Mop replacing device and cleaning robot

Abstract

The embodiment of the utility model provides a mop replacing device which comprises a first storage box, a second storage box, a lifting module and a control part, the first storage box is provided with a first inlet, the first storage box is provided with a second inlet, the lifting module is movably arranged, the lifting module is provided with a bearing plate, and the bearing plate is used for connecting or separating a mop. When the lifting module moves to the first inlet or the second inlet, the bearing plate corresponds to the first inlet or the second inlet, and the control part is used for controlling the lifting module to move and / or lift, so that the bearing plate is connected with the mop or separated from the mop. When the mop needs to be replaced, the lifting module firstly takes down the dirty mop on the mop device, controls the dirty mop to enter the first storage box and be separated, then enters the second storage box and is replaced with a new clean mop, and finally the new mop is installed on the mop device, the whole process is automatically conducted, and manual operation of a user is not needed. In addition, the embodiment of the utility model further provides the cleaning robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a mop replacement device and a cleaning robot. Background Art

[0002] At present, cleaning robots have begun to be widely used. These robots are favored by many users for their simple operation and ease of use.

[0003] In recent years, the field of cleaning robots has developed rapidly, with intelligent cleaning robots that combine sweeping, mopping, and washing functions emerging one after another. However, these cleaning robots also have many problems. For example, sweeping robots without self-cleaning functions are not smart enough and require manual replacement and cleaning of the mop cloth. Self-cleaning robots often fail to dry their mops naturally after cleaning, especially during the return of the south wind in southern China. This can easily lead to odors, bacterial growth, and even mold, causing secondary contamination of the entire room during the next mopping cycle. While sweeping robots that combine sweeping, mopping, washing, and drying functions avoid these problems, the drying function increases power consumption significantly, significantly increasing costs, and the drying effect is not always good. In addition, the drying process is noisy, which can affect personal and family life. Utility Model Content

[0004] The purpose of this application is to provide a mop replacement device and a cleaning robot to at least partially solve the above technical problems.

[0005] In the first aspect, an embodiment of the present application provides a mop replacing device, comprising a first storage box, a second storage box, a lifting module and a control unit. The first storage box is used to store dirty mops, and the first storage box is provided with a first entrance. The second storage box is used to store clean mops, and the first storage box is provided with a second entrance. The lifting module is movably provided, and the lifting module is provided with a carrying plate, which is used to connect or separate the mop. When the lifting module moves to the first entrance or the second entrance, the carrying plate corresponds to the first entrance or the second entrance. The control unit is used to control the movement and / or lifting of the lifting module so that the carrying plate connects to the mop or separates the mop.

[0006] In some embodiments, the first inlet is disposed at the bottom of the first storage tank, and the second inlet is disposed at the bottom of the second storage tank.

[0007] In some embodiments, the first entrance and the second entrance are provided with elastic inverted buckles, which are located in the first storage box or the second storage box. The elastic inverted buckles are used to support the mop, and the supporting plate is provided with an electromagnetic hook for fixing the mop. The control unit is electrically connected to the electromagnetic hook and is used to control the electromagnetic hook to open or close.

[0008] In some embodiments, the inner wall of the first storage box and the inner wall of the second storage box are both provided with a first slide groove, the elastic inverted buckle provided in the second storage box is slidably provided in the first slide groove, and the supporting plate is provided with a ejection portion. When the supporting plate is extended into the first storage box, the ejection portion can be embedded in the first slide groove and drive the elastic inverted buckle to slide. When the supporting plate is extended into the second storage box, the ejection portion can be embedded in the first slide groove.

[0009] In some embodiments, the inner wall of the first storage box is further provided with a second sliding groove, and the elastic undercut provided in the second storage box is provided in the second sliding groove.

[0010] In some embodiments, the elastic buckle includes a seat body, a torsion spring and a support block. The seat body is slidably arranged in the first sliding groove or the second sliding groove. The support block is installed on the seat body through the torsion spring and is used to carry the mop.

[0011] In some embodiments, the ejection portion protrudes from the supporting plate, and a distance between an end surface of the ejection portion away from the supporting plate and the supporting plate is adjustable.

