CN113197514A - Module installation structure and cleaning robot - Google Patents

Abstract

The invention provides a module mounting structure and a cleaning robot, and belongs to the technical field of robots. The module mounting structure comprises a guide rail, wherein the guide rail is mounted at the bottom of equipment; the sliding piece is arranged on the cleaning module and can slide into and be fixed in the guide rail; coupling assembling, coupling assembling includes first connecting piece and second connecting piece, the first end of first connecting piece with equipment is connected, the first end of second connecting piece with clean module is connected, the second end detachably of first connecting piece connect in the second end of second connecting piece has solved the technical problem that current independent robot can only generally carry out the clean operation of a function.

Description

Module installation structure and cleaning robot

Technical Field

The invention relates to the technical field of robots, in particular to a module mounting structure and a cleaning robot.

Background

The cleaning robot is a robot produced for cleaning the ground, reduces the cleaning labor cost, improves the working efficiency and the cleanliness, and is indispensable in the modern society.

In prior art, cleaning machines people generally all are the cleaning operation that an independent robot carries out a function, if user's function demand is more, just need purchase the different robot of many functions and satisfy the demand, can increase many costs like this, and many cleaning machines people put and also can the problem in addition, all can occupy many spaces when the robot charges and sleeps, and the idle rate is high, can all bring adverse effect to the user.

Disclosure of Invention

The embodiment of the invention provides a module mounting structure and a cleaning robot, and solves the technical problems in the prior art.

In view of the above problem, an embodiment of the present invention provides, in a first aspect, a module mounting structure including:

the guide rail is arranged at the bottom of the equipment;

the sliding piece is arranged on the cleaning module and can slide into and be fixed in the guide rail;

coupling assembling, coupling assembling includes first connecting piece and second connecting piece, the first end of first connecting piece with equipment is connected, the first end of second connecting piece with clean module is connected, the second end detachably of first connecting piece connect in the second end of second connecting piece.

In one embodiment, the module mounting structure further comprises:

the identity recognition assembly comprises a marking unit and a recognition unit, the marking unit is arranged on the cleaning module, the recognition unit is arranged on the equipment, and the recognition unit is used for recognizing the marking unit to obtain the information of the cleaning module.

In one embodiment, the identification unit comprises a first identification unit and a second identification unit;

the first identification unit is arranged at a first position of the equipment, the second identification unit is arranged at a second position of the equipment, and the first position and the second position are two different positions;

the marking unit is arranged on the cleaning module and corresponds to the first identification unit and/or the second identification unit.

In one embodiment, the coupling assembly is a magnetic coupling, wherein the first coupling member includes an outer magnet and the second coupling member includes an inner magnet.

In one embodiment, a telescopic member is provided inside the guide rail for pushing the slider away from the guide rail.

In one embodiment, the module mounting structure further comprises:

the electromagnet is connected with the equipment;

a magnetic component connected with the cleaning module;

the electromagnet is used for being magnetically connected with the magnetic component so as to fix the cleaning module on the equipment.

In one embodiment, the magnetic component is made of a magnetic conductive material, the cleaning module is provided with a position marking unit, the device is connected with a detection switch unit, the detection switch unit has a certain detection induction range, and the detection switch unit is used for controlling the electromagnet to demagnetize after the position marking unit enters the detection induction range.

In one embodiment, the guide rail comprises a first guide part and a limiting part for accommodating the sliding part, and the first guide part is communicated with the limiting part;

one end, inserted into the guide rail, of the sliding part is provided with a second guide part, the sliding part slides into the limiting part from the first guide part, the limiting part is used for limiting the sliding part, and the second guide part and the first guide part are used for guiding the sliding part when sliding into the guide rail.

In one of the embodiments, the first and second electrodes are,

the first guide part is an inclined plane which is arranged from the first guide part to the limiting part and is narrowed from wide to narrow;

the second guide part is an inclined plane which is arranged from two sides of the sliding part to the input end in a width-narrowing mode;

the second guide part is provided with a sliding roller.

In a second aspect, embodiments of the present invention provide a cleaning robot including a module mounting structure as described in the above aspect.

