Mopping mechanism, cleaning robot, cleaning base station and cleaning system

Abstract

The utility model provides a mopping mechanism, a cleaning robot, a cleaning base station and a cleaning system. The mopping mechanism comprises a shell, at least two mopping discs, at least two grating assemblies, at least two sensors and a controller. Each mopping disc is provided with at least three corners, and every two adjacent mopping discs are meshed and rotate in opposite directions; the at least two grating assemblies are in one-to-one correspondence with the at least two sensors, are located in the shell and are in one-to-one correspondence with the at least two mopping discs, each grating assembly synchronously rotates along with the corresponding mopping disc, and each grating assembly is provided with a first position; each sensor outputs a first sensing signal when sensing the first position of the corresponding grating assembly; the controller is connected with the at least two sensors and adjusts the rotating speed of the corresponding driving parts according to the first sensing signals so that the two adjacent mopping discs can be kept in an engaged state all the time. According to the mopping mechanism, the probability that the adjacent mopping discs fight and the like is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, and in particular to a mopping mechanism, a cleaning robot, a cleaning base station and a cleaning system. Background Art

[0002] With the development of technology, cleaning robots have been increasingly used in people's daily lives. Currently, some cleaning robots use two rotating circular mopping discs to complete mopping tasks. When using circular mopping discs, there will be a gap between the two circular mopping discs, resulting in the inability to clean the dust or dirt in the cleaning area in one go. Therefore, some cleaning robots have begun to use two polygonal mopping discs to avoid the gap, such as triangular mopping discs or hexagonal mopping discs. However, when using polygonal mopping discs, the two mopping discs often rotate out of sync and fight with each other, resulting in problems such as lint loss and increased load on the mopping discs. Utility Model Content

[0003] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present utility model, a mopping mechanism is provided.

[0004] The mopping mechanism is used on a cleaning robot, and includes a housing, at least two mopping discs, at least two grating assemblies, at least two sensors, and a controller. When the cleaning robot cleans a surface to be cleaned, the at least two mopping discs are parallel to and in contact with the surface to be cleaned. The at least two mopping discs are rotatably arranged on the housing, each mopping disc is driven by its own driving member to rotate around its own rotation axis, each mopping disc has at least three corners, and two adjacent mopping discs are engaged and rotate in opposite directions. The at least two grating assemblies are located in the housing and correspond to the at least two mopping discs one-to-one, each grating assembly rotates synchronously with the corresponding mopping disc, and each grating assembly is provided with a first position. The at least two sensors are fixedly arranged relative to the housing and correspond to the at least two grating assemblies one-to-one, each sensor outputs a first sensing signal when sensing the first position of the corresponding grating assembly. The controller is connected to the at least two sensors respectively, and adjusts the rotation speed of the corresponding driving member according to the first sensing signal so that the two adjacent mopping discs remain engaged.

[0005] The mopping mechanism of the present invention is based on a grating assembly and a sensor arrangement. During the rotation of the mopping disc, the rotation speed of the driving member is dynamically adjusted according to the time difference between the first positions of the grating assembly detected by each sensor, so that two adjacent mopping discs remain in an engaged state when their corners are facing the same direction, thereby reducing the probability of problems such as asynchronous rotation speeds between the mopping discs, fighting between adjacent mopping discs, lint loss of the mopping cloth, and increased load. Moreover, since the grating assembly and the sensor combination have high sensing accuracy, the alignment accuracy between the two adjacent mopping discs of the mopping mechanism is well guaranteed. Furthermore, the grating assembly is arranged in the housing, and the risk of failure due to external interference is relatively small.

[0006] Exemplarily, at least one mopping disc in the mopping mechanism can perform expansion and retraction operations; when the mopping disc expands outward and retracts back, the controller adjusts the rotation speed of the corresponding driving member according to the first sensing signal so that the two adjacent mopping discs remain in an engaged state.

[0007] Exemplarily, the grating assembly includes a circular grating body with n light-transmitting gaps arranged on the grating body. The n light-transmitting gaps are arranged at intervals along the circumference of the grating body to divide the grating body into n light-shielding parts, where n is a positive integer greater than or equal to 1.

[0008] Exemplarily, the first position is the position of one of the n light-transmitting gaps on the grating body.

[0009] Exemplarily, the central angle of one of the n light-shielding portions is greater than the central angles of the remaining light-shielding portions; wherein, for the light-shielding portion whose central angle is greater than the central angles of the remaining light-shielding portions, the first light-transmitting gap behind the light-shielding portion along the rotation direction of the grating body when the cleaning robot cleans the surface to be cleaned is the first position.

[0010] Exemplarily, the sensor includes a sensing bracket, a light emitting portion and a light receiving portion, the sensing bracket has a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are arranged opposite to each other with a gap formed therebetween, the light emitting portion is arranged on the first mounting portion, the light receiving portion is arranged on the second mounting portion, at least part of the grating body is arranged in the gap, and when the grating body rotates, the light-transmitting gap and the light-shielding portion pass through the gap in sequence.

