Cleaning cloth lifting and rotating mechanism for sweeping robot

Abstract

The invention relates to a cleaning cloth lifting and rotating mechanism for a sweeping robot. The cleaning cloth lifting and rotating mechanism is provided with a mounting base mounted on a sweeping robot rack; a driving device is arranged on the mounting base; a mounting cavity is formed in the mounting base; a lifting driving mechanism is arranged in the mounting cavity; the lifting driving mechanism comprises a first driving body, a cleaning cloth mounting body and a reset spring; the driving device is used for driving the first driving body to rotate in the mounting cavity; the cleaning cloth mounting body is kept attached to the first driving body under the action of the reset spring; a second driving body is integrally arranged at the upper end of the cleaning cloth mounting body; a pushing end surface is arranged on the first driving body; when the first driving body rotates, the pushing end face acts on the second driving body to push the cleaning cloth mounting body to slide in the mounting cavity; a first limiting block and a second limiting block are arranged at the two ends of the pushing end face correspondingly. The problem that when the sweeping robot is in a non-working state, the cleaning cloth is prone to being exposed outside, and the service life is short can be effectively solved. Meanwhile, the cleaning cloth can be in good contact with the ground.

Description

Technical Field

[0001] This invention relates to the field of sweeping robots, and in particular to a mop lifting and rotating mechanism for sweeping robots. Background Technology

[0002] Currently, robotic vacuum cleaners are widely used in daily cleaning in homes and commercial environments. Robotic vacuum cleaners with integrated mopping functions typically have a mop assembly on their bottom, which cleans the floor through friction between the mop and the floor during operation. However, when the robotic vacuum cleaner finishes its work or is in standby or charging mode, the mop often remains exposed and in direct contact with the floor. This continuous contact not only can lead to the mop getting dirty, but it also causes unnecessary wear and tear on the mop material, significantly shortening its lifespan and creating a burden for users to frequently replace parts.

[0003] To address this problem, existing technologies have proposed several lifting devices for raising and separating the cloth from the ground when not in use. One common solution is to use a screw drive mechanism to raise and lower the cloth. This mechanism typically includes a motor, a screw, a nut, and related transmission components. The motor's forward and reverse rotation drives the nut to move along the screw's axial direction, thereby causing the cloth holder to lower or raise.

[0004] However, this type of screw-driven lifting device has several obvious drawbacks. First, its overall structure is relatively complex, with a large number of parts, which not only occupies valuable internal space but also leads to higher manufacturing costs. Second, to reliably hold the cloth in the lifted state and prevent it from accidentally falling due to its own weight or vibrations during equipment movement, a special locking structure (such as an electromagnetic lock or mechanical latch) is usually required, further increasing the system's complexity and cost. Finally, the screw and nut mechanism itself is a sliding friction pair, which is prone to wear during long-term repeated use, leading to decreased transmission accuracy, abnormal noise, and even jamming or complete failure, affecting the reliability and durability of the entire lifting function.

[0005] Therefore, existing cloth lifting devices are inadequate in terms of structural complexity, cost control, and long-term reliability. There is an urgent need for a cloth lifting solution that is simpler in structure, more reliable in operation, requires no additional locking, and has higher durability. Summary of the Invention

[0006] The purpose of this invention is to provide a mop lifting and rotating mechanism for a robotic vacuum cleaner, which effectively solves the problem of the mop being easily exposed and thus having a short lifespan when the robotic vacuum cleaner is not in operation. It also allows the mop to have better contact with the floor.

