Mopping cleaning equipment and cleaning robot

Abstract

The utility model discloses mopping cleaning equipment and a cleaning robot, and relates to the technical field of cleaning robots. The mopping and cleaning equipment comprises a mounting base body, a mop fixing device and a vibration device, wherein the mop fixing device is used for fixedly mounting a mop; the vibration device is provided with a vibration output part, the vibration output part is connected with the mop fixing device to drive the mop fixing device to vibrate, and the vibration direction of the vibration output part is parallel to the surface, used for making contact with the ground, of the mop in the mop fixing device. According to the mopping and cleaning equipment, the mopping cloth can be driven to vibrate along the plane where the ground is located while the mopping cloth moves relative to the ground, the mopping cloth and the ground move relatively and repeatedly, the situation that dirty parts are scrubbed repeatedly in reality is effectively simulated, and in addition, under the situation that the vibration device drives the mopping cloth fixing device to vibrate, the mopping and cleaning efficiency is improved. And stubborn stains can be vibrated and flapped at high frequency, so that the stubborn stains are effectively disintegrated, and the cleaning effect and the cleaning efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, and more specifically, to a mopping cleaning device. In addition, the utility model also relates to a cleaning robot comprising the mopping cleaning device. Background Art

[0002] In the field of commercial cleaning robots, the mopping mechanism is generally configured as a drum structure, with a rag covering the circular drum. The mopping mechanism is driven by a power assembly to wipe the floor during the rotation process. This structure makes it difficult to clean and replace dirty rags.

[0003] Another method uses a flat mop to contact the ground and push it horizontally to clean the ground. When this mopping method is used, the dust-pushing module uses a lifting actuator to create a certain pressure between the mop and the ground. The robot body moves with the mop, thereby achieving the mopping and cleaning function. In this method, the mop and the ground only have relative movement in a single direction, and its cleaning effect is not good. Although it has a lifting function and can adapt to certain uneven ground surfaces, its adaptability has certain limitations. When the ground is uneven in a certain area, it can only actively lift the mop. This not only places high demands on the entire machine, but also loses its cleaning function during the lifting process.

[0004] In summary, how to provide a mopping and cleaning device that can effectively improve the cleaning effect is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of the present invention is to provide a mopping cleaning device that can generate vibration during the mopping process to achieve repeated cleaning of dirty parts of the floor and improve the cleaning effect.

[0006] Another object of the present invention is to provide a cleaning robot comprising the above-mentioned mopping cleaning device.

[0007] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0008] A mopping cleaning device, comprising:

[0009] Install the base;

[0010] A mop fixing device, used for fixing and installing the mop;

[0011] A vibration device having a vibration output portion connected to the mop fixing device to drive the mop fixing device to vibrate, and a vibration direction of the vibration output portion is parallel to the surface of the mop in the mop fixing device that is used to contact the ground.

[0012] Optionally, the vibration device includes:

[0013] a vibration driving member, mounted on the mounting base, the vibration driving member having a rotatable rotation output end;

[0014] a transmission assembly, wherein a power input end of the transmission assembly is connected to the rotation output end, and a power output end of the transmission assembly is connected to the vibration output part;

[0015] The vibration output portion is provided with a fixing piece for being fixedly connected to the mop in the mop fixing device.

[0016] Optionally, the vibration output part includes a movable plate and a connecting piece, and the surface of the movable plate facing the mop fixing device is provided with the fixing piece; the rotation output end is provided with a power wheel;

[0017] The transmission assembly comprises:

[0018] a first transmission wheel, fixedly connected to the power wheel and rotating synchronously with the power wheel;

[0019] The second transmission wheel is eccentrically arranged with respect to the first transmission wheel, and the second transmission wheel is rotatably connected to the connecting member to drive the movable plate to vibrate.

[0020] Optionally, the fixing member is a fitting member detachably connected to the mop.

[0021] Optionally,

[0022] The vibration output unit further includes:

[0023] a first supporting plate, provided with a recess for accommodating the movable plate, wherein the size of the recess is larger than the size of the movable plate, so that the movable plate vibrates in the recess;

[0024] a second support plate, stacked on an upper side of the first support plate in a thickness direction;

[0025] One of the mop fixing device and the second supporting plate is provided with a magnetic metal part, and the other is provided with a magnetic part for magnetically attracting the magnetic metal part.