[0011] Exemplarily, the mopping mechanism further includes a transmission assembly, the mopping disc and the grating body are both connected to the transmission assembly, and the driving member drives the mopping disc and the grating body to rotate simultaneously through the transmission assembly.

[0012] Exemplarily, the grating assembly further includes a fourth gear connected to the grating body and coaxially arranged, the fourth gear is rotationally connected to the transmission assembly, the transmission assembly drives the grating body and the mopping plate to rotate, and the grating body and the mopping plate rotate synchronously.

[0013] Exemplarily, the transmission assembly includes a first gear, a second gear and a third gear. The first gear is connected to the driving member to form a driving gear of the transmission assembly. The third gear is connected to the first gear through the second gear. The mopping plate is connected to the third gear and is coaxially arranged.

[0014] Exemplarily, the grating assembly further includes a fourth gear connected to the grating body and coaxially arranged, and the fourth gear is meshed with the second gear.

[0015] Exemplarily, the second gear has a first tooth portion and a second tooth portion, the first tooth portion and the second tooth portion are coaxially arranged, the second tooth portion is meshed with the first gear, and the first tooth portion is meshed with the third gear and the fourth gear respectively.

[0016] Exemplarily, the driving member includes a worm portion, and the first gear has an inclined tooth portion and a straight tooth portion, the inclined tooth portion meshes with the worm portion, and the straight tooth portion meshes with the second tooth portion.

[0017] Exemplarily, the shell includes a first shell and a second shell, the first shell is provided with a first groove, the second shell is provided with a second groove, the first shell and the second shell are connected so that the shell has a accommodating cavity consisting of at least the first groove and the second groove, the grating assembly and the transmission assembly are arranged in the accommodating cavity, and the sensor is fixedly arranged in the first shell or the second shell, or the sensor is connected to the first shell or the second shell.

[0018] Another aspect of the present invention provides a cleaning robot, comprising a body and the above-mentioned mopping mechanism, wherein the mopping mechanism is arranged on the body.

[0019] In another aspect of the present invention, a cleaning base station is provided. The cleaning base station has a docking position for docking with the cleaning robot as described above, and the cleaning base station is used at least to charge and clean the cleaning robot.

[0020] Another aspect of the present invention is a cleaning system, comprising a cleaning base station and the cleaning robot as described above; or comprising a cleaning robot and the cleaning base station as described above; the cleaning robot can selectively dock with the cleaning base station.

[0021] The Summary of the Utility Model introduces a series of simplified concepts, which will be further described in detail in the Detailed Description of the Utility Model. The Summary of the Utility Model does not attempt to define the key features and essential technical features of the claimed technical solution, nor does it attempt to determine the scope of protection of the claimed technical solution.

[0022] The advantages and features of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following drawings of the present invention are used as part of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention. In the drawings,

[0024] Figure 1 A structural schematic diagram of a mopping mechanism according to an exemplary embodiment of the present utility model is shown;

[0025] Figure 2 for Figure 1 The mopping mechanism is shown as a top view with the first housing removed;

[0026] Figure 3 for Figure 2 A perspective view of the partial mopping mechanism shown;

[0027] Figure 4 for Figure 3 A front view of the partial mopping mechanism shown;

[0028] Figure 5 for Figure 2 A front view of another partial mopping mechanism is shown;

[0029] Figure 6 for Figure 1 A cross-sectional view of another partial mopping mechanism is shown;

[0030] Figure 7 for Figure 2 A perspective view of the grating assembly is shown.

[0031] The above drawings include the following reference numerals:

[0032] 10. Mopping mechanism; 110. Housing; 111. First housing; 1111. First slot; 112. Second housing; 1121. Second slot; 1122. Third slot; 1123. Opening; 1124. Fixing bracket; 113. Accommodating chamber; 114. Third housing; 115. Accommodating chamber; 120. Mopping plate; 121. Corner; 122. Plate body; 123. Mopping cloth; 130. Driving member; 131. Worm gear; 140. Grating assembly; 1401. First position; 141, grating body; 1411, light-transmitting gap; 1412, light-shielding portion; 142, fourth gear; 150, sensor; 151, sensor bracket; 1511, first mounting portion; 1512, second mounting portion; 1513, interval; 160, transmission assembly; 161, first gear; 1611, oblique tooth portion; 1612, straight tooth portion; 162, second gear; 1621, first tooth portion; 1622, second tooth portion; 163, third gear. DETAILED DESCRIPTION

[0033] In the following description, numerous details are provided to facilitate a thorough understanding of the present invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the present invention, and that the present invention may be practiced without one or more of these details. Furthermore, to avoid confusion with the present invention, some technical features well known in the art have not been described in detail.

[0034] To thoroughly understand the embodiments of the present invention, a detailed structure will be provided in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other embodiments.

