CN219000188U - Mop mechanism and cleaning robot - Google Patents

Abstract

The utility model relates to a mop mechanism and a cleaning robot, wherein the mop mechanism comprises: the crawler belt assembly comprises a crawler belt and a driving module, wherein the driving module can drive the crawler belt to rotate forwards and backwards, and the crawler belt is provided with a first hinge part; the turnover blade, the relative both sides face of turnover blade is first surface and second surface respectively, first surface is used for installing the mop, turnover blade pass through first articulated part hinge in on the track, turnover blade can be relative the track upset. Above-mentioned mop structure is overturned relative track through manual or automatic mode with turning over the blade for the mop presss from both sides and locates between second surface and the track, consequently realizes single function of sweeping, makes cleaning robot carry out dust absorption work and not get wet the carpet on the carpet, can march smoothly on the carpet, avoids taking place to march the jamming phenomenon.

Description

Mop mechanism and cleaning robot

Technical Field

The utility model relates to the technical field of cleaning robots, in particular to a mop mechanism and a cleaning robot.

Background

Along with the development in the field of cleaning tools, a cleaning robot technology appears, and a robot drives a supporting part, a disc brush and other cleaning structures to move so as to automatically sweep and drag garbage on the ground.

In the prior art, most household cleaning robots are small in size and compact in structure, so that the working modes of the household cleaning robots are mopping and sweeping simultaneously. However, the cleaning mode has high working efficiency, but for cleaning a carpet laying area, the household cleaning robot is influenced by carpet wool resistance when the household cleaning robot is on the whole machine to the carpet, and the cleaning robot cannot freely walk on the carpet due to the fact that a driving wheel falls into the carpet and the like, so that the problem of clamping stagnation often occurs, and the subsequent cleaning is influenced. The existing cleaning robot is lifted through the mop module, so that the cleaning robot has a single sweeping function, but the cleaning robot in the working mode is complex in transmission structure, large in occupied space, capable of increasing the whole size and high in maintenance cost.

Disclosure of Invention

Accordingly, it is necessary to provide a mop mechanism and a cleaning robot capable of effectively cleaning a carpet singly and avoiding occurrence of a travel hysteresis phenomenon.

The technical scheme is as follows: a mop mechanism, the mop mechanism comprising: the crawler belt assembly comprises a crawler belt and a driving module, wherein the driving module can drive the crawler belt to rotate forwards and backwards, and the crawler belt is provided with a first hinge part; the turnover blade, the relative both sides face of turnover blade is first surface and second surface respectively, first surface is used for installing the mop, turnover blade pass through first articulated part hinge in on the track, turnover blade can be relative the track upset, so that the second surface is located between first surface and the track, or so that the first surface is located between second surface and the track.

Above-mentioned mop structure, in the course of the work, through the forward drive of drive module, track subassembly drives the forward rotation of upset blade, and the mop on the first surface drags the washing to ground. When encountering the region with larger resistance such as the carpet, the overturning blades are overturned relative to the crawler belt in a manual or automatic mode, so that the mop is clamped between the second surface and the crawler belt, and therefore, the single-sweeping function is realized, the cleaning robot can perform dust collection work on the carpet without wetting the carpet, and the carpet can smoothly travel, so that the phenomenon of traveling clamping stagnation is avoided. And the structure is simple and compact, the whole volume of the cleaning robot is reduced, the maintenance cost is reduced, and the use quality of the cleaning robot is improved.

In one embodiment, the mop mechanism further comprises a turnover piece, the turnover piece is arranged on the driving module, the second surface is located between the first surface and the crawler when the crawler rotates forward, and the turnover piece drives the turnover blade to turn over relative to the crawler when the crawler rotates backward, so that the first surface is located between the second surface and the crawler.

In one embodiment, along the axial direction of the first hinge part, the overturning piece is provided with a matching hook, the matching hook is arranged at intervals with the crawler belt, the overturning blade is provided with a guiding structure, and when the crawler belt is reversed, the matching hook is matched with the guiding structure in a guiding way so that the overturning blade overturns.

