CN216147963U - Mop assembly and cleaning robot - Google Patents

Abstract

The application provides mop subassembly and cleaning machines people, the mop subassembly includes: the driving mechanism is connected with the driving device and receives driving force; the mop bracket can be drivingly connected with the driving mechanism; wherein the mop bracket is provided with a bottom surface for arranging a mop; the driving mechanism converts the driving force provided by the driving device into acting force which drives the mop support to do linear reciprocating motion in the plane. The mop assembly can realize reciprocating motion and has stronger mopping cleaning effect; in addition, in some concrete implementation schemes, the mop component and the cleaning robot have simple structure and good mop stress, and are also beneficial to achieving better cleaning effect.

Description

Mop assembly and cleaning robot

Technical Field

The application relates to the technical field of robots, in particular to a mop component and a cleaning robot.

Background

Currently, cleaning robots have replaced a portion of the manual cleaning task. For example, a household or commercial sweeping robot can have the capability of mopping the floor by configuring a water tank, a mop cloth and the like; or a floor mopping robot dedicated for mopping the floor.

However, the existing cleaning robot has a defect in cleaning capability of mopping the floor, can only carry out mopping in compliance with the traveling of the cleaning robot, and has insufficient cleaning degree for certain dirty parts.

Therefore, manufacturers of cleaning robots are demanding to solve the technical problem of obtaining a floor mopping structure with higher cleaning capability.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, a primary object of the present application is to provide a mop assembly and a cleaning robot to solve the problem of the prior art that the cleaning robot has a poor mopping capability.

To achieve the above and other related objects, a first aspect of the present application provides a mop assembly applied to a cleaning robot; the mop assembly comprises: the driving mechanism is connected with the driving device and receives driving force; the mop bracket can be drivingly connected with the driving mechanism; wherein the mop bracket is provided with a bottom surface for arranging a mop; the driving mechanism converts the driving force provided by the driving device into acting force which drives the mop support to do linear reciprocating motion in the plane.

In certain embodiments of the first aspect of the present application, the drive device is fixedly provided to the cleaning robot.

In certain embodiments of the first aspect of the present application, the drive mechanism is located above the mop holder when a mop of the mop holder is placed on a floor.

In certain embodiments of the first aspect of the present application, the drive force of the drive mechanism to the mop holder acts on the mop holder in a lateral, neutral position and in line with the direction of the linear reciprocating movement; wherein the lateral direction is orthogonal to the direction of the linear reciprocating motion.

In certain embodiments of the first aspect of the present application, the drive means comprises a rotating output shaft; the driving mechanism is combined with the output shaft so as to convert the rotation of the output shaft into acting force for driving the mop support to do the linear reciprocating motion.

In certain embodiments of the first aspect of the present application, the drive mechanism comprises: at least one of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a worm gear transmission mechanism, a lead screw transmission mechanism, a crank transmission mechanism and a cam transmission mechanism.

In certain embodiments of the first aspect of the present application, the drive mechanism comprises: one end of the driving part can be connected with the mop bracket in a relatively rotating way; the deflection piece is sleeved with the other end of the transmission piece in a relatively rotatable manner; the deflection piece is provided with a nesting part which is nested in the output shaft of the driving device so as to rotate along with the output shaft, and the shape of the deflection piece and/or the position of the nesting part enable the other end of the transmission piece to be pressed by the deflection piece when the deflection piece rotates to move along the circumferential direction so as to drive the mop support to do the linear reciprocating motion.

In certain embodiments of the first aspect of the present application, the deflector is non-circular in shape with a raised region; alternatively, the deflector is circular in shape and its nesting portion is: and a hole portion offset from the axis of the deflector, wherein the engaging portion is engaged with the output shaft in a manner of restricting relative rotation.

In certain embodiments of the first aspect of the present application, the direction of extension of the drive member, and the connection of the mop holder to the drive member, are located on a transverse mid-line of the mop holder; wherein the lateral direction is orthogonal to the direction of the linear reciprocating motion.

In certain embodiments of the first aspect of the present application, the drive member is connected to the mop holder by a push-pull mechanism; the push-pull mechanism comprises: and the pushing and pulling piece is fixedly connected with the mop bracket and is connected with one end of the transmission piece in a relatively rotatable way.

In certain embodiments of the first aspect of the present application, the push-pull member is provided to the cleaning robot to be relatively movable; or, the push-pull mechanism further comprises: the push-pull piece bracket is fixed to the cleaning robot and is connected with the push-pull piece in a relatively movable mode through a first movement mechanism; wherein, the direction of the relative motion between the push-pull piece and the cleaning robot or between the push-pull piece bracket and the push-pull piece is consistent with the direction of the linear reciprocating motion of the mop bracket.

In certain embodiments of the first aspect of the present application, the one end of the drive member and the mop holder are connected by a hinge arrangement.

In certain embodiments of the first aspect of the present application, the spindle structure comprises: the first shaft part and the second shaft part are respectively arranged on the transmission part and the mop bracket, and shaft holes respectively arranged on the first shaft part and the second shaft part are aligned and have consistent sizes; the first connecting shaft penetrates through the shaft holes of the first shaft part and the second shaft part; and the first limiting component is used for limiting the first connecting shaft to be separated from the shaft holes of the first shaft part and the second shaft part.

In certain embodiments of the first aspect of the present application, the first limiting component comprises: and the pair of first blocking pieces are respectively clamped at the parts of the first connecting shaft, which are exposed out of the shaft hole of the first shaft part and the shaft hole of the second shaft part, and are used for abutting against the outer wall surface of the shaft hole of the first shaft part or the shaft hole of the second shaft part to limit the first connecting shaft.

In certain embodiments of the first aspect of the present application, the first motion mechanism comprises: the first forming part and the second forming part are respectively arranged on the push-pull piece and the push-pull piece bracket or the cleaning robot, and penetrating parts are respectively arranged in the first forming part and the second forming part and are mutually communicated to form a first guide space; the first guide piece is arranged in the first guide space in a penetrating way, and the direction of the relative movement is consistent with the direction of the linear reciprocating movement of the mop support; and the second limiting component limits the first guide part from being separated from the first guide space.

In certain embodiments of the first aspect of the present application, the second limiting component comprises: and the pair of second stopping pieces are respectively combined with the first guide piece and exposed out of the two sides of the first guide space, and are used for abutting against the outer wall surfaces of the two ends of the first guide space in the relative movement process of the first guide piece and the first guide space so as to limit the first guide piece from being separated from the first guide space.

In certain embodiments of the first aspect of the present application, the mop support is further provided with at least one dampening member positioned in the movable direction of the push-pull member.

