Mop structure, floor-cleaning robot, mop lifting mechanism and floor-cleaning machine

Abstract

Provided are a mop structure and a floor-cleaning robot, and a mop lifting mechanism and a floor-cleaning machine. The mop structure comprises a housing (1-1), a first mop assembly (1-2), a first elastic driving member (1-3) and a first reset mechanism (1-4). After a first mop (1-22) extends out, the first mop can also be adaptively retracted when encountering an obstacle, thereby preventing rigid impact between an end of the first mop (1-22) and the obstacle, reducing the wear of the first mop (1-22), also preventing the first mop (1-22) from colliding with household items, and improving the use experience of a user. The mop lifting mechanism comprises a second mounting bracket (2-1), a second mop assembly (2-2) and a driving assembly (2-3), wherein a plurality of guide seats (2-4) are provided on the second mounting bracket (2-1), and a guide rail (2-43) which extends in the front-rear direction and is arranged to have the front portion higher than the rear portion is provided in each guide seat (2-4). The guide rail (2-43) arranged to have the front portion higher than the rear portion not only guides the lifting movement of the second mop assembly (2-2), but also provides support for the second mop assembly (2-2), thereby avoiding the defect of pulling the second mop assembly (2-2) completely by means of a pull cable or a pull rope, making the assembly structure more stable, and prolonging the service life.

Description

Mop structure, sweeping robot, lifting mop mechanism and sweeping machine

[0001] This application claims priority to Chinese Patent Application No. 202421485917.0, filed on June 26, 2024, and also claims priority to Chinese Patent Application No. 202421846319.1, filed on July 31, 2024, the entire disclosures of which are hereby incorporated by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of sweeping robots, and in particular to a mop structure, a sweeping robot, a lifting mop mechanism and a sweeping machine. BACKGROUND

[0003] In a first aspect, the sweeping robot can realize automatic cleaning, which brings great convenience to people's daily cleaning and saves the user's cleaning time.

[0004] Chinese Invention Patent No. CN117958674A discloses a cleaning robot, wherein a main cleaning assembly is movably arranged relative to a machine body, so that at least part of the main cleaning assembly can extend out of the circumferential outer edge of the machine body. A driving assembly is used to drive the cleaning head to substantially reciprocate along the target surface. The driving assembly is used to drive the cleaning head to substantially reciprocate left and right along its axial direction. The driving assembly includes a driving part, a driving wheel and a connecting rack. The driving part is arranged on the machine body, the driving wheel is connected to the driving part, and the connecting rack is connected to the fixed support. The connecting rack is engaged with the driving wheel, so that the driving part drives the fixed support to move through the driving wheel and the connecting rack. By engaging the driving wheel with the connecting rack, the driving of the fixed support is realized, which enables the fixed support to move in the extension direction of the connecting rack, thereby improving the controllability of the movement of the fixed support.

[0005] The defect of the above-mentioned patent scheme is that the mop is extended by engaging the driving wheel with the connecting rack. Due to the meshing action of the gear and the rack, the mop cannot be automatically retracted after being extended. If an obstacle is encountered, the end of the mop will have a hard collision with the obstacle, which can easily cause damage to the mop end and can also damage household items, causing customer complaints.

[0006] In a second aspect, the sweeping machine is a small household appliance that provides convenience for people to clean up. The sweeping machine has entered millions of households. The mop of the sweeping machine has a lifting type. The mop is driven by a lifting driving mechanism to control the lifting of the mop. During dust collection or cleaning, the mop is lifted by the lifting driving mechanism. During mopping, the mop is lowered by the lifting driving mechanism to contact the ground to realize the mopping function.

[0007] A cleaning robot disclosed in Chinese patent application CN116058735A includes a mop plate assembly, a driving device, a transmission device, a lifting device, etc. The transmission device is connected between the driving device and the lifting device. The lifting device includes a winding reel, a flexible connecting piece, and a one-way bearing. The winding reel is fixed to a rotating shaft. One end of the flexible connecting piece is fixed to the winding reel, and the other end of the flexible connecting piece is connected with the mop plate assembly. The flexible connecting piece can be a steel wire rope, a pull rope, or a rope made of other flexible materials. When the rotating motor drives the output end to rotate in the clockwise direction, the one-way bearing drives the rotating shaft to rotate, and the winding reel rotates under the action of the rotating shaft, so that the flexible connecting piece drives the mop plate assembly to move away from the surface to be cleaned, thereby realizing the lifting function of the mop plate assembly.

[0008] In the prior art, the mop plate assembly is lifted by a cable, a pull rope, etc., which has the following defects:

[0009] 1. The cable, the pull rope, etc. can be easily damaged by friction with the surrounding wall surface, protrusions, etc., and has a short service life.

[0010] 2. When the mop plate assembly is lifted, the cable, the pull rope, etc. are used to pull the mop plate assembly, and the mop plate assembly has no support below, so the gravity of the mop plate assembly acts on the cable, the pull rope, etc., which can be easily damaged by fatigue, affecting the service life. SUMMARY

[0011] The first aspect of the present application aims to overcome the shortcomings of the first aspect of the prior art, and provides a mop structure and a sweeping robot. After the first mop is stretched out, if an obstacle is encountered, the first mop can be automatically retracted, avoiding hard collision between the end of the first mop and the obstacle, reducing the wear of the first mop, and avoiding damage to household items, thereby improving the user experience.

[0012] The mop structure provided by the first aspect of the present application comprises a shell, a first mop assembly, a first elastic driving member, and a first reset mechanism.

[0013] The bottom of the shell has a receiving groove. The first mop assembly comprises a first mounting bracket and a first mop connected with the first mounting bracket.

[0014] The first mounting bracket is slidingly connected with the shell, and the first mop is slidingly arranged in the receiving groove.

[0015] The first elastic driving member is connected between the shell and the first mounting bracket, and is used to drive the first mop assembly to move so that one end of the first mop is stretched out from the receiving groove.

[0016] The first reset mechanism comprises a first motor, a first cable and a first rotating disc installed on a motor shaft of the first motor and used for winding and unwinding the first cable.

[0017] The first motor is connected with the shell, and the first cable is connected between the first rotating disc and the first mounting bracket.

[0018] In one of the optional technical solutions, one end of the first mop is provided with a first mop end plate, and one end of the receiving groove is provided with a baffle used for stopping the first mop end plate.

[0019] The first mop end plate is slidably arranged outside the baffle.

[0020] In one of the optional technical solutions, the first mounting bracket comprises a first mop bracket connected with the first mop, a sliding bracket slidably connected with the shell and a connecting bracket connected between the sliding bracket and the first mop bracket.

[0021] The shell is provided with a sliding groove, and the sliding bracket is slidably arranged in the sliding groove.

[0022] The first elastic driving member and the first cable are respectively connected with the sliding bracket.

[0023] In one of the optional technical solutions, one end of the connecting bracket is connected with the sliding bracket through a rotating shaft, and an elastic pressing member used for pressing down the connecting bracket is installed on the rotating shaft and / or the sliding bracket.

[0024] In one of the optional technical solutions, a second reset mechanism used for driving the first mop to move upward and reset is arranged between the shell and the first mop assembly.