[0007] The technical solution to achieve the objective of this invention is as follows: This invention has a mounting base installed on the frame of a sweeping robot; the mounting base is provided with a driving device; the mounting base is provided with a mounting cavity; a lifting driving mechanism is provided inside the mounting cavity; the lifting driving mechanism includes a first driving body, a cloth mounting body, and a return spring; the driving device is used to drive the first driving body to rotate within the mounting cavity; the cloth mounting body is located below the first driving body; the cloth mounting body includes a rotating body; the rotating body is slidably disposed within the mounting cavity along the rotation axis of the first driving body; a first limiting body is provided on the rotating body; a second limiting body is provided at the lower end of the mounting cavity; a return spring is fitted onto the rotating body, and the two ends of the return spring act on the first limiting body and the second limiting body respectively; a second driving body is integrally provided at the upper end of the rotating body; a mounting part for mounting a cloth is provided at the lower end of the rotating body. The first driving body is provided with a pushing end face; the second driving body tends to be in contact with the pushing end face under the action of the return spring; when the first driving body rotates, it pushes the rag mounting body to slide in the mounting cavity through the pushing end face acting on the second driving body; the two ends of the pushing end face are respectively provided with a first limiting block and a second limiting block; when the first driving body is driven to rotate forward or reverse by the driving device, when the second driving body contacts the first limiting block or the second limiting block, the first driving body drives the second driving body and the rag mounting body to rotate synchronously through the first limiting block or the second limiting block.

[0008] Furthermore, the aforementioned pushing end face extends circumferentially around the rotation axis of the first driving body; the axial distance of the pushing end face from one end to the other along its extension direction is continuously varying to a reference plane perpendicular to the rotation axis of the first driving body; the axial distances from the two ends of the pushing end face to the reference plane perpendicular to the rotation axis of the first driving body are the maximum value and the minimum value, respectively.

[0009] Furthermore, the aforementioned first driving body is a first arc-shaped body that extends circumferentially around its rotation axis; the lower end face of the first arc-shaped body is the pushing end face.

[0010] Furthermore, the aforementioned pushing end face is a first oblique end face formed by a cutting plane that forms an angle with the rotation axis of the first driving body.

[0011] As an optimized design, the first driving body is cylindrical, and the lower end face of the first driving body is a second oblique end face formed by a cutting plane that forms an angle with the rotation axis of the first driving body; a first limiting block and a second limiting block are respectively provided at the highest point and the lowest point of the second oblique end face; two pushing end faces are formed on the second oblique end face between the first limiting block and the second limiting block; one of the pushing end faces acts on the second driving body.

[0012] Furthermore, the second driving body is a second arc-shaped body that extends circumferentially around the rotation axis of the first driving body; the upper end face of the second arc-shaped body is the pushed end face; under the action of the return spring, the pushed end face and the pushing end face maintain a tendency to fit together; the pushed end face is a third oblique end face formed by a cutting plane that forms an angle with the rotation axis of the first driving body; the third oblique end face and the first oblique end face or the second oblique end face form an angle to fit together.

[0013] Furthermore, the first driving body and the second driving body are coaxially arranged, and the outer diameter of the first driving body is equal to the diameter of the second driving body.

[0014] Furthermore, the aforementioned driving device includes a drive motor and a reduction mechanism; the drive motor is driven by the input end of the reduction mechanism, and the output end of the reduction mechanism extends into the mounting cavity and forms a drive connection with the first driving body; the reduction mechanism includes a reduction gear set installed in the reducer housing; the reducer housing is fixedly connected to the mounting base; the drive motor is fixedly connected to the reducer housing; the output shaft of the drive motor extends into the reducer housing and drives the input end of the reduction gear set; the output end of the reduction gear set extends into the mounting cavity of the mounting base; the output end of the reduction gear set is provided with a hexagonal head; the upper end of the first driving body is provided with a hexagonal groove adapted to the hexagonal head; the hexagonal head of the output end of the reduction gear set is inserted into the hexagonal groove of the first driving body, and under the tendency of the rag mounting body to adhere to the return spring, the hexagonal groove of the first driving body and the hexagonal head of the output end of the reduction gear set maintain a circumferential limiting fit.

