CN215424440U

CN215424440U - Lifting mechanism, cleaning robot and cleaning system

Info

Publication number: CN215424440U
Application number: CN202121888735.4U
Authority: CN
Inventors: 张珂嘉; 姚国强; 唐志敏
Original assignee: Shanghai Nanmu Robot Technology Co ltd
Current assignee: Shanghai Nanmu Robot Technology Co ltd
Priority date: 2021-08-11
Filing date: 2021-08-11
Publication date: 2022-01-07
Anticipated expiration: 2031-08-11

Abstract

The utility model belongs to the technical field of cleaning robots, aims to solve the technical problem that an existing floor mopping mechanism of a cleaning robot cannot lift, and provides a lifting mechanism, a cleaning robot and a cleaning system. The lifting mechanism comprises a descending driving assembly for driving the floor mopping mechanism to descend relative to the robot body, and the lifting mechanism further comprises an elastic resetting piece, and when the floor mopping mechanism descends relative to the robot body, the elastic resetting piece is compressed/pulled by the floor mopping mechanism to generate elastic deformation. When the mopping mechanism descends relative to the robot body, the elastic reset piece is compressed/pulled by the mopping mechanism to generate elastic deformation, so that when the mopping mechanism is not restrained by the descending driving assembly any more, the original compressed/pulled elastic reset piece drives the mopping mechanism to ascend under the action of elasticity, and the lifting mechanism drives the mopping mechanism to ascend and descend.

Description

Lifting mechanism, cleaning robot and cleaning system

Technical Field

The utility model belongs to the technical field of cleaning robots, and particularly relates to a lifting mechanism, a cleaning robot and a cleaning system.

Background

CN112535432A discloses a cleaning robot with a cleaning seat at 23.3.2021, as shown in fig. 23, the cleaning robot is provided with a first rotating member and a second rotating member, which are used to mop the floor, and a floor mopping mechanism. Under the condition that a carpet exists on the floor, the floor mopping mechanism is required to be lifted to be separated from the floor in order to avoid water on the floor mopping mechanism from polluting the carpet, however, the floor mopping mechanism cannot be lifted or lowered in the scheme, and the floor mopping mechanism can contact the carpet to pollute the carpet.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides a lifting mechanism, a cleaning robot and a cleaning system, which are used to solve the technical problem that the existing floor mopping mechanism of the cleaning robot cannot be lifted.

The technical scheme adopted by the utility model is as follows:

in a first aspect, the present invention provides a lifting mechanism, which includes a descending driving assembly for driving a floor mopping mechanism to descend relative to a robot body, and an elastic restoring member, wherein when the floor mopping mechanism descends relative to the robot body, the elastic restoring member is compressed/pulled by the floor mopping mechanism to generate elastic deformation.

As a preferable scheme of the lifting mechanism, the lifting mechanism further includes a first pressing plate, the elastic reset piece includes a first reset spring, the first reset spring is disposed along a vertical direction, the first reset spring is disposed between the robot body and the first pressing plate, an upper end of the first reset spring contacts with the first pressing plate, and a lower end of the first reset spring contacts with the robot body;

the first pressing plate is connected with the mopping assembly, and the first pressing plate compresses the first return spring when the mopping mechanism descends relative to the robot body.

As a preferable scheme of the above lifting mechanism, the elastic reset piece further includes a second reset spring, the second reset spring is disposed along a vertical direction, and the first reset spring and the second reset spring are respectively located at two opposite ends of the first pressing piece;

the second reset spring is arranged between the robot body and the first pressing piece, the upper end of the second reset spring is in contact with the first pressing piece, the lower end of the second reset spring is in contact with the robot body, and the first pressing piece compresses the first reset spring and the second reset spring when the floor mopping mechanism descends relative to the robot body.

As a preferable scheme of the lifting mechanism, the lifting mechanism further includes a second pressing plate, the elastic reset piece further includes a third reset spring and a fourth reset spring, the third reset spring and the fourth reset spring are both disposed along a vertical direction, the third reset spring and the fourth reset spring are respectively located at two opposite ends of the second pressing plate, the third reset spring and the fourth reset spring are both disposed between the robot body and the second pressing plate, upper ends of the third reset spring and the fourth reset spring are both in contact with the second pressing plate, and lower ends of the third reset spring and the fourth reset spring are both in contact with the robot body;

the second pressing plate is connected with the mopping assembly, and the first pressing plate and the second pressing plate are symmetrically arranged along the symmetry axis of the mopping mechanism; when the mopping mechanism descends relative to the robot body, the second pressing plate compresses the third return spring and the fourth return spring.

As a preferable scheme of the lifting mechanism, the lifting mechanism further comprises a plurality of guide posts arranged on the robot body, the number of the guide posts is matched with the number of the return springs, and each return spring is sleeved on one guide post.

