WO2024037640A1

WO2024037640A1 - Cleaning equipment

Info

Publication number: WO2024037640A1
Application number: PCT/CN2023/113847
Authority: WO
Inventors: 张涛; 周彬; 邱锐; 孙佳佳; 丘伟楠; 杨咚浩; 邓晶; 刘广宇; 舒忠义; 严松; 刘璎皞; 花天宇; 詹镇伟; 马怀超; 夏磊; 关奥; 霍江浩; 张聪
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2022-08-18
Filing date: 2023-08-18
Publication date: 2024-02-22

Abstract

The present invention relates to the technical field of cleaning. Disclosed is cleaning equipment, comprising a main body, a lifting/lowering structure, and at least one matching member. The lifting/lowering structure comprises a driving assembly and a threaded mechanism; a cleaning assembly is connected to the threaded mechanism; the matching member is arranged on the main body; the threaded mechanism abuts against the matching member, so that the driving assembly drives the threaded mechanism to be lifted/lowered, to drive the cleaning assembly to be lifted/lowered between a working position and a non-working position; in the lifting/lowering process of the cleaning assembly, the matching member remains stationary relative to the threaded mechanism; when the cleaning assembly is at the working position, the driving assembly drives the threaded mechanism to drive the cleaning assembly to rotate, and a rotation abutment and/or an interference flexible abutment are formed between the threaded mechanism and the matching member.

Description

cleaning equipment

Related applications

This application requires a Chinese invention patent with patent application number 202222182410.5, application date 2022.08.18, and invention name "Cleaning Device and Cleaning Equipment", and patent application number 202211235037.3, application date 2022.10.10, invention name " The Chinese invention patent "Mop Assembly Installation Method and Device, Storage Medium and Electronic Device", and the PCT application with the patent application number "PCT/CN2023/100210", the filing date is 2023.06.14, and the invention name is "Cleaning Equipment" priority.

Technical field

The invention belongs to the field of cleaning technology, and specifically relates to a cleaning device and cleaning equipment.

Background technique

Cleaning equipment has gradually been used in household floor cleaning. It has many advantages such as labor saving and good cleaning effect. The cleaning equipment includes a cleaning device. When the cleaning equipment performs cleaning work, the cleaning device contacts the surface to be cleaned to clean the surface to be cleaned.

In the prior art, the installation position of the cleaning device is usually fixed. However, cleaning equipment often switches cleaning scenes during the cleaning process. For example, when cleaning equipment cleans the living room after cleaning the bedroom, when passing through the carpet placed in the living room, due to the fixed installation position of the cleaning device, the cleaning device will come into contact with the carpet, thereby causing contamination to the carpet. For another example, when the cleaning equipment encounters large obstacles such as stones during the cleaning process, due to the fixed position of the cleaning device, friction will occur between the cleaning device and the obstacle, causing wear and tear on the cleaning device. Reduce the cleaning efficiency of the cleaning device.

Contents of the invention

Therefore, the technical problem to be solved by the present invention is how to ensure the cleaning efficiency of the cleaning device in different cleaning scenarios.

In order to solve the above technical problems, the present invention provides a cleaning equipment, including:

organism;

Lifting structure, the lifting structure includes a driving component and a threaded mechanism; the threaded mechanism is connected to a cleaning component;

At least one matching piece is provided on the body;

The threaded mechanism is in contact with the mating piece, so that the driving component drives the threaded mechanism to rise and fall, so as to drive the cleaning component to rise and fall between the working position and the non-working position; the cleaning component is lifted and lowered. During the process, the fitting part remains stationary relative to the cleaning component or the body;

When the cleaning assembly is in the working position, the driving assembly drives the threaded mechanism to drive the cleaning assembly to rotate, and a rotational abutment and/or an interference flexible abutment is formed between the threaded mechanism and the matching piece. .

The technical solution provided by the present invention has the following advantages: a driving component and a threaded mechanism are provided, and the threaded mechanism connects the driving component and the cleaning component. When the cleaning device faces different cleaning scenarios, the driving component drives the cleaning component through the threaded mechanism. Switching between the working position and the non-working position enables the cleaning component to be displaced in the height direction to realize the lifting and lowering of the cleaning component to cope with different cleaning scenarios, thereby ensuring the cleaning efficiency of the cleaning device;

At the same time, the lifting transmission assembly also includes a rotating body that abuts against the outer surface of the threaded mechanism. When the cleaning assembly is in the working position and rotates, the rotating body and the threaded mechanism are rotationally abutted to avoid the occurrence of interference between the rotating body and the first rotating member. Sliding friction causes wear between the rotating body and the first rotating member, thereby improving the reliability of the lifting and lowering of the cleaning assembly.

The present invention also provides a method for disassembling a mop component of a self-moving device. The self-moving device includes a connecting component, and the mop component is detachably connected to the connecting component; along the height direction of the self-moving device, the The connection component has at least a fourth height and a second height and/or a third height lower than the fourth height; at least at the second height and/or the third height, the mop component can be connected to the connection component ;The method includes:

In the case where the self-mobile device is provided with a mop component, the task to be cleaned of the self-mobile device does not use the mop component, and the self-mobile device is located in a cleaning base station, control the connection component from the second The height or third height rises to a fourth height to separate the mop assembly from the connection assembly on the mobile device at the fourth height.

The invention also provides a cleaning device for cleaning equipment, including a cleaning component; a driving component suitable for connecting the cleaning equipment; and a lifting transmission component including a threaded mechanism and an outer surface that at least partially offsets the outer surface of the threaded mechanism. The rotating body, the threaded mechanism is connected to the cleaning component and the driving component respectively; the cleaning component has a working position and a non-working position arranged along the height direction of the cleaning equipment, and the driving component is suitable for driving all The threaded mechanism drives the cleaning component to switch between the working position and the non-working position, and drives the threaded mechanism to drive the cleaning component to rotate in the working position; wherein, at least when the cleaning component is located When the working position is rotated, the rotating body is in rotational contact with the threaded mechanism.

Description of drawings

In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. It is obvious that the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention;

Figure 2 is a partial structural schematic diagram of a cleaning device according to an embodiment of the present invention;

Figure 3 is a schematic cross-sectional view of Figure 1;

Figure 4 is a partial schematic diagram of Figure 3;

Figure 5 is a schematic diagram of the explosion in Figure 1;

Figure 6 is another explosion diagram of Figure 1;

Figure 7 is a schematic structural diagram of an installation component according to an embodiment of the present invention;

Figure 8 is a schematic structural diagram of the first rotating member according to an embodiment of the present invention;

Figure 9 is a schematic structural diagram of the second rotating member according to an embodiment of the present invention;

Figure 10 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention.

Figure 11 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention;

Figure 12 is a schematic cross-sectional view of Figure 11;

Figure 13 is a schematic diagram of the explosion in Figure 11;

Figure 14 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention;

Figure 15 is a schematic cross-sectional view of Figure 14;

Figure 16 is a schematic diagram of the explosion in Figure 14;

Figure 17 is a schematic three-dimensional structural diagram of a cleaning device according to an embodiment of the present invention;

Figure 18 is a schematic top view of the structure of Figure 17;

Figure 19 is a cross-sectional structural schematic diagram of the A-A section of Figure 18;

Figure 20 is a schematic cross-sectional structural view of the B-B section of Figure 18;

Figure 21 is a schematic exploded view of the second rotating member of the cleaning device according to one embodiment of the present invention;

Figure 22 is a schematic structural diagram of the sealing structural member when the cleaning assembly is in a retracted position according to an embodiment of the present invention;

Figure 23 is a schematic structural diagram of the sealing structure when the cleaning assembly is in the swing-out position according to one embodiment of the present invention;

Figure 24 is a schematic diagram of the installation structure of the sealing structure according to one embodiment of the present invention;

Figure 25 is a schematic structural diagram of a sealing structural member according to an embodiment of the present invention;

Figure 26 is a schematic diagram of the installation structure of the sliding sealing plate according to one embodiment of the present invention;

Figure 27 is a schematic three-dimensional structural diagram of a sliding sealing plate according to an embodiment of the present invention;

Figure 28 is a partial enlarged view of the sealing plate in Figure 27;

Figure 29 is a schematic diagram of the installation structure of the rubber coating layer according to one embodiment of the present invention;

Figure 30 is a schematic structural diagram of a moving space from below according to an embodiment of the present invention;

Figure 31 is a schematic structural view from below of the baffle plate on the machine body according to one embodiment of the present invention;

Figure 32 is a schematic structural diagram of a bottom view of the sliding sealing plate when the cleaning assembly is in a retracted position according to an embodiment of the present invention;

Figure 33 is a schematic structural diagram of a bottom view of the sliding sealing plate when the cleaning assembly is between the retracted position and the outward swing position according to an embodiment of the present invention;

Figure 34 is a schematic structural diagram of a bottom view of the sliding sealing plate when the cleaning assembly is in the swing-out position according to an embodiment of the present invention;

Figure 35 is a schematic structural diagram of a bottom view of the sliding sealing plate when the cleaning assembly is in the swing-out position according to an embodiment of the present invention;

Figure 36 is a schematic cross-sectional view of a cleaning device according to an embodiment of the present invention;

Figure 37 is a partial perspective view of a cleaning device according to an embodiment of the present invention;

Figure 38 is a schematic plan view of a cleaning device according to an embodiment of the present invention;

Figure 39 is a schematic cross-sectional view of a cleaning device according to an embodiment of the present invention;

Figure 40 is a three-dimensional schematic view of the lifting transmission assembly according to one embodiment of the present invention;

Figure 41 is an explosion diagram of Figure 40;

Figure 42 is a schematic cross-sectional view of the first rotating member according to an embodiment of the present invention;

Figure 43 is a schematic top view of a cleaning device according to an embodiment of the present invention;

Figure 44 is a three-dimensional schematic view of a cleaning device according to an embodiment of the present invention;

Figure 45 is a schematic cross-sectional view of a cleaning device according to an embodiment of the present invention;

Figure 46 is a schematic cross-sectional view of a cleaning device according to an embodiment of the present invention;

Figure 47 is a schematic cross-sectional view of a cleaning device according to an embodiment of the present invention;

Figure 48 is a schematic diagram of the base of a base station according to an embodiment of the present invention.

Figure 49 is a schematic diagram of a cleaning device provided by an embodiment of the present invention;

Figure 50 is a partial schematic diagram of Figure 50;

Figure 51 is a schematic diagram of a cleaning device provided by an embodiment of the present invention;

Figure 52 is a schematic diagram of a cleaning device provided by an embodiment of the present invention;

Figure 53 is a schematic diagram of the water replenishing mechanism of the cleaning equipment provided by one embodiment of the present invention projected on the bottom of the body;

Figure 54 is a schematic diagram of the cleaning disk of the cleaning equipment provided on the body according to one embodiment of the present invention;

Figure 55 is a schematic diagram of the dust box of the cleaning equipment provided by one embodiment of the present invention;

Figure 56 is a schematic diagram of the first driving structure of the cleaning equipment provided by one embodiment of the present invention;

Figure 57 is a schematic diagram of the first driving structure and the fixation of the rag disk of the cleaning device provided by one embodiment of the present invention;

Figure 58 is a hardware structural block diagram of a sweeping robot with an optional mop assembly installation method according to an embodiment of the present invention;

Figure 59 is a flow chart of an optional installation method of a mop assembly according to an embodiment of the present invention;

Figure 60 is a schematic structural diagram of an optional self-mobile device according to an embodiment of the present invention;

Figure 61 is a flow chart of an optional disassembly method of a mop assembly according to an embodiment of the present invention;

Figure 62 is a structural block diagram of an optional mop assembly installation device according to an embodiment of the present invention;

Figure 63 is a structural block diagram of an optional mop assembly disassembly device according to an embodiment of the present invention;

Figure 64 is a schematic diagram of the sealing sliding plate and lifting structure provided by one embodiment of the present invention, viewed from the bottom direction;

Figure 65 is a schematic diagram of a seal sliding plate and a lifting structure provided by an embodiment of the present invention.

Detailed ways

The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

In the present invention, unless otherwise specified, the directional words used such as "upper, lower, top, and bottom" usually refer to the direction shown in the drawings, or to the vertical or vertical position of the component itself. Vertically or in the direction of gravity; similarly, for ease of understanding and description, "inside and outside" refers to the inside and outside relative to the outline of each component itself, but the above directional terms are not used to limit the present invention.

The cleaning equipment may be a cleaning robot, a mopping robot, a mopping robot, a window cleaning robot, etc. As shown in Figure 52, the cleaning equipment may include a body 10, a walking system 300M, a cleaning module, a control system, a sensing system, etc.

Among them, the body 10 has an installation cavity for installation of some structures. The shape of the body 10 is not limited and may be, but is not limited to, circular, D-shaped, triangular, or other shapes. The walking system 300M is provided on the body 10 and is used to drive the body 10 to realize a self-moving walking function on the surface to be cleaned. The width direction of the body 10 is perpendicular to the traveling direction of the body 10 .

The cleaning module includes at least one dry cleaning module 100M or at least one wet cleaning module 200M, or includes both the dry cleaning module 100M and the wet cleaning module 200M. Among them, the dry cleaning module 100M includes a main brush 101M, a dust box 102M and a fan 103M. The bottom of the body 10 is provided with a main brush cavity. The main brush 101M is rotatably located in the main brush cavity. The dust collector on the main brush cavity The dust inlet of the dust box 102M is connected with the dust inlet, and the air exhaust port 1022M of the dust box 102M is connected with the fan 103M. During the rotation process, the main brush 101M moves the garbage around and in front of it to the suction port. The garbage at the suction port is sucked into the dust box 102M under the negative pressure generated by the fan 103M, so as to realize the surface to be cleaned. cleaning function.

The wet cleaning module 200M includes a first driving structure 40M and a cleaning component 20 . Among them, the cleaning assembly 20 includes a cleaning disk 90H and a cleaning part 91H located on the bottom of the cleaning disk 90H. The first driving structure 40M drives the cleaning disk 90H to move to drive the cleaning part 91H to vibrate or rotate. The cleaning part 91H interacts with the cleaning part 91H during the movement. The ground creates friction to clean the ground.

Since the cleaning part 91H has a better cleaning effect on the ground when it is in a wet state, a water replenishing mechanism is usually provided in the body 10 of the cleaning equipment to replenish water. The mechanism includes a water tank, and the solution in the water tank is transported to the cleaning part 91H under the action of a pump to moisten the cleaning part 91H. The number of wet cleaning modules 200M can be set to one or more than two, such as three, four, five or more, etc. The specific number of wet cleaning modules 200M is selected according to needs and is not specifically limited here.

The cleaning module also includes side brushes 400M located on one or both sides of the front of the body 10. Along the forward direction of the cleaning equipment, at least part of the side brushes 400M extends out of the edge of the body 10. The side brushes 400M are driven by the driving mechanism. During the rotation of the side brush 400M, the garbage located in front and on the periphery of the side brush 400M will move toward the inside of the body 10, so that the main brush 101M of the dry cleaning module 100M located at the rear can clean the garbage and be sucked into the dust box 102M by the fan 103M. And this garbage can be cleaned with the wet cleaning module 200M.

The sensing system includes an LDS located above the fuselage, a buffer and a visual sensor located at the front of the fuselage 10 , an edge sensor located on the front side wall of the fuselage 10 , an ultrasonic sensor located at the bottom of the fuselage 10 and other sensing devices. Among them, the LDS, buffer, and edge sensor can all measure the distance to obtain the distance between the edge of the body 10 and the obstacle, and the control system controls the cleaning equipment to perform corresponding actions based on this distance. For example, control cleaning equipment to avoid obstacles, edge edges, etc. The ultrasonic sensor is used to identify the carpet signal, and the control system controls the cleaning part 91H of the wet cleaning module 200M of the cleaning equipment to perform a lifting action based on this signal, or controls the cleaning equipment to return to the base station to disassemble the cleaning part 91H of the wet cleaning module 200M. The visual sensor is used to identify the image of the environment where the cleaning equipment is located to obtain information about obstacles. The control system controls the cleaning equipment to perform actions based on this information, such as obstacle avoidance, obstacle surmounting, edge cleaning, etc.

In some scenarios, such as when cleaning carpets, the cleaning equipment needs to prevent the wet cleaning part 91H from wetting the carpet; or the cleaning part 91H is in a dirty state to prevent contamination of the ground; or when the cleaning equipment needs to overcome obstacles, the cleaning assembly 20 needs to be lifted; Or in other scenarios, such as when returning to the base station, it is preferable to keep the cleaning assembly 20 in a raised state. The cleaning equipment is also provided with a lifting structure, and the lifting structure is used to drive the cleaning component 20 to rise and fall. Optionally, the lifting structure can adopt a variety of methods. For example, the lifting structure can be a gear and rack, a threaded lifting mechanism, a cylinder, a screw, a worm gear, etc.

The lifting structure can be divided into at least two situations. The first situation is that the lifting structure realizes lifting and lowering by driving the cleaning component 20 to rotate; the second situation is that the cleaning component 20 does not rotate when the lifting structure drives the cleaning component 20 to lift. In the first case of the lifting structure, the lifting structure and the first driving structure 40M can share a motor, that is, one motor can drive the cleaning component 20 to perform lifting movements, and can drive the cleaning component 20 to rotate at least in the mopping position. To clean the surface to be cleaned.

Example 1

Referring to Figure 1, an embodiment of a cleaning device 100 is provided. For example, the cleaning device is preferably the aforementioned wet cleaning module 200M, which is suitable for installation with the body of the cleaning equipment to perform corresponding cleaning actions on the surface to be cleaned. , thereby achieving a cleaning effect. The surface to be cleaned can be floors, walls with different roughness, or surfaces of objects to be cleaned. This application does not specifically limit the type of surface to be cleaned.

The above-mentioned cleaning action can be a vacuuming action, a mopping action, or a vacuuming action and a mopping action performed simultaneously to ensure the cleaning efficiency of the cleaning equipment.

The lifting structure in this embodiment includes a driving assembly 2 and a lifting transmission assembly 3 . Specifically, the cleaning device 100 includes a cleaning component 1 and a driving component 2. The cleaning component 1 can be in direct contact with the surface to be cleaned, and the driving component 2 is suitable for outputting driving force to the cleaning component 1. The driving assembly 2 is suitable for connecting to cleaning equipment, so as to ensure the compactness of the overall structure of the cleaning device 100 and at the same time rationally utilize the space within the cleaning equipment 200 to make the overall cleaning equipment 200 more beautiful.

The cleaning assembly 1 includes a tray 11 (i.e., cleaning tray 90H) and a cleaning body 12 (i.e., cleaning member 91H) disposed on the tray 11. The tray 11 has a mounting surface. When the cleaning device 200 is in the cleaning mode (i.e., to be cleaned) When cleaning the surface), the mounting surface is set toward the surface to be cleaned. Therefore, the cleaning body 12 is provided on the mounting surface. The cleaning body 12 has a conventional structure and will not be described in detail here.

In order to facilitate the replacement of the cleaning body 12 and ensure the cleaning efficiency of the cleaning assembly 1, in this embodiment, the cleaning body 12 is detachably connected to the installation surface. The methods of detachable connection include but are not limited to: magnetic suction, buckle 815H, etc., which are not specifically limited here and will depend on the actual situation.

Please refer to Figure 1, Figure 2 and Figure 7, in which the driving assembly 2 includes a driving member 21 and a gear set 24 connected to the driving member 21. The gear set 24 is suitable for slowing down the driving speed of the driving member 21 and increasing the output torque. Then it is passed to the cleaning component 1. In this embodiment, the driving member 21 is a motor. The gear set 24 includes a first gear 241 and a second gear 242 meshed with at least part of the first gear 241. The motor shaft 22 of the motor meshes with the first gear 241, thereby driving the gear set 24 to rotate.

The first gear 241 includes a helical gear with helical teeth and a spur gear fixedly connected to the helical gear. The spur gear meshes with the second gear 242 . Correspondingly, the motor shaft 22 of the motor is also provided with helical teeth that match the helical gear, so as to drive the gear set 24 . That is, in this application, the motor shaft 22 rotates to drive the helical gear to rotate and then drives the first gear 241 to rotate. The first gear 241 converts the horizontal driving force of the motor shaft 22 into a vertical driving force and transmits it through the second gear 242 to the cleaning component 1 to drive the cleaning component 1 to rotate in the vertical direction.

The driving assembly 2 also includes a housing 22 in which the gear set 24 is disposed. The motor shaft 22 of the motor extends into the housing 22 to mesh with the first gear 241 .

During the cleaning process of the cleaning device 200, due to the change of cleaning scenes, the cleaning component 1 may come into contact with the non-to-be-cleaned surface. For example, when the cleaning device 200 is cleaning, it may pass through an area where carpets are placed. As can be seen from the above, the cleaning component 1 is in contact with the surface to be cleaned to clean the surface to be cleaned. Therefore, when the cleaning equipment 200 passes through the carpet, it is bound to come into contact with the carpet, thereby causing contamination to the carpet. For another example, when the cleaning device 200 encounters a large and hard obstacle during the cleaning process, the cleaning component 1 will contact the obstacle, so that the obstacle causes wear to the cleaning component 20 and hinders the cleaning of the cleaning component 1. This results in low cleaning efficiency of the cleaning assembly 1 and the cleaning device 100 .

In order to solve the above technical problems, the cleaning device 100 also includes a lifting transmission assembly 3 that is respectively connected to the cleaning assembly 1 and the driving assembly 2. The lifting transmission assembly 3 is suitable for transmitting the driving force of the driving assembly 2 to the cleaning assembly 1, so that when the driving force is used, The cleaning component 1 is raised or lowered under the action of the cleaning component 1, thereby realizing the lifting function of the cleaning component 1, so that when the cleaning device 200 faces the switching of cleaning scenes, the cleaning component 1 can be raised or lowered according to the different cleaning scenes, thereby ensuring The cleaning efficiency of the cleaning assembly 1 and the cleaning device 100.