[0025] An output end of the second reset mechanism is connected between the connecting bracket and / or the first mop bracket.

[0026] In one of the optional technical solutions, the second reset mechanism comprises a second motor, a second cable and a second rotating disc installed on a motor shaft of the second motor and used for winding and unwinding the second cable.

[0027] The second motor is connected with the shell, and the second cable is connected between the second rotating disc and the connecting bracket and / or the first mop bracket.

[0028] In one of the optional technical solutions, the shell is provided with a first mounting groove, and the first motor and the second motor are mounted in the first mounting groove through a motor bracket.

[0029] In an optional technical solution, the shell comprises a shell body, a shell upper cover arranged at the top of the shell body, and a shell lower cover arranged at the bottom of the shell body.

[0030] The receiving groove is arranged at the bottom of the shell body, and the first elastic driving member and the first motor are respectively connected with the shell body.

[0031] The shell lower cover is provided with a sewage groove, an opening of the sewage groove faces the receiving groove, and the opening is respectively provided with an opening scraper on the upper side and the lower side.

[0032] The shell body is provided with a sewage pump, and the sewage pump is connected with the sewage groove through a water suction pipe.

[0033] In an optional technical solution, the shell body is provided with a clean water pump and a clean water groove, and the clean water pump is connected with the clean water groove through a water supply pipe.

[0034] The clean water groove is above the receiving groove, and the bottom plate of the clean water groove is provided with a plurality of spray heads for wetting or flushing the first mop at intervals.

[0035] The first aspect of the application further provides a mop structure.

[0036] The above technical solution has the following beneficial effects:

[0037] The mop structure and the sweeping robot provided by the first aspect of the application comprise a shell, a first mop assembly, a first elastic driving member, and a first reset mechanism. The first elastic driving member is used to drive the first mop to extend relative to the shell, and the first reset mechanism is used to drive the extended first mop to reset laterally. In the default state, the first motor drives the first rotating disc to rotate to wind the first cable, so as to overcome the force of the first elastic driving member, so that the first mop is in the initial position and will not extend out of the shell. When the first mop needs to be extended to clean the corners, the first motor drives the first rotating disc to rotate reversely to release the first cable, so that the first mop extends out of the shell under the action of the first elastic driving member to clean the corners. When the first mop is in the extended state, the first elastic driving member mainly drives the first mop to extend, and the first cable is flexibly connected and will not hinder the extension and lateral movement of the first mop. Therefore, when the extended first mop encounters an obstacle, it can automatically retract and compress the first elastic driving member, so as to avoid the obstacle and avoid the end of the first mop from colliding with the obstacle hard, reduce the wear of the first mop, and also avoid the first mop from damaging household items, thereby improving the user experience.

[0038] The second aspect of the present application aims to overcome the shortcomings of the prior art, and provides a lifting mop mechanism and a sweeping machine. The front-high and rear-low guide rails cooperate with the connecting arms of the second mop assembly to guide the lifting of the second mop assembly. The driving end of the driving assembly drives the connecting arms to slide along the guide rails downward and rearward to drive the second mop assembly to descend. The second elastic driving member drives the connecting arms to slide along the guide rails upward and forward to drive the second mop assembly to rise. The guide rails provide support for the second mop assembly, avoiding the defects of relying entirely on the pulling of the cable and the pulling rope to hold the mop assembly in the prior art. The assembly structure is more stable, and the service life is prolonged.

[0039] The second aspect of the present application provides a lifting mop mechanism, which comprises a second mounting bracket, a second mop assembly assembled below the second mounting bracket, and a driving assembly for driving the second mop assembly to move;

[0040] A plurality of guide seats are arranged at intervals on the second mounting bracket, and a guide rail extending front-to-back and arranged in a front-high and rear-low manner is arranged in each guide seat.

[0041] The second mop assembly comprises a second mop bracket, a second mop detachably connected with the second mop bracket, and a plurality of connecting arms connected to the second mop bracket.

[0042] The upper end of each connecting arm is assembled in one guide seat and is in sliding connection with the guide rail.

[0043] The driving end of the driving assembly is in one of the guide seats and is used to drive the connecting arms to slide along the guide rail downward and rearward.

[0044] At least one guide seat is provided with a second elastic driving member for driving the connecting arms to slide along the guide rail upward and forward.

[0045] In one of the optional technical solutions, the guide rail is a linear guide rail or an arc-shaped guide rail.

[0046] In one of the optional technical solutions, the upper end of the connecting arm is provided with a roller, and the roller cooperates with the guide rail.

[0047] In one of the optional technical solutions, the guide rail has a guide rail groove, and the roller is in the guide rail groove.

[0048] In one of the optional technical solutions, two guide rails are arranged at intervals in the guide seat, and one roller is arranged on each of the opposite sides of the connecting arm.

[0049] The connecting arm passes through the gap between the two guide rails, and each roller cooperates with one guide rail.

[0050] In one of the optional technical solutions, three guiding seats are arranged on the second mounting bracket at intervals, and the three guiding seats include a first guiding seat, a second guiding seat and a third guiding seat arranged in an isosceles triangle, wherein the second guiding seat is located at the back side of the first guiding seat and the third guiding seat and on the middle line of the first guiding seat and the third guiding seat.

[0051] The driving assembly is mounted on one side of the second guiding seat, and the driving end is assembled in the second guiding seat.

[0052] One second elastic driving member is respectively assembled in the first guiding seat and the third guiding seat.

[0053] In one of the optional technical solutions, the driving assembly includes a driving motor, and the driving end is a swing arm connected with the driving motor.

[0054] The driving motor is mounted on one side of one guiding seat, and the swing arm extends into the guiding seat and is located at the front side of one connecting arm to be driven.

[0055] In one of the optional technical solutions, the guiding seat includes a guiding seat base fixedly connected with the second mounting bracket and a guiding seat upper cover detachably connected with the guiding seat base.

[0056] The guiding rail is arranged on the guiding seat base, and a guiding surface adapted to the guiding rail is arranged in the guiding seat upper cover and located above the guiding rail.

[0057] In one of the optional technical solutions, the connecting arm is provided with a third mounting groove for connecting with one end of the second elastic driving member.

[0058] The second aspect of the present application further provides a sweeping robot comprising the lifting mop mechanism according to any one of the above technical solutions.