One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects: adopt guide rail and slider to install cleaning module in the equipment bottom, be fixed in the equipment bottom through first connecting piece of detachable and second connecting piece simultaneously with cleaning module to make an independent cleaning machines people can install the cleaning module of changing the function difference, realize the effect of a tractor serves several purposes.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic view of a cleaning module of an embodiment of the present invention mounted on an apparatus;

FIG. 2 is a schematic bottom perspective view of the guide rail of the embodiment of the present invention installed in the apparatus;

FIG. 3 is a schematic perspective view of a guide rail mounted on a bracket according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a first perspective view of a first cleaning module according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a second perspective view of the first cleaning module according to the embodiment of the invention;

FIG. 6 is a schematic perspective view of a second cleaning module according to an embodiment of the present invention;

FIG. 7 is a schematic perspective view of a guide rail according to an embodiment of the present invention;

FIG. 8 is a schematic side view of a guide rail according to an embodiment of the present invention;

FIG. 9 is a first perspective view of a slider according to an embodiment of the present invention;

FIG. 10 is a second perspective view of the slider in an embodiment of the present invention;

fig. 11 is a bottom view of the slider in an embodiment of the present invention.

Description of reference numerals: 100. a guide rail; 110. a first guide portion; 111. a third end face; 112. a fourth end face; 113. a fifth end face; 120. a limiting part; 121. a first limiting surface; 122. a second limiting surface; 123. a third limiting surface; 200. equipment; 300. a cleaning module; 3110. a first cleaning module; 3120. a second cleaning module; 320. a slider; 321. a second guide portion; 3211. a sixth end surface; 3212. a seventh end surface; 3213. an eighth end surface; 322. a first end face; 323. a sliding roller; 3210. a right slider; 3220. a left side slider; 410. a marking unit; 420. an identification unit; 4210. a first recognition unit; 4220. a second recognition unit; 510. a first connecting member; 520. a second connecting member; 600. a telescopic member; 700. an electromagnet; 800. a magnetic member; 910. a position marking unit; 920. a switch unit is detected.

Detailed Description

The technical scheme provided by the invention has the following general idea:

the module mounting structure includes: a guide rail 100, wherein the guide rail 100 is arranged at the bottom of the equipment 200; a slider 320, the slider 320 being mounted to the cleaning module 300, the slider 320 being slidable into and fixed to the guide rail 100; a connecting assembly including a first connector 510 and a second connector 520, a first end of the first connector 510 being connected to the device 200, a first end of the second connector 520 being connected to the cleaning module 300, and a second end of the first connector 510 being detachably connected to a second end of the second connector 520. In practical use, the cleaning module 300 is connected with the guide rail 100 through the sliding member 320 so as to be connected to the bottom of the equipment 200, meanwhile, the first connecting member 510 and the second connecting member 520 of the connecting assembly fixedly connect the cleaning module 300 with the equipment 200, and because the first connecting member 510 and the second connecting member 520 are detachably connected, when the cleaning module 300 needs to be replaced, the first connecting member 510 and the second connecting member 520 are disconnected, and the cleaning module 300 drives the sliding member 320 to slide out of the guide rail 100, so that the cleaning modules 300 with different functions can be installed and replaced on the same cleaning robot, and the effect of one machine with multiple purposes is achieved.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1.

Referring to fig. 1 to 11, a module mounting structure according to an embodiment of the present invention includes: rail 100, cleaning module 300, slider 320 and connection assembly.

In this embodiment, referring to fig. 2, 3, 7 and 8, the guide rail 100 is installed at the bottom of the apparatus 200, the guide rail 100 may be a linear guide rail, and the guide rail 100 should have an input end for sliding the matching sliding member 320 into the guide rail 100.

Preferably, the guide rail 100 includes a first guide portion 110 for receiving the slider 320 and a limiting portion 120, the first guide portion 110 is communicated with the limiting portion 120, the first guide portion 110 is used for guiding one end of the slider 320 inserted into the guide rail 100, the limiting portion 120 is used for limiting the guide rail 100 after the slider 320 slides into the guide rail 100, and the first guide portion 110 is used for guiding. The first guiding portion 110 may adopt an inclined plane structure, specifically, the inclined plane structure may guide an object from an inclined plane input end to a position of an inclined plane output end, the inclined plane may adopt an arc-shaped inclined plane, and of course, a linear inclined plane may also be adopted, and the output end position of the first guiding portion 110 should be communicated with the input end position of the limiting portion 120, so that the object coming from the input end of the first guiding portion 110 is guided to the position of the limiting portion 120 under the action of the inclined plane, thereby completing the guiding effect.