In a preferred embodiment of the above lifting mechanism, the lowering drive unit includes a first motor and a first cam, an output shaft of the first motor drives the first cam to rotate, and the first cam is in contact with the first presser plate.

Preferably, the descending driving assembly further includes a second cam, the output shaft of the first motor drives the second cam to rotate, and the second cam is in contact with the second pressing plate.

As a preferable scheme of the lifting mechanism, an output shaft of the first motor is connected with the first cam through a first transmission case, and the first transmission case is a worm gear case.

In a second aspect, the utility model provides a cleaning robot comprising any one of the lifting mechanisms described above.

In a third aspect, the present invention provides a cleaning system comprising any one of the cleaning robots described above.

In conclusion, the beneficial effects of the utility model are as follows:

in the lifting mechanism, the cleaning robot and the cleaning system provided by the embodiment of the utility model, the descending driving component can drive the floor mopping mechanism to descend relative to the robot body; when the mopping mechanism descends relative to the robot body, the elastic reset piece is compressed/pulled by the mopping mechanism to generate elastic deformation, so that when the mopping mechanism is not restrained by the descending driving assembly any more, the original compressed/pulled elastic reset piece drives the mopping mechanism to ascend under the action of elastic force, and the lifting mechanism drives the mopping mechanism to ascend and descend.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without any creative effort, other drawings may be obtained according to the drawings, and these drawings are all within the protection scope of the present invention.

Fig. 1 is a schematic structural diagram of a cleaning robot (in a mopping state) in embodiment 2 of the present invention;

FIG. 2 is a bottom view of FIG. 1;

FIG. 3 is a schematic structural view of the floor mopping assembly of the cleaning robot in FIG. 2 after moving toward the robot body (in a non-mopping state);

FIG. 4 is a schematic structural view of the cleaning robot shown in FIG. 1 with the upper cover hidden;

FIG. 5 is a schematic structural view of the cleaning robot shown in FIG. 4 with the floor-mopping assembly hidden;

FIG. 6 is a cross-sectional view of the cleaning robot of FIG. 5 after the return spring has driven the sheeting upward;

FIG. 6a is a schematic view of the cleaning robot of FIG. 6 from another perspective;

FIG. 7 is a schematic view of the floor-mopping mechanism and the pressing sheet of FIG. 1;

FIG. 8 is a schematic view of the hidden mopping connector and the pressing sheet shown in FIG. 7;

FIG. 9 is a schematic structural view of the mopping stand of FIG. 8;

FIG. 10 is a schematic structural view of the mopping mechanism of FIG. 8 from another perspective;

FIG. 11 is a schematic structural view of the mopping mechanism of FIG. 8 from another perspective;

FIG. 12 is a schematic view of the mopping assembly of FIG. 8 after moving toward the robot body;

FIG. 13 is a schematic structural view of the first, second, third, fourth and fifth driving assemblies of FIG. 1;

FIG. 14 is a schematic structural view of the fourth and fifth driving assemblies shown in FIG. 13 with a transmission case hidden;

FIG. 15 is a cross-sectional view of the bushing of FIG. 14, with the bushing broken away;

FIG. 16 is an enlarged view of a portion of FIG. 15 at A;

FIG. 17 is a schematic view of the mopping assembly of FIG. 15 after moving toward the robot body;

fig. 18 is a partial enlarged view at B in fig. 17;

fig. 19 is a schematic structural view of a cleaning robot in a non-mopping state according to embodiment 2 of the present invention;

FIG. 20 is a schematic view of the mopping stand and the mopping assembly of FIG. 19 shown in a downwardly moved intermediate position;

FIG. 21 is a schematic structural view of the mopping assembly of FIG. 20 after moving away from the robot body;

FIG. 22 is a schematic view of the mopping stand and the mopping assembly of FIG. 20 moving down to a lowermost position (in a mopping condition);

fig. 23 is a schematic structural view of the cleaning robot in embodiment 3 with the upper cover hidden.

Parts and numbering in the drawings:

100. a floor mopping mechanism; 110. a first mopping assembly; 120. a second mopping assembly; 130. a first drive assembly; 131. a fifth motor; 132. a fifth transmission case; 133. a first gear; 140. a second drive assembly; 141. a second motor; 142. a second transmission case; 143. a second gear; 150. a drive spring; 151. a shaft lever; 152. a shaft sleeve; 153. a deformation groove; 154. a first penetrating member; 155. a second penetrating member; 156. a fifth drive arm; 157. a second drive arm; 158. a fifth transmission groove; 159. A second transmission groove; 160. a fourth drive assembly; 161. a third motor; 162. a third transmission case; 163. a first rack; 164. a first slider; 165. a second slider; 170. a fifth drive assembly; 171. a fourth motor; 172. a fourth gear box; 173. a second rack; 174. a third slider; 175. a fourth slider; 176. a fourth transmission output shaft; 180. a mopping support; 181. a mopping connecting piece; 182. a first guide rail; 183. a second guide rail; 184. a third guide rail; 185. a fourth guide rail; 186. a first moving hole; 187. a second moving hole;