[0059] The above technical solutions have the following beneficial effects:

[0060] The lifting mop mechanism and the sweeping machine provided by the second aspect of the application comprise a second mounting bracket, a second mop assembly and a driving assembly. The second mounting bracket is provided with a plurality of guide seats, and each guide seat is provided with a guide rail extending forward and backward and arranged in a manner that the front is higher and the back is lower. The second mop assembly is provided with a plurality of connecting arms on a second mop bracket, and the upper end of each connecting arm is assembled in a guide seat and is in sliding connection with the guide rail. The driving assembly is located on one side of a guide seat, and the driving end thereof is located in the guide seat. The driving end drives the connecting arm to slide backward and downward along the guide rail, so as to lower the second mop assembly. The second elastic driving member is assembled in the guide seat. When the driving assembly drives the driving end to reset, the second elastic driving member drives the connecting arm to slide forward and upward along the guide rail, so as to raise the second mop assembly. The guide rail arranged in a manner that the front is higher and the back is lower not only guides the lifting movement of the second mop assembly, but also provides support for the second mop assembly, avoiding the defects in the prior art that the mop assembly is pulled by a cable and a rope, and the assembly structure is more stable, prolonging the service life. BRIEF DESCRIPTION OF DRAWINGS

[0061] The disclosure of the application will become more apparent from the following description with reference to the drawings. It should be understood that these drawings are only for the purpose of illustration and are not intended to limit the scope of protection of the application. In the drawings:

[0062] The disclosure of the application will become more apparent from the following description with reference to the drawings. It should be understood that these drawings are only for the purpose of illustration and are not intended to limit the scope of protection of the application. In the drawings:

[0063] Fig. 1 is a perspective view of the mop structure provided by an embodiment of the first aspect of the application, in which the first mop is in a raised state;

[0064] Fig. 2 is a perspective view of the mop structure shown in Fig. 1 from another viewing angle;

[0065] Fig. 3 is a perspective view of the mop structure provided by an embodiment of the first aspect of the application, in which the first mop is in a lowered state;

[0066] Fig. 4 is a perspective view of the mop structure shown in Fig. 3 from another viewing angle;

[0067] Fig. 5 is a perspective view of the mop structure provided by an embodiment of the first aspect of the application, in which the first mop is in an extended state;

[0068] Fig. 6 is a bottom view of the mop structure shown in Fig. 5;

[0069] Fig. 7 is an exploded view of the mop structure provided by an embodiment of the first aspect of the application;

[0070] Fig. 8 is a sectional view of an embodiment of the first aspect of the application;

[0071] Fig. 9 is a perspective view of the first mop assembly;

[0072] Fig. 10 is a sectional view of the first mop assembly;

[0073] Fig. 11 is a schematic view of the first elastic driving member;

[0074] Fig. 12 is a schematic view of the first reset mechanism, the second reset mechanism, the dirty water pump and the clean water pump installed on the main body of the shell;

[0075] Fig. 13 is a perspective view of the lower cover of the shell assembled on the bottom of the main body of the shell;

[0076] Fig. 14 is an exploded view of the first reset mechanism, the second reset mechanism, the dirty water pump and the clean water pump and the main body of the shell;

[0077] Fig. 15 is a perspective view of the first reset mechanism, the second reset mechanism and the first mop assembly connected;

[0078] Fig. 16 is a perspective view of the main body of the shell from a bottom view;

[0079] Fig. 17 is a perspective view of the lower cover of the shell;

[0080] Fig. 18 is a perspective view of the lifting mop mechanism according to an embodiment of the second aspect of the present application;

[0081] Fig. 19 is a top view of the lifting mop mechanism according to an embodiment of the second aspect of the present application;

[0082] Fig. 20 is a sectional view of Fig. 19 along A-A;

[0083] Fig. 21 is an exploded view of the lifting mop mechanism according to an embodiment of the second aspect of the present application;

[0084] Fig. 22 is a perspective view of the guide seat base provided with a guide rail;

[0085] Fig. 23 is a bottom view of the upper cover of the guide seat;

[0086] Fig. 24 is a schematic view of the fixed support connected with the upper cover of the guide seat;

[0087] Fig. 25 is a perspective view of the upper end of the connecting arm provided with a roller;

[0088] Fig. 26 is a schematic view of the connecting arm provided with a third mounting groove. DETAILED DESCRIPTION

[0089] The specific embodiments of the present application are further illustrated below with reference to the drawings. The same reference numbers in different drawings represent the same or similar components. It should be noted that the words "front", "back", "left", "right", "up", and "down" used in the following description are used with reference to the directions in the drawings, and the words "inner" and "outer" respectively refer to the directions towards or away from the geometric center of a particular component.

[0090] As shown in FIGS. 1-16, the mop structure provided by the embodiment of the first aspect of the present application includes a housing 1-1, a first mop assembly 1-2, a first elastic driving member 1-3, and a first reset mechanism 1-4.

[0091] The bottom of the housing 1-1 has a receiving groove 1-111, and the first mop assembly 1-2 includes a first mounting bracket 1-21 and a first mop 1-22 connected to the first mounting bracket 1-21.

[0092] The first mounting bracket 1-21 is in sliding connection with the housing 1-1, and the first mop 1-22 is slidably arranged in the receiving groove 1-111.

[0093] The first elastic driving member 1-3 is connected between the housing 1-1 and the first mounting bracket 1-21, and is used to drive the first mop assembly 1-2 to move so that one end of the first mop 1-22 extends out of the receiving groove 1-111.

[0094] The first reset mechanism 1-4 includes a first motor 1-41, a first cable 1-43, and a first turntable 1-42 mounted on the motor shaft of the first motor 1-41 and used to wind and unwind the first cable 1-43.

[0095] The first motor 1-41 is connected with the housing 1-1, and the first cable 1-43 is connected between the first turntable 1-42 and the first mounting bracket 1-21.

[0096] The mop structure provided by the first aspect of the application comprises a shell 1-1, a first mop assembly 1-2, a first elastic driving member 1-3, and a first reset mechanism 1-4. The shell 1-1 can be assembled with or integrated into the shell of the robot cleaner. The bottom of the shell 1-1 has a receiving groove 1-111 extending along the left-right direction of the robot cleaner, i.e., arranged perpendicularly to the advancing direction of the robot cleaner. Specifically, the receiving groove 1-111 is arranged at the bottom of a shell body 1-11. The receiving groove 1-111 is used to receive a first mop 1-22 of the first mop assembly 1-2. The first mop assembly 1-2 comprises a first mounting bracket 1-21 and the first mop 1-22, and the first mop 1-22 is connected to the first mounting bracket 1-21. The first mop 1-22 is preferably a roller mop, which can be received in the receiving groove 1-111. The connecting portion of the first mounting bracket 1-21 is in sliding connection with the shell 1-1, and the first mop 1-22 can move and stretch along the receiving groove 1-111. In the normal state, the first mop 1-22 is received in the receiving groove 1-111, and the two ends of the first mop 1-22 do not extend out of the receiving groove 1-111. When it is necessary to clean the corners, the first mop 1-22 can be driven to move towards one end of the receiving groove 1-111, so that one end of the first mop 1-22 extends out of the receiving groove 1-111, thereby facilitating the cleaning of the corner area.

[0097] The first elastic driving member 1-3 is connected between the shell 1-1 and the first mounting bracket 1-21, and is used to drive the first mop assembly 1-2 to move so that one end of the first mop 1-22 extends out of the receiving groove 1-111. The first elastic driving member 1-3 can be a spring or a spring piece. As shown in FIG. 11, one end or both ends of the first elastic driving member 1-3 is / are provided with a connecting frame 1-31 for connection with the shell 1-1 and / or the first mounting bracket 1-21. As shown in FIG. 11, if the left end of the first elastic driving member 1-3 is connected to the shell 1-1, and the connecting frame 1-31 at the right end of the first elastic driving member 1-3 is connected to the first mounting bracket 1-21, then the first elastic driving member 1-3 is an expansion spring, which is used to push the first mounting bracket 1-21 and the first mop 1-22 to extend to the right. If the left end of the first elastic driving member 1-3 is connected to the first mounting bracket 1-21, and the connecting frame 1-31 at the right end of the first elastic driving member 1-3 is connected to the shell 1-1, then the first elastic driving member 1-3 is a compression spring, which is used to pull the first mounting bracket 1-21 and the first mop 1-22 to extend to the right.