Specifically, the first guiding portion 110 has a third end surface 111, a fourth end surface 112 and a fifth end surface 113, the third end surface 111, the fourth end surface 112 and the fifth end surface 113 respectively form obtuse angles with the side surfaces of the position-limiting portion 120, where the side surface of the position-limiting portion 120 can be understood as the end surface of the position-limiting portion 120 contacting with the sliding member 320, as shown in fig. 1 to 3, 7 and 8, it can be seen that, since the third end surface 111, the fourth end surface 112 and the fifth end surface 113 respectively form obtuse angles with the side surfaces of the position-limiting portion 120, it can also be understood that the third end surface 111, the fourth end surface 112 and the fifth end surface 113 form an inclined surface that is narrowed from the first guiding portion 110 to the position-limiting portion 120, the third end surface 111 and the fifth end surface 113 form a structure similar to an "eight" shape, and the fourth end surface 112 is disposed between the third end surface 111 and the fifth end surface 113, the wider portion formed by the third end surface 111, the fourth end surface 112 and the fifth end surface 113 is the input end, and the narrower portion is the output end, for example, the sliding member 320 enters from the wider portion, the angle when the sliding member 320 enters the first guiding portion 110 and the angle when the sliding member enters the limiting portion 120 are not matched, and the angle matched with the angle when the sliding member enters the limiting portion 120 can be corrected under the guiding action of the inclined surfaces of the third end surface 111, the fourth end surface 112 and the fifth end surface 113.

Specifically, referring to fig. 7 and 8, the position-limiting portion 120 includes a first position-limiting surface 121, a second position-limiting surface 122 and a third position-limiting surface 123, the first position-limiting surface 121 is parallel to the second position-limiting surface 122, the third position-limiting surface 123 is vertically disposed between the first position-limiting surface 121 and the second position-limiting surface 122, the position-limiting portion 120 mainly functions to limit the displacement of the sliding member 320 in the vertical direction, but the position-limiting portion 120 does not affect the horizontal displacement of the sliding member 320 in the direction from the output end to the output end of the position-limiting portion 120, so the first position-limiting surface 121 and the second position-limiting surface 122 of the position-limiting portion 120 are disposed in parallel to each other to achieve the effect of limiting the displacement of the sliding member 320 in the vertical direction, and of course, the vertical height of the sliding member 320 should match the distance between the first position-limiting surface 121 and the second position-limiting surface 122, so that the sliding member 320 can be clamped between the first position-limiting surface 121 and the second position-limiting surface 122, the third position-limiting surface 123 is to prevent the sliding member 320 from horizontally moving along a direction different from the direction from the output end of the position-limiting portion 120 to the output end.

In this embodiment, referring to fig. 1, 4, 5 and 6, the sliding member 320 is installed on the cleaning module 300, the sliding member 320 can slide into and be fixed in the guide rail 100, that is, the sliding member 320 is used for being matched and connected with the guide rail 100, the cleaning module 300 is used for cleaning and maintaining the floor, since the sliding member 320 can slide in and out on the guide rail 100, the sliding member 320 plays a role of detachably installing the cleaning module 300 on the guide rail 100, the cleaning module 300 can include a plurality of modules with different functions, for example, the cleaning module 300 can include a floor washing module for washing the floor, a polishing module for polishing the floor, a dust pushing module for pushing away dust and dirt on the floor, and the like, the sliding member 320 detachably installs the cleaning module 300 on the guide rail 100, so that the same sub-guide rail 100 can be matched with a plurality of cleaning modules 300 with different functions, the multifunctional function of one machine is realized.