200. a lifting mechanism; 211. a first motor; 212. a first transmission case; 213. a first transmission output shaft; 214. a sixth transmission output shaft; 215. a first cam; 216. a second cam; 221. a first tablet; 222. a second tabletting; 223. a first return spring; 224. a third return spring; 225. a second return spring; 226. a first guide post; 227. a third guide post; 228. A second guide post; 229. a fourth guide post; 230. a fourth return spring; 300. a robot body;

arrow X is the first direction, and arrow Y is the second direction, and arrow Z is vertical direction, and first direction is dealt with vertical direction, and the second direction is perpendicular with vertical direction, and the plane that arrow X and arrow Y are located is the horizontal plane.

Detailed Description

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. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, the embodiments of the present invention and the various features of the embodiments may be combined with each other within the scope of the present invention.

Example 1

Embodiment 1 discloses a lifting mechanism, which includes a descending driving assembly for driving a floor mopping mechanism to descend relative to a robot body, and an elastic resetting member, wherein when the floor mopping mechanism descends relative to the robot body, the elastic resetting member is compressed/pulled by the floor mopping mechanism to generate elastic deformation.

In the embodiment, the descending driving component can drive the floor mopping mechanism to descend relative to the robot body; when the mopping mechanism descends relative to the robot body, the elastic reset piece is compressed/pulled by the mopping mechanism to generate elastic deformation, so that when the mopping mechanism is not restrained by the descending driving assembly any more, the original compressed/pulled elastic reset piece drives the mopping mechanism to ascend under the action of elastic force, and therefore the lifting mechanism in the embodiment drives the mopping mechanism to ascend and descend. Therefore, when the cleaning robot provided with the lifting mechanism in the embodiment drags the floor, the descending driving component can drive the floor-mopping mechanism to descend to be in contact with the floor, and when the cleaning robot touches the carpet, the elastic restoring piece which is originally compressed/pulled up drives the floor-mopping mechanism to ascend under the action of the elastic force, so that the water on the floor-mopping mechanism is prevented from polluting the carpet.

Example 2

As shown in fig. 1, 2 and 4, embodiment 2 of the present invention discloses a cleaning robot, which includes a robot body 300, a lifting mechanism 200 and a floor mopping mechanism 100, wherein the lifting mechanism 200 is disposed on the robot body 300, and the lifting mechanism 200 is used for driving the floor mopping mechanism 100 to ascend or descend relative to the robot body 300. To facilitate understanding of the structure of the cleaning robot, the lifting mechanism 200 and the floor mopping mechanism 100 will now be described as follows, respectively.

Lifting mechanism 200

As shown in fig. 5 and 6, the lifting mechanism 200 includes a descending driving assembly, an elastic restoring member, a first pressing plate 221 and a second pressing plate 222, and both the first pressing plate 221 and the second pressing plate 222 are connected to the floor mopping mechanism 100, so that the descending driving assembly drives the first pressing plate 221 and the second pressing plate 222 to descend to drive the floor mopping mechanism 100 to descend, in this embodiment, the first pressing plate 221 and the second pressing plate are symmetrically disposed along a symmetry axis of the floor mopping mechanism 100 in the first direction. The descending driving assembly comprises a first motor 211, a first transmission case 212, a first cam 215 and a second cam 216, wherein the first transmission case 212 is a worm gear case, and an output shaft of the first motor 211 is coaxially connected with a first transmission input shaft of the first transmission case 212.

The first transmission box 212 has two output shafts, namely a first transmission output shaft 213 and a sixth transmission output shaft 214, the first transmission output shaft 213 and the sixth transmission output shaft 214 are coaxially arranged, and the axial direction of the first transmission output shaft 213 is perpendicular to the vertical direction. The first cam 215 is coaxially installed on the first transmission output shaft 213, and the second cam 216 is coaxially installed on the sixth transmission output shaft 214, as shown in fig. 5 and 6, the first cam 215 is located above the first pressing piece 221, and the first cam 215 is in contact with the upper surface of the first pressing piece 221; the second cam 216 is positioned above the second pressing piece 222, and the second cam 216 is in contact with the upper surface of the second pressing piece 222. In this embodiment, after the output shaft of the first motor 211 rotates, the first transmission box 212 can drive the first cam 215 and the second cam 216 to rotate, and the first cam 215 and the second cam 216 are respectively contacted with the first pressing piece 221 and the second pressing piece 222, so that the first cam 215 and the second cam 216 can rotate to drive the first pressing piece 221 and the second pressing piece 222 to descend, thereby driving the floor mopping mechanism 100 to descend. The first transmission case 212 of the present embodiment is a worm gear case, and since the worm gear has a self-locking property, the elastic reset member, which will be described later, cannot drive the pressing sheet to rise when the output shaft of the first motor 211 is not rotated. The first presser piece 221, the second presser piece 222 and the floor-mopping mechanism 100 in this embodiment are shown in fig. 6 and 6a before being lowered; when the cam rotates 180 °, the first presser piece 221, the second presser piece 222 and the floor mopping mechanism 100 descend to the lowest position as shown in fig. 5.

