CN113662477A

CN113662477A - Mop mechanism and cleaning robot

Info

Publication number: CN113662477A
Application number: CN202010412681.8A
Authority: CN
Inventors: 邢兴国; 吴欣; 安惠中; 张一茗; 陈震
Original assignee: Qfeeltech Beijing Co Ltd
Current assignee: Qfeeltech Beijing Co Ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2021-11-19
Also published as: WO2021228208A1

Abstract

The invention provides a mop mechanism and a cleaning robot, belongs to the technical field of intelligent home furnishing, and aims to solve the problem that a mop of the cleaning robot can only wipe a cleaning surface along the moving direction of the mop, but cannot wipe the surface to be cleaned in a reciprocating manner. The mop mechanism comprises a mop plate movably arranged on the bottom plate and a rotating component rotating relative to the bottom plate; the transmission gear section on the rotating component is matched with the rack on the carriage to drive the carriage to reciprocate relative to the bottom plate. The mop mechanism and the cleaning robot provided by the invention can perform reciprocating wiping on the surface to be cleaned, and can improve the cleaning efficiency and effect.

Description

Mop mechanism and cleaning robot

Technical Field

The invention relates to the technical field of intelligent home furnishing, in particular to a mop mechanism and a cleaning robot.

Background

With the improvement of science and technology and the improvement of living standard, the cleaning robot can realize the functions of automatic sweeping, dust collection and the like and is widely applied to families.

The most common cleaning robot in the existing cleaning robots is a cleaning robot, and the cleaning robot can only sweep and clean the ground but does not have the function of mopping the ground; in order to realize the floor mopping function of the cleaning robot, a mop is generally arranged on a bottom plate of the cleaning robot, the mop is static relative to the bottom plate, and can only wipe a cleaning surface along with the moving direction of the cleaning robot but cannot wipe the surface to be cleaned in a reciprocating manner, so that the cleaning efficiency is low and the effect is poor.

Disclosure of Invention

The embodiment of the invention provides a mop mechanism and a cleaning robot, which can perform reciprocating wiping on a surface to be cleaned, and improve the cleaning efficiency and effect.

In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:

in a first aspect, an embodiment of the present invention provides a mop mechanism, which is installed on a bottom plate of a cleaning device, and includes at least one rotating component and at least one mop plate; the carriage comprises a first carriage movably arranged on the bottom plate, the rotating part is arranged on the bottom plate and rotates relative to the bottom plate, the rotating part comprises at least one transmission tooth section, and a first rack meshed with the transmission tooth section is arranged on the first carriage; when the transmission gear section rotates relative to the bottom plate, the dragging plate is driven to reciprocate relative to the bottom plate.

In an alternative embodiment, the rotating member is a full gear or an intermittent gear including at least one of the transmission gear segments, and the rotating member rotates relative to the base plate for a half-cycle.

In an alternative embodiment, the rotating member comprises a first intermittent gear and a full gear capable of meshing with the first intermittent gear, the first intermittent gear comprises at least one transmission tooth section group, and each transmission tooth section group comprises two transmission tooth sections oppositely arranged on the first intermittent gear;

when one transmission tooth section of the first intermittent gear is meshed with the first rack or the full gear, the other transmission tooth section of the same transmission gear set is in an unmeshed state;

during a period of rotation of the full gear, the full gear has a portion of time engaged with the first intermittent gear and other times not engaged with the first intermittent gear; and the full gear is always meshed with the first rack.

In an alternative embodiment, the rotating member is a second intermittent gear including at least one transmission tooth segment;

if the second intermittent gear comprises more than two transmission gear segments, the transmission gear segments are arranged on the second intermittent gear in a staggered mode, and other transmission gear segments are not arranged at the positions, relative to the positions, on the second intermittent gear, of the transmission gear segments;

the second intermittent gear is arranged in a mounting groove in the first dragging plate; along the moving direction of the first carriage, the mounting groove comprises a first mounting edge and a second mounting edge which are parallel and opposite to each other, the first mounting edge is provided with a first rack, and the second mounting edge is provided with a second rack; the first rack and the second rack can be meshed with the transmission gear section;

when the second intermittent gear rotates, if any transmission gear section is meshed with the first rack or the second rack, any transmission gear section is meshed with only one of the first rack or the second rack at the same time; the second intermittent gear rotates relative to the bottom plate in a full circle.

In an optional embodiment, the mop mechanism further comprises a second mop plate which is arranged opposite to the first mop plate and movably mounted on the bottom plate;

and a first rack and a third rack which are parallel to each other and arranged in opposite directions are respectively arranged on the opposite sides of the first carriage and the second carriage, and the first rack and the third rack can be meshed with the transmission gear section.

In an alternative embodiment, the rotating member is a full gear, and the full gear rotates relative to the bottom plate for half a revolution; the rotating member is simultaneously engaged with the first rack and the third rack.

In an alternative embodiment, the rotating component is a first intermittent gear which rotates relative to the bottom plate in a half-circle mode, the first intermittent gear comprises at least one transmission tooth section group, and each transmission tooth section group comprises two transmission tooth sections which are oppositely arranged on the first intermittent gear; and the two transmission gear sections of the same transmission gear section group are respectively and simultaneously meshed with the first rack and the third rack.

In an alternative embodiment, the rotating part comprises a first intermittent gear and a full gear capable of meshing with the first intermittent gear, the first intermittent gear comprises at least one transmission gear set, and each transmission gear set comprises two transmission gear sections oppositely arranged on the first intermittent gear;

when any one transmission tooth section in the same transmission tooth section group is meshed with the first rack or the third rack, the first intermittent gear and the full gear are in an unmeshed state;

when any one transmission tooth section in the same transmission tooth section group is meshed with the full gear, the first intermittent gear and the first rack or the third rack are in a non-meshed state;

during the period of the full gear rotation, the full gear has part of the time to be meshed with the intermittent gear, and the other time to be not meshed with the intermittent gear; and the full gear always keeps meshed with at least one of the first rack or the third rack.