The driving assembly 2 also includes a driving shaft 23. Both ends of the driving shaft 23 are respectively connected to the second gear 242 and the lifting transmission assembly 3, and then transmit the driving force of the driving member 21 to the cleaning assembly 1. The driving assembly 2 can pass through the lifting transmission assembly. 3. Drive the cleaning component 1 to rise and fall along the height direction of the cleaning device (pointed by arrow a in the figure), so that the cleaning component 1 has working positions and non-working positions arranged along the height direction of the cleaning device 200. Among them, when the cleaning component 1 is in the working position, the cleaning component 1 is in contact with the surface to be cleaned to clean the surface; when the cleaning component 1 is in the non-working position, the cleaning component 1 is not in contact with the surface to be cleaned, that is, the cleaning component 1 is not in contact with the surface to be cleaned. There is a gap between the surfaces to be cleaned.

Specifically, the working position refers to the position where there is contact between the cleaning body 12 of the cleaning component 1 and the surface to be cleaned, and the surface to be cleaned can be cleaned; the non-working position refers to the position where the cleaning body 12 of the cleaning component 1 is separated from the surface to be cleaned, There is no contact with the surface to be cleaned. For example, the non-working position may be a raised position or a detached position.

In some embodiments, the working position may be a height interval or one or more specific height positions. That is, the working position of the cleaning component 1 can be floated relative to the distance between the surfaces to be cleaned, so as to adapt to different heights of the surfaces to be cleaned. For example, a plurality of limit positions can be provided on the lifting transmission assembly 3 so that the cleaning assembly 1 stops descending after descending to the corresponding limit position, and rotates at a corresponding height to clean the surface to be cleaned.

In some embodiments, the non-working position may be a height interval or one or more specific height positions. That is, when the lifting height range of the lifting transmission assembly 3 is sufficient, the cleaning assembly 1 can continue to move upward for a certain distance in the height direction after being separated from the surface to be cleaned, until it reaches the highest position that can be lifted and lowered, and is separated from the cleaning assembly 1 to be cleaned. The range from the cleaning surface to the highest position is the non-working position. When the highest position that can be reached by lifting is the position where the cleaning component 1 is separated from the surface to be cleaned, the highest position is the non-working position. The highest position here refers to the highest position of the cleaning component 1 relative to the surface to be cleaned without being separated from the liftable transmission component 3, that is, the lifted position mentioned below.

Please refer to Figures 3 to 6. Specifically, the lifting transmission assembly 3 includes a threaded mechanism. The driving assembly 2 is suitable for driving the threaded mechanism to drive the cleaning assembly 1 to switch between the working position and the non-working position, and driving the threading mechanism to drive the cleaning assembly 1. Turn it in the working position to clean the surface to be cleaned.

The lifting transmission assembly 3 also includes a mounting member 31 having a receiving cavity, and the threaded mechanism is located in the receiving cavity. The purpose of providing the mounting part 31 is to generate friction between the inner surface of the mounting part 31 and the outer surface of the threaded mechanism, so that the threaded mechanism can rotate relative to the mounting part 31 under the driving of the driving assembly 2 .

The mounting part 31 may be integrally formed with the body 10 of the cleaning device 200 , or the mounting part 31 may be separated from the body 10 of the cleaning device 200 . In this embodiment, the mounting member 31 and the cleaning device 200 are mainly installed separately.

Specifically, the thread mechanism includes a first rotating member 32 , a second rotating member 33 , and a threaded portion formed between the first rotating member 32 and the second rotating member 33 . The second rotating member 33 is connected to the drive shaft of the driving assembly 2 23 is connected, and the first rotating member 32 is connected with the cleaning component 1 . The first rotating member 32 has a movable stroke along the height direction of the cleaning device 200 . The second rotating member 33 is adapted to drive the first rotating member 32 through the threaded portion under the driving of the driving shaft 23 , thereby driving the cleaning assembly 1 to work. Switch between position and non-working position.

The lifting transmission assembly 3 also includes a fitting piece, which is adapted to cooperate with the threaded mechanism. The matching method between the fitting part and the threaded mechanism is as follows: friction is generated between the inner surface of the fitting part and the outer surface of the threaded mechanism, so that the threaded mechanism can rotate relative to the fitting part under the driving of the driving assembly 2, thereby realizing the threaded mechanism. Drive the cleaning component 1 to rise and fall. As can be seen from the foregoing, friction is generated between the inner surface of the matching piece and the outer surface of the threaded mechanism, so that the threaded mechanism can rotate relative to the mounting piece 31 under the driving of the driving assembly 2 . Therefore, in this embodiment, the mounting component 31 serves as the above-mentioned matching component.

There is a static friction force between the fitting part and the first rotating part 32 , and the static friction force between the fitting part and the first rotating part 32 is greater than the sliding friction force between the threaded parts, so that the driving assembly 2 outputs rotation through the output shaft 23 When the force is applied, due to the effect of threads and static friction, the first rotating member 32 can move relative to the matching member, and then cooperates with the second rotating member 33 to achieve lifting.

The first rotating member 32 includes a first surface and a second surface arranged oppositely, and a threaded portion is formed between the first surface and the second rotating member 33 . Specifically, the threaded portion includes a first thread and a second thread that cooperate with each other. The first thread is provided on the first surface, and the second thread is provided on the outer surface of the second rotating member 33 . Among them, the outer surface of the above-mentioned second rotating member 33 is compared with the first rotating member 32, and the outer surface of the second rotating member 33 is disposed toward the first rotating member 32. side. Alternatively, the first thread is provided on the outer surface of the second rotating member 33, and the second thread is provided on the first surface. There is no specific limitation here, and it depends on the actual situation.

In this embodiment, the shapes of the first thread and the second thread are different. Wherein, the first thread is a continuous thread, and a thread groove is formed between two adjacent threads. The second thread is a discontinuous thread block, and the thread block rotates along the thread groove to realize relative rotation of the first rotating part 32 and the second rotating part 33, thereby realizing the movement of the first rotating part 32.

As can be seen from the foregoing, static friction must exist between the first rotating member 32 and the matching member so that the first rotating member 32 can rotate relative to the second rotating member 33 . Therefore, in some related technologies, the matching piece may be provided as a damping sleeve to form a static friction force between the damping sleeve and the first rotating member 32 . However, when the first rotating member 32 rotates, since the damping sleeve does not rotate, sliding friction is formed between the first rotating member 32 and the damping sleeve. At the same time, the material of the damping sleeve and the first rotating member 32 are usually the same material. Sliding friction will cause powder to be generated between the damping sleeve and the first rotating member 32. The powder will fall to the surface to be cleaned under the action of gravity. affect the final cleaning effect. At the same time, due to wear between the damping sleeve and the first rotating member 32, the static friction force between the first rotating member 32 and the damping sleeve will gradually become smaller until the first rotating member 32 cannot rotate, causing the lifting failure of the cleaning assembly 1. s consequence.

In order to solve the above technical problem, in this embodiment, the lifting transmission assembly 3 also includes a rotating body 311 that at least partially abuts against the outer surface of the thread mechanism. The rotating body 311 can rotate and contact with the outer surface of the first rotating member 32 at least when the cleaning assembly is located in the working position and rotates, so that there is a gap between the rotating body 311 and the outer surface of the first rotating member 32 . There is rolling friction. As is commonly known, the friction force of rolling friction is smaller than the friction force of sliding friction. Therefore, a rotating body 311 that at least partially offsets the outer surface of the thread mechanism can be provided to avoid cleaning between the rotating body 311 and the first rotating member 32 Sliding friction occurs during the long-term rotation of the assembly to clean the surface to be cleaned, thereby avoiding wear between the mounting member 31 and the outer surface of the first rotating member 32, thereby improving the reliability of the lifting of the cleaning assembly 1. In this embodiment, the fitting part includes the above-mentioned rotating body 311. Further, the fitting part includes the above-mentioned rotating body 311 and the mounting part 31. The rotating body 311 is connected with the mounting part 31. By providing the rotating body 311, the mounting part and the mounting part are avoided. Wear between the first rotating parts 32.

Moreover, the rotation axis of the rotating body 311 is parallel or tends to be parallel to the rotation axis of the threaded mechanism, for example, the rotating axis of the first rotating member or the second rotating member, so that the outer surface of the rotating body 311 is consistent with the outer surface of the threaded mechanism. Rotate the abutment. The outer surface of the threaded mechanism is the outer surface of the first rotating member 32 (hereinafter, the outer surface of the threaded mechanism is the outer surface of the first rotating member 32). Among them, tending means that the rotation axis of the rotating body 311 is close to parallel to the rotation axis of the thread mechanism, and the error range is within 5%.

By making the rotation axis of the rotating body 311 parallel or tending to be parallel to the rotation axis of the threaded mechanism, the force on the rotating body 311 is uniformly distributed, and the outer surface of the rotating body 311 is increased in size with the third one during the rotation. The contact area of the outer surface of the rotating member 32 avoids point contact between the outer surface of the rotating member 311 and the outer surface of the first rotating member 32, thereby preventing the outer surface of the rotating member 311 from being in contact with the outer surface of the first rotating member 32. There is wear between them.

At the same time, by making the rotation axis of the rotating body 311 parallel or tending to be parallel to the rotation axis of the thread mechanism, it is also possible to ensure that when the cleaning assembly 1 is in the working position, the outer surface of the rotating body 311 and the outer surface of the first rotating member 32 are aligned. The static friction force between the rotating body 311 and the rotating shaft 313 (described below) connected to the rotating body 311 can be greater than the static friction force between the rotating body 311 and the rotating body 311, so that the first rotating member 32 is in rotational contact with the rotating body 311, and then drives the rotating body 311 to rotate. The cleaning component 1 rotates to clean the surface to be cleaned.

In this embodiment, the shape of the rotating body 311 may be a cylinder. In this case, the cylindrical surface of the cylinder serves as the outer surface, thereby achieving rolling friction between the rotating body 311 and the first rotating member 32 .

The lifting transmission assembly 3 also includes a rotating shaft 313 extending along the height direction of the cleaning device 200 . The rotating body 311 is sleeved on the rotating shaft 313 to rotate relative to the rotating shaft 313 . Among them, in order to prevent the rotating body 311 and the rotating shaft 313 from wearing out and reduce the service life of the rotating body 311, the static friction force between the rotating body 311 and the rotating shaft 313 is smaller than that between the outer surface of the rotating body 311 and the outer surface of the thread mechanism. static friction.

The rotating body 311 and the rotating shaft 313 are made of different materials, and the rotating body 311 and the first rotating member 32 are made of the same or different materials, so that the static friction force between the rotating body 311 and the rotating shaft 313 is smaller than the rotating surface of the rotating body 311 and the first rotating member 313 . Friction between the outer surfaces of a rotating member 32.

In this embodiment, the rotating body 311 and the first rotating member 32 are made of the same material. At this time, the rotating shaft 313 is made of stainless steel, and the rotating body 311 and the first rotating member 32 are made of POM (polyformaldehyde). In other embodiments, the rotating shaft 313, the rotating body 311 and the first rotating member 32 can also be made of other materials, which are not specifically limited here and are determined according to the actual situation.

As can be seen from the above, the cleaning component 1 has a working position and a non-working position. When it is in the working position, the cleaning component 1 rotates to clean the surface to be cleaned. Therefore, when the cleaning assembly 1 is in the working position, the threaded mechanism rotates to drive the rotating body 311 to rotate, and the cleaning assembly 1 keeps rotating. At this time, at least a part of the outer surface of the rotating body 311 is in rotational contact with the outer surface of the threaded mechanism. In this embodiment, the outer surface of the rotating body 311 is in rotational contact with the outer surface of the first rotating member 32, so that there is no sliding friction between the rotating body 311 and the first rotating member 32, but only rolling friction, thereby reducing The wear between the small rotating body 311 and the first rotating member 32 ensures that the cleaning assembly 1 can be effectively lifted and lowered.

It is worth noting that in this embodiment, when the cleaning assembly 1 switches between the working position and the non-working position, the rotating body 311 remains stationary. and Moreover, when the cleaning assembly 1 switches between the working position and the non-working position, the friction force between the rotating body 311 and the rotating shaft 313 is greater than the friction force between the first rotating member 32 and the second rotating member 33 . Correspondingly, the static friction force between the outer surface of the rotating body 311 and the outer surface of the first rotating member 32 is greater than the friction force between the first rotating member 32 and the second rotating member 33, so that the rotating body 311 and the first rotating member The rotating parts 32 remain relatively stationary in the tangential direction, that is, the rotating body 311 does not rotate. The second rotating part 33 follows the driving shaft 23 to rotate relative to the first rotating part 32. The first rotating part 32 rotates relative to the first rotating part 32 through the threaded part. The second rotating member 33 realizes movement in the height direction, and then realizes the lifting and lowering of the first rotating member 32 and the cleaning assembly 1 . When the cleaning assembly 1 is in the working position, the first rotating member 32 drives the rotating body 311 to rotate, so that there is rolling friction between the rotating body 311 and the first rotating member 32. Since the friction force of the rolling friction is smaller than the sliding friction, This can reduce the wear of the first rotating member 32 caused by friction when the cleaning assembly 1 rotates in the working position for a long time.

Moreover, the cleaning assembly 1 also has upper stops arranged along the height direction of the cleaning device 200 . As can be seen from the foregoing, the non-working position may be a height interval or one or more specific height positions. In this embodiment, in the height direction of the cleaning device 200, the position of the upper stop position is the highest position in the non-working position. When it is at the upper stop position, the threaded mechanism rotates and drives the rotating body 311 to rotate, so that the rotating body 311 and the threaded mechanism are in contact. That is, when it is at the upper stop position, the rotation of the first rotating member 32 drives the rotating body 311 to rotate, and the outer surface of the rotating body 311 is in rotational contact with the outer surface of the first rotating member 32 . When located at the upper stop position (ie, the raised position), the cleaning assembly 1 and the first rotating member 32 are still connected.

As can be seen from the foregoing, the mounting member 31 can be integrally formed with the body 10 of the cleaning device 200 , or can be formed separately from the body 10 of the cleaning device 200 . Therefore, when the mounting part 31 is integrally formed with the body 10 of the cleaning device 200, the rotating body 311 is suitable for movably connecting to the cleaning device 200; when the mounting part 31 is disposed separately from the body 10 of the cleaning device 200, the rotating body 311 is suitable for movably connecting to the cleaning device 200. Connect with mounting piece 31.

In this embodiment, the rotating body 311 is connected to the mounting member 31 . Correspondingly, the mounting member 31 has a notch, and the rotating shaft 313 and the rotating body 311 are disposed in the notch.

Please combine FIG. 5 and FIG. 7 , and in order for the outer surface of the rotating body 311 to rotate and abut against the outer surface of the first rotating member 32 , the mounting member 31 also includes at least one elastic body 312 , and at least one elastic body 312 is disposed in the slot. , and there is a distance between the inner surface of the elastic body 312 and the outer surface of the thread mechanism to prevent sliding friction between the elastic body 312 and the outer surface of the first rotating member 32 .

The rotating shaft 313 is arranged through the elastic body 312; the elastic body 312 has an elastic force always facing the outer surface of the first rotating member 32, so that the rotating body 311 contacts the outer surface of the first rotating member 32.

In this embodiment, two elastic bodies 312 are provided. The two elastic bodies 312 are distributed up and down along the height direction of the cleaning device 200 . Both ends of the rotating shaft 313 are connected to the two elastic bodies 312 respectively. Each elastic body 312 has a first recess 314 disposed away from the outer surface of the first rotating member 32 and a mounting portion 315 connected to the first recess 314 . The rotating shaft 313 is connected to the mounting portion 315 . Since the first recess 314 is disposed in a direction away from the outer surface of the first rotating member 32 , both ends of the first recess 314 have elastic force exerted toward the first rotating member 32 . When the mounting portion 315 is connected to one end of the first recessed portion 314, the first recessed portion 314 always exerts a force on the mounting portion 315 in a direction close to the outer surface of the first rotating member 32, so that the rotating surface of the rotating body 311 is in contact with the first rotating member 312. The outer surface of a rotating member 32 is in contact.

Moreover, each elastic body 312 is provided with two first recesses 314, and the two first recesses 314 are respectively connected to the two ends of the mounting part 315, thereby exerting an elastic force on the rotating body 311 so that the outer surface of the rotating body 311 can be connected with the thread. The outer surfaces of the mechanism abut.

Please refer to Figures 8 and 9. The first rotating member 32 includes a first wall 321, a second wall 322, and a connecting wall 327 connecting the first wall 321 and the second wall 322. The first wall 321 , the second wall 322 and the connecting wall 327 are surrounded by a rotating cavity 323, and at least part of the second rotating member 33 is located in the rotating cavity 323.

Wherein, the above-mentioned first surface and second surface are located on the first wall 321 . Preferably, the second wall 322 is provided inside the first wall 321, the inner surface of the first wall 321 serves as the first surface, and the outer surface of the first wall 321 serves as the second surface. Compared with the second wall 322 , the inner surface of the first wall 321 is disposed toward the second wall 322 . Correspondingly, the outer surface of the first wall 321 is closer to the mounting member 31 , and the outer surface of the first wall 321 is disposed toward the mounting member 31 .

In another embodiment, referring to Figures 11-16, the lifting transmission assembly 3 also includes a damping bar 3110 that is at least partially in contact with the outer surface of the threaded mechanism. The damping bar 3110 is in interference contact with the outer surface of the threaded mechanism. The damping bar 3110 There is a static friction force between the damping bar 3110 and the first rotating member, and the static friction force between the damping bar 3110 and the first rotating member is greater than the sliding friction force between the threaded parts, so that when the driving assembly 2 outputs rotational force through the output shaft 23, The first rotating member 32 cooperates with the second rotating member 33 to achieve lifting based on the effect of the thread and the above-mentioned static friction force. In this embodiment, the matching member at least includes the damping strip 3110, and a flexible interference abutment is formed between the damping strip and the first rotating member.

In a specific embodiment, the damping strip 3110 is formed as a damping top, and at least one side of the damping top is provided with hair transplantation, and the damping top is in interference contact with the outer surface of the threaded mechanism to form static friction. Optionally, the damping top can be made of woven cloth and hair transplanted, and the material of the hair can be nylon, PP, PET, etc.

In a specific embodiment, referring to FIGS. 11 to 13 , the matching member includes a mounting member 31 , and further, the damping strip 3110 is provided on the mounting member 31 . In one implementation, the mounting member 31 is formed as a damping sleeve, and the damping strip 3110 can be integrally disposed on the damping sleeve to be connected with the damping sleeve. The damping sleeve forms an integral piece. For example, hair is grafted on the damping sleeve through a hair transplanting process so that the damping sleeve and the damping strip 3110 form an integral piece. In another implementation manner, the damping strip 3110 is detachably connected to the mounting member 31 , for example, the damping strip 3110 is detachably connected to the mounting member 31 . The damping bar 3110 is in interference contact with the outer surface of the threaded mechanism and has static friction. When the driving assembly 2 outputs rotational force through the output shaft 23, the static friction between the damping bar 3110 and the outer surface of the threaded mechanism is smaller than that between the threaded parts. The sliding friction force then causes the first rotating member to drive the cleaning assembly 1 to rise and fall.

Optionally, the damping bar 3110 is detachably connected to the mounting member 31 , for example, the damping bar 3110 is connected to the mounting member 31 in an adhesive manner, and the damping bar 3110 is connected to the mounting member 31 by adhesive bonding. The mounting part 31 is detachable, so that the damping strip 3110 can be disassembled to facilitate cleaning of the damping strip 3110. For example, the inner wall of the mounting member 31 is provided with an annular step, and the outer peripheral wall of the damping strip is fixed on the annular step. When the cleaning equipment has an automatic disassembly and assembly function, when the lifting structure reaches the lifting position and the cleaning component is separated from the installation part of the lifting structure, and the bottom of the lifting structure is at least above the bottom of the fitting part, the fitting part is exposed and can be used for Install the moving channel (the cleaning component can swing relative to the body) or the mounting hole (the cleaning component does not swing relative to the body) where the mounting part of the cleaning component is located, and disassemble and install the matching parts.

For example, the damping strip 3110 and the mounting member 31 are made of different materials, so that the damping strip 3110 has better wear resistance and flexibility. It can be understood that the damping strip 3110 is a flexible component, which can significantly reduce the wear between the first rotating part and the mating part when the lifting transmission assembly 3 is raised or lowered, ensuring the reliability of the lifting transmission assembly 3 . By connecting the damping component 3110 to the mounting component 31 or disposing the damping component 3110 on the mounting component 31 , the mounting component 31 can provide supporting force for the damping component 3110 .

In addition, referring to Figures 12 and 13, the mounting member 31 has an accommodation cavity, a threaded mechanism is provided in the accommodation cavity, there is a gap between the threaded mechanism and the installation cavity, and the damping strip 3110 is provided between the threaded mechanism and the installation cavity. In the gap between the damping strip 3110 and the outer surface of the threaded mechanism, static friction is generated; at the same time, the damping strip 3110 is formed into an annular strip, which can circumferentially surround the outer periphery of the threaded mechanism, and can fill the gap between the threaded mechanism and the mounting piece 31 gap to achieve at least a partial sealing effect of the lifting transmission assembly 3, effectively prevent dust and foreign matter from entering the inside of the lifting transmission assembly 3, and extend the service life of the lifting transmission assembly 3.

In another specific embodiment, referring to FIGS. 14-16 , the fitting includes a damping strip 3110 . Optionally, a base bracket 3113 is provided at the bottom of the fuselage. The base bracket 3113 at least partially forms a part of the bottom of the body of the cleaning device. The damping strip 3110 is directly or indirectly connected to the base bracket 3113. Maintains interference contact with the outer surface of the threaded mechanism.

