Reel device and cleaning robot

Abstract

The application relates to a winding device and a cleaning robot. The winding device comprises a stator mechanism and a rotor mechanism. The stator mechanism comprises a fixed shaft. The rotor mechanism comprises a rotating assembly and a damping assembly. The rotating assembly is sleeved outside the fixed shaft and is used for fixing and winding a mop. The damping assembly is arranged on the rotating assembly and is in contact with the stator mechanism. When the rotating assembly rotates relative to the fixed shaft, a damping force with a set size exists between the damping assembly and the stator mechanism. Since the damping force with the set size exists between the damping assembly and the stator mechanism when the rotating assembly rotates relative to the fixed shaft and the mop is wound on the rotating assembly, the damping force with the set size also exists between the rotating assembly and the stator mechanism. Thus, the wrinkles of the mop can be effectively prevented, that is, the rotating assembly has an effective tightening effect on the mop, so that the flatness of the mop is improved, the cleaning effect on a cleaning object is improved, and finally the cleaning effect of the entire cleaning robot is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a winding device and a cleaning robot. Background Technology

[0002] Cleaning robots are robotic systems capable of autonomously or semi-autonomously performing environmental cleaning tasks. With the rapid development of sensor technology, artificial intelligence, computing power, and mechatronics, cleaning robots have evolved from simple automated equipment into intelligent agents with certain environmental perception, decision-making, planning, and task execution capabilities. Their application scenarios have also expanded from the initial household sweeping robots to commercial (such as shopping malls and office buildings), industrial (such as factory workshops and cleanrooms), and other specialized fields.

[0003] One type of cleaning robot includes a dispensing device, a mop, and a retracting device. The mop is wound between the dispensing and retracting devices, and the mop released from the dispensing device can gradually wrap around the retracting device. The mop is used to clean the objects. However, the dispensing and retracting devices in this type of cleaning robot are prone to causing wrinkles in the mop, affecting its flatness and thus its cleaning effect on the objects, ultimately impacting the overall cleaning efficiency of the robot. Utility Model Content

[0004] One of the technical problems addressed by this application is how to improve the cleaning effect of cleaning robots.

[0005] A winding device, comprising:

[0006] Stator mechanism, the stator mechanism including a fixed shaft; and

[0007] The rotor mechanism includes a rotating component and a damping component. The rotating component is rotatably sleeved outside the fixed shaft and used to fix and wind the mop. The damping component is disposed on the rotating component and contacts the stator mechanism. When the rotor component rotates relative to the fixed shaft, there is a damping force of a set magnitude between the damping component and the stator mechanism.

[0008] In one embodiment, the fixed shaft includes a damping section, on which a plurality of damping grooves are formed, extending a certain length along the axial direction of the fixed shaft. The plurality of damping grooves are spaced apart circumferentially along the damping section. When the rotor assembly rotates relative to the fixed shaft, the damping assembly can alternately engage with different damping grooves.

[0009] In one embodiment, the damping assembly includes a first elastic member and an abutment member radially along the fixed axis, the first elastic member abutting between the rotating assembly and the abutment member, the abutment member being capable of abutting the damping segment to alternately engage with different damping grooves.

[0010] In one embodiment, the rotating assembly has a sliding groove, the abutting member slides in the sliding groove along the radial direction of the fixed axis, and the first elastic member is at least partially housed in the sliding groove.

[0011] In one embodiment, the abutting member includes an abutting portion and a mating portion, the abutting portion abutting against the first elastic member and located outside the damping groove, and the mating portion being adapted to the shape of the damping groove and capable of mating with the damping groove.

[0012] In one embodiment, the damping component includes a second elastic element, which is sheet-shaped.

[0013] In one embodiment, the second elastic element includes a fixed part and a swinging part. The fixed part is fixedly connected to the rotating assembly, and the swinging part is bent and connected to one end of the fixed part. The swinging part is adapted to the shape of the damping groove and can cooperate with the damping groove.