In an alternative embodiment, the rotating member is a first intermittent gear including at least one transmission tooth segment set, each transmission tooth segment set including two transmission tooth segments oppositely disposed on the first intermittent gear;

at least one reset element is arranged between the first carriage and the second carriage;

when two transmission gear sections of the same transmission gear set of the first intermittent gear are respectively in a meshed state with the first rack and the third rack, the first intermittent gear respectively drives the first carriage and the second carriage to move oppositely through the first rack and the third rack and compresses the reset element;

when two transmission gear sections of the same transmission gear set of the first intermittent gear and at least one of the first rack and the third rack are in a non-meshed state, the reset element drives the first carriage and the second carriage to move back to back.

when two transmission gear sections of the same transmission gear set of the first intermittent gear are respectively in a meshed state with the first rack and the third rack, the first intermittent gear respectively drives the first carriage and the second carriage to move back to back through the first rack and the third rack and stretches the reset element;

when two transmission gear sections of the same transmission gear set of the first intermittent gear and at least one of the first rack and the third rack are in a non-meshed state, the reset element drives the first carriage and the second carriage to move oppositely.

In a second aspect, embodiments of the present invention provide a cleaning robot including the mop mechanism.

Compared with the related art, the mop mechanism and the cleaning robot provided by the embodiment of the invention have the following advantages;

the mop mechanism comprises a mop plate movably arranged on a bottom plate and a rotating part rotating relative to the bottom plate; the transmission gear section on the rotating component is matched with the rack on the carriage to drive the carriage to reciprocate relative to the bottom plate. Compared with the mop fixedly arranged on the bottom plate in the prior art, the mop plate in the embodiment can reciprocate relative to the bottom plate, so that the surface to be cleaned can be wiped in a reciprocating manner, and the cleaning efficiency and effect can be improved.

In addition to the technical problems solved by the invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the mop mechanism and the cleaning robot of the invention, other technical features included in the technical solutions and advantages brought by the technical features will be further explained in detail in the detailed description of the embodiments.

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 of the present invention or the prior art will be briefly described below, it is obvious that the drawings in the following description are only a part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1a is a schematic structural diagram of a cleaning robot provided in an embodiment of the present invention;

fig. 1b to fig. 1e are schematic views illustrating a structure and a motion state of a mop mechanism according to a first embodiment of the present invention;

fig. 2a to 2c are schematic views illustrating a structure and a motion state of a mop mechanism according to a second embodiment of the present invention;

fig. 3a and 3b are schematic views of the structure and motion state of a mop mechanism provided by the third embodiment of the invention;

fig. 3c and 3d are schematic views illustrating the structure and motion state of a mop mechanism provided by the fourth embodiment of the invention;

fig. 4a and 4b are schematic views of the structure and motion state of a mop mechanism provided by the fifth embodiment of the invention;

fig. 4c and 4d are schematic views showing the structure and motion state of the mop mechanism provided in the sixth embodiment of the invention;

fig. 5a and 5b are schematic views of the structure and motion state of a mop mechanism provided by the seventh embodiment of the invention.

Description of reference numerals:

10-a carriage; 11-a rack; 12-a first carriage; 13-a second carriage; 20-a rotating member; 30-a second intermittent gear; 40-full gear; 50-a first intermittent gear; 60-a reduction element; 100-a mop mechanism; 101-universal wheels; 102-a wheel set; 103-main brush; 104-side brush; 121-a first extension; 122-a first rack; 123-a second rack; 131-a second extension; 132-a third rack; 200-a bottom plate.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. 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.

The mop is arranged on the bottom plate of the existing cleaning robot, relative movement does not exist between the mop and the bottom plate, and the mop can move along the moving direction of the cleaning robot, so that the ground to be cleaned is cleaned. However, the cleaning robot can only wipe the cleaning surface along the moving direction, and the cleaning efficiency is low and the effect is poor. In order to solve the above problems, in the mop mechanism and the cleaning robot provided by the embodiment of the present invention, a base plate of the cleaning robot is provided with a mop plate and a rotating member, the mop plate can slide relative to the base plate, and the rotating member can rotate relative to the mop plate; the transmission gear section on the rotating part is matched with the rack on the carriage to drive the carriage to reciprocate relative to the bottom plate; the surface to be cleaned can be wiped in a reciprocating way, and the cleaning efficiency and effect can be improved.

Fig. 1a is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention. As shown in fig. 1a, the cleaning robot provided by the embodiment of the invention comprises a robot body, and a motion unit, a driving mechanism and a mop mechanism which are arranged on the robot body; the robot body comprises a bottom plate 200 and a shell, wherein the bottom plate 200 and the shell are connected together to form a cavity and provide an installation space for the parts of the mechanism.

The driving mechanism is positioned in a cavity formed by the bottom plate 200 and the shell and provides required power for the movement unit and the mop mechanism; the drive mechanism may comprise a plurality of drive units, each drive unit being separately powerable to the movement unit and the mop mechanism.

For convenience of description of the installation position of the moving unit, the mop mechanism, on the bottom plate 200, in this embodiment, the bottom plate 200 may be, but is not limited to, a rectangular plate or a waist plate, and the bottom plate 200 includes a front end and a rear end in the moving direction of the cleaning robot.

The moving unit is used to move the cleaning robot so that the mop mechanism disposed on the base plate 200 can clean the cleaning floor. Alternatively, the motion unit may include a universal wheel 101 and at least two wheel sets 102, and the universal wheel 101 may serve as a steering wheel of the cleaning robot to control steering of the cleaning robot; the two wheel sets 102 are oppositely disposed on the base plate 200, and are used for controlling the forward and backward movement of the cleaning robot. The universal wheel 101 may be provided at the front end of the base plate 200. Two wheel sets 102 are oppositely arranged at the edge position of the bottom plate 200, that is, the universal wheel 101 and the two wheel sets 102 are distributed on the bottom plate 200 in a triangular shape. It will be appreciated that the movement unit may also be of other forms, such as a track, or a bipedal/multi-foot type walking mechanism.