In certain embodiments of the first aspect of the present application, the mop holder is provided with one or more attachment portions; each connecting part is connected to the cleaning robot in a relatively movable manner; wherein the relative motion is constrained to coincide with the linear reciprocating motion.

In certain embodiments of the first aspect of the present application, the connecting portion is connected to the cleaning robot through a driven mechanism having at least two mechanism portions that are fitted to each other to be able to perform the relative movement; alternatively, the connecting portion and the cleaning robot may have at least two mechanism portions that cooperate with each other to perform the relative movement.

In certain embodiments of the first aspect of the present application, the connecting portion is for relative rotatable connection with the follower mechanism, and the follower mechanism is for positional connection with the cleaning robot.

In certain embodiments of the first aspect of the present application, the drive force of the drive mechanism to the mop holder acts on the mop holder in a lateral, neutral position and in line with the direction of the linear reciprocating movement; wherein the transverse direction is orthogonal to the direction of the linear reciprocating motion; the number of the connecting parts is at least two, and the connecting parts are arranged on two sides of the driving mechanism along the transverse symmetry direction and are respectively connected to the cleaning robot.

To achieve the above and other related objects, a second aspect of the present application provides a cleaning robot comprising: a cleaning robot having an attachment position; a swab assembly according to any of the first aspects, being provided in the assembly position and being detachably connected to the cleaning robot.

In certain embodiments of the second aspect of the present application, the cleaning robot comprises: at least one follower mechanism comprising: the first combining piece and the second combining piece which can be combined in a relative motion way are respectively connected with at least one connecting part arranged on the mop bracket and the cleaning robot in a positioning way; wherein, the relative motion direction between the first combining piece and the second combining piece is consistent with the linear reciprocating motion direction of the mop bracket.

In certain embodiments of the second aspect of the present application, the first coupling member and the connecting portion are relatively rotatably nested.

In certain embodiments of the second aspect of the present application, one of the first and second couplers comprises: a second guide space, the other including: and a second guide member coupled to the second guide space to be movable relative to the second guide space.

In certain embodiments of the second aspect of the present application, the second coupling comprises: a housing having a receiving space for receiving a first coupling member formed therein, and having a guide groove formed in a wall surface thereof to expose the first coupling member, so that the first coupling member is coupled to the coupling portion and restricts relative movement of the coupling portion thereof along the guide groove, the guide groove being configured such that the restricted relative movement thereof coincides with the linear reciprocating movement; the shell is provided with guide holes corresponding to the positions on the wall surfaces of the two opposite ends and communicated with the accommodating space to form a second guide space so that a second guide piece for positioning and connecting the first combining piece penetrates through the second guide space; wherein the accommodating space is configured to limit the first combining piece therein.

In certain embodiments of the second aspect of the present application, the housing comprises a pair of covers in combination with each other.

In some embodiments of the second aspect of the present application, an elastic member that deforms along with the relative movement between the first and second coupling members is disposed between the first and second coupling members, so that the relative movement between the first and second coupling members can be recovered.

In some embodiments of the second aspect of the present application, the elastic member is disposed in the housing of the second combining member, and two ends of the elastic member are respectively pressed against the inner wall of the housing and the first combining member.

In certain embodiments of the second aspect of the present application, the cleaning robot comprises: a liquid tank accommodating space for fixedly arranging a liquid washing tank is positioned above the mop component; the liquid outlet hole is formed in the liquid washing box;

the washing liquid box is provided with an installation space for fixedly arranging the driven mechanism so as to realize the fixed connection of the driven mechanism and the cleaning robot; or, the cleaning robot is provided with an installation space for fixedly arranging the driven mechanism.

In certain embodiments of the second aspect of the present application, the wash tank is removably positioned in the tank receiving space; and/or the driven mechanism is fixed in the installation space in any one or more modes of clamping, screw locking, bonding and welding.

As described above, the mop assembly and the cleaning robot according to the present application include: the driving mechanism is connected with the driving device and receives driving force; the mop bracket can be drivingly connected with the driving mechanism; wherein the mop bracket is provided with a bottom surface for arranging a mop; the driving mechanism converts the driving force provided by the driving device into acting force which drives the mop support to do linear reciprocating motion in the plane. The mop assembly can realize reciprocating motion and has stronger mopping cleaning effect; in addition, in some concrete implementation schemes, the mop component and the cleaning robot have simple structure and good mop stress, and are also beneficial to achieving better cleaning effect.

Drawings

Fig. 1 shows a schematic view of the combined structure of the mop assembly in the embodiment of the present application.

Figure 2 shows a schematic exploded view of the mop assembly in an embodiment of the application.

Fig. 3A to 3C are schematic views showing the process of the driving mechanism driving the mop support to move in the embodiment of the present application.

Fig. 4 is a schematic structural diagram of a deflecting member in the embodiment of the present application.

FIG. 5 is a schematic view of the transmission position in the perspective view of FIG. 1.

Fig. 6 shows an exploded view of the mop assembly and the wash tank in accordance with an embodiment of the present invention.

Fig. 7A and 7B are schematic structural views showing a complete disassembly and a partial disassembly of the driven structure in the embodiment of the present application.

Fig. 8 shows a schematic view of the combined structure of the mop assembly and the washing liquid tank in the embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application is provided for illustrative purposes, and other advantages and capabilities of the present application will become apparent to those skilled in the art from the present disclosure.

In the following description, reference is made to the accompanying drawings that describe several embodiments of the application. It is to be understood that other embodiments may be utilized and that changes in the module or unit composition, electrical, and operation may be made without departing from the spirit and scope of the present disclosure. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Although the terms first, second, etc. may be used herein to describe various elements, information, or parameters in some instances, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another element or parameter. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the various described embodiments. Both the first and second elements are described as one element, but they are not the same element unless the context clearly dictates otherwise. Depending on context, for example, the word "if" as used herein may be interpreted as "at … …" or "at … …".

Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

Those of ordinary skill in the art will appreciate that the various illustrative modules and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In view of the disadvantages of the floor mopping solutions of the current cleaning robots, the embodiments of the present application provide an improved floor mopping assembly and a cleaning robot applied thereto to solve the problems of the prior art.

Referring to fig. 1, there is shown a schematic view of the assembly of the mop assembly of the embodiment of the present application.

The mop assembly comprises: a drive mechanism 102 and a mop holder 101. In fig. 1, the driving mechanism 102 is connected to a driving device 103 to receive a driving force; the mop holder 101 is provided with a mop 104 on the bottom surface thereof, and the driving mechanism 102 converts the received driving force into a force acting on the mop holder 101 to drive the mop holder 101 to reciprocate linearly in the direction of the double arrow a shown in the drawing.