In one embodiment, the engagement hook is disposed at a position where the track changes the rotation direction, when the track rotates forward, the turning blade on the track above is disposed on a side opposite to the engagement hook corresponding to the first hinge portion, and can move relatively in a direction away from the engagement hook, and when the track rotates backward, the turning blade on the track above is disposed on a side opposite to the first hinge portion corresponding to the first hinge portion and can move relatively in a direction toward the engagement hook, and the engagement hook and the turning blade are in interference fit to drive the turning blade to turn around the first hinge portion.

In one embodiment, the number of the matching hooks is at least two, the two matching hooks are respectively arranged at the opposite ends of the turning piece along the axial direction of the first hinge part, the number of the guiding structures is at least two, the two guiding structures are respectively arranged at the opposite ends of the turning blade along the axial direction of the first hinge part, and each matching hook can be correspondingly abutted with one guiding structure.

In one embodiment, the driving module comprises a support, a driving piece, a driving shaft and a driven shaft, the track is arranged along the circumferential direction of the support, the driving shaft and the driven shaft are respectively arranged on the support at intervals and are respectively matched with the track in a transmission manner, the driving piece is in driving connection with the driving shaft, the driving piece is used for driving the driving shaft to rotate, and the overturning piece is arranged on the support.

In one embodiment, the track comprises a plurality of track plates, the track assembly is provided with a second hinge part and a third hinge part along the advancing direction of the track plate, the second hinge part on one track plate is hinged with the third hinge part on the other track plate in two adjacent track plates, each track plate is provided with a first hinge part, the number of turning blades is multiple, and each turning blade is hinged on one track plate through one first hinge part.

In one embodiment, along the axial direction of the first hinge portion, a fourth hinge portion and a fifth hinge portion are respectively arranged at two opposite ends of the track plate, one end of each two adjacent track plates is hinged and matched through the two fourth hinge portions, the other end of each two adjacent track plates is hinged and matched through the two fifth hinge portions, and the axial direction of the first hinge portion is perpendicular to the advancing direction of the track assembly.

In one embodiment, each track shoe is provided with two first hinge parts, the two first hinge parts are respectively arranged on two opposite sides of the second hinge part along the axial direction of the second hinge part, and the axes of the first hinge part, the second hinge part and the third hinge part on each track shoe are arranged in a collinear manner.

In one embodiment, the turnover blade is provided with a first hollow structure at a position far away from the first hinge part, and the first hollow structure and the third hinge part are correspondingly arranged when the crawler is reversed.

In one embodiment, the turning blade is provided with a buffer layer, the buffer layer is at least arranged on the first surface, and the buffer layer is used for buffering the impact force between the turning blade and the crawler belt.

A cleaning robot comprising a mop and a mop structure as claimed in any one of the preceding claims, the mop being mounted on the first surface.

Above-mentioned cleaning robot, in the course of the work, through the forward drive of drive module, track subassembly drives the forward rotation of upset blade, and mop on the first surface drags the washing to ground. When encountering the region with larger resistance such as the carpet, the overturning blades are overturned relative to the crawler belt in a manual or automatic mode, so that the mop is clamped between the second surface and the crawler belt, and therefore, the single-sweeping function is realized, the cleaning robot can perform dust collection work on the carpet without wetting the carpet, and the carpet can smoothly travel, so that the phenomenon of traveling clamping stagnation is avoided. And the structure is simple and compact, the whole volume of the cleaning robot is reduced, the maintenance cost is reduced, and the use quality of the cleaning robot is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Figure 1 is a schematic view of the overall structure of a mop mechanism according to one embodiment;

figure 2 is a schematic view of the mop mechanism of figure 1 from another perspective;

FIG. 3 is an enlarged schematic view of the structure at circle A in FIG. 2;

FIG. 4 is a schematic view of a turning vane according to one embodiment;

FIG. 5 is a schematic view of a flip member according to an embodiment;

fig. 6 is a schematic structural view of a track shoe according to an embodiment.