[0026] Optionally, the mop fixing device includes a mop mounting plate and a Velcro provided on the mop mounting plate, and the mop is attached to the Velcro.

[0027] Optionally, a lifting device is further included, wherein the lifting device includes:

[0028] A lifting power member is installed on the installation base; the lifting power member has an output end that is retractable in the vertical direction;

[0029] A bridge, one end of which is connected to the mop fixing device, and the other end of which is connected to the output end;

[0030] A pressure sensor is arranged at the connection between the output end and the bridge frame; when the pressure information detected by the pressure sensor is greater than the maximum value of the preset pressure range, the output end of the lifting power component is controlled to drive the bridge frame to rise; when the pressure information detected by the pressure sensor is less than the minimum value of the preset pressure range, the output end of the lifting power component is controlled to drive the bridge frame to descend; when the pressure information detected by the pressure sensor is within the preset pressure range, the lifting power component is controlled to maintain the current state.

[0031] Optionally, the mounting base includes a mounting backplate and a mounting frame fixed to the mounting backplate, the lifting power component is installed on the mounting frame, the mounting backplate is provided with a guide rail, and the mop fixing device and the vibration device are slidably arranged along the guide rail.

[0032] Optionally, it also includes an image acquisition device and a controller arranged on the installation base, the image acquisition device is used to acquire image information of the ground to be cleaned by the mopping cleaning device, and send the image information to the controller, and the controller controls the action of the vibration device according to the image information.

[0033] A cleaning robot comprises any of the above-mentioned mopping cleaning devices.

[0034] During use of the mopping cleaning device provided by the present invention, in normal mode, the mop in the mop fixing device contacts the ground, and the robot drives the mopping cleaning device to move. During the movement of the mopping cleaning device, the mop and the ground move relative to each other, thereby cleaning the ground. When the ground is severely dirty or a high cleaning effect is required for the ground, the vibration device can be turned on. During actual use, the mop in the mop fixing device contacts the ground, and the robot drives the mopping cleaning device to move. At the same time, the vibration device drives the mop fixing device to vibrate, and the vibration direction of the vibration output part is parallel to the surface of the mop in the mop fixing device that is in contact with the ground, thereby achieving repeated relative movement between the mop and the ground. As the mop follows the movement of the robot, the mop and the ground form a vibrating wipe, which greatly improves the cleaning effect of the mopping cleaning device.

[0035] Compared with the existing technology, the mopping cleaning device provided by the present invention can realize that the mop moves relative to the ground while driving the mop to vibrate along the plane of the ground, so that the mop and the ground move repeatedly relative to each other, effectively simulating the situation of repeatedly scrubbing the dirty parts in reality. In addition, when the vibration device drives the mop fixing device to vibrate, the stubborn stains will be vibrated and slapped at high frequency, effectively breaking up the stubborn stains and improving the cleaning effect and efficiency.

[0036] In addition, the utility model also provides a cleaning robot including the above-mentioned mopping cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0038] Figure 1 This is a structural diagram of a specific embodiment of the mopping and cleaning device provided by the utility model;

[0039] Figure 2 for Figure 1 Schematic diagram of the structure of part I;

[0040] Figure 3 Schematic diagram of the structure of the vibration device;

[0041] Figure 4 is a structural diagram of the transmission component;

[0042] Figure 5 is a structural schematic diagram of the first support plate;

[0043] Figure 6 It is a structural schematic diagram of the mop fixing device.

[0044] Figures 1-6 middle:

[0045] 10001-Installation back panel; 10002-Lifting power unit; 10003-Mounting frame;

[0046] 10004-connecting plate;

[0047] 10005-power wheel; 10006-pressure sensor; 10007-vibration drive component; 10008-guide rail; 10009-angle aluminum;

[0048] 11000-Mop fixing device;

[0049] 11001-Mop mounting plate; 11002-Velcro; 11003-Mop;

[0050] 12000-vibration device;

[0051] 12001 - second support plate; 12002 - first support plate; 12002-A - recess; 12100 - vibration output portion; 12101 - movable plate; 12102 - connector; 12102a - mounting slot; 12003 - magnetic member;

[0052] 13000-bridge;

[0053] 14000-transmission components;

[0054] 14001-first transmission wheel; 14002-second transmission wheel. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] The core of the utility model is to provide a mopping cleaning device, which can generate vibration during the mopping process to achieve repeated cleaning of dirty parts of the floor and improve the cleaning effect.

