active output gear in the second rotation direction, the traction spring compensates for the redundant amount by elastic reset reduction, the traction spring completes elastic reset when the winding increment is reduced to reach the target amount, and the release of the flip angle plate by the driving mechanism is started in response to the completion of the elastic reset of the traction spring.

[0027] In some examples, optionally, the active output gear has driving teeth, the driven output gear has transmission teeth, the driven output gear rotates synchronously with the active output gear through physical contact between the driving teeth and the transmission teeth, and there is a phase gap between the driving teeth and the transmission teeth for providing the outer swing idling stroke and the return idling stroke.

[0028] In some examples, optionally, the drive mechanism further includes a wire drum clutch turntable, wherein: the wire drum clutch turntable disconnects the transmission between the wire winding drum and the active output gear during the outward swing of the media carrier toward the outward swing position, so as to maintain the flip angle plate being pulled to the flat posture; the wire drum clutch turntable enables the drive mechanism to release the flip angle plate by restoring the transmission between the wire winding drum and the active output gear.

[0029] In some examples, optionally, the wire drum clutch turntable further disconnects the transmission between the wire winding drum and the active output gear based on the one-way rotation limit of the mounting base plate on the wire winding drum in the first rotation direction.

[0030] In some examples, optionally, during the period when the active output gear rotates in the first rotation direction: the active output gear has an outward swing idling stroke relative to the driven output gear before the winding increment reaches the target amount, the one-way stop limit is formed when the winding increment reaches the target amount, and the driven output gear starts to rotate synchronously with the active output gear in the first rotation direction in response to the end of the outward swing idling stroke when the winding increment reaches the target amount, so that the outward swing of the medium carrier toward the outward swing position is started following the flip angle plate being pulled to the flat posture.

[0031] In some examples, optionally, during the period when the active output gear rotates in the second rotation direction: the active output gear has a return idle stroke relative to the driven output gear, and the driven output gear starts to rotate synchronously with the active output gear in the second rotation direction in response to the end of the return idle stroke, so that the medium carrier plate starts to return to the storage position; the wire winding drum is restored through the transmission between the wire drum clutch turntable and the active output gear after the active output gear starts the return idle stroke, and the one-way stop limit is released in response to the wire winding drum being restored through the transmission between the wire drum clutch turntable and the active output gear, so as to enable the driving mechanism to release the flip angle plate.

[0032] In some examples, optionally, the wire winding drum has a clutch boss facing away from the mounting substrate, the wire drum clutch turntable is coaxially mounted on the side of the wire winding drum facing away from the mounting substrate, and the wire drum clutch turntable has a clutch groove facing the wire winding drum; the wire winding drum has a limiting rib protruding toward the mounting substrate, and the mounting substrate has a limiting groove.

[0033] In some examples, optionally, the wire drum clutch turntable forms a transmission between the wire pulling winding drum and the active output gear by engaging the clutch boss in the clutch groove; before the wire pulling winding drum rotates in the first rotation direction with the wire drum clutch turntable to reach the stop phase, the limiting rib maintains the engagement of the clutch boss in the clutch groove by sliding abutment with the mounting base plate; when the wire pulling winding drum rotates to reach the stop phase when the winding increment reaches the target amount, the limiting rib is aligned with the limiting groove when the wire pulling winding drum is in the stop phase, and the wire drum clutch turntable drives the limiting rib to insert and align The limiting groove is formed by inserting the limiting rib into the limiting groove; the clutch boss is disengaged from the clutch groove by inserting the limiting rib into the limiting groove, and the wire drum clutch turntable is disengaged from the clutch groove by the clutch boss, thereby disconnecting the transmission between the wire winding drum and the active output gear; the wire drum clutch turntable continues to rotate in the first rotation direction to misalign the clutch groove and the clutch boss, and generates pressure on the wire winding drum that is limited in the stopping phase by the one-way stopping limit, so as to maintain the insertion state of the limiting rib in the limiting groove.

[0034] In some examples, optionally, after the active output gear starts the return idling stroke, the wire drum clutch turntable restores the alignment between the clutch groove and the clutch boss by rotating in the second rotation direction, so that the clutch boss is restored to be embedded in the clutch groove, so as to restore the transmission of the wire winding wire drum through the wire drum clutch turntable and the active output gear; the limiting rib moves out of the limiting groove in response to the clutch boss restoring its embedment in the clutch groove, so as to release the one-way anti-rotation limit.

[0035] In some examples, optionally, a clutch spring is installed between the wire winding drum and the mounting base, wherein: the clutch spring generates an elastic force on the wire winding drum to force the clutch boss to engage in the clutch groove; the wire drum clutch turntable generates pressure on the wire winding drum that is limited in the stop phase by the one-way stop limit, overcoming the elastic force generated by the clutch spring on the wire winding drum; when the wire drum clutch turntable restores the alignment of the clutch groove and the clutch boss by rotating in the second rotation direction, the wire winding drum moves driven by the elastic force generated by the clutch spring, so that the clutch boss is restored to be embedded in the clutch groove, and the limiting rib moves out of the limiting groove.

[0036] In some examples, optionally, the clutch boss has an inclined side wall and a vertical side wall, and the clutch groove has an inclined groove wall and a vertical groove wall; wherein: the wire drum clutch turntable drives the wire winding drum to rotate in the first rotation direction through the inclined groove wall and the inclined surface of the inclined side wall; the wire drum clutch turntable drives the wire winding drum to rotate in the second rotation direction through the abutment cooperation between the vertical groove wall and the vertical side wall; when the wire drum clutch turntable reaches the stop phase, the inclined surface cooperation drives the clutch boss to disengage from the clutch groove and the limiting rib to insert into the limiting groove by squeezing the clutch spring to cause elastic deformation, and the inclined surface cooperation is released in response to the limiting rib completing the insertion into the limiting groove, so that the clutch groove deviates from the clutch boss in the first rotation direction.

[0037] In an embodiment of the present application, a cleaning robot is further provided, comprising a robot body and the wiping assembly as described in the above embodiment, wherein the mounting base is movably mounted below the robot body.

[0038] Based on the embodiments of the present application, the wiping assembly of the cleaning robot may include a flip angle plate that is rotatably mounted at the corner notch of the media carrier, and the media carrier and the flip angle plate may cooperate to load the wiping medium. When the media carrier is in the storage position, the flip angle plate may be in an upward flip position abutting against the arc edge of the cleaning robot, thereby maintaining the shape adaptation between the corner notch of the media carrier and the arc edge of the cleaning robot; and when the media carrier is in an outward swing position relative to the storage position, the flip angle plate may be in a flat position filling the corner notch of the media carrier. At this time, the portion of the wiping medium attached to the flip angle plate may avoid the presence of a media notch corresponding to the corner notch of the media carrier in the media area near the edge of the media carrier, thereby eliminating the cleaning blind spot caused by the corner notch of the media carrier during the edge cleaning of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following drawings are only provided for schematic illustration and explanation of the present application and do not limit the scope of the present application:

[0040] Figure 1 A schematic diagram of the edge cleaning principle of the cleaning robot according to an embodiment of the present application;

[0041] Figure 2 This is a schematic diagram of the exploded structure of the wiping component of the cleaning robot according to an embodiment of the present application;

[0042] Figure 3 Schematic diagram of a rotating mounting structure of a flip angle plate on a media carrier in a wiping assembly of a cleaning robot according to an embodiment of the present application;

[0043] Figure 4 This is a schematic diagram of the assembly structure of the wiping assembly of the cleaning robot according to an embodiment of the present application when the medium carrier is in the storage position and the flip angle plate is in the flip-up position;

[0044] Figure 5 A top view of the cleaning robot according to an embodiment of the present application when the media carrier is in the storage position and the flip corner plate is in an upward flip position;

[0045] Figure 6 This is a schematic diagram of the assembly structure of the wiping assembly of the cleaning robot according to an embodiment of the present application when the medium carrier is in an outward swing position and the flip angle plate is in a flat posture;

[0046] Figure 7 A top view of the cleaning robot according to an embodiment of the present application when the media carrier is in an outward swing position and the flip corner plate is in a flat position;

[0047] Figure 8 This is a schematic structural diagram of a wire winding disk in a wiping assembly of a cleaning robot according to an embodiment of the present application;

[0048] Figure 9 This is a schematic diagram of an example structure in which the driving mechanism of the wiping assembly of the cleaning robot according to an embodiment of the present application adopts synchronous driving;

[0049] Figure 10 This is a schematic diagram of the assembly structure of the wiping assembly of the cleaning robot according to an embodiment of the present application when the medium carrier is in the storage position and the flip angle plate is in a flat position;

[0050] Figure 11 A top view of the cleaning robot according to an embodiment of the present application when the media carrier is in the storage position and the flip corner plate is in a flat position;

[0051] Figure 12This is a schematic diagram of the outward swing idling stroke of a first example structure in which the drive mechanism of the wiping assembly of the cleaning robot according to an embodiment of the present application adopts asynchronous drive;

[0052] Figure 13 This is a schematic diagram of an asynchronous drive timing sequence of a first example structure in which the drive mechanism in the wiping assembly of the cleaning robot according to an embodiment of the present application adopts asynchronous drive;

[0053] Figure 14 A schematic diagram of elastic over-position compensation in a first exemplary structure of an asynchronous drive mechanism in a wiping assembly of a cleaning robot according to an embodiment of the present application;

[0054] Figure 15 This is a schematic diagram of the return idling stroke of a first example structure in which the drive mechanism of the wiping assembly of the cleaning robot according to an embodiment of the present application adopts asynchronous drive;

[0055] Figure 16 This is a schematic diagram of a clutch closed state of a second example structure in which the drive mechanism of the wiping assembly of the cleaning robot according to an embodiment of the present application adopts asynchronous drive;

[0056] Figure 17 This is a schematic diagram of the clutch-on and disconnected states of a second example structure in which the drive mechanism of the wiping assembly of the cleaning robot according to an embodiment of the present application adopts asynchronous drive;

[0057] Figure 18 This is a schematic diagram of a clutch recovery state of a second example structure in which the drive mechanism of the wiping assembly of the cleaning robot according to an embodiment of the present application adopts asynchronous drive;

[0058] Figure 19 This is a schematic diagram of an optimized structure for providing a one-way anti-rotation limit for a mounting substrate in a wiping assembly of a cleaning robot according to an embodiment of the present application;

[0059] Figure 20 This is a schematic diagram of a second example structure in which the drive mechanism of the wiping assembly of the cleaning robot according to an embodiment of the present application adopts an asynchronous drive and does not form a one-way anti-rotation limit stop;

[0060] Figure 21 This is a schematic diagram of a second example structure in which the drive mechanism in the wiping assembly of the cleaning robot according to an embodiment of the present application adopts asynchronous drive, and the clutch is triggered to disconnect due to a one-way rotation stop limit.