[0035] A cleaning robot is an intelligent device that cleans surfaces by contacting the mopping disc of its mopping mechanism. To facilitate cleaning and maintenance, the robot is equipped with a cleaning base station, which can be used to perform at least one of the following functions: charging and cleaning. The cleaning robot and the cleaning base station can also form a cleaning system.

[0036] During the process of developing the present invention, the inventors discovered that the prior art has at least the following technical problems. Currently, some cleaning robots use two rotating circular mopping discs for cleaning. However, a gap is left between the two circular mopping discs. Therefore, some cleaning robots have begun using two polygonal mopping discs to avoid the gap, such as triangular or hexagonal mopping discs. However, the two polygonal mopping discs often collide with each other, resulting in problems such as lint loss and increased load on the mopping cloth. To reduce the probability of the polygonal mopping discs colliding with each other, some cleaning robots have begun to place markers on the mopping discs of the mopping mechanism and place sensors on the bottom of the cleaning robot corresponding to each mopping disc for detecting the markers. The rotation speed of the mopping discs is dynamically adjusted based on the time difference between each time the sensor detects the marker. However, because both the marker and the sensor are exposed, they are easily damaged by dust accumulation or water intrusion, resulting in malfunction of the adjustment. Furthermore, the rotation speed is adjusted based on the time difference between each time the marker passes the sensor to align adjacent mopping discs, resulting in poor alignment accuracy between adjacent mopping discs.

[0037] To address the aforementioned technical issues, the inventors, after in-depth research, have developed a mopping mechanism that not only reduces the likelihood of polygonal mopping discs colliding with each other, but also minimizes external interference and allows for high alignment accuracy between adjacent mopping discs. This is described in detail below with reference to the accompanying drawings.

[0038] See also Figure 1 and Figure 2 The mopping mechanism 10 can be used on a cleaning robot, and the cleaning robot can clean the cleaning surface with the mopping mechanism 10. The mopping mechanism 10 may include a housing 110, at least two mopping discs 120, at least two grating assemblies 140, at least two sensors 150, and a controller (not shown).

[0039] During the cleaning process of the cleaning robot, at least two mopping discs 120 may be parallel to and in contact with the surface to be cleaned. The mopping discs 120 may include a disc body 122 and a mop cloth 123. The mop cloth 123 may contact the surface to be cleaned to clean it. The disc body 122 and the mop cloth 123 may be integrally formed, which enhances the secure connection between the mop cloth 123 and the disc body 122 and prevents it from separating from the disc body 122 during cleaning. Alternatively, the mop cloth 123 may be a separate, detachable structure relative to the disc body 122, which facilitates cleaning of the mop cloth 123. The at least two mopping discs 120 may be rotatably mounted on the housing 110, i.e., the at least two mopping discs 120 may rotate relative to the surface to wipe or sweep the surface. Multiple mopping discs 120 may be arranged sequentially to increase the cleaning area of the surface to be cleaned during a single cleaning, for example, in a row. Each mopping disc 120 is driven by its own driving member 130 to rotate around its own rotation axis. Each mopping disc 120 can have at least three corners 121. Two adjacent mopping discs 120 can be engaged and rotate in opposite directions. For example, one mopping disc 120 can rotate clockwise, and the mopping disc 120 adjacent to this mopping disc 120 can rotate counterclockwise. In order to ensure better engagement of the two adjacent mopping discs 120, the number of corners 121 of the two adjacent mopping discs 120 can be the same. Engagement means that the edges of the two mopping discs 120 are in contact with each other. When the two mopping discs 120 are engaged, there is no gap between the two mopping discs 120. When cleaning the surface to be cleaned, the edges of the areas dragged by the two mopping discs 120 can just join or overlap. That is, there is no gap between the areas dragged by the two mopping discs 120 to ensure the cleaning effect.

[0040] At least two grating assemblies 140 can be located within the housing 110 and correspond one-to-one with at least two mopping discs 120. The housing 110 isolates the grating assemblies 140 from the outside, thereby reducing the impact of external interference factors (such as dust accumulation and water ingress) on the grating assemblies 140. Each grating assembly 140 can rotate synchronously with its corresponding mopping disc 120, and each grating assembly 140 can be provided with a first position 1401. Because the rotation directions of two adjacent mopping discs 120 are different, the rotation directions of the grating assemblies 140 are also different. Therefore, the physical location of the first position 1401 on the grating assembly 140 is different in different rotation directions.

[0041] At least two sensors 150 can be fixedly mounted relative to the housing 110 and correspond one-to-one with at least two grating assemblies 140. The locations of the sensors 150 for detecting the grating assemblies 140 are located within the housing 110, facilitating sensing of the grating assemblies 140 and minimizing the effects of external interference. Each sensor 150 can output a first sensing signal upon sensing a first position 1401 of its corresponding grating assembly 140.