[0098] The first reset mechanism 1-4 comprises a first motor 1-41, a first rotating disc 1-42 and a first cable 1-43. The first motor 1-41 is connected to the housing 1-1. The first rotating disc 1-42 is connected to the motor shaft of the first motor 1-41. The first cable 1-43 is connected between the first rotating disc 1-42 and the first mounting bracket 1-21. The first motor 1-41 can be a servo motor or a stepper motor. The first rotating disc 1-42 retracts and releases the first cable 1-43 to pull back the first mounting bracket 1-21 and drive the first mop 1-22 to reset, and also to release the first mounting bracket 1-21, so that the first mop 1-22 extends under the action of the first elastic driving member 1-3.

[0099] In the first aspect of the present application, the first reset mechanism 1-4 is connected between the first mounting bracket 1-21 of the first mop assembly 1-2 and the first cable 1-43. In the default state, the first motor 1-41 drives the first rotating disc 1-42 to rotate in the forward direction to retract the first cable 1-43, thereby overcoming the force of the first elastic driving member 1-3, so that the first mop 1-22 is in the initial position and is accommodated in the accommodation groove 1-111 without extending out of the housing 1-1. When the first mop 1-22 needs to extend to clean the corners of the wall, the first motor 1-41 drives the first rotating disc 1-42 to rotate in the reverse direction to release the first cable 1-43, so that the first mop 1-22 extends out of the housing 1-1 under the action of the first elastic driving member 1-3 to clean the corners of the wall. When the first mop 1-22 is in the extended state, the first elastic driving member 1-3 mainly drives the first mop 1-22 to extend, and the first cable 1-43 is a flexible connection and does not hinder the extension and transverse movement of the first mop 1-22. Therefore, when the end of the extended first mop 1-22 encounters an obstacle, it can automatically retract and compress the first elastic driving member 1-3, thereby avoiding the obstacle and avoiding hard collision between the end of the first mop 1-22 and the obstacle, reducing the wear of the first mop 1-22, and also avoiding damage to household items, thereby improving the user experience.

[0100] In one embodiment, as shown in FIGS. 6-7 and 16, one end of the first mop 1-22 is provided with a first mop end plate 1-23, and one end of the accommodation groove 1-111 is provided with a baffle 1-112 for stopping the first mop end plate 1-23. The first mop end plate 1-23 is slidably arranged outside the baffle 1-112.

[0101] In this embodiment, the first mop 1-22 is provided with a first mop end plate 1-23 at one end. One end of the first mop end plate 1-23 is connected to the first mounting bracket 1-21, and the other end of the first mop end plate 1-23 covers one end of the first mop 1-22, and the other end of the first mop end plate 1-23 extends out of the first mop 1-22 to act as a baffle.

[0102] One end of the receiving groove 1-111 is provided with a baffle 1-112 for stopping the first mop end plate 1-23. The baffle 1-112 can be a flat plate or an L-shaped plate. The baffle 1-112 is connected with the shell main body 1-11.

[0103] The first mop end plate 1-23 is slidably arranged outside the baffle 1-112. When the first mop 1-22 is driven to retract into the receiving groove 1-111, the baffle 1-112 stops the first mop end plate 1-23. When the first mop 1-22 is driven to extend to one end of the receiving groove 1-111, the first mop end plate 1-23 slides outside the baffle 1-112.

[0104] In one embodiment, as shown in FIGS. 7-9 and 16, the first mounting bracket 1-21 includes a first mop bracket 1-211 connected with the first mop 1-22, a sliding bracket 1-212 slidably connected with the shell 1-1, and a connecting bracket 1-213 connected between the sliding bracket 1-212 and the first mop bracket 1-211.

[0105] The shell 1-1 is provided with a sliding groove 1-113, and the sliding bracket 1-212 is slidably arranged in the sliding groove 1-113.

[0106] The first elastic driving member 1-3 and the first pull cable 1-43 are respectively connected with the sliding bracket 1-212.

[0107] In this embodiment, the first mounting bracket 1-21 includes the first mop bracket 1-211, the sliding bracket 1-212, and the connecting bracket 1-213. The first mop bracket 1-211 is a horizontal rod structure, and the first mop 1-22 is installed below the first mop bracket 1-211. The shell 1-1 is provided with the sliding groove 1-113, which is arranged in parallel with the receiving groove 1-111. The sliding bracket 1-212 is arranged in the sliding groove 1-113 and can slide in the sliding groove 1-113. The connecting bracket 1-213 is a connecting arm, which is connected between the sliding bracket 1-212 and the first mop bracket 1-211. According to the need, two sets of connecting brackets 1-213 can be arranged.

[0108] One end of the first elastic driving member 1-3 is connected with the shell 1-1, and the other end is connected with the sliding bracket 1-212. One end of the first pull cable 1-43 is connected with the first rotating disc 1-42, and the other end is connected with the sliding bracket 1-212.

[0109] When the first mop 1-22 needs to be extended, the first motor 1-41 drives the first rotating disc 1-42 to rotate forward to release the first pull rope 1-43. The first elastic driving member 1-3 drives the sliding support 1-212 to move along the sliding groove 1-113, and drives the first mop 1-22 to move transversely and extend through the connecting support 1-213 and the first mop support 1-211. When the sliding support 1-212 contacts with the end groove wall of the sliding groove 1-113, it indicates that the first mop 1-22 is extended to the position.

[0110] When the first mop 1-22 needs to be reset, the first motor 1-41 drives the first rotating disc 1-42 to rotate reversely to wind up the first pull rope 1-43, and overcomes the action of the first elastic driving member 1-3 to pull the sliding support 1-212 to move along the sliding groove 1-113 and reset the first mop 1-22 through the connecting support 1-213 and the first mop support 1-211.

[0111] In one embodiment, as shown in FIG. 10, one end of the connecting support 1-213 is connected with the sliding support 1-212 through the rotating shaft 1-214, and the elastic pressing member 1-215 is installed on the rotating shaft 1-214 and / or the sliding support 1-212 to press down the connecting support 1-213.

[0112] In this embodiment, the connecting support 1-213 is connected with the sliding support 1-212 through the rotating shaft 1-214, and the connecting support 1-213 can swing up and down relative to the sliding support 1-212 within a certain range, so that the first mop 1-22 can be operated to swing up and down. The elastic pressing member 1-215 is installed on the rotating shaft 1-214 and / or the sliding support 1-212 to press down the connecting support 1-213, so as to maintain the cleaning effect after the first mop 1-22 is lowered to the ground. The elastic pressing member 1-215 can be a torsion spring connected with the rotating shaft 1-214, or an elastic pressing piece connected with the sliding support 1-212. One end of the elastic pressing member 1-215 presses on the connecting support 1-213 to make the connecting support 1-213 swing downward, thereby increasing the pressure of the first mop 1-22 when mopping the floor.