[0012] In some embodiments, the ejection part includes a base, an elastic member, a screw and a top block. The base is arranged on the supporting plate, an installation cavity is provided in the base, a mounting hole connected to the installation cavity is provided at the bottom of the base, the top block is arranged in the installation cavity and at least partially extends out of the installation cavity, the screw is passed through the mounting hole and extends into the installation cavity to be threadedly connected to the top block, and the elastic member abuts between the base and the top block.

[0013] In some embodiments, the first storage box and the second storage box are arranged side by side along a first direction, and the lifting module is slidably arranged along the first direction.

[0014] In a second aspect, an embodiment of the present application further provides a cleaning robot, comprising a mop device and the above-mentioned mop replacement device, wherein the mop device is provided with a detachable mop, and the lifting module can be moved to correspond to the mop.

[0015] In some embodiments, the first storage box is located on a side of the second storage box close to the mopping device.

[0016] The mop changing device and cleaning robot provided in the embodiments of the present application are equipped with a first storage box for storing dirty mops and a second storage box for storing clean mops. When the mop needs to be replaced, the lifting module first removes the dirty mop from the mop device, controls the dirty mop to enter the first storage box and separate it, then enters the second storage box, replaces it with a new clean mop, and finally installs the new mop on the mop device. The entire process can be performed automatically, without manual operation by the user. Furthermore, a dedicated base station is not required, thus reducing space usage.

[0017] These and other aspects of the present application will become more readily apparent from the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a structural schematic diagram of a cleaning robot proposed in an embodiment of the present application from a first perspective.

[0020] Figure 2 This is a structural schematic diagram of a mop replacement device for a cleaning robot proposed in an embodiment of the present application.

[0021] Figure 3 This is a structural block diagram of a mop replacement device for a cleaning robot proposed in an embodiment of the present application.

[0022] Figure 4 This is a schematic diagram of the state of a lifting module of a cleaning robot proposed in an embodiment of the present application.

[0023] Figure 5 This is a schematic diagram of the half-section structure of the first storage box of a cleaning robot proposed in an embodiment of the present application.

[0024] Figure 6 This is a schematic diagram of the half-section structure of the second storage box of a cleaning robot proposed in an embodiment of the present application.

[0025] Figure 7 It is a schematic cross-sectional structural diagram of a first storage box of a cleaning robot proposed in an embodiment of the present application.

[0026] Figure 8 This is a structural schematic diagram of the ejection part of a cleaning robot proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0028] At present, cleaning robots have begun to be widely used. These robots are favored by many users for their simple operation and ease of use.

[0029] In recent years, the field of cleaning robots has developed rapidly, with intelligent cleaning robots that combine sweeping, mopping, and washing functions emerging one after another. However, these cleaning robots also have many problems. For example, sweeping robots without self-cleaning functions are not smart enough and require manual replacement and cleaning of the mop cloth. Self-cleaning robots often fail to dry their mops naturally after cleaning, especially during the return of the south wind in southern China. This can easily lead to odors, bacterial growth, and even mold, causing secondary contamination of the entire room during the next mopping cycle. While sweeping robots that combine sweeping, mopping, washing, and drying functions avoid these problems, the drying function increases power consumption significantly, significantly increasing costs, and the drying effect is not always good. In addition, the drying process is noisy, which can affect personal and family life.

[0030] Based on this, the inventor of the present application proposed a mop replacement device 20 and a cleaning robot 10 in order to automatically replace the mop. The present application will be described in detail below with reference to specific embodiments.

[0031] See Figure 1 This embodiment provides a cleaning robot 10, including a frame 100. The frame 100 constitutes the main structure of the cleaning robot 10. The main body is provided with rollers 110, a brush 120, a motor, and other structures. The motor is used to drive the rollers 110 and thus drive the cleaning robot 10 to move. The brush 120 is used to clean the floor, walls, etc. during the movement of the cleaning robot 10.

[0032] The cleaning robot 10 also includes a mopping device 200, which is used to mount a mop 220 and perform operations such as mopping. Specifically, in this embodiment, the mopping device 200 includes a platform 210 and a bracket. The platform 210 is mounted on the bracket and can be raised and lowered vertically. The platform 210 is used to mount the mop 220. The bracket is mounted on the frame 100 and can drive the platform 210 to achieve movement, thereby controlling the position of the platform 210. In this embodiment, the bracket is arranged to extend and retract vertically. During the extension and retraction process, the bracket drives the platform 210 to move vertically. In some embodiments, the bracket can also use a screw and nut structure to achieve movement of the platform 210. In other embodiments, the bracket can also be a telescopic cylinder, etc., which is not limited in this embodiment. The platform 210 is mounted approximately parallel to the ground so that after being mounted, the platform 210 is deployed approximately parallel to the ground, facilitating mopping operations.