[0042] The controller may be connected to at least two sensors 150 respectively, and may adjust the rotation speed of the corresponding driving member 130 according to the first sensing signal, so that two adjacent mopping plates 120 can maintain an engaged state.

[0043] Take the number of mopping trays 120 as two for example. Figure 2 As shown, the two mopping discs 120 can have the same shape and can be provided with three corners 121, forming a triangular shape. These corners 121 allow for cleaning of blind spots and reduce the likelihood of gaps between adjacent mopping discs 120. The two mopping discs 120 sense the time between the first positions 1401 of their respective grating assemblies 140 using their respective sensors 150. By calculating the time difference, the controller adjusts the rotational speed of their respective drive members 130. When the two mopping discs 120 are stopped at the first position 1401, each corner 121 of the two mopping discs 120 faces the same direction. The adjacent portions of the two mopping discs 120 are in contact with one corner 121 of one mopping disc 120 and an edge of the other mopping disc 120. As the two mopping discs 120 rotate, the adjacent portions maintain this state, ensuring that the two mopping discs 120 remain engaged.

[0044] The mopping mechanism 10 of the present invention is based on the arrangement of the grating assembly 140 and the sensor 150. During the rotation of the mopping discs 120, the rotation speed of the driving member 130 is dynamically adjusted according to the time difference between the first positions 1401 of the grating assembly 140 detected by each sensor 150, so that two adjacent mopping discs 120 always remain in a meshing state when the corners 121 are facing the same direction. This reduces the probability of problems such as asynchronous rotation speeds between the mopping discs 120, collisions between adjacent mopping discs 120, lint loss of the mopping cloth 123 of the mopping discs 120, and increased load. In addition, due to the high sensing accuracy of the combination of the grating assembly 140 and the sensor 150, the alignment accuracy between the two adjacent mopping discs 120 of the mopping mechanism 10 is well guaranteed. Furthermore, since the grating assembly 140 is arranged in the housing 110, the risk of failure due to external interference is relatively low.

[0045] In an embodiment not shown, at least one mopping disc 120 in the mopping mechanism 10 can perform an expansion operation (i.e., the mopping disc 120 swings outward relative to the main body of the mopping mechanism 10) and a retraction operation (i.e., the mopping disc 120 after expansion is retracted to the position before expansion) to clean some dead corners in the surface to be cleaned, thereby improving the cleaning efficiency. Since each mopping disc 120 is provided with a corresponding driving member 130, such as a brushed motor, a permanent magnet synchronous motor, etc., to meet the needs of performing expansion and retraction operations. In the present utility model, the specific type of the driving member 130 is not specifically limited. When the mopping disc 120 expands outward and retracts back, the controller can adjust the rotation speed of the corresponding driving member 130 according to the first sensing signal, so that the two adjacent mopping discs 120 can maintain an engaged state.

[0046] See also Figure 2 、 Figure 3 and Figure 7 The grating assembly 140 may include a circular grating body 141. N light-transmitting gaps 1411 may be provided on the grating body 141. Since the ends of the n light-transmitting gaps 1411 close to the center of the circle do not pass through the center of the circle, the n light-transmitting gaps 1411 are arranged at intervals along the circumference of the grating body 141, which can divide the grating body 141 into n light-shielding portions 1412. Wherein n can be a positive integer greater than or equal to 1. The signals output by the sensor 150 when sensing the light-transmitting gaps 1411 and the light-shielding portions 1412 may be different. By staggering the n light-transmitting gaps 1411 and the n light-shielding portions 1412 in sequence, the sensor 150 can perform real-time sensing of the grating assembly 140 that rotates synchronously with the mopping plate 120. The sensor 150 can sense not only the first position 1401, but also other parts of the grating assembly 140 except the first position 1401. When the rotational speeds of two adjacent mopping discs 120 are not synchronized, the rotational speeds of the corresponding driving members 130 can be adjusted in real time.

[0047] The first position 1401 may be the location of one of the n light-transmitting gaps 1411 on the grating body 141. In this way, it is convenient to determine the first position 1401, thereby conveniently recording the time it takes for the grating body 141 to rotate one circle. The area occupied by each of the n light-transmitting gaps 1411 on the grating body 141 may be equal or unequal. The area occupied by each of the n light-shielding portions 1412 on the grating body 141 may be equal or unequal. Figure 7 As shown, the total area of the grating body 141 occupied by the n light-transmitting gaps 1411 can be smaller than the total area occupied by the n light-shielding portions 1412. Of course, it is not ruled out that the first position 1401 is the location of one of the n light-shielding portions 1412 on the grating body 141.