Optionally, some cleaning robots are all-in-one mopping and sweeping machines, that is, the cleaning robots have a sweeping function in addition to a mopping function, and therefore, the cleaning robots may further include a sweeping mechanism, for example, the sweeping mechanism may be mounted on the base plate 200 and rotate relative to the base plate 200, so as to sweep and store the impurities on the ground to be cleaned. In one embodiment, as shown in fig. 1a, the sweeping mechanism includes a main brush 103 and at least one side brush 104, the main brush 103 is located at a middle portion of the base plate 200, and a plurality of side brushes 104 are uniformly arranged along a front edge of the base plate 200. As shown in fig. 1 a: two side brushes 104 are symmetrically arranged at the edge positions of two sides of the bottom plate 200, the two side brushes 104 are positioned at the front end of the bottom plate 200, and the universal wheel 101 is positioned between the two side brushes 104; the main brush 103 is disposed at a middle position of the base plate 200, and may be located between the two wheel sets 102. In other embodiments, the cleaning robot is a floor mopping robot only, having only a mop mechanism and no sweeping mechanism, i.e. having only a floor mopping function and no sweeping function.

In the mopping and sweeping integrated machine, the mop mechanism is arranged at the rear end of the sweeping mechanism along the forward movement direction of the cleaning robot so as to meet the use requirements of sweeping firstly and mopping secondly; of course, in some embodiments of the all-in-one mop machine, the location of the mop mechanism and the sweeping mechanism is not particularly limited; for example, the sweeping mechanism may also be mounted at the rear end of the mop mechanism. The embodiment preferably arranges the mop mechanism at the rear end of the sweeping mechanism for improving the cleaning effect of the cleaning robot on the floor.

In the present invention, the mop mechanism comprises at least one rotating part 20 comprising at least one driving tooth segment, and at least one mop plate 10. Illustratively, a carriage 10 can be slidably disposed on the base plate 200, and the sliding direction of the carriage 10 can be parallel to or intersecting with the moving direction of the cleaning robot; illustratively, the carriage 10 slides along the base plate 200 in a direction perpendicular to the moving direction of the cleaning robot.

The carriage 10 is provided with at least one rack 11 matched with the transmission gear section of the rotating component 20, and the rack 11 is provided with a plurality of teeth. The rotating part 20 is installed on the bottom plate 200, the rotating part 20 is located at one end of the cavity of the cleaning robot, and the rotating part 20 is connected with a driving mechanism located in the cavity of the cleaning robot, and the driving mechanism is used for driving the rotating part 20 to rotate relative to the bottom plate 200. The rotating part 20 is provided with at least one transmission tooth section matched with the rack 11 of the carriage 10, the transmission tooth section comprises a plurality of transmission teeth, and the transmission teeth of the transmission tooth section are meshed with the teeth on the rack 11 on the carriage 10.

The driving force generated by the driving mechanism is transmitted to the carriage 10 through the transmission gear section of the rotating part 20 and the rack 11 on the carriage 10, and the carriage 10 is made to reciprocate relative to the base plate 200. Compared with the related art in which the mop cloth is fixedly installed on the bottom plate, the mop plate 10 of the present embodiment can reciprocate relative to the bottom plate 200, and can perform reciprocating wiping on the floor to be cleaned, thereby improving the cleaning efficiency and effect.

For example, the present embodiment can change the direction of the driving force of the driving mechanism to slide the carriage 10 back and forth relative to the base plate 200. For example, the driving mechanism may be a motor, and the direction of the driving force of the motor is changed by the forward and reverse rotation of the motor, so that the carriage 10 reciprocates (e.g., slides reciprocally) along the base plate 200. Alternatively, the rack 11 is disposed at different positions on the carriage 10, and the carriage 10 can slide back and forth relative to the base plate 200 by periodically engaging the rack 11 with the transmission gear segments on the rotating member 20 and by different engaging positions.

The mop mechanism in this embodiment includes different numbers of mopping plates 10, different numbers and positions of racks 11 disposed on the mopping plates 10, and different specific structural forms of the rotating member 20. The different forms of the mop mechanism are described in the following embodiments.

As shown in fig. 1 b-1 e, the mop mechanism 100 includes a first mop plate 12 slidably mounted on a base 200; for example, a guide block is disposed on a side of the first dragging plate 12 facing the base plate 200, the base plate 200 is provided with a guide rail engaged with the guide block, and the first dragging plate 12 is slidably mounted on the base plate 200 through the guide block and the guide rail.

The middle part of the first carriage 12 is provided with a mounting groove which can be a rectangular groove or a waist-shaped groove (namely, arc-shaped grooves communicated with the rectangular groove can be arranged at the two ends of the rectangular groove, and the arc-shaped grooves can be matched with gears in the mounting groove). Along the moving direction of first planking 12, the mounting groove includes first installation limit and second installation limit, and first installation limit is parallel and relative setting with the second installation limit, can set up rotatable parts in the installation space that first installation limit and second installation limit formed. The first mounting edge is provided with a first rack 122, the second mounting edge is provided with a second rack 123, and the first rack 122 and the second rack 123 can be engaged with the transmission gear section of the rotating component, so that the first mop plate 12 can reciprocate relative to the bottom plate 200 under the driving of the rotating component.