Optionally, the lifting transmission assembly 3 includes a damping bracket 3112, which is used to support the damping bar 3110. The damping bracket 3112 is connected to the base bracket, and the damping bar 3110 is provided on the damping bracket. 3112, so that the damping strip 3110 is reliably supported. Optionally, in this embodiment, the mounting member may not be provided, and the threaded mechanism is provided in the cavity of the body of the cleaning device.

Exemplarily, referring to Figures 15 and 16, the base bracket forms a receiving space to accommodate the damping bracket 3112. Exemplarily, the receiving space is formed into a stepped structure; the damping strip 3110 is installed on the damping bracket 3112. Bracket 3112. The damping bracket 3112 is provided with a support portion to support the damping bar 3110. For example, the damping bracket 3112 is formed into a ladder-like structure. Optionally, the damping bracket 3112 is detachably connected to the base bracket, the damping bracket 3112 includes a first connecting piece 3112A, the base bracket includes a second connecting piece 3113B, through the first connecting piece 3112A and the second connecting piece 3113B to detachably connect the damping bracket 3112 and the base bracket. For example, the first connecting piece 3112A and the second connecting piece 3113B can be formed into a buckle structure. The first connecting piece 3112A and One of the second connecting members 3113B includes a protruding portion, and the other of the second connecting members 3113B includes a slot that matches the protruding portion, thereby achieving a detachable connection between the damping bracket 3112 and the base bracket. Similarly, the damping member can be fixedly provided on the damping bracket 3112, for example, integrally provided with the damping bracket 3112, or connected to the damping bracket 3112 in a non-detachable manner; or, the damping member can be removable. The damping member can be connected to the damping bracket 3112 in a detachable manner. For example, the damping member can be connected to the damping bracket 3112 by bonding or other methods to facilitate maintenance of the damping member and/or the damping bracket 3112.

Optionally, referring to Figure 16, the damping bracket 3112 is detachably connected to the base bracket. For example, the damping bracket 3112 is connected to the base bracket through buckles 815H, screws, etc., so that the damping bracket 3112 and the base bracket are easily connected. Separate to clean the damping bracket 3112 or the damping strip 3110.

By arranging the damping strip 3110 on the base bracket, on the one hand, the static friction force between the damping strip 3110 and the outer surface of the thread mechanism can be provided. On the other hand, the damping strip 3110 can achieve a sealing effect of the lifting transmission assembly 3 .

In an optional embodiment, the damping strip 3110 may be a rubber strip. Specifically, the damping strip 3110 can be disposed on the mounting piece 31. For example, the rubber strip is detachably connected to the mounting piece 31, or the rubber strip is integrally provided with the mounting piece 31, and is connected to the first rotation through the rubber strip. The parts are in circumferential interference contact to provide static friction; specifically, the damping strip 3110 can be disposed on the base bracket. Optionally, the rubber strip can be directly connected to the base bracket without providing a damping bracket 3112.

As mentioned above, the matching part includes the damping strip 3110. The damping strip 3110 and the outer surface of the thread mechanism form a static friction force. The static friction force is smaller than the sliding friction force of the thread pair, so that the first rotating member can drive the cleaning assembly 20 to rise or fall. Specifically, when the screw mechanism produces a spiral lifting movement, the first rotating member produces a lifting movement relative to the damping bar 3110, and the position of the damping bar 3110 is relatively fixed. When the first rotating member moves up and down, the first rotating member and the resistance The relative position between the damping bars 3110 changes. For example, the damping bar 3110 is provided in the direction of the lifting transmission assembly 3 close to the base 101. When the first rotating member moves downward, the height of the first rotating member is smaller than the chassis bracket. At this time, the damping strip 3110 is blocked by the first rotating member; when the first rotating member moves upward and the height of the first rotating member is greater than the height of the chassis bracket, the damping strip 3110 is at least partially exposed, so that the damping strip 3110 is at least partially exposed. 3110 can be easily disassembled, so that the damping strip 3110 can be cleaned and replaced in time.

In a specific embodiment, referring to Figures 17-21, the cleaning device 100 includes a lifting transmission assembly 3. The lifting transmission assembly 3 includes a threaded mechanism 30. The threaded mechanism 30 includes a first rotating member 32, a second rotating member 33, and A threaded portion is formed between the first rotating member 32 and the second rotating member 33. The first rotating member 32 and the second rotating member 33 are threadedly connected. The first rotating member 32 is connected to the output shaft 23 of the driving assembly 2, and the second rotating member 32 is connected to the output shaft 23 of the driving assembly 2. The rotating member 33 is connected to the cleaning component 1 . The second rotating member 33 has a movable stroke along the height direction of the cleaning device 200 . The first rotating member 32 is adapted to drive the second rotating member 33 through the threaded portion under the driving of the output shaft 23 , thereby driving the cleaning assembly 1 to work. Switch between position and non-working position.

In a specific embodiment, the lifting transmission assembly 3 includes a transmission gear, and the transmission gear is integrated with the first rotating member 32 .

Specifically, the driving assembly 2 includes a driving member 21 and an output shaft 23 connected to the driving member 21. The first rotating member 32 is connected to the output shaft 23.

In a specific embodiment, the second rotating member 33 and the housing 22 of the driving assembly 2 are magnetically matched. By changing the relationship between the second rotating member 33 and the housing 22 of the driving assembly 2, The magnetic force is connected to change the connection resistance between the second rotating member 33 and the first rotating member 32, so that the first rotating member 32 and the second rotating member 33 are relatively stationary or rotate relative to each other. Specifically, when the second rotating member 33 and the housing 22 of the driving assembly 2 magnetically cooperate, the second rotating member 33 and the housing 22 of the driving assembly 2 generate a magnetic force (attraction or repulsion), and this attraction or repulsion hinders the first rotation. The second rotating member 32 and the second rotating member 33 operate synchronously, so that the second rotating member 33 moves up or down relative to the first rotating member 32; conversely, when the second rotating member 33 and the housing 22 of the driving assembly 2 move, When the magnetic force weakens or disappears, the first rotating member 32 and the second rotating member 33 move synchronously.

Among them, the magnetic force between the second rotating member 33 and the housing 22 of the driving assembly 2 is a non-contact force, which is equivalent to directly setting up a mechanical structure to generate rotational resistance to the second rotating member 33. The magnetic force is used to reduce or avoid parts. wear and tear, extending the service life of parts and eliminating abnormal noise during operation.

In a specific implementation, the cleaning device includes a mounting part 31 having a receiving cavity, a threaded mechanism 30 is disposed in the receiving cavity, and the housing 22 of the driving assembly 2 is formed into the mounting cavity. 31, the second magnetic structure 330 is disposed on the mounting member 31; in another specific implementation, the cleaning device is not provided with the mounting member 31, the cleaning device 100 itself forms a cavity, and the cleaning device 100 has at least a partially formed In the housing of the cavity, the second magnetic structure 330 is disposed on the housing formed by the structure of the cleaning device 100 itself.

Specifically, when the cleaning assembly 1 is in the working position, the cleaning assembly 1 performs cleaning work on the surface to be cleaned. At this time, the driving assembly 2 rotates in the first direction, and the first rotating member 32 and the second rotating member 33 are threadedly locked. state, so that the first rotating member 32 and the second rotating member 33 move synchronously, driving the cleaning assembly 20 to perform cleaning work. At this time, the first rotating member 32 and the second rotating member 33 do not rotate relative to each other, and the driving assembly 2 moves along the first rotating member 32 and the second rotating member 33. Rotating in one direction can drive the second rotating member 33 to rotate synchronously in the first direction, further driving the cleaning assembly 20 to clean the surface to be cleaned. At this time, the connection magnetic force between the second rotating member 33 and the housing 22 of the driving assembly 2 weakens or disappears, so as to reduce the rotational resistance of the magnetic force on the second rotating member 33 .

When the cleaning assembly 20 switches from the working position to the non-working position, or from the non-working position to the working position, that is, when the cleaning assembly 20 needs to be lifted or lowered, the driving assembly 2 drives the first rotating member 32 to rotate, and the second rotating member 32 rotates. The magnetic force of the member 33 and the housing 22 of the drive assembly 2 prevents the second rotating member 33 and the first rotating member 32 from rotating synchronously. The first rotating member 32 and the second rotating member 33 are in a differential rotation state. At this time, the second rotating member 33 and the first rotating member 32 are in a differential rotation state. Thread rotation is generated between the member 33 and the first rotating member 32, and the second rotating member 33 rotates relative to the first rotating member 32, thereby causing the second rotating member 33 to drive the cleaning assembly 20 to rise or fall.

In a specific implementation, the second rotating member 33 is sleeved inside the first rotating member 32 , and the first rotating member 32 and the second rotating member 33 are internally threaded, and can be accessed from the outside of the first rotating member 32 Realizing the input of external power, the external power does not need to be input from the end, thereby saving space in the height direction.

In a specific implementation, a first magnetic attraction structure 314 is provided on the second rotating member 33, and a second magnetic attraction structure 330 is provided on the housing 22 of the driving assembly 2. The first magnetic attraction structure 314 and the second magnetic attraction structure 330 is magnetically connected to achieve magnetic cooperation between the second rotating member 33 and the housing 22 of the driving assembly 2 . Specifically, one of the first magnetic attraction structure 314 and the second magnetic attraction structure 330 is a magnetic component, and the other is a magnetic component, thereby achieving a magnetic connection between the two; or, the first magnetic attraction Both the structure 314 and the second magnetic attraction structure 330 may include magnetic components, and a magnetic connection between the two may also be achieved. For example, the magnetic component can be a permanent magnet or an electromagnetic coil, and the magnetic component can be a magnetic metal block. The electromagnetic coil is magnetized when it is powered on, and loses its magnetism when it is powered off. For example, the second rotating member 33 is provided with a permanent magnet or a magnetic metal block, and the housing 22 of the driving assembly 2 is provided with an electromagnetic coil. When the cleaning assembly 20 performs cleaning work in the working position, the electromagnetic coil is open circuit, and at this time The resistance of the permanent magnet or magnetic metal block inside the second rotating member 33 is very small; when the cleaning assembly 20 needs to be raised or lowered, the electromagnetic coil is closed into a loop, and the reverse electromotive force generated inside the closed electromagnetic coil hinders the permanent magnet or magnetic attraction. The rotation of the metal block causes a rotational speed difference to be formed between the second rotating member 33 and the externally connected first rotating member 32 so that the cleaning assembly 20 can be raised or lowered.

Specifically, at least one first installation groove can be provided on the second rotating member 33, and a first magnetic attraction structure 314 can be provided correspondingly in the first installation groove; at the same time, at least one first installation groove can be provided on the housing 22 of the driving assembly 2. A second installation slot, and a second magnetic attraction structure 330 is provided in each second installation slot. The first installation groove or the second installation groove can be set as an annular groove or a rectangular groove (or a similar straight groove), and the first magnetic attraction structure 314 or the second magnetic attraction structure 330 can correspond to Set to ring magnetic structure or rectangular magnetic structure.

Furthermore, the second rotating member 33 and the cleaning assembly 20 are magnetically connected, so that when the second rotating member 33 is raised or lowered along the height direction of the cleaning equipment, it drives the cleaning assembly 20 to be raised or lowered. The second rotating member 33 and the cleaning component 20 are magnetically connected to facilitate separation or combination of the two. Exemplarily, the second rotating member 33 is provided with a third magnetic suction structure 316, and the cleaning component 20 is provided with a fourth magnetic suction structure 14. The third magnetic suction structure 316 and the fourth magnetic suction structure 14 cooperate to realize the connection and separation of the cleaning component 20. . The cleaning component 20 has a mopping position, a lifting position and a separation position. The mopping position is the working position of the cleaning component 20. The cleaning component 20 performs cleaning work on the surface to be cleaned in the mopping position; the non-working position at least includes a lifting position and a separation position. In the separation position, when the cleaning assembly 20 is in the raised position, the cleaning assembly 20 is separated from the surface to be cleaned; when the cleaning assembly 20 reaches the separation position, the cleaning assembly 20 is separated from the lifting transmission assembly 3, that is, the cleaning assembly 20 is separated from the second rotating member 33 separation. Specifically, when the second rotating member 33 drives the cleaning assembly 20 to move from the lifting position to the separation position, the cleaning assembly 20 contacts the end of the first rotating member 32. As the second rotating member 33 continues to lift upward, the first rotating member The end of the member 32 exerts a downward force on the cleaning component 20. When the force is greater than the magnetic force between the third magnetic structure 316 and the fourth magnetic structure 14, the cleaning component 20 and the second rotating member 33 separate. To realize automatic disassembly of the cleaning component 20. Similarly, one of the third magnetic attraction structure 316 and the fourth magnetic attraction structure 14 may include a magnetic component, and the other may include a magnetic attraction component; or, both the third magnetic attraction structure 316 and the fourth magnetic attraction structure 14 may include Magnetic pieces.

Exemplarily, the first magnetic attraction structure 314 and the third magnetic attraction structure 316 are respectively provided at both ends of the second rotating member 33. Specifically, the first magnetic attraction structure 314 is provided at the upper end of the second rotating member 33, and the third magnetic attraction structure 316 is provided at the upper end of the second rotating member 33. The magnetic attraction structure 316 is disposed at the lower end of the second rotating member 33 , and the cleaning component 20 is connected to the lower end of the second rotating member 33 through the magnetic force of the third magnetic attraction structure 316 and the fourth magnetic attraction structure 14 .

In addition, the lifting transmission assembly 3 may include a rotating bearing 318 provided on both sides of the housing 22 , and both ends of the first rotating member 32 may be respectively provided on two rotating bearings 318 . In this way, the first rotating member 32 can rotate more stably and reliably under the drive of the lifting transmission assembly 3, and the driving of the cleaning assembly 1 can also be more stable and reliable.

Specifically, the cleaning assembly 1 includes a disk body 11, a connecting shaft 15 provided on the disk body 11, and a cleaning body 12 provided at the bottom of the disk body 11. The connecting shaft 15 includes a shaft body 16 provided at the top of the disk body, and a cleaning body 12 provided on the bottom of the disk body 11. The fourth magnetic attraction structure 14 is on the top of the shaft 16 . Specifically, the cleaning component 1 may be formed as a rag tray, and the cleaning body may be formed as a cleaning rag.

At the same time, in order to facilitate the disassembly of the cleaning assembly 1 to clean the cleaning assembly 1 or to replace the cleaning body 12 of the cleaning assembly 1, a limiting portion is also included, and the first rotating member 32 has a first position and a second position. The position is closer to the cleaning device 200 relative to the second position. That is, in this embodiment, along the height direction of the cleaning device 200, the first position is located below the second position, and the second position (ie, the separation position) is located above the highest position of the non-working position.

When the first rotating member 32 is located at the first position, the cleaning assembly 1 resists the limiting portion. When the first rotating member 32 moves from the first position to the second position, the cleaning assembly 1 is separated from the first rotating member 32 under the action of the limiting portion. Among them, the above-mentioned movement is: during the rotation process, the first rotating member 32 also generates displacement in the height direction.

The cleaning device 100 also includes a connection assembly 4 . The connecting component 4 connects the first rotating component 32 and the cleaning component 1 respectively, and causes the first rotating component 32 and the cleaning component 1 to fall off under the action of external force, thereby realizing the disassembly of the cleaning component 1 .

Specifically, the first rotating member 32 has an accommodating space 324, and the connecting component 4 includes a first connecting component 41 disposed in the accommodating space 324 and a second connecting component 42 connected to the cleaning component 1. The first connecting component 41 and The second connecting member 42 cooperates to realize the connection between the first rotating member 32 and the cleaning assembly 1 . The accommodating space 324 is surrounded by the second wall 322 of the first rotating member 32 . The first connecting member 41 is fixedly installed in the accommodating space 324 and moves with the movement of the first rotating member 32 . Similarly, the movement of the first connecting member 41 is: rotating in the horizontal direction and moving in the vertical direction to generate displacement.

When the first rotating member 32 is in the first position, the first connecting member 41 and the second connecting member 42 are connected and matched, and the cleaning component 1 is connected to the first rotating member 32 . When the first rotating member 32 moves from the first position to the second position, the first connecting member 41 is disengaged from the second connecting member 42 so that the cleaning assembly 1 and the first rotating member 32 can be disassembled.

The disk body 11 of the cleaning assembly 1 has a protrusion 13 , and the protrusion 13 is located at the center of the disk body 11 , so that the cleaning assembly 1 receives uniform force everywhere. In this embodiment, the accommodating space 324 has an opening disposed toward the protrusion, and the shape of the opening is adapted to the shape of the protrusion. When the first rotating member is in the first position, the protrusion is accommodated in the accommodation space through the opening; when the first rotating member moves from the first position to the second position, the protrusion is separated from the accommodation space through the opening. Wherein, the above-mentioned limiting part is an outer edge of the opening.

In one embodiment, the connection and cooperation mode between the first connecting member 41 and the second connecting member 42 is suction. When the first connecting member 41 moves with the movement of the first rotating member 32 and the first connecting member 41 moves from the initial position to the disengaged position, the adsorption force between the first connecting member 41 and the second connecting member 42 gradually changes. Small, so that the first connecting member 41 and the second connecting member 42 are disengaged, thereby realizing the disassembly of the cleaning assembly 1 .

At this time, one of the first connecting piece 41 and the second connecting piece 42 is a magnetic piece, and the other of the first connecting piece 41 and the second connecting piece 42 is a metal piece that is attracted to the magnetic piece. The metal piece can be iron, nickel, etc. Alternatively, one of the first connecting member 41 and the second connecting member 42 is a first suction cup, and the other of the first connecting member 41 and the second connecting member 42 is a second suction cup adsorbed to the first suction cup. In this embodiment, the first connecting piece 41 is a magnetic piece, that is, a magnet, and the second connecting piece 42 is a metal piece that is attracted to the magnetic piece.

In another embodiment, the connection and cooperation mode between the first connecting member 41 and the second connecting member 42 is snapping. Correspondingly, one of the first connecting piece 41 and the second connecting piece 42 is a slot, and the other of the first connecting piece 41 and the second connecting piece 42 is a buckle that engages with the slot.

The cleaning component 1 also includes a detection component, which is suitable for detecting the connection state between the cleaning component 1 and the first rotating member 32 . The connection state between the cleaning component 1 and the first rotating member 32 includes an installation state and a disassembly state, and the driving component 2 stops running based on the disassembly state detected by the detection component. The test piece and cleaning The control mechanism of the device 200 is electrically connected, and similarly, the driving component 2 and the control mechanism are also electrically connected. When the detection component detects that the cleaning component 1 and the first rotating component 32 are disassembled, a signal is sent to the control mechanism, and the control mechanism controls the driving component 2 to stop moving based on the signal. Or, when the detection component detects that the cleaning component 1 and the first rotating member 32 are disassembled, the control mechanism no longer receives the signal sent by the detection component, and the control mechanism controls the driving component 2 to stop running. In this embodiment, the control mechanism may be a control chip, a control circuit, etc., which are conventional structures and will not be described in detail here.

In one embodiment, the detection component may be a Hall sensor. When the cleaning assembly 1 is connected to the first rotating member 32, the Hall sensor cooperates with the magnetic member disposed in the first rotating member 32 to generate a signal. The cooperation method is conventional and will not be described again here. When the cleaning component 1 is separated from the first rotating member 32, the Hall sensor and the magnetic member cannot cooperate, and no signal is generated.

In another embodiment, the detection component may also be a pressure sensor. When the cleaning assembly 1 is connected to the first rotating member 32, the first connecting member 41 and the second connecting member 42 are connected to apply pressure to the pressure sensor to generate a pressure signal. When the cleaning component 1 is separated from the first rotating member 32, the external pressure received by the pressure sensor disappears, and no signal is generated.

In other embodiments, the detection component may also be a proximity sensor, etc., which is not specifically limited here and depends on the actual situation.

The driving component 2 and the threaded mechanism are provided, and the threaded mechanism connects the driving component 2 and the cleaning component 1. When the cleaning device 100 faces different cleaning scenarios, the driving component 2 drives the cleaning component 1 in the working position and the non-working position through the threading mechanism. Switch between positions, thereby driving the cleaning component 1 to be displaced in the height direction to realize the lifting and lowering of the cleaning component 1 to cope with different cleaning scenarios, thereby ensuring the cleaning efficiency of the cleaning device 100;

Furthermore, the lifting transmission assembly 3 also includes a rotating body 311 that abuts against the outer surface of the threaded mechanism. When the cleaning assembly 1 is in the working position and rotates, the rotating body 311 is in rotational contact with the threaded mechanism to prevent the rotating body 311 from being in contact with the third threaded mechanism. Sliding friction occurs between the first rotating member 32 , which reduces the possibility of wear between the rotating member 311 and the first rotating member 32 , thus improving the reliability of the lifting of the cleaning assembly 1 .

Referring to FIG. 10 , this embodiment provides a cleaning device 200 that can move on the surface to be cleaned under the control of its own program to clean the surface to be cleaned. The cleaning equipment 200 includes a body 10 and a cleaning device 100 connected to the body 10. The cleaning device 100 is suitable for cleaning the surface to be cleaned. Wherein, the cleaning device 100 is the cleaning device 100 in the above-mentioned Embodiment 1.

In addition, the two wet cleaning modules of the cleaning equipment in the prior art are fixedly arranged relative to the body 10 in the width direction W0 of the body 10 (perpendicular to the traveling direction of the cleaning equipment). The cleaning disks 90H and 90H in the wet cleaning module are The cleaning part 91H can rotate or vibrate relative to the body 10. When the cleaning equipment performs edge cleaning on an obstacle, the wet cleaning module 200M on the side close to the obstacle cannot get close to the edge of the obstacle to clean the obstacle along the edge, causing the edge of the obstacle to be cleaned. There is a large area of missed cleaning, and the cleaning effect is not ideal.