[0061] Reference numerals

[0062] 10 Install the substrate

[0063] 11 Motor guard

[0064] 12 lifting mechanism mounting seat

[0065] 13 drive mechanism mounting seat

[0066] 133 limiting groove

[0067] 14 substrate opening

[0068] 15 Wire cover

[0069] 20 lifting mechanism

[0070] 21 lifting drive motor

[0071] 22 lifting transmission mechanism

[0072] 30 drive mechanism

[0073] 31 Swing drive motor

[0074] 32 Active output gear

[0075] 321 first shaft section

[0076] 322 second shaft section

[0077] 323 flange ring

[0078] 325 drive gear

[0079] 33 driven output gear

[0080] 335 transmission gear

[0081] 34 cable winding reel

[0082] 343 limiting ribs

[0083] 349 clutch boss

[0084] 349a Sloping sidewall

[0085] 349b Vertical sidewall

[0086] 35 Swing transmission gear

[0087] 36 Swing actuator arm assembly

[0088] 38 Clutch spring

[0089] 39 reel clutch turntable

[0090] 399 Clutch Groove

[0091] 399a inclined groove wall 399b vertical groove wall 40 traction wire

[0092] 43 Install the terminal

[0093] 44 Support guide wheel

[0094] 46 traction end 50 medium carrier

[0095] 500 corner notch 60 flip corner plate

[0096] 61 bottom edge of corner plate

[0097] 62 Angle plate top angle

[0098] 63 traction spring

[0099] 64 Angle plate shaft

[0100] 66 Reset torsion spring 80 Wall

[0101] 800 Cleaning Blind Spots

[0102] 90 Robot body DETAILED DESCRIPTION

[0103] In order to make the objectives, technical solutions and advantages of this application more clear, the application is further described in detail below with reference to the accompanying drawings and examples.

[0104] Figure 1 This is a schematic diagram of the edge cleaning principle of the cleaning robot according to the embodiment of the present application. Figure 1 The roller brush assembly of the cleaning robot is usually close to the front end of the robot body 90, and the wiping assembly including the medium carrier 50 can be close to the rear end of the robot body 90, so that the wiping assembly can use the wiping medium to wipe the cleaned ground area during the movement of the cleaning robot. Figure 1 As can be clearly seen in the figure, the robot body 90 of the cleaning robot has a circular or approximately circular outer contour and thus has an arc-shaped edge. In this case, the media tray 50 of the wiping assembly has a corner notch 500 adapted to the shape of the arc-shaped edge at the intersection of the tray edge facing the rear end of the robot body 90 and the tray side edge corresponding to the side end of the robot body 90.

[0105] For example, in the embodiment of the present application, the shape of the disc corner notch 500 is adapted to the arc-shaped edge of the robot body 90, which means that when the medium carrier 50 is in the storage position, the disc corner notch 500 can have a blunt shape at the arc-shaped edge of the robot body 90 that is not sharply protruding relative to the arc-shaped edge, and it is not necessary for the disc corner notch 500 to have the same or similar curvature as the arc-shaped edge of the robot body. Figure 1 In the figure, the end edge of the medium carrier 50 of the wiping assembly facing the rear end of the robot body 90 and the side edge of the carrier corresponding to the side end of the robot body 90 are connected by a straight chamfered edge, and the chamfered edge can be tangent or approximately tangent to the arc edge of the robot body 90.

[0106] See also Figure 1 When the cleaning robot performs edge cleaning on the bottom corner between the wall 80 and the ground, a cleaning blind area 800 corresponding to the corner notch 500 is left at the starting position of the edge cleaning. Figure 1 In the embodiment, the triangular disc corner notch 500 formed by the chamfered hypotenuse forms a triangular cleaning blind area 800. In the embodiment of the present application, the cleaning blind area 800 caused by the disc corner notch 500 during edge cleaning is eliminated.

[0107] Figure 2 This is a schematic diagram of the exploded structure of the wiping component of the cleaning robot according to the embodiment of the present application. Figure 2 In an embodiment of the present application, the wiping assembly of the cleaning robot may include a mounting base 10 , a driving mechanism 30 , a traction wire 40 , a medium carrier 50 , and a flip angle plate 60 .

[0108] For example, in the embodiment of the present application, the mounting substrate 10 may be installed below the robot body 90. For example, the robot body 90 may have a mobile chassis, and the mounting substrate 10 may be installed on the mobile chassis of the robot body 90.

[0109] For example, in an embodiment of the present application, the mounting base 10 can be installed below the robot body 90 in a liftable manner, so that the wiping assembly can switch between a high position where the wiping medium is suspended above the ground and a low position where the wiping medium contacts the ground as needed. In this case, the wiping assembly of the cleaning robot can also include a lifting mechanism 20, which is used to drive the mounting base 10 to rise and fall relative to the robot body 90 (e.g., a mobile chassis).

[0110] For example, in an embodiment of the present application, the lifting mechanism 20 may include a lifting drive motor 21 and a lifting transmission mechanism 22. The lifting mechanism 20 may be installed on the mounting base 10 (for example, in a lifting mechanism mounting seat 12 installed on the upper surface of the mounting base 10). The mounting base 10 may be connected to the robot body 90 (for example, a mobile chassis) through the lifting transmission mechanism 20. In addition, the lifting drive motor 21 may be controlled by the main control device of the robot body 90 to control the lifting transmission mechanism 22 under the control of the main control device, thereby enabling the mounting base 10 to switch between the high height and the low height as described above. It should be noted that the present application does not intend to make unnecessary restrictions on the specific structure of the lifting mechanism 20. The lifting mechanism 20 is introduced here only to indicate that the mounting base 10 can be lifted and lowered.

[0111] For example, in an embodiment of the present application, the mounting substrate 10 may have an arc-shaped edge, and the arc-shaped edge of the mounting substrate 10 is adapted to the shape of the arc-shaped edge of the robot body 90 .

[0112] For example, in an embodiment of the present application, the driving mechanism 30 can be installed on the mounting substrate 10 (for example, installed in the driving mechanism mounting seat 13 on the upper surface of the mounting substrate 10), the medium carrier 50 can be transmission-connected to the driving mechanism 30 below the mounting substrate 10, and the driving mechanism 30 can be used to drive the medium carrier 50 to switch between a storage position and an outward swing position that is laterally offset relative to the storage position.

[0113] For example, in an embodiment of the present application, the driving mechanism 30 may include a swing drive motor 31, a driving output gear 32, and a driven output gear 33. The driving output gear 32 may be coaxially fixedly connected to the output shaft of the swing drive motor 31, the driven output gear 33 may be coaxially assembled with the driving output gear 32 (e.g., coaxially fixedly connected or coaxially transmission-matched), and the driven output gear 33 may be transmission-connected to the medium carrier 50.

[0114] For example, in an embodiment of the present application, the drive mechanism 30 may further include a swing transmission gear 35 and a swing actuator arm assembly 36. The swing transmission gear 35 engages with the driven output gear 33 for transmission, and the swing actuator arm assembly 36 is connected between the swing transmission gear 35 and the media tray 50. Thus, the driven output gear 33 can be transmission-connected to the media tray 50 via the swing transmission gear 35 and the swing actuator arm assembly 36, which are arranged adjacent thereto. Furthermore, the driving output gear 32 can rotate in a first rotational direction, or a second rotational direction opposite to the first rotational direction, in response to the power output generated by the swing drive motor 31, to drive the media tray 50 to switch between the stored position and the swing-out position.

[0115] For example, in an embodiment of the present application, the rotation of the active output gear 32 in the first rotation direction can be used to drive the swing transmission gear 35 through the driven output gear 33, so that the swing transmission gear 35 drives the medium carrier 50 to swing outward from the storage position to the outward swing position through the swing execution arm group 36; and the rotation of the active output gear 32 in the second rotation direction can be used to drive the swing transmission gear 35 through the driven output gear 33, so that the swing transmission gear 35 drives the medium carrier 50 to return from the outward swing position to the storage position through the swing execution arm group 36.