It can be understood that the first carriage 12 is provided with a mounting groove at a middle portion thereof, the rotating member is located in the mounting groove, and the rotating member is driven by the driving mechanism to rotate in the mounting groove relative to the base plate. In some embodiments of the present invention, a mounting hole may also be optionally formed at a position of the first dragging plate 12 in the mounting groove, and the mounting hole may penetrate through the upper and lower bottom surfaces of the first dragging plate, so as to facilitate mounting of the rotating component on the first dragging plate; the mounting holes may be rectangular or rounded rectangular. The mounting hole is not distinguished from the mounting groove in terms of its shape, but rather in terms of: the mounting hole is a through structure and penetrates through the upper bottom surface and the lower bottom surface of the carriage, and the mounting groove only penetrates through one bottom surface of the carriage. For the convenience of description, in the present invention, the mounting groove and the mounting hole are collectively referred to as a mounting groove unless otherwise stated. In the embodiment, the first carriage is not limited to be provided with an installation groove for installing the rotating component.

The rotating member provided in this embodiment may be the second intermittent gear 30, the second intermittent gear 30 is located in the mounting groove, and the second intermittent gear 30 can move with respect to the bottom plate 200 in a full circle. The second intermittent gear 30 is provided with at least one transmission tooth section along the circumferential direction thereof, and each transmission tooth section can be respectively meshed with the first rack 122 and the second rack 123 during the rotation of the second intermittent gear 30 relative to the bottom plate 200; however, if two or more transmission gear segments are disposed on the second intermittent gear 30, the transmission gear segments need to be alternately disposed on the second intermittent gear to ensure that no other transmission gear segment is disposed at the position corresponding to the position of each transmission gear segment on the second intermittent gear 30.

Further, when the second intermittent gear 30 moves relative to the bottom plate 200 in a full circle, only one transmission gear segment is meshed with the first rack 122 or the second rack 123 of the first dragging plate 12 at the same time, and a plurality of transmission gear segments cannot be meshed with the first rack 122 and the second rack 123 simultaneously, so that the first dragging plate 12 and the second intermittent gear 30 are prevented from being locked. The above-described aspect will be described in detail with reference to the number of transmission gear segments provided on the second intermittent gear 30.

For example, the second intermittent gear 30 may be provided with a transmission tooth segment whose length may occupy 1/3 or 1/4, or other proportions, of the circumferential length of the entire second intermittent gear 30; as long as it can satisfy the requirement that the second intermittent gear 30 can prevent the jamming phenomenon between the first dragging plate 12 and the second intermittent gear 30 during the rotation process.

Alternatively, two transmission gear segments are arranged on the second intermittent gear 30, and the two transmission gear segments are arranged on the second intermittent gear 30 at intervals. Specifically, the second intermittent gear 30 includes two first transmission gear segments and two second transmission gear segments which are alternately arranged; wherein the first transmission tooth segment is disposed at a first position of the second intermittent gear 30, a region on the second intermittent gear 30 and opposite to the first position is defined as a second position of the second intermittent gear 30, and the second transmission tooth segment is located at a position other than the first position and the second position on the second intermittent gear 30; that is, the second transmission gear segment is not arranged at the position opposite to the position of the first transmission gear segment on the second intermittent gear 30, so as to prevent the second intermittent gear from being locked with the two racks on the first dragging plate 12.

In other words, during a full rotation of the second intermittent gear 30 relative to the base plate 200, wherein the first transmission gear segment is engaged with the first rack 122 or the second rack 123, the second transmission gear segment is neither engaged with the first rack 122 nor the second rack 123; that is, when the second intermittent gear 30 rotates, only one of the first and second transmission gear segments is engaged with the first or

second rack

122 or 123 and the other transmission gear segment is in an unengaged state during the same period of time. This arrangement prevents the first drag plate 12 from being jammed with the second intermittent gear 30.

Similarly, if the second intermittent gear 30 is provided with three or more transmission gear segments, the transmission gear segments are alternately arranged on the second intermittent gear 30, and no other transmission gear segment is arranged at a position opposite to the position of each transmission gear segment on the second intermittent gear 30. When the second intermittent gear 30 rotates, if any one of the transmission gear segments is meshed with the first rack 122 or the second rack 123, the other transmission gear segments are in a non-meshed state at the same time; that is, only one of the drive tooth segments is engaged with one of the first or second gear racks 122, 123 at a time.

The second intermittent gear 30 is connected to the driving mechanism, the second intermittent gear 30 is driven by the driving mechanism to perform a full-circle motion relative to the bottom plate 200, and the motion process of the first carriage 12 on the bottom plate will be described by taking an example in which the second intermittent gear 30 is provided with a transmission gear segment.

When the second intermittent gear 30 rotates clockwise as shown in fig. 1b, the transmission gear segment thereof engages with the first rack 122 and drives the first dragging plate 12 to move towards the right side of the bottom plate 200; when the transmission gear segment of the second intermittent gear 30 leaves the first rack 122 and is not yet engaged with the second rack 123, as shown in fig. 1c, the transmission gear segment is not engaged with the first rack 122 and the second rack 123, and there is no force between the second intermittent gear 30 and the carriage 12.

As the second intermittent gear 30 continues to rotate clockwise, as shown in fig. 1d, when the transmission gear segment is engaged with the second rack 123, the first dragging plate 12 starts to move towards the left side of the bottom plate 200, i.e. the first dragging plate 12 starts to move towards the initial position, until the transmission gear segment on the second intermittent gear 30 is disengaged from the second rack 123; as shown in fig. 1e, the transmission gear segment is again disengaged from both the first rack 122 and the second rack 123, so that the first dragging plate 12 returns to the original position.

In the above process, the first mop plate 12 completes one reciprocating motion relative to the base plate 200; when the second intermittent gear 30 continues to rotate clockwise and the transmission gear segment is engaged with the first rack 122 again, the first carriage 12 enters the next reciprocating motion, and the first carriage 12 can continuously perform the cyclic reciprocating motion. Of course, the second intermittent gear 30 can also rotate counterclockwise continuously to realize the continuous and cyclic reciprocating motion of the first dragging plate 12 relative to the bottom plate, which will not be described in detail herein.

Example two

Fig. 2a and 2b are schematic views of the structure and motion state of the mop mechanism provided by the embodiment of the invention.