Illustratively, the driving device 103 may be implemented by a motor (e.g., a stepping motor, a servo motor, etc.), a driver of a steering engine or other rotary power mechanism, and the like.

It should be noted that the mop assembly can be detachably mounted as a separate component in a reserved position of the cleaning robot; the drive means 103 may be part of the mop assembly and be mounted to the cleaning robot along with the mop assembly, or the drive means 103 may be a part of the mop assembly and be provided in the cleaning robot to be connected to the drive mechanism 102 of the mop assembly after the mop assembly is loaded into the cleaning robot.

In some examples, the driving device 103 may also be fixedly disposed in the cleaning robot, for example, a certain shell inner portion fixedly disposed inside the cleaning robot through a structure such as a snap fit, a limit, or the like, such as a middle-sweeping bracket (i.e., a bracket connected to the cleaning roller) or other brackets of the sweeping robot.

Referring also to fig. 2, there is shown an exploded view of the mop assembly of the embodiment of the present application.

In fig. 2, the mop 104 is shaped to match the bottom surface of the mop holder 101. Illustratively, the rear portion of the mop holder 101 is curved only to fit the curved shape of the rear portion on the outer shape of the cleaning robot, not to limit the shape of the mop holder 101. In other implementations, the mop holder 101 may be square, trapezoidal, triangular, etc. in other shapes.

Illustratively, the drive mechanism 102 is located above the mop support 101, is connected to the mop support 101, and when receiving the driving force of the driving device 103, the drive mechanism 102 will displace and apply a force to the mop support 101, and is limited to translating back and forth on the ground due to the mop support 101 being located below the drive mechanism 102 and resting on the ground; in the process, the force of the mop holder 101 on the mop holder 101 can be divided into a component on the arrow a to drive the mop holder 101 to reciprocate along the arrow a.

Illustratively, the drive device 103 includes a rotating output shaft; for example, the driving device 103 may be a motor and the output shaft is a rotating shaft of the motor; alternatively, the output shaft may be another shaft body coupled to the motor rotation shaft; the driving mechanism 102 is coupled to the output shaft to convert the rotation of the output shaft into an acting force for driving the mop holder 101 to perform the linear reciprocating motion. In a possible implementation manner, to realize the conversion from the motor rotation motion to the linear reciprocating motion, the driving mechanism 102 may include: at least one of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a worm gear transmission mechanism, a lead screw transmission mechanism, a crank transmission mechanism and a cam transmission mechanism.

In fig. 2, the present application provides one implementation of an implementation of the drive mechanism 102. As shown in fig. 2, the driving mechanism 102 includes: a transmission member 121 and a deflection member 122.

The transmission member 121 may be, for example, a rod, a plate, or the like. The transmission member 121 may be made of a rigid material, such as metal, plastic, etc. One end of the transmission member 121 is relatively rotatably connected to the mop holder 101. In fig. 2, the end of the transmission member 121 is connected to the mop holder 101 by a rotation shaft structure, so that the rotation of the end of the transmission member 121 around an axis is realized.

Specifically, the pivot structure includes: a first axial portion 1241 and a second axial portion 1211 provided on the driving member 121 and the mop holder 101, respectively, a first connecting shaft 126, and a first restraining assembly. The first shaft portion 1241 and the second shaft portion 1211 have shaft holes aligned with each other and have the same size.

The first connecting shaft 126 passes through the shaft holes of the first shaft 1241 and the second shaft 1211, so that the transmission member 121 can rotate around the first connecting shaft 126. The cross-sections of the first connecting shaft 126 and the shaft holes of the first shaft 1241 and the second shaft 1211 are circular with matching shapes.

The first limiting component is used for limiting the first connecting shaft 126 from separating from the shaft holes of the first shaft portion 1241 and the second shaft portion 1211. Referring also to fig. 6, the first limiting element includes: a pair of first stoppers 1261 respectively engaged with the first connecting shaft 126 and exposed outside the shaft holes of the first shaft 1241 and the second shaft 1211, for abutting against the outer wall surface of the shaft hole of the first shaft 1241 or the shaft hole of the second shaft 1211 to limit the first connecting shaft 126.

For example, the first stopper 1261 may be a snap spring, which is clamped to two portions of the first connecting shaft 126, which are exposed from the first shaft 1241 and the second shaft 1211, by using elastic forces thereof, and the first stopper 1261 protrudes from a side surface of the first connecting shaft 126, and is stopped by a wall surface outside the shaft holes of the first shaft 1241 and the second shaft 1211 when the first connecting shaft 126 moves relative to the shaft holes, so as to limit the movement of the first connecting shaft 126 relative to the shaft holes and prevent the first connecting shaft 126 from coming out of the shaft holes of the first shaft 1241 and the second shaft 1211.

It should be noted that the first stopper 1261 in the form of a circlip is just one implementation form, and in other embodiments, it may be in the form of a retaining wall, for example. For example, a pair of protrusions protruding from any one or more of the push-pull member 124, the push-pull member bracket 125 and the mop bracket 101, and having a stopper wall for stopping the first connecting shaft 126 from coming out.

The deflecting member 122 is rotatably engaged with the other end of the transmission member 121, for example, the other end of the transmission member 121 is a circular ring and is engaged with the deflecting member 122, and there may be a contact between the two at a part of the surfaces, and the contact does not limit the rotation of the deflecting member in the circular ring. For example, since the driving device 103 may be a rotary power mechanism such as a motor, the deflecting member 122 further has a sleeve portion that is sleeved on the output shaft of the driving device 103 to be rotatable with the output shaft.

The principle of the shape of the deflector 122 and/or the location of the engagement 1221 in certain implementations such that the other end of the drive member 121 is urged by the deflector when rotated, to move circumferentially to translate the rotational movement of the drive means 103 to the drive mechanism 102 which forms the linear reciprocating movement of the mop holder 101, can be explained in connection with fig. 2 and 3A-3C.

The driving mechanism 102 is rotatably engaged with the other end of the transmission member 121, and can realize the circumferential movement of the other end of the transmission member 121, so as to form a displacement component on the linear reciprocating movement.