Reference numerals illustrate:

100. a mop mechanism; 11. a track assembly; 110. a track; 111. a first hinge part; 112. a second hinge part; 113. a third hinge; 114. a fourth hinge part; 115. a fifth hinge part; 116. track shoes; 120. a driving module; 121. a bracket; 122. a driving shaft; 123. a driven shaft; 130. turning over the blade; 131. a first surface; 132. a second surface; 133. a first hollow structure; 134. a connection part; 135. a guide structure; 136. a buffer layer; 140. a turnover piece; 141. a matching hook; 150. mop cloth; 151. and the second hollow structure.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1, 2 and 3, fig. 1 is a schematic diagram showing the overall structure of a mop mechanism 100 according to an embodiment of the present utility model; fig. 2 shows a schematic structural view of the mop mechanism 100 according to fig. 1 from another perspective, and fig. 3 is an enlarged schematic structural view of the mop mechanism at a circle a in fig. 2; an embodiment of the present utility model provides a mop mechanism 100, the mop mechanism 100 comprising: track assembly 11 and turning vanes 130. The track assembly 11 includes a track 110 and a drive module 120, the drive module 120 being capable of driving the track 110 to rotate in a forward direction and in a reverse direction, the track 110 being provided with a first hinge 111. The opposite sides of the turning blade 130 are a first surface 131 and a second surface 132, respectively, the first surface 131 is used for installing the mop 150, the turning blade 130 is hinged on the crawler 110 through the first hinge 111, and the turning blade 130 can be turned relative to the crawler 110 so that the second surface 132 is located between the first surface 131 and the crawler 110, or so that the first surface 131 is located between the second surface 132 and the crawler 110.

In the mop 150 structure, during operation, the track assembly 11 drives the turning blade 130 to rotate forward through the forward driving of the driving module 120, and the mop 150 on the first surface 131 drags and washes the ground. When encountering the areas with larger resistance such as carpets, the overturning blades 130 are overturned relative to the caterpillar tracks 110 in a manual or automatic mode, so that the mop 150 is clamped between the second surface 132 and the caterpillar tracks 110, and therefore, the single-sweeping function is realized, the cleaning robot can perform dust collection work on the carpets without wetting the carpets, can smoothly travel on the carpets, and the phenomenon of travel clamping stagnation is avoided. And the structure is simple and compact, the whole volume of the cleaning robot is reduced, the maintenance cost is reduced, and the use quality of the cleaning robot is improved.

The turning mode of the turning blade 130 relative to the crawler 110 may be that the motor drives the turning blade 130 to actively turn, or the blade automatically turns under the driving of the crawler 110.

Referring to fig. 1, 2 and 5, fig. 5 is a schematic view of a turnover member 140 according to an embodiment of the present utility model, and in one embodiment, the mop mechanism 100 further includes the turnover member 140. The turning member 140 is disposed on the driving module 120, and when the track 110 rotates forward, the second surface 132 is located between the first surface 131 and the track 110, and when the track 110 rotates backward, the turning member 140 drives the turning blade 130 to turn over relative to the track 110, so that the first surface 131 is located between the second surface 132 and the track 110. Thus, when the crawler belt 110 rotates forward, the mop 150 is positioned outside the crawler belt 110, and drags and washes the ground by the rotation of the crawler belt 110. When the caterpillar band 110 is reversed, the turning blade 130 is driven to turn, after the turning piece 140 is abutted against the turning blade 130, the turning blade 130 rotates along the first hinge part 111, so that the mop 150 turns to the inner side, the second surface 132 turns out, and the mop 150 is clamped between the caterpillar band 110 and the turning blade 130 at this time, so that when the cleaning robot passes through rough surfaces such as carpets, the resistance of the smooth second surface 132 can be reduced, and the cleaning robot can pass smoothly. For example, the turning vane 130 may be made of plastic, stainless steel, aluminum alloy, wood or other materials.

Specifically, in fig. 1, 2 and 5, along the axial direction of the first hinge portion 111, the turning member 140 is provided with a mating hook 141, and the mating hook 141 is spaced from the track 110. The turning vane 130 is provided with a guide structure 135, and when the crawler 110 is reversed, the matching hook 141 is matched with the guide structure 135 in a guiding way, so that the turning vane 130 is turned. In this way, in the process that the track 110 drives the turning vane 130 to rotate reversely, the matching hook 141 is in contact with the guide structure 135, so that the turning vane 130 receives acting force, and the track 110 continuously rotates, so that the turning vane 130 moves relatively to the matching hook 141, and the matching hook 141 pushes the turning vane 130 to rotate 180 degrees around the first hinge part until the guide structure 135 is separated from the matching hook 141, and the rotation is completed.