As shown in fig. 2a and 2b, the mop mechanism includes at least one rotating component and two mopping plates, the two mopping plates 10 are a first mopping plate 12 and a second mopping plate 13 respectively; the first carriage 12 is slidably disposed on the bottom plate 200, and the connection manner between the first carriage 12 and the bottom plate 200 can be set by referring to the manner in the first embodiment, which is not described herein again. The second carriage 13 may be fixed to the base plate 200. The first carriage 12 and the second carriage 13 are oppositely arranged on the bottom plate 200, and a gap for the first carriage 12 to slide relative to the bottom plate 200 is preset between the first carriage 12 and the second carriage 13.

The rotating component is positioned between the first carriage 12 and the second carriage 13, and a connecting plate is arranged at least on one side of the first carriage 12 facing the second carriage 13. The connecting plate can be a part of the carriage or can be a separate component and can be detachably matched with the first carriage. The connecting plate of the first pulling plate 12 is provided with a mounting groove, which may be a rectangular groove, a waist-shaped groove (as shown in fig. 2a and 2 b), or a fork-shaped structure with one open end (as shown in fig. 2 c).

Along the moving direction of the first dragging plate 12, the mounting groove comprises a first mounting edge and a second mounting edge, the first mounting edge and the second mounting edge are parallel and are arranged oppositely, a first rack 122 is arranged on the first mounting edge, a second rack 123 is arranged on the second mounting edge, and the rotating part is arranged in a mounting space formed between the first mounting edge and the second mounting edge; and both the first and

second racks

122 and 123 may be engaged with the transmission gear section of the rotating member. The rotating member 20 can be the second intermittent gear 30 provided in the first embodiment, which is the same as the first rack 122 and the second rack 123, and will not be described herein again.

In this embodiment, a transmission gear segment is disposed on the second intermittent gear 30, and the second intermittent gear 30 is driven by the driving mechanism to perform a full-circle motion relative to the bottom plate 200:

as shown in fig. 2a, the second intermittent gear 30 rotates clockwise, and when the transmission gear segment thereof is engaged with the first rack 122, the second intermittent gear 30 drives the first rack 122 to move towards the second carriage 13 through the transmission gear segment thereof, so as to move the first carriage 12 towards the second carriage 13, in other words, the first carriage 12 and the second carriage 13 move towards each other. When the second intermittent gear 30 continues to rotate clockwise and the transmission gear segment thereof is engaged with the second rack 123, as shown in fig. 2b, the second intermittent gear 30 drives the second rack 123 to move away from the second carriage 13 through the transmission gear segment thereof, so as to drive the first carriage 12 to move away from the second carriage 13, and further the first carriage 12 completes a reciprocating motion relative to the base plate 200 (i.e. relative to the second carriage 13). When the second intermittent gear 30 continues to rotate clockwise and the transmission gear segment of the second intermittent gear 30 is engaged with the first rack 122 again, the first carriage 12 can enter into the next reciprocating motion, and the first carriage 12 can continuously perform the cyclic reciprocating motion relative to the base plate 200. Of course, the second intermittent gear 30 can also rotate counterclockwise continuously to realize the continuous and cyclic reciprocating motion of the first dragging plate 12 relative to the bottom plate, which will not be described in detail herein.

EXAMPLE III

Fig. 3a and 3b are schematic views of the structure and motion state of the mop mechanism provided by the embodiment of the invention.

As shown in fig. 3a and 3b, the mop mechanism provided in this embodiment includes two mopping plates 10, namely, a first mopping plate 12 and a second mopping plate 13; the first carriage 12 is slidably disposed on the bottom plate 200, and the connection manner between the first carriage 12 and the bottom plate 200 can be set by referring to the manner in the first embodiment, which is not described herein again.

The second carriage 13 is fixed on the bottom plate 200, the first carriage 12 and the second carriage 13 are oppositely arranged on the bottom plate 200, and a gap for the first carriage 12 to move relative to the bottom plate 200 is preset between the first carriage 12 and the second carriage 13. A first extension part 121 is formed by extending one side of the first carriage 12 facing the second carriage 13, and a first rack 122 is disposed on one side of the first extension part 121 facing the rotating component.

The rotating member is a full gear 40, the full gear 40 is mounted on the base plate 200 and located between the first carriage 12 and the second carriage 13, and the full gear 40 can be engaged with the first rack 122. The full gear 40 is connected with the driving mechanism, and under the driving of the driving mechanism, the full gear 40 can perform a half-cycle motion relative to the base plate 200, that is, the full gear 40 rotates by a first angle in a first direction and then rotates by a second angle in a second direction, wherein the first direction and the second direction can be a clockwise direction and an anticlockwise direction respectively, or the first direction and the second direction can be the anticlockwise direction and the clockwise direction respectively; wherein the first angle may or may not be equal to the second angle, such as may be 90 °, 180 °, 360 °, 600 °, and so on. For example, the driving mechanism may be a motor, and the full gear 40 can move relative to the bottom plate 200 in a half-cycle by controlling the forward and reverse rotation of the motor.

As shown in fig. 3a, the motor controls the full gear 40 to rotate clockwise, at which time the first dragging plate 12 starts to move towards the second dragging plate 13, and after the full gear 40 rotates clockwise by a first angle, the first dragging plate 12 can move to a certain position, such as the limit position of the first rack 122 shown in fig. 3 b; then the motor controls the full gear 40 to rotate counterclockwise, at this time, the first dragging plate 12 starts to move in a direction away from the second dragging plate 13, that is, the first dragging plate 12 starts to return to the initial position. After the sum of the second angles of rotation of the full gear 40 is equal to the sum of the first angles, the first dragging plate 12 moves to the initial position; at this time, the first mop plate 12 completes one reciprocating motion relative to the base plate 200; when the full gear 40 starts to rotate again in the first direction, the first carriage 12 enters the next reciprocating motion, and the first carriage 12 can continuously perform the cyclic reciprocating motion.