When the output shaft of the driving device 103 rotates clockwise to change the driving mechanism 102 from the state of fig. 3A to the state of fig. 3B, the other end of the transmission member 121 moves from fig. 3A to the position of fig. 3B, in the process, as can be found from the reference point E of any predetermined position on the other end of the transmission member 121 in the figure, the distance (indicated simply as the double-headed arrow in fig. 3A and 3B) between the output shaft and the transmission member becomes smaller as the deflecting member 122 rotates to the side where the edge of the deflecting member 122 is closer to the nesting portion toward the point E, and as the position of the output shaft is unchanged, the transmission member 121 indicating rigidity actually displaces leftwards in the figure, that is, the mop holder 101 is driven to move leftwards and transversely; further, continued clockwise rotation of the output shaft of the drive means 103 causes the drive member to continue to move around the deflector member to bring the mop holder 101 laterally to the right and back to its original position, as shown in figure 3C.

In some examples, such as shown in fig. 4, the deflector 122 may be circular in shape and its registration 1221 is: the engaging portion 1221 is engaged with the output shaft in a manner of restricting relative rotation therebetween, in a hole portion offset from the axial center of the deflector 122. In a specific implementation, the fitting portion 1221 may be a non-circular hole portion that is matched with the output shaft 141 of the driving device 104 in shape, for example, the non-circular hole portion may be formed by cutting out a portion or adding a portion from a circular hole, or may also be a hole portion with a cross section in a shape of a square, a trapezoid, a triangle, or the like, which is not limited to the shape shown in fig. 4, as long as the shape is not a circular hole and the output shaft cannot drive the deflecting component 122. Alternatively, in other possible implementations, the deflecting member 122 and the output shaft of the driving device may be connected by another limiting structure, which can limit the transmission of the deflecting member 122 along with the rotation of the output shaft, for example, the engaging portion and the output shaft are fixedly connected by means of snap-fit, adhesion, welding, etc. to limit the relative rotation between them, or only a little relative rotation between them, and may also achieve the function.

In the embodiment of fig. 2, the other end of the transmission member 121 is in the shape of a circular ring, and the rotation center is the center of the circular ring, and the deflecting member 122 may be rotatably disposed in a space in the circular ring, and the relative positions of the output shaft and the deflecting member 122 may be positioned by, for example, engaging a catch (e.g., a snap spring) of the output shaft.

In other examples, the deflecting member may be a non-circular shape having a protrusion, i.e., a "cam", which is fixedly coupled to the other end of the driving member 121 and rotates with the rotation of the output shaft, and the other end of the driving member 121 performs a circumferential movement about an axis during the rotation thereof due to the non-circular nature of the cam.

Illustratively, a bearing 123 and the like can be fixedly arranged between the deflecting piece 122 and the circular ring, so that the mechanical loss of parts is reduced, and the service life of a product is prolonged.

For example, to limit the output shaft from being separated from the socket 1221, the cleaning robot may be provided with a corresponding limit structure inside, or may be positioned by using a stopper or the like, such as the aforementioned stopper.

Illustratively, in order to realize that the driving mechanism 102 drives the mop bracket 101 with minimum force, the driving force of the driving mechanism 102 on the mop bracket 101 acts on the horizontal middle line position of the mop bracket 101 and is consistent with the direction of the linear reciprocating motion, namely parallel to the direction of the linear reciprocating motion (as indicated by arrow A in fig. 1); the transverse direction is orthogonal to the direction of the linear reciprocating motion.

For example, reference may be made to fig. 2, which is the length of the mop holder 101 in the figure. The extending direction of the transmission piece 121 and the connection position of the mop bracket 101 and the transmission piece 121 are positioned on the transverse middle line of the mop bracket 101; wherein the lateral direction is orthogonal to the direction of the linear reciprocating motion. When the drive mechanism 102 receives the driving force of the drive device 103, the drive member 121 moves under the action of the deflecting element 122 in the process shown in fig. 3A to 3C, and one end of the drive member is rotatably connected between the upper mop holder 101 and the lower mop holder 101, so that the linear reciprocating movement is carried out only when the mop holder 101 is subjected to the force of the drive member 121 and only along the plane (e.g., floor surface, horizontal plane) in which the mop holder 101 is located.

Illustratively, as shown in fig. 2, the driving member 121 is coupled to the mop holder 101 by a push-pull mechanism in order to restrain the mop holder 101 from being displaced or the like during the linear reciprocating motion.

In fig. 2, the push-pull mechanism includes: and a push-pull member 124 fixedly connected with the mop support 101 and rotatably connected with one end of the transmission member 121.

Illustratively, the push-pull member 124 is fixedly connected to the mop holder 101 and rotatably connected to one end of the driving member 121. In the example of fig. 2, the push-pull member 124 may be a plate member that is secured to the upper surface of the mop holder 101 by, for example, a screw, welding, adhesive, or integral molding.

Illustratively, the pushing and pulling member 124 and the transmission member 121 may be connected by a rotating shaft structure. As illustrated in the drawings, the first shaft portion 1241 may be in the form of a pair of spaced apart ears, and the pair of ears are provided with two first shaft holes oppositely disposed; one end of the transmission member 121 is a second shaft portion 1211 with a second shaft hole, which is clamped between the pair of ears, so that the second shaft hole is aligned with the two first shaft holes, and then the first connecting shaft 127 penetrates through the two first shaft holes and is limited by the first limiting component.

For example, the push-pull member 124 may be provided to the cleaning robot (not shown) to move relatively. The push-pull member 124 may form a guiding structure (e.g., a structure that can move relatively in a predetermined direction, such as a combination of a sliding block and a sliding rail, etc.) cooperating with a housing portion in the cleaning robot, such as a middle-sweeping bracket (i.e., a bracket connected to the cleaning roller) or other brackets of the sweeping robot, so that the push-pull member 124 can be disposed on the cleaning robot in a relatively movable manner. Wherein the direction of the relative movement between the push-pull member 124 and the cleaning robot coincides with the direction of the linear reciprocating movement of the mop holder 101.

Alternatively, the push-pull mechanism may also have other components to indirectly connect the push-pull member 124 to the cleaning robot to achieve the relative movement.

For example, the push-pull mechanism further comprises a push-pull bracket 125, and the push-pull bracket 125 is fixed to the cleaning robot and is connected with the push-pull member 124 in a relatively movable manner through a first moving mechanism. Wherein the direction of the relative movement between the push-pull member holder 125 and the push-pull member 124 coincides with the direction of the linear reciprocating movement of the mop holder 101.

The push-pull member bracket 125 is fixed to the cleaning robot and is connected with the push-pull member 124 in a relatively movable manner through a first movement mechanism; wherein the direction of the relative movement between the push-pull member 124 and the cleaning robot or between the push-pull member holder 125 and the push-pull member 124 coincides with the direction of the linear reciprocating movement of the mop holder 101.