[0057] Another object of the present invention is to provide a cleaning robot comprising the above-mentioned mopping cleaning device.

[0058] This specific embodiment discloses a mopping cleaning device, including a mounting base, a mop fixing device 11000 and a vibration device 12000, wherein the mop fixing device 11000 is used to fix and install a mop 11003; the vibration device 12000 has a vibration output part 12100, and the vibration output part 12100 is connected to the mop fixing device 11000 to drive the mop fixing device 11000 to vibrate, and the vibration direction of the vibration output part 12100 is parallel to the surface of the mop 11003 in the mop fixing device 11000 that is used to contact the ground.

[0059] It should be noted that, in this specific embodiment, the vibration direction of the vibration output part 12100 is parallel to the surface of the mop 11003 in the mop fixing device 11000 that is in contact with the ground, which means that during the vibration of the vibration output part 12100, the mop 11003 is driven to vibrate, and the vibration direction of the mop 11003 is parallel to the surface in contact with the ground. The mop 11003 remains in contact with the ground during the vibration process, preventing the mop 11003 from separating from the ground.

[0060] During use of the mopping cleaning device provided by this embodiment, in normal mode, the mop 11003 in the mop fixture 11000 contacts the ground, and the robot drives the mopping cleaning device to move. During this movement, the mop 11003 and the ground move relative to each other, achieving cleaning. When the ground is heavily soiled or a higher cleaning effect is required, the vibration device 12000 can be activated. In actual use, the mop 11003 in the mop fixture 11000 contacts the ground, and the robot drives the mopping cleaning device to move. Simultaneously, the vibration device 12000 causes the mop fixture 11000 to vibrate, with the vibration output unit 12100 vibrating in a direction parallel to the surface of the mop 11003 in the mop fixture 11000 that contacts the ground. This achieves repeated relative movement between the mop 11003 and the ground. As the mop 11003 follows the robot's movement, a vibrating wipe is formed between the mop 11003 and the ground, significantly improving the cleaning effect of the mopping cleaning device.

[0061] It should be noted that the vibration direction of the vibration output unit 12100 in this specific embodiment can be repeated vibration in the same direction; it can also be vibration in multiple directions, which is determined according to actual conditions and will not be elaborated here.

[0062] Compared with the prior art, the mopping cleaning device provided in this specific embodiment can realize that the mop 11003 moves relative to the ground while driving the mop 11003 to vibrate along the plane of the ground, so that the mop 11003 and the ground repeatedly move relative to each other, effectively simulating the situation of repeatedly scrubbing the dirty parts in reality. In addition, when the vibration device 12000 drives the mop fixing device 11000 to vibrate, the stubborn stains will be vibrated and slapped at high frequency, effectively breaking up the stubborn stains and improving the cleaning effect and cleaning efficiency.

[0063] On the basis of the above embodiment, the vibration device 12000 can include a vibration driving member 10007, a transmission assembly 14000 and a vibration output part 12100, wherein the vibration driving member 10007 is installed on the installation base, and the vibration driving member 10007 has a rotatable rotation output end; the power input end of the transmission assembly 14000 is connected to the rotation output end, and the power output end of the transmission assembly 14000 is connected to the vibration output part 12100; the vibration output part 12100 is provided with a fixing member for fixedly connecting to the mop 11003 in the mop fixing device 11000.

[0064] During actual use, the vibration driving member 10007 drives the transmission assembly 14000 to move, and the transmission assembly 14000 converts the power input by the vibration driving member 10007 into vibration of the vibration output part 12100. The vibration output part 12100 drives the mop 11003 in the mop fixing device 11000 to vibrate. While the mop 11003 moves relative to the ground, it drives the mop 11003 to vibrate along the plane of the ground, which can effectively provide a cleaning effect on the ground.

[0065] The vibration driving member 10007 in this specific embodiment can be a vibrator. During actual use, the vibrator drives the transmission component 14000 to vibrate. The transmission component 14000 is connected to the vibration output part 12100, thereby driving the vibration output part 12100 to vibrate. During the vibration process, the vibration output part 12100 drives the mop 11003 to vibrate, thereby improving the cleaning effect.