As shown in fig. 6 and 6a, the elastic restoring member in the present embodiment includes a first restoring spring 223, a second restoring spring 225, a third restoring spring 224, and a fourth restoring spring 230, and the first restoring spring 223, the second restoring spring 225, the third restoring spring 224, and the fourth restoring spring 230 are all disposed in a vertical direction. The first return spring 223 and the second return spring 225 are both arranged between the robot body 300 and the first pressing piece 221, the first return spring 223 and the second return spring 225 are respectively located at two opposite ends of the first pressing piece 221, the upper ends of the first return spring 223 and the second return spring 225 are both in contact with the lower surface of the first pressing piece 221, and the lower ends of the first return spring 223 and the third return spring 224 are both in contact with the robot body 300. The third and fourth return springs 224 and 230 are disposed between the robot body 300 and the second pressing piece 222, the third and fourth return springs 224 and 230 are respectively disposed at two opposite ends of the second pressing piece 222, upper ends of the third and fourth return springs 224 and 230 are in contact with a lower surface of the second pressing piece 222, and lower ends of the third and fourth return springs 224 and 230 are in contact with the robot body 300.

In the present embodiment, as shown in fig. 6, before the first pressing piece 221, the second pressing piece 222 and the mopping mechanism 100 are lowered, when the output shaft of the first motor 211 rotates to drive the pressing piece and the mopping mechanism 100 to be lowered through the cam, the first pressing piece 221 compresses the first return spring 223 and the second return spring 225, and the second pressing piece 222 compresses the third return spring 224 and the fourth return spring 230. When the cam rotates 180 °, the first pressing plate 221, the second pressing plate 222 and the floor mopping mechanism 100 descend to the lowest position as shown in fig. 5, at this time, the output shaft of the first motor 211 rotates again to drive the cam to rotate, and at this time, the compressed first return spring 223, the second return spring 225, the third return spring 224 and the fourth return spring 230 push the first pressing plate 221 and the second pressing plate 222 to move upwards, so as to drive the floor mopping mechanism 100 to ascend; when the output shaft of the first motor 211 rotates again to drive the cam to rotate 180 degrees again, the return spring pushes the pressing sheet and the floor mopping mechanism 100 to rise to the initial position as shown in fig. 6.

As shown in fig. 5 and 6, in this embodiment, the lifting mechanism 200 further includes a first guiding column 226, a second guiding column 228, a third guiding column 227 and a fourth guiding column 229, and the first guiding column 226, the second guiding column 228, the third guiding column 227 and the fourth guiding column 229 are all disposed on the robot body 300. The first return spring 223 is sleeved on the first guide post 226, the second return spring 225 is sleeved on the second guide post 228, the third return spring 224 is sleeved on the third guide post 227, and the fourth return spring 230 is sleeved on the fourth guide post 229, so that each guide post can guide the return spring sleeved on the guide post, thereby reducing the possibility that the return spring is bent in the compression process. Meanwhile, the first pressing piece 221 is also provided with guide holes for the first guide post 226 and the second guide post 228 to pass through respectively, and the first guide post 226 and the second guide post 228 can pass through the guide holes on the first pressing piece 221 in the downward movement process of the first pressing piece 221; guide holes for the third guide column 227 and the fourth guide column 229 to pass through are further respectively formed in the second pressing plate 222, and the third guide column 227 and the fourth guide column 229 can pass through the guide holes formed in the second pressing plate 222 during the downward movement of the second pressing plate 222.