Illustratively, the push-pull member bracket 125 may be embodied as a rigid unitary body, such as a plate member or the like, to limit the movement of the first movement mechanism.

Illustratively, the first motion mechanism comprises: a first forming part 1242 and a second forming part 1251, a first guide 127, and a second restricting member respectively provided to the push-pull member 124 and the push-pull member bracket 125 or the cleaning robot.

The first forming part 1242 and the second forming part 1251 have penetrating parts 12421 and 12511 therein, respectively, and communicate with each other to form a first guide space; the first guide 127 is inserted into the first guide space, and the direction of the relative movement is consistent with the direction of the linear reciprocating movement of the mop support 101; a second restricting member restricting the first guide 127 from being separated from the first guide space.

Illustratively, in fig. 2, assuming that the plane in which the mop holder 101 is located is a reference plane, and the lengthwise direction of the mop holder 101 in the reference plane is a transverse direction, and the direction orthogonal to the transverse direction is a longitudinal direction, the first formation 1242 and the second formation 1251 are represented by one or more strip-shaped segments that cooperate with each other, in the example of fig. 2, the first formation 1242 is represented by a pair of first strip-shaped segments symmetrically located on both sides of the push-pull member 124 in the transverse direction, and the second formation 1251 may be represented by two sets of second strip-shaped segments spaced apart in the transverse direction on the push-pull member holder 125, the two second strip-shaped segments in each set being spaced apart in the longitudinal direction, and the spacing being used to join a first strip-shaped segment.

Referring also to fig. 6, each of the first and second strip segments has a perforation 12421, 12511, i.e., a perforation or a slot, as illustrated in fig. 6. The penetrating portions 12421 and 12511 of the first and second bar-shaped sections correspond to each other in position to form the first guide space, and after the first guide member 127 passes through the first guide space, the first guide member 127 can perform a predetermined guiding movement with respect to the first guide space. The first guide member 127 has a cross section having a shape and size that can fit into the first guide space, for example, both of a cylindrical shape and the like.

Illustratively, the second restraining component includes: a pair of second stoppers 1271 respectively coupled to portions of the first guide 127 exposed outside both ends of the first guide space, for abutting against outer wall surfaces of both ends of the first guide space when the first guide 127 moves relative to the first guide space, so as to restrict the first guide 127 from being separated from the first guide space. Specifically, the pair of second stoppers 1271 may also be implemented as snap springs.

It should be noted that the second stop 1271 in the form of a circlip is just one implementation form, and in other embodiments, it may be in the form of a stop wall, for example. For example, a pair of protrusions protruding from any one or more of the push-pull member 124, the push-pull member bracket 125 and the mop bracket 101, and having a blocking wall for blocking the first guide 127 from being removed.

In some implementations, the pair of second stoppers 1271 may block the first guide 127 in the first guide space and the first bar-shaped segment may move relative to the first guide 127 through the penetration portion 12421, and the second bar-shaped segment on both sides of the first bar-shaped segment has a gap with the first bar-shaped segment for the movement. Alternatively, in some implementations, the pair of second stoppers 1271 may not be completely fastened to the first guide 127, so that the first guide 127 can move with a certain amount of space relative to the first guide space, which is not limited to the above.

In other embodiments, the implementation of the first movement mechanism may be changed, for example, the arrangement positions of the second forming part 1251 and the first forming part 1242 may be interchanged; and/or, the number of each set of second bar segments in the second forming portion 1251 is not necessarily two, and may be one, and is not limited to the above embodiment.

In some embodiments, the mop holder 101 is further provided with at least one shock absorbing member 106 positioned in the movable direction of the push-pull member 124. As illustrated in fig. 1 and 2, the shock absorbing member 106 is fixedly disposed on the upper surface of the mop holder 101, and has, for example, a strip shape; the shock absorbing member 106 is made of an elastic material, such as rubber. The shock absorbing member 106 is located on the rearward side of the push-pull member 124 for absorbing the impact of the push-pull member 124 from the push-pull member bracket 125.

In fig. 2 and 6, since the push-pull member holder 125 is located above the push-pull member 124 with a space therebetween, the end of the driving member 121 connected to the mop holder 101 is located below the push-pull member holder 125.

Optionally, in the embodiments of fig. 1, 2, 5 and 6, the mop holder 101 is provided with one or more connections 105; each connecting portion 105 is connected to the cleaning robot with relative movement; wherein the relative motion is constrained to coincide with the linear reciprocating motion.

In a further embodiment, the connecting portion 105 may be connected to the cleaning robot by a follower mechanism 301 having at least two mechanism parts cooperating to be able to perform the relative movement; alternatively, the connecting portion 105 and the cleaning robot each have at least two mechanism portions that cooperate with each other to perform the relative movement.

It is understood that the relative movement of the two mechanism portions of the follower mechanism 301 corresponds to the linear reciprocating movement, which means that the two mechanism portions are structurally combined to restrict the relative movement to correspond to the linear reciprocating movement, for example, a sliding slot or a sliding rail provided in one mechanism portion and a sliding block provided in the other mechanism portion are combined to restrict the sliding block to slide in the sliding slot or on the sliding rail. Thereby, the relative movement between the two mechanism portions in the follower mechanism 301 is constrained to coincide with the linear reciprocating movement. In a possible implementation, the disengagement of the two mechanism parts may be prevented by some limiting structure, such as the provision of a catch, a snap fit between the two mechanism parts, etc.

As shown in fig. 6, there is shown an exploded structural view of the mop assembly attached to the cleaning robot in the embodiment of the present application.

Illustratively, in order to accommodate relative movement between the drive member 121 and the mop carrier 101, i.e., if one end of the drive member 121 is rotatably connected to the mop carrier 101, the drive member 121 is driven to displace in the linear reciprocating direction; in fig. 6, the connection part 105 of the mop holder 101 can be rotatably connected with the follower 301, the follower 301 is connected with the cleaning robot in a positioning way, and the two mechanism parts of the follower 301 can realize relative movement in the same linear reciprocating direction.

Illustratively, when the driving force of the driving mechanism 102 to the mop holder 101 acts on the position of the center line of the mop holder 101 in the lateral direction and coincides with the direction of the linear reciprocating motion, at least two of the connecting portions 105 may be symmetrically provided on both sides of the driving mechanism 102 in the lateral direction for connecting to the cleaning robot, respectively.

It will be appreciated that the drive to the mop holder 101 is on the centre line and the follower mechanisms 301 on either side of the centre line constrain the mop holder 101 to the linear reciprocating movement in balance with each other without the problems of deflection and deflection.