[0066] In the design scheme using a vibrator, the structure of the transmission component 14000 is relatively simple, and only needs to realize the connection function without considering the complex power transmission process.

[0067] On the other hand, the vibration driving member 10007 can be a vibration driving motor, and the transmission assembly 14000 includes a first transmission wheel 14001 and a second transmission wheel 14002, wherein the first transmission wheel 14001 is fixedly connected to the power wheel 10005 and rotates synchronously with the power wheel 10005; the second transmission wheel 14002 is eccentrically arranged with the first transmission wheel 14001, and the second transmission wheel 14002 is rotatably connected to the installation groove 12102a of the connecting member 12102 to drive the movable plate 12101 to vibrate; in this specific embodiment, the rotation output end of the vibration driving member 10007 is the output end of the vibration driving motor.

[0068] like Figure 3 As shown, the vibration output part 12100 may further include a movable plate 12101 and a connecting member 12102, and a fixing member is provided on the surface of the movable plate 12101 facing the mop fixing device 11000; Figure 2As shown, a power wheel 10005 is provided at the rotation output end.

[0069] During actual use, the output end of the vibration drive motor rotates, driving the power wheel 10005 to rotate, and the rotation of the power wheel 10005 drives the first transmission wheel 14001 to rotate. During the rotation of the first transmission wheel 14001, the second transmission wheel 14002 is driven to rotate. Since the first transmission wheel 14001 and the second transmission wheel 14002 are eccentrically arranged, during the rotation of the second transmission wheel 14002, the rotation center axis of the second transmission wheel 14002 is not the central axis of the second transmission wheel 14002; during the rotation of the second rotating wheel, the connecting member 12102 will be driven to reciprocate in the circumferential direction, thereby driving the movable plate 12101 to reciprocate in the circumferential direction, thereby realizing the vibration of the mop 11003.

[0070] The fixing part can be set as a fitting part that is detachably connected to the mop 11003. Specifically, the fitting part can be set as a Velcro. Of course, the fixing part can also be set as other structures that are detachably connected to the mop 11003. The specific details are determined according to actual conditions and will not be elaborated here.

[0071] In this specific embodiment, an eccentric structure is provided to achieve repeated movement of the movable plate 12101 in the circumferential direction, thereby driving the mop 11003 to vibrate. The vibration frequency of the mop 11003 can be adjusted by adjusting the working frequency of the vibration drive member 10007, which is determined according to actual conditions.

[0072] On the basis of the above embodiment, the vibration output part 12100 can further include a first support plate 12002 and a second support plate 12001, wherein the first support plate 12002 is provided with a recess 12002-A for accommodating the movable plate 12101, and the size of the recess 12002-A is larger than the size of the movable plate 12101, so that the movable plate 12101 vibrates in the recess 12002-A; the second support plate 12001 is stacked on the upper side of the first support plate 12002 in the thickness direction; one of the mop fixing device 11000 and the second support plate 12001 is provided with a magnetic metal part, and the other is provided with a magnetic part 12003 for magnetic attraction with the magnetic metal part.

[0073] Combine Figure 3 、 Figure 5 As shown, the second support plate 12001 can be fixed to the first support plate 12002 by screws, and the second support plates 12001 and the second support plates 12001 are surrounded to form a space for installing the movable plate 12101, as shown in FIG. Figure 5As shown, the first support plate 12002 is provided with a recess 12002-A. A first through-hole is provided at the bottom of the recess 12002-A, penetrating the first support plate 12002. This allows the movable plate 12101 to be partially exposed through the first through-hole. A fitting member for fitting with the mop 11003 is provided on the side of the movable plate 12101 facing the mop fixture 11000. After the first and second support plates 12002 and 12001 are assembled, the movable plate 12101 can vibrate within the space enclosed by the recess 12002-A and the second support plate 12001. The second support plate 12001 is provided with a second through-hole, through which the connector 12102 is connected to the transmission assembly 14000.

[0074] In this specific embodiment, the mop fixing device 11000 and the vibration device 12000 are connected by the magnetic member 12003 and the magnetic metal member. During the specific use, the disassembly and assembly process is convenient, which can effectively simplify the operation steps.

[0075] The magnetic member 12003 mentioned in this specific embodiment can be a permanent magnet or an electromagnet, which is determined according to actual conditions and will not be elaborated here.