[0048] The central angle of one of the n light shielding portions 1412 can be greater than the central angles of the remaining light shielding portions 1412. Specifically, for the light shielding portion 1412 having a central angle greater than the central angles of the remaining light shielding portions 1412, the first light-transmitting gap 1411 following the light shielding portion 1412 along the rotation direction of the grating body 141 when the cleaning robot is cleaning the surface to be cleaned can be the first position 1401. In this way, the first position 1401 of the grating assembly 140 can be determined simply and conveniently, thereby facilitating recording the time it takes for the grating assembly 140 to rotate one circle. Based on the time difference between the first positions 1401 of the grating assembly 140 detected by each sensor 150, the rotation speed of the driving member 130 can be dynamically adjusted, thereby effectively ensuring the alignment accuracy between two adjacent mopping discs 120, so that the two adjacent mopping discs 120 can always remain in an engaged state.

[0049] In one embodiment of the present invention, Figure 2 and Figure 7 , n can be 5. At this time, 5 light-transmitting gaps 1411 and 5 shading portions 1412 are alternately arranged on the grating body 141. After the first position 1401, they are the second, third, fourth, fifth, sixth, seventh, eighth, ninth and tenth positions in sequence. Among them, the shading portion 1412 whose central angle is greater than the central angles of the other shading portions 1412 is the tenth position.

[0050] When the driving member 130 is a motor, if the rotational speeds of two adjacent mopping discs 120 are not synchronized, for example, if the sensor 150 corresponding to one mopping disc 120 senses that the corresponding grating assembly 140 is in the second position, and the sensor 150 corresponding to the adjacent mopping disc 120 senses that the corresponding grating assembly 140 is in the third position, the controller will increase the duty cycle of the driving member 130 corresponding to the mopping disc 120 in the second position based on the corresponding sensing signal to increase the rotational speed, and decrease the duty cycle of the driving member 130 corresponding to the mopping disc 120 in the third position based on the corresponding sensing signal to slow the rotational speed, until the two rotational speeds are synchronized. It should be noted that the duty cycle refers to the ratio of the high-level time of a pulse to the entire cycle time within a cycle of a pulse width modulation (PWM) signal. For example, if the cycle of a PWM signal is 10 milliseconds and the high-level duration is 5 milliseconds, the duty cycle is 50%. In the present invention, however, each duty cycle adjustment cannot exceed 10%.

[0051] See also Figures 2 to 6The sensor 150 may include a sensor bracket 151, a light emitting portion, and a light receiving portion. The sensor bracket 151 may have a first mounting portion 1511 and a second mounting portion 1512. The sensor bracket 151 may be used to be fixedly connected to the housing 110. The first mounting portion 1511 and the second mounting portion 1512 may be disposed within the housing 110. The first mounting portion 1511 and the second mounting portion 1512 may be disposed opposite to each other, and a gap 1513 may be formed therebetween. The light emitting portion may be disposed on the first mounting portion 1511. The light receiving portion may be disposed on the second mounting portion 1512. At least a portion of the grating body 141 may be disposed within the gap 1513, and when the grating body 141 rotates, the light-transmitting gap 1411 and the light-shielding portion 1412 may pass through the gap 1513 in sequence. Therefore, the light emitting portion and the light receiving portion can be arranged relative to each other. When the light-transmitting gap 1411 of the grating body 141 rotates between the light emitting portion and the light receiving portion, the sensor 150 can sense the grating body 141, reducing the influence of external interference and improving sensing accuracy. It should be further explained that the sensor 150 can be a Hall effect sensor, infrared sensor, ultrasonic sensor, photoelectric sensor, etc. Of course, it is not ruled out that the sensor 150 can be a contact-type mechanical switch, etc. The specific type of sensor 150 is not specifically limited in the present invention.

[0052] See also Figures 1 to 3 The mopping mechanism 10 may further include a transmission assembly 160. The mopping disc 120 and the grating body 141 may both be connected to the transmission assembly 160. The driving member 130 can simultaneously drive the mopping disc 120 and the grating body 141 to rotate via the transmission assembly 160. This ensures that the corresponding mopping discs 120 and grating bodies 141 rotate synchronously, improving detection accuracy and thereby increasing the precision of adjustment of the mopping discs 120.

[0053] See also Figure 2 、 Figure 4 and Figure 7 The grating assembly 140 may further include a fourth gear 142 connected to the grating body 141 and coaxially arranged with the grating body 141. The fourth gear 142 is rotatably connected to the transmission assembly 160. The transmission assembly 160 can drive the grating body 141 and the mopping disc 120 to rotate, and the grating body 141 and the mopping disc 120 can rotate synchronously. The transmission assembly 160 can drive the fourth gear 142 to rotate, thereby driving the grating body 141 to rotate. The coaxially arranged fourth gear 142 can quickly obtain the rotation speed of the grating body 141, and the mopping disc 120 rotates synchronously with the grating body 141 through the transmission assembly 160, so that the rotation speed of the mopping disc 120 can be known. Therefore, the speed of obtaining the rotation speed of the mopping disc 120 is faster, thereby shortening the time required to adjust the two adjacent mopping discs 120 from non-engagement to engagement.