[0116] For example, in an embodiment of the present application, the swing drive motor 31, the active output gear 32, the driven output gear 33, and the swing transmission gear 35 can be installed in the drive mechanism mounting seat 13 of the mounting base 10. Among them, the driven output gear 33 can be sleeved on the outer periphery of the active output gear 32, the active output gear 32 and the driven output gear 33 can be close to the bottom of the drive mechanism mounting seat 13, the swing drive motor 31 can be located above the active output gear 32 and the driven output gear 33, and the drive mechanism mounting seat 13 can also be covered by the motor shield 11 buckled on the swing drive motor 31; the swing transmission gear 35 can be arranged on one side of the driven output gear 33 in the drive mechanism mounting seat 13, and the drive mechanism mounting seat 13 can also be covered by the wire cover 15 buckled above the swing transmission gear 35, which can be used to fix the signal line between the swing drive motor 31 and the control device in the robot body 90.

[0117] For example, in an embodiment of the present application, as described above, the medium carrier 50 has a disc corner notch 500 at the intersection of the carrier end edge and the carrier side edge, and the flip angle plate 60 can be rotatably mounted on the medium carrier 50 at the disc corner notch 500 of the medium carrier 50, and the medium carrier 50 and the flip angle plate 60 can be used to collaboratively load the wiping medium, that is, the wiping medium can be laid on the carrier surface of the medium carrier 50 facing away from the mounting substrate 10, and on the angle plate surface of the flip angle plate 60 facing away from the mounting substrate 10.

[0118] Figure 3 This is a schematic diagram of the rotating mounting structure of the flip angle plate in the wiping assembly of the cleaning robot according to an embodiment of the present application on the medium carrier. Figure 3 Taking the flip angle plate 60 as an example of a triangle, in an embodiment of the present application, the flip angle plate 60 may have an angle plate bottom edge 61, and an angle plate top angle 62 formed by a pair of angle plate oblique edges connecting the two ends of the angle plate bottom edge 61. The angle plate bottom edge of the flip angle plate 60 can be rotatably connected to the chamfered oblique edge forming the disk corner notch 500. For example, the angle plate bottom edge of the flip angle plate 60 can be rotatably connected to the chamfered oblique edge forming the disk corner notch 500 through an angle plate rotating shaft 64.

[0119] For example, in an embodiment of the present application, a gusset plate pivot shaft 64 that rotatably connects the bottom edge 61 of the gusset plate 60 to the chamfered bevel edge forming the disc corner notch 500 can be equipped with a return torsion spring 66. Furthermore, the return torsion spring 66 can generate an elastic return force that causes the gusset plate 60 to elastically return to its upward flipped position. In the upward flipped position, the gusset plate 60 can abut against (e.g., at an angle perpendicular to the media carrier 50) the curved edge of the mounting base 10. In the upward flipped position, the gusset plate 60 can abut against the curved edge of the robot body 90. Furthermore, because the wiping medium is flexible, the corner area where the wiping medium is attached to the gusset plate can be bent upward.

[0120] For example, in an embodiment of the present application, the traction wire 40 can be connected between the drive mechanism 30 and the flip angle plate 60, that is, the two ends of the traction wire 40 can be fixed to the wire winding drum 34 and the flip angle plate 60, respectively, and the traction wire 40 is used to realize the switching of the flip angle plate 60 between the flip-up posture and the flat posture of filling (for example, filling at an angle parallel to the medium carrier 50) the disc corner gap 500. Among them, the flip angle plate 60 in the flat posture can be parallel to the medium carrier 50, and a pair of angle plate oblique edges of the flip angle plate 60 can be aligned with the carrier end edge and the carrier side edge of the medium carrier 50 respectively when the flip angle plate 60 is in the flat posture, and the flexible wiping medium attached to the corner area of ​​the flip angle plate can be flat toward the ground at this time.

[0121] See also Figure 3 In an embodiment of the present application, a support guide wheel 44 can be installed on the outer side of the angle plate shaft 64, and the traction wire 40 can pass from the bottom of the angle plate shaft 64 and the outside of the support guide wheel 44, that is, the traction wire 40 led out from the drive mechanism 30 can pass from the bottom of the angle plate shaft 64 to the outside of the angle plate shaft 64, and be connected to the flip angle plate 60 from the outside of the support guide wheel 44.

[0122] For example, in an embodiment of the present application, the traction wire 40 may have a traction end 46 connected to the flip angle plate 60, and a portion of the traction wire 40 near the traction end 46 may be inserted into the interior of the flip angle plate 60 in a direction pointing toward the top foot 62 of the angle plate, so that the traction wire 40 is connected between the drive mechanism 30 and the top corner 62 of the flip angle plate 60. For example, the flip angle plate 60 may be a detachable plate-shaped shell having a hollow inner cavity, and the traction end 46 of the traction wire 40 may be placed into the hollow inner cavity of the flip angle plate 60 when the plate-shaped shell of the flip angle plate 60 is opened, and the traction end 46 of the traction wire 40 may be restricted from being removed when the plate-shaped shell of the flip angle plate 60 is closed.

[0123] Figure 4This is a schematic diagram of the assembly structure of the wiping assembly of the cleaning robot according to an embodiment of the present application when the medium carrier is in the storage position and the flip angle plate is in the flip-up position. Figure 5 This is a top view of the cleaning robot according to an embodiment of the present application when the media tray is in the storage position and the flip corner plate is in the upward position. Figure 4 and Figure 5 In an embodiment of the present application, when the medium carrier 50 is in the storage position, the disc corner notch 500 where the flip angle plate 60 is located is located at the arc edge of the mounting substrate 10, and the flip angle plate 60 is in an upward flipped posture against the arc edge of the mounting substrate 10 driven by an elastic reset force (for example, an elastic reset force generated by a reset torsion spring 66).

[0124] Figure 6 This is a schematic diagram of the assembly structure of the wiping assembly of the cleaning robot according to an embodiment of the present application when the medium carrier is in an outward swing position and the flip angle plate is in a flat posture. Figure 7 This is a top view of the cleaning robot according to an embodiment of the present application when the media carrier is in the outward swing position and the flip corner plate is in a flat position. Figure 6 and Figure 7 In an embodiment of the present application, when the driving mechanism 30 drives the medium carrier 50 to swing laterally outward from the storage position to the outward swing position, the disc corner gap 500 where the flip angle plate 60 is located can extend laterally to the outside of the arc-shaped edge of the mounting substrate 10 (that is, extend outside the width range of the robot body 90), and the flip angle plate 60 can be pulled by the driving mechanism 30 through the traction wire 40 to a flat posture that fills the disc corner gap 500.

[0125] Please look back Figure 4 and Figure 5 In an embodiment of the present application, when the driving mechanism 30 drives the medium carrier 50 to return to the storage position, the disc corner notch 500 where the flip angle plate 60 is located is located at the arc edge of the mounting substrate 10, and the flip angle plate 60 is released by the driving mechanism 30 and is elastically restored to an upward flipped posture against the arc edge of the mounting substrate 10 under the drive of the elastic restoring force (for example, the elastic restoring force generated by the restoring torsion spring 66).

[0126] Based on the embodiment of the present application, the wiping assembly of the cleaning robot may include a flip angle plate 60 rotatably mounted at the corner notch 500 of the medium carrier 50, and the medium carrier 50 and the flip angle plate 60 can cooperate to load the wiping medium. Figure 5 As shown, the flip angle plate 60 can be placed in an upward flip position against the arc edge of the cleaning robot to keep the corner notch 500 of the media tray 50 adapted to the shape of the arc edge of the cleaning robot; and when the media tray 50 is in an outward swing position relative to the storage position, as shown in FIG. Figure 7 As shown, the flip corner plate 60 can be in a flat posture to fill the corner notch 500 of the medium carrier 50. At this time, the part of the wiping medium attached to the flip corner plate 60 can avoid the presence of a medium notch corresponding to the corner notch 500 of the medium carrier 50 in the medium area near the edge of the carrier 50 of the wiping medium. Furthermore, the cleaning blind spot caused by the corner notch 500 of the medium carrier 50 during the edge cleaning of the wall 80 by the cleaning robot can be eliminated.

[0127] Illustratively, in an embodiment of the present application, the driving mechanism 30 driving the medium carrier 50 can trigger the winding change of the traction wire 40 in the driving mechanism 30, and the traction and release of the flip angle plate 60 by the driving mechanism 30 can be triggered by the winding change of the traction wire 40.

[0128] For example, in the embodiment of the present application, in order to prevent the traction wire 40 from interfering with the active output gear 32, the driven output gear 33 and the swing transmission gear 35 when the drive mechanism 30 is wound, the drive mechanism 30 may further include Figure 2 The hidden pull wire winding drum 34 is connected to the pull wire 40, and the traction pull wire 40 can be connected to the pull wire winding drum 34 to achieve connection with the driving mechanism 30.

[0129] Figure 8 This is a schematic diagram of the structure of the wire winding disk in the wiping assembly of the cleaning robot according to the embodiment of the present application. Figure 8 In an embodiment of the present application, the traction wire 40 may have a mounting end 43 connected to the driving mechanism 30, and the mounting end 43 and the traction end 46 are respectively located at opposite ends of the traction wire 40, and the mounting end 43 may be fixedly mounted on the wire winding drum 34.