Mopping mechanism 100

As shown in fig. 7 and 8, the floor mopping mechanism 100 includes a floor mopping bracket 180, a first floor mopping assembly 110, a second floor mopping assembly 120, a first driving assembly 130, a second driving assembly 140, a third driving assembly, a fourth driving assembly 160 and a fifth driving assembly 170, the first driving assembly 130, the second driving assembly 140, the fourth driving assembly 160 and the fifth driving assembly 170 are all disposed on the floor mopping bracket 180, a floor mopping connector 181 is further connected to the floor mopping bracket 180 as shown in fig. 7, and the first pressing plate 221 and the second pressing plate 222 are respectively connected to the floor mopping connector 181, so that the lifting mechanism 200 can drive the floor mopping mechanism 100 to lift. As shown in fig. 9, the mopping support 180 is provided with a first guide assembly, a second guide assembly, a first moving hole 186 and a second moving hole 187, the first guide assembly includes a first rail 182 and a second rail 183, the guide direction of the first rail 182 is parallel to the guide direction of the second rail 183, the first moving hole 186 is disposed between the first rail 182 and the second rail 183, and the first moving hole 186 is a kidney-shaped hole. The second guiding assembly in this embodiment comprises a third guiding rail 184 and a fourth guiding rail 185, the guiding direction of the third guiding rail 184 is parallel to the guiding direction of the fourth guiding rail 185, and the guiding direction of the first guiding rail 182 intersects the guiding direction of the third guiding rail 184 in this embodiment on the horizontal plane (in other embodiments, the guiding direction of the first guiding rail 182 may be parallel to the guiding direction of the third guiding rail 184 as well). The second moving hole 187 is provided between the third rail 184 and the fourth rail 185, and the second moving hole 187 is a kidney-shaped hole.

As shown in fig. 8 and 10, the fourth driving assembly 160 includes a third motor 161, a third transmission case 162 and a first rack 163, an output shaft of the third motor 161 is disposed vertically downward, an output shaft of the third motor 161 is coaxially connected to a third transmission input shaft of the third transmission case 162, and the third transmission case 162 is a gear case. As shown in fig. 13 to 16, a third transmission output shaft of the third transmission box 162 is connected to the first mopping assembly 110 through the shaft rod 151 and the shaft sleeve 152, so that the rotation of the output shaft of the third motor 161 can drive the first mopping assembly 110 to rotate through the third transmission box 162, the shaft rod 151 and the shaft sleeve 152; wherein the shaft sleeve 152 is coupled to the first mopping assembly 110 after passing through the first moving hole 186 of the mopping support 180.

Specifically, the shaft 151 and the shaft sleeve 152 are connected as shown in fig. 13 to 16, the axial directions of the shaft 151 and the shaft sleeve 152 are both parallel to the vertical direction, and the upper end of the shaft 151 is coaxially and fixedly connected with the third transmission output shaft. The lower end of the shaft rod 151 is provided with a deformation groove 153, so that the lower end of the shaft rod 151 is positioned at two sides of the deformation groove 153 to form a first penetrating member 154 and a second penetrating member 155 respectively, a fifth driving arm 156 is arranged at one side of the first penetrating member 154, which is far away from the second penetrating member 155, and a second driving arm 157 is arranged at one side of the second penetrating member 155, which is far away from the first penetrating member 154. A connecting hole is formed in the upper end of the shaft sleeve 152, the connecting hole is a blind hole, a fifth transmission groove 158 and a second transmission groove 159 are respectively formed in two opposite sides of the inner wall of the connecting hole, and the length directions of the fifth transmission groove 158 and the second transmission groove 159 are parallel to the vertical direction; the lower end of the sleeve 152 is fixedly connected to the first mop assembly 110. The first penetrating member 154 and the second penetrating member 155 at the lower end of the shaft rod 151 penetrate downwards into the connecting hole of the shaft rod 151 (i.e. the shaft sleeve is sleeved on the shaft rod); after the first penetrating member 154 and the second penetrating member 155 penetrate the connecting hole of the shaft 151, as shown in fig. 16, the fifth transmission arm 156 of the first penetrating member 154 is located in the fifth transmission groove 158 of the connecting hole, and the fifth transmission arm 156 can be lifted and lowered in the fifth transmission groove 158; the second driving arm 157 of the second penetrating member 155 is located in the second driving groove 159 of the connecting hole, and the second driving arm 157 can be lifted up and down in the second driving groove 159. When the shaft 151 rotates, the driving arm of the shaft 151 contacts the inner wall of the driving groove of the shaft sleeve 152, so as to drive the shaft sleeve 152 and the first mopping assembly 110 to rotate.

As shown in fig. 16, in the present embodiment, the third driving assembly includes a driving spring 150 disposed along the vertical direction, the driving spring 150 is located in the connecting hole, the lower end of the driving spring 150 contacts with the first penetrating member 154 and the second penetrating member 155, and the lower end of the driving spring 150 contacts with the inner wall surface of the connecting hole; the first mop assembly 110 is vertically flush with the second mop assembly 120 as shown in fig. 15, with the drive spring 150 compressed by the first mop assembly 110.

As shown in fig. 10, the lower end of the third transmission box 162 is provided with a first sliding member 164 and a second sliding member 165, the first sliding member 164 is slidably connected to the first guide rail 182, and the second sliding member 165 is slidably connected to the second guide rail 183, so that the third transmission box 162 can slide on the first guide rail 182 and the second guide rail 183, thereby allowing the first mopping assembly 110 to move along the guiding direction of the first guide rail 182 and the second guide rail 183. As shown in fig. 8, the first rack 163 is fixedly connected to the third transmission case 162, and the first rack 163 is disposed parallel to the guide direction of the first guide rail 182.