[0054] Again, refer to Figures 1 to 3 The transmission assembly 160 may include a first gear 161, a second gear 162 and a third gear 163. The first gear 161 is connected to the driving member 130 to form the driving gear of the transmission assembly 160. The third gear 163 can be connected to the first gear 161 through the second gear 162. The mopping plate 120 and the third gear 163 can be connected and coaxially arranged. The driving member 130 outputs a driving force to rotate the first gear 161, and the first gear 161 drives the second gear 162 to rotate, and then drives the third gear 163 to rotate through the second gear 162, so that the mopping plate 120 can rotate around its own rotation axis. Through multiple gears, the driving force can be transmitted to the mopping plate 120 more efficiently, and the power loss is also smaller. The multiple gear connection structure is compact, saving space. The transmission assembly 160 can be arranged in the housing 110, thereby reducing the influence of external interference when multiple gears are transmitted.

[0055] See also Figures 2 to 4 The grating assembly 140 may further include a fourth gear 142 connected to and coaxially disposed with the grating body 141. The fourth gear 142 may mesh with the second gear 162. By simultaneously meshing the second gear 162 with the third gear 163, the rotational speeds of the grating body 141 and the mopping plate 120 are more precisely synchronized. The transmission relationship between the gears allows for rapid acquisition of the mopping plate 120's rotational speed, saving the time required to adjust two adjacent mopping plates 120 from non-meshing to meshing.

[0056] See also Figure 3 and Figure 4 The second gear 162 can have a first tooth portion 1621 and a second tooth portion 1622, that is, the second gear 162 can be a shared double tooth portion, which saves space and reduces costs. The first tooth portion 1621 and the second tooth portion 1622 can be coaxially arranged. The second tooth portion 1622 can mesh with the first gear 161. The first tooth portion 1621 can mesh with the third gear 163 and the fourth gear 142 respectively. In this way, by providing the first tooth portion 1621 and the second tooth portion 1622, the load brought by the first gear 161, the third gear 163 and the fourth gear 142 is distributed, reducing the loss on the second gear 162, and the structure is more compact, saving space. The number of teeth on the first tooth portion 1621 can be less than the number of teeth on the second tooth portion 1622. The second tooth portion 1622 has a relatively large number of teeth, so that the second tooth portion 1622 can withstand the load brought by the first gear 161 connected to the driving member 130, and the transmission is more stable. The first tooth portion 1621 has a relatively small number of teeth, which enables the first tooth portion 1621 to have a higher transmission efficiency and save space. The diameter of the first tooth portion 1621 can be smaller than the diameter of the second tooth portion 1622, thereby further saving space.

[0057] See also Figure 3 and Figure 5 The driving member 130 may include a worm portion 131. The first gear 161 may have an inclined tooth portion 1611 and a straight tooth portion 1612. The inclined tooth portion 1611 may mesh with the worm portion 131. The straight tooth portion 1612 may mesh with the second tooth portion 1622. The inclined tooth portion 1611 and the straight tooth portion 1612 may be coaxially arranged so that the inclined tooth portion 1611 drives the straight tooth portion 1612 to rotate. The teeth on the inclined tooth portion 1611 may all be inclined in one direction to facilitate the rotation of the worm portion 131 and the rotation of the first gear 161. The teeth on the straight tooth portion 1612 may be parallel to the central axis to facilitate the rotation of the second gear 162. In this way, space is saved and costs are reduced. The inclined tooth portion 1611 and the straight tooth portion 1612 may be separately arranged on the same axis, which facilitates the repair or replacement of damaged inclined tooth portion 1611 or straight tooth portion 1612. The inclined tooth portion 1611 and the straight tooth portion 1612 may be an integrated structure, thereby improving transmission efficiency.

[0058] See also Figures 2 to 5 The transmission process of transmission assembly 160 is described in detail below. The rotation of worm gear 131 of driver 130 drives the inclined tooth portion 1611, which also drives the spur tooth portion 1612 coaxially disposed with the inclined tooth portion 1611. The spur tooth portion 1612 then drives the second tooth portion 1622 to rotate, which also drives the first tooth portion 1621 coaxially disposed with the second tooth portion 1622 to rotate. The first tooth portion 1621 drives the third gear 163 and the fourth gear 142 to rotate, respectively. This causes the mopping plate 120 coaxially disposed with the third gear 163 to rotate, and the grating body 141 coaxially disposed with the fourth gear 142 to rotate. The grating body 141 and the mopping plate 120 rotate synchronously and at the same speed. This allows for dynamic adjustment of adjacent mopping plates 120 based on the time difference between the first position 1401 on the grating body 141 detected by the sensor 150.