[0033] The mopping plate 210 may be provided with a holder for mounting the mopping cloth 220. The holder may be a Velcro fastener, which allows the mopping cloth 220 to be attached. In a more specific embodiment, in this embodiment, the holder is an electromagnetic hook. For example, when the electromagnetic hook is powered off, it is in a first state, locking the mopping cloth 220. When powered on, it is in a second state, separating the hook from the mopping cloth 220. In other embodiments, the electromagnetic hook may be in the second state when powered off and in the first state when powered on, although this embodiment is not limited thereto.

[0034] In this embodiment, please continue to refer to Figure 1 The bracket adopts a telescopic scissor frame 240 structure. Specifically, the bracket includes a drive mechanism 230, a first rail 201, a crossbar 250, and the scissor frame 240. The first rail 201 is vertically mounted on the frame 100, and the crossbar 250 is slidably mounted on the first rail 201. The drive mechanism 230 is used to drive the crossbar 250 to slide along the first rail 201. The crossbar 250 is provided with a horizontally arranged slide groove 251. The scissor frame 240 is connected to a latch that engages within the slide groove 251. The carriage 210 is mounted at the end of the scissor frame 240. When the drive mechanism 230 drives the crossbar 250 to slide along the first slide rail, the crossbar 250 drives the scissor frame 240 to open or close, thereby driving the carriage 210 to move vertically. In this embodiment, the drive mechanism 230 is a screw mechanism driven by a motor.

[0035] In some embodiments, when the cleaning robot 10 is operating, the mopping device 200 is located in front of the cleaning robot 10 in the direction of travel. In other embodiments, when the cleaning robot 10 is operating, the mopping device 200 is located behind the cleaning robot 10 in the direction of travel. This embodiment is not limited to this. In addition, the mopping device 200 can also be used to perform other actions or functions. For example, the mopping device 200 can be used to adjust the angle to clean floors, walls, and the surfaces of various household appliances.

[0036] In this embodiment, please combine Figure 2 and Figure 3 The cleaning robot 10 further includes a mop cloth replacing device 20 for automatically replacing the mop cloth 220 on the mop cloth device 200. The mop cloth replacing device 20 includes a first storage box 400, a second storage box 500, a lifting module 300, and a control unit 600. The first storage box 400 and the second storage box 500 are both mounted on the frame 100. The lifting module 300 is mounted on the frame 100 and is used to mount the mop cloth 220. The control unit 600 is electrically connected to the lifting module 300 and is used to control the lifting module 300 to perform predetermined actions.

[0037] See Figure 4 , the lifting module 300 can be configured as any form of structure to achieve the lifting function. In this embodiment, the lifting module 300 includes a slide 340, a lifting mechanism 340 and a supporting plate 310, wherein a second track 101 is provided on the frame 100, the second track 101 is arranged in the horizontal direction, and the slide 340 is slidably arranged on the second track 101. The lifting mechanism 340 is arranged on the slide 340, and the supporting plate 310 is arranged at one end of the lifting mechanism 340 away from the slide 340. The lifting mechanism 340 can drive the supporting plate 310 to rise and fall vertically. In this embodiment, the lifting mechanism 340 adopts a scissor-type structure, and the scissor-type structure is driven by the motor 330 to achieve lifting. In some other embodiments, the lifting mechanism 340 can also adopt other forms, such as lifting by a telescopic cylinder, a hydraulic cylinder, etc., which is not limited in this embodiment.

[0038] The carrier plate 310 is equipped with an electromagnetic hook 312 for securing the mop cloth 220. The electromagnetic hook 312 can secure or detach the mop cloth 220. The carrier plate 310 is also equipped with positioning posts 311 for positioning the mop cloth 220. There can be one or more positioning posts 311. When there are multiple positioning posts 311, the multiple positioning posts 311 can be evenly distributed along the edge of the carrier plate 310. Accordingly, each mop cloth 220 has a positioning hole that mates with one or more positioning posts 311. When the mop cloth 220 is supported on the carrier plate 310, the positioning posts 311 can be embedded in the positioning holes one by one.