For further understanding and explanation of the axial direction of the first hinge portion 111, taking fig. 2 as an example, the axial direction of the first hinge portion 111 is a straight line S in fig. 2 ₁ In the direction indicated by any arrow.

Further, an adsorption structure (not shown) such as a magnetic attraction member or a suction cup is arranged on the outer side of the crawler 110, and the second surface 132 can be in magnetic attraction fit or adsorption fit with the crawler 110. In this way, the turning vane 130 can be smoothly turned to the final position, and the smoothness of the turning vane 130 on the crawler 110 is ensured.

In one embodiment, referring to fig. 1, 2 and 3, the engaging hook 141 is disposed at a position of the track 110 for changing the rotation direction. When the crawler belt 110 rotates forward, the turning vane 130 on the crawler belt 110 above is located at one side of the corresponding connected first hinge part 111 facing away from the mating hook 141, and can move relatively in a direction away from the mating hook 141. When the crawler 110 is reversed, the turning blade 130 on the crawler 110 above is located at one side of the corresponding connected first hinge part 111 facing the mating hook 141 and can relatively move towards the mating hook 141, and the mating hook 141 and the turning blade 130 are in interference fit to drive the turning blade 130 to turn around the first hinge part 111. The crawler belt 110 is divided into upper and lower surfaces, and the movement directions thereof are parallel to each other and are opposite to each other to realize a circulation. The matching hook 141 is arranged at the position where the rotation direction changes, so that the matching hook 141 can be abutted against the turning blade 130, and the track 110 can smoothly pass through, so that the turning blade 130 can be turned over by the relative movement of the abutting force of the matching hook 141.

Further, referring to fig. 1, 2 and 5, there are at least two engaging hooks 141, and the two engaging hooks 141 are disposed at opposite ends of the turning member 140 along the axial direction of the first hinge portion 111. The number of the guide structures 135 is at least two, the two guide structures 135 are respectively disposed at two opposite ends of the turning blade 130 along the axial direction of the first hinge portion 111, and each mating hook 141 can correspondingly abut against one guide structure 135. In this way, the stability of the turning member 140 when being engaged with the turning blade 130 can be ensured, and the stress concentration bending or breaking of the engaging hook 141 can be avoided.

In one embodiment, the turning vane 130 is provided with a connecting part 134, the connecting part 134 is arranged on the first surface 131, and the connecting part 134 is detachably connected with the mop 150. For example, the connection 134 is a velcro, a buckle, a magnetic piece, or other removable connection structure. In this way, the mop 150 on the first surface 131 can be conveniently detached and replaced, and the use is convenient.

In one embodiment, referring to fig. 1 and 2, the driving module 120 includes a bracket 121, a driving member, a driving shaft 122 and a driven shaft 123. The track 110 is arranged along the circumference of the support 121, the driving shaft 122 and the driven shaft 123 are respectively arranged on the support 121 at intervals and are respectively matched with the track 110 in a transmission way, a driving piece is in driving connection with the driving shaft 122 and is used for driving the driving shaft 122 to rotate, and the overturning piece 140 is arranged on the support 121. For example, the driving member is a motor, and the motor drives the driving shaft 122 to rotate, and the driven shaft 123 is driven by the caterpillar band 110 to rotate, and supports the caterpillar band 110, thereby completing the circular rotation of the mop 150 on the turning blade 130.

Referring to fig. 1, 2 and 6, fig. 6 is a schematic structural diagram of a track shoe 116 according to an embodiment of the utility model, specifically, the track 110 includes a plurality of track shoes 116, and along a traveling direction of the track assembly 11, two opposite sides of the track shoe 116 are respectively provided with a second hinge portion 112 and a third hinge portion 113. Of the two adjacent track shoes 116, the second hinge portion 112 on one track shoe 116 is hinged to the third hinge portion 113 of the other track shoe 116, a first hinge portion 111 is provided on each track shoe 116, a plurality of turning blades 130 are provided, and each turning blade 130 is hinged to one track shoe 116 through one first hinge portion 111. In this way, the track shoes 116 are sequentially hinged to form the track 110 by the second hinge portion 112 and the third hinge portion 113, and can rotate on the frame 121 in a circulating manner. And each track shoe 116 is provided with a turning blade 130, and the track 110 is rotated in the forward and reverse directions through the forward and reverse directions of the driving piece, and under the action of the collision of the turning piece 140, one turning blade 130 can turn over 180 degrees between two adjacent track shoes 116, so that the working state of the cleaning robot can be switched rapidly.