[0130] For example, in an embodiment of the present application, the wire winding drum 34 can be coaxially arranged with the swing drive motor 31, the active output gear 32, and the driven output gear 33 below the mounting base 10, and the wire winding drum 34 can be coaxially assembled with the active output gear 32 below the mounting base 10 (for example, coaxial transmission connection or coaxial transmission matching), and, Figure 8 The wire winding drum 34 shown in FIG. 1 is mounted on the mounting substrate 10 as seen from below the mounting substrate 10 .

[0131] For example, in an embodiment of the present application, the wire winding drum 34 can be switched to rotate in a first rotation direction or a second rotation direction under the drive of the swing drive motor 31. For example, the drive motor 31 can drive the wire winding drum 34 to rotate through the active output gear 32, and the active output gear 32, under the drive of the swing drive motor 31, drives the wire winding drum 34 to rotate in the first rotation direction or the second rotation direction.

[0132] For example, in an embodiment of the present application, the rotation of the wire winding drum 34 in the first rotation direction can be associated with the outward swing of the media carrier 50 to the outward swing position (for example, occurring synchronously or asynchronously with the outward swing of the media carrier 50 to the outward swing position), and can cause the wire winding drum 34 to rotate from the first phase (for example, Figure 8 The mounting end 43 shown in FIG is located at a phase of angle P1) to a second phase (eg Figure 8 The mounting tip 43 shown in FIG is rotated at an angle P2.

[0133] For example, in an embodiment of the present application, the rotation of the wire winding drum 34 in the second rotational direction can be associated with the recovery of the media carrier 50 to the storage position (for example, occurring synchronously or asynchronously with the recovery of the media carrier 50 to the storage position), and can enable the wire winding drum 34 to rotate from the second phase (for example, Figure 8 The mounting head 43 shown in FIG is located at a phase of angle P2) to a first phase (eg Figure 8 The mounting head 43 shown in FIG is rotated in the direction of the phase of the angle P1).

[0134] For example, in the embodiment of the present application, the wire winding drum 34 is in the first phase (eg Figure 8 When the mounting end 43 shown in the figure is located at the phase of angle P1, the flip angle plate 60 can be in an upward flipped posture against the arc edge of the mounting substrate 10 driven by the elastic reset force (for example, the elastic reset force generated by the reset torsion spring 66), and the medium carrier 50 can be in the storage position.

[0135] For example, in an embodiment of the present application, the rotation of the wire winding drum 34 in the first rotational direction can overcome the elastic restoring force of the flip angle plate 60 (e.g., the elastic restoring force generated by the restoring torsion spring 66), and trigger an incremental winding of the traction wire 40 on the wire winding drum 34. That is, as the wire winding drum 34 rotates away from the first phase in the first rotational direction, the winding length of the traction wire 40 on the wire winding drum 34 increases. The winding increment described in the embodiment of the present application may refer to: the incremental winding length of the traction wire 40 on the wire winding drum 34 compared to the initial winding length when the wire winding drum 34 is in the first phase.

[0136] For example, in the embodiment of the present application, when the wire winding drum 34 reaches or exceeds the second phase (eg Figure 8 When the mounting end 43 shown in the figure is located at a phase of angle P2, the pulling wire 40 reaches the target amount when the winding increment of the pulling wire is wound around the wire drum 34, and the flip angle plate 60 is pulled to a flat posture to fill the drum corner gap 500 when the winding increment reaches the target amount.

[0137] Exemplarily, in an embodiment of the present application, the rotation of the wire winding drum 34 in the second rotational direction can cause a reduction in the winding increment of the traction wire 40, and the flip angle plate 60 can be reset to the flip-up posture by the elastic reset force when the winding increment of the traction wire 40 is reduced to zero.

[0138] For example, in the embodiment of the present application, the driving mechanism 30 may drive the medium carrier 50 and the flip angle plate 60 in a synchronous driving manner.

[0139] Figure 9 This is a schematic diagram of an example structure in which the drive mechanism in the wiping assembly of the cleaning robot of the embodiment of the present application adopts synchronous drive. Figure 9 In an embodiment of the present application, the driven output gear 33 and the wire winding drum 34 are both coaxially fixedly connected to the active output gear 32, so that the driving mechanism 30 can synchronously drive the medium carrier 50 and the flip angle plate 60.

[0140] For example, in an embodiment of the present application, the active output gear 32 may include a first shaft segment 321, a second shaft segment 322, and a flange ring 323. The first shaft segment 321 may be coaxially fixedly connected to the output shaft of the swing drive motor 31 above the mounting base 10, the driven output gear 33 may be sleeved on the first shaft segment 321 above the mounting base 10, the second shaft segment 322 may be coaxially fixedly connected to the bottom end of the first shaft segment 321, the second shaft segment 322 may extend through the base opening of the mounting base 10 to the bottom of the mounting base 10, the wire winding drum 34 may be sleeved on the second shaft segment 322 below the mounting base 10, the flange ring 323 surrounds the connection between the first shaft segment 321 and the second shaft segment 322, and the flange ring 323 may shield the base opening and the driven output gear 33 above the mounting base 10. In this case, the driven output gear 33 can be coaxially fixedly connected to the active output gear 32 by coaxially limiting cooperation with the first shaft segment 321 or meshing cooperation with the upper end surface of the flange ring 323, and the cable winding drum 34 can be coaxially fixedly connected to the active output gear 32 by coaxially limiting cooperation with the second shaft segment 322. It will be understood that the above is merely an example of the coaxial fixed connection between the driven output gear 33 and the cable winding drum 34 and the active output gear 32, and the embodiments of the present application are not intended to impose any limitations on the implementation method of the coaxial fixed connection.

[0141] For example, in the embodiment of the present application, when the driven output gear 33 and the wire winding drum 34 are both coaxially fixedly connected to the active output gear 32, the outward swing of the medium carrier 50 to the outward swing position can be synchronized with the traction of the flip angle plate 60 by the driving mechanism 30 through the traction wire 40 (the winding increment generation process of the traction wire 40), and such a synchronization process occurs when the driven output gear 33 and the wire winding drum 34 are both coaxially fixedly connected to the active output gear 32. Figure 4 Switch to Figure 6 , and from Figure 5 Switch to Figure 7 and, the return of the medium carrier 50 to the storage position can be synchronized with the release of the driving mechanism 30 on the flip corner plate 60 (ie, the winding increment reduction process of the traction wire 40), such a synchronization process occurs from Figure 6 Switch to Figure 4 , and from Figure 7 Switch to Figure 5 period.

[0142] For example, in an embodiment of the present application, the switching of the medium carrier 50 between the storage position and the outward swing position can also occur asynchronously with the pulling or releasing process of the flip angle plate 60 by the driving mechanism 30 through the traction wire 40, that is, the driving mechanism 30 can drive the medium carrier 50 and the flip angle plate 60 in an asynchronous driving manner.

[0143] Figure 10 This is a schematic diagram of the assembly structure of the wiping assembly of the cleaning robot according to an embodiment of the present application when the medium carrier is in the storage position and the flip angle plate is in a flat posture. Figure 11 This is a top view of the cleaning robot according to an embodiment of the present application when the media tray is in the storage position and the flip corner plate is in a flat position. Figure 10 and Figure 11 In the embodiment of the present application, the swinging of the medium tray 50 from the storage position to the swinging position can be delayed by the pulling of the pulling wire 40 on the flip angle plate 60, that is, from Figure 4 Switch to Figure 10 , and then from Figure 10 Switch to Figure 6 , or, from Figure 5 Switch to Figure 11 , and then from Figure 11 Switch to Figure 7 Therefore, the pulling and releasing of the flip angle plate 60 by the pulling wire 40 can occur during the period when the medium carrier 50 is kept in the storage position, that is, the pulling and releasing of the flip angle plate 60 by the pulling wire 40 can occur during the period when the medium carrier 50 is kept in the storage position. Figure 4 and Figure 10 During the switch between Figure 5 and Figure 11 Furthermore, during the cleaning maintenance of the cleaning robot at the base station, the flip angle plate 60 can be switched from the flipped-up posture to the flat posture without the media carrier 50 swinging outward, so that the entire area of ​​the wiping medium is in a state of facing downward (for example, facing the base station cleaning tray below) to be cleaned in the base station.

[0144] For example, in an embodiment of the present application, if the drive mechanism 30 employs an asynchronous drive method so that the switching of the media tray 50 between the storage position and the swing-out position occurs asynchronously with the pulling or releasing of the flip angle plate 60 by the traction wire 40, then the driven output gear 33 can be coaxially coupled with the driving output gear 32, and the wire winding drum 34 can be coaxially fixedly connected to the driving output gear 32. Thus, the swing-out of the media tray 50 to the swing-out position can be delayed after the pulling of the flip angle plate 60 by the traction wire 40 by the drive mechanism 30; and the return of the media tray 50 to the storage position can be asynchronous with the release of the flip angle plate 60 by the drive mechanism 30.

[0145] Figure 12 This is a schematic diagram of the outward swing idling stroke of the first example structure of the drive mechanism of the wiping assembly of the cleaning robot according to the embodiment of the present application using asynchronous drive. Figure 12In an embodiment of the present application, the driving output gear 32 may have driving teeth 325, and the driven output gear 33 may have transmission teeth 335. For example, the driving teeth 325 of the driving output gear 32 may be formed on the upper end surface of the flange ring 323 facing the driven output gear 33, and the transmission teeth 335 may be formed on the lower end surface of the driven output gear 33 facing the flange ring 323.