Preferably, one end of the slider 320 inserted into the guide rail 100 has a second guide portion 321, and the slider 320 slides into the limiting portion 120 from the first guide portion 110, wherein the limiting portion 120 is used for limiting the slider 320, and the second guide portion 321 and the first guide portion 110 are used for guiding the slider 320 when sliding into the guide rail 100. In order to make the guiding effect better, the end of the slider 320 inserted into the guide rail 100 is provided with a second guide portion 321 matching the first guide portion 110. For example, the matching may be that the first guide portion 110 is an inclined surface that is formed by narrowing the width from the first guide portion 110 to the limiting portion 120; the second guide portion 321 is a slope that is formed by narrowing from both sides of the slider 320 to the input end; the input end of the sliding member 320 is the end of the sliding member 320 inserted into the guide rail 100, so that the second guiding portion 321 can be guided to the correct position by the first guiding portion 110, and correspondingly, the first guiding portion 110 is also guided to the correct position by the second guiding portion 321, and the first guiding portion 110 and the second guiding portion 321 guide each other simultaneously, which is better than the guiding effect of the first guiding portion 110 alone.

Specifically, referring to fig. 9 to 11, the second guiding portion 321 includes a sixth end surface 3211, a seventh end surface 3212, and an eighth end surface 3213, each of the sixth end surface 3211, the seventh end surface 3212, and the eighth end surface 3213 may be an inclined surface that is formed by narrowing from two sides of the sliding member 320 to the input end, for example, in combination with the above, the sixth end surface 3211 cooperates with the third end surface 111, the seventh end surface 3212 cooperates with the fourth end surface 112, and the eighth end surface 3213 cooperates with the fifth end surface 113, and the two cooperating end surfaces are correct positions where the inclined surfaces can guide each other.

Preferably, referring to fig. 2, 4, 6 and 10, the module mounting structure according to the embodiment of the present invention further includes: and the identification component comprises a marking unit 410 and an identification unit 420, the marking unit 410 is arranged on the cleaning module 300, the identification unit 420 is arranged on the device 200, and the identification unit 420 is used for identifying the marking unit 410 to obtain the information of the cleaning module 300.

The sliding member 320 is a stable part closest to the apparatus 200, the marking unit 410 is mounted on the sliding member 320 most effectively, the recognition unit 420 is provided on the apparatus 200, and the recognition unit 420 is used for recognizing the marking unit 410 to obtain information of the cleaning module 300. Specifically, the apparatus 200 generally needs to recognize the function (or type) of the installed cleaning module 300, and the apparatus 200 can be controlled according to the cleaning modules 300 having different functions, so that the marking unit 410 needs to be provided on the cleaning module 300, and the information of the cleaning module 300 represents the function information of the cleaning module 300. Specifically, if the device 200 needs to recognize the function of the installed cleaning module 300 to determine whether it satisfies the current cleaning instruction, or to transmit the function information of the cleaning module 300 that needs to be replaced currently to the controller, the controller can notify and prepare to replace a new module having the same function. It can be understood that the cleaning modules 300 with different functions have different information carried by the marking units 410, specifically, the position of the marking unit 410 may be changed, or the information of the marking unit 410 itself may be changed, and when the different marking units 410 are identified by the identification unit 130, what the function of the cleaning module 300 installed in the apparatus 200 is can be distinguished. For example, the marking unit 410 may be a tag, and the identification unit 130 may be a reader, and the identification unit 130 may identify different data recorded in the marking unit 410 by using RFID technology, so as to distinguish the cleaning modules 300 with different functions according to the different data. It can be understood that RFID is an abbreviation of Radio Frequency Identification (Radio Frequency Identification) technology, and the principle of RFID is that non-contact data communication is performed between a reader and a tag to achieve the purpose of identifying a target. Or the tag actively sends a signal (active tag or active tag) with a certain frequency, and the reader reads and decodes the information and sends the information to the controller for relevant data processing.