[0014] In one embodiment, the damping component includes a third elastic element, which includes a connecting cylinder and a protrusion. The connecting cylinder is fixedly connected to the rotating component and is arranged around the damping section. The protrusion is a plurality of protrusions that protrude from the inner surface of the connecting cylinder. The plurality of protrusions are spaced apart along the circumference of the connecting cylinder and correspond one-to-one with the damping groove. Different protrusions cooperate with different damping grooves, and the same protrusion can alternately cooperate with different damping grooves.

[0015] In one embodiment, the damping assembly includes a first friction plate, which is fixedly connected to the rotating assembly, and the fixed shaft passes through the first friction plate; the stator mechanism further includes a second friction plate, which is fixedly sleeved outside the fixed shaft, and the first friction plate and the second friction plate can rotate relative to each other to generate friction.

[0016] In one embodiment, the stator mechanism further includes a fourth elastic element, which is sleeved on the stator shaft and abuts against the second friction plate.

[0017] In one embodiment, the fixed axis includes a damping section, on which a plurality of damping grooves are provided that extend a certain length along the axial direction of the fixed axis. The plurality of damping grooves are spaced apart circumferentially along the damping section. The second friction plate is fixedly sleeved outside the damping section, and the second friction plate includes a plurality of limiting protrusions that can cooperate with different damping grooves.

[0018] In one embodiment, the stator mechanism further includes a bearing seat with a shaft hole. The inner surface of the shaft hole includes a first plane and a first arc surface that are connected to each other. The outer surface of the stator includes a second plane and a second arc surface that are connected to each other. When the stator mates with the shaft hole, the first plane abuts against the second plane, and the first arc surface abuts against the second arc surface.

[0019] In one embodiment, the rotating assembly includes a roller and an end cap, the end cap being detachably connected to the end of the roller, the roller being used to secure and wind the mop, and the damping assembly being disposed on the end cap.

[0020] A cleaning robot includes a mop and the aforementioned winding device, the mop being wound around the winding device.

[0021] One technical effect of one embodiment of this application is that, given that there is a damping force of a set magnitude between the damping component and the stator mechanism, when the rotor component rotates relative to the fixed axis and causes the mop to wrap around the rotating component, there is also a damping force of a set magnitude between the rotating component and the stator mechanism. This can effectively prevent the mop from wrinkling, that is, the rotor component exerts an effective tensioning effect on the mop, thereby improving the flatness of the mop and improving the cleaning effect on the cleaned items, and ultimately improving the cleaning effect of the entire cleaning robot. Attached Figure Description

[0022] Figure 1 This is a three-dimensional cross-sectional view of a winding device provided in one embodiment.

[0023] Figure 2 for Figure 1 A three-dimensional cross-sectional view of the winding device in another location.

[0024] Figure 3 for Figure 1 The diagram shows a three-dimensional cross-sectional view of the winding device at another location.

[0025] Figure 4 This is a three-dimensional cross-sectional view of a winding device provided in one embodiment.

[0026] Figure 5 for Figure 4 A three-dimensional cross-sectional view of the winding device in another location.

[0027] Figure 6 This is a three-dimensional cross-sectional view of a winding device provided in one embodiment.

[0028] Figure 7 for Figure 6 A three-dimensional cross-sectional view of the winding device in another location.

[0029] Figure 8 This is a three-dimensional cross-sectional view of a winding device provided in one embodiment.

[0030] Figure 9 for Figure 8 A three-dimensional cross-sectional view of the winding device in another location.

[0031] Figure 10 for Figure 8 The diagram shows a three-dimensional cross-sectional view of the winding device at another location.