[0146] Exemplarily, in an embodiment of the present application, the driven output gear 33 can rotate synchronously with the active output gear 32 in the first rotation direction or the second rotation direction through physical contact between the driving teeth 325 and the transmission teeth 335 in the first rotation direction or the second rotation direction, and there can be a phase gap between the driving teeth 325 and the transmission teeth 335 in both the first rotation direction and the second rotation direction.

[0147] For example, in the embodiments of the present application, Figure 12 As shown, during the period when the active output gear 32 rotates in the first rotation direction to switch the flip angle plate 60 from the flip-up posture to the flat posture by pulling the pull wire 40, due to the phase gap between the driving teeth 325 and the transmission teeth 335 in the first rotation direction, the active output gear 32 can have an outward swing idling stroke relative to the driven output gear 33 before the winding increment reaches the target amount. That is, there is a gap between the driving teeth 325 and the transmission teeth 335 for providing the following Figure 12 Phase gap of the outer swing idle stroke is shown.

[0148] Figure 13 This is a schematic diagram of the asynchronous drive timing of the first example structure of the drive mechanism in the wiping assembly of the cleaning robot according to the embodiment of the present application. Figure 13 In an embodiment of the present application, when the active output gear 32 ends its outward swing idling stroke in the first rotation direction, the winding increment of the traction wire 40 on the wire winding drum 34 can reach the target amount, so that the flip angle plate 60 switches from the flipped posture to the flat posture when the medium carrier 50 is not swung outward.

[0149] For example, in an embodiment of the present application, if the active output gear 32 no longer drives the wire winding drum 34 to continue rotating in the first rotation direction after completing the outward swing idling stroke in the first rotation direction, then as long as the active output gear 32 drives the wire winding drum 34 to rotate in the second rotation direction instead, the winding increment of the traction wire 40 on the wire winding drum 34 can be reduced until the flip angle plate 60 automatically resets to the flip-up posture.

[0150] For example, in an embodiment of the present application, if the active output gear 32 continues to rotate in the first rotational direction after completing the outward swing idling stroke in the first rotational direction, the driven output gear 33 can respond to the end of the outward swing idling stroke and start to rotate synchronously with the active output gear 32 in the first rotational direction, so that the outward swing of the medium carrier 50 to the outward swing position is started as the flip angle plate 60 is pulled to a flat posture.

[0151] For example, in an embodiment of the present application, if the active output gear 32 continues to rotate in the first rotational direction after completing the outward swing idling stroke in the first rotational direction, then the wire winding drum 34, following the continued rotation of the active output gear 32 in the first rotational direction and the outward swing of the medium carrier 50 after the outward swing idling stroke, may cause the traction wire 40 to generate a redundant amount exceeding the target amount in the winding increment of the wire winding drum 34, and the redundant amount of the winding increment may further generate redundant traction on the flip angle plate 60 in the flat position. Such redundant traction may cause the flip angle plate 60 in the flat position to become unstable, or, if the flip angle plate 60 can be stably constrained in the flat position, such redundant traction may cause excessive stretching of the traction wire 40, thereby causing tensile wear of the traction wire 40 that affects its service life.

[0152] Figure 14 This is a schematic diagram of elastic over-position compensation for a first embodiment of an asynchronous drive structure in a drive mechanism of a wiping assembly of a cleaning robot according to an embodiment of the present application. Figure 14 In an embodiment of the present application, in order to prevent the traction wire 40 from being overstretched during the outward swing of the medium carrier 40 , the traction wire 40 may be connected to the flip angle plate 60 via a traction spring 63 .

[0153] For example, in the embodiment of the present application, the traction spring 63 can compensate for the redundancy of the traction wire 40 during the winding increment of the traction wire winding drum 34 through elastic deformation, so as to maintain the tilt angle plate 60 in the flat position after being pulled to the flat position. Therefore, the traction spring 63 can be used to maintain the tilt angle plate 60 in the flat position during the outward swing of the media tray 50.

[0154] For example, in an embodiment of the present application, a traction spring 63 may be placed in the hollow inner cavity of the flip angle plate 60, one end of the traction spring 63 may abut the bottom edge 61 of the flip angle plate 60, and the other end of the traction spring 63 may face the top corner 62 of the flip angle plate 60. Furthermore, the traction end 46 of the traction wire 40 may be hooked on the other end of the traction spring 63 facing the top corner 62. During the process of the traction wire 40 pulling the flip angle plate 60 from the upturned position to the flat position, the traction spring 63 may basically remain in a normal state. When the traction wire 40 generates a redundant amount in the winding increment of the wire winding drum 34, the other end of the traction spring 63 facing the top corner 62 may be pulled toward the bottom edge 61 of the wire winding drum 34 by the traction end 46, thereby causing the traction spring 63 to undergo elastic compression deformation to compensate for the redundant amount of the traction wire 40 in the winding increment of the wire winding drum 34.

[0155] Figure 15 This is a schematic diagram of the return idle stroke of the first embodiment of the asynchronous drive structure of the drive mechanism in the wiping assembly of the cleaning robot according to the embodiment of the present application. Figure 15 In the embodiment of the present application, during the period when the active output gear 32 rotates in the second rotation direction (for causing the medium carrier 50 to return and the flip angle plate 60 to reset): due to the phase gap between the driving teeth 325 and the transmission teeth 335 in the first rotation direction, the active output gear 32 can have a return idle stroke relative to the driven output gear 33, that is, there is also a gap between the driving teeth 325 and the transmission teeth 335 for providing Figure 15 Phase gap of return idle stroke shown.

[0156] For example, in an embodiment of the present application, the incremental winding of the traction wire 40 on the wire winding drum 34 can be reduced in response to the synchronous rotation of the wire winding drum 34 following the active output gear 32 in the second rotational direction. During this period, the traction spring 63 can compensate for the redundant amount of the incremental winding by elastically returning to the target amount. The traction spring 63 completes its elastic return when the incremental winding of the traction wire 40 is reduced to the target amount. In addition, the release of the flip angle plate 60 by the driving mechanism 30 can be initiated in response to the completion of the elastic return of the traction spring 63.

[0157] For example, in an embodiment of the present application, the driven output gear 33 can start to rotate synchronously with the active output gear 32 in the second rotation direction in response to the end of the return idling stroke, so that the medium carrier 50 starts to return to the storage position, and the return start of the medium carrier 50 to the storage position can be asynchronous with the completion of the elastic reset of the traction spring 63 (i.e., the release of the flip angle plate 60).

[0158] For example, in an embodiment of the present application, if the drive mechanism 30 asynchronously drives the media carrier 50 and the flip angle plate 60, then, in addition to using the traction spring 63 to compensate for the redundancy of the incremental winding of the traction wire 40, an alternative method based on a clutch can also be provided. The alternative method based on a clutch eliminates the need for the traction spring 63 on the flip angle plate 60, thereby avoiding the maintenance operation of frequently replacing the traction spring 63 due to aging.

[0159] Figure 16 This is a schematic diagram of the clutch closed state of the second embodiment of the structure in which the drive mechanism of the wiping assembly of the cleaning robot of the embodiment of the present application adopts asynchronous drive. Figure 16 In the embodiment of the present application, the driven output gear 33 can be coaxially coupled with the active output gear 32, and the wire winding drum 34 can be coaxially coupled with the active output gear 32, rather than being coaxially fixedly connected. Furthermore, the drive mechanism 30 can further include a drum clutch rotary disk 39, and the drum clutch rotary disk 39 can be coaxially fixedly connected with the active output gear 32 (e.g., the second shaft segment 322).

[0160] For example, in the embodiment of the present application, during the period when the active output gear 32 rotates in the first rotation direction to pull the flip angle plate 60 from the flip-up posture to the flat posture by the traction wire 40, as shown in FIG. Figure 16 As shown, the wire drum clutch rotary plate 39 can be engaged with the wire winding drum 34 to form a transmission between the wire winding drum 34 and the active output gear 32, so that the wire winding drum 34 rotates synchronously with the active output gear 32 in the first rotation direction.

[0161] For example, in the examples of this application, please refer to Figures 16 to 18 The wire winding drum 34 may have a clutch boss 349 facing away from the mounting base 10, and the wire drum clutch rotary disk 39 may be coaxially mounted on the side of the wire winding drum 34 facing away from the mounting base 10. Furthermore, the wire drum clutch rotary disk 39 may have a clutch groove 399 facing the wire winding drum 34. In this case, the wire drum clutch rotary disk 39 can be engaged with the wire winding drum 34 by engaging the clutch boss 349 in the clutch groove 399, thereby forming a transmission between the wire winding drum 34 and the active output gear 32.

[0162] Exemplarily, in an embodiment of the present application, during the period when the active output gear 32 rotates in the first rotational direction to switch the flip angle plate 60 from the flipped-up posture to the flat posture by pulling the pull wire 40, due to the phase gap between the driving teeth 325 and the transmission teeth 335 in the first rotational direction, the active output gear 32 can have an outward swing idling stroke relative to the driven output gear 33 before the winding increment reaches the target amount.

[0163] For example, in an embodiment of the present application, if the active output gear 32 no longer drives the wire winding drum 34 to continue rotating in the first rotation direction after completing the outward swing idling stroke in the first rotation direction, then the drum clutch turntable 39 can still maintain the engagement with the wire winding drum 34 to form a transmission between the wire winding drum 34 and the active output gear 32. Therefore, as long as the active output gear 32 is changed to drive the wire winding drum 34 to rotate in the second rotation direction, the wire winding drum 34 can be rotated synchronously with the active output gear 32 in the second rotation direction, thereby reducing the winding increment of the traction wire 40 on the wire winding drum 34 until the flip angle plate 60 automatically resets to the flip-up posture.