In order to improve the cleaning effect of the cleaning equipment on the edges of obstacles, at least one of the two wet cleaning modules 200M in this embodiment can swing relative to the body 10, and the cleaning component 20 of the wet cleaning module 200M can swing Swinging outward in the direction away from the body 10 and retracting in the direction approaching the body 10 , the cleaning component 20 has an outward swinging position when swinging out, and accordingly the cleaning component 20 is in an outward swinging state; when swinging inwards, the cleaning component 20 has a retracted position, correspondingly cleaning The component 20 is in a retracted state, and the swing-out position and the retracted position can be a fixed position or a range of positions.

When the cleaning component 20 is in the retracted position or the swing-out position, there are many ways to position the cleaning component 20 relative to the body 10 , so that when the cleaning component 20 is in the swing-out position, at least part of the cleaning component 20 can extend out of the body 10 Clean along the edges to reduce missed areas. specifically:

The first way: when the cleaning component 20 is in the retracted position, a part of the cleaning component 20 is located on the outside of the peripheral side of the body 10; when the cleaning component 20 moves to the swing-out position, a part of the cleaning component 20 is located on the peripheral side of the body 10. The outer part is larger than the outer part of the cleaning assembly 20 located on the peripheral side of the body 10 when the cleaning assembly 20 is in the retracted position.

The second way: when the cleaning component 20 is in the retracted position, the edge of the cleaning component 20 is within the range of the edge of the body 10; when the cleaning component 20 is in the swing-out position, at least part of the edge of the cleaning component 20 exceeds the walking range of the body 10. edge.

The third way: when the cleaning component 20 is in the retracted position, the edge of the cleaning component 20 is located within the maximum edge of the body 10; when the cleaning component 20 is in the swing-out position, at least part of the edge of the cleaning component 20 is located within the maximum edge of the body 10 outside.

The fourth way: when the cleaning component 20 is in the retracted position, the edge of the cleaning component 20 is located within the widest edge projection area of the body 10; when the cleaning component 20 is in the swing-out position, at least part of the edge of the cleaning component 20 is located on the body 10 outside the widest edge projection area.

Alternatively, when the cleaning component is in the retracted position, the edge of the cleaning component can be located within the range of the edge of the body, or a part of the cleaning component 20 is located outside the peripheral side of the body 10. Correspondingly, when the cleaning component is in the swing-out position, the cleaning component The edge is located within the projected area of the widest edge of the machine body; or when the cleaning assembly is in the swing-out position, the widest edge of the cleaning assembly is aligned with the widest edge of the machine body.

The above various methods are based on the cleaning assembly 20. Since the cleaning assembly 20 includes a cleaning plate 90H and a cleaning piece 91H, the cleaning piece 91H is generally a rag. The rag has a certain amount of deformation. When the cleaning assembly 20 is in the retracted position or swings out, The position can be expressed by the position of the cleaning disk 90H and the machine body 10 , that is, the cleaning assembly 20 in the above various methods is replaced by the cleaning disk 90H. The cleaning disk and the machine body have the above-mentioned corresponding relationships.

For example, when the cleaning disk 90H is in the retracted position, a part of the cleaning disk 90H is located outside the peripheral side of the body 10; when the cleaning disk 90H is in the outer position, When the cleaning disk 90H is in the retracted position, the portion of the cleaning disk 90H located outside the circumference of the body 10 is larger than the portion of the cleaning disk 90H located outside the circumference of the body 10 when the cleaning disk 90H is in the retracted position.

As shown in Figure 49, the body 10 is also provided with a second driving structure 50M. The second driving structure 50M can directly drive the cleaning component 20 to swing, or indirectly drive the cleaning component 20 to swing by driving the entire wet cleaning module 200M. For ease of explanation, the second driving structure 50M driving the cleaning component 20 to swing is taken as an example for explanation. The second driving structure 50M can drive the cleaning component 20 to move linearly or in an arc, so that the cleaning component 20 moves between the swing position and the retracted position. Switch between locations.

The cleaning component 20 is located at the bottom of the body 10 of the cleaning equipment. In order to realize the swinging out and retracting of the cleaning component 20 on the body 10, an avoidance space needs to be provided on the body 10 for the cleaning component 20 to swing outward and retract. As shown in Figure 31, the bottom of the body 10 is provided with a moving channel 300H. The cleaning component 20 is located at the bottom of the body 10. The wet cleaning module 200M also includes a mounting part 2001H connected to the first driving structure 40M. The mounting part 2001H is moving. Swing in the channel 300H; the cleaning component 20 is installed on the mounting part 2001H and located below the moving channel 300H, and the first driving structure 40M is located in the installation cavity of the body 10 . As shown in Figure 22, the moving channel 300H can be a long hole, and the mounting part 2001H swings linearly in the long hole 110; or, as shown in Figure 31, the moving channel 300H can be an arc hole 110R, and the mounting part 2001H is in An arc-shaped swing is made in the arc hole 110R. The length or curvature of the moving channel 300H determines the maximum stroke of the outward swing and inward retraction of the cleaning component 20, and also plays a guiding role in the outward swing and inward retraction of the cleaning component 20, that is, this moving channel for the swing track.

When the first driving structure is used, it can drive the cleaning component 20 to move up and down, and also drive the cleaning component 20 to rotate to perform mopping work. That is, the first driving structure and the lifting structure share a motor, and the first driving structure is a lifting structure.

In a preferred way, as shown in Figures 39, 43 and 44, the first driving structure 40M includes a rotating motor 2011M or a first motor 203M, and the lifting structure includes a housing 2016M, a first fixed body 2012M and a second fixed body 2013M. , the first fixed body 2012M and the second fixed body 2013M are threadedly matched; the outer shell 2016M has an accommodation cavity, the first fixed body 2012M and the second fixed body 2013M are located in the accommodation cavity, between the outer wall surface of the second fixed body 2013M and the outer shell 2016M An interference abutment is formed by a matching piece, or the fitting piece may not be provided, and the interference abutment between the two forms a friction force, so that when the first fixed body 2012M rotates, the second fixed body 2013M moves relative to the outer shell 2016M and the outer shell 2016M. The matching piece is threaded on the first fixed body 2012M to rotate and lift, so as to drive the cleaning assembly 20 to perform lifting movements.

For example, one of the first fixed body 2012M and the second fixed body 2013M is provided with a threaded groove, and the other is provided with a rib or threaded thread 2011M that matches the threaded groove, so that the two form a threaded fit.

Preferably, the second fixed body 2013M has an annular cavity, and the first fixed body 2012M is located in the annular cavity. In one embodiment, the first fixed body is the aforementioned second rotating member, and the second fixed body is the aforementioned first rotating member, then the annular cavity consists of the aforementioned first wall 321 and the second wall 322, and The first wall 321 and the second wall 322 are surrounded by a connecting wall 327 connected at the bottom; the first wall 321 is provided with a threaded groove, and the second wall 322 is provided with the aforementioned accommodation space 324. When the lifting structure is provided with a fitting piece, the fitting piece can be any of the aforementioned embodiments.

In one embodiment, as shown in Figures 43 and 44, the first drive structure 40M also includes a first transmission mechanism 201M provided on the output shaft of the first motor 203M; the output shaft of the first transmission mechanism 201M is connected to the first fixed Body 2012M connection. The rotation of the first motor 203M drives the first transmission mechanism 201M to rotate, and then the output shaft of the first transmission mechanism 201M drives the first fixed body 2012M to rotate, thereby causing the second fixed body 2013M to perform a threaded lifting movement relative to the housing 2016M.

In a preferred embodiment, the bottom of the second fixed body 2013M is provided with a mounting part 2001H, and the top of the cleaning disk 90H is connected to the mounting part 2001H. For example, plug fixation or magnetic fixation, the installation part 2001H is provided with a first magnet 2014M, and the cleaning disk 90H is provided with a second magnet 2015M. Through the magnetic attraction of the first magnet and the second magnet 2015M, the cleaning disk 90H is fixed on the installation part. Department 2001H.

For example, as shown in FIG. 46 , an upwardly protruding mounting protrusion 321 is provided on the top of the cleaning plate 90H, and the second magnet 2015M is mounted on the mounting protrusion 321 . For example, a mounting groove is provided on the top of the mounting protrusion 322, and the second magnet 2015M is embedded in the mounting groove. As shown in Figure 46, the second wall 322 surrounds an accommodating space with the opening facing downwards. The first magnet 2014M is embedded in the accommodating space. The mounting protrusion of the cleaning tray 90H extends into the accommodating space through the opening. A magnet 2014M and a second magnet 2015M are magnetically attracted to magnetically fix the cleaning disk 90H on the second fixed body 2013M. Of course, it is also possible not to provide a magnetic suction structure, but to directly fix it by plugging the mounting protrusion into the accommodating space.

As shown in Figures 43, 44 and 50, in one embodiment of the second driving structure, the second driving structure 50M includes a second motor 204M and a second transmission mechanism 202M provided on the output shaft of the second motor 204M. , the first transmission mechanism 201M and the second transmission mechanism 202M are connected through a swing arm 205M or a swing member. When the second transmission mechanism 202M swings, the swing arm 205M is used to drive the first driving structure to swing as a whole.

In one embodiment, as shown in Figure 38, the first driving structure also includes an upper shell 326. One end of the swing arm 205M is connected to the second transmission mechanism, and the other end is a middle shell. The top of the middle shell is fixed to the upper shell 326. For installation of the first transmission mechanism 201M; the lower part of the middle shell is fixedly connected to the aforementioned outer shell 2016M (i.e., the installation piece), so that the output shaft of the first transmission mechanism 201M is connected to the upper end of the first fixed body 2012M. As a modification, the middle shell and the upper shell can be integrated to form a mounting shell, and the swing arm is connected to the mounting shell. or other forms, which are not limited here.

As shown in Figure 42, the second fixed body also includes an upper cover provided on the first wall. The bottom end of the upper cover is provided with at least one first limiting portion 2022M protruding downward. Each first limiting portion The portion 2022M is distributed at the upper end of a corresponding thread groove. Along the circumferential or spiral direction of the second fixed body 2013M, the first limiting portion 2022M blocks the rib or thread from continuing to rotate and prevents the second fixed body 2013M from descending. Location limited. Assume that when the second fixed body 2013M descends, the first motor 203M rotates in the second direction; when the second fixed body 2013M rises, the first motor 203M rotates in the first direction, and the first direction and the second direction are opposite.

For example, the first limiting surface of the first limiting part 2022M abuts against the first surface of the rib or thread to prevent the second fixed body 2013M from continuing to rotate downward. At this time, if the first motor 203M continues to rotate When rotating in the second direction, there is no relative rotation between the second fixed body 2013M and the first fixed body 2012M, so as to perform mopping rotation.

Similarly, as shown in Figure 42, a second limiting portion 2023M is provided at the lower end of each threaded groove, and the second limiting portion 2023M is provided at the lower end of a corresponding threaded groove, along the circumference of the second fixed body 2013M. In the spiral or spiral direction, the second limiting portion 2023M blocks the ribs or threads from continuing to rotate, and limits the rising position of the second fixed body 2013M.

For example, the second limiting surface of the second limiting part 2023M abuts against the second surface of the rib or thread 2011M to prevent the second fixed body 2013M from continuing to rotate upward. At this time, if the first motor 203M continues to rotate upward, When rotating along the first direction, there is no relative rotation between the second fixed body 2013M and the first fixed body 2012M. The first surface and the second surface are distributed on the end surfaces of both ends of the rib or thread 2011M along the thread rotation direction of the second fixed body.

As an alternative embodiment, the above-mentioned first limiting part and the second limiting part can also be of other structures. They only need to be provided with other forms of structures on the ends of the threaded grooves, along the spiral direction of the second fixed body. , just limit the end faces of the two ends of the rib or thread thread 2011M. For example, the first limiting part and the second limiting part are protrusions, or blocks.

When the moving channel 300H is provided at the bottom of the body 10, since the mounting portion 2001H of the first driving structure 40M swings in the moving channel 300H, the moving channel 300H connects the external environment with the installation cavity of the body 10. In order to prevent external dust and The liquid enters the installation cavity of the body 10 through the moving channel 300H and affects the structures in the installation cavity, such as electronic devices or electrical components. To this end, the body 10 is also provided with a sealing structure for waterproofing and dustproofing to seal or block the moving channel 300H.

The sealing structure can move as the cleaning assembly 20 moves or swings in the moving channel 300H to block or seal the moving channel 300H. When the first driving structure 40M is driven by the second driving structure 50M to swing, the first driving structure drives the cleaning assembly 20 to swing and at the same time drives the sealing structure to move, so that the cleaning assembly 20 is in the retracted position, the outward swinging position, or the retracted position. In the swing position between the swing position and the swing-out position, the sealing structure can seal or block the moving channel 300H.

There are many ways to implement the sealing structure. Now we will take two cases as examples, specifically:

The first situation: the sealing structure includes a first stopper and a second stopper. The cleaning component 20 moves to drive the first stopper and the second stopper to move. When the cleaning component 20 is in the retracted position, the second stopper moves. The stopper seals or blocks the moving channel; when the cleaning assembly 20 is in the swing-out position, the first stopper seals or blocks the moving channel; when the cleaning assembly 20 is in the swing position between the retracted position and the swing-out position, the first stopper seals or blocks the moving channel. The stopper part and the second stopper part cooperate to seal or block the moving channel 300H.

In the first embodiment of the sealing structure, the sealing structure is provided on the body 10. Assume that the direction in which the cleaning assembly 20 moves in the moving channel 300H is the first direction, and the direction perpendicular to or intersecting with the first direction is the second direction. The body 10 There is a track groove 120 extending along the second direction.

As shown in Figures 22, 23, 24 and 51, the sealing structure includes a first seal 810. The first seal 810 includes a first stopper 8101, a second stopper 8102 and a guide protrusion 8103. A stop part 8101 and a second stop part 8102 are arranged at an angle, and at least part of the guide protrusion 8103 extends into the interior of the track groove 120. When the cleaning assembly 20 switches between the first position and the second position, the cleaning assembly 20 20 When the first stopper 8101 or the second stopper 8102 is squeezed, the guide protrusion 8103 rotates and moves along the extension direction of the track groove 120. When the cleaning assembly 20 is in the first position (ie, the retracted position), the The second stopper 8102 blocks a part of the elongated hole 110, that is, the second stopper 8102 blocks the moving channel 300H, and the corresponding first stopper 8101 is staggered with the moving channel 300H, as shown in Figure 22; when the cleaning assembly 20 When in the second position (ie, the swing-out position), the first stopper 8101 blocks another part of the elongated hole 110 . That is, the first stopper 8101 blocks the movement channel 300H, and the corresponding second stopper 8102 is offset from the movement channel 300H, as shown in FIG. 23 .

Specifically, the first stopper 8101 and the second stopper 8102 are provided in conjunction, so that when the cleaning assembly 20 switches between the first position and the second position, the cleaning assembly 20 squeezes the first stopper 8101 or the second stopper 8102 . When there are two stop parts 8102, the first stop part 8101 and the second stop part 8102 rotate simultaneously. As shown in FIG. 22 , when the cleaning component 20 is in the first position, the cleaning component 20 is squeezed with the first stopper 8101 so that the second stopper 8102 is located in a part of the stopper elongated hole 110 , and the cleaning component 20 When switching from the first position to the second position, the cleaning assembly 20 squeezes the second stopper 8102 so that the first stopper 8101 and the second stopper 8102 rotate counterclockwise in the figure, and the cleaning assembly 20 is in the third position. In the second position, as shown in FIG. 23 , the first stopper 8101 blocks another part of the elongated hole 110 .

During the switching process from the first position to the second position, the cleaning assembly 20 squeezes the first stopper 8101 and the second stopper 8102 to rotate counterclockwise in the figure. Since the installation part 2001H moves in the moving channel 300H, The first driving structure or the mounting part 2001H of the cleaning assembly 20 is bounded by the first stop part 8101 and the second stop part 8102 respectively blocking the moving channels 300H located on both sides of the installation part 2001H, so that the first stop parts 812H8101 and 8102 The second stopper 813H8102 cooperates. In the circular hole area exposed in the moving channel 300H in Figures 22 and 23, the first driving structure or the mounting part 2001H of the cleaning component 20 is in the shape of a circular column that matches or corresponds to this circular hole area. The figures show that when the cleaning component 20 When in the first position and the second position, the mounting part 2001H is in the corresponding position in the movement channel 300H.

The above-mentioned cleaning assembly 20 presses the first stopper part 8101 or the second stopper part 8102. Preferably, the mounting part 2001H presses the first stopper part 8101 or the second stopper part 8102 in the moving channel 300H.

Furthermore, during the rotation of the first stop part 8101 and the second stop part 8102, due to the movement of the cleaning component 20, the position at which the cleaning component 20 squeezes the first stop part 8101 will change with the movement of the cleaning component 20. change, therefore the guide protrusion 8103 not only needs to follow the rotation of the first stopper 8101 and the second stopper 8102 , but also needs to move in the second direction inside the track groove 120 .

It should be noted that the angle between the first stopper 8101 and the second stopper 8102 and the shapes of the first stopper 8101 and the second stopper 8102 can be adaptively adjusted as needed.

In this embodiment, the first direction and the second direction are set at an angle of 90° to facilitate the movement of the guide protrusion 8103 inside the track groove 120 when the cleaning assembly 20 is switched from the first position to the second position. .

In this embodiment, the first sealing member 810 is a rigid sealing member to facilitate rotation under the extrusion of the cleaning assembly 20. The first sealing member 810 may be made of stainless steel or mild steel. In another embodiment, the first seal may be made of a flexible or deformable material.

Further, as shown in Figures 22 and 23, the cleaning equipment also includes a second seal 820. The second seal 820 is cushioned between the body 10 and the first seal 810, wherein the second seal 820 is a flexible seal. The second sealing member 820 may be made of rubber, silicone, or other materials. Of course, if the installation space is sufficient, the second sealing member 820 may not be provided, that is, the elongated hole 110 or the arc-shaped hole 110R may be sealed only by the first sealing member 810 .

In the first case, in the second implementation of the sealing structure, a sealing structure can be used for sealing the elongated hole 110 or the arc-shaped hole 110R, as shown in Figures 26, 30 to 35, the first seal 810 also It can be a sliding sealing plate 810H, which includes a mounting through hole 811H, and a first stopper 812H and a second stopper 813H provided on both sides of the mounting through hole 811H. As shown in Figure 27, the sealing plate slides through The mounting through hole 811H and the housing (or mounting piece) of the aforementioned first driving structure (or lifting structure) can drive the sliding sealing plate 810H to swing synchronously on the body 10 during the swing of the first driving structure, thereby achieving sealing effect.

Among them, the sliding sealing plate 810H can be sleeved on the outer periphery of the housing 2016M of the first driving structure through the mounting through hole 811H. The designer can determine the connection method between the shell and the sliding sealing plate 810H according to the needs of use, such as using buckles 815H to connect, or using screws to connect, or using other types of fasteners to connect, and there are no specific restrictions here.

Specifically, as shown in Figures 27, 28, 36, 37, 39, 40, 41, 56 and 57, the sliding sealing plate 810H can be sleeved on the outer periphery of the housing 2016M through the mounting through hole 811H. On one of the outer wall of the housing 2016M and the inner wall of the mounting through hole 811H, a card slot 814H is provided, and the other is provided with a buckle 815H, and the connection is achieved through the snap connection between the buckle 815H and the card slot 814H. For example, the card slot is provided on the installation through hole, and the buckle is provided on the outer wall of the housing 2016M.

Preferably, as shown in Figures 27 and 28, the mounting through hole 811H of the sliding sealing plate 810H is provided with an annular flange 816H protruding upward, and the above-mentioned latching groove 814H or buckle 815H is provided on the inner wall of the annular flange 816H. superior. Further preferably, in order to facilitate installation, at least one upward lug 817H is provided on the annular flange 816H, and the above-mentioned slot 814H or buckle 815H is provided on the inner wall of each lug 817H to facilitate the installation of the sliding sealing plate 810H. On shell 2016M.

Further, in order to facilitate the positioning of the sliding sealing plate 810H when installed on the housing 2016M, as shown in Figures 27, 28, 37, and 40, a positioning protrusion is set on one of the inner wall of the installation through hole 811H and the outer wall of the housing 2016M. Starting from 2017M, another setting slot is 2018M. For example, the protrusion 2017M is provided on the inner wall of the mounting through hole, and the positioning groove is provided on the outer wall of the housing.

When the sliding sealing plate 810H is placed upwardly on the outer wall of the housing 2016M from the bottom of the second fixed body 2013M, it slides vertically into the positioning groove 2018M through the positioning protrusion 2017M to position the sliding sealing plate 810H to ensure the aforementioned The buckle 815H is snap-connected to the card slot 814H. The housing 2016M and the sliding sealing plate 810H can be fixed in a manner other than the above-mentioned clamping method between the buckle 815H and the slot 814H, but can also be fixed by other methods, such as fasteners or threads.

As shown in Figure 37 and Figure 40, Figure 41, Figure 56 and Figure 57, optionally, a set of limit protrusions are also provided on the outer wall of the housing 2016M, and each set of limit protrusions includes two spaced apart limit protrusions. Protrusion 818H, two limiting protrusions are located on both sides of a buckle 815H to prevent the buckle from moving along the circumferential direction of the housing 2016M.

Further, as shown in Figure 30, the figure shows a swing space 30H provided on the body 10. The first driving structure used to drive the cleaning assembly 20 to rotate can move within the swing space 30H, thereby switching the retracted position and the outward position. Position.

Specifically, as shown in the embodiment of Figure 31, the body 10 also includes a shielding plate 301H covering the swing space 30H. The shielding plate 301H is provided with a moving channel 300H. The vertical projection of the moving channel 300H covers the swinging space 30H or is located on the swinging space 30H. The swing space is within 30H. Among them, the moving channel 300H is a long hole 110 or an arc hole 110R provided on the shielding plate 301H, which is not specifically limited here.