[0113] In one embodiment, as shown in FIG. 1 and FIG. 7, the second reset mechanism 1-5 for driving the first mop 1-22 to move upward and reset is assembled between the housing 1-1 and the first mop assembly 1-2. The output end of the second reset mechanism 1-5 is between the connecting support 1-213 and / or the first mop support 1-211.

[0114] In this embodiment, the second reset mechanism 1-5 is configured to lift the lowered first mop 1-22 off the ground. The second reset mechanism 1-5 can be a motor mechanism, a piston mechanism, etc. The second reset mechanism 1-5 is connected between the housing 1-1 and the first mounting bracket 1-21 of the first mop assembly 1-2, specifically, the output end of the second reset mechanism 1-5 is connected with the connecting bracket 1-213 and / or the first mop bracket 1-211.

[0115] When the first mop 1-22 is no longer needed to mop the floor, the connecting bracket 1-213 and / or the first mop bracket 1-211 are pulled up by the second reset mechanism 1-5, so as to lift the first mop 1-22 off the ground.

[0116] When the first mop 1-22 is needed to mop the floor, the second reset mechanism 1-5 releases the connecting bracket 1-213 and / or the first mop bracket 1-211, and under the action of the elastic pressing piece 1-215, the first mop 1-22 is lowered to the ground.

[0117] In one of the embodiments, as shown in FIG. 8 and FIG. 15, the second reset mechanism 1-5 includes a second motor 1-51, a second cable 1-53, and a second pulley 1-52 mounted on the motor shaft of the second motor 1-51 and used to wind and unwind the second cable 1-53.

[0118] The second motor 1-51 is connected with the housing 1-1, and the second cable 1-53 is connected between the second pulley 1-52 and the connecting bracket 1-213 and / or the first mop bracket 1-211.

[0119] In this embodiment, the second reset mechanism 1-5 includes the second motor 1-51, the second pulley 1-52, and the second cable 1-53, the second motor 1-51 is connected with the housing 1-1, the second pulley 1-52 is connected on the motor shaft of the second motor 1-51, and the second cable 1-53 is connected between the second pulley 1-52 and the connecting bracket 1-213 and / or the first mop bracket 1-211. The second motor 1-51 can be a servo motor or a stepper motor. The second pulley 1-52 winds and unwinds the second cable 1-53, which is used to pull up the connecting bracket 1-213 and / or the first mop bracket 1-211 and drive the first mop 1-22 to rise and reset, and is also used to release the connecting bracket 1-213 and / or the first mop bracket 1-211, so that the first mop 1-22 is lowered to mop the floor under the action of the elastic pressing piece 1-215.

[0120] In the present application, the second reset mechanism 1-5 is connected with the connecting support 1-213 and / or the first mop support 1-211 by a flexible second cable 1-53. When the first mop 1-22 is in the lowered mopping state, the first mop 1-22 is mainly lowered by the force of the elastic pressing piece 1-215, and the second cable 1-53 is a flexible connection and does not hinder the up-and-down swinging of the first mop 1-22. Therefore, when the extended first mop 1-22 encounters an obstacle on the ground, it can be automatically moved upward and compress the elastic pressing piece 1-215, so as to overcome the obstacle, thereby improving the obstacle overcoming performance of the product.

[0121] In one of the embodiments, as shown in FIGS. 12 and 14-15, the shell 1-1 is provided with a first mounting groove 1-114, and the first motor 1-41 and the second motor 1-51 are mounted in the first mounting groove 1-114 through the motor support 1-8, thereby improving the integration of the product.

[0122] Specifically, the first mounting groove 1-114 is arranged at the top of the shell body 1-11. The motor support 1-8 is a buckle cover for buckling the first motor 1-41 and the second motor 1-51 in the first mounting groove 1-114.

[0123] In one of the embodiments, as shown in FIGS. 1, 7-8, 13 and 17, the shell 1-1 includes a shell body 1-11, a shell upper cover 1-12 arranged at the top of the shell body 1-11, and a shell lower cover 1-13 arranged at the bottom of the shell body 1-11.

[0124] The receiving groove 1-111 is arranged at the bottom of the shell body 1-11, and the first elastic driving piece 1-3 and the first motor 1-41 are connected with the shell body 1-11.

[0125] The shell lower cover 1-13 is provided with a sewage tank 1-131, the opening of the sewage tank 1-131 faces the receiving groove 1-111, and the upper and lower sides of the opening are respectively provided with an opening scraper 1-132.

[0126] The shell body 1-11 is provided with a sewage pump 1-6, and the sewage pump 1-6 is connected with the sewage tank 1-131 through a water suction pipe.

[0127] In the present embodiment, the shell 1-1 includes the shell lower cover 1-13, the shell body 1-11 and the shell upper cover 1-12 connected in sequence. The aforementioned receiving groove 1-111 is arranged at the bottom of the shell body 1-11, the aforementioned baffle 1-112 is arranged at one end of the shell body 1-11, and the aforementioned first elastic driving piece 1-3 is connected with the shell body 1-11. The aforementioned first motor 1-41 and the second motor 1-51 are mounted in the first mounting groove 1-114 of the shell body 1-11.

[0128] The upper cover 1-12 of the shell is used to cover the top of the shell body 1-11, and according to needs, a plurality of hollows can be formed on the upper cover 1-12 to expose the electrical components.

[0129] The lower cover 1-13 of the shell is installed at the bottom of the shell body 1-11 and at the front side of the receiving groove 1-111, where the front side refers to the advancing direction of the robot cleaner. The lower cover 1-13 of the shell is provided with a sewage tank 1-131, and the slot of the sewage tank 1-131 faces the receiving groove 1-111, and slot scrapers 1-132 are arranged on both sides of the slot of the sewage tank 1-131.

[0130] When the first mop 1-22 is in the lowered state, the first mop 1-22 is in contact with the lower slot scraper 1-132, and the sewage generated when the first mop 1-22 is mopping is scraped into the sewage tank 1-131.

[0131] When the first mop 1-22 is in the raised state, the first mop 1-22 is in contact with the upper slot scraper 1-132, and the sewage generated when the first mop 1-22 is cleaned in the base station is scraped into the sewage tank 1-131.

[0132] The shell body 1-11 is provided with a sewage pump 1-6, and the water inlet of the sewage pump 1-6 is connected to the sewage tank 1-131 through a water suction pipe, for pumping out the sewage in the sewage tank 1-131. The water outlet of the sewage pump 1-6 is connected to the sewage box of the robot cleaner through a water pipe, for outputting the sewage to the sewage box of the robot cleaner.

[0133] Specifically, the shell body 1-11 is provided with a second mounting groove 1-115, and the second mounting groove 1-115 is located at one side of the first mounting groove 1-114, and the sewage pump 1-6 is mounted in the second mounting groove 1-115.

[0134] In one embodiment, as shown in FIGS. 1, 7-8, 12-14 and 16, the shell body 1-11 is provided with a clean water pump 1-7 and a clean water tank 1-117, and the clean water pump 1-7 is connected to the clean water tank 1-117 through a water supply pipe.

[0135] The clean water tank 1-117 is located above the receiving groove 1-111, and a plurality of nozzles 1-118 for wetting or rinsing the first mop 1-22 are arranged on the bottom plate of the clean water tank 1-117.