It is understood that the rotating member 20 in the present embodiment is not limited to the full gear 40 moving in a full circle relative to the base plate 200, but may be a second intermittent gear 30 including at least one transmission tooth segment; for example, the rotation range of the second intermittent gear 30 when the transmission gear segment is engaged with the first rack 122 can be half-cycle movement or 1/4-cycle movement relative to the bottom plate 200; for example, the second intermittent gear 30 may be provided with reference to the second intermittent gear 30 in the first embodiment.

Example four

Fig. 3c and 3d are schematic views of the structure and motion state of the mop mechanism provided by the embodiment of the invention.

As shown in fig. 3c and fig. 3d, on the basis of the third embodiment, the same parts of this embodiment as those of the third embodiment are not repeated, and the difference between this embodiment and the third embodiment is: the first carriage 12 and the second carriage 13 are both slidably disposed on the bottom plate 200, the first carriage 12 and the second carriage 13 are disposed opposite to each other, and a space for the first carriage 12 and the second carriage 13 to slide oppositely is reserved between the first carriage 12 and the second carriage 13. The first carriage 12 and the second carriage 13 extend toward each other and form a first extension 121 and a second extension 131, respectively, a first rack 122 is disposed on one side of the first extension 121 facing the second extension 131, and a third rack 132 is disposed on one side of the second extension 131 facing the first extension 121, that is, the first rack 122 is disposed opposite to the third rack 132.

The rotating member 20 is also an all-gear 40, the all-gear 40 is located between the first rack 122 and the third rack 132, and the all-gear 40 is simultaneously meshed with the first rack 122 and the third rack 132; the full gear 40 is connected to a driving mechanism, and the full gear 40 can perform a half-cycle motion relative to the bottom plate 200 under the driving of the driving mechanism (for the description of the half-cycle motion, refer to the above-mentioned embodiment, and are not described herein again). For example, the driving mechanism may be a motor, and the full gear 40 can move relative to the bottom plate 200 in a half-cycle by controlling the forward and reverse rotation of the motor.

As shown in fig. 3c, the motor controls the full gear 40 to rotate clockwise (in this embodiment, the first direction is clockwise, and the second direction is counterclockwise), so that the first dragging plate 12 moves towards the second dragging plate 13, and at the same time, the second dragging plate 13 moves towards the first dragging plate 12; namely, the first carriage 12 and the second carriage 13 move oppositely; after the full gear 40 rotates clockwise by a first angle (for example, the first angle of rotation is 90 °, 180 °, 300 °, 400 °, etc.), the first carriage 12 and the second carriage 13 respectively move to a certain position (for example, the limit position of the first rack and/or the third rack).

As shown in fig. 3d, the motor controls the full gear 40 to rotate counterclockwise, at this time, the first carriage 12 moves towards the direction away from the second carriage 13, and the second carriage 13 moves towards the direction away from the first carriage 12, that is, the first carriage 12 and the second carriage 13 move back to back; after the full gear 40 rotates counterclockwise by a second angle (in this embodiment, the second angle is equal to the first angle), the first carriage 12 and the second carriage 13 move to the initial positions respectively; and the first carriage 12 and the second carriage 13 respectively complete one reciprocating motion relative to the base plate 200, and the first carriage 12 and the second carriage 13 complete one reciprocating motion with each other. When the full gear 40 starts to rotate again in the first clockwise direction, the first dragging plate 12 and the second dragging plate 13 enter the next reciprocating period, and the first dragging plate 12 and the second dragging plate 13 can continuously perform the cyclic reciprocating motion relative to the base plate 200.

EXAMPLE five

Fig. 4a and 4b are schematic views of the structure and motion state of the mop mechanism provided by the embodiment of the invention.

As shown in fig. 4a and 4b, the third embodiment is different from the third embodiment in a rotating member; the present embodiment provides that the rotating member includes the first intermittent gear 50 and the full gear 40 which are used in cooperation with each other, and the first intermittent gear 50 can be meshed with the full gear 40. As described in the third embodiment, a first extension portion 121 is formed on one side of the first dragging plate 12 facing the second dragging plate 13, a first rack 122 is disposed on one side of the first extension portion 121 facing the rotating member, and the first rack 122 can be engaged with the first intermittent gear 50 and the full gear 40. The third embodiment is the same as the present embodiment, and is not described again.

Wherein, the full gear 40 is always engaged with the first rack 122, and the first intermittent gear 50 comprises at least one transmission gear segment group, and each transmission gear segment group comprises two transmission gear segments which are oppositely arranged; the two transmission gear segments may be a first transmission gear segment and a second transmission gear segment, respectively, where the first transmission gear segment is disposed at a first position of the first intermittent gear 50 (as described in the foregoing embodiments, which are not described herein), and the second transmission gear segment is disposed at a second position of the first intermittent gear 50 (as described in the foregoing embodiments, which are not described herein); that is, the two transmission tooth segments of the transmission tooth segment group are oppositely disposed at the first position and the second position of the first intermittent gear 50, respectively.

The first transmission gear segment and the second transmission gear segment are meshed with the first rack 122 at intervals in a certain period, namely when the first transmission gear segment is meshed with the first rack 122, the second transmission gear segment is in a non-meshed state with the first rack 122, and the second transmission gear segment is in a non-meshed state with the full gear 40; that is, when one transmission tooth segment of the first intermittent gear 50 is meshed with the first rack 122 or the full gear 40 is meshed, the other transmission tooth segment of the same transmission tooth segment group is not meshed with the first rack 122 and the full gear 40; and during one period of rotation of the full gear 40 (i.e., 360 ° of the circumference), the full gear 40 has a portion of the time to engage with the first intermittent gear 50 and the other time to disengage from the first intermittent gear 50; and the full pinion 40 remains engaged with the first rack 122 at all times.