[0032] Reference numerals: winding device 10, stator mechanism 100, fixed shaft 110, damping section 111, damping groove 111a, second plane 112, second arc surface 113, bearing seat 120, shaft hole 121, first plane 1211, first arc surface 1212, second friction plate 130, limiting protrusion 131, fourth elastic element 140, rotor mechanism 200, rotating assembly 210, roller 211, end cover 212, sliding groove 2121, damping assembly 220, first elastic element 221, abutting member 222, abutting part 2221, mating part 2222, second elastic element 223, fixing part 2231, swinging part 2232, third elastic element 224, connecting cylinder 2241, protrusion 2242, first friction plate 225, bearing 300. Detailed Implementation

[0033] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0035] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0039] See Figure 1 , Figure 2 and Figure 3A cleaning robot according to one embodiment of this application includes a receiving device, a discharging device, and a mop. The two ends of the mop can be fixedly connected to the receiving device and the discharging device respectively, and the mop is simultaneously wound around both devices. Therefore, the portion of the mop between the receiving and discharging devices can be flattened, allowing this portion to be used to clean the work surface (such as the floor). During operation, the soiled portion of the mop gradually wraps around the receiving device, allowing the clean portion to gradually be released from the discharging device, thus cleaning the floor and other surfaces and improving the cleaning effect of the robot. For ease of description, the receiving device and the discharging device can be collectively referred to as the winding device 10, meaning the winding device 10 can be used as either a receiving device or a discharging device. In this invention, a mop refers to a cleaning material that can be used for sweeping and mopping, including dry cleaning materials for sweeping and mopping work surfaces and wet cleaning materials for mopping and washing work surfaces. The cleaning material can be cotton, polyester fiber, or non-woven fabric, etc., and is not limited thereto. Furthermore, in this invention, the work surface can be a floor, tabletop, or glass surface; that is, the cleaning robot provided by this invention can be a sweeping robot, a tabletop cleaning robot, or a window cleaning robot.

[0040] See Figure 1 , Figure 2 and Figure 3 The winding device 10 includes a stator mechanism 100 and a rotor mechanism 200. The stator mechanism 100 includes a fixed shaft 110, which is fixed and cannot rotate. The rotor mechanism 200 includes a rotating assembly 210 and a damping assembly 220. The rotating assembly 210 is rotatably sleeved on the fixed shaft 110 and is used to fix and wind the mop. The damping assembly 220 is disposed on the rotating assembly 210 and contacts the stator mechanism 100. When the rotating assembly 210 rotates relative to the fixed shaft 110, the damping assembly 220 rotates synchronously with the rotating assembly 210 relative to the fixed shaft 110. A damping force of a predetermined magnitude exists between the damping assembly 220 and the stator mechanism 100. When the rotating component 210 rotates relative to the fixed axis 110, causing the mop to wrap around the rotating component 210, a damping force of a set magnitude exists between the damping component 220 and the stator mechanism 100, which also creates a damping force of a set magnitude between the rotating component 210 and the stator mechanism 100. This effectively prevents the mop released from the discharging device from wrinkling between the discharging and collecting devices, thus effectively tightening the mop, improving its flatness, enhancing the cleaning effect on the cleaned items, and ultimately improving the overall cleaning effect of the cleaning robot.

[0041] See Figure 1 , Figure 2 and Figure 3In some embodiments, the stator mechanism 100 further includes a bearing seat 120, which is fixed and cannot move or rotate. The bearing seat 120 has a shaft hole 121. The inner surface of the shaft hole 121 includes a first plane 1211 and a first arc surface 1212. There can be two first planes 1211 and two first arc surfaces 1212. One of the first arc surfaces 1212 is connected to one end of the two first planes 1211, and the other first arc surface 1212 is connected to the other end of the two first planes 1211. This makes the cross-section of the shaft hole 121 not a standard circle. The outer surface of the fixed shaft 110 includes a second plane 112 and a second arc surface 113. There can be two of each of the second plane 112 and the second arc surface 113. One arc surface 113 connects to one end of the two second planes 112, and the other arc surface 113 connects to the other end of the two second planes 112. This ensures that the cross-section of the fixed shaft 110 at the location corresponding to the second plane 112 is not a standard circle. When the fixed shaft 110 mates with the shaft hole 121, the first plane 1211 abuts against the second plane 112, and the first arc surface 1212 abuts against the second arc surface 113. This prevents the fixed shaft 110 from rotating relative to the bearing seat 120, thus effectively limiting the rotation of the fixed shaft 110. In other embodiments, the number of the first plane 1211 and the first arc surface 1212 can be one, the number of the second plane 112 and the second arc surface 113 can also be one, and the cross-section of the shaft hole 121 and the fixed shaft 110 can be polygonal or elliptical, etc., as long as it can effectively prevent the fixed shaft 110 from rotating relative to the bearing seat 120.