[0136] In this embodiment, the shell body 1-11 is provided with a clean water tank 1-117, and the clean water tank 1-117 is located above the receiving groove 1-111, and the bottom plate of the clean water tank 1-117 is the top plate of the receiving groove 1-111. A plurality of nozzles 1-118 are arranged on the bottom plate of the clean water tank 1-117, and the nozzles 1-118 are used for wetting or rinsing the first mop 1-22.

[0137] A clean water pump 1-7 is arranged on the shell body 1-11. The water inlet of the clean water pump 1-7 is connected with the clean water box of the sweeper through a water pipe. The water outlet of the clean water pump 1-7 is connected with the clean water tank 1-117 through a water supply pipe, for supplying clean water.

[0138] Specifically, a third mounting groove 1-116 is arranged on the shell body 1-11. The third mounting groove 1-116 is located on the opposite sides of the first mounting groove 1-114 with the second mounting groove 1-115. The clean water pump 1-7 is mounted in the third mounting groove 1-116.

[0139] When it is needed to wet the first mop 1-22 and / or clean the first mop 1-22, the clean water pump 1-7 is started to wet or wash the first mop 1-22 through the spray head 1-118. The water pressure and flow rate of the spray head 1-118 can be adjusted by adjusting the power, water supply flow rate and water supply pressure of the clean water pump 1-7, so as to wet or wash the first mop 1-22. When it is needed to wet the first mop 1-22, the required water pressure and flow rate are small. When it is needed to wash the first mop 1-22, the required water pressure and flow rate are large.

[0140] The first aspect of the present application provides a sweeper robot comprising the mop structure of any one of the foregoing embodiments.

[0141] The mop structure is located in the rear half of the shell or casing of the sweeper robot. The shell 1-1 of the mop structure is connected or integrally arranged with the shell or casing of the sweeper robot.

[0142] The structures and modes related to the walking, running, control, sweeping and mopping of the sweeper robot can be referred to the introduction in the prior art, which will not be described in detail here.

[0143] As shown in FIGS. 18-21, the lifting mop mechanism of the second aspect of the present application comprises a second mounting bracket 2-1, a second mop assembly 2-2 assembled below the second mounting bracket 2-1 and a driving assembly 2-3 for driving the second mop assembly 2-2 to move.

[0144] A plurality of guide seats 2-4 are arranged on the second mounting bracket 2-1 at intervals. Each guide seat 2-4 is provided with a guide rail 2-43 extending front to back and arranged with a front height and a rear low.

[0145] The second mop assembly 2-2 comprises a second mop bracket 2-21, a second mop 2-22 detachably connected with the second mop bracket 2-21 and a plurality of connecting arms 2-23 connected to the second mop bracket 2-21.

[0146] The upper end of each connecting arm 2-23 is assembled in one guide seat 2-4 and is in sliding connection with the guide rail 2-43.

[0147] The driving end 2-32 of the driving assembly 2-3 is located in one of the guide seats 2-4 and is used to drive the connecting arm 2-23 to slide along the guide rail 2-43 rearward and downward.

[0148] The at least one guide seat 2-4 is provided with a second elastic driving member 2-44 used to drive the connecting arm 2-23 to slide along the guide rail 2-43 forward and upward.

[0149] The second aspect of the present application provides a lifting mop mechanism, which is used to be installed at the bottom of the body of a sweeping robot. The front-rear direction in the second aspect of the present application is defined according to the advancing direction of the sweeping robot.

[0150] The lifting mop mechanism comprises a second mounting bracket 2-1, a second mop assembly 2-2, a driving assembly 2-3 and a guide seat 2-4.

[0151] The second mounting bracket 2-1 is used to be connected with the body of the sweeping robot, and a cavity can be provided in the body of the sweeping robot to install the driving assembly 2-3, the guide seat 2-4 and the like.

[0152] A plurality of guide seats 2-4 are provided on the second mounting bracket 2-1 at intervals, and the second mounting bracket 2-1 has openings at positions corresponding to the guide seats 2-4, which are used for the connecting arm 2-23 to pass into the guide seat 2-4. The guide rail 2-43 is arranged in each guide seat 2-4. The guide rail 2-43 extends along the front-rear direction in the guide seat 2-4, and the guide rail 2-43 is arranged in a front-high rear-low manner, that is, the guide rail 2-43 is arranged in the guide seat 2-43 in an inclined manner, and the front end of the guide rail 2-43 is higher than the rear end.

[0153] The second mop assembly 2-2 comprises a second mop bracket 2-21, a second mop 2-22 and a plurality of connecting arms 2-23. The second mop bracket 2-21 can be a flat bracket, and the second mop 2-22 is detachably installed on the bottom surface of the second mop bracket 2-21. The second mop bracket 2-21 can be a roller bracket, and the second mop 2-22 is a roller mop sleeved on the roller bracket. The top surface or the side of the second mop bracket 2-21 is connected with a plurality of connecting arms 2-23 at intervals. The number and position of the connecting arms 2-23 correspond to the number and position of the guide seats 2-4.

[0154] The upper end of each connecting arm 2-23 is assembled in one guide seat 2-4 and is in sliding connection with the guide rail 2-43, so that the connecting arm 2-23 can slide along the guide rail 2-43, thereby driving the second mop assembly 2-2 to move up and down.

[0155] The driving assembly 2-3 is arranged on one side of a guide seat 2-4, which can be installed on the second mounting bracket 2-1 through a fixed support 2-5. The driving assembly 2-3 can be a telescopic mechanism, a swing arm mechanism, etc. The driving end 2-32 of the driving assembly 2-3 is the output end of the driving assembly 2-3, for example, a swing arm, a piston rod, etc. The driving end 2-32 is clearance-fitted in a guide seat 2-4. When the driving assembly 2-3 is actuated, the driving end 2-32 drives the connecting arm 2-23 to slide along the guide rail 2-43 downwardly and rearwardly, so as to lower the second mop assembly 2-2. When the upper end of the connecting arm 2-23 slides to the rear end of the guide rail 2-43, the second mop assembly 2-2 is lowered to the limit position. When the driving end 2-32 drives one connecting arm 2-23 to slide, the remaining connecting arms 2-23 follow, thereby driving the second mop assembly 2-2 as a whole to follow.

[0156] The second elastic driving member 2-44 is assembled in the guide seat 2-4. Specifically, one second elastic driving member 2-44 can be assembled in one guide seat 2-4, one second elastic driving member 2-44 can be assembled in each guide seat 2-4 except the guide seat 2-4 in which the driving end 2-32 is assembled, or one second elastic driving member 2-44 can be assembled in each guide seat 2-4. The second elastic driving member 2-44 can be a spring piece, a spring, a torsion spring, etc. When it is needed to raise the second mop assembly 2-2, the driving assembly 2-3 drives the driving end 2-32 to reset, and then the second elastic driving member 2-44 drives the connecting arm 2-23 to slide along the guide rail 2-43 upwardly and forwardly, so as to raise the second mop assembly 2-2. When the upper end of the connecting arm 2-23 slides to the front end of the guide rail 2-43, the second mop assembly 2-2 is raised to the limit position.