As shown in fig. 4a, the first intermittent gear 50 serves as a driving wheel and is connected with the driving mechanism; the first intermittent gear 50 is driven by the driving mechanism to move in a full circle relative to the base plate 200. When a first transmission gear segment of a group of transmission gear segments is engaged with the first rack 122, the first intermittent gear 50 and the full gear 40 are in an unengaged state; the first intermittent gear 50 can drive the first carriage 12 to move towards the second carriage 13, and at the same time, the power is transmitted to the full gear 40 through the first rack 122, and the full gear 40 is driven along with the rotation of the first intermittent gear 50.

As shown in fig. 4b, with the clockwise rotation of the first intermittent gear 50, the first driving gear segment is disengaged from the first rack 122, and thereafter, the first driving gear segment is engaged with the full gear 40; at this time, the second transmission gear segment is in an unengaged state and gradually approaches the first rack 122; since the first transmission gear segment is engaged with the full gear 40, it can drive the full gear 40 to rotate counterclockwise, and transmit power to the first rack 122 through the full gear 40, so that the first dragging plate 12 can move in a direction away from the second dragging plate 13, i.e. the first dragging plate 12 moves toward the initial position.

As the first intermittent gear 50 continues to rotate clockwise, the first mop plate 12 can be returned to the initial position when the first transmission gear segment is disengaged from the full gear 40; further, the first carriage 12 performs a reciprocating motion with respect to the base plate 200. When the second transmission gear segment is engaged with the first rack 122, the first dragging plate 12 can enter into the next reciprocating motion, and the first dragging plate 12 can continuously perform the cyclic reciprocating motion relative to the base plate 200. Of course, the first intermittent gear 50 can also rotate counterclockwise continuously to realize continuous cyclic reciprocating motion of the first dragging plate 12 relative to the bottom plate, which will not be described in detail herein.

It is understood that in the present embodiment, the first intermittent gear 50 is provided with a set of oppositely arranged transmission gear segments, and the first dragging plate 12 can complete two reciprocating motions in one full-circle motion of the first intermittent gear 50; in order to enhance the reciprocating frequency of the first mop plate 12 relative to the base plate 200, a plurality of sets of transmission gear segments arranged oppositely can be reasonably arranged on the first intermittent gear 50, as long as the phenomenon of jamming of the full gear 40 and the first intermittent gear 50 can be avoided.

EXAMPLE six

Fig. 4c and 4d are schematic views showing the structure and motion state of the mop mechanism provided in the embodiment of the invention.

As shown in fig. 4c and 4d, the present embodiment is different from the fifth embodiment in that: the second carriage 13 is slidably disposed on the base plate 200, and the first carriage 12 and the second carriage 13 extend toward each other and respectively form a first extending portion 121 and a second extending portion 131 which are disposed oppositely, and a first rack 122 is disposed on one side of the first extending portion 121 facing the second extending portion 131, and a third rack 132 is disposed on one side of the second extending portion 131 facing the first extending portion 121, that is, the first rack 122 and the third rack 132 are disposed oppositely. The first extension portion 121 and the second extension portion 131 can be disposed according to the fourth embodiment, and are not described herein again.

The difference between the present embodiment and the fifth embodiment is that the full gear 40 is always engaged with the first rack 122 and the third rack 132, and the first intermittent gear 50 includes a first transmission gear segment and a second transmission gear segment which are oppositely arranged; wherein when the first segment of drive teeth is engaged with the first rack 122, the second segment of drive teeth is also engaged with the third rack 132.

As shown in fig. 4c, the first intermittent gear 50 is connected to the driving mechanism as a driving wheel, and the first intermittent gear 50 can move around the entire circumference of the base plate 200 under the driving of the driving mechanism. When the first transmission gear segment is engaged with the first rack 122, the first intermittent gear 50 drives the first dragging plate 12 to move towards the second dragging plate 13; meanwhile, the second transmission gear section is meshed with the third rack 132 and drives the second carriage 13 to move towards the first carriage 12, that is, the first carriage 12 and the second carriage 13 move oppositely; at this time, the first intermittent gear 50 and the full gear 40 are in an unengaged state. The driving force of the first intermittent gear 50 can be transmitted to the full gear 40 through the first and

third racks

122 and 132, respectively, and the full gear 40 is driven with the rotation of the first intermittent gear 50.

As shown in fig. 4d, with the clockwise rotation of the first intermittent gear 50, the first transmission gear segment is disengaged from the first rack 122 and the first transmission gear segment is engaged with the full gear 40. At this time, the second transmission gear segment is in an unengaged state and gradually approaches the first rack 122; the first transmission gear section is meshed with the full gear 40, so that the full gear 40 can be driven to rotate anticlockwise, power is transmitted to the first rack 122 and the third rack 132 through the full gear 40, and the first planker 12 can move towards the direction departing from the second planker 13; meanwhile, the second carriage 13 moves in a direction away from the first carriage 12, that is, the first carriage 12 and the second carriage 13 move back to back.

When the first transmission gear segment is disengaged from the full gear 40, the first dragging plate 12 and the second dragging plate 13 can be restored to the initial positions, and then the first dragging plate 12 and the second dragging plate 13 complete one reciprocating motion relative to the bottom plate 200. As the first intermittent gear 50 continues to rotate clockwise, when the second transmission gear segment is engaged with the first rack 122, the first carriage 12 and the second carriage 13 can enter into the next reciprocating motion. Further, the first carriage 12 and the second carriage 13 can continuously perform a reciprocating motion in a cycle with respect to the base plate 200.

Similarly, in a rotation period of the first intermittent gear 50, the first carriage 12 and the second carriage 13 can reciprocate twice, so that the cleaning efficiency and effect on the ground are improved. Of course, the first intermittent gear 50 may also rotate counterclockwise continuously, so as to realize the continuous and cyclic reciprocating motion of the first dragging plate 12 and the second dragging plate 13 relative to the base plate, which is not described herein again.

EXAMPLE seven

Fig. 5a and 5b are schematic views of the structure and motion state of the mop mechanism provided by the embodiment of the invention.