[0042] See Figure 1 , Figure 2 and Figure 3 In some embodiments, the winding device 10 may further include a bearing 300, which is sleeved on the fixed shaft 110, and the rotating component 210 is sleeved on the bearing 300. This allows the rotating component 210 to rotate relative to the fixed shaft 110 through the action of the bearing 300. Therefore, by providing the bearing 300, the rotational resistance of the rotating component 210 relative to the fixed shaft 110 can be reasonably reduced, thereby improving the energy utilization rate of the winding device 10. The rotating component 210 may include a roller 211 and an end cap 212. The end cap 212 is detachably connected to the end of the roller 211, for example, by a snap-fit ​​connection. The roller 211 is used to fix and wind the mop, and the damping component 220 is disposed on the end cap 212.

[0043] See Figure 1 , Figure 2 and Figure 3In some embodiments, the fixed shaft 110 includes a damping section 111, on which damping grooves 111a are formed. There can be multiple damping grooves 111a, each extending a certain length along the axial direction of the fixed shaft 110. These grooves are spaced apart circumferentially along the damping section 111, making the damping section 111 resemble a splined shaft. When the rotating component 210 rotates relative to the fixed shaft 110, the damping component 220 can alternately engage with different damping grooves 111a. This causes a certain amount of jamming between the damping component 220 and the rotating component 210 during their rotation relative to the stator mechanism 100. This creates a damping force between the damping component 220 and the rotating component 210 and the stator mechanism 100, thereby tightening and flattening the mop, ultimately improving the cleaning effect of the cleaning robot.

[0044] See Figure 1 , Figure 2 and Figure 3 In some embodiments, there can be multiple damping components 220, which are spaced apart circumferentially along the rotating component 210. Each damping component 220 includes a first elastic member 221 and an abutment member 222. Along the radial direction of the fixed axis 110, the first elastic member 221 abuts against the rotating component 210 and the abutment member 222, thereby generating an abutting force on the abutment member 222. This allows the abutment member 222 to abut against the damping section 111, alternately engaging with different damping grooves 111a. This achieves a certain magnitude of damping force between the damping component 220, the rotating component 210, and the stator mechanism 100. A sliding groove 2121 can be formed on the end cap 212 of the rotating component 210. The sliding groove 2121 extends radially along the fixed axis 110, and the number of sliding grooves 2121 corresponds to the number of damping components 220, forming a one-to-one relationship. The abutment member 222 slides in conjunction with the sliding groove 2121 along the radial direction of the fixed axis 110. The first elastic member 221 is at least partially housed in the sliding groove 2121. Therefore, the sliding groove 2121 can effectively limit the sliding of the abutment member 222, ensuring that the abutment member 222 always slides radially along the fixed axis 110, thereby improving the motion accuracy of the abutment member 222. It can also reasonably reduce the motion resistance of the abutment member 222, avoid jamming during movement, and improve the smoothness of the movement of the abutment member 222. This ensures that the abutment member 222 can extend into or retract from the damping groove 111a, thereby achieving the damping effect of the stator mechanism 100 on the entire rotor mechanism 200. Of course, the deformation of the first elastic member 221 can also be constrained, thereby improving the deformation accuracy of the first elastic member 221. The first elastic member 221 can be a spring, etc.