[0015] Furthermore, the aforementioned mounting base is set inside the cavity of the robot vacuum cleaner frame; a storage space for accommodating the rag is formed between the mounting base and the lower opening of the cavity; when the rag mounting body is in the highest position, the rag is completely stored in the storage space.

[0016] Furthermore, a first retaining ring is coaxially mounted on the first driving body; a first limiting body is coaxially mounted on the rag mounting body with the second driving body; the outer edges of the first retaining ring and the first limiting body form a clearance fit with the inner wall of the mounting cavity. Ideally, the first driving body and the rag mounting body rotate within the mounting cavity without contacting the interior of the mounting cavity. However, if the system is subjected to a huge impact or the bearing is damaged, the first driving body and the rag mounting body may wobble. In this case, the first retaining ring and the first limiting body can act as a final mechanical limit to prevent the high-speed rotating first driving body and the rag mounting body from directly impacting and damaging the system.

[0017] The present invention has the following positive effects: (1) The present invention only needs to drive the first driving body to rotate, and the adaptive extension and retraction of the cloth mounting body can be achieved by pushing the end face and the return spring. Under the restriction of the first limit block and the second limit block, synchronous rotation can be achieved to meet the work requirements. That is, the two functional modes of "passive lifting" and "active rotation" of the cloth mounting body are realized, which not only protects the cloth, but also simplifies the structure; and the simplified structure is stable and not easily damaged.

[0018] (2) The present invention ensures that the pushing end face forms a continuous and smooth slope, so that when the first driving body rotates, it can smoothly push the second driving body to move up and down, thereby achieving smoothness and stability in the lifting process of the cloth mounting body and reducing impact and noise.

[0019] (3) In this invention, the first driving body adopts a first arc shape, which makes the structure more compact, facilitates layout and processing in the circumferential direction, and ensures that the driving end face has sufficient working area to transmit force and motion.

[0020] (4) The present invention sets two symmetrical push end faces on a cylindrical part, and chooses to use one of them because sweeping robots generally use two or more mop heads. According to the design requirements of the rotation direction of each mop of the sweeping robot, the appropriate push end face can be selected, realizing a clever design of a universal part to meet different usage requirements. At the same time, the overall strength of the structure is higher.

[0021] (5) The present invention optimizes the contact between the first driving body and the second driving body to "surface contact", which significantly increases the contact area, reduces the contact stress, reduces wear, and makes the force transmission more stable and reliable.

[0022] (6) The present invention ensures the force balance and motion stability of the first driving body and the second driving body during rotation and meshing, prevents additional friction, vibration or jamming caused by misalignment, and improves the working accuracy and life of the mechanism.

[0023] (7) The combination of hexagonal head and hexagonal slot in this invention realizes the effective transmission of power; at the same time, this transmission method has a simple structure, is easy to install and disassemble, and has a reliable connection.

[0024] (8) Through reasonable space planning, the present invention enables the rag to be completely stored and hidden when not in use (when raised), avoiding unnecessary contact, dragging and contamination of the rag with the ground when the robot moves or crosses obstacles, making it more intelligent and practical.

[0025] (9) In extreme cases (such as when the first drive body and / or the rag mount body wobbles due to a huge impact or bearing failure), the first retaining ring body and the first limiting body can serve as a final mechanical limit to prevent the high-speed rotating first drive body and the rag mount body from directly impacting each other and causing damage to the system. Attached Figure Description

[0026] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a cross-sectional view of the present invention; Figure 3 This is a schematic diagram of the structure of the first driving body in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the structure of the cloth mounting body in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram showing the cooperation between the first driving body and the cloth mounting body when the lifting drive mechanism is in the retracted state in this invention; Figure 6 This is a schematic diagram of the drive device in this invention; Figure 7 This is a schematic diagram showing the state of the cleaning cloth being stored in the storage space in this invention.