As shown in fig. 5a and 5b, on the basis of the sixth embodiment, the present embodiment is different from the sixth embodiment in that the rotating member 20 only includes the first intermittent gear 50, and the structural form of the first intermittent gear 50 can refer to the first intermittent gear 50 in the sixth embodiment, which is not described again here. In addition, at least one reset element 60 is arranged between the first dragging plate 12 and the second dragging plate 13, and the telescopic direction of the reset element 60 is consistent with the sliding direction of the first dragging plate 12 or the second dragging plate 13. The return element 60 may be a coil spring or other telescopically deformable member or assembly (e.g., a rubber band, a magnet, etc.), and the present embodiment describes the movement of the mop mechanism in the present embodiment by way of example only, the coil spring is disposed between the first mop plate 12 and the second mop plate 13.

As shown in fig. 5a, the first intermittent gear 50 is connected to a driving mechanism, and under the driving of the driving mechanism, the first intermittent gear 50 can move around relatively to the bottom plate 200, and when a first transmission gear segment in a transmission gear set of the first intermittent gear 50 is engaged with the first rack 122, the first intermittent gear 50 drives the first dragging plate 12 to move towards the second dragging plate 13; at this time, the second transmission gear segment in the same transmission gear set is meshed with the third rack 132, and drives the second carriage 13 to move toward the first carriage 12, that is, the first carriage 12 and the second carriage 13 move oppositely. In this state, the first carriage 12 and the second carriage 13 move toward each other and compress the coil spring, so that the coil spring is in a compressed state.

As the first intermittent gear 50 continues to rotate clockwise, the first transfer gear segment disengages from the first rack 122 and is located between the first rack 122 and the third rack 132, as shown in fig. 5 b; the second transmission tooth segment is also in the disengaged state. In this state, the coil spring is restored from the compressed state to the free state, and can provide restoring force for the first carriage 12 and the second carriage 13, the first carriage 12 moves towards the direction departing from the second carriage 13 under the action of the restoring force, and the second carriage 13 moves towards the direction departing from the first carriage 12 under the action of the restoring force, namely, the first carriage 12 and the second carriage 13 move backwards; further, the first carriage 12 and the second carriage 13 perform a reciprocating motion.

With the continuous clockwise rotation of the first intermittent gear 50, when the first transmission gear segment is meshed with the third rack 132, the second transmission gear segment is meshed with the first rack 122, the first carriage 12 and the second carriage 13 can move oppositely again and compress the helical spring, and the process is repeated, so that the first carriage 12 and the second carriage 13 can complete the second reciprocating motion; namely, in a full-circle motion period of the first intermittent gear 50, the first carriage 12 and the second carriage 13 respectively complete two reciprocating motions, so that the cleaning efficiency and effect on the ground are improved.

It should be noted that the restoring force provided by the coil spring of the restoring element 60 in the above example is an extension force, but in other embodiments, the restoring force may be a compression force.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mop mechanism is arranged on a bottom plate of cleaning equipment and is characterized by comprising at least one rotating part and at least one mop plate;

the carriage comprises a first carriage movably arranged on the bottom plate, the rotating part is arranged on the bottom plate and rotates relative to the bottom plate, the rotating part comprises at least one transmission tooth section, and a first rack meshed with the transmission tooth section is arranged on the first carriage;

when the transmission gear section rotates relative to the bottom plate, the dragging plate is driven to reciprocate relative to the bottom plate.

2. A swab mechanism according to claim 1, wherein the rotating member is a full gear or an intermittent gear comprising at least one of the drive tooth segments, and wherein the rotating member rotates half-way relative to the bottom plate.

3. A swab mechanism according to claim 1, wherein the rotating member comprises a first intermittent gear and a full gear engageable therewith, the first intermittent gear comprising at least one transmission tooth segment set, each transmission tooth segment set comprising two transmission tooth segments oppositely arranged on the first intermittent gear;

4. A swab mechanism according to claim 1, wherein the rotating member is a second intermittent gear comprising at least one transmission tooth segment;

the second intermittent gear is arranged in a mounting groove in the first planker, the mounting groove comprises a first mounting edge and a second mounting edge which are parallel and opposite to each other along the moving direction of the first planker, the first mounting edge is provided with a first rack, and the second mounting edge is provided with a second rack; the first rack and the second rack can be meshed with the transmission gear section;

5. A mop mechanism according to claim 1 further comprising a second mop plate disposed opposite the first mop plate and movably mounted on the base plate;

6. A swab mechanism according to claim 5, wherein the rotating member is an all-gear wheel, and wherein the all-gear wheel rotates half-way relative to the base;

the rotating member is simultaneously engaged with the first rack and the third rack.

7. A swab mechanism according to claim 5, wherein the rotating member is a first intermittent gear which rotates half-way relative to the bottom plate, the first intermittent gear comprising at least one set of transmission tooth segments, each set of transmission tooth segments comprising two transmission tooth segments arranged opposite each other on the first intermittent gear;

and the two transmission gear sections of the same transmission gear section group are respectively and simultaneously meshed with the first rack and the third rack.

8. A swab mechanism according to claim 5, wherein the rotating member comprises a first intermittent gear and a full gear capable of meshing with the first intermittent gear, wherein the first intermittent gear comprises at least one transmission gear set, and each transmission gear set comprises two transmission gear segments oppositely arranged on the first intermittent gear;

9. A swab mechanism according to claim 5, wherein the rotating member is a first intermittent gear comprising at least one set of transmission tooth segments, each set of transmission tooth segments comprising two transmission tooth segments oppositely arranged on the first intermittent gear;

10. A swab mechanism according to claim 5, wherein the rotating member is a first intermittent gear comprising at least one set of transmission tooth segments, each set of transmission tooth segments comprising two transmission tooth segments oppositely arranged on the first intermittent gear;

11. A cleaning robot, characterized by comprising a mop mechanism according to any of claims 1 to 10.