Furthermore, an escape through hole 302H can also be provided on the shielding plate 301H. When the shielding plate 301H is installed on the body 10, at least one water outlet 900H is provided on the body 10 and placed in the space where the escape through hole 302H is located, so that The water outlet 900H can be exposed to avoid interference with the use of the water outlet 900H.

Designers can adjust the shape and structure of the shielding plate 301H according to usage requirements, for example, setting the shielding plate 301H into a semicircular, semielliptical, rectangular, etc. shape, which is not specifically limited here.

Among them, the mounting part 2001H can extend out of the moving channel 300H on the shielding plate 301H and connect with the fixed part 9003H on the cleaning tray 90H.

In this embodiment, as shown in Figure 32, Figure 33 and Figure 34, the figures show three states of the cleaning component 20 during use, that is, the cleaning component 20 is in the retracted position, the cleaning component 20 is in the retracted position, and the cleaning component 20 is in the retracted position. 20 is in an intermediate state (ie, a swinging state) between the retracted position and the outward swinging position, and the cleaning assembly 20 is in the outward swinging position.

In these three states, the sliding sealing plate 810H can move synchronously with the first driving structure or the cleaning assembly or the installation part of the cleaning assembly, and seal the moving channel 300H on the shielding plate 301H. For example, the sliding sealing plate 810H can dynamically seal the arc hole 110R; or the sliding sealing plate 810H can dynamically seal the elongated hole 110.

Specifically: when the cleaning assembly 20 is in the retracted position, as shown in the embodiment of FIG. 32 , the exposed moving channel 300H can be blocked by the second stopper 813H of the sliding sealing plate 810H, thereby playing a sealing or blocking role. , and the first stopper 812H of the sliding sealing plate 810H moves to the inside of the shielding plate 301H.

When the cleaning assembly 20 is in the intermediate state (or swing position) between the retracted position and the outward swing position, as shown in the embodiment shown in FIG. 33 , part of the moving channel 300H can be blocked by the first stopper 812H of the sliding sealing plate 810H. , the second stopper portion 813H of the sliding sealing plate 810H can block the remaining moving channel 300H, thus achieving a sealing effect.

When the cleaning assembly 20 is in the swing-out position, as shown in the embodiment shown in FIG. 34 , the exposed moving channel 300H can be blocked by the first stop 812H of the sliding sealing plate 810H, and the second stopper of the sliding sealing plate 810H The portion 813H moves to the inside of the shielding plate 301H, thereby performing a sealing effect.

It can be seen from the above that both the first stop portion 812H and the second stop portion 813H of the sliding sealing plate 810H can be used to seal the moving channel 300H, so the area of the sliding sealing plate 810H should be at least twice larger than the area of the moving channel 300H. . It should be noted that the first stopper 812H and the second stopper 813H share the area where the mounting through hole 811H is located.

Preferably, the area of the first stopper 812H and the second stopper 813H are both larger than the area of the moving channel 300H. For example, the area of the first stopper 812H and the second stopper 813H are both 1.05 times, 1.1 times, 1.2 times, 1.5 times, etc. of the area of the moving channel 300H; The areas of the stoppers 813H may be equal or unequal.

In another feasible embodiment of this embodiment, the body 10 may not be provided with the shielding plate 301H, and the moving channel 300H may be directly provided at the bottom of the body 10, thereby achieving the same effect as mentioned above.

Moreover, as shown in the embodiment of FIG. 31 , multiple limit blocks 101H can also be provided on the body 10 , and the limit blocks 101H are used to limit the movement stroke of the sliding sealing plate 810H, thereby controlling the outward swing or inward retraction of the cleaning assembly 20 . s position.

For example, two limiting blocks 101H are provided on the body 10. The two limiting blocks 101H are respectively located at both ends of the sliding sealing plate 810H and are placed on the movement path of the sliding sealing plate 810H. Therefore, when the sliding sealing plate 810H abuts When on the limiting block 101H at one end, the limiting block 101H plays a limiting role on the sliding sealing plate 810H.

Furthermore, a sliding guide structure may be provided between the sliding sealing plate 810H and the body 10 so that the sliding sealing plate 810H can slide along the body 10 better. For example, a chute and slider structure may be provided between the sliding sealing plate 810H and the body 10, and there is no specific limitation here.

The above-mentioned mounting part 2001H moving in the moving channel 300H can be the mounting part 2001H of the first driving structure, or the mounting part 2001H of the cleaning component 20. The function of this mounting part 2001H can connect the cleaning component 20 and the cleaning component 20. The first drive structure is connected. In this embodiment, the sealing sliding plate 810H is located in the installation cavity of the body, and the cleaning assembly is located under the bottom of the body.

The second case of the sealing structure: the sealing structure can be a flexible component with one end fixed on the body 10 and the other end capable of deforming as the cleaning assembly 20 swings. During the swing of the cleaning assembly 20, the other end of the sealing structure The cleaning component 20 moves as it swings to dynamically block the moving channel 300H.

In the third embodiment of the sealing structure, the sealing structure is a sealing structure member. The sealing structure member blocks the elongated hole 110 or the arc hole 110R. The peripheral edge of the sealing structure member is connected to the body 10. The sealing structure member has an installation opening, and The installation opening is located within the area of the elongated hole 110 or the arc-shaped hole 110R, a part of the cleaning assembly 20 passes through the installation opening, and the peripheral edge of the installation opening is connected to the housing 2016M of the first driving structure. When the cleaning assembly 20 switches between the first position and the second position, the position of the installation opening relative to the elongated hole 110 changes.

Specifically, the peripheral edge of the sealing structure is connected to the body 10 , and the peripheral edge of the installation port is connected to the housing 2016M of the first driving structure, so as to achieve blocking of the long hole 110 or the arc hole without affecting the movement of the cleaning assembly 20 . 110R, when the cleaning component 20 is switching between the first position and the second position, the cleaning component 20 will drive the sealing structure to move so that the installation port moves with the cleaning component 20 to always maintain a sealed state to prevent dust, etc. It enters the inside of the body 10 through the long hole 110 . As shown in Figure 29, the sealing structural member is a rubber coating 820H or rubber. Taking the rubber coating 820H as an example, one end of the rubber coating 820H is fixed on the body 10, and the other end is fixed on the housing 2016M of the first driving structure. , the rubber coating layer 820H has a certain elasticity. During the swing process, the cleaning component 20 drives one end of the rubber coating layer 820H fixed on the housing 2016M to swing, and the rubber coating layer 820H deforms, thereby realizing the long hole 110 or the arc hole. 110R seal. Further, the sealing structural member is made of elastic rubber.

In the fourth embodiment of the sealing structure, as shown in Figure 25, the elongated hole 110 or the arc-shaped hole 110R can be sealed by a retractable corrugated plate 830H. By arranging the corrugated plate 830H at the long hole 110 or the arc hole 110R on the body 10, and connecting the corrugated plate 830H with the shell 2016M of the first driving structure, the surroundings of the corrugated plate 830H are fixedly connected to the edge of the moving channel 300H, When the cleaning assembly 20 swings, the part of the corrugated plate 830H located on one side of the cleaning assembly 20 is compressed, that is, the part located on one side of the mounting part 2001H is compressed, and the part located on the other side of the cleaning assembly 20 is stretched, that is, the part located on the mounting part 2001H The part on the other side is stretched to seal the moving channel 300H, so that when the cleaning assembly 20 is switched between the first position and the second position, the corrugated plate 830H can be telescopically adjusted to seal the long hole 110 or the arc hole 110R. .

When the sealing structure is disposed on the housing 2016M of the first driving structure, no matter whether the cleaning assembly 20 is in the mopping position, the lifting position or other positions, the sealing structure will not follow the cleaning assembly 20 to move up and down, and the sealing structure can seal Or block the moving channel 300H. That is, the sealing structure only moves following the movement or swing of the cleaning component 20 or the first driving structure, but does not follow the lifting or descending movement of the first driving structure or the cleaning component 20 . In this case, the sealing structure can be located in the installation cavity of the body 10 , that is, located inside the moving channel 300H. The cleaning assembly 20 is located outside the bottom of the body 10 , and the sealing structure is located above the cleaning assembly 20 ; the sealing structure can also be located on the body 10 outside the bottom of the moving channel 300H, that is, located outside the moving channel 300H but above the cleaning assembly 20 . In addition, since the sealing structure is provided on the housing 2016M of the first driving structure, when the first driving structure drives the cleaning assembly 20 to rotate to perform mopping work, the sealing structure will not rotate along with the cleaning assembly 20 .

It should be noted that when the sealing sliding plate has the structure shown in Figures 27, 40, 41, 64, 65, 56, and 57, and is snap-connected to the mounting portion of the first driving structure, that is, When there is no relative rotation between the sealing sliding plate and the mounting portion of the first driving structure, at this time, the sealing sliding plate can only be disposed on the housing 2016M of the first driving structure, that is, the housing 2016M of the first driving structure serves as Its mounting part (for ease of distinction, abbreviated as the second mounting part) is used to install the sealing structure.

As an alternative embodiment of the second, third and fourth embodiments in which the above-mentioned sealing structure is provided on the first driving structure: the above-mentioned sealing sliding plate 810H, sealing structural member and corrugated plate may also be used separately. The housing 2016M of the first driving structure is fixed, but is connected to the mounting portion of the first driving structure for installing the cleaning component. This mounting portion can be provided on the cleaning component or on the first driving structure (for ease of distinction, Abbreviated as the first installation department).

Correspondingly, the installation through hole 811H of the seal sliding plate, or the installation opening of the corrugated plate 830H, or the installation opening of the sealing structural member can be rotatably sleeved on the first mounting part 2001H, or it can be sleeved in other rotatable ways. On the outer wall of the first mounting part 2001H. Optionally, the sealing structure is located in the installation cavity of the body 10, the cleaning component 20 is located outside the bottom of the body 10, and the sealing structure is located above the cleaning component 20. Since the second fixed body 2013M moves up and down relative to the shell 2016M or the body 10, then The sealing structure moves up and down simultaneously with the second fixed body 2013M or the cleaning component 20 . When the cleaning assembly 20 is in the mopping position, the sealing structure is in the lowest position to seal or block the moving channel 300H; when the cleaning assembly 20 is lifted from the mopping position to the non-working position, since the non-working position is higher than the mopping position, At the ground position, the second fixed body 2013M, the cleaning component 20, and the sealing structure move upward simultaneously. However, the sealing structure is rotatably connected to the first mounting part. That is, when the cleaning assembly 20 is in the mopping position and the second fixed body 2013M drives the cleaning assembly 20 to rotate and mop the floor, the sealing structure will not follow the second fixed body 2013M. and the cleaning assembly 20 rotates.

For example, in one embodiment, one end of the corrugated plate 830H is fixed on the body 10, and the other end is provided with an installation opening. The installation opening is sleeved and fixed on the outer wall of the first installation part.

When the sealing structure is the aforementioned sliding sealing plate 810H, when the cleaning assembly 20 is in the non-working position (for example, the raised position), there is a gap between the sliding sealing plate 810H and the moving channel 300H in the height direction of the body 10. The size of this gap mainly It depends on the height difference between the mopping position and the non-working position. If the height difference between the mopping position and the non-working position is small, the gap will be small. At this time, the sealing structure can also block the moving channel 300H.

When the sealing structure is the aforementioned corrugated plate 830H or the sealing structural member, because the corrugated plate 830H and the sealing structural member have a certain amount of deformation, when the When the cleaning assembly 20 or the second fixed body 2013M moves up and down, the corrugated plate 830H and the sealing structure are deformed. The corrugated plate 830H and the sealing structure will not create a gap with the moving channel 300H, and can seal the moving channel 300H. That is, the sealing structure can deform and follow the first driving structure or the cleaning component 20 to perform lifting and swinging movements, and the sealing structure can always seal the moving channel 300H.

In addition, it should be noted that regardless of the connection method between the sealing structure and the first driving structure 40M, the first mounting portion used to connect the first driving structure and the cleaning assembly 20 is located in the moving channel. Swing in the moving channel to switch the cleaning component between the retracted position and the outward swing position.

For the aforementioned first driving structure, the first mounting part includes the lower part of the aforementioned first wall, the connecting wall and the second wall. The sealing structure is sleeved on the outer wall of the first wall and is located on the first wall. Below the bottom of the housing 2016M of the driving structure, a required lifting gap is reserved between the top of the sealing structure and the bottom of the housing 2016M, so that the sealing sliding plate is sleeved outside the first wall and can follow the movement of the second fixed body. Ascending or descending movement.

In an alternative embodiment of the first mounting part, if the mounting protrusion on the top of the cleaning plate is sleeved on the outer wall of the first wall of the second fixed body to achieve connection with the second fixed body, correspondingly, the third The first mounting body is an outer wall with a mounting protrusion, and the sealing structure is sleeved on the outer wall of the mounting protrusion.

As an alternative to the installation part of the sealing structure and the first driving structure, when the first driving structure or the lifting structure does not have a housing 2016M but a fitting part, the sealing structure can be provided on the outer wall of the fitting part. in particular:

When the mating part is a rotating body, the installation through hole of the sealing sliding plate, the installation opening of the corrugated plate, and the installation opening of the sealing structural member are rotatably sleeved on the outer wall of the rotating body. When the rotating body rotates, the sealing structure does not rotate during this process. When the second fixed body moves up and down, the rotating body does not move up and down, so it does not drive the sealing structure to move up and down.

When the fitting part is a fitting part that is fixed relative to the machine body, for example, the fitting part is the aforementioned damping, rubber strip, etc., the damping or rubber strip itself does not move with the lifting and lowering of the first driving structure, and does not rotate with the rotation of the cleaning assembly. The installation through hole of the sealing sliding plate, the installation opening of the corrugated plate, and the installation opening of the sealing structural member can be fixedly placed on the outer wall of the mating part. For example, when the fitting part is provided with a mounting bracket, preferably, the sealing structure is sleeved on the mounting bracket and fixed.

It can be seen that the sealing structure is provided on the mounting part of the first driving structure and moves with the swing of the first driving structure, so that when the cleaning assembly is in the retracted position, the outward swinging position, or between the retracted position and the outward swinging position, In the swing position, the sealing structure can seal or block the moving channel, and will not affect the first driving structure to drive the cleaning component to perform lifting movements and mopping rotations (or vibrating mopping movements). The installation of the first driving structure The part may be the first mounting part of the second fixed body that is directly fixed to the cleaning component, or it may be the housing 2016M (i.e., the second mounting part) indirectly connected to the cleaning component, or it may be a matching piece of the aforementioned first driving structure. (i.e., the third mounting portion); that is, when the mounting portion of the first driving structure is used to install the sealing structure, it should be interpreted broadly rather than just limited to the schematic diagram of the accompanying drawings.

In addition, when the first driving structure and the lifting structure are driven by one motor respectively. For example, the lifting structure drives the first driving structure to lift as a whole, and the second driving structure 50M drives the lifting structure to swing as a whole, so as to drive the first driving structure and the cleaning assembly 20 to swing as a whole. Preferably, the above-mentioned sealing structure provided on the first driving structure can be provided on the housing of the lifting structure, or on the housing 2016M of the first driving structure, as long as the sealing structure does not rise or fall with the lifting structure or with the first driving structure. To perform rotational or vibrating motion, the sealing structure only oscillates with the first driving structure relative to the body.

In addition, when the wet cleaning module 200M of the cleaning equipment has the above-mentioned swing function, the above-mentioned first driving structure can adopt any of the embodiments described in the previous embodiments in which the first rotating member cooperates with the second rotating member.

In addition to the above-mentioned wet cleaning module 200M, the cleaning equipment has the function of swinging out and retracting to achieve edge cleaning. The cleaning equipment also has the function of automatically disassembling and installing the above-mentioned cleaning component 20, eliminating the need for the user to manually replace the cleaning component 20.

The cleaning component 20 can move up and down driven by the lifting structure. For example, the lifting structure takes the above-mentioned first driving structure as an example to unfold. In order to facilitate automatic disassembly and installation of the cleaning assembly 20, the mounting portion 2001H of the second fixed body 2013M of the first driving structure is magnetically connected to the top of the cleaning disk 90H; Or the mounting part 2001H of the second fixed body 2013M is plugged into the top of the cleaning tray 90H; or the mounting part 2001H of the second fixed body 2013M and the top of the cleaning tray 90H are connected using a second buckle connection, or other connection methods, Only during the upward movement of the second fixed body 2013M, the cleaning disk 90H is blocked by a blocking member or receives a downward force, so that the cleaning disk 90H cannot continue to rise with the second fixed body 2013M, so that the second fixed body 2013M is blocked. During the continuous rising process of the two fixed bodies 2013M, the cleaning disk 90H is separated from the second fixed body 2013M; on the contrary, when the cleaning disk 90H and the second fixed body 2013M are in a separated state, the cleaning disk 90H needs to be automatically installed on the second fixed body 2013M. When the mounting part 2001H of the body 2013M is on, first align the top of the cleaning plate 90H with the mounting part 2001H, and then the second fixed body 2013M makes a descending movement. As the mounting part 2001H of the second fixed body 2013M descends, the mounting part 2001H It can be magnetically attached to the top of the cleaning tray 90H, or plug-fitted, or snap-fitted.

For the second buckle connection, for example, one of the tops of the mounting part 2001H and the cleaning tray 90H is provided with a second buckle, and the other is provided with a second buckle. Along the lifting direction of the second fixed body 2013M, the The second buckle or the second buckle is provided on an inclined guide slope to facilitate the second buckle to be inserted into the second buckle or to be disengaged from the second buckle. The second slot can be replaced by a boss, and the second buckle is locked on the boss. The body 10 includes a chassis 103 and a top cover. The chassis and the top cover are detachably connected. The bottom of the body 10 is also the bottom of the chassis.

The second fixed body 2013M has a mopping position, a lifting position and a separation position relative to the body 10. The lifting position is higher than the mopping position, and the separation position is higher than the lifting position; correspondingly, the cleaning assembly 20 has a mopping position, a lifting position and a separation position. , the following takes the second fixed body 2013M as an example to expand.

As shown in Figure 45, the second fixed body 2013M is in the mopping position, and the cleaning piece 91H of the cleaning assembly 20 can contact the surface to be cleaned. At this time, the first limiting surface of the first limiting part 2022M is in contact with the ribs or threads. If the first motor 203M continues to rotate in the second direction, the second fixed body 2013M will not rotate relative to the first fixed body 2012M, and the first fixed body 2012M and the second fixed body 2013M will rotate synchronously. To drive the cleaning assembly 20 to rotate, the cleaning member 91H of the cleaning assembly 20 mops or wipes the surface to be cleaned. Correspondingly, there is a first distance between the top surface of the cleaning disk 90H and the bottom surface of the body 10 .

If the second fixed body 2013M needs to be raised from the mopping position to the lifting position, the first motor 203M rotates in the first direction, the second fixed body 2013M rotates upward relative to the first fixed body 2012M, and the cleaning assembly 20 follows the second fixed body 2013M. 2013M is lifted upward so that the second fixed body 2013M reaches the lifted position and reaches the position shown in Figure 46. The cleaning part 91H of the cleaning assembly 20 is separated from the surface to be cleaned. At this time, the first magnet 2014M and the second magnet 2015M remain magnetically fixed. , there is a second distance between the top surface of the corresponding cleaning plate 90H and the bottom surface of the body 10, and the second distance is smaller than the first distance. Theoretically, there is no contact between the top surface of the cleaning plate 90H and the bottom surface of the body 10 to prevent lifting. position, the bottom of the body 10 wears the top surface of the cleaning disk 90H. However, in actual use, when the detection device detects that the second fixed body 2013M is in the raised position, the controller controls the first motor 203M to stop rotating. The first motor 203M may lag, and it is not ruled out that the top of the cleaning disk 90H at this time Possibility of surface contact with the bottom surface of the body 10. Normally or normally, the top surface of the cleaning disk 90H will not come into contact with the bottom surface of the body 10.

If the cleaning assembly 20 needs to be disassembled, the first motor 203M continues to rotate in the first direction, and the second fixed body 2013M drives the cleaning assembly 20 to move upward. When the top surface of the cleaning disk 90H contacts the bottom surface of the body 10, the body 10 The bottom of the cleaning plate 90H exerts a downward blocking force on the top of the cleaning disk 90H. The first motor 203M continues to drive the second fixed body 2013M to rise, but the cleaning disk 90H is blocked by the bottom of the machine body 10 and no longer continues to follow the second fixed body. When 2013M rises, the first magnet 2014M and the second magnet 2015M gradually move away, and the magnetic attraction decreases. When the second fixed body 2013M rises to the position shown in Figure 47, the second fixed body 2013M separates from the cleaning assembly 20. In order to realize automatic disassembly of the cleaning assembly 20, the second fixed body 2013M is in the separated position, and the cleaning assembly 20 is also in the separated position. Correspondingly, the second limiting surface of the aforementioned second limiting portion 2023M is abutted on the convex position. The second surface of the rib or thread prevents the second fixed body 2013M from continuing to rotate upward. If the first motor 203M continues to rotate in the first direction, there will be no relative movement between the first solid body and the second solid body.

On the contrary, if the cleaning component 20 needs to be installed, assuming that the second fixed body 2013M is in the separated position, generally the cleaning device 20 needs to be returned to the base station to install and disassemble the cleaning component 20, and the new cleaning component 20 is pre-installed on the base station; when the cleaning device returns After aligning to the base station, the installation protrusion of the rag tray of the new cleaning component 20 is directly below the accommodation space of the second fixed body 2013M. At this time, the second fixed body 2013M needs to be lowered from the separation position to the mopping position, and the installation The protrusion extends into the accommodation space, and the first magnet 2014M and the second magnet 2015M are magnetically attracted to connect the second fixed body 2013M and the cleaning assembly 20 in place.