Preferably, the recognition unit 420 includes a first recognition unit 4210, a second recognition unit 4220; the first recognition unit 4210 is disposed at a first position of the apparatus 200, the second recognition unit 4220 is disposed at a second position of the apparatus 200, and the first position and the second position are different positions; the marking unit 410 is provided at a position on the cleaning module 300 corresponding to the first recognition unit 4210 and/or the second recognition unit 4220. Specifically, referring to fig. 4 and 6, the cleaning module 300 may include a first cleaning module 3110 and a second cleaning module 3120 having different functions, fig. 4 is a schematic perspective view of the first cleaning module, fig. 6 is a schematic perspective view of the second cleaning module, in fig. 4, sliders 320 are disposed on left and right sides of a top of the cleaning module 300, the marking unit 410 is disposed on a right slider 3210 of the first cleaning module 3110, and in fig. 6, the marking unit 410 is disposed on a left slider 3220 of the second cleaning module 3120. In fig. 3, the first recognition unit 4210 is provided at a right position of the apparatus 200, the second recognition unit 4220 is provided at a left position of the apparatus 200, and the functions of the cleaning module 300 are distinguished by recognizing the marking units 410 at different positions, respectively, by the first recognition unit 4210 and the second recognition unit 4220 at different positions. When the first cleaning module 3110 is mounted to the apparatus 200, since only the marking unit 410 is provided on the right slider 3210, only the first recognition unit 4210 on the right side can recognize the marking unit 410, and the second recognition unit 4220 cannot recognize any marking unit 410, and at this time, it is recognized that the mounted cleaning module is the first cleaning module 3110; whereas, when the second cleaning module 3120 is mounted to the apparatus 200, since only the left slider 3220 is provided with the marking unit 410, only the left second recognition unit 4220 can recognize the marking unit 410, and the first recognition unit 4210 cannot recognize any marking unit 410, it is recognized that the mounted cleaning module is the second cleaning module 3120; in this identification method, information is not written in the marking unit 410, and only the marking unit 410 with different positions needs to be judged to identify the function information of the cleaning module 300, so that the problem of error in data identification of the marking unit 410 can be avoided, and the installation and the use are more convenient.

Specifically, the marking unit 410 is a permanent magnet, and the first recognition unit 4210 and the second recognition unit 4220 are hall sensors. It can be understood that the voltage of the Hall sensor changes with the change of the magnetic field intensity of the permanent magnet, the stronger the magnetic field, the higher the voltage, the weaker the magnetic field, the lower the voltage, the small Hall voltage value, usually only a few millivolts, but amplified by the amplifier in the integrated circuit, the voltage can be amplified enough to output stronger signals, thus the Hall devices achieving the identification effect have many advantages, their structure is firm, the volume is small, the weight is light, the service life is long, the installation is convenient, the power consumption is small, the device is vibration-resistant, and is not afraid of the pollution or corrosion of dust, oil stain, water vapor, salt fog and the like, and the service life is longer. Preferably, the sliding member 320 may be provided with a mounting groove for mounting the permanent magnet, that is, the permanent magnet may be mounted in the mounting groove of the sliding member 320.

In this embodiment, referring to fig. 1 to 6, the connecting assembly includes a first connecting member 510 and a second connecting member 520, a first end of the first connecting member 510 is connected to the apparatus 200, a first end of the second connecting member 520 is connected to the cleaning module 300, a second end of the first connecting member 510 is detachably connected to a second end of the second connecting member 520, the first connecting member 510 and the second connecting member 520 are used for fixing the cleaning module 300 on the guide rail 100, since the stopper 120 of the guide rail 100 can only restrict the movement of the cleaning module 300 in the vertical direction, the cleaning module 300 is further fixed, after the slider 320 is slid into the guide rail 100, the positions of the first link 510 and the second link 520 are aligned, the first and second connectors 510 and 520 are then detachably connected such that the cleaning module 300 is fixed to the rail 100, preventing the slider 320 from moving horizontally within the rail 100.

Preferably, the coupling assembly is a magnetic coupling, wherein the first coupling member 510 includes an outer magnet and the second coupling member 520 includes an inner magnet. It will be appreciated that the magnetic coupling is a non-contact coupling and generally comprises an inner and an outer 2 magnets, the inner magnet being connected to the driven member in the cleaning module and the outer magnet being connected to the power element in the apparatus 200. When the sliding part 320 is inserted into the guide rail 100 to enable the inner magnet to enter the magnetic force range of the outer magnet, the outer magnet can automatically attract and fix the outer magnet at a designated position, guiding is more convenient, in addition, the power part in the equipment 200 can drive the outer magnet to rotate, and the outer magnet drives the inner magnet to rotate through the magnetic force so as to enable a driven part in the cleaning module to work.