[0059] See also Figure 1 、 Figure 2 and Figure 6The housing 110 may include a first housing 111 and a second housing 112. The first housing 111 may be provided with a first groove 1111. The second housing 112 may be provided with a second groove 1121. The first housing 111 may be connected to the second housing 112 so that the housing 110 may have a receiving cavity 113 consisting of at least the first groove 1111 and the second groove 1121. The grating assembly 140 and the transmission assembly 160 may be disposed in the receiving cavity 113, and the sensor 150 may be fixedly disposed in the first housing 111 or the second housing 112, or the sensor 150 may be connected to the first housing 111 or the second housing 112. Since the grating assembly 140 is disposed in the receiving cavity 113, in order for the sensor 150 to sense the grating assembly 140, a portion of the sensor 150 for sensing the grating assembly 140 may be disposed in the receiving cavity 113. The grating assembly 140 , the transmission assembly 160 and the sensor 150 , which is used to sense the grating assembly 140 , are all arranged in the accommodating cavity 113 , so that the risk of them failing due to external interference is relatively low.

[0060] The housing 110 may also include a third housing 114. A third groove 1122 may be recessed on the top surface of the second housing 112, facing the second groove 1121. The sidewalls of the third groove 1122 may have openings 1123 to connect the second groove 1121 and the third groove 1122. The third housing 114 may be mounted on the second housing 112, so that the third groove 1122 forms a receiving cavity 115. In this manner, the receiving cavity 115 and the receiving cavity 113 may communicate with each other. The grating assembly 140 may be disposed within the receiving cavity 115. The sensor 150 assembly may be fixed to at least one of the first housing 111, the second housing 112, and the third housing 114. The portion of the sensor 150 used to sense the grating assembly 140 may be disposed within the receiving cavity 115 to facilitate sensing of the grating assembly 140. The transmission assembly 160 may be disposed within the receiving cavity 113. This ensures that the transmission assembly 160 can drive the grating assembly 140 to rotate, and further reduces the influence of external interference on the grating assembly 140 and the sensor 150.

[0061] A fixing bracket 1124 may extend from the second shell 112 into the third slot 1122 to fix the rotating shaft connecting the grating body 141 and the fourth gear 142 , thereby enhancing the rotation stability of the grating assembly 140 and further enhancing the accuracy of the sensor 150 in sensing the grating body 141 .

[0062] Another aspect of the present invention provides a cleaning robot. The cleaning robot may include a body and the mopping mechanism 10 as described above. The mopping mechanism 10 may be arranged on the body. When the mopping mechanism 10 of the cleaning robot can perform an expansion operation and a retraction operation, the housing 110 may be movably arranged on the body, and the housing 110 may move along with the mopping disc 120. Of course, it is not ruled out that the housing 110 may be fixedly arranged on the body. Since the mopping mechanism 10 as described above has the above-mentioned beneficial effects, the cleaning robot including the mopping mechanism 10 as described above also has the above-mentioned beneficial effects, which will not be described in detail here.

[0063] Another aspect of the present invention provides a cleaning base station. The cleaning base station may have a docking station for a cleaning robot such as the one described above. The cleaning base station can be used to charge and clean the cleaning robot. Equipping the cleaning robot with the cleaning base station improves cleaning efficiency and enhances the user experience.

[0064] Another aspect of the present invention provides a cleaning system. The cleaning system may include a cleaning base station and the cleaning robot described above. Since the cleaning robot described above has the aforementioned beneficial effects, the cleaning system including the cleaning robot described above also has the aforementioned beneficial effects, which will not be further elaborated here.

[0065] The cleaning system may include a cleaning robot and the cleaning base station described above. The cleaning robot may optionally dock with the cleaning base station. Since the cleaning base station described above has the aforementioned beneficial effects, a cleaning system including the cleaning base station also has the aforementioned beneficial effects, which will not be detailed here.

[0066] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front", "back", "up", "down", "left", "right", "horizontal", "vertical", "vertical", "horizontal", "top", "bottom", etc. are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0067] For ease of description, area-relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the regional positional relationship between one or more components or features shown in the figures and other components or features. It should be understood that area-relative terms include not only the orientation of the components as described in the figures, but also different orientations in use or operation. For example, if the components in the drawings are inverted as a whole, the situation where the components are "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Thus, the exemplary term "above" may include both the orientations "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document is intended to include all of these situations.

[0068] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, parts, components and / or combinations thereof.

[0069] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be implemented in an order other than that illustrated or described herein.

[0070] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, those skilled in the art will appreciate that the present invention is not limited to the above embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mopping mechanism, characterized in that: The mopping mechanism is applied to a cleaning robot, and the mopping mechanism includes: case; At least two mopping discs, wherein when the cleaning robot is cleaning a surface to be cleaned, the at least two mopping discs are parallel to and in contact with the surface to be cleaned, the at least two mopping discs are rotatably disposed on the housing, each of the mopping discs being driven by a respective driving member to rotate about its own rotation axis, each of the mopping discs having at least three corners, and two adjacent mopping discs being engaged and rotating in opposite directions; At least two grating assemblies, the at least two grating assemblies being located in the housing and corresponding to the at least two mopping discs, respectively, each grating assembly rotating synchronously with the corresponding mopping disc, and each grating assembly being provided with a first position; at least two sensors, the at least two sensors being fixedly disposed relative to the housing and corresponding to the at least two grating components, respectively, and each of the sensors outputting a first sensing signal when sensing the first position of the corresponding grating component; and A controller is connected to at least two of the sensors respectively, and adjusts the rotation speed of the corresponding driving member according to the first sensing signal, so that two adjacent mopping plates remain in an engaged state.