[0039] The control unit 600 is used to control the movement of the lifting module 300. The control unit 600 can also be used to control the fixing device 220 on the lifting module 300 to connect to the mop 220 or detach the mop 220. The control unit 600 may include a processor and a memory, and the processor may include one or more processing cores. The processor uses various interfaces and lines to connect the various parts of the entire cleaning robot 10, and performs various functions and processes data of the cleaning robot 10 by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor can be implemented in the form of at least one hardware of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. It is understandable that the above-mentioned modem can also be implemented separately through a communication chip instead of being integrated into the processor.

[0040] The memory may include a random access memory (RAM) or a read-only memory (ROM). The memory may be used to store instructions, programs, codes, code sets, or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the cleaning robot 10 during use (such as a phone book, audio and video data, chat history data), etc.

[0041] In this embodiment, the electromagnetic hook 312 is electrically connected to the control unit 600. The control unit 600 can control the electromagnetic hook 312 to be powered on or off, thereby changing the state of the electromagnetic hook 312 to connect or disconnect the mop 220. For example, when the electromagnetic hook 312 is powered off, the electromagnetic hook 312 is in a first state, in which it can lock the mop 220, connecting the fixture to the mop 220. When the electromagnetic hook 312 is powered on, the electromagnetic hook 312 switches from the first state to a second state, separating the electromagnetic hook 312 from the mop 220 and disconnecting the fixture from the mop 220. When the mop 220 needs to be replaced, the control unit 600 can first control the fixture to be powered on, at which point the electromagnetic hook 312 switches from the first state to the second state, disconnecting the electromagnetic hook 312 from the mop 220 and disconnecting the fixture from the mop 220. After the new mop cloth 220 is placed in place, the fixing device is powered off, at which point the electromagnetic hook 312 switches from the second state to the first state, and the electromagnetic hook 312 is connected and locked to the mop cloth 220, thereby completing the connection between the fixing device and the mop cloth 220. It is understood that in other embodiments, when the electromagnetic hook 312 is powered off, the electromagnetic hook 312 may be in the second state, and when the electromagnetic hook 312 is powered on, the electromagnetic hook 312 may be in the first state, and this embodiment is not limited thereto.

[0042] The first storage box 400 is used to store dirty mops 220, and the second storage box 500 is used to store clean mops 220. The structures of the first storage box 400 and the second storage box 500 are not limited in this embodiment. In one embodiment, the first storage box 400 and the second storage box 500 are configured to match the structure of the mops 220. In this embodiment, the mops 220 are rectangular in structure. The cross-sections of the first storage box 400 and the second storage box 500 can both be configured to be rectangular to accommodate the storage of the mops 220. It is understood that the mops 220 can be laid flat in the first storage box 400 and the second storage box 500, so that the lifting module 300 can quickly install or replace the mops 220. As an implementation, in this embodiment, the first storage box 400 and the second storage box 500 are arranged side by side, and the length direction of the first storage box 400 and the length direction of the second storage box 500 can be arranged in the same direction. This allows the lifting module 300 to quickly replace a dirty mop 220 with a new clean mop 220 during the process of replacing the mop 220. In this embodiment, the direction in which the first storage box 400 and the second storage box 500 are arranged side by side is the same as the sliding direction of the slide plate, that is, the extension direction of the second track 101. Therefore, during the sliding process of the slide plate, it can drive the supporting plate 310 to move to correspond with the first storage box 400 or the second storage box 500.

[0043] The first storage box 400 is provided with a first entrance (not shown), and the second storage box 500 is provided with a second entrance (not shown). The carrying plate 310 can be inserted into the first entrance and the second entrance. This allows the carrying plate 310 to enter the first storage box 400 and the second storage box 500 to complete the mop cloth 220 replacement operation. As a more specific embodiment, the first entrance can be provided at the bottom of the first storage box 400, and the second entrance can be provided at the bottom of the second storage box 500. The advantage of this arrangement is that it facilitates the restriction of the lifting module 300 when driving the carrying plate 310 to enter the first storage box 400 and the second storage box 500, thereby improving the freedom of movement of the cleaning robot 10.