Preferably, a telescopic member 600 is provided inside the guide rail 100, and the telescopic member 600 is used to push the slider 320 to be separated from the guide rail 100. Specifically, the inner side of the guide rail 100, i.e., the side of the guide rail 100 away from the entrance of the guide rail 100, is configured such that when the slider 320 slides into the guide rail 100 from the entrance of the guide rail 100, the slider 320 abuts against the side of the device 200. Alternatively, the telescopic member 600 may also be disposed in a direction perpendicular to the attraction force between the first connector 510 and the second connector 520, and the telescopic member 600 is used to separate the first connector 510 and the second connector 520 from each other after the first connector 510 and the second connector 520 are detachably connected (e.g., magnetically connected), so as to separate the cleaning module 300 from the rail 100. Since the attractive force between the magnetically attracted first connector 510 and second connector 520 is strong, it becomes difficult to separate the magnetically attracted first connector 510 and second connector 520, and the retractable member 600 is used to push the cleaning module 300 away and thus push the slider 320 away from the rail 100. The pushing force may be generated by a telescopic end of a telescopic member 600, the telescopic member 600 may be an electric push rod, the telescopic member 600 may be fixed on the device 200, and the telescopic end of the telescopic member 600 may push the cleaning module 300 to move to the outside of the guide rail 100 when being extended. For example, the pushing force generated by the telescopic member 600 pushes the cleaning module 300 away to drive the second connecting member 520 away from the first connecting member 510 by a certain distance, it can be understood that when the second connecting member 520 is away from the first connecting member 510 by a certain distance, the magnetic attraction between the two is reduced sharply, and it is very easy to remove the sliding member 320.

Preferably, referring to fig. 2, 3, 5 and 6, the module mounting structure further includes: the cleaning module comprises an electromagnet 700 and a magnetic component 800, wherein the electromagnet 700 is connected with the equipment 200, the magnetic component 800 is connected with the cleaning module 300, and the electromagnet 700 is used for being magnetically connected with the magnetic component 800 so as to fix the cleaning module 300 on the equipment 200. In order to ensure that the sliding member 320 is not displaced after entering the guide rail 100, an electromagnet 700 is added, and the electromagnet 700 is used for attracting the magnetic member 800, so as to fix the cleaning module 300 on the device 200, thereby achieving the effect of further fixing the cleaning module 300. In order to ensure that the use of the telescopic member 600 is not affected, the electromagnets 700 may be disposed at two sides of the output end of the telescopic member 600, that is, the telescopic direction of the telescopic member 600 is parallel to the attraction direction of the electromagnets 700 and the magnetic member 800, and the telescopic end of the telescopic member 600 pushes away the cleaning module 300, so that the electromagnets 700 and the magnetic member 800 are separated from each other, and the first connecting member 510 and the second connecting member 520 are also separated from each other.

Preferably, referring to fig. 2 to 4, the magnetic component 800 is made of a magnetic conductive material, the electromagnet 700 has the characteristics of being demagnetized when being powered on and being restored to magnetic when being powered off, the cleaning module 300 is provided with a position marking unit 910, the device 200 is connected with a detection switch unit 920, the detection switch unit 920 has a certain detection induction range, and the detection switch unit 920 is used for controlling the electromagnet 700 to be demagnetized when the position marking unit 910 enters the detection induction range. For example, the position marking unit 910 may be a permanent magnet, and the detection switch unit 920 may be a hall sensor, and when the permanent magnet enters the magnetic induction range of the hall sensor, the hall sensor sends an electrical signal to the switch circuit, and the switch circuit controls the electromagnet 700 to be powered on. Since the electromagnet 700 is magnetic under normal power-off condition, in order to prevent the cleaning module 300 from being damaged due to the magnetic component 800 being directly attracted by the electromagnet 700 and impacting the cleaning module 300 when the cleaning module 300 is installed on the guide rail 100, the cleaning module 300 is provided with the position marking unit 910, when the slider 320 of the cleaning module 300 slides into the guide rail 100 and moves a certain distance relative to the guide rail 100, the detection switch unit 920 detects the position marking unit 910, controls the electromagnet 700 to be powered on to demagnetize, and when the slider 320 continues to slide in the guide rail 100 and drives the position marking unit 910 to leave the detection range of the detection switch unit 920, the detection switch unit 920 controls the electromagnet 700 to be powered off, so that the electromagnet 700 regenerates magnetic force to attract the magnetic component 800 on the cleaning module 300, thereby preventing the cleaning module 300 from being rapidly attracted by the electromagnet 700 and colliding with the cleaning module 300, while also avoiding the noise generated by the magnetic member 800 of the cleaning module 300 striking the electromagnet 700.