[0045] See Figure 1 , Figure 2 and Figure 3In some embodiments, the abutment member 222 includes an abutment portion 221 and a mating portion 2222. The cross-sectional dimension of the abutment portion 221 may be larger than that of the mating portion 2222. The abutment portion 221 abuts against the first elastic member 221. The abutment portion 221 is located outside the damping groove 111a, preventing the abutment portion 221 from extending into the damping groove 111a. The shape of the mating portion 2222 is adapted to the damping groove 111a, allowing the mating portion 2222 to extend into and engage with the damping groove 111a. Therefore, during the rotation of the rotating assembly 210, the mating portion 2222 can extend into or retract from the damping groove 111a, thereby enabling the mating portion 2222 to alternately engage with different damping grooves 111a, ultimately achieving the damping effect of the stator mechanism 100 on the damping assembly 220 and the entire rotor mechanism 200.

[0046] See Figure 4 and Figure 5 In some embodiments, the damping assembly 220 includes a second elastic element 223, which is sheet-shaped, i.e., a spring sheet. Therefore, during the rotation of the rotating assembly 210, the second elastic element 223 can undergo bending deformation, allowing it to extend into or retract from the damping groove 111a. This enables the second elastic element 223 to alternately engage with different damping grooves 111a, ultimately achieving the damping effect of the stator mechanism 100 on the damping assembly 220 and the entire rotor mechanism 200. Multiple second elastic elements 223 can be arranged circumferentially along the fixed axis 110, with one end of each second elastic element 223 fixedly connected to the end cap 212 of the rotating assembly 210.

[0047] See Figure 4 and Figure 5 In some embodiments, the second elastic element 223 includes a fixed part 2231 and a swinging part 2232. The fixed part 2231 is fixedly connected to the end cap 212 of the rotating assembly 210. The swinging part 2232 is bent and connected to one end of the fixed part 2231. The shape of the swinging part 2232 is adapted to the damping groove 111a, so that the swinging part 2232 can cooperate with the damping groove 111a. Therefore, during the rotation of the rotating assembly 210, the swinging part 2232 swings relative to the end cap 212 through the fixed part 2231, so that the swinging part 2232 can extend into or retract from the damping groove 111a, thereby enabling the swinging part 2232 to alternately cooperate with different damping grooves 111a, ultimately achieving the damping effect of the stator mechanism 100 on the damping assembly 220 and the entire rotor mechanism 200.

[0048] See Figure 6 and Figure 7In some embodiments, the damping assembly 220 includes a third elastic element 224, which can be made of silicone or rubber material, thus possessing a certain degree of flexibility and elasticity to produce elastic deformation. The third elastic element 224 includes a connecting cylinder 2241 and a protrusion 2242. The connecting cylinder 2241 can be cylindrical and is fixedly connected to the end cap 212 of the rotating assembly 210, allowing the third elastic element 224 to rotate synchronously with the end cap 212 and the entire rotating assembly 210. The connecting cylinder 2241 is arranged around the damping section 111, allowing the connecting cylinder 2241 and the damping section 111 to be coaxially arranged. Multiple protrusions 2242 are provided on the inner surface of the connecting cylinder 2241. The shape of each protrusion 2242 can be adapted to the shape of the damping groove 111a. The protrusions 2242 are spaced apart circumferentially along the connecting cylinder 2241, and the number of protrusions 2242 and damping grooves 111a can be equal to form a one-to-one correspondence. Different protrusions 2242 engage with different damping grooves 111a, thus creating an interlocking relationship between the third elastic element 224 and the damping section 111. The same protrusion 2242 can alternately engage with different damping grooves 111a. During the rotation of the rotating assembly 210 relative to the fixed axis 110, the third elastic element 224 will rotate relative to the damping section 111, so that the same protrusion 2242 can alternately cooperate with different damping grooves 111a. This also generates a damping force between the third elastic element 224 and the damping section 111, which in turn generates a damping force between the entire rotating assembly 210 and the fixed axis 110. This achieves the damping effect of the stator mechanism 100 on the damping assembly 220 and the entire rotor mechanism 200, ensuring that the mop can be flattened due to tension, and ultimately improving the cleaning effect of the cleaning robot.