[0044] The carrying plate 310 of the lifting module 300 can move into the first storage box 400, and then separate the used dirty mop 220 in the first storage box 400. At the same time, the carrying plate 310 of the lifting module 300 can also move into the second storage box 500, and then connect a new clean mop 220 to the second storage box 500. In order to prevent the dirty mop 220 installed and used on the lifting module 300 from contaminating the clean mop 220 in the second storage box 500, in this embodiment, please combine Figure 3 , Figure 3 The figure shows the cleaning robot 10 in operation, with the second storage box 500 located on the side of the first storage box 400 away from the mop device 200. That is, when the cleaning robot 10 is in operation, the first storage box 400 is located on the side of the second storage box 500 close to the mop device 200. This arrangement has the advantage that when the mop 220 needs to be replaced, the lifting module 300 first drives the carrier plate 310 and the mop 220 into the first storage box 400 to separate the dirty mop 220. During this process, the lifting module 300 does not need to pass through the second storage box 500 when driving the mop 220. Therefore, no stains or dirty water will fall into the second storage box 500, thereby preventing contamination of the clean mop 220 in the second storage box 500.

[0045] In this embodiment, please refer to Figure 5 and Figure 6 The first entrance and the second entrance are both provided with elastic buckles 450 (not shown), and the elastic buckles 450 are used to support the mop 220. Specifically, Figure 7As shown, the elastic inverted buckle 450 includes a base body 451, a torsion spring 452 and a support block 453. The support block 453 is installed on the base body 451 through the torsion spring 452 and is used to support the mop 220. When the supporting plate 310 is inserted into the first entrance, it will push the support block 453 of the elastic inverted buckle 450 to rotate, thereby pushing the dirty mop 220 into the first storage box 400. When the supporting plate 310 is inserted into the second entrance, it will push the support block 453 of the elastic inverted buckle 450 to rotate, thereby causing the clean mop 220 in the second storage box 500 to fall onto the supporting plate 310.

[0046] Specifically, in this embodiment, please refer to Figure 5 and Figure 6 , the inner wall of the first storage box 400 and the inner wall of the second storage box 500 are both provided with a first slide groove 410, and the first slide groove 410 is arranged vertically. The seat body 451 of the elastic undercut 450 arranged in the second storage box 500 is slidably arranged in the first slide groove 410 in the second storage box 500, and the carrying plate 310 is provided with a protruding portion 313. When the carrying plate 310 extends into the first storage box 400, the protruding portion 313 can be embedded in the first slide groove 410 and drive the seat body 451 of the elastic undercut 450 to slide. The effect of this arrangement is that when a plurality of clean mops 220 are piled up in the second storage box 500, the support block 453 supports the plurality of clean mops 220. When the carrying plate 310 is extended into the first storage box 400, the protruding portion 313 can be embedded in the first slide groove 410 and drive the seat body 451 of the elastic undercut 450 to slide. When the support plate 310 is inserted into the second entrance, the ejection portion 313 is inserted into the first slide groove 410 and abuts against the support block 453. As the carrying plate 310 continues to extend into the second storage box 500, the ejection portion 313 continues to apply thrust to the elastic undercut 450, causing the support block 453 of the elastic undercut 450 to flip upward, driving multiple mops 220 to move upward. When the support block 453 flips over the support point, the mop 220 at the bottom loses support and falls downward onto the carrying plate 310. At this time, the carrying plate 310 stops extending into the second storage box 500 and is withdrawn outward. The support block 453 rotates under the action of the torsion spring 452, and again supports the remaining mops 220, completing the loading of the new mops 220.

[0047] During the entire loading process of the new mop 220, the upward lifting distance of the ejection portion 313 determines the sliding distance of the elastic undercut 450, and thus determines the number of new mops 220 that fall downward. Since the thickness of different types of mops 220 varies, the distance between the end surface of the ejection portion 313 away from the carrier plate 310 and the carrier plate 310 can be set to an adjustable form. In this way, the distance between the end surface of the ejection portion 313 away from the carrier plate 310 and the carrier plate 310 is set according to the thickness of the mop 220, so that the sliding distance of the elastic undercut 450 is adapted to the thickness of the mop 220 during each loading process.