Preferably, referring to fig. 9 and 10, the second guiding portion 321 of the sliding member 320 is provided with a sliding roller 323, specifically, the top end of the sliding member 320 inserted into the guide rail 100 is a first end surface 322, one end of the sliding member 320 facing the inner wall of the guide rail 100 when inserted into the guide rail 100 is a second end surface, and the sliding roller 323 is disposed at an included angle formed by the first end surface 322 and the second end surface, it can be understood that, here, the second end surface may be any end surface facing the inner wall of the guide rail 100 when the sliding member 320 is inserted into the guide rail 100, when in actual use, an included angle formed by the first end surface 322 and the second end surface will hit against a side wall of the first guiding portion 110 of the guide rail 100, when the included angle formed by the first end surface 322 and the second end surface hits against a side wall of the first guiding portion 110 of the guide rail 100, the sliding roller 323 rotates and drives the sliding member 320 to move along the guiding surface of the first guiding portion 110, thereby driving the sliding member 320 to be guided to a precise position, and the sliding roller 323 plays a role of collision prevention and guiding.

Embodiments of the present invention further provide a cleaning robot, including a module installation structure as in the foregoing embodiments, and various modifications and specific embodiments in the foregoing embodiments are also applicable to a cleaning robot in this embodiment, and through the foregoing detailed description of a module installation structure, a method for implementing a cleaning robot in this embodiment will be apparent to those skilled in the art, and therefore, for the sake of brevity of description, detailed descriptions will not be provided here.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.

Claims (10)

1. A module mounting structure, comprising:

the guide rail is arranged at the bottom of the equipment;

the sliding piece is arranged on the cleaning module and can slide into and be fixed in the guide rail;

coupling assembling, coupling assembling includes first connecting piece and second connecting piece, the first end of first connecting piece with equipment is connected, the first end of second connecting piece with clean module is connected, the second end detachably of first connecting piece connect in the second end of second connecting piece.

2. The module mounting structure according to claim 1, further comprising:

the identity recognition assembly comprises a marking unit and a recognition unit, the marking unit is arranged on the cleaning module, the recognition unit is arranged on the equipment, and the recognition unit is used for recognizing the marking unit to obtain the information of the cleaning module.

3. The module mounting structure according to claim 2,

the identification unit comprises a first identification unit and a second identification unit;

the first identification unit is arranged at a first position of the equipment, the second identification unit is arranged at a second position of the equipment, and the first position and the second position are two different positions;

the marking unit is arranged on the cleaning module and corresponds to the first identification unit and/or the second identification unit.

4. The module mounting structure according to claim 1, wherein the connection assembly is a magnet coupling, wherein the first connector includes an outer magnet and the second connector includes an inner magnet.

5. The module mounting structure according to claim 4, wherein a telescopic member for pushing the slider away from the guide rail is provided inside the guide rail.

6. The module mounting structure according to any one of claims 1 to 5, further comprising:

the electromagnet is connected with the equipment;

a magnetic component connected with the cleaning module;

the electromagnet is used for being magnetically connected with the magnetic component so as to fix the cleaning module on the equipment.

7. The module mounting structure according to claim 6, wherein the magnetic member is made of a magnetically permeable material, the cleaning module is provided with a position marking unit, the device is connected with a detection switch unit, the detection switch unit has a detection sensing range, and the detection switch unit is configured to control demagnetization of the electromagnet when the position marking unit enters the detection sensing range.

8. The module mounting structure according to any one of claims 1 to 5, wherein the guide rail includes a first guide portion for accommodating the slider and a stopper portion, the first guide portion communicating with the stopper portion;

one end, inserted into the guide rail, of the sliding part is provided with a second guide part, the sliding part slides into the limiting part from the first guide part, the limiting part is used for limiting the sliding part, and the second guide part and the first guide part are used for guiding the sliding part when sliding into the guide rail.

9. The module mounting structure according to claim 8,

the first guide part is an inclined plane which is arranged from the first guide part to the limiting part and is narrowed from wide to narrow;

the second guide part is an inclined plane which is arranged from two sides of the sliding part to the input end in a width-narrowing mode;

the second guide part is provided with a sliding roller.

10. A cleaning robot comprising the module mounting structure according to any one of claims 1 to 9.

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