When the second fixed body 2013M descends, the first motor 203M rotates in the second direction, and the second fixed body 2013M threads rotate downward, descending from the separation position to the lifting position, and then descending to the mopping position, so that the cleaning assembly 20 and Automatic installation of the second fixed body 2013M. When the second fixed body 2013M is in the mopping position, the first limiting surface of the aforementioned first limiting portion 2022M contacts the threaded teeth or the first surface of the rib of the first fixed body 2012M, blocking the second fixed body. 2013M rotates relative to the first fixed body 2012M. At this time, if the first motor 203M continues to rotate in the second direction, there will be no relative movement between the first fixed body 2012M and the second fixed body 2013M. The solid body rotates synchronously to drive the cleaning component 20 to rotate, and the cleaning member 91H cleans the surface to be cleaned. Of course, the second fixed body 2013M can also be lowered from the lifting position to the mopping position. The lowering process is the same as the above and will not be described again here.

In addition, the second fixed body 2013M also has a manual installation position. Preferably, the manual installation position is between the lifting position and the mopping position. In order to make the cleaning device not only have the function of automatic disassembly, but also have a position for the user to manually install the cleaning component 20 functions for users to choose.

For example, when the cleaning assembly 20 is not installed on the cleaning equipment, the second fixed body 2013M is usually in a separated position. When the user needs to install it manually, the user lifts the cleaning equipment, and the driving wheel or walking wheel of the walking system of the cleaning equipment is suspended, and the detection device Upon detecting this signal, the controller will control the first motor 203M to rotate in the second direction according to this signal, and the second fixed body 2013M moves downward to the manual installation position for the user to install the cleaning assembly 20 . Of course, when the cleaning component 20 is not provided on the cleaning equipment, the second fixed body 2013M can also be in a raised position and lowered from the raised position to the manual installation position. In addition, the manual installation position can also be other positions, as long as it is not a separated position, such as a lifting position or a mopping position.

When the cleaning equipment disassembles and installs the cleaning component 20, it usually needs to return to the base station. As shown in Figure 48, the base station includes a base 101 and a body located on the base 101. A receiving space is formed between the body and the base 101 to accommodate the cleaning equipment. The top surface of the base 101 is provided with a cleaning structure corresponding to the cleaning member 91H to clean the cleaning member 91H. Among them, the cleaning structure includes a cleaning cavity provided on the base 101. At least one or more cleaning ribs 105H are provided in the cleaning cavity. Protrusions are provided on the cleaning ribs for frictional contact of the cleaning parts 91H. One end of the plurality of cleaning ribs surrounds a central area, and a first positioning member 101H is provided on the central area. As shown in Figure 47, correspondingly, a positioning groove 92H is provided at the bottom of the cleaning plate 90H. The positioning groove 92H is in contact with the first positioning member 101H. The parts plug together. Preferably, the positioning groove 92H and the first positioning member are in the shape of a polygon or a conical boss. For example, as shown in FIG. 47 , the longitudinal cross section of the positioning groove 92H is generally trapezoidal. excellent Optionally, the first positioning member is a third magnet that generates magnetic attraction to the second magnet 2015M on top of the cleaning tray 90H to position the cleaning assembly 20 on the base station.

For example, the clean cleaning component 20 is magnetically fixed by the third magnet and the second magnet 2015M on the cleaning tray 90H to position the cleaning component 20 on the base station. When the cleaning equipment needs to be returned to the base station to install a new cleaning component 20, the cleaning The second fixed body 2013M of the device is preferably returned to the base station in a separated position to prevent the first magnet 2014M on the second fixed body 2013M from magnetically attracting the second magnet 2015M, causing the position of the cleaning assembly 20 on the base station to shift. When the cleaning equipment returns to the base station alignment position, the accommodation space of the second fixed body 2013M is located directly above the top of the cleaning tray 90H. The second fixed body 2013M is lowered to the mopping position, and the first magnet 2014M aligns with the second magnet. The magnetic attraction force generated by 2015M is greater than the sum of the magnetic attraction force generated by the third magnet on the second magnet 2015M and the gravity of the cleaning component, so that the cleaning component 20 is installed on the second fixed body 2013M.

In order to facilitate the accurate installation of cleaning components when the cleaning equipment returns to the base station, an alignment device is provided on the base station, so that after the cleaning equipment returns to the base station, the accommodation space of the second fixed body is directly above the installation protrusion of the cleaning tray. As shown in Figure 49, the alignment device includes at least one second positioning member 102H provided on the side wall of the base, and the side wall of the body of the corresponding cleaning device is provided with a limiting member that plug-fits with the second positioning member. For example, the first positioning member is a protrusion, and the limiting member is a groove. The alignment device also includes at least one third positioning member 103H. The third positioning member 103 tends to extend upward under the action of the elastic member; a limiting groove is provided on the bottom of the body. When the cleaning equipment retreats and returns to the base station, the body The bottom of the machine first compresses the third positioning member, and the third positioning member is in a retracted state; when the cleaning equipment continues to retreat on the base station, when the third positioning member is facing the limiting groove, the bottom of the body does not squeeze the third positioning member. When the force is applied, the third positioning member pops up and is inserted into the limiting groove under the action of the restoring force of the elastic member. The third positioning member may be a plunger structure or other telescopic elastic structure.

Further, the alignment device also includes a fourth positioning member 104H. The fourth positioning member 104H is two grooves provided on the base. The two grooves are for a driving wheel to be inserted into to limit the position of the driving wheel; at the same time, the grooves There are multiple anti-skid bumps on the inner wall to prevent the drive wheel from sliding in the groove. The alignment device is provided with a plurality of positioning members to ensure that after the cleaning equipment is aligned back to the base station, the accommodation space of the second fixed body is directly above the installation protrusion of the cleaning disk.

What needs a description is: when realizing automatic disassembly, in addition to the above-mentioned structure, the lifting structure can also be other structures. It only needs that the lifting structure has a lifting component, the lifting component is connected to the cleaning component, and a blocking member is provided on the rising path of the cleaning disk. The blocking member can be the bottom of the machine body or other structures provided on the machine body. It only needs to be able to provide a blocking force to the cleaning disk so that the lifting part can be separated from the cleaning disk while the lifting part continues to rise.

In addition, when the lifting structure drives the cleaning component 20 to perform lifting movements, the cleaning component 20 is in the retracted position; when the cleaning component 20 is in the mopping position, the cleaning component 20 swings on the moving channel 300H to move between the retracted and outward swing positions. switch. When the cleaning equipment returns to the base station to disassemble or install the cleaning component 20, the cleaning component 20 is always in the retracted position. The cleaning component 20 has a retracted position, an outward swinging position, and a swinging position. Correspondingly, the first lifting structure connected to the cleaning component 20 also has a retracted position, an outward swinging position, and a swinging position. If the cleaning component 20 needs to be in the retracted position, for example, before the cleaning equipment returns to the base station, the position of the cleaning component 20 can be detected first. If the cleaning component 20 is not in the retracted position, the control system controls the second driving structure 50M to open and drive. The cleaning assembly 20 is retracted until it reaches the retracted position. Alternatively, before the cleaning equipment is set back to the base station, it is not detected whether the cleaning component 20 is in the retracted position. The control system controls the second driving structure 50M to drive the cleaning component 20 to forcefully retract, and then detects whether the cleaning component 20 is in the retracted position. If When the cleaning component 20 is in the retracted position, the motor of the second driving structure 50M stops rotating; otherwise, the motor of the second driving structure 50M continues to rotate until the cleaning component 20 is in the retracted position.

The cleaning part 91H of the wet cleaning module 200M needs to be kept moist when performing cleaning tasks. The water replenishing mechanism on the body 10 replenishes the cleaning part 91H to moisten the cleaning part 91H. Since the cleaning component 20 of the wet cleaning module 200M can swing outward and retract relative to the body 10, the cleaning component 20 can be in the swing-out position, the retracted position, and the dynamic position during the switching process between the swing-out position and the retracted position (i.e., swing position), so the position of the water outlet 900H of the water replenishing mechanism also changes accordingly.

In one embodiment, as shown in Figures 53 and 54, the water outlet 900H is provided on the body 10. The water outlet 900H will not move relative to the body 10 with the swing of the cleaning assembly 20. A hollow area 902H is provided on the cleaning plate 90H; The solution flowing out of the water outlet passes through the hollow area and provides solution to the cleaning part 91H. There is at least one water outlet 900H, for example, one, two, three, four, etc. The specific number of water outlets is selected according to requirements.

When the cleaning assembly 20 is in any one of the retracted position, the outward swinging position, and the swinging position, at least part of the at least one water outlet 900H is always connected to the hollow area. The water outlet 900H can be partially connected to the hollow area. For example, the water outlet 900H with one-half or three-quarters of the area is always connected to the hollow area. Of course, the area of the water outlet 900H can also be other values, which can be determined according to needs. Or, if the entire water outlet 900H is always connected to the hollow area, no matter whether the cleaning component 20 swings or not, the solution flowing out of the water outlet 900H through the hollow area can provide solution for the cleaning part 91H to moisten the cleaning part 91H.

For example, the cleaning plate 90H of the cleaning assembly 20 is provided with an annular hollow area. When the cleaning assembly 20 is in the retracted position, the outward swing position and the swing position, the corresponding vertical projections of the hollow area on the bottom of the body 10 are respectively the retracted vertical projections. Area 904H, swing-out vertical projection area 905H and swing vertical projection area; at least part of the water outlet 900H is located in the overlapping area of the inward vertical projection area, the swing-out vertical projection area and the swing vertical projection area, thereby realizing the cleaning component 20 no matter where it is. During the swing process, it is still in the retracted position and the outward swing position. The water outlet 900H is always connected to the hollow area. The water outlet 900H can provide cleaning parts. 91H hydration.

Optionally, at least part of the water outlet 900H can also be located in the retracted vertical projection area 904H , so that the cleaning component 20 is in the retracted position, and the water outlet 900H is always connected to the hollow area to replenish the cleaning member 91H; or, at least part of it can be The water outlet 900H is located in the swing vertical projection area, so that the cleaning component 20 can be in the swing position, and the water outlet 900H is always connected to the hollow area to replenish water for the cleaning part 91H; or, at least part of the water outlet 900H is located in the swing vertical projection. In the area, the water outlet 900H is always connected to the hollow area during the swing process of the cleaning component 20, and the cleaning part 91H is replenished with water.

Alternatively, at least part of the water outlet 900H is located in the overlapping area 906H of the retracted vertical projection area and the outward swing vertical projection area, so that the water outlet 900H is always connected to the hollow area regardless of whether the cleaning assembly 20 is in the outward swing position or the retracted position. Cleaning piece 91H replenishes water.

The cleaning equipment is generally equipped with two wet cleaning modules 200M. When the cleaning equipment is cleaning along the edge, it can use one side edge. For example, the cleaning equipment uses the right edge, then the wet cleaning module 200M located on the right side of the cleaning equipment can swing relative to the body 10 , the wet cleaning module 200M located on the left side of the cleaning equipment cannot swing relative to the body 10. The installation cavity of the body 10 needs to reserve space for the swing of the wet cleaning module 200M on the right side, so that the wet cleaning module 200M is adjacent to it. The structure is arranged slightly differently on the whole machine.

In one embodiment, as shown in Figures 49 and 50, the dust box 102M is located in the installation cavity of the body 10. In order to reserve installation space for the right wet cleaning module, or to reserve moving space or swing space, the dust box 102M is At least one first escape surface 1024M is provided on a wall to increase the space between the wall of the dust box 102M and the inner wall or side wall of the body 10, or to reserve an installation space for the aforementioned second The drive structure 50M, or the first drive structure 40M, or the first drive structure 40M and the second drive structure 50M are installed.

In one embodiment, the dust box 102M has at least one first escape surface 1024M. The first escape surface 1024M forms a moving space with at least the inner wall of the body 10. The moving space is for at least one cleaning assembly 20 to be in a retracted position and an outward swing position. The second driving structure 50M and 40M are used to drive the first driving structure to move in the movement space to drive the cleaning assembly 20 to move. Optionally, both the first driving structure and the second driving structure are provided in the moving space; or, at least part of the first driving structure is provided in the moving space, and at least part of the first driving structure moves in the moving space, so as to The cleaning component 20 is driven to move. The above-mentioned moving space may also be a swing space 30H or an installation space. The first escape surface 1024M is at least partially provided on the side wall of the dust box 102M, or the entire first escape surface 1024M is provided on the side wall of the dust box 102M, or is partially provided on the side wall of the dust box 102M, and is partially provided on the side wall of the dust box 102M. The top or bottom surface of the box 102M.

As shown in Figure 49, the dust box 102M is also provided with at least one second escape surface 1025M, and a moving space, installation space or swing space is enclosed between the second escape surface 1025M and the inner wall of the dust box 102M. For example, when both wet cleaning modules 200M can swing, that is, the cleaning equipment has a left edge and a right edge, the moving space enclosed between the second avoidance surface 1025M and the inner wall of the dust box 102M is used for another wet cleaning module. The cleaning component 20 of the module 200M swings on the body 10. Furthermore, at least part of the first driving structure in the wet cleaning module 200M swings in the moving space. Optimally, at least part of the first drive structure and at least part of the second drive structure are located within this movement space. Preferably, the first escape surface 1024M and the second escape surface 1025M of the dust box 102M are not adjacently distributed on the side wall of the dust box 102M, or are distributed on the opposite side walls of the dust box 102M.

As shown in Figure 55, in an optional embodiment, the dust inlet of the dust box 102M is located on the wall of the dust box 102M on the side away from the fan 103M, and a filter assembly 1023M is provided on the exhaust outlet 1022M. For example, the filter assembly 1023M is a sea filter assembly. Pa, or other filter. Preferably, one end of the filter assembly 1023M can be fixed on the first escape surface 1024M.

Alternatively, the moving space formed between the second avoidance surface 1025M and the inner wall of the body 10 is used for the installation of other structures. For example, assume that only the wet cleaning module on the right side can swing, and the wet cleaning module on the left side cannot swing, as shown in Figure 55 As shown, the first avoidance surface 1024M is provided with an air inlet 1028M, the second avoidance surface 1025M is provided with a dust exhaust outlet 1027M, and the dust exhaust outlet 1027M is provided with a dust exhaust duct 1026M. The dust exhaust duct is distributed between the second avoidance surface 1025M and the machine body. The air inlet 1028M is not provided with an air inlet channel so as not to occupy the movement space formed between the first avoidance surface 1024M and the body 10 . The air inlet 1028M and the dust exhaust air duct can be connected to the blowing end of the dust collecting fan on the base station and the air inlet 1028M. The suction end of the dust collecting fan is connected to the dust exhaust outlet 1027M. The dust collecting fan on the base station blows and sucks Collect the garbage in the dust box 102M into the dust bin or dust bag of the base station. Of course, the air inlet 1028M does not need to be connected to the blowing end of the dust collecting fan on the base station. The dust exhaust duct only needs to be connected to the suction end of the dust collecting fan. When the dust collecting fan is working, the installation cavity of the body 10 The air can enter the dust box 102M through the air inlet 1028M and form a suction effect under the action of the dust collecting fan to collect the dust in the dust box 102M into the dust bin or dust bag of the base station.

Preferably, the first escape surface 1024M or the second escape surface 1025M can be a flat surface, a curved surface, an uneven surface, or an angular surface. The shape of the first escape surface 1024M is not limited, as long as it can Just make way for more space.

In one embodiment, the fan 103M of the dry cleaning module 100M is located between the non-swingable wet cleaning module 2001M and the swingable wet cleaning module 2002M, and the air outlet 1022M of the dust box 102M is located at one end facing the fan 103M. The dust inlet 1021M of the dust box 102M is located on the wall of the dust box 102M on the side away from the fan 103M.

For the cleaning component 20, the cleaning component 20 may be the aforementioned rotating cleaning component 20, or a first driving structure driven vibrating cleaning group. Item 20, or a mopping roller brush. For example, a vibrating cleaning assembly includes a vibrating plate and a rag located on the bottom of the vibrating plate. For the rotating cleaning assembly 20, the bottom of the cleaning disk is provided with a protruding part, and the installation opening of the rag is set on the protruding part. The top of the rag and the bottom of the cleaning disk are fixed by magnetic attraction or adhesive.

The above is implemented by using the wet cleaning module 200M to achieve the swing-out and retraction functions. Similarly, the wet cleaning module 200M can be replaced with a side brush to achieve the swing-out and retraction of the side brush 400M, improving the edge cleaning of the side brush 400M. function; or the wet cleaning module 200M can also be replaced as the main brush to realize the outward swing and inward contraction of the main brush to increase the cleaning area of the main brush. For details, please refer to the above content and will not be repeated here. In one embodiment, the side brush 400M can swing outward and retract relative to the body 10 under the aforementioned driving structure. The side brush 400M has an outward swing position and a retracted position. When the side brush 400M swings outward, the side brush 400M extends. When the side brush 400M retracts and swings inward to reach the retracted position, the side brush 400M can be located within the range of the body 10 or partially outside the circumference of the body 10 . When the side brush 400M is in the outward swing position, the side brush 400M has a better edge edge effect on obstacles.

Example 2

With the development of science and technology, more and more people are beginning to use smart devices for cleaning work in their daily lives, such as sweeping robots (equivalent to the above-mentioned autonomous devices). Among them, sweeping robots can use different working modes to perform household cleaning tasks. Carry out cleaning, including single sweep, sweeping and mopping modes.

Existing sweeping robots can only install and disassemble the sweeping robot's mop manually. After the sweeping robot completes the mopping work, it usually uses mop lifting technology to prevent the dirty mop from contaminating the clean ground. However, since the mop has always been installed on the sweeping robot, and the ground clearance of the sweeping robot becomes smaller after the mop is installed, even if the mop is raised, it will still have an impact on the obstacle surmounting ability of the sweeping robot. For example, the mop will also cause the host to The probability of collisions and scratches increases, and there may even be problems such as sharp objects hooking on the mop, causing the sweeping robot to be trapped, or insufficient lifting to contaminate the carpet.

In order to solve the foregoing technical problems, the method embodiments provided in the embodiments of the present invention can be executed in a sweeping robot or a similar computing device. Taking running on a sweeping robot as an example, FIG. 58 is a hardware structural block diagram of the sweeping robot according to the installation method of the mop assembly according to the embodiment of the present invention. As shown in Figure 58, the sweeping robot may include one or more (only one is shown in Figure 58) processors 102 (the processor 102 may include but is not limited to a microprocessor unit (MPU for short) or programmable logic. Device (Programmable logic device, PLD for short) and a memory 104 for storing data. In an exemplary embodiment, the above-mentioned sweeping robot may also include a transmission device 106 for communication functions and an input and output device 108. Persons of ordinary skill in the art can understand that the structure shown in Figure 58 is only illustrative, and it does not limit the structure of the above-mentioned sweeping robot. For example, the sweeping robot may also include more or fewer components than shown in FIG. 58 , or may have a different configuration with equivalent functions or more functions than those shown in FIG. 58 .

The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the installation method of the mop component in the embodiment of the present invention. The processor 102 runs the computer program stored in the memory 104, thereby Execute various functional applications and data processing, that is, implement the above methods. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely relative to the processor 102, and these remote memories may be connected to the cleaning robot through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.

Transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by the communication provider of the cleaning robot. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet wirelessly.

This embodiment provides a method for installing a mop component. Figure 59 is a flow chart of a method for installing a mop component according to an embodiment of the present invention. The process includes the following steps:

Step S202, determine whether the cleaning task from the mobile device uses the mop component;

The above-mentioned tasks to be cleaned may at least include the following categories: single cleaning tasks, sweeping and mopping tasks, and mopping tasks; wherein sweeping and mopping tasks require the use of mop components, while single cleaning tasks do not require the use of mop components.

Step S204: When the task to be cleaned uses the mop component, determine whether the mop component exists in the cleaning base station corresponding to the self-mobile device, and determine whether the self-mobile device is equipped with the mop component. ;

The self-moving device and the cleaning component can respectively detect the mop component using a preset detection method to determine whether there is a mop component on the self-moving device and the cleaning component. The detection method of the mop component is not limited here.

Information can be transferred between the self-mobile device and the cleaning base station by establishing network communication, so that the self-mobile device can learn whether the cleaning base station is Whether the mop component exists. Optionally, communication can also be carried out by establishing a Bluetooth, WIFI, etc. connection, or other methods, which are not limited by this application.

It should be noted that when the execution subject of the installation method of the mop component is a device other than the mobile device, for example, a smart terminal such as a mobile phone, the mobile phone can establish communication connections with the mobile device and the cleaning base station respectively to deliver the information. information, so that the mobile phone can learn whether there is a mop component in the cleaning base station and the mobile device.

Step S206, when the mop assembly is present in the cleaning base station and the mop assembly is not provided on the self-mobile device, control the self-mobile device to move to the first position in the cleaning base station, To install the mop assembly in the cleaning base station on a self-moving device, wherein the first position is at least a position where the self-moving device installs the mop assembly in the cleaning base station.

The mobile device can perform path planning based on the current location and the location of the cleaning base station, and go to the cleaning base station based on the planned path. The mobile device can move to the first position in the cleaning base station. When the cleaning base station determines that the mobile device has moved to the first position, the cleaning base station can use the preset mop assembly installation method to move all the mop components in the cleaning base station. The mop assembly is installed on the mobile device. The installation method of the mop component is not limited here.