2. The mopping mechanism according to claim 1, characterized in that: At least one mopping disc in the mopping mechanism can perform an outward expansion operation and a retracting operation; When the mopping discs are expanded outward and then retracted, the controller adjusts the rotation speeds of the corresponding driving members according to the first sensing signal, so that two adjacent mopping discs remain in an engaged state.

3. The mopping mechanism according to claim 1, characterized in that: The grating assembly includes a circular grating body, which is provided with n light-transmitting gaps. The n light-transmitting gaps are arranged at intervals along the circumference of the grating body to divide the grating body into n light-shielding parts, wherein n is a positive integer greater than or equal to 1.

4. The mopping mechanism according to claim 3, characterized in that: The first position is the position of one of the n light-transmitting gaps on the grating body.

5. The mopping mechanism according to claim 3, characterized in that: The central angle of one of the n light-shielding portions is greater than the central angles of the remaining light-shielding portions; Among them, the light shielding part having a central angle larger than the central angles of the other light shielding parts, along the rotation direction of the grating body when the cleaning robot cleans the surface to be cleaned, the first light-transmitting gap behind the light shielding part is the first position.

6. The mopping mechanism according to claim 3, characterized in that: The sensor includes a sensing bracket, a light emitting portion and a light receiving portion. The sensing bracket has a first mounting portion and a second mounting portion. The first mounting portion and the second mounting portion are arranged opposite to each other with a gap formed therebetween. The light emitting portion is arranged on the first mounting portion, and the light receiving portion is arranged on the second mounting portion. At least a portion of the grating body is arranged in the gap, and when the grating body rotates, the light-transmitting gap and the light-shielding portion pass through the gap in sequence.

7. The mopping mechanism according to claim 3, characterized in that: The mopping mechanism further includes a transmission assembly, the mopping disc and the grating body are both connected to the transmission assembly, and the driving member drives the mopping disc and the grating body to rotate simultaneously through the transmission assembly.

8. The mopping mechanism according to claim 7, characterized in that: The grating assembly also includes a fourth gear connected to the grating body and coaxially arranged. The fourth gear is rotationally connected to the transmission assembly. The transmission assembly drives the grating body and the mopping plate to rotate, and the grating body and the mopping plate rotate synchronously.

9. The mopping mechanism according to claim 7, characterized in that: The transmission assembly includes a first gear, a second gear and a third gear. The first gear is connected to the driving member to form the driving gear of the transmission assembly. The third gear is connected to the first gear through the second gear. The mopping plate is connected to the third gear and is coaxially arranged.

10. The mopping mechanism according to claim 9, characterized in that: The grating assembly further includes a fourth gear connected to the grating body and coaxially arranged, and the fourth gear is meshed with the second gear.

11. The mopping mechanism according to claim 10, characterized in that: The second gear has a first tooth portion and a second tooth portion, the first tooth portion and the second tooth portion are coaxially arranged, the second tooth portion is meshed with the first gear, and the first tooth portion is meshed with the third gear and the fourth gear respectively.

12. The mopping mechanism according to claim 11, characterized in that: The driving member includes a worm portion, and the first gear has an inclined tooth portion and a straight tooth portion, the inclined tooth portion is engaged with the worm portion, and the straight tooth portion is engaged with the second tooth portion.

13. The mopping mechanism according to claim 7, characterized in that: The shell includes a first shell and a second shell, the first shell is provided with a first groove, the second shell is provided with a second groove, the first shell and the second shell are connected so that the shell has a accommodating cavity consisting of at least the first groove and the second groove, the grating assembly and the transmission assembly are arranged in the accommodating cavity, and the sensor is fixedly arranged in the first shell or the second shell, or the sensor is connected to the first shell or the second shell.

14. A cleaning robot, characterized in that: The utility model comprises a machine body and the mopping mechanism according to any one of claims 1 to 13, wherein the mopping mechanism is arranged on the machine body.

15. A cleaning base station, characterized in that: The cleaning base station has a docking position for the cleaning robot according to claim 14 to dock, and the cleaning base station is at least used to charge and clean the cleaning robot.

16. A cleaning system, characterized in that: The cleaning robot comprises a cleaning base station and the cleaning robot according to claim 14; or comprises a cleaning robot and the cleaning base station according to claim 15; the cleaning robot can be selectively docked with the cleaning base station.

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