[0027] In the figure, there are: mounting base 1, mounting cavity 11, second limiting body 111, driving device 2, driving motor 21, reduction mechanism 22, reducer housing 221, worm gear 222, compound gear 223, output gear 224, output shaft 225, hexagonal head 226, lifting drive mechanism 3, first driving body 31, cloth mounting body 32, return spring 33, pushing end face 311, first limiting block 312, second limiting block 313, hexagonal groove 314, first retaining ring body 315, rotating body 321, first limiting body 322, second driving body 323, mounting part 324, pushed end face 325, sweeping robot frame 4, storage space 41; and cloth 5. Detailed Implementation

[0028] (Example 1) See Figures 1 to 5The present invention has a mounting base 1 installed on a sweeping robot frame 4; a driving device 2 is provided on the mounting base 1; a mounting cavity 11 is provided on the mounting base 1; a lifting driving mechanism 3 is provided in the mounting cavity 11; the lifting driving mechanism 3 includes a first driving body 31, a cloth mounting body 32 and a return spring 33; the driving device 2 is used to drive the first driving body 31 to rotate in the mounting cavity 11; the cloth mounting body 32 is located below the first driving body 31; the cloth mounting body 32 includes a rotating body 321. The rotating body 321 is slidably disposed in the mounting cavity 11 along the rotation axis of the first driving body 31; the rotating body 321 is provided with a first limiting body 322; the lower end of the mounting cavity 11 is provided with a second limiting body 111; a return spring 33 is fitted on the rotating body 321, and the two ends of the return spring 33 act on the first limiting body 322 and the second limiting body 111 respectively; the upper end of the rotating body 321 is integrally provided with a second driving body 323; the lower end of the rotating body 321 is provided with a mounting part 324 for mounting the rag 5. The first driving body 31 is provided with a pushing end face 311; the second driving body 323 tends to be in contact with the pushing end face 311 under the action of the return spring 33; when the first driving body 31 rotates, it pushes the second driving body 323 through the pushing end face 311 to push the cloth mounting body 32 to slide in the mounting cavity 11.

[0029] The first driving body 31 is cylindrical, and its lower end face is formed by a second oblique end face cut by a cutting plane at an angle to the axis of rotation of the first driving body 31. A first limiting block 312 and a second limiting block 313 are respectively provided at the highest and lowest points of the second oblique end face. Two pushing end faces 311 are formed on the second oblique end face between the first limiting block 312 and the second limiting block 313. One of the pushing end faces 311 acts on the second driving body 323. When the first driving body 31 is driven to rotate forward or reverse by the driving device 2, when the second driving body 323 contacts the first limiting block 312 or the second limiting block 313, the first driving body 31 drives the second driving body 323 and the cloth mounting body 32 to rotate synchronously through the first limiting block 312 or the second limiting block 313.

[0030] By setting two symmetrical pushing end faces 311 on the first driving body 31, and choosing one to use, it is possible to achieve a clever design where a single universal component meets different usage requirements. This is because sweeping robots generally use two or more mop heads, and the appropriate pushing end face 311 can be selected according to the rotation direction design requirements of each mop head 5 of the sweeping robot. At the same time, the overall strength of this structure is higher.

[0031] The second driving body 323 is a second arc-shaped body that extends circumferentially around the rotation axis of the first driving body 31; the upper end surface of the second arc-shaped body is the pushed end surface 325; under the action of the return spring 33, the pushed end surface 324 and the pushing end surface 311 maintain a close fit. The pushed end surface 325 is a third oblique end surface formed by a cutting plane that forms an angle with the rotation axis of the first driving body 31; the third oblique end surface and the second oblique end surface are fitted together at an angle.

[0032] The first driving body 31 and the second driving body 323 are coaxially arranged, and the outer diameter of the first driving body 31 is equal to the diameter of the second driving body 323.