Through the above steps, it is determined whether the to-be-cleaned task of the self-mobile device uses the mop component; in the case where the to-be-cleaned task uses the mop component, it is determined whether the mop component exists in the cleaning base station corresponding to the self-mobile device. , and determine whether the self-mobile device is equipped with the mop component; thereby determining whether the self-mobile device needs to go to the cleaning base station to install the mop component, where the mop component exists in the cleaning base station and the self-mobile device is not configured In the case where the mop assembly is present, the self-moving device is controlled to move to a first position in the cleaning base station to install the mop assembly in the cleaning base station onto the self-moving device, wherein, The first position is at least a position where the mobile device installs the mop assembly in the cleaning base station. Adopting the above technical solution solves the problem in the existing technology that the sweeping robot cannot automatically install the mop, causing the user to manually install the mop, resulting in poor user experience; it realizes that the mop component can be automatically installed at any time according to task requirements; thereby better Complete technical effects of cleaning.

Wherein, the above-mentioned step S204, determining whether the mop assembly exists in the cleaning base station corresponding to the mobile device, can be implemented through the following steps, specifically including: receiving the first sensing information of the cleaning base station, wherein the third A sensing information is used to indicate the sensing result of the first sensor on the cleaning base station to the first target signal from the first position. The first target signal is emitted by the electronic component provided in the mop assembly. ; In the case where the first sensing information indicates that the first target signal is sensed at the first location, determine that the mop assembly is present in the cleaning base station.

The cleaning base station can sense the first position through the first sensor and determine whether it can sense the first target signal emitted by the electronic component provided in the mop assembly. If it can sense it, it means that the mop assembly exists in the cleaning base station; if If the first target signal cannot be sensed, it means that the mop component does not exist in the cleaning base station; and the sensing result is sent to the self-mobile device to inform the self-mobile device of the result; through the above steps, the first target signal is sensed through the sensor. The self-mobile device can simply and quickly learn whether there is a mop component in the base station, so as to help the self-mobile device complete the decision of whether to go to the cleaning base station to install the mop component.

It should be noted that the above-mentioned first sensor can be a Hall sensor, wherein the Hall sensor can be divided into two types: a linear Hall sensor and a switch Hall sensor; it can also be other sensors such as a temperature sensor; correspondingly , the electronic components corresponding to the Hall sensor can be magnetic induction switching components; the electronic components corresponding to the temperature sensor can be electronic components that are prone to heat, such as power diodes, voltage regulator tubes, etc.

It should be noted that the above-mentioned sensing process of determining whether there is a mop component in the cleaning base station can also be implemented through other optional methods, such as collecting images of the first position in the cleaning base station through an image acquisition device, and collecting the collected images. Image recognition is performed to determine whether there is a mop component in the cleaning base station; other methods can also be used, and this application is not limited to this.

Optionally, the above-mentioned step S204, determining whether the self-mobile device is equipped with the mop component can be implemented through the following steps, specifically including: receiving second sensing information of the self-mobile device, wherein the second The sensing information is used to indicate the sensing result of the second sensor of the self-mobile device to the second target signal from the second location, where the second target signal is emitted by the electronic component provided in the mop assembly, The second position is the installation position where the mop assembly is installed on the mobile device; when the second sensing information indicates that the second target signal is not sensed at the second position, it is determined that the The mobile device is not provided with the mop component.

The self-mobile device can sense the installation position of the mop component of the self-mobile device through its own second sensor. When the second position senses the second target signal sent by the mop component, it is determined that the self-mobile device is equipped with the mop. component; when the second location does not sense the second target signal sent by the mop component, it is determined that the self-mobile device is not equipped with the mop component; through the above steps, the self-mobile device can clearly sense whether it The mop component is installed, and the effect can be achieved more easily by sensing the second target signal. There is no need to set up complex circuits, components, etc. for the mobile device; thus, when the mop component is needed but not installed, go to the cleaning base station for cleaning. automatic installation, When the mop component is installed and is no longer needed, go to the cleaning base station for automatic disassembly.

It should be noted that the above-mentioned second sensor and the first sensor may be the same sensor or may be different, and this application does not limit this.

It should be noted that the above-mentioned sensing scheme for determining whether the mobile device is equipped with a mop component can also be implemented by other methods, for example: setting a circuit at the second position, and when the mop component is installed at the second position, by setting the circuit at the second position. The electronic components on the mop assembly form a path with the preset circuit, thereby transmitting an electrical signal to the mobile device to inform the mobile device that the mop assembly has been installed; other methods can also be used, and this application is not limited to this.

Optionally, before installing the mop assembly in the cleaning base station on the mobile device, the method further includes: determining whether the automatic disassembly and assembly switch is turned on; if the automatic disassembly and assembly switch is not turned on, It is prohibited to install the mop assembly on a self-moving device; when the automatic disassembly and assembly switch is turned on, install the mop assembly on a self-moving device.

The mobile device and/or the base station can also be provided with an automatic disassembly and assembly switch. When the switch is turned on, the automatic disassembly and assembly of the mop assembly is performed; when the switch is not turned on, the automatic disassembly and assembly of the mop assembly is not performed. Disassembly and assembly. By setting the automatic disassembly and assembly switch, the user can configure whether to automatically disassemble and assemble the mop assembly according to needs, further improving the flexibility of disassembly and assembly of the mop assembly. For example, when the automatic disassembly and assembly switch on the self-mobile device and/or the base station is turned on, the self-mobile device and/or the base station detects whether there is a mop component on the self-mobile device and/or the cleaning component. Or, when it is determined that the mobile device is not equipped with a mop assembly, it is also determined whether the switch for automatic disassembly and assembly of the mobile device and/or the base station is turned on. If it is turned on, control the movement of the self-mobile device into the cleaning base station. first position to install the mop assembly on your mobile device. Regarding the automatic disassembly and assembly control method of the mop assembly by the automatic disassembly and assembly switch, there is no limitation here.

Wherein, installing the mop component in the cleaning base station on a mobile device includes: controlling a connection component of the self-mobile device to drop to a first height, wherein the connection component is used to connect the mop component; in When the connection component drops to the first height, connect the mop component to the connection component; control the connection component at the first height to rise to the second height, and control the mop component Perform sensing to determine whether the mop component has been removed from the mobile device; repeat the above steps of controlling the connection component to descend to sensing the mop component until it is determined that the mop component has been removed from the mobile device.

The process of automatically installing the mop component from the mobile device includes: first controlling the connection component of the mobile device to drop to a first height. The first height is the height for installing/uninstalling the mop component from the mobile device. After dropping to the first height, the mop component is automatically installed from the mobile device. The mop component is connected to the connection component; and then the connection component is controlled to rise to a second height. The second height is the working height of the mop component carried by the mobile device, and also corresponds to the height at which the mop component is in the second position. Then, the mop component is sensed to determine whether the mop component has been removed from the mobile device. For example, the second sensor of the self-mobile device can be controlled to sense the second position, and when the obtained second sensing information indicates that the second target signal is sensed, it is determined that the mop component has been installed on the self-mobile device, For specific implementation methods, reference may be made to the above embodiments and will not be described in detail here. Of course, you can also refer to other mop component sensing methods given in the above embodiments to determine whether the mop component has been installed on the mobile device.

If it is determined based on the sensing information that the mop component is not installed on the mobile device, the above steps of controlling the connection component to descend to sense the mop component may be repeated until it is determined that the mop component is installed on the mobile device. Of course, you can also set a threshold for the number of repetitions. If the number of repetitions reaches the threshold, and the mop component has not been installed on the self-mobile device, the self-mobile device can issue a reminder to complete the installation of the mop component through manual intervention.

Through the above solution, the effect of automatically installing the mop component is achieved, and a verification is performed after the mop component is installed to avoid unsuccessful installation and enhance the reliability of the work of the self-moving equipment.

It should be noted that the above-mentioned connection component may be a mop bucket sleeve, a mop clamp, etc., or may be other devices used to connect the mop component to the mobile device, which is not limited in this application. For example, the above-mentioned connecting component can be disposed below the mobile device and be a telescopic or spiral lifting device.

Optionally, the above mop component can be connected to the connection component through the following solution: the mobile device controls to energize the electromagnetic component provided in the connection component, thereby making the electromagnetic component magnetic, and at the same time, the mop component is also configured to be adsorbed The metal component allows the connecting component to adsorb the mop component, so that the mop component and the connecting component are connected.

It should be noted that the above-mentioned electromagnetic component can be disposed inside the connecting component or on the surface of the connecting component, which is not limited in this application.

Optionally, the connection between the mop component and the connection component can also be realized through other solutions: setting the connection component as a magnetic device, and providing the mop component with metal that can be attracted by the magnetic device; thus, after the connection component is lowered, the connection can be made by magnetic force The component is connected to the mop component; or, the connection component can be set as a spiral rod structure, and a matching structure is provided for the mop component, so that the connection component and the mop component are spirally connected; the connection can also be made in other ways, and this application does not limit this .

It should be noted that the above-mentioned first target signal and second target signal may be the same signal or may be different signals, which is not limited in this application.

In an exemplary embodiment, after the self-mobile device completes the task to be cleaned, the self-mobile device can also be controlled to move to the first position in the cleaning base station again, so as to move the self-mobile device to the first position in the cleaning base station. The mop assembly of the self-moving device is detached from the self-moving device. After the cleaning task is completed, remove the mop assembly in time to avoid accidental triggering or moving of the mobile device. The mop will cause the host to collide or scratch, or sharp objects will hook the mop and cause the sweeping robot to be trapped. , to further improve the user experience.

In an exemplary embodiment, detaching the mop assembly of the self-moving device from the self-moving device includes: controlling the connection component at the second height of the self-moving device to descend to the first height, wherein, The connection component is used to connect the mop component; when the connection component at the second height drops to the first height, separate the mop component from the connection component; control the connection at the first height The assembly rises to the second height and senses the mop assembly to determine whether the mop assembly has been detached from the mobile device; repeat the above steps of controlling the connection assembly to descend to sense the mop assembly until It is determined that the mop assembly has been detached from the mobile device.

When the mop component is not required for the cleaning task, or after the mobile device has completed the cleaning task that requires the mop component, the mop component needs to be disassembled into the base station to prevent the dirty mop from damaging the clean area during the movement of the mobile device. Cause pollution, even to areas such as carpets that cannot be cleaned by mobile devices, giving users a bad experience. Detaching the mop component from the mobile device includes the following steps: controlling the connection component at the second height to drop to the first height, separating the mop component from the connection component; and then sensing the mop component to determine whether the mop component Disassembled successfully. For example, the second sensor of the self-mobile device can be controlled to sense the second position, and when the obtained second sensing information indicates that the second target signal is not sensed, it is determined that the mop component has moved from the self-mobile device. When disassembling, please refer to the above embodiment for specific sensing implementation methods, which will not be described in detail here. Of course, you can also refer to other mop component sensing methods given in the above embodiments to determine whether the mop component has been detached from the mobile device.

If it is determined based on the sensing information that the mop assembly has not been detached from the self-moving device, the above steps of controlling the connection component to descend to sense the mop assembly may be repeated until it is determined that the mop assembly has been detached from the self-moving device. Of course, a repetition threshold can also be set. If the mop assembly has not been disassembled from the self-moving device after the repetitions reach the repetition threshold, the self-moving device can issue a reminder to complete the disassembly of the mop assembly through manual intervention.

Through the above steps, the mop assembly is automatically disassembled from the mobile device, thereby avoiding contamination of the clean area and affecting the user experience.

Optionally, the method of separating the connection component and the mop component may include: controlling the electromagnetic component provided in the connection component to be powered off, so that the connection component after losing its magnetism is naturally separated from the mop component. In the case where the connecting component and the mopping component are connected in other ways, the connecting component and the mopping component can be separated by other adaptive methods, which are not limited here.

Optionally, performing the above step of detaching the mop component from the self-mobile device may include: controlling the connection component at the second height of the self-mobile device to rise to a fourth height, wherein, The connection component is used to connect the mop component; the mop component is separated from the connection component through a detachment component, wherein the detachment component is provided on the self-moving device, and the detachment component is provided on the The fourth height; control the connection component to descend to the second height, and sense the mop component to determine whether the mop component has been detached from the mobile device; repeat the above control of the connection component to rise to The step of sensing the mop component is until it is determined that the mop component has been detached from the mobile device.

Control the connection component at the second height to rise to the fourth height, and separate the mop component from the connection component through the disassembly component at the fourth height; then sense the mop component to determine whether the disassembly is successful, which can further increase self-movement The reliability of the equipment's operation prevents the mop assembly from being unable to be disassembled in the event of an unexpected situation, which brings a bad experience to the user.

It should be noted that the above-mentioned disassembly component set at the fourth height can be a baffle or other device. This component can only allow the connection component to pass, but the mop component cannot pass. Therefore, when the connection component rises to the fourth height, , the connecting component and the mop component are automatically separated under the action of the disassembly component, thereby disassembling the mop component. Optionally, the disassembly component can also be fixed by fixing the mop component so that the connecting component can be spirally separated from the mop component, which is not limited in this application.

In order to better understand the installation method of the above-mentioned mop assembly, the installation and disassembly process of the above-mentioned mop assembly will be described below with reference to FIG. 60 , but it is not used to limit the technical solution of the embodiment of the present invention. FIG. 60 is a diagram according to the embodiment of the present invention. A schematic structural diagram of an optional mobile device, as shown in Figure 60, includes:

The mop assembly 32 is located at a first height. When the mop assembly 32 is located in the cleaning base station, the position where the mop assembly 32 is located is the first position;

It should be noted that the above-mentioned first position is used to indicate the position of the mop assembly in the cleaning base station, and is also the position where the mop assembly is installed and removed from the mobile device. That is, the first position is used to indicate the spatial area in the same vertical area. ;

The connection component 34 is used to connect the mop component 32 to install the mop component 32 on the mobile device; when the connection component is in an idle state or when the connection component 34 carries the mop component 32 for work, it is located at the second height; if the connection component 34 During the installation and disassembly process of the mop assembly 32, it may be located at the first height or the second height; if the connecting assembly 34 is installed with the mop assembly 32 but the mop assembly 32 is not used, it may be located at the third height;

Optionally, an electromagnetic component may be provided on the surface or inside of the connecting component 34, and the connecting component 34 and the mop component 32 can be connected and disconnected by controlling the power on and off of the electromagnetic component.

The disassembly assembly 36 is located at the fourth height and is used to assist in disassembling the mop assembly 32 .

It should be noted that the connection component of the cleaning equipment in Embodiment 2 can be any lifting structure provided in Embodiment 1. Optimally, the connecting component is the lifting structure or the first driving structure in Embodiment 1. Correspondingly, the second height of the connecting component in Embodiment 2 may correspond to the mopping position of the second fixed body (or first rotating member) of the lifting structure, and the third height of the connecting component may correspond to the second fixed body (or first rotating member) of the lifting structure. or the lifting position of the first rotating member); the fourth height of the connecting component can correspond to the separation position of the second fixed body (or the first rotating member) of the lifting structure; the fifth height of the connecting component can correspond to the second fixed position of the lifting structure The manual installation position of the body (or first rotating part).

Of course, in addition to the aforementioned lifting structure, the connecting component can also be other lifting structures, such as cylinders, gears and racks, screws, ropes, etc.

Based on the above steps, after determining whether the task to be cleaned of the self-mobile device uses the mop component, the method further includes: in the case that the task to be cleaned does not use the mop component, determine whether the self-mobile device is configured with a mop component. The mop component, and determine whether the self-mobile device is located in the cleaning base station; in the case where the self-mobile device is provided with the mop component, and the self-mobile device is located in the cleaning base station, the self-mobile device is The mop assembly of the self-moving device is detached from the self-moving device.

If the to-be-cleaned task received from the self-mobile device does not require the use of a mop component, determine whether the self-mobile device is equipped with the mop component, and determine whether the self-mobile device is located in the cleaning base station; if the self-mobile device is provided with a mop component, and the self-mobile device is located in the cleaning base station, then the mop component is detached from the self-mobile device; through the above solution, when the self-mobile device receives a cleaning task that does not require the mop component, and the self-mobile device is located in the cleaning base station, Then, the self-moving device is controlled to disassemble the mop assembly, so as to prevent the mop assembly from affecting the self-moving device's ability to get out of trouble, and the cleaning task can be better completed.

Based on the above steps, after determining whether the self-mobile device is provided with the mop assembly and determining whether the self-mobile device is located in the cleaning base station, the method further includes: Mop assembly, and when the self-mobile device is not located in the cleaning base station, determine the working state of the self-mobile device; when the working state indicates that the self-mobile device is in a working state, the control is in The connection component of the second height rises to a third height, wherein the connection component is used to connect the mop component, and the third height is the lifting height of the mop component set for the task to be cleaned; in the working state When indicating that the self-mobile device is in an idle state, control the self-mobile device to move to the first position of the cleaning base station to detach the mop assembly of the self-mobile device from the self-mobile device .

If the self-mobile device receives a cleaning task that does not require a mop component, and the self-mobile device is equipped with the mop component, and the self-mobile device is not located in the cleaning base station; then it is necessary to further determine the working status of the self-mobile device; if the self-mobile device In the working state, that is, since the mobile device is performing a cleaning task, before performing the cleaning task, the connecting component at the second height is directly controlled to rise to the third height. It does not return to the cleaning base station to disassemble the mop component for the time being, but only raises the mop. ; If the self-mobile device is in an idle state, that is, the self-mobile device is waiting outside the cleaning base station, the self-mobile device is controlled to return to the cleaning base station, and the mop assembly is first disassembled before performing the cleaning task; through the above solution, the self-mobile device is allowed to perform cleaning Tasks are more efficient, avoiding wasting a lot of time and affecting work efficiency.

Optionally, the above-mentioned step S202, determining whether the to-be-cleaned tasks from the mobile device use a mop assembly can be implemented through the following solutions, including: determining whether the number of the to-be-cleaned tasks is greater than 1; If it is 1, it is determined whether the task to be cleaned uses the mop assembly.

Optionally, determine whether the mop component is used for tasks to be cleaned from the mobile device. The following steps can be used: determine whether the number of received tasks to be cleaned is greater than 1. If the number is 1, determine whether to use the mop component according to the category of the tasks to be cleaned. The mop component.

It should be noted that the above categories of cleaning tasks at least include: single cleaning tasks, sweeping and mopping tasks, and floor mopping tasks; the single cleaning task does not require the use of a mop assembly; the sweeping and mopping tasks require the use of a mop assembly.

Based on the above determination step: after determining whether the number of tasks to be cleaned is greater than 1, the method further includes: when the number of tasks to be cleaned is greater than 1, determining to use the mop assembly in the tasks to be cleaned. The first cleaning task, and the second cleaning task that does not use the mop component among the tasks to be cleaned; determine whether the self-mobile device is equipped with the mop component at the current moment; whether the self-mobile device is equipped with the mop component at the current moment; The mop assembly is provided to determine the execution order of the first cleaning task and the second cleaning task.

If the number of tasks to be cleaned is greater than 1, that is, multiple tasks to be cleaned are received, the tasks to be cleaned are divided into first cleaning tasks that require the use of the mop component and second cleaning tasks that do not require the use of the mop component according to whether the mop component is required. task; and determine whether the mobile device is equipped with a mop component at the current moment, and determine the execution order of the first cleaning task and the second cleaning task according to whether the mop component is provided; through the above solution, multiple cleaning tasks are classified and executed, so that It avoids multiple installation and disassembly of mop components during cleaning tasks, which affects work efficiency.

Optionally, determining the execution order of the first cleaning task and the second cleaning task according to whether the self-mobile device is equipped with the mop assembly at the current moment may include the following steps: When the mop assembly is installed at all times, the first cleaning task is executed; when the execution of the first cleaning task is completed, controlling the mobile device to move to the first position in the cleaning base station, To detach the mop assembly of the self-moving device from the self-moving device; and perform the second cleaning task.

If the mobile device is equipped with a mop component at the current moment, let the mobile device first perform the first cleaning task that requires the mop component. After the first cleaning task is completed, go to the cleaning base station to disassemble the mop component, and then perform the mop component that does not require the mop component. The second cleaning task; through the above solution, the number and frequency of installing and removing the mop assembly from the mobile device are reduced, the work efficiency is improved, and the possibility of frequent installation and removal of the mop assembly causing damage to the mop assembly is reduced.

Optionally, determining the execution order of the first cleaning task and the second cleaning task according to whether the self-mobile device is equipped with the mop assembly at the current moment may also include the following steps: when the self-mobile device is When the mop assembly is not provided at the current moment, the second cleaning task is executed; when the execution of the second cleaning task is completed, the mobile device is controlled to move to the first cleaning base station. position to install the mop assembly in the cleaning base station on the mobile device; and perform the first cleaning task.

If the mobile device does not have a mop component installed at the current moment, first perform the second cleaning task that does not require the mop component. After the second cleaning task is completed, go to the cleaning base station to install the mop component; and then perform the first cleaning task that requires the mop component. Task. For example, the owner has simultaneously issued a cleaning task A to clean area A. Among them, area B contains items such as carpets and other furniture that cannot be mopped, that is, the cleaning task B does not require a mop assembly; and Among the A to-be-cleaned tasks, in addition to the B to-be-cleaned tasks, C to-be-cleaned tasks require a mop component; at this time, the self-mobile device does not have a mop component installed. In order to improve work efficiency, the self-mobile device makes a task sequence decision and decides First perform the B tasks to be cleaned. After the execution is completed, the mobile device will go to the cleaning base station to install the mop assembly, and then continue to perform the C tasks to be cleaned. Through the above solution, on the one hand, it saves the time of frequently installing and disassembling the mop assembly on the mobile device and improves work efficiency; on the other hand, it avoids the process of the mobile device carrying the dirty mop assembly back to the cleaning base station after performing the mopping task. Frequently causing secondary pollution to clean areas.