[0157] The front-high rear-low arranged guide rail 2-43 not only guides the lifting movement of the second mop assembly 2-2, but also provides support for the second mop assembly 2-2, avoiding the defects in the prior art that the second mop assembly 2-2 is pulled by a cable or a rope, and the assembly structure is more stable, thereby prolonging the service life.

[0158] In one embodiment, as shown in FIGS. 20-22, the guide rail 2-43 is a linear guide rail or an arc-shaped guide rail, which provides different installation modes. The linear guide rail is designed in such a way that the second mop assembly 2-2 is relatively stable during the entire lifting process. The arc-shaped guide rail is designed in such a way that the front half of the second mop assembly 2-2 is relatively gentle during the lifting process, so as to drive the second elastic driving member 2-44 to start actuating the second mop assembly 2-2.

[0159] In one of the embodiments, as shown in FIG. 21 and FIG. 25, the upper end of the connecting arm 2-23 is configured with a roller 2-24 which cooperates with the guide rail 2-43. The roller 2-24 is installed on the upper end of the connecting arm 2-23 through the rotating shaft 2-25, and the roller 2-24 falls on the guide rail 2-43 and rolls thereon, changing the sliding friction between the connecting arm 2-23 and the guide rail 2-43 into rolling friction, reducing the friction and facilitating the sliding of the connecting arm 2-23 relative to the guide rail 2-43.

[0160] In one of the embodiments, as shown in FIG. 22, the guide rail 2-43 has a guide rail groove 2-431 in which the roller 2-24 is located, preventing the roller 2-24 from disengaging from the guide rail 2-43 and improving the assembly stability.

[0161] In one of the embodiments, as shown in FIG. 22 and FIG. 25, two guide rails 2-43 are arranged in the guide seat 2-4 at intervals, and one roller 2-24 is arranged on each of the opposite sides of the connecting arm 2-23.

[0162] The connecting arm 2-23 passes through the gap between the two guide rails 2-43, and each roller 2-24 cooperates with one guide rail 2-43.

[0163] Through the cooperation of the two rollers 2-24 with the two guide rails 2-43, the stability of driving the movement of the connecting arm 2-23 is further improved.

[0164] In one of the embodiments, as shown in FIG. 18-21, three guide seats 2-4 are arranged on the second mounting bracket 2-1 at intervals, including the first guide seat 2-4a, the second guide seat 2-4b and the third guide seat 2-4c arranged in an isosceles triangle, wherein the second guide seat 2-4b is located at the back side of the first guide seat 2-4a and the third guide seat 2-4c and on the midline of the first guide seat 2-4a and the third guide seat 2-4c.

[0165] The driving assembly 2-3 is installed on one side of the second guide seat 2-4b, and the driving end 2-32 is assembled in the second guide seat 2-4b.

[0166] One second elastic driving member 2-44 is assembled in each of the first guide seat 2-4a and the third guide seat 2-4c.

[0167] In this embodiment, the second mop support 2-21 is in an arch shape, and one connecting arm 2-23 is arranged at each of the two end regions and the rear end region, and the three connecting arms 2-23 are arranged in an isosceles triangle shape. Correspondingly, the second mounting support 2-1 is also in an arch shape, and one guide seat 2-4 is arranged at each of the two end regions and the rear end region, and the three guide seats 2-4 are arranged in an isosceles triangle shape. The three guide seats 2-4 are respectively named as a first guide seat 2-4a at one end region, a second guide seat 2-4b at the rear end region, and a third guide seat 2-4c at the other end region.

[0168] The driving assembly 2-3 is mounted at one side of the second guide seat 2-4b, and the driving end 2-32 is fitted in the second guide seat 2-4b. When the driving assembly 2-3 is actuated, the driving end 2-32 drives the middle connecting arm 2-23 to move, so as to drive the second mop assembly 2-2 to move stably rearward and downward.

[0169] A second elastic driving member 2-44 is fitted in each of the first guide seat 2-4a and the third guide seat 2-4c. When the driving assembly 2-3 drives the driving end 2-32 to reset, the second elastic driving members 2-44 on the two sides simultaneously drive the connecting arms 2-23 at the two ends to move, so as to drive the second mop assembly 2-2 to move stably forward and upward.

[0170] In one embodiment, as shown in FIGS. 20-21, the driving assembly 2-3 includes a driving motor 2-31, and the driving end 2-32 is a swing arm 2-321 connected with the driving motor 2-31.

[0171] The driving motor 2-31 is mounted at one side of a guide seat 2-4, and the swing arm 2-321 extends into the guide seat 2-4 and is located at the front side of the connecting arm 2-23 to be driven.

[0172] In this embodiment, the driving assembly 2-3 adopts the driving motor 2-31, for example, a stepping motor or a servo motor. The driving end 2-32 adopts the swing arm 2-321, and the swing arm 2-321 is in transmission connection with the output shaft of the driving motor 2-31, and is driven by the driving motor 2-31 to swing in the guide seat 2-4. The swing arm 2-321 extends into the guide seat 2-4 and is located at the front side of the connecting arm 2-23 to be driven. As shown in FIG. 20, when it is needed to drive the second mop assembly 2-2 to descend, the driving motor 2-31 drives the swing arm 2-321 to rotate counterclockwise, and the swing arm 2-321 drives the connecting arm 2-23 to move rearward and downward along the guide rail 2-43. When it is needed to drive the second mop assembly 2-2 to ascend, the driving motor 2-31 drives the swing arm 2-321 to rotate clockwise, and the swing arm 2-321 no longer applies pressure to the connecting arm 2-23, so that the connecting arm 2-23 is driven by the second elastic driving member 2-44 to move forward and upward along the guide rail 2-43.

[0173] In one embodiment, as shown in FIGS. 21-23, the guide seat 2-4 comprises a guide seat base 2-41 fixedly connected with the second mounting bracket 2-1 and a guide seat upper cover 2-42 detachably connected with the guide seat base 2-41.

[0174] The guide rail 2-43 is arranged on the guide seat base 2-41, and the guide seat upper cover 2-42 is provided with a guide surface 2-421 adapted to the guide rail 2-43, which is above the guide rail 2-43.

[0175] In this embodiment, the guide seat 2-4 is composed of the guide seat base 2-41 and the guide seat upper cover 2-42. The guide seat base 2-41 is fixedly connected with the second mounting bracket 2-1, and the guide seat upper cover 2-42 is detachably mounted on the guide seat base 2-41. The guide seat upper cover 2-42 is provided with an opening for observing the assembly status inside. The guide rail 2-43 is arranged on the side plate of the guide seat base 2-41, and the guide seat upper cover 2-42 is provided with the guide surface 2-421 adapted to the guide rail 2-43, which is above the guide rail 2-43, thereby playing a role of limiting the upper end of the connecting arm 2-23 or the roller 2-24.

[0176] As shown in FIG. 24, the fixed bracket 2-5 is connected with or integrally provided with one guide seat upper cover 2-42. The fixed bracket 2-5 has a mounting cavity 2-51 for mounting the driving motor 2-31. The top surface of the guide seat upper cover 2-42 is provided with an opening 2-422 for the driving end 2-32 and the swing arm 2-321 to extend into the guide seat 2-4.