[0048] Specifically in this embodiment, see Figure 8 The ejector portion 313 includes a base 314, an elastic member 316, a screw 317, and a top block 315. The base 314 is disposed on the carrier plate 310 and has a mounting cavity therein. A mounting hole communicating with the mounting cavity is disposed at the bottom of the base 314. The top block 315 is disposed within the mounting cavity and at least partially extends out of the mounting cavity. The screw 317 passes through the mounting hole and extends into the mounting cavity to be threadedly connected to the top block 315. The elastic member 316 abuts between the base 314 and the top block 315. To adjust the distance between the end surface of the ejector portion 313 away from the carrier plate 310 and the carrier plate 310, the screw 317 is turned to change the length by which the top block 315 extends out of the base 314.

[0049] In this embodiment, the inner wall of the first storage box 400 is further provided with a second chute 420, and the elastic undercut 450 disposed in the second storage box 500 is disposed in the second chute 420. With this arrangement, when the carrier plate 310 is inserted into the first storage box 400, the ejection portion 313 will be inserted into the first chute 410 and will not interfere with the elastic undercut 450 disposed in the second chute 420. When the carrying plate 310 is inserted into the first storage box 400, the carrying plate 310 generates a thrust on the accumulated dirty mops 220, causing the accumulated dirty mops 220 to move upward. At this time, the support block 453 of the elastic undercut 450 flips upward. After flipping over the support point, the carrying plate 310 continues to extend. When the dirty mops 220 on the carrying plate 310 pass the support point, the carrying plate 310 is pulled downward. At this time, the support block 453 rotates under the action of the torsion spring 452 to carry the newly placed dirty mops 220, thereby separating the dirty mops 220 from the carrying plate 310.

[0050] The working principle of the cleaning robot 10 provided in this embodiment is as follows:

[0051] When the cleaning robot 10 receives an instruction to replace the mop 220, the cleaning robot 10 can pause in place, detect the current state of the mop 220, determine that the current mop 220 is in the installed state, and the mop device 200 rises, so that the mop 220 is lifted. The lifting module 300 moves to the bottom of the mop device 200, and the mop device 200 separates the dirty mop 220. The separated dirty mop 220 falls onto the supporting plate 310.

[0052] Then the lifting module 300 moves to the bottom of the first storage box 400, and the carrying plate 310 corresponds to the first entrance. When the control unit 600 controls the carrying plate 310 to be embedded in the first storage box 400, the carrying plate 310 generates a thrust on the accumulated dirty mops 220, and the accumulated dirty mops 220 move upward. At this time, the support block 453 of the elastic undercut 450 flips upward. After flipping over the support point, the carrying plate 310 continues to extend. When the dirty mop 220 on the carrying plate 310 passes the support point, the carrying plate 310 is pulled downward. At this time, the support block 453 rotates under the action of the torsion spring 452 to carry the newly placed dirty mop 220, thereby separating the dirty mop 220 from the carrying plate 310.

[0053] Then the lifting module 300 moves to the bottom of the second storage box 500, and the carrying plate 310 corresponds to the second entrance. The control unit 600 controls the carrying plate 310 to be inserted into the second entrance, and the ejection portion 313 is inserted into the first slide groove 410 and abuts against the support block 453. As the carrying plate 310 continues to extend into the second storage box 500, the ejection portion 313 continues to apply thrust to the elastic undercut 450, causing the support block 453 of the elastic undercut 450 to flip upward, driving multiple mops 220 to move upward. When the support block 453 flips over the support point, the mop 220 at the bottom loses support and falls downward onto the carrying plate 310. At this time, the carrying plate 310 stops extending into the second storage box 500 and is withdrawn outward. The support block 453 rotates under the action of the torsion spring 452, and again supports the remaining mops 220, completing the loading of the new mops 220.

[0054] Then the lifting module 300 moves to the bottom of the mop device 200, the lifting module 300 rises and contacts the drag plate 210, the electromagnetic hook 312 on the carrying plate 310 separates the mop 220, and the fixing device on the drag plate 210 grabs the mop 220 and connects the mop 220, completing the replacement operation of the mop 220.

[0055] The command to replace the mop cloth 220 can be issued by the user. In one embodiment, the command to replace the mop cloth 220 can be issued by the user through the human-computer interface of the cleaning robot 10. In another embodiment, the command to replace the mop cloth 220 can be issued by the user through a mobile terminal connected to the cleaning robot 10. The mobile terminal can be, for example, a mobile phone, tablet computer, or computer, and this embodiment is not limited to this. In some embodiments, the command to replace the mop cloth 220 can also be preset by the user based on usage needs. For example, the user can preset a time interval t in advance to replace the mop cloth 220, where t can be, for example, one week, one month, etc.