This embodiment also provides a method for disassembling a mop assembly. Figure 61 is a flow chart of a method for disassembling a mop assembly according to an embodiment of the present invention. The flow chart includes the following steps:

Step 402, determine whether the cleaning task from the mobile device uses the mop component;

Step 404: When the task to be cleaned does not use the mop component, determine whether the mop component exists in the cleaning base station corresponding to the self-mobile device, and determine whether the self-mobile device is equipped with the mop component. components;

Step 406: In the case where the mop assembly does not exist in the cleaning base station and the mop assembly is provided on the self-mobile device, control the self-mobile device to move to the first position in the cleaning base station, To detach the mop assembly of the self-mobile device from the self-mobile device, wherein the first position is at least a position where the self-mobile device detaches the mop assembly in the cleaning base station.

Through the above steps, by determining whether the to-be-cleaned task of the self-mobile device uses the mop component; when the to-be-cleaned task does not use the mop component, it is determined whether the mop exists in the cleaning base station corresponding to the self-mobile device. component, and determine whether the self-mobile device is provided with the mop component; thereby determining whether the self-mobile device needs to go to the cleaning base station to remove the mop component, the mop component does not exist in the cleaning base station, and the self-mobile device When the mop assembly is provided, the self-mobile device is controlled to move to the first position in the cleaning base station to detach the mop assembly of the self-mobile device from the self-mobile device, wherein, The first position is at least a position where the mobile device disassembles the mop assembly in the cleaning base station. The above technical solution is adopted to solve the problem in the existing technology that the sweeping robot cannot automatically disassemble the mop, which leads to the reduction of the sweeping robot's escape ability and the dirty mop may cause contamination to the clean area; it realizes that the sweeping robot can automatically disassemble the mop at any time according to the task requirements. Disassemble the mop assembly to better complete the technical effect of cleaning.

Based on the above embodiments, embodiments of this specification also provide a method for disassembling a mop assembly of a self-moving device. The self-moving device includes a connecting assembly, and the mopping assembly is detachably connected to the connecting assembly; along the self-moving device In the height direction of the device, the connection assembly has at least a fourth height and a second height and/or a third height lower than the fourth height; at least at the second height and/or the third height, the mop assembly Can be connected to the connecting component. The method includes: controlling the connection component when the mop component is provided on the self-mobile device, the mop component is not used for cleaning tasks of the self-mobile device, and the self-mobile device is located in a cleaning base station. Rise from the second height or the third height to a fourth height to separate the mop assembly from the connection assembly on the mobile device at the fourth height.

For example, after the mobile device uses the mop component to perform the mopping task, if it receives a cleaning task that does not require the mop component, or receives an instruction to return to the cleaning base station, it can return to the cleaning base station and execute the mop component in the cleaning base station. disassembly. In this case, after receiving the instruction, the mobile device can first raise the mop assembly to the third height, and then return to the cleaning base station. By first raising the mop component to the third height and then returning to the cleaning base station, you can avoid dirt on the mop component from contaminating the ground. At the same time, raising the mop component to the third height can also increase the distance between the mop component and the ground. The gap between the mop assembly and the cleaning plate of the cleaning base station improves the obstacle-crossing ability of the self-moving device, allowing the self-moving device to return to the cleaning base station more smoothly. After the mobile device moves to the cleaning base station, the connection component can be controlled to rise from the third height to the fourth height. At the fourth height, the mop component is separated from the connection component to complete the disassembly of the mop component.

Alternatively, after the mobile device moves to the cleaning base station, the connection component can be controlled to drop from the third height to the second height to align the mop component with the mop placement position on the cleaning base station, so that the mop component can be accurately disassembled. to the preset mop placement position. The position of the mop placement position corresponds to the first position in the above embodiment, so that when installing the mop component, the mobile device can move to the first position in the cleaning base station to accurately complete the installation operation of the mop component. After completing the above alignment process, the mobile device can control the connection component to rise from the second height to the fourth height. At the fourth height, the mop component is separated from the connection component to complete the disassembly of the mop component. After moving from the mobile device to the cleaning base station, first control the connection component to drop from the third height to the second height, complete the alignment operation of the mop component and the mop placement position, and then perform the disassembly of the mop component, so that the mop component can be accurately It can be disassembled to the preset mop placement position. At the same time, it is also convenient for the mobile device to move to the mop placement position when the mop assembly needs to be used, and the installation of the mop assembly can be quickly completed.

Perform the separation of the mop component and the connection component at the fourth height, and keep the connection component at the fourth height to perform subsequent cleaning tasks. After the mop component is separated, it is possible to avoid as much as possible the impact on the mobile device when entering or leaving the cleaning base station. The position of the mop component affects the installation of the mop component; at the same time, it also ensures the obstacle-crossing ability of the mobile device. Therefore, using the solutions provided by the above embodiments of this specification, during the overall disassembly process of the mop assembly, on the basis of better meeting the needs of actual application scenarios, the disassembly operation of the mop assembly can be completed by using simple disassembly control logic.

Of course, when the mobile device returns to the cleaning base station, it can also keep the mop assembly at the second height, or adjust the mop assembly to any position between the second height and the third height, etc., here But limited.

In the above embodiments provided in this specification, the fourth height is relatively high, and the mop assembly and the connecting assembly are separated at the fourth height, which can reduce or avoid interference to the separated mop assembly as much as possible; and when the mop is After the components are separated from the connected components, no further operations are required to make the operation of the mobile device more consistent with actual application scenarios.

In some embodiments, the detection element may be disposed at any one of the first height, the second height, the third height, and the fourth height, or at multiple heights, and the detection element may detect whether the connection component is located at the corresponding height to detect whether the connection component is located at the corresponding height. Determine the duration of movement of the connecting component between any two heights, and then determine whether there is an abnormality in the movement of the connecting component between any two heights.

For example, the duration of the rise of the connecting component between any two heights can be determined by analyzing the time difference between the signals emitted by the detection elements received at the two heights. For example, the connecting component performs an ascending action from the third height to the fourth height. The moment when the connecting component leaves the third height is t ₀ , the moment when the connecting component reaches the fourth height is t ₁ , and the connecting component rises from the third height. The duration to the fourth height is t ₁ -t ₀ . If t ₁ -t ₀ is less than or equal to the preset duration, it is considered that the movement of the connecting component is normal. If t ₁ -t ₀ is greater than the preset duration, the movement of the connecting component is abnormal. Alternatively, the detection element can also be set at only one height, for example, the detection element can be set at the fourth height; the moment when the connecting component starts to rise from the third height is regarded as the initial time 0, and the detection element detects at the fourth height. The time when the mop component is reached is t, then t is the time for the connecting component to rise from the third height to the fourth height; if t is less than or equal to the preset time, it is considered that there is no abnormality in the movement of the connected component; if t is greater than the preset time, then Abnormal movement of connected components.

Usually, when the connecting component moves abnormally, the connecting component is stuck between the initial height or between the initial height and the target height. For example, if the connecting component is stuck at the third height or between the third height and the fourth height, if the mobile device still does not receive feedback from the detection element at the fourth height after a preset time period after time t ₀ If the connecting component is located at the fourth height, it can be confirmed that the rising time of the connecting component between the third height and the fourth height exceeds the preset time.

Of course, the above-mentioned solution of detecting the duration of movement of the connecting component and determining whether the duration of movement exceeds the preset duration is only a preferred example and does not constitute a limitation.

Through duration detection, it can be judged whether there is an abnormality in the movement of the connecting component between the two heights. If there is an abnormality, the connecting component can be controlled to retreat, and then try to rise or fall between the two heights to avoid accidental jamming. The sudden pause causes abnormal movement of the connecting component, which in turn causes the mop component to fail to disassemble or install. After trying to go back several times, if the duration of exercise still exceeds the preset duration, an abnormality reminder can be issued to allow the user to intervene and check.

Based on the above embodiments, in some embodiments, for the disassembly of the mop assembly, the connecting assembly is at the second height, the third height, and the third height. In the ascending action between any two of the four heights, if the connecting component rises between the two heights for more than the preset time, the connecting component is controlled to return to the height before rising. , perform the rising action again. When the number of ascending actions between two heights exceeds the preset threshold, an abnormal reminder is issued.

In the case of controlling the connection component to rise from the second height to the fourth height, the duration of the connection component rising from the second height to the fourth height may be detected. When the duration of rising from the second height to the fourth height exceeds the corresponding preset duration, the connecting component is controlled to perform a lifting action, descending from the current height to the second height, and then rising from the second height to the fourth height.

Normally, when the connection component moves abnormally, the connection component is stuck at the second height or between the second height and the fourth height. The moment when the connection component starts to rise from the second height is the initial time 0. After the preset Duration, the height where the connected component is stuck is the current height. Correspondingly, the current height may be the second height, or any height between the second height and the fourth height.

Alternatively, when controlling the connection component to rise from the second height to the fourth height, the duration of the connection component rising from the second height to the third height and the rise from the third height can be detected respectively. The duration to reach the fourth height. When the duration of the connection component rising from the second height to the third height exceeds the corresponding preset duration, the connection component is controlled to perform a lifting action, descending from the current height to the second height, and then from the current height to the second height. The second height rises to the third height; wherein, the current height may be the second height, or any height between the second height and the third height. And, when the duration of the connecting component rising from the third height to the fourth height exceeds the corresponding preset duration, the connecting component is controlled to perform a lifting action, descending from the current height to the third height, and then from the current height to the third height. The third height rises to a fourth height; wherein, the current height may be the third height, or any height between the third height and the fourth height.

In some application scenarios, the third height corresponds to the lifting height of the mop component. Accordingly, based on the preset control logic, there may be signal feedback or pause when the connecting component rises to the third height; or, in some application scenarios, , only the third height is provided with a sensor for detecting the connection status of the mop component and the connecting component. There may also be signal feedback or pause when the connecting component moves to the third height. Therefore, after receiving the signal that the mop component is separated from the connection component, respectively detecting the time duration for the connection component to rise from the second height to the third height, and the time duration for the connection component to rise from the third height to the fourth height, it is possible to achieve The motion anomaly detection logic of connected components is more closely integrated with other control logic in actual application scenarios, making logic control smoother.

Or, for the disassembly of the mop assembly, in the case of controlling the connection assembly to rise from the third height to the fourth height, the duration of the connection assembly rising from the third height to the fourth height can be detected. When the duration of the connecting component rising from the third height to the fourth height exceeds the corresponding preset duration, the connecting component is controlled to perform a lifting action, descending from the current height to the third height, and then from the third height. The third height rises to the fourth height; where the current height is the third height, or any height between the third height and the fourth height.

For the above embodiment, the number of lifting actions performed between two heights can also be analyzed, and when the number of lifting actions performed between two heights exceeds a preset threshold, an abnormality reminder is issued.

In the above embodiment, since the rising of the connecting component from the second height to the fourth height corresponds to the overall separation action of the mop component, by analyzing the overall duration of the rising of the connecting component from the second height to the fourth height, the detection can be made more consistent with actual disassembly. Scenes. Of course, as shown in the above embodiment, the segmented execution duration detection method can also be used to more timely and accurately determine at which two height segments an abnormality occurs in the connection component, making it easier for the user to perform abnormality troubleshooting.

In some embodiments, it can also be sensed whether the mop assembly is successfully disassembled. For example, when the mopping component is sensed at the second position, the connecting component can be controlled to retreat to the second or third height, and then rise from the second or third height to the fourth height. Wherein, the second position is the position where the mop component that can maintain a connected state with the connecting component is located. For specific implementation methods, reference may be made to the above embodiments and will not be described in detail here. By further detecting the disassembly of the mopping component, if the disassembly is not successfully completed, repeating the action of rising to the fourth height and trying to disassemble the mopping component again can further ensure that the mopping component is successfully disassembled. Of course, if the number of repetitions exceeds the preset threshold, an exception reminder can be issued to allow the user to intervene and manually complete the disassembly of the mopping component.

Preferably, when it is detected that the mop component is connected to the connection component at the third height, the connection component can be controlled to rise from the third height to the fourth height, or the connection component can be controlled to retreat to the second height, and then Rise from the second height to the fourth height. For example, a second sensor can be provided at a third height from the mobile device. The second sensor can be a touch sensor. When the connecting component moves to the third height, the mop component can come into contact with the second sensor, thereby determining that the mop Components and connected components are connected. The second sensor can also be a camera device or an infrared device. When the connecting component moves to the third height, the second sensor can collect an image of the mop component, or the infrared signal changes due to the presence of the mop component, thereby determining the relationship between the mop component and the mop component. Whether the connected component is connected. Alternatively, the second sensor senses the second target signal emitted when the mop assembly is located at the third height. If the second target signal is sensed, it is confirmed that the mop assembly and the connection assembly are in a connected state. Of course, it's okay Use other methods to detect the connection status of the mop component and the connection component at the third height.

It can be seen from the above embodiments that the third height is the lifting height of the mop assembly set for cleaning tasks to perform cleaning tasks that do not require the mop assembly. By detecting the connection state of the mop assembly and the connection assembly at the third height, it is possible to realize While detecting the connection status of the mop component and the connection component, it is detected whether the mop component rises to the lifting height when the mobile device performs a cleaning task that does not require the mop component. That is, by setting up a detection sensor, it is possible to simultaneously detect whether the mop assembly is successfully installed/disassembled and whether the mop assembly is lifted as required for the cleaning task, thus reducing the structural design complexity and structural cost of the mobile device.

Of course, the connection status of the mop component and the connection component can also be detected at other heights, which is not limited in other embodiments of this specification.

Based on the solution of the embodiment, for example, during the process of controlling the connection assembly to rise from the second height to the fourth height to perform the disassembly of the mop assembly, the duration of the rise of the connection assembly from the second height to the third height, and the rise of the third height to The duration of the fourth height, or the duration of the rise from the second height to the fourth height. If a timeout occurs, the corresponding lifting action will be executed. After the number of repetitions of the lifting action reaches the preset threshold, a reminder for abnormal motion of the connected component can be issued. If no timeout occurs, you can detect whether the mop component has been disassembled. If the detection result shows that the mop component has not been completely disassembled, the connecting component can be controlled to perform the action of rising from the second height to the fourth height again and try to disassemble again. After the number of attempts reaches the preset threshold, a reminder can be issued if the mop component is disassembled abnormally.

Or, in some application scenarios, only the sensor for detecting the connection status of the mop component and the connection component is provided at the third height, and no detection components are provided at other heights. For this application scenario, if the connection component is controlled from the second height After rising to the fourth height and performing the disassembly of the mop component, the duration of rising of the connecting component from the second height to the third height can be detected. For example, if the time when the controller issues an instruction to rise to the fourth height is taken as the initial time, if after a preset time period, no signal reflecting the connection status of the mop component and the connection component is detected at the third height, it can be considered that the connection component While ascending from the second altitude to the third altitude, motion abnormalities occurred. You can control the connection component to return to the second height and try to rise to the third height again; if after trying multiple times, the connection status of the mop component and the connection component cannot be detected at the third height within the preset time period. signal, it will send out a reminder that there is abnormal movement of the connecting component between the second height and the third height.

If within the preset time period, a signal reflecting the connection status of the mop component and the connection component is detected at the third height, the connection component can be controlled to rise from the third height to the fourth height, and the moment starting from the third height is the initial moment. For example, the moment when the signal reflecting the connection status of the mop component and the connection component is detected at the third height can be used as the initial moment; or, if it involves re-issuing the control command, the controller can issue a signal rising from the third height to the fourth height. The time of the instruction is the initial time, etc. After a preset time period, the connection component can be controlled to return to the third height to detect the connection status of the mop component and the connection component. If it is confirmed that the mop component and the connection component are separated, the mop component can be considered to be successfully disassembled. The connection assembly can also be further controlled to rise from the third height to the fourth height. The successful disassembly of the mop assembly can indirectly reflect that the movement of the connecting assembly between the third and fourth heights is normal. Of course, if it is confirmed that the mop component and the connecting component are still connected at the third height, it is considered that there is an abnormality in the movement of the connecting component between the third height and the fourth height. At this time, the connecting component can try to rise from the third height. to the fourth height, and after a preset time period, return to the third height to detect the connection status of the mop component and the connection component; after repeating several times, if the mop component and the connection component are still connected, the connection component can be sent out at the third height. It is a reminder that there is an abnormality in the movement between the third height and the fourth height or there is an abnormality in the disassembly.

Correspondingly, in some embodiments, for the case where a sensor for detecting the connection status of the mop component and the connection component is provided only at the third height, the control logic for the connection component rising from the second height to the fourth height is as follows: After a preset time period after the second height begins to rise, a signal reflecting the connection status of the mop component and the connection component is detected at the third height, and the connection component is controlled to rise from the third height to the fourth height. If no signal reflecting the connection status of the mop component and the connection component is detected at the third height, the connection component is controlled to return to the second height and attempts to rise to the third height again. After a preset time period after starting to rise from the third height, the connection component is controlled to return to the third height. If a signal reflecting the connection status of the mop component and the connection component is detected at the third height, it is confirmed that the mop component is successfully disassembled; If no signal reflecting the connection status of the mop component and the connection component is detected at the third height, the connection component is controlled to return to the third height and attempts to rise to the fourth height again. By utilizing the above control logic, while simplifying the detection components, the control logic for disassembling the mop assembly can be further simplified.

Of course, it is also possible to detect the connection status of the connecting component and the mop component after a preset time period has elapsed after issuing an instruction to control the connecting component to rise to the fourth height. If the detection result shows that the mop component has not been completely disassembled, the connecting component can be controlled to perform the action of rising from the second height or the third height to the fourth height again, and try to disassemble again. After the number of attempts reaches the preset threshold, the mop component can be disassembled. Alerts for exceptions. By combining duration control with connection status detection, the disassembly control of the mop assembly can be more simply and conveniently controlled.

Based on the above embodiments, embodiments of this specification also provide a method for installing a mop component of a self-moving device. The self-moving device includes a connecting component, and the mop component is detachably connected to the connecting component; along the self-moving device In the height direction of the device, the connecting component has at least a second height and a third height and/or a fourth height higher than the second height. At the second height, the mop component connected to the connection component can perform mopping work. Correspondingly, the method includes: there is a mop assembly in the cleaning base station, and there is no mop assembly on the mobile device. When the cleaning task of the self-mobile device requires the use of a mop assembly and the self-mobile device is located in a cleaning base station, control the connection component to drop from the third height or the fourth height to the second height. , to connect the mop component in the cleaning base station with the connection component at the second height.

For example, after the self-mobile device disassembles the mop component in the cleaning base station, the connected component can be kept at the fourth height. After that, the self-mobile device leaves the cleaning base station and performs cleaning tasks that do not require the mop component; after receiving a request that requires the use of the mop component After the cleaning task, go to the cleaning base station to complete the installation of the mop assembly. Correspondingly, when it is determined that the mobile device is located in the cleaning base station, the connection component can be controlled to drop from the fourth height to the second height. At the second height, the mop component is connected to the connection component to complete the mop component. Install.

When the connecting component is maintained at the fourth height, when the self-moving device leaves and/or enters the cleaning base station, it can be avoided as much as possible that the connecting component affects the disassembled mop component during cleaning when the self-moving device leaves and/or enters the cleaning base station. The position in the base station causes the mop component to move, which in turn affects the installation of the mop component. When the connecting component is maintained at the fourth height, the self-moving device can perform cleaning tasks that do not require a mop component, and can also ensure that there is a sufficient distance between the connecting component and the ground, improving the obstacle-crossing ability of the self-moving device; at the same time, For the case where an electromagnetic component is provided in the connecting component to realize the connection with the mop component through electromagnetic means, the mobile device performs a cleaning task that does not require the mop component, and controls the connecting component to remain at the fourth height, which can also avoid the movement of the connecting component. Magnetically attracts other metal parts, thereby affecting the installation of the mop assembly.

Of course, after the mobile device has disassembled the mop assembly, it can also keep the mop assembly at the third height, or adjust the mop assembly to any position between the second height and the third height, etc. This is not a limitation. .

The second height is the height at which the mopping component can perform mopping work. At this position, the connection between the mopping component and the connecting component is more stable. Therefore, in the above embodiments of this specification, the connection between the mopping component and the connecting component is performed at the second height. Operation can make the connection success rate of the mop component and the connection component higher and the connection more stable. And after the mop component and the connection component are installed, the mobile device can perform the required mopping work without any further operations, thereby further reducing the complexity of the mop component installation control logic on the basis of better meeting the actual application scenarios. the complexity.

In some embodiments, for the installation of the mop assembly, for the descending action of the connecting assembly between any two heights of the second height, the third height, and the fourth height, when there is a position of the connecting assembly between the two heights, If the descending time between heights exceeds the preset time length, the connecting component is controlled to return to the height before descending and perform the descending action again. When the number of descending actions between two heights exceeds the preset threshold, an abnormal reminder is issued.

For the installation of the mop assembly, in the case of controlling the descending of the connecting assembly from the fourth height to the second height, the duration of the descending of the connecting assembly from the fourth height to the second height can be detected. When the time for the connecting component to drop from the fourth height to the second height exceeds the corresponding preset time, the connecting component is controlled to perform a lifting action, rising from the current height to the fourth height, and then falling from the fourth height to The second height; where the current height may be the fourth height, or any height between the fourth height and the second height.

Alternatively, the duration can be detected in segments. When the duration of the connection component falling from the fourth height to the third height exceeds the corresponding preset duration, the connection component is controlled to perform a lifting action to rise from the current height to the fourth height. height, and then descends from the fourth height to the third height; where the current height may be the fourth height, or any height between the fourth height and the third height. And, when the duration of the connection component falling from the third height to the second height exceeds the corresponding preset duration, the connection component is controlled to perform a lifting action, rising from the current height to the third height, and then from the current height to the third height. The third height descends to the second height; where the current height may be the third height, or any height between the third height and the second height.

Alternatively, for the installation of the mop assembly, in the case of controlling the descent of the connection assembly from the third height to the second height, the duration of the descent of the connection assembly from the third height to the second height can be detected, in When the duration of the connection component falling from the third height to the second height exceeds the corresponding preset duration, the connection component is controlled to perform a