[0033] See Figure 6 The driving device 2 includes a drive motor 21 and a reduction mechanism 22; the drive motor 21 is driven to the input end of the reduction mechanism 22, and the output end of the reduction mechanism 22 extends into the mounting cavity 11 and forms a drive connection with the first driving body 31; the reduction mechanism 22 includes a reduction gear set installed in the reducer housing 221; the reducer housing 221 is fixedly connected to the mounting base 1; the drive motor 21 is fixedly connected to the reducer housing 221; the output shaft of the drive motor 21 extends into the reducer housing 221 and is driven to the input end of the reduction gear set. The reduction gear set includes a worm 222, a compound gear 223, an output gear 224, and an output shaft 225. The worm 222 is coaxially and fixedly connected to the output shaft of the drive motor 21. The compound gear 224 is rotatably disposed within the reducer housing 221. The compound gear 223 includes a helical gear and a spur gear that are coaxially arranged and rotate synchronously. The helical gear is in transmission engagement with the worm 222. The spur gear is in transmission engagement with the output gear 2224. The diameter of the spur gear is smaller than the diameter of the helical gear. The output shaft 225 passes through the center of the output gear 224, and both ends of the output shaft 225 are rotatably connected to the reducer housing 221 through bearings. At the same time, the output shaft 225 and the output gear 224 form a transmission engagement, that is, the output gear 224 drives the output shaft 225 to rotate synchronously. The output shaft 225 extends into the mounting cavity 11 of the mounting base 1 as the output end of the reduction gear set; one end of the output shaft 225 extending into the mounting cavity 11 is provided with a hexagonal head 226; the upper end of the first drive body 31 is provided with a hexagonal groove 314 adapted to the hexagonal head 226; the hexagonal head 226 is inserted into the hexagonal groove 314 of the first drive body 31, and under the tendency of the return spring 33 to drive the cloth mounting body 32 to fit, the hexagonal groove 314 and the hexagonal head 314 of the first drive body 31 maintain a circumferential limiting fit.

[0034] See Figure 7The mounting base 1 is disposed within the cavity of the robot vacuum cleaner frame 4; a storage space 41 for accommodating the rag 5 is formed between the mounting base 1 and the lower opening of the cavity; when the rag mounting body 32 is in its highest position, the rag 5 is completely stored within the storage space 41. Generally, to prevent the rag 5 mounted on the mounting part 324 from contacting and rubbing against the lower end of the mounting base 1 during rotation, a portion of the lower end of the rotating body 321 also extends out from the lower opening of the mounting cavity 11 when the rag mounting body 32 is in its highest position.

[0035] A first retaining ring 315 is coaxially mounted on the first drive body 31; a first limiting body 322 on the cloth mounting body 32 is coaxially mounted with the second drive body 32; the rotating body 321 is also cylindrical; the outer edges of the first retaining ring 315 and the first limiting body 322 form a clearance fit with the inner wall of the mounting cavity 11. Ideally, the first drive body 31 and the cloth mounting body 32 rotate within the mounting cavity 11 without contacting the interior of the mounting cavity 11. However, if the system is subjected to impact or the bearing is damaged, the first drive body 31 and the cloth mounting body 32 may wobble. In this case, the first retaining ring 315 and the first limiting body 322 can act as a final mechanical limit to prevent the high-speed rotating first drive body 31 and the cloth mounting body 32 from directly impacting and damaging the system.

[0036] The working process of this invention is as follows: The drive motor 21 drives the first drive body 31 to rotate via the reduction mechanism 22. Due to the action of the return spring 33, the pushed end face 325 of the second drive body 323 of the rag mounting body 323 is always in contact with the pushing end face 311 of the first drive body 31. As the first drive body 31 rotates, the pushing end face 311 generates a normal force perpendicular to the contact surface between the pushing end face 311 and the pushed end face 325. This normal force can be decomposed into axial and circumferential components.