[0056] After completing the operation of replacing the mop 220 , the cleaning robot 10 may further issue a reminder to prompt the user to clean the dirty mop 220 in the first storage box 400 in a timely manner.

[0057] The cleaning robot 101 provided in this embodiment realizes a fully automated mop 220 replacement operation. During another operation, the dirty mop 220 can be recovered without human intervention, and the clean mop 220 can be automatically loaded. This not only supports the continuous operation of the robot, but also ensures the cleanliness of the mop 220, so that the final cleaning effect can meet the requirements.

[0058] It should also be noted that, in this embodiment, expressions such as "first", "second", "third", and "fourth" are only used for distinction and do not represent limitations on specific structures.

[0059] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A mop replacement device, characterized in that: include: a first storage box, the first storage box being used to store dirty mops, the first storage box being provided with a first entrance; a second storage box, wherein the second storage box is used to store clean mops, and the first storage box is provided with a second entrance; A lifting module, the lifting module is movably provided, the lifting module is provided with a carrying plate, the carrying plate is used to connect or detach the mop, when the lifting module moves to the first entrance or the second entrance, the carrying plate corresponds to the first entrance or the second entrance; and A control unit is used to control the movement and / or lifting of the lifting module to connect the carrying plate to the mop or separate the carrying plate from the mop.

2. The mop changing device according to claim 1, characterized in that: The first inlet is disposed at the bottom of the first storage tank, and the second inlet is disposed at the bottom of the second storage tank.

3. The mop changing device according to claim 2, characterized in that: The first entrance and the second entrance are provided with elastic undercuts, and the elastic undercuts are located in the first storage box or the second storage box. The elastic undercuts are used to support the mop, and the supporting plate is provided with an electromagnetic hook for fixing the mop. The control unit is electrically connected to the electromagnetic hook and is used to control the electromagnetic hook to open or close.

4. The mop changing device according to claim 3, characterized in that: The inner wall of the first storage box and the inner wall of the second storage box are both provided with a first sliding groove, the elastic undercut provided in the second storage box is slidably provided in the first sliding groove, and the supporting plate is provided with a ejection part. When the supporting plate is extended into the first storage box, the ejection part can be embedded in the first sliding groove and drive the elastic undercut to slide. When the supporting plate is extended into the second storage box, the ejection part can be embedded in the first sliding groove.

5. The mop changing device according to claim 4, characterized in that: The inner wall of the first storage box is further provided with a second sliding groove, and the elastic undercut arranged in the second storage box is arranged in the second sliding groove.

6. The mop changing device according to claim 5, characterized in that: The elastic undercut includes a seat body, a torsion spring and a support block. The seat body is slidably arranged in the first sliding groove or the second sliding groove. The support block is installed on the seat body through the torsion spring and is used to carry the mop.

7. The mop changing device according to claim 4, characterized in that: The ejection portion protrudes from the supporting plate, and a distance between an end surface of the ejection portion away from the supporting plate and the supporting plate is adjustable.

8. The mop changing device according to claim 7, characterized in that: The ejection portion includes a base, an elastic member, a screw and a ejector block. The base is arranged on the supporting plate, a mounting cavity is provided in the base, a mounting hole connected to the mounting cavity is provided at the bottom of the base, the ejector block is arranged in the mounting cavity and at least partially extends out of the mounting cavity, the screw is passed through the mounting hole and extends into the mounting cavity to be threadedly connected to the ejector block, and the elastic member abuts between the base and the ejector block.

9. The mop changing device according to claim 1, characterized in that: The first storage box and the second storage box are arranged side by side along a first direction, and the lifting module is slidably arranged along the first direction.

10. A cleaning robot, characterized in that: include: A mopping device, wherein the mopping device is provided with a detachable mopping cloth; as well as The mop replacing device according to any one of claims 1 to 9, wherein the lifting module is movable to correspond to the mop.

11. The cleaning robot according to claim 10, characterized in that: The first storage box is located on a side of the second storage box close to the mopping device.

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