[0076] In a specific embodiment, if Figure 6 As shown, the mop fixing device 11000 includes a mop mounting plate 11001 and a Velcro 11002 arranged on the mop mounting plate 11001 , and the mop 11003 is attached to the Velcro 11002 .

[0077] During actual use, when a new mop 11003 needs to be installed, the old mop 11003 only needs to be torn off and the new mop 11003 is pasted on the Velcro 11002 to replace the mop 11003. The operation process is simple and easy.

[0078] Of course, the mop 11003 in this specific embodiment can also be installed in other detachable ways, which are determined according to actual conditions and will not be described here.

[0079] On the basis of the above embodiment, the mopping cleaning device may further include a lifting device, wherein the lifting device includes a lifting power piece 10002, a bridge 13000 and a pressure sensor 10006; the lifting power piece 10002 is installed on the installation base; the lifting power piece 10002 has an output end that can be retracted in the vertical direction; one end of the bridge 13000 is connected to the mop fixing device 11000, and the other end is connected to the output end; the pressure sensor 10006 is provided at the connection between the output end and the bridge 13000; when the pressure information detected by the pressure sensor 10006 is greater than the maximum value of the preset pressure range, the pressure sensor 10006 is reset. When the pressure information detected by the pressure sensor 10006 is within the preset pressure range, the output end of the lifting power component 10002 is controlled to drive the bridge 13000 to descend until the pressure information detected by the pressure sensor 10006 is within the preset pressure range; when the pressure information detected by the pressure sensor 10006 is less than the minimum value of the preset pressure range, the output end of the lifting power component 10002 is controlled to drive the bridge 13000 to descend until the pressure information detected by the pressure sensor 10006 is within the preset pressure range; when the pressure information detected by the pressure sensor 10006 is within the preset pressure range, the lifting power component 10002 is controlled to maintain the current state.

[0080] Specifically, such as Figure 1 As shown, the mounting base can include a mounting back plate 10001 and a mounting frame 10003 fixed to the mounting back plate 10001, the lifting power part 10002 is installed on the mounting frame 10003, the mounting back plate 10001 is provided with a guide rail 10008, and the mop fixing device 11000 and the vibration device 12000 are slidably arranged along the guide rail 10008.

[0081] In this specific embodiment, the lifting and lowering of the mop fixing device 11000 is adjusted by the lifting power part 10002. Compared with the elastic telescopic range in the prior art, the adjustable space for adjusting the lifting and lowering of the mop fixing device 11000 by the lifting power part 10002 in this specific embodiment is larger, which can be applied to the situation where the height of the ground protrusion is larger, and is conducive to achieving cleaning that adapts to different ground surfaces.

[0082] Specifically, a connecting plate 10004 can be provided on the second support plate 12001 of the vibration device 12000. The connecting plate 10004 is connected to the slider of the guide rail 10008 through the angle aluminum 10009. The slider is slidably provided along the guide rail 10008. Figure 1 As shown, guide rails 10008 are provided on two opposite sides of the mounting back plate 10001, and the two ends of the vibration device 12000 in the length direction are respectively connected to the sliders on both sides through the connecting plate 10004 and the angle aluminum 10009, so that the vibration device 12000 is evenly stressed during the lifting process.

[0083] Based on the above embodiment, the mopping cleaning device can also include an image acquisition device and a controller arranged on the installation base. The image acquisition device is used to acquire image information of the ground to be cleaned by the mopping cleaning device and send the image information to the controller. The controller controls the movement of the vibration device 12000 according to the image information.

[0084] During actual use, in order to automate the cleaning process, an image acquisition device can be set up to judge the degree of dirtiness of the ground based on the image information, so as to facilitate adjustment of the vibration frequency, vibration time and other information of the vibration device 12000 according to the actual situation of the ground.

[0085] In addition to the above-mentioned mopping cleaning device, the present invention also provides a cleaning robot including the mopping cleaning device disclosed in the above-mentioned embodiment. For the structures of other parts of the cleaning robot, please refer to the prior art and will not be described in detail herein.

[0086] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. Any combination of all the embodiments provided by this utility model is within the scope of protection of this utility model and will not be described in detail here.