[0037] When the drive motor 21 drives the first drive body 31 to rotate in the working state, the axial component of the force pushes the cloth mounting body 32 to overcome the return force of the return spring 33, causing the cloth mounting body 32 to slide away from the first drive body 31. At this time, the cloth mounting body 32 with the cloth 5 installed will extend out of the mounting cavity 11, and at the same time, it will also cause the cloth 5 to extend out of the storage space 41 of the robot vacuum cleaner frame 4. When the second limiting block 313 on the first drive body 31 contacts the second drive body 323, the cloth mounting body 32 extends completely from the lower opening of the mounting cavity 11; at the same time, the cloth mounting body 32 with the second drive body 323 also rotates synchronously with the first drive body 31 under the drive of the second limiting block 313, and at this time the cloth 5 is also fully in the working state.

[0038] When the drive motor 21 drives the first drive body 31 to rotate in a stopped state (the direction of rotation is opposite to the direction of entering the working state), since the pushing surface 311 provides space for the second drive body 323 to retract, the cloth mounting body 32 will retract under the force of the return spring 33, simultaneously causing the cloth 5 to retract into the storage space 41 of the robot vacuum cleaner frame 4. When the first limiting block 312 on the first drive body 31 contacts the second drive body 323, the cloth mounting body 32 is completely retracted into the storage space 41; at the same time, the cloth mounting body 32 with the second drive body 323 also rotates synchronously with the first drive body 31 under the action of the first limiting block 312, at which point the cloth 5 is also completely in a stopped working state. This stopped working state can be the drive motor 21 stopped state, or it can be the drive motor 21 working, but the cloth 5 is not extended from the storage space 41 in a standby idle state.

[0039] (Example 2) In this invention, the pushing end face 311 extends circumferentially around the rotation axis of the first driving body 31; the axial distance of the pushing end face 311 from one end to the other along its extension direction is continuously changing to a reference plane perpendicular to the rotation axis of the first driving body 31; the axial distances from the two ends of the pushing end face 311 to the reference plane perpendicular to the rotation axis of the first driving body 31 are the maximum value and the minimum value, respectively.

[0040] The first driving body 31 is a first arc-shaped body extending circumferentially around its rotation axis; the lower end face of the first arc-shaped body is a pushing end face 311. The pushing end face 311 is a first oblique end face formed by a cutting plane that forms an angle with the rotation axis of the first driving body 31. The first oblique end face and the third oblique end face are fitted together at an angle.

[0041] Other technical features are the same as in Example 1.

[0042] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cloth lifting and rotating mechanism for a robot sweeper, comprising a mounting base mounted on a robot sweeper frame; a driving device is arranged on the mounting base; characterized in that: The installation base is provided with an installation cavity; a lifting driving mechanism is arranged in the installation cavity; the lifting driving mechanism comprises a first driving body, a cloth installation body and a return spring; a driving device is used to drive the first driving body to rotate in the installation cavity; the cloth installation body is arranged below the first driving body; the cloth installation body comprises a rotating main body; the rotating main body is slidably arranged in the installation cavity along the rotating axis direction of the first driving body; the rotating main body is provided with a first limiting body; the lower end of the installation cavity is provided with a second limiting body; the rotating main body is sleeved with the return spring, and the two ends of the return spring are respectively applied to the first limiting body and the second limiting body; the upper end of the rotating main body is integrally provided with a second driving body; the lower end of the rotating main body is provided with an installation part for installing a cloth; The first driving body is provided with a pushing end face; the second driving body has a tendency to keep close contact with the pushing end face under the action of the return spring; when the first driving body rotates, the second driving body is pushed by the pushing end face to slide in the installation cavity; the two ends of the pushing end face are respectively provided with a first limiting block and a second limiting block; when the driving device drives the first driving body to rotate forward or reversely, when the second driving body contacts with the first limiting block or the second limiting block, the first driving body drives the second driving body and the cloth installation body to rotate synchronously through the first limiting block or the second limiting block.