[0164] For example, in an embodiment of the present application, if the active output gear 32 continues to rotate in the first rotational direction after completing the outward swing idling stroke in the first rotational direction, the driven output gear 33 can respond to the end of the outward swing idling stroke and start to rotate synchronously with the active output gear 32 in the first rotational direction, so that the outward swing of the medium carrier 50 to the outward swing position is initiated following the traction of the flip angle plate 60 to the flat posture, thereby, the outward swing of the medium carrier 50 to the outward swing position can be delayed before the driving mechanism 30 pulls the flip angle plate 60 through the traction wire 40.

[0165] Figure 17 This is a schematic diagram of the clutch-on / off state of the second embodiment of the structure in which the drive mechanism in the wiping assembly of the cleaning robot of the embodiment of the present application adopts asynchronous drive. Figure 17 During the outward swing of the media carrier 50, the cable drum clutch rotary plate 39 can be disengaged from the cable winding drum 34 to disconnect the transmission between the cable winding drum 34 and the active output gear 32. Thus, the cable drum clutch rotary plate 39 can continue to rotate in the first rotational direction following the active output gear 32 in the disengaged state, while the cable winding drum 34 can stop rotating in the first rotational direction following the active output gear 32. This prevents the cable winding drum 34 from rotating in the first rotational direction following the active output gear 32, which would otherwise cause redundant winding increments. Consequently, the flip angle plate 60 can be maintained in the flattened position without requiring the traction spring 63.

[0166] For example, the wire drum clutch turntable 39 can be disengaged from the clutch groove 399 through the clutch boss 349, thereby disengaging the wire drum clutch turntable 39 from the wire winding drum 34, thereby disconnecting the transmission between the wire winding drum 34 and the active output gear 32.

[0167] Figure 18 This is a schematic diagram of the clutch recovery state of the second embodiment of the structure in which the drive mechanism of the wiping assembly of the cleaning robot of the embodiment of the present application adopts asynchronous drive. Figure 18 In an embodiment of the present application, during the period when the active output gear 32 rotates in the second rotation direction (for causing the medium carrier 50 to return and causing the flip angle plate 60 to reset): due to the phase gap between the driving teeth 325 and the transmission teeth 335 in the first rotation direction, the active output gear 32 can have a return idling stroke relative to the driven output gear 33.

[0168] Exemplarily, in an embodiment of the present application, the wire winding drum 34 can be restored after the active output gear 32 starts the return idling stroke (for example, during the return idling stroke, or at the end of the return idling stroke, or after the return idling stroke ends) through the transmission between the drum clutch turntable 39 and the active output gear 32. That is, the drum clutch turntable 39 can be restored to engagement with the wire winding drum 34 after the active output gear 32 starts the return idling stroke (for example, during the return idling stroke, or at the end of the return idling stroke, or after the return idling stroke ends). Therefore, by restoring the transmission between the wire winding drum 34 and the active output gear 32, the wire winding drum 34 can rotate synchronously with the active output gear 32 in the second rotation direction, thereby enabling the driving mechanism 30 to release the flip angle plate 60. That is, the winding increment of the traction wire 40 on the wire winding drum 34 can be reduced in response to the synchronous rotation of the wire winding drum 34 following the active output gear 32 in the second rotation direction, until the winding increment of the traction wire 40 on the wire winding drum 34 is reduced, and the flip angle plate 60 is reset to the upward flip position under the driving of the elastic reset force.

[0169] Exemplarily, in an embodiment of the present application, the wire drum clutch turntable 39 can be further disengaged from the wire winding drum 34 and the active output gear 32 based on the one-way anti-rotation limit of the mounting base 10 in the first rotation direction of the wire winding drum 34, so as to disconnect the transmission between the wire winding drum 34 and the active output gear 32.

[0170] For example, in an embodiment of the present application, the one-way anti-rotation limit of the wire winding drum 34 on the mounting substrate 10 can be released in response to the transmission recovery between the wire winding drum 34 through the drum clutch turntable 39 and the active output gear 32, so as to enable the driving mechanism 30 to release the flip angle plate 60.

[0171] Figure 19 This is a schematic diagram of an optimized structure for providing a one-way anti-rotation limit for the mounting substrate in the wiping assembly of the cleaning robot according to an embodiment of the present application. Figure 20 This is a schematic diagram of a second example structure in which the drive mechanism in the wiping assembly of the cleaning robot according to an embodiment of the present application adopts asynchronous drive and does not form a one-way anti-rotation limit. Figure 21 This is a schematic diagram of the second embodiment of the asynchronous drive structure of the driving mechanism in the wiping assembly of the cleaning robot according to the embodiment of the present application, which triggers the clutch to disconnect due to the one-way rotation limit. Figures 19 to 21 In an embodiment of the present application, in order to achieve one-way anti-rotation limiting of the wire winding drum 34 by the mounting substrate 10 in the first rotation direction, the mounting substrate 10 (for example, the lower surface of the mounting substrate 10) may have a limiting groove 133, and the limiting groove 133 may be located radially outside the substrate opening 14 of the mounting substrate 10 (for the second shaft section 322 of the active output gear 32 to pass through).

[0172] Please see Figure 20 and Figure 21 While watching Figures 16 to 18 In an embodiment of the present application, the wire winding drum 34 may have a limiting rib 343 protruding toward the mounting substrate 10.

[0173] For example, in the embodiments of the present application, Figure 20 As shown, during the period when the winding increment of the traction wire 40 on the wire winding drum 34 is less than the target increment, that is, before the wire winding drum 34 rotates in the first rotation direction with the drum clutch turntable 39 to reach the stop phase, the limiting rib 343 of the wire winding drum 34 deviates from the limiting groove 133 of the mounting base 10. In this state, the limiting rib 343 of the wire winding drum 34 slides in contact with the mounting base 10, so that the wire winding drum 34 is in a sinking state relative to the mounting base 10 and the drum clutch turntable 39, so as to realize the connection between the wire winding drum 34 and the drum clutch turntable 39 as shown in FIG. Figure 16 and Figure 18 The clutch disc 39 is engaged as shown (i.e., the clutch boss 349 is kept engaged in the clutch groove 399), and the clutch disc 39 rotates synchronously with the active output gear 32 in the first rotation direction through the bobbin clutch disc 39.

[0174] For example, in the embodiments of the present application, Figure 21As shown, when the winding increment of the traction wire 40 on the wire winding drum 34 reaches the target increment, the limiting rib 343 of the wire winding drum 34 is in a stop phase aligned with the limiting groove 133 of the mounting base plate 10. In this state, the limiting rib 343 can be pushed by the drum clutch turntable 39 to be inserted into the limiting groove 133, so that the wire winding drum 34 is in a floating state relative to the mounting base plate 10 and the drum clutch turntable 39. Thus, when the wire winding drum 34 is in the floating state, a one-way stop limit of the wire winding drum 34 in the first rotation direction can be formed by inserting the limiting rib 343 into the limiting groove 133, and the wire winding drum 34 and the drum clutch turntable 39 are as shown. Figure 17 The disengagement shown is that the clutch boss 349 is disengaged from the clutch groove 399 by inserting the limiting rib 343 into the limiting groove 133, so that the wire winding drum 34 is disconnected from the transmission of the active output gear 32 in the first rotation direction through the drum clutch turntable 39.

[0175] For example, in an embodiment of the present application, the wire drum clutch turntable 39 continues to rotate in the first rotation direction to cause the clutch groove 399 to be misaligned with the clutch boss 349, and generates pressure on the wire winding drum 34 that is limited in the stop phase by the one-way stop limit, so as to maintain the floating state of the wire winding drum 34, that is, to maintain the insertion state of the limiting rib 343 in the limiting groove 133.

[0176] For example, in an embodiment of the present application, after the active output gear 32 starts the return idling stroke, the wire drum clutch turntable 39 can restore the alignment of the clutch groove 399 of the wire drum clutch turntable 39 and the clutch boss 349 of the wire winding drum 34 by rotating in the second rotation direction, so that the clutch boss 349 of the wire winding drum 34 is restored to be embedded in the clutch groove 399 of the wire drum clutch turntable 39, so as to restore the transmission of the wire winding drum 34 through the wire drum clutch turntable 39 and the active output gear 32.

[0177] For example, in an embodiment of the present application, the limiting rib 343 of the wire winding drum 34 moves out of the limiting groove 133 in response to the clutch boss 349 restoring its embedment in the clutch groove 399 to release the one-way anti-rotation limit of the mounting substrate 10 on the wire winding drum 34.

[0178] For example, in an embodiment of the present application, a clutch spring 38 may be installed between the wire winding drum 34 and the mounting base 10. In this case, the clutch spring 38 generates an elastic force on the wire winding drum 34 that causes the wire winding drum 34 to be in a sinking state. Therefore, the elastic force can cause the clutch boss 349 of the wire winding drum 34 to recover and embed into the clutch groove 399 of the drum clutch rotary disc 39.

[0179] For example, in an embodiment of the present application, if a clutch spring 38 is installed between the wire winding drum 34 and the mounting substrate 10, the pressure generated by the drum clutch turntable 39 on the wire winding drum 34 that is limited in the stop phase by the one-way stop limit can overcome the elastic force generated by the clutch spring 38 on the wire winding drum 34.