As shown in fig. 8, the first driving assembly 130 includes a fifth motor 131, a fifth transmission case 132 and a first gear 133, the fifth transmission case 132 is fixedly installed on the mopping support 180, and the fifth transmission case 132 is a gear case. An output shaft of the fifth motor 131 is coaxially connected to a fifth transmission input shaft of the fifth transmission case 132, a fifth transmission output shaft of the fifth transmission case 132 is coaxially connected to the first gear 133, and the first gear 133 is engaged with the first rack 163. The rotation of the output shaft of the fifth motor 131 can drive the first gear 133 to rotate through the fifth transmission case 132, and then the first gear 133 is engaged with the first rack 163 to drive the fourth driving assembly 160 and the first floor mopping assembly 110 to move along the guiding direction of the first guiding rail 182 on the horizontal plane.

As shown in fig. 8 and 11, the fifth driving assembly 170 includes a fourth motor 171, a fourth transmission case 172 and a second rack 173, an output shaft of the fourth motor 171 is disposed vertically downward, the output shaft of the fourth motor 171 is coaxially connected with a fourth transmission input shaft of the fourth transmission case 172, and the fourth transmission case 172 is a gear case. As shown in fig. 13 and 14, the fourth transmission output shaft 176 of the fourth transmission case 172 passes through the second movement hole 187 of the mopping support 180 downward and is fixedly connected to the second mopping assembly 120, so that the second mopping assembly 120 can be driven to rotate by the rotation of the output shaft of the fourth motor 171 through the fourth transmission case 172. As shown in fig. 11, the lower end of the fourth transmission box 172 is provided with a third sliding member 174 and a fourth sliding member 175, the third sliding member 174 is slidably connected to the third guide rail 184, and the fourth sliding member 175 is slidably connected to the fourth guide rail 185, so that the fourth transmission box 172 can slide on the third guide rail 184 and the fourth guide rail 185, thereby allowing the second floor mopping assembly 120 to move along the guiding direction of the third guide rail 184 and the fourth guide rail 185. As shown in fig. 8, the second rack 173 is fixedly connected to the fourth gear box 172, and the second rack 173 is disposed parallel to the guide direction of the third guide rail 184.

As shown in fig. 8, the second driving assembly 140 includes a second motor 141, a second transmission case 142 and a second gear 143, the second transmission case 142 is fixedly installed on the mopping stand 180, and the second transmission case 142 is a gear case. The output shaft of the second motor 141 is coaxially connected to the second transmission input shaft of the second transmission case 142, the second transmission output shaft of the second transmission case 142 is coaxially connected to the second gear 143, and the second gear 143 is engaged with the second rack 173. The second gear 143 is driven to rotate by the rotation of the output shaft of the second motor 141 through the second transmission case 142, and then the fifth driving assembly 170 and the second mopping assembly 120 are driven to move along the guiding direction of the third guiding rail 184 on the horizontal plane by the engagement of the second gear 143 and the second rack 173.

The working principle of the cleaning robot in this embodiment is as follows:

when the cleaning robot is in a non-mopping state, as shown in fig. 3 and 19, the mopping mechanism 100 is located at the initial position, the first mopping assembly 110 and the second mopping assembly 120 are staggered, the projection of the first mopping assembly in the vertical direction partially overlaps the projection of the second mopping assembly in the vertical direction, and the third motor 161 and the fourth motor 171 are not operated.

The steps of the cleaning robot entering the mopping state from the non-mopping state are as follows:

s01, controlling the output shaft of the first motor 211 to rotate, the output shaft of the first motor 211 driving the cam to rotate, the cam driving the sheeting and mopping mechanism 100 to move downward after rotating, when the first motor 211 driving the cam to rotate 90 °, the sheeting and mopping mechanism 100 descending to the middle position as shown in fig. 19;

and S02, controlling the output shafts of the fifth motor 131 and the second motor 141 to rotate after the first motor 211 drives the cam to rotate for 90 degrees, and continuing to rotate the output shaft of the first motor 211 at the moment (the first motor 211 drives the cam to rotate for 180 degrees totally and then stops working). An output shaft of the fifth motor 131 drives the first gear 133 to rotate clockwise (in fig. 8) through the fifth transmission case 132, and drives the first mopping assembly 110 to move relative to the robot body 300 through the engagement between the first gear 133 and the first rack 163, so that the projection of the first mopping assembly 110 in the vertical direction deviates from the projection of the robot body in the vertical direction; an output shaft of the second motor 141 drives the second gear 143 to rotate counterclockwise (in fig. 8) through the second transmission case 142, and drives the fifth driving assembly 170 and the second mopping assembly 120 to move relative to the robot body 300 through the engagement between the second gear 143 and the second rack 173, so that the projection of the second mopping assembly 120 in the vertical direction deviates from the projection of the robot body in the vertical direction;