2. The cloth lifting and rotating mechanism for a robot sweeper according to claim 1, wherein: The pushing end face is circumferentially distributed around the rotating axis of the first driving body; the pushing end face continuously changes from one end to the other end along the extending direction of the pushing end face, and the axial distance to a reference plane perpendicular to the rotating axis of the first driving body is continuously changed; the axial distance of the two ends of the pushing end face to the reference plane perpendicular to the rotating axis of the first driving body is respectively the maximum value and the minimum value.

3. The cloth lifting and rotating mechanism for a robot sweeper according to claim 2, wherein: The first driving body is a first arc-shaped body circumferentially distributed around the rotating axis thereof; the lower end face of the first arc-shaped body is the pushing end face.

4. The cloth lifting and rotating mechanism for a robot sweeper according to claim 3, wherein: The pushing end face is a first beveled end face formed by a cutting plane which forms an angle with the rotating axis of the first driving body.

5. The cloth lifting and rotating mechanism for a robot sweeper according to claim 1, wherein: The first driving body is in a cylindrical shape, and the lower end face of the first driving body is a second beveled end face formed by a cutting plane which forms an angle with the rotating axis of the first driving body; the highest point and the lowest point of the second beveled end face are respectively provided with a first limiting block and a second limiting block; two pushing end faces are formed on the second beveled end face between the first limiting block and the second limiting block; one of the pushing end faces acts on the second driving body.

6. The cloth lifting and rotating mechanism for a robot sweeper according to claim 4 or 5, wherein: The second driving body is a second arc-shaped body circumferentially distributed around the rotating axis of the first driving body; the upper end face of the second arc-shaped body is the pushed end face; the pushed end face has a tendency to keep close contact with the pushing end face under the action of the return spring; the pushed end face is a third beveled end face formed by a cutting plane which forms an angle with the rotating axis of the first driving body; the third beveled end face and the first beveled end face or the second beveled end face form an inclined angle adaptive fit.

7. The cloth lifting and rotating mechanism for a robot sweeper according to claim 6, wherein: The first driving body and the second driving body are coaxially arranged, and the outer diameter of the first driving body is equal to the diameter of the second driving body.

8. The cloth lifting and rotating mechanism for a robot sweeper according to claim 1, wherein: The driving device comprises a driving motor and a speed reduction mechanism; the driving motor is in transmission connection with the input end of the speed reduction mechanism; the output end of the speed reduction mechanism extends into the installation cavity and forms transmission connection with the first driving body; the speed reduction mechanism comprises a speed reduction gear set installed in the speed reduction mechanism shell; the speed reduction shell is fixedly connected with the installation base; the driving motor is fixedly connected on the speed reduction mechanism shell; the output shaft of the driving motor extends into the speed reduction mechanism shell and is in transmission cooperation with the input end of the speed reduction gear set; the output end of the speed reduction gear set extends into the installation cavity of the installation base; the output end of the speed reduction gear set is provided with a hexagonal head; the upper end of the first driving body is provided with a hexagonal groove matched with the hexagonal head; the hexagonal head of the output end of the speed reduction gear set is inserted into the hexagonal groove of the first driving body, and the hexagonal groove of the first driving body keeps circumferential limited cooperation with the hexagonal head of the output end of the speed reduction gear set under the sticking tendency of the wiping cloth installation body driven by the return spring.

9. The cloth lifting and rotating mechanism for a robot sweeper according to claim 1 or 2 or 3 or 4 or 5 or 8, wherein: The installation base is arranged in the cavity of the rack of the sweeping robot; the installation base and the lower opening part of the cavity form a storage space for accommodating the wiping cloth; when the wiping cloth installation body is located at the highest position, the wiping cloth is completely stored in the storage space.

10. The cloth lifting and rotating mechanism for a robot sweeper according to claim 6, wherein: The first driving body is coaxially provided with a first guard ring body; the first limiting body and the second driving body of the wiping cloth installation body are coaxially arranged; the outer edges of the first guard ring body and the first limiting body and the inner wall of the installation cavity form a gap cooperation.

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