Please refer to fig. 7A and 7B to illustrate a specific structure of the follower 301. Wherein fig. 7A is shown as a fully exploded structural schematic of the driven structure. Fig. 7B shows a partially exploded view of the driven structure.

In this example, two mechanism portions in the follower mechanism 301 are respectively realized as: a first coupling member and a second coupling member coupled to be relatively movable.

The first coupling member is connected to at least one connection part 105 provided at the mop holder 101, and may be a structure rotatably connected as shown, that is, for example, the first coupling member has a shaft hole to be relatively rotatably engaged with a shaft part of the connection part 105. Further optionally, the first coupling member comprises a connecting bracket 313 having a recess 3132, a bearing (e.g., the recess 3132 is circular matching with the shape and size of the bearing) can be positioned in the recess 3132, and an axial hole is formed in the middle of the bearing to couple with the shaft of the connecting portion 105; alternatively, in other implementations, the connection bracket 313 may directly form a shaft hole to be coupled with the shaft portion of the connection part 105.

For example, the second engaging member may be connected to the cleaning robot in a positioning manner, for example, the second engaging member may be connected to a housing, an internal bracket, or the like of the cleaning robot by means of a snap fit, a screw lock, a pivot, an adhesive, or the like.

The second coupler has a housing, which in the illustrated example includes a pair of cover bodies 311, 312, e.g., an upper cover 311 and a lower cover 312; in other examples, the housing may have other structures, such as three or more parts, and is not limited to the illustration. The housing is formed with a receiving space for receiving the first coupling member therein, and a guide groove 3121 exposing the first coupling member is formed on a wall surface for the first coupling member to be connected to the connecting portion 105 and limiting the relative movement of the connecting portion 105 thereof along the guide groove 3121, and the guide groove 3121 is provided such that the limited relative movement thereof coincides with the linear reciprocating movement. As can be seen from fig. 7B, after the connecting bracket 313 is combined with the bearing, the position of the shaft hole thereof is exposed corresponding to the guide groove 3121 for connecting with the shaft part on the connecting part 105.

The casing is provided with guide holes corresponding to the positions on the wall surfaces of the two opposite ends, and the guide holes are communicated with the accommodating space to form a second guide space so as to be penetrated by a second guide piece 314 connected with the first combining piece in a positioning way, namely, the second guide piece 314 passes through one guide hole and the accommodating space and then passes through the other guide hole, so that the movement direction of the second guide piece is limited by the pair of guide holes; for example, the pair of guide holes are provided in a direction in accordance with the linear reciprocating motion (i.e., parallel to the direction of the linear reciprocating motion, for example), the second guide 314 is restricted from moving in a direction in accordance with the linear reciprocating motion. In fig. 7B, after the pair of covers 311 and 312 are combined, the covers are joined together with the corresponding guide hole portions to form a guide hole. Exemplarily, two guide hole portions 3111, 3122 for correspondingly splicing into one guide hole, or two guide hole portions for splicing into another guide hole, i.e., guide hole portions not shown in the drawings on the other side on the guide hole portions 3123 and 311, are illustrated in fig. 7A; wherein each pilot hole portion may be a half-hole, or a corresponding pair of pilot hole portions may be non-half-hole structures that can be spliced to form a complete pilot hole, such as 1/4 partial holes and 3/4 partial holes, etc.); the second guiding element 314 may be a cylinder, a shaft, a plate, etc., and is shown as a cylinder in the drawings, but not limited thereto. The connecting bracket 313 is formed with a guide portion (e.g., 3131 in fig. 7A, which may be a through hole or a groove in part) corresponding to the shaft body. It will be appreciated that the second guide member 314 can perform a direction corresponding to the linear reciprocating motion in the second guide space (i.e., formed by the guide hole and the receiving space) and the receiving space is configured to limit the first coupling member therein, for example, in the illustrated example, the height of the guide groove 3121 is set to be narrower than the height of the connecting bracket 313, so that the adjacent wall surface thereof blocks the connecting bracket 313 of the first coupling member from being separated from the receiving space, so that the connecting bracket 313 moves in the receiving space and is limited and prevented from being separated, and in the process, the connecting portion 105 connected (which can be rotatably connected) with the connecting bracket 313 moves along the guide groove 3121, thereby achieving a driven motion following the mop holder 101.

Illustratively, the second guide 314 may be secured in the guide 3131, e.g., by a mating threaded locating engagement; alternatively, the second guiding element 314 may be slidably disposed in the guiding portion 3131. In the drawing, the concave portion 3132 is provided on one side surface of the connection bracket 313, and the guide portion 3131 is formed on the back surface thereof, thereby achieving a function and efficiently utilizing a space.

An elastic member 315, which deforms with the relative movement of the first and second coupling members, is disposed between the first and second coupling members, so that the relative movement between the first and second coupling members can be recovered. In the example shown in fig. 7B, the elastic member 315 may be, for example, a spring, which is sleeved outside the second guide 314, and has one end abutting against the connecting bracket 313 and the other end abutting against the inner wall of the housing; it is understood that when the connection bracket 313 moves to the opposite side to compress the elastic member 315, the elastic member 315 is restored to move by the restoring force of the elastic member 315.

In some examples, such as shown in fig. 6, the cleaning robot includes: a liquid tank accommodating space for fixedly arranging the liquid tank 201 is positioned above the mop assembly. The washing liquid tank 201 can be provided with a liquid outlet hole, which can discharge liquid and lead the liquid to the mop 104 below through a channel, a pipeline and the like; the opening and closing of the liquid hole of the washing liquid tank 201 may be electrically controlled, and the opening and closing may be controlled by draining the liquid when mopping the floor, or the like, which is not shown in fig. 6. In some examples, the wash tank 201 may be filled with a washing liquid for mopping the floor, such as water, detergent, or a mixture thereof; in some examples, the cleaning substance in the tank 201 may also be in a solid or gaseous state, and liquefy to a cleaning liquid after leaving the environment of the tank 201.

As shown in fig. 6, the washing tank 201 has installation spaces 211 for fixedly installing the driven mechanisms 301, the number and the positions of the installation spaces 211 correspond to those of the driven mechanisms 301, and each driven mechanism 301 is upwardly inserted into the corresponding installation space 211, so that the guide groove is positioned outside the installation space 211 to be connected with the connecting portion 105.

In some examples, the driven mechanism 301 may be fixed to the installation space 211 by a screw-locking manner, so as to achieve a fixed connection between the driven mechanism 301 and the cleaning robot. For example, a screw hole is provided in the installation space 211, a through hole corresponding to the position is provided on the housing of the driven mechanism 301, and a screw member (such as a screw) can be screwed into the screw hole through the through hole; in some examples, the follower 301 may also be fixed in the wash tank 201 by, for example, adhesive bonding.