[0180] For example, in an embodiment of the present application, if a clutch spring 38 is installed between the wire winding drum 34 and the mounting substrate 10, then when the wire drum clutch turntable 39 restores the alignment of the clutch groove 399 and the clutch boss 349 of the wire winding drum 34 by rotating in the second rotation direction, the wire winding drum 34 can move under the elastic force generated by the clutch spring 38 (for example, move from a floating state to a sinking state), so that the clutch boss 349 of the wire winding drum 34 is restored to be embedded in the clutch groove 399 of the wire drum clutch turntable 39, and the limiting rib 343 of the wire winding drum 34 is moved out of the limiting groove 133 of the mounting substrate 10.

[0181] For example, in the examples of this application, please pay special attention to Figure 18 The clutch boss 349 may have an inclined side wall 349 a and a vertical side wall 349 b , and the clutch groove 399 may have an inclined groove wall 399 a and a vertical groove wall 399 b .

[0182] Exemplarily, in an embodiment of the present application, when the wire winding drum 34 is engaged with the wire drum clutch turntable 39, the wire drum clutch turntable 39 can drive the wire winding drum 34 to rotate in the first rotation direction by cooperating with the inclined surface of the inclined groove wall 399a and the inclined side wall 349a.

[0183] For example, in an embodiment of the present application, when the wire reel clutch turntable 39 reaches the stop phase, the inclined groove wall 399a cooperates with the inclined surface of the inclined side wall 349a to cause the wire winding reel 34 to squeeze the clutch spring 38 upward to cause elastic deformation, thereby driving the wire winding reel 34 to float up, thereby driving the clutch boss 349 to disengage from the clutch groove 399 and the limiting rib 343 to insert into the limiting groove 133.

[0184] For example, in the embodiment of the present application, the insertion process of the limiting rib 343 into the limiting groove 133 can be a sliding insertion process accompanied by the rotation of the wire winding drum 34 and the drum clutch rotary disk 39 in the first rotation direction. In this case, the groove bottom of the limiting groove 133 of the mounting base 10 can be an inclined surface with a slope that is the same as or similar to the inclined groove wall 399a and the inclined side wall 349a.

[0185] For example, in the embodiment of the present application, the inclined surface engagement between the inclined groove wall 399a and the inclined side wall 349a is released in response to the completion of the insertion of the limiting rib 343 into the limiting groove 133, that is, the wire winding reel 34 is disengaged from the wire reel clutch rotary disk 39. Thereafter, if the wire reel clutch rotary disk 39 and the active output gear 32 continue to rotate in the first rotational direction, the outward swing idling stroke of the active output gear 32 relative to the driven output gear 33 can be terminated in response to the release of the inclined surface engagement, that is, the outward swing of the medium carrier 50 is initiated in response to the release of the inclined surface engagement, and the clutch groove 399 deviates from the clutch boss 349 in the first rotational direction, so that the wire winding reel 34 and the wire reel clutch rotary disk 39 are in a stable disengaged state.

[0186] For example, in an embodiment of the present application, the wire drum clutch turntable 39 rotates in the second rotation direction with the active output gear 32 after the outward swing of the medium carrier 50 is completed, so that the clutch groove 399 can be returned to be aligned with the clutch boss 349, and when the clutch spring 38 is restored to be aligned with the clutch boss 349 in the second rotation direction of the clutch groove 399, its elastic reset tendency can cause the wire winding drum 34 to sink, that is, the clutch spring 38 can drive the wire winding drum 34 to sink through elastic reset, so as to drive the clutch boss 349 to engage with the clutch groove 399, thereby restoring the engagement of the wire winding drum 34 with the wire drum clutch turntable 39.

[0187] For example, in an embodiment of the present application, when the wire winding drum 34 and the wire drum clutch turntable 39 are restored to engagement, the wire drum clutch turntable 39 can drive the wire winding drum 34 to rotate in the second rotation direction through the abutment cooperation between the vertical groove wall 399b and the vertical side wall 349b, so that the limiting rib 343 is moved out of the limiting groove 133.

[0188] For example, in an embodiment of the present application, the clutch groove 399 is restored to alignment with the clutch boss 349 in the second rotational direction, which may occur before, after, or after the return idling of the active output gear 32 relative to the driven output gear 33 in the second rotational direction ends.

[0189] In another embodiment of the present application, a cleaning robot is provided. The cleaning robot may include a robot body and the wiping assembly described in the aforementioned embodiment, wherein the robot body has a mobile chassis, and the mounting base 10 of the wiping assembly is arbitrarily mounted below the mobile chassis. Furthermore, the robot body may be equipped with any sensing components for edge cleaning, such as a visual sensor and a position sensor. Optionally, the mobile chassis of the robot body may also be equipped with a cleaning assembly.

[0190] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A wiping component of a cleaning robot, characterized in that: include: A mounting base (10) having an arc-shaped edge; A driving mechanism (30) is mounted on the mounting substrate (10); A medium carrier (50) is transmission-connected to the drive mechanism (30) below the mounting substrate (10) and has a corner notch (500) at the intersection of the carrier end edge and the carrier side edge; A flip angle plate (60) is rotatably mounted on the medium carrier (50) at the disc corner notch (500); A traction wire (40) is connected between the driving mechanism (30) and the flip angle plate (60); The medium carrier (50) and the flip angle plate (60) are used to collaboratively load the wiping medium, and: When the drive mechanism (30) drives the medium carrier (50) to swing outward from the storage position to the outward swing position, the drive mechanism (30) pulls the flip corner plate (60) from the upward flipped position against the arc edge to the flat position filling the disc corner gap (500) through the traction wire (40); When the driving mechanism (30) drives the medium carrier (50) to return to the storage position, the driving mechanism (30) releases the traction of the flip angle plate (60) through the traction wire (40), so that the flip angle plate (60) elastically returns to the flip-up posture.

2. The wiping assembly according to claim 1, characterized in that: The end edge of the carrier plate and the side edge of the carrier plate are connected by chamfered bevels; The flip angle plate (60) has an angle plate bottom edge (61) and an angle plate top angle (62), the angle plate bottom edge (61) is rotatably connected to the chamfered bevel edge via an angle plate rotating shaft (64), the angle plate top angle (62) is formed by a pair of angle plate bevel edges connecting the two ends of the angle plate bottom edge (61), and the pair of angle plate bevel edges are aligned with the end edge of the carrier plate and the side edge of the carrier plate respectively when the flip angle plate (60) is in the flat posture.

3. The wiping assembly according to claim 2, characterized in that: A support guide wheel (44) is installed on the outer side of the angle plate rotating shaft (64) facing away from the chamfered bevel, and the traction wire (40) passes through the bottom of the angle plate rotating shaft (64) and the outer side of the support guide wheel (44).

4. The wiping assembly according to claim 2, characterized in that: The angle plate rotating shaft (64) is provided with a return torsion spring (66), and the return torsion spring (66) generates an elastic return force that causes the flip angle plate (60) to elastically return to the flip-up posture.

5. The wiping assembly according to claim 1, characterized in that: The driving mechanism (30) driving the medium carrier (50) triggers the winding change of the traction wire (40) in the driving mechanism (30), and the traction and release of the flip angle plate (60) by the driving mechanism (30) are triggered by the winding change of the traction wire (40).

6. The wiping assembly according to claim 5, characterized in that: The driving mechanism (30) includes a swing driving motor (31) and a wire winding drum (34), and two ends of the traction wire (40) are respectively fixed to the wire winding drum (34) and the flip angle plate (60); in: The wire winding drum (34) is used to be driven by the swing drive motor (31) and can be switched to rotate in a first rotation direction or a second rotation direction opposite to the first rotation direction; The rotation of the wire winding drum (34) in the first rotation direction is associated with the outward swing of the medium carrier (50) to the outward swing position, and the rotation of the wire winding drum (34) in the second rotation direction is associated with the recovery of the medium carrier (50) to the storage position; The rotation of the wire winding drum (34) in the first rotation direction overcomes the elastic restoring force of the flip angle plate (60), and triggers the winding increment of the traction wire (40) on the wire winding drum (34), so that the flip angle plate (60) is pulled to the flat posture when the winding increment reaches a target amount; The rotation of the wire winding drum (34) in the second rotation direction causes the winding increment to be reduced, so that the flip angle plate (60) is reset to the flip-up posture by the elastic reset force when the winding increment is reduced to zero.

7. The wiping assembly according to claim 6, characterized in that: The driving mechanism (30) further comprises a driving output gear (32) and a driven output gear (33), wherein the driving output gear (32) is coaxially fixedly connected to the output shaft of the swing driving motor (31), the wire winding drum (34) is coaxially assembled with the driving output gear (32), the driven output gear (33) is coaxially assembled with the driving output gear (32), and the driven output gear (33) is transmission-connected to the medium carrier (50); in: The active output gear (32) is used to drive the wire winding drum (34) to rotate switchably in the first rotation direction or the second rotation direction under the drive of the swing drive motor (31); The rotation of the active output gear (32) in the first rotation direction is used to drive the medium carrier (50) to swing outward to the swing-out position via the driven output gear (33); The rotation of the active output gear (32) in the second rotation direction is used to drive the medium carrier (50) to return to the storage position through the driven output gear (33).

8. The wiping assembly according to claim 7, characterized in that: The driven output gear (33) and the wire winding drum (34) are both coaxially fixedly connected to the active output gear (32) so that: The medium carrier (50) swings outward to the swing-out position, synchronously with the driving mechanism (30) pulling the flip angle plate (60) via the pulling wire (40); The return of the medium carrier (50) to the storage position is synchronized with the release of the flip angle plate (60) by the driving mechanism (30).