[0049] See Figure 8 , Figure 9 and Figure 10In some embodiments, the damping assembly 220 includes a first friction plate 225, which is fixedly connected to the end cap 212 of the rotating assembly 210. A fixed shaft 110 passes through a hole in the first friction plate 225. The fixed shaft 110 can maintain a non-contact relationship with the first friction plate 225 by spacing it radially, i.e., the fixed shaft 110 and the hole of the first friction plate 225 maintain a clearance fit. The stator mechanism 100 also includes a second friction plate 130, which is fixedly sleeved on the outside of the fixed shaft 110. The first friction plate 225 rotates synchronously with the rotating assembly 210, while the second friction plate 130 remains stationary. The first friction plate 225 and the second friction plate 130 are in contact with each other, so that the first friction plate 225 and the second friction plate 130 generate a certain resistance force along the axial direction of the fixed shaft 110. Therefore, when the rotating component 210 rotates, the first friction plate 225 rotates relative to the second friction plate 130, causing frictional resistance to be generated between the first friction plate 225 and the second friction plate 130 due to a certain resistance force. This also causes the stator mechanism 100 to produce a damping effect on the damping component 220 and the entire rotor mechanism 200, thereby achieving the tightening and flattening of the mop and ultimately improving the cleaning effect of the cleaning robot.

[0050] See Figure 8 , Figure 9 and Figure 10 In some embodiments, the stator mechanism 100 further includes a fourth elastic element 140, which is sleeved on the fixed shaft 110 and abuts against the second friction plate 130. The fourth elastic element 140 can be a spring or the like. The fourth elastic element 140 abuts between the bearing 300 and the second friction plate 130, thus creating a certain resistance force between the first friction plate 225 and the second friction plate 130 along the axial direction of the fixed shaft 110. Therefore, by adjusting the elastic force of the fourth elastic element 140, the resistance force and friction force between the first friction plate 225 and the second friction plate 130 can be adjusted, thereby adjusting the damping force between the stator mechanism 100 and the entire rotor mechanism 200. Obviously, when the elastic force of the fourth elastic element 140 increases, the damping force between the stator mechanism 100 and the entire rotor mechanism 200 increases; when the elastic force of the fourth elastic element 140 decreases, the damping force between the stator mechanism 100 and the entire rotor mechanism 200 decreases.

[0051] See Figure 8 , Figure 9 and Figure 10In some embodiments, the second friction plate 130 is fixedly sleeved outside the damping section 111, and the second friction plate 130 includes multiple limiting protrusions 131 that can cooperate with different damping grooves 111a. In fact, the structure of the second friction plate 130 is similar to that of the third elastic member 224, that is, the limiting protrusions 131 of the second friction plate 130 are functionally similar to the protrusions 2242 of the third elastic member 224. It can be understood that the number of limiting protrusions 131 and damping grooves 111a are equal, forming a one-to-one correspondence. Different limiting protrusions 131 cooperate with each other to realize the engagement relationship between the second friction plate 130 and the damping section 111, ensuring that the second friction plate 130 is limited in the circumferential direction of the damping section 111. This prevents the second friction plate 130 from rotating relative to the damping section 111 and the entire fixed axis 110, thereby making the second friction plate 130 stably and reliably fixed on the damping section 111. Obviously, the third elastic element 224 can rotate relative to the damping section 111, while the second friction piece 130 cannot rotate relative to the damping section 111.

[0052] See Figure 1 It can be understood that the fixed shaft 110 may include two damping sections 111, and the number of end caps 212 may be two. The two end caps 212 are set at opposite ends of the roller 211, so that damping components 220 are provided on both end caps 212. Therefore, by setting two damping sections 111, a good damping effect can be formed at both ends of the rotating component 210, ensuring the smoothness of the rotation of the rotating component 210.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A winding device, characterized in that, include: Stator mechanism, the stator mechanism including a fixed shaft; and The rotor mechanism includes a rotating component and a damping component. The rotating component is rotatably sleeved outside the fixed shaft and used to fix and wind the mop. The damping component is disposed on the rotating component and contacts the stator mechanism. When the rotor component rotates relative to the fixed shaft, there is a damping force of a set magnitude between the damping component and the stator mechanism.