An installation space corresponding to the wash tank 201 may be provided in the cleaning robot. In some embodiments, the washing liquid tank 201 is detachably positioned in the cleaning robot, for example, the cleaning robot is connected with the washing liquid tank 201 through a clamping mechanism, or is screwed to be positioned, and the like.

Illustratively, the follower mechanism 301 may be mounted or dismounted to the mounting space as one component by being positioned in the lotion tank 201; alternatively, in other embodiments, a bracket or a housing in the wash tank 201 cleaning robot is provided with a mounting space 211 in which the driven mechanism 301 is fixedly disposed.

In the above embodiment, the follower 301 may be fixed to the mounting space 211 by any one or more of a snap fit, a screw lock, an adhesive, and a welding.

In some examples, such as shown in FIG. 8, the wash tank 201, follower 301, and mop assembly can also be pre-installed together and installed into the cleaning robot. In this example, referring to fig. 6 together, since the follower mechanism 301 is restricted in its housing and can be accommodated in the installation space 211 provided in the wash tank 201, the layout space can be saved. The push-pull member bracket 125 may be fixed to a bracket (not shown) in the cleaning robot, such as a middle sweeping bracket (a bracket to which a cleaning roller in the middle of the sweeping robot is connected) of the sweeping robot.

In combination with the above, an embodiment of the present application may provide a cleaning robot, including: a cleaning robot main body (not shown) having an attachment position; the mop assembly in the previous embodiment is arranged at the assembling position and is detachably connected with the cleaning robot.

For example, the cleaning robot body may be an integral body of the cleaning robot, and include a main part other than the mop assembly, such as a cleaning robot housing and a main body formed by various components provided therein, and other accessories, such as a water tank, may or may not be included in the cleaning robot body.

For example, the fitting location may be a fitting space surrounded by a structure inside a housing of the cleaning robot; alternatively, the mounting locations may be mounting areas or the like formed on or between one or more brackets within the housing of the cleaning robot.

Illustratively, the cleaning robot may be, for example, a sweeping robot, a mopping robot, or a mopping robot.

The linear reciprocating motion of the mop 104 effected by the mop assembly effectively enhances the cleaning capability of the cleaning robot for cleaning the floor surface to be cleaned, e.g., for certain dirty areas, a back and forth mopping action can be performed to effectively clean the area.

In some examples, the cleaning robot includes: at least one follower mechanism 301, comprising: the first combining piece and the second combining piece which can be combined in a relative motion way are respectively connected with at least one connecting part 105 arranged on the mop bracket 101 and the cleaning robot in a positioning way; wherein the relative movement direction between the first and second combining members is the same as the linear reciprocating direction of the mop support 101.

Illustratively, the follower mechanism 301 may exhibit a structure such as that in fig. 6, 7A, 7B. Wherein a connecting part 105 of the first combining part and the mop bracket 101 is fixedly arranged can be sleeved in a rotating way relatively. One of the first and second coupling members includes: a second guide space, the other including: and a second guide member 314 relatively movably coupled with the second guide space. For example, in the embodiment of fig. 7A and 7B, the specific structure of the first and second coupling members is shown.

However, it should be noted that the structure of the follower 301 in the above embodiments is only an example, and may be changed in other embodiments; alternatively, the follower 301 may be omitted, and the push-pull mechanism may be used to restrict and drive the mop holder 101 to perform the linear reciprocating motion, which is not limited to the illustrated embodiment.

To sum up, mop subassembly and cleaning machines people of this application, the mop subassembly includes: the driving mechanism is connected with the driving device and receives driving force; the mop bracket can be drivingly connected with the driving mechanism; wherein the mop bracket is provided with a bottom surface for arranging a mop; the driving mechanism converts the driving force provided by the driving device into acting force which drives the mop support to do linear reciprocating motion in the plane. The mop assembly can realize reciprocating motion and has stronger mopping cleaning effect; in addition, in some concrete implementation schemes, the mop component and the cleaning robot have simple structure and good mop stress, and are also beneficial to achieving better cleaning effect.

The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.

Claims (31)

1. A mop assembly, characterized by application to a cleaning robot; the mop assembly comprises:

the driving mechanism is connected with the driving device and receives driving force;

the mop bracket can be drivingly connected with the driving mechanism; wherein the mop bracket is provided with a bottom surface for arranging a mop;

the driving mechanism converts the driving force provided by the driving device into acting force which drives the mop support to do linear reciprocating motion in the plane.

2. A swab assembly according to claim 1, wherein the drive means is fixedly arranged on the cleaning robot.

3. A swab assembly according to claim 1, wherein the drive mechanism is located above the mop holder when the mop of the mop holder is placed on a floor.

4. A swab assembly according to claim 1, wherein the drive of the drive mechanism to the swab holder acts on the swab holder in a lateral neutral position and in line with the direction of the linear reciprocating movement; wherein the lateral direction is orthogonal to the direction of the linear reciprocating motion.

5. A swab assembly according to claim 1, wherein the drive means comprises a rotary output shaft; the driving mechanism is combined with the output shaft so as to convert the rotation of the output shaft into acting force for driving the mop support to do the linear reciprocating motion.

6. A swab assembly according to claim 5, wherein the drive mechanism comprises: at least one of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a worm gear transmission mechanism, a lead screw transmission mechanism, a crank transmission mechanism and a cam transmission mechanism.

7. A swab assembly according to claim 6, wherein the drive mechanism comprises:

one end of the driving part can be connected with the mop bracket in a relatively rotating way;

the deflection piece is sleeved with the other end of the transmission piece in a relatively rotatable manner; the deflection piece is provided with a nesting part which is nested in the output shaft of the driving device so as to rotate along with the output shaft, and the shape of the deflection piece and/or the position of the nesting part enable the other end of the transmission piece to be pressed by the deflection piece when the deflection piece rotates to move along the circumferential direction so as to drive the mop support to do the linear reciprocating motion.

8. A swab assembly according to claim 7, wherein the deflector is of non-circular shape with a raised portion; alternatively, the deflector is circular in shape and its nesting portion is: and a hole portion offset from the axis of the deflector, wherein the engaging portion is engaged with the output shaft in a manner of restricting relative rotation.

9. A swab assembly according to claim 7, wherein the direction of extension of the drive member and the connection of the mop holder to the drive member are located on a transverse mid-line of the mop holder; wherein the lateral direction is orthogonal to the direction of the linear reciprocating motion.