In one embodiment, referring to fig. 1 and 6, a fourth hinge portion 114 and a fifth hinge portion 115 are respectively provided at opposite ends of the track plate 116 along the axial direction of the first hinge portion 111. One end of each of the two adjacent track shoes 116 is hinged and matched through two fourth hinge parts 114, one end of each of the two adjacent track shoes 116 is hinged and matched through two fifth hinge parts 115, and the two adjacent track shoes are mutually perpendicular to the advancing direction of the track assembly 11 along the axial direction of the first hinge part 111. In this way, in addition to the second hinge portion 112 being hinged to the third hinge portion 113, the two adjacent track shoes 116 are also hinged by the two fourth hinge portions 114 and the two fifth hinge portions 115, respectively, so that the rotational stability and smoothness of the track shoes 116 are ensured, and the deformation of the track 110 is avoided.

Further, referring to fig. 6, each track pad 116 is provided with two first hinge portions 111, the two first hinge portions 111 are respectively disposed on opposite sides of the second hinge portion 112 along the axial direction of the second hinge portion 112, and the axes of the first hinge portion 111, the second hinge portion 112 and the third hinge portion 113 on each track pad 116 are disposed in a collinear manner. In this way, the turning vane 130 can be turned 180 ° between two adjacent track shoes 116 without dislocation, which is beneficial to ensuring the smoothness of rotation between a plurality of turning vanes 130.

Referring to fig. 1, 2 and 4, fig. 4 is a schematic structural diagram of a turning vane 130 according to an embodiment of the utility model; in one embodiment, the position of the turning blade 130 away from the first hinge portion 111 is provided with a first hollow structure 133, the mop 150 is provided with a second hollow structure 151 corresponding to the first hollow structure 133, and when the crawler 110 is reversed, the first hollow structure 133 is disposed corresponding to the third hinge portion 113. Because the second hinge portion 112 and the third hinge portion 113 form a bulge on the track shoe 116, when the turning blade 130 drives the support portion to turn left and right, the first hollow structure 133 and the second hollow structure 151 can form a abdication for the second hinge portion 112 and the third hinge portion 113, so that the surface flatness of the track assembly 11 is ensured, and the movement stability of the cleaning robot is improved.

In one embodiment, the turning vane 130 is provided with a buffer layer 136 (not shown in the drawings), the buffer layer 136 is at least disposed on the first surface 131, and the buffer layer 136 is used to buffer the impact force between the turning vane 130 and the track 110. In this way, the turning blade 130 will impact the track plate 116 due to inertia when turning, and the buffer layer 136 on the first surface 131 is beneficial to reducing impact force, improving service life and reducing noise.

For example, the buffer layer 136 is a buffer foam, a buffer gel, an air bag, a spring structure, or other buffer material or structure.

Specifically, the buffer layer 136 is a rubber layer. Further, the buffer layer 136 is wrapped around the turning vane 130, and the buffer layer 136 is disposed between the mop 150 and the turning vane 130. Alternatively, the turning vane 130 is a rubber member. In this way, the buffering effect can be further ensured. The embodiment provides only one specific embodiment of the buffer layer 136, but is not limited thereto.

In one embodiment, a cleaning robot (not shown) includes a mop 150 and a mop 150 structure according to any of the above, the mop 150 being mounted on the first surface 131.

In the above cleaning robot, during operation, the track assembly 11 drives the turning blade 130 to rotate forward through the forward driving of the driving module 120, and the mop 150 on the first surface 131 drags and washes the ground. When encountering the areas with larger resistance such as carpets, the overturning blades 130 are overturned relative to the caterpillar tracks 110 in a manual or automatic mode, so that the mop 150 is clamped between the second surface 132 and the caterpillar tracks 110, and therefore, the single-sweeping function is realized, the cleaning robot can perform dust collection work on the carpets without wetting the carpets, can smoothly travel on the carpets, and the phenomenon of travel clamping stagnation is avoided. And the structure is simple and compact, the whole volume of the cleaning robot is reduced, the maintenance cost is reduced, and the use quality of the cleaning robot is improved.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (12)

1. A mop mechanism, the mop mechanism comprising:

the crawler belt assembly comprises a crawler belt and a driving module, wherein the driving module can drive the crawler belt to rotate forwards and backwards, and the crawler belt is provided with a first hinge part; and

The turnover blade is characterized in that two opposite side surfaces of the turnover blade are respectively a first surface and a second surface, the first surface is used for installing a mop, the turnover blade is hinged to the crawler belt through a first hinge part, and the turnover blade can turn over relative to the crawler belt, so that the second surface is located between the first surface and the crawler belt, or the first surface is located between the second surface and the crawler belt.