[0087] The above is a detailed introduction to the mopping cleaning device and cleaning robot provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, various improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A mopping cleaning device, characterized in that: include: Install the base; A mop fixing device (11000) for fixing and installing a mop (11003); A vibration device (12000) is provided, wherein the vibration device (12000) has a vibration output portion (12100), the vibration output portion (12100) is connected to the mop fixing device (11000) to drive the mop fixing device (11000) to vibrate, and the vibration direction of the vibration output portion (12100) is parallel to the surface of the mop (11003) in the mop fixing device (11000) that is used to contact the ground.

2. The mopping cleaning device according to claim 1, characterized in that: The vibration device (12000) comprises: A vibration driving member (10007) is mounted on the mounting base, and the vibration driving member (10007) has a rotatable rotation output end; a transmission assembly (14000), wherein the power input end of the transmission assembly (14000) is connected to the rotation output end, and the power output end of the transmission assembly (14000) is connected to the vibration output part (12100); The vibration output portion (12100) is provided with a fixing member for fixedly connecting to the mop (11003) in the mop fixing device (11000).

3. The mopping cleaning device according to claim 2, characterized in that: The vibration output portion (12100) comprises a movable plate (12101) and a connecting member (12102); the surface of the movable plate (12101) facing the mop fixing device (11000) is provided with the fixing member; the rotation output end is provided with a power wheel (10005); The transmission assembly (14000) comprises: A first transmission wheel (14001) is fixedly connected to the power wheel (10005) and rotates synchronously with the power wheel (10005); The second transmission wheel (14002) is eccentrically arranged with respect to the first transmission wheel (14001), and the second transmission wheel (14002) is rotatably connected to the connecting member (12102) to drive the movable plate (12101) to vibrate.

4. The mopping cleaning device according to claim 2, characterized in that: The fixing part is a fitting part that is detachably connected to the mop (11003).

5. The mopping cleaning device according to claim 3, characterized in that: The vibration output unit (12100) further includes: A first support plate (12002) is provided with a recess (12002-A) for accommodating the movable plate (12101), wherein the size of the recess (12002-A) is larger than the size of the movable plate (12101), so that the movable plate (12101) vibrates in the recess (12002-A); A second support plate (12001) is stacked on the upper side of the first support plate (12002) in the thickness direction; One of the mop fixing device (11000) and the second support plate (12001) is provided with a magnetic metal part, and the other is provided with a magnetic part (12003) for magnetically attracting the magnetic metal part.

6. The mopping cleaning device according to claim 1, characterized in that: The mop fixing device (11000) comprises a mop mounting plate (11001) and a Velcro (11002) arranged on the mop mounting plate (11001), and the mop (11003) is attached to the Velcro (11002).

7. The mopping cleaning device according to any one of claims 1 to 6, characterized in that: Also included is a lifting device, the lifting device comprising: A lifting power member (10002) is mounted on the mounting base; the lifting power member (10002) has an output end that is retractable in a vertical direction; A bridge frame (13000), one end of which is connected to the mop fixing device (11000) and the other end of which is connected to the output end; A pressure sensor (10006) is provided at the connection between the output end and the bridge frame (13000); when the pressure information detected by the pressure sensor (10006) is greater than the maximum value of the preset pressure range, the output end of the lifting power component (10002) is controlled to drive the bridge frame (13000) to rise; when the pressure information detected by the pressure sensor (10006) is less than the minimum value of the preset pressure range, the output end of the lifting power component (10002) is controlled to drive the bridge frame (13000) to descend; when the pressure information detected by the pressure sensor (10006) is within the preset pressure range, the lifting power component (10002) is controlled to maintain the current state.

8. The mopping cleaning device according to claim 7, characterized in that: The mounting base comprises a mounting back plate (10001) and a mounting frame (10003) fixed to the mounting back plate (10001); the lifting power member (10002) is mounted on the mounting frame (10003); the mounting back plate (10001) is provided with a guide rail (10008); and the mop fixing device (11000) and the vibration device (12000) are slidably arranged along the guide rail (10008).

9. The mopping cleaning device according to any one of claims 1 to 6, characterized in that: It also includes an image acquisition device and a controller arranged on the installation base, the image acquisition device is used to acquire image information of the ground to be cleaned by the mopping cleaning device, and send the image information to the controller, and the controller controls the action of the vibration device (12000) according to the image information.

10. A cleaning robot, characterized in that: The invention comprises the mopping cleaning device according to any one of claims 1 to 9.

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