[0177] In one embodiment, as shown in FIG. 26, the connecting arm 2-23 is provided with a third mounting groove 2-231 for connecting with one end of the second elastic driving member 2-44, so that the other end of the second elastic driving member 2-44 is inserted into the third mounting groove 2-231. The other end of the second elastic driving member 2-44 is fixedly connected with the guide seat 2-4, for example, a mounting hole can be formed on the side plate of the guide seat upper cover 2-42 to mount the other end of the second elastic driving member 2-44. In this embodiment, the second elastic driving member 2-44 preferably adopts a torsion spring, which is convenient for assembly.

[0178] An embodiment of the second aspect of the present application provides a sweeping machine comprising the lifting mop mechanism of any of the foregoing embodiments. The lifting mop mechanism is located at the rear half of the body of the sweeping machine, and the second mounting bracket 2-1 is connected with the body of the sweeping machine.

[0179] According to the needs, the above technical solutions can be combined to achieve the best technical effect.

[0180] The foregoing is considered as only a principle and a preferred embodiment of the present application. It should be noted that, for those skilled in the art, on the basis of the principle of the present application, several other variants can also be made, which should also be considered as the protection scope of the present application.

Claims

1. A mop structure, characterized by, The application relates to a mop device, which comprises a shell, a first mop assembly, a first elastic driving element and a first reset mechanism. The bottom of the shell is provided with a receiving groove, the first mop assembly comprises a first mounting bracket and a first mop connected with the first mounting bracket. The first mounting bracket is slidably connected with the shell, and the first mop is slidably arranged in the receiving groove. The first elastic driving element is connected between the shell and the first mounting bracket, and is used for driving the first mop assembly to move so that one end of the first mop extends out of the receiving groove. The first reset mechanism comprises a first motor, a first cable and a first rotating disc mounted on the motor shaft of the first motor and used for winding and unwinding the first cable. The first motor is connected with the shell, and the first cable is connected between the first rotating disc and the first mounting bracket.

2. The mop structure according to claim 1, wherein One end of the first mop is provided with a first mop end plate, and one end of the receiving groove is provided with a baffle used for stopping the first mop end plate. The first mop end plate is slidably arranged outside the baffle.

3. The mop structure of claim 1, wherein The first mounting bracket comprises a first mop bracket connected with the first mop, a sliding bracket slidably connected with the shell and a connecting bracket connected between the sliding bracket and the first mop bracket. The shell is provided with a sliding groove, and the sliding bracket is slidably arranged in the sliding groove. The first elastic driving element and the first cable are respectively connected with the sliding bracket.

4. The mop structure according to claim 3, wherein One end of the connecting bracket is connected with the sliding bracket through a rotating shaft, and an elastic pressing element used for pressing down the connecting bracket is mounted on the rotating shaft and / or the sliding bracket.

5. The mop structure according to claim 4, wherein A second reset mechanism used for driving the first mop to move upward and reset is arranged between the shell and the first mop assembly. The output end of the second reset mechanism is connected between the connecting bracket and / or the first mop bracket.

6. The mop structure according to claim 5, wherein The second reset mechanism comprises a second motor, a second cable and a second rotating disc mounted on the motor shaft of the second motor and used for winding and unwinding the second cable. The second motor is connected with the shell, and the second cable is connected between the second rotating disc and the connecting bracket and / or the first mop bracket.

7. The mop structure according to claim 6, wherein The shell is provided with a first mounting groove, and the first motor and the second motor are mounted in the first mounting groove through a motor bracket.

8. The mop structure according to any one of claims 1 to 7, wherein The shell comprises a shell main body, a shell upper cover arranged at the top of the shell main body and a shell lower cover arranged at the bottom of the shell main body. The receiving groove is arranged at the bottom of the shell main body, and the first elastic driving element and the first motor are respectively connected with the shell main body. A sewage tank is arranged in the shell lower cover, the tank opening of the sewage tank faces the receiving groove, and tank scraping plates are arranged on the upper and lower sides of the tank opening. A clean water pump and a clean water tank are arranged on the shell main body, the clean water pump is connected with the clean water tank through a water supply pipe.

9. The mop structure of claim 8, wherein, The clean water tank is arranged above the receiving groove, and a plurality of spray heads used for wetting or flushing the first mop are arranged on the bottom plate of the clean water tank. ​ 10. A robot vacuum cleaner characterised in that, The mop structure of any one of claims 1-9.

11. A lifting mop mechanism, characterized by The second installation support, the second mop assembly assembled below the second installation support, and the driving assembly for driving the second mop assembly to move; A plurality of guide seats are arranged on the second installation support at intervals, and a guide rail extending forward and backward and arranged with a front height and a rear low is arranged in each guide seat; The second mop assembly comprises a second mop support, a second mop detachably connected with the second mop support, and a plurality of connecting arms connected with the second mop support; The upper end of each connecting arm is assembled in a guide seat and is in sliding connection with the guide rail; The driving end of the driving assembly is in one of the guide seats and is used for driving the connecting arm to slide along the guide rail backward and downward; At least one of the guide seats is provided with a second elastic driving member for driving the connecting arm to slide along the guide rail forward and upward.

12. The lifting mop mechanism of claim 11, wherein, The guide rail is a linear guide rail or an arc-shaped guide rail.

13. The lifting mop mechanism of claim 11, wherein, The upper end of the connecting arm is provided with a roller which cooperates with the guide rail.

14. The lifting mop mechanism of claim 13, wherein, The guide rail has a guide rail groove, and the roller is in the guide rail groove.

15. The lifting mop mechanism of claim 13, wherein, The guide seat is provided with two guide rails at intervals, and opposite sides of the connecting arm are respectively provided with a roller; The connecting arm passes through the gap between the two guide rails, and each roller cooperates with a guide rail.

16. The lifting mop mechanism according to any one of claims 11-15, wherein Three guide seats are arranged on the second installation support at intervals, and the three guide seats comprise a first guide seat, a second guide seat, and a third guide seat arranged in an isosceles triangle, wherein the second guide seat is located at the rear side of the first guide seat and the third guide seat and on the middle line of the first guide seat and the third guide seat; The driving assembly is installed on one side of the second guide seat, and the driving end is assembled in the second guide seat; One second elastic driving member is respectively assembled in the first guide seat and the third guide seat.

17. A lifting mop mechanism according to any one of claims 11-15, wherein, The driving assembly comprises a driving motor, and the driving end is a swing arm connected with the driving motor; The driving motor is installed on one side of a guide seat, and the swing arm extends into the guide seat and is located at the front side of a connecting arm to be driven.

18. The lifting mop mechanism according to any one of claims 11-15, wherein The guide seat comprises a guide seat base fixedly connected with the second installation support and a guide seat upper cover detachably connected with the guide seat base; The guide rail is arranged on the guide seat base, and the guide seat upper cover is provided with a guide surface matched with the guide rail, and the guide surface is located above the guide rail.

19. The lifting mop mechanism according to any one of claims 11-15, wherein A third installation groove is arranged on the connecting arm and used for connecting with one end of the second elastic driving member.

20. A robot vacuum cleaner characterised in that The lifting mop mechanism of any one of claims 11-19.

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