s03, controlling the fifth motor 131 and the second motor 141 to stop working after the fifth motor 131 and the second motor 141 work for a preset time, wherein the preset time may be 2S in this embodiment; at this time, the first mopping assembly 110 and the second mopping assembly 120 move to the position shown in fig. 2 relative to the robot body 300, and at this time, the first mopping assembly 110, the second mopping assembly 120, the fourth driving assembly 160 and the fifth driving assembly 170 move to the position shown in fig. 8 and 21 relative to the robot body 300; at the moment, the projection of the first mopping assembly along the vertical direction is not overlapped with the projection of the second mopping assembly along the vertical direction;

and S04, after the first motor 211 drives the cam to rotate for 180 degrees totally, the first motor 211 stops working, and the cam rotates to drive the tabletting and mopping mechanism 100 to move downwards to the lowest position. Before the floor mopping mechanism 100 descends, the first floor mopping assembly 110 is lower than the second floor mopping assembly 120, so that the first floor mopping assembly 110 contacts with the ground firstly during the descending process of the floor mopping mechanism 100, the first floor mopping assembly 110 contacts with the ground, the first floor mopping assembly 110 cannot move downwards any more, the first floor mopping assembly 110 presses the driving spring 150 to compress the driving spring 150, then the second floor mopping assembly 120 continues to move downwards, and the floor mopping mechanism 100 moves to the lowest position when the second floor mopping assembly 120 also contacts with the ground; the state of the cleaning robot at this time is as shown in fig. 1, fig. 2, fig. 8, fig. 15, fig. 16, and fig. 22;

s05, the third motor 161 drives the first floor mopping assembly 110 to rotate, the fourth motor 171 drives the second floor mopping assembly 120 to rotate, and the cleaning robot enters a floor mopping state.

The steps of the cleaning robot entering the non-mopping state from the mopping state are as follows:

s11, controlling the third motor 161 and the fourth motor 171 to stop working, so that the first mopping assembly 110 and the second mopping assembly 120 do not rotate any more, and at this time, the cleaning robot is as shown in fig. 22;

s12, the output shafts of the first motor 211, the fifth motor 131 and the second motor 141 are controlled to rotate (the rotation direction of the output shaft of the fifth motor 131 in step S12 is opposite to the rotation direction of the output shaft of the fifth motor 131 in step S02, and the rotation direction of the output shaft of the second motor 141 in step S12 is opposite to the rotation direction of the output shaft of the second motor 141 in step S02), and after the cam is driven to rotate by the first motor 211, each return spring pushes the tablet and floor dragging mechanism 100 to move upwards. An output shaft of the fifth motor 131 drives the first gear 133 to rotate counterclockwise (in fig. 12) through the fifth transmission case 132, and drives the first mopping assembly 110 to move relative to the robot body 300 through the engagement between the first gear 133 and the first rack 163, so that the projection of the first mopping assembly 110 in the vertical direction moves to the projection of the robot body in the vertical direction; an output shaft of the second motor 141 drives the second gear 143 to rotate clockwise (in fig. 12) through the second transmission case 142, and drives the fifth driving assembly 170 and the second mopping assembly 120 to move relative to the robot body 300 through the engagement between the second gear 143 and the second rack 173, so that the projection of the second mopping assembly 120 along the vertical direction moves to the projection of the robot body along the vertical direction;

s13, when the first motor 211 drives the cam to rotate 90 degrees, the return spring pushes the sheeting and mopping mechanism 100 to rise to the middle position as shown in FIG. 21; before the floor mopping mechanism 100 is lifted, the first floor mopping assembly 110 is vertically flush with the second floor mopping assembly 120, and the driving spring 150 is compressed by the first floor mopping assembly 110, so that the driving spring 150 which is originally compressed in the process of lifting the floor mopping mechanism 100 is gradually extended, and the extended driving spring 150 pushes the first floor mopping assembly 110 to descend, so that the first floor mopping assembly 110 can vertically move downwards relative to the second floor mopping assembly 120, so that the first floor mopping assembly 110 is vertically misaligned with the second floor mopping assembly 120 as shown in fig. 21, and at this time, the output shaft of the first motor 211 continues to rotate (the first motor 211 drives the cam to rotate by 180 degrees in total and then stops working);

s14, after the fifth motor 131 and the second motor 141 operate for a preset time, controlling the fifth motor 131 and the second motor 141 to stop operating, and at this time, the first floor mopping assembly 110 and the second floor mopping assembly 120 move to the positions shown in fig. 20 relative to the robot body 300, and the projection of the first floor mopping assembly in the vertical direction is partially overlapped with the projection of the second floor mopping assembly in the vertical direction;

s15, when the first motor 211 drives the cam to rotate 180 ° in total and then the first motor 211 stops working, the return spring pushes the sheeting and mopping mechanism 100 to rise to the initial position as shown in fig. 6, and the mopping mechanism 100 on the cleaning robot is shown in fig. 3 and 19.