9. The wiping assembly according to claim 7, characterized in that: The driven output gear (33) is coaxially coupled with the active output gear (32), and the wire winding drum (34) is coaxially fixedly connected with the active output gear (32), so that: The outward swing of the medium carrier (50) to the outward swing position is delayed by the driving mechanism (30) pulling the flip angle plate (60) via the pulling wire (40); The return of the medium carrier (50) to the storage position is asynchronous with the release of the flip angle plate (40) by the driving mechanism (30).

10. The wiping assembly according to claim 9, characterized in that: The traction wire (40) is connected to the flip angle plate (60) via a traction spring (63); The traction spring (63) is used to maintain the flip angle plate (60) being pulled to the flattened posture during the outward swing of the medium carrier (50) toward the outward swing position.

11. The wiping assembly according to claim 10, characterized in that: During the period when the active output gear (32) rotates in the first rotation direction: The active output gear (32) has an outward swing idling stroke relative to the driven output gear (33) before the winding increment reaches the target amount, and the driven output gear (33) starts to rotate synchronously with the active output gear (32) in the first rotation direction in response to the end of the outward swing idling stroke when the winding increment reaches the target amount, so that the outward swing of the medium carrier (50) to the outward swing position is initiated in response to the flip angle plate (60) being pulled to the flat posture; After the outward swing idling stroke ends, the wire winding drum (34) follows the continued rotation of the active output gear (32) in the first rotation direction and the outward swing of the medium carrier (50), so that the winding increment generates a redundant amount exceeding the target amount, and the traction spring (63) compensates for the redundant amount through elastic deformation, so that the flip angle plate (60) pulled to the flat posture remains in the flat posture; During the period when the active output gear (32) rotates in the second rotation direction: The active output gear (32) has a return idle stroke relative to the driven output gear (33), and in response to the end of the return idle stroke, the driven output gear (33) starts to rotate synchronously with the active output gear (32) in the second rotation direction, so as to start the return of the medium carrier (50) to the storage position; The winding increment is reduced in response to the synchronous rotation of the wire winding drum (34) following the active output gear (32) in the second rotation direction, and the traction spring (63) compensates for the redundant amount by elastic reset reduction. The traction spring (63) completes elastic reset when the winding increment is reduced to the target amount, and the release of the flip angle plate (60) by the driving mechanism (30) is started in response to the completion of the elastic reset of the traction spring (63).

12. The wiping assembly according to claim 11, characterized in that: The active output gear (32) has a driving tooth (325), and the driven output gear (33) has a transmission tooth (335). The driven output gear (33) rotates synchronously with the active output gear (32) through physical contact between the driving tooth (325) and the transmission tooth (335). In addition, a phase gap is provided between the driving tooth (325) and the transmission tooth (335) for providing the outer swing idling stroke and the return idling stroke.

13. The wiping assembly according to claim 9, characterized in that: The driving mechanism (30) further comprises a wire drum clutch rotary disc (39), wherein: The wire drum clutch rotary disk (39) disconnects the transmission between the wire winding drum (34) and the active output gear (32) during the outward swing of the medium carrier (50) to the outward swing position, so as to maintain the flip angle plate (60) being pulled to the flat posture; The wire drum clutch turntable (39) enables the driving mechanism (30) to release the flip angle plate (60) by restoring the transmission between the wire winding drum (34) and the active output gear (32).

14. The wiping assembly according to claim 13, characterized in that: The wire drum clutch turntable (39) further disconnects the transmission between the wire winding drum (34) and the active output gear (32) based on the one-way rotation stop of the mounting base plate (10) on the wire winding drum (34) in the first rotation direction.

15. The wiping assembly according to claim 14, characterized in that During the period when the active output gear (32) rotates in the first rotation direction: The active output gear (32) has an outward swing idle stroke relative to the driven output gear (33) before the winding increment reaches the target amount, the one-way stop limit is formed when the winding increment reaches the target amount, and the driven output gear (33) starts to rotate synchronously with the active output gear (32) in the first rotation direction in response to the end of the outward swing idle stroke when the winding increment reaches the target amount, so that the outward swing of the medium carrier (50) to the outward swing position is started following the pulling of the flip angle plate (60) to the flat posture; During the period when the active output gear (32) rotates in the second rotation direction: The active output gear (32) has a return idle stroke relative to the driven output gear (33), and in response to the end of the return idle stroke, the driven output gear (33) starts to rotate synchronously with the active output gear (32) in the second rotation direction, thereby enabling the medium carrier (50) to start returning to the storage position; The wire winding drum (34) is restored through the transmission between the drum clutch rotary disk (39) and the active output gear (32) after the active output gear (32) starts the return idling stroke, and the one-way anti-rotation limit is released in response to the restoration of the wire winding drum (34) through the transmission between the drum clutch rotary disk (39) and the active output gear (32), so as to enable the driving mechanism (30) to release the flip angle plate (60).

16. The wiping assembly according to claim 15, characterized in that The wire pulling winding drum (34) has a clutch boss (349) facing away from the mounting base plate (10), the wire drum clutch rotary disc (39) is coaxially mounted on a side of the wire pulling winding drum (34) facing away from the mounting base plate (10), and the wire drum clutch rotary disc (39) has a clutch groove (399) facing the wire pulling winding drum (34); The wire winding drum (34) has a limiting rib (343) protruding toward the mounting base plate (10), and the mounting base plate (10) has a limiting groove (133); in: The wire drum clutch rotary disc (39) is engaged with the clutch boss (349) in the clutch groove (399), thereby forming a transmission between the wire pulling winding drum (34) and the active output gear (32); Before the wire winding drum (34) rotates in the first rotation direction along with the drum clutch rotary disk (39) and reaches the stop phase, the limiting rib (343) maintains the clutch boss (349) engaged in the clutch groove (399) by slidingly abutting against the mounting base plate (10); When the wire winding drum (34) rotates to reach the stop phase when the winding increment reaches the target amount, the limiting rib (343) is aligned with the limiting groove (133) when the wire winding drum (34) is in the stop phase, and the drum clutch rotary disc (39) drives the limiting rib (343) to insert into the aligned limiting groove (133), and the one-way stop limit is formed by inserting the limiting rib (343) into the limiting groove (133); The clutch boss (349) is inserted into the limiting groove (133) through the limiting rib (343) and disengaged from the clutch groove (399), and the wire drum clutch rotary plate (39) is disengaged from the clutch groove (399) through the clutch boss (349), thereby disconnecting the transmission between the wire winding drum (34) and the active output gear (32); The wire drum clutch rotary disc (39) causes the clutch groove (399) and the clutch boss (349) to be misaligned by continuing to rotate in the first rotation direction, and generates pressure on the wire winding drum (34) that is limited in the stop phase by the one-way stop limit, so as to maintain the insertion state of the limit rib (343) in the limit groove (133); After the active output gear (32) starts the return idle stroke, the wire drum clutch rotary disk (39) restores the alignment of the clutch groove (399) and the clutch boss (349) by rotating in the second rotation direction, so that the clutch boss (349) is restored to be embedded in the clutch groove (399), thereby restoring the transmission of the wire winding drum (34) through the wire drum clutch rotary disk (39) and the active output gear (32); The limiting rib (343) moves out of the limiting groove (133) in response to the clutch boss (349) resuming its engagement with the clutch groove (399) to release the one-way anti-rotation limit.

17. The wiping assembly according to claim 16, characterized in that: A clutch spring (38) is installed between the wire winding drum (34) and the mounting base (10), wherein: The clutch spring (38) generates an elastic force on the wire winding drum (34) to force the clutch boss (349) to engage with the clutch groove (399); The wire drum clutch rotary disc (39) exerts pressure on the wire winding drum (34) which is limited in the stop phase by the one-way stop limit, thereby overcoming the elastic force exerted by the clutch spring (38) on the wire winding drum (34); When the wire drum clutch turntable (39) restores the alignment between the clutch groove (399) and the clutch boss (349) by rotating in the second rotation direction, the wire winding drum (34) moves under the elastic force generated by the clutch spring (38), so that the clutch boss (349) is restored to be embedded in the clutch groove (399), and the limiting rib (343) moves out of the limiting groove (133).

18. The wiping assembly according to claim 17, characterized in that The clutch boss (349) has an inclined side wall (349a) and a vertical side wall (349b), and the clutch groove (399) has an inclined groove wall (399a) and a vertical groove wall (399b); in: The wire drum clutch rotary disk (39) drives the wire pulling winding drum (34) to rotate in the first rotation direction by cooperating with the inclined surface of the inclined groove wall (399a) and the inclined side wall (349a); The wire drum clutch rotary disk (39) drives the wire pulling winding drum (34) to rotate in the second rotation direction through the abutment cooperation between the vertical groove wall (399b) and the vertical side wall (349b); When the wire drum clutch turntable (39) reaches the stop phase, the inclined surface engagement drives the clutch boss (349) to disengage from the clutch groove (399) and the limiting rib (343) to insert into the limiting groove (133) by squeezing the clutch spring (38) to cause elastic deformation, and the inclined surface engagement is released in response to the limiting rib (343) completing the insertion into the limiting groove (133), so that the clutch groove (399) deviates from the clutch boss (349) in the first rotation direction.

19. A cleaning robot, characterized in that: It comprises a robot body and a wiping assembly according to any one of claims 1 to 18, wherein the mounting base (10) is movably mounted below the robot body.

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