10. A swab assembly according to claim 7, wherein the drive member is connected to the swab holder by a push-pull mechanism; the push-pull mechanism comprises:

and the pushing and pulling piece is fixedly connected with the mop bracket and is connected with one end of the transmission piece in a relatively rotatable way.

11. A swab assembly according to claim 10, wherein the push-pull member is arranged to be relatively movable with respect to the cleaning robot; or, the push-pull mechanism further comprises: the push-pull piece bracket is fixed to the cleaning robot and is connected with the push-pull piece in a relatively movable mode through a first movement mechanism; wherein, the direction of the relative motion between the push-pull piece and the cleaning robot or between the push-pull piece bracket and the push-pull piece is consistent with the direction of the linear reciprocating motion of the mop bracket.

12. A swab assembly according to any one of claims 7 to 11 wherein the drive member is connected between the one end and the swab holder by a hinge arrangement.

13. A swab assembly according to claim 12, wherein the spindle structure comprises:

the first shaft part and the second shaft part are respectively arranged on the transmission part and the mop bracket, and shaft holes respectively arranged on the first shaft part and the second shaft part are aligned and have consistent sizes;

the first connecting shaft penetrates through the shaft holes of the first shaft part and the second shaft part;

and the first limiting component is used for limiting the first connecting shaft to be separated from the shaft holes of the first shaft part and the second shaft part.

14. A swab assembly according to claim 13, wherein the first restraining assembly comprises: and the pair of first blocking pieces are respectively clamped at the parts of the first connecting shaft, which are exposed out of the shaft hole of the first shaft part and the shaft hole of the second shaft part, and are used for abutting against the outer wall surface of the shaft hole of the first shaft part or the shaft hole of the second shaft part to limit the first connecting shaft.

15. A swab assembly according to claim 11, wherein the first movement mechanism comprises:

the first forming part and the second forming part are respectively arranged on the push-pull piece and the push-pull piece bracket or the cleaning robot, and penetrating parts are respectively arranged in the first forming part and the second forming part and are mutually communicated to form a first guide space;

the first guide piece is arranged in the first guide space in a penetrating way, and the direction of the relative movement is consistent with the direction of the linear reciprocating movement of the mop support;

and the second limiting component limits the first guide part from being separated from the first guide space.

16. A swab assembly according to claim 15, wherein the second restraining assembly comprises: and the pair of second stopping pieces are respectively combined with the first guide piece and exposed out of the two sides of the first guide space, and are used for abutting against the outer wall surfaces of the two ends of the first guide space in the relative movement process of the first guide piece and the first guide space so as to limit the first guide piece from being separated from the first guide space.

17. A swab assembly according to claim 10, wherein the swab holder is further provided with at least one shock absorbing member, located in the moveable direction of the push-pull member.

18. A swab assembly according to claim 1, wherein the swab holder is provided with one or more attachment portions; each connecting part is connected to the cleaning robot in a relatively movable manner; wherein the relative motion is constrained to coincide with the linear reciprocating motion.

19. A swab assembly according to claim 18, wherein the connection is connected to the cleaning robot by a follower mechanism having at least two mechanism parts cooperating to perform the relative movement; alternatively, the connecting portion and the cleaning robot may have at least two mechanism portions that cooperate with each other to perform the relative movement.

20. A swab assembly according to claim 19, wherein the coupling portion is adapted for relative rotational coupling with the follower mechanism, and wherein the follower mechanism is adapted for positional coupling with the cleaning robot.

21. A swab assembly according to claim 18, wherein the drive of the drive mechanism to the swab holder acts on the swab holder in a lateral neutral position and in line with the direction of the linear reciprocating movement; wherein the transverse direction is orthogonal to the direction of the linear reciprocating motion; the number of the connecting parts is at least two, and the connecting parts are arranged on two sides of the driving mechanism along the transverse symmetry direction and are respectively connected to the cleaning robot.

22. A cleaning robot, characterized by comprising:

a cleaning robot having an attachment position;

a swab assembly according to any one of claims 1 to 21, provided in the assembly position and removably connectable to the cleaning robot.

23. The cleaning robot of claim 22, comprising:

at least one follower mechanism comprising: the first combining piece and the second combining piece which can be combined in a relative motion way are respectively connected with at least one connecting part arranged on the mop bracket and the cleaning robot in a positioning way; wherein, the relative motion direction between the first combining piece and the second combining piece is consistent with the linear reciprocating motion direction of the mop bracket.

24. The cleaning robot as claimed in claim 23, wherein the first engaging member is rotatably engaged with the connecting portion.

25. The cleaning robot of claim 23, wherein one of the first and second couplers comprises: a second guide space, the other including: and a second guide member coupled to the second guide space to be movable relative to the second guide space.

26. The cleaning robot of claim 25, wherein the second coupling member comprises:

a housing having a receiving space for receiving a first coupling member formed therein, and having a guide groove formed in a wall surface thereof to expose the first coupling member, so that the first coupling member is coupled to the coupling portion and restricts relative movement of the coupling portion thereof along the guide groove, the guide groove being configured such that the restricted relative movement thereof coincides with the linear reciprocating movement; the shell is provided with guide holes corresponding to the positions on the wall surfaces of the two opposite ends and communicated with the accommodating space to form a second guide space so that a second guide piece for positioning and connecting the first combining piece penetrates through the second guide space;

wherein the accommodating space is configured to limit the first combining piece therein.

27. The cleaning robot of claim 26, wherein the housing includes a pair of covers combined with each other.

28. The cleaning robot as claimed in claim 23 or 26, wherein an elastic member is disposed between the first and second coupling members and deforms in response to the relative movement therebetween, so that the relative movement between the first and second coupling members is restored.

29. The cleaning robot as claimed in claim 28, wherein the elastic member is disposed in the housing of the second engaging member, and two ends of the elastic member are respectively pressed against the inner wall of the housing and the first engaging member.

30. The cleaning robot of claim 23, wherein the cleaning robot comprises: a liquid tank accommodating space for fixedly arranging a liquid washing tank is positioned above the mop component; the liquid outlet hole is formed in the liquid washing box;

the washing liquid box is provided with an installation space for fixedly arranging the driven mechanism so as to realize the fixed connection of the driven mechanism and the cleaning robot; or, the cleaning robot is provided with an installation space for fixedly arranging the driven mechanism.

31. The cleaning robot as claimed in claim 30, wherein the wash tank is detachably positioned in the tank accommodating space; and/or the driven mechanism is fixed in the installation space in any one or more modes of clamping, screw locking, bonding and welding.

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