As can be seen from comparing fig. 2 and 3, the floor space of the cleaning robot in fig. 3 is smaller than that of the cleaning robot in fig. 2, so that it is convenient for a user to store the cleaning robot.

Example 3

The cleaning robot in embodiment 3 of the present invention is improved on the basis of embodiment 2. Specifically, in the present embodiment, the first return spring 223, the second return spring 225, the third return spring 224, and the fourth return spring are different in position and connection relationship. Specifically, as shown in fig. 23, in the present embodiment, the first return spring 223, the second return spring 225, the third return spring 224, and the fourth return spring are tension springs; wherein, the first return spring 223 and the second return spring 225 are both arranged above the first pressing piece 221, the lower ends of the first return spring 223 and the second return spring 225 are both fixedly connected with the upper surface of the first pressing piece 221, and the upper ends of the first return spring 223 and the third return spring 224 are both fixedly connected with the robot body 300. The third return spring 224 and the fourth return spring are both arranged above the second pressing piece 222, the lower ends of the third return spring 224 and the fourth return spring are both fixedly connected with the upper surface of the second pressing piece 222, and the upper ends of the third return spring 224 and the fourth return spring are both fixedly connected with the robot body 300.

In this embodiment, when the first pressing plate 221, the second pressing plate 222 and the floor mopping mechanism 100 descend, the floor mopping mechanism 100 pulls each return spring to make each return spring generate elastic deformation, and in step S02, in order to control the output shaft of the first motor 211 to rotate, each return spring pulls the pressing plate and the floor mopping mechanism 100 to move upwards, and after the first motor 211 drives the cam to rotate 180 °, the return spring pushes the pressing plate and the floor mopping mechanism 100 to ascend to the initial position.

Example 3 the rest of the structure and the operation principle are the same as those of example 2.

Example 4

Embodiment 4 of the present invention discloses a cleaning robot including any one of embodiments 2 to 3. Meanwhile, the cleaning system in the embodiment can further comprise a cleaning base, and the cleaning robot and the cleaning base are matched for use, so that the functions of automatic cleaning and automatic mop cleaning can be realized. The cleaning base is prior art and will not be described herein.

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 utility model 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. The lifting mechanism comprises a descending driving assembly for driving the floor mopping mechanism to descend relative to the robot body, and is characterized by further comprising an elastic resetting piece, and when the floor mopping mechanism descends relative to the robot body, the elastic resetting piece is compressed/pulled by the floor mopping mechanism to generate elastic deformation.

2. The lifting mechanism according to claim 1, further comprising a first pressing plate, wherein the elastic return member comprises a first return spring, the first return spring is disposed in a vertical direction, the first return spring is disposed between the robot body and the first pressing plate, an upper end of the first return spring is in contact with the first pressing plate, and a lower end of the first return spring is in contact with the robot body;

3. The lift mechanism as claimed in claim 2, wherein the elastic return member further comprises a second return spring disposed in a vertical direction, the first return spring and the second return spring being respectively located at opposite ends of the first pressing plate;

4. The lifting mechanism according to claim 3, further comprising a second pressing plate, wherein the elastic return member further comprises a third return spring and a fourth return spring, the third return spring and the fourth return spring are both vertically disposed, the third return spring and the fourth return spring are respectively disposed at two opposite ends of the second pressing plate, the third return spring and the fourth return spring are both disposed between the robot body and the second pressing plate, upper ends of the third return spring and the fourth return spring are both in contact with the second pressing plate, and lower ends of the third return spring and the fourth return spring are both in contact with the robot body;

5. The lifting mechanism according to any one of claims 2 to 4, further comprising a plurality of guide posts disposed on the robot body, wherein the number of the guide posts matches the number of the return springs, and each return spring is sleeved on one of the guide posts.

6. The lift mechanism of claim 5, wherein the lowering drive assembly includes a first motor and a first cam, an output shaft of the first motor driving the first cam to rotate, the first cam contacting the first cam plate.

7. The lift mechanism of claim 6, wherein the lowering drive assembly further comprises a second cam, the output shaft of the first motor driving the second cam to rotate, the second cam contacting a second cam plate.

8. The lift mechanism as recited in claim 7 wherein the output shaft of the first motor is coupled to the first cam through a first gear box, the first gear box being a worm gear box.

9. A cleaning robot characterized in that it comprises a lifting mechanism according to any one of claims 1 to 8.

10. A cleaning system, characterized in that the cleaning system comprises a cleaning robot according to claim 9.