2. The winding device according to claim 1, characterized in that, The fixed shaft includes a damping section, on which a plurality of damping grooves are formed, extending a certain length along the axial direction of the fixed shaft. The plurality of damping grooves are arranged at intervals along the circumferential direction of the damping section. When the rotor assembly rotates relative to the fixed shaft, the damping assembly can alternately engage with different damping grooves.

3. The winding device according to claim 2, characterized in that, The damping assembly includes a first elastic element and an abutment element radially along the fixed axis. The first elastic element abuts between the rotating assembly and the abutment element, and the abutment element is capable of abutting the damping segment to alternately engage with different damping grooves.

4. The winding device according to claim 3, characterized in that, The rotating assembly has a sliding groove, the abutting member slides in the sliding groove along the radial direction of the fixed axis, and the first elastic member is at least partially housed in the sliding groove; Or / and, the abutting member includes an abutting portion and a mating portion, the abutting portion abutting against the first elastic member and located outside the damping groove, and the mating portion being adapted to the shape of the damping groove and capable of mating with the damping groove.

5. The winding device according to claim 2, characterized in that, The damping component includes a second elastic element, which is sheet-shaped.

6. The winding device according to claim 5, characterized in that, The second elastic element includes a fixed part and a swinging part. The fixed part is fixedly connected to the rotating assembly, and the swinging part is bent and connected to one end of the fixed part. The swinging part is adapted to the shape of the damping groove and can cooperate with the damping groove.

7. The winding device according to claim 2, characterized in that, The damping component includes a third elastic element, which includes a connecting cylinder and a protrusion. The connecting cylinder is fixedly connected to the rotating component and is arranged around the damping section. There are multiple protrusions that protrude from the inner surface of the connecting cylinder. The multiple protrusions are spaced apart along the circumference of the connecting cylinder and correspond one-to-one with the damping grooves. Different protrusions cooperate with different damping grooves, and the same protrusion can alternately cooperate with different damping grooves.

8. The winding device according to any one of claims 1 to 7, characterized in that, The damping assembly includes a first friction plate, which is fixedly connected to the rotating assembly, and the fixed shaft passes through the first friction plate; the stator mechanism also includes a second friction plate, which is fixedly sleeved outside the fixed shaft, and the first friction plate and the second friction plate can rotate relative to each other to generate friction.

9. The winding device according to claim 8, characterized in that, The stator mechanism further includes a fourth elastic element, which is sleeved on the stator shaft and abuts against the second friction plate. Or / and, the fixed axis includes a damping section, the damping section having a plurality of damping grooves extending a certain length along the axial direction of the fixed axis, the plurality of damping grooves being spaced apart circumferentially along the damping section, the second friction plate being fixedly sleeved outside the damping section, and the second friction plate including a plurality of limiting protrusions capable of cooperating with different damping grooves.

10. The winding device according to any one of claims 1 to 7, characterized in that, The stator mechanism further includes a bearing seat, on which a shaft hole is formed. The inner surface of the shaft hole includes a first plane and a first arc surface that are connected to each other. The outer surface of the fixed shaft includes a second plane and a second arc surface that are connected to each other. When the fixed shaft is engaged with the shaft hole, the first plane abuts against the second plane, and the first arc surface abuts against the second arc surface. Or / and, the rotating assembly includes a roller and an end cap, the end cap being detachably connected to the end of the roller, the roller being used to fix and wind the mop, and the damping assembly being disposed on the end cap.

11. A cleaning robot, characterized in that, It includes a mop and a winding device according to any one of claims 1 to 10, wherein the mop can be wound around the winding device.

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