2. The mopping mechanism of claim 1, further comprising a flip member disposed on the drive module, wherein the second surface is positioned between the first surface and the track when the track is rotated in a forward direction, and wherein the flip member urges the flip blade to flip relative to the track when the track is rotated in a reverse direction such that the first surface is positioned between the second surface and the track.

3. The mop mechanism according to claim 2, wherein along the axial direction of the first hinge portion, the turning member is provided with a mating hook, the mating hook is spaced from the track, the turning blade is provided with a guide structure, and when the track is reversed, the mating hook is in guide fit with the guide structure so that the turning blade turns.

4. A mop mechanism according to claim 3, wherein the engaging hook is disposed at a position where the track changes the rotation direction, the turning blade on the track above is located at a side opposite to the engaging hook of the corresponding connection when the track rotates forward, and can move relatively in a direction away from the engaging hook, and the turning blade on the track above is located at a side opposite to the engaging hook of the corresponding connection and can move relatively in a direction of the engaging hook when the track rotates backward, and the engaging hook and the turning blade are in an abutting fit to drive the turning blade to turn around the first hinge.

5. A mop mechanism according to claim 3, wherein the number of the engaging hooks is at least two, the two engaging hooks are respectively disposed at opposite ends of the turning member along the axial direction of the first hinge portion, the number of the guiding structures is at least two, the two guiding structures are respectively disposed at opposite ends of the turning blade along the axial direction of the first hinge portion, and each engaging hook can be correspondingly abutted with one guiding structure.

6. The mop mechanism according to claim 2, wherein the driving module comprises a support, a driving member, a driving shaft and a driven shaft, the track is arranged along the circumferential direction of the support, the driving shaft and the driven shaft are respectively arranged on the support at intervals and are respectively matched with the track in a transmission manner, the driving member is in driving connection with the driving shaft, the driving member is used for driving the driving shaft to rotate, and the overturning member is arranged on the support.

7. The mop mechanism of claim 6, wherein the track comprises a plurality of track plates, second and third hinge portions are respectively provided on opposite sides of the track plate along the traveling direction of the track assembly, the second hinge portion on one track plate is hinged to the third hinge portion on the other track plate, one first hinge portion is provided on each track plate, the plurality of turning blades are provided, and each turning blade is hinged to one track plate through one first hinge portion.

8. The mop mechanism according to claim 7, wherein fourth hinge portions and fifth hinge portions are provided at opposite ends of the track plate along an axial direction of the first hinge portion, respectively, one end of each of the adjacent two track plates is hinge-engaged with the corresponding one of the fourth hinge portions, the other end of each of the adjacent two track plates is hinge-engaged with the corresponding one of the fifth hinge portions, and the axial direction of the first hinge portion is perpendicular to a traveling direction of the track assembly.

9. The mop mechanism of claim 7, wherein each track shoe is provided with two first hinge portions, the two first hinge portions are respectively disposed on opposite sides of the second hinge portion along an axial direction of the second hinge portion, and axes of the first hinge portion, the second hinge portion, and the third hinge portion on each track shoe are disposed in a collinear manner.

10. The mop mechanism according to any one of claims 7-9, wherein a first hollow structure is provided at a position of the turning blade away from the first hinge portion, and the first hollow structure is disposed corresponding to the third hinge portion when the crawler belt is reversed.

11. Mop mechanism according to claim 10, wherein the turning blade is provided with a buffer layer, which buffer layer is arranged at least on the first surface, the buffer layer being used for buffering the impact force between the turning blade and the track.

12. A cleaning robot comprising a mop and a mop structure according to any one of claims 1-11, said mop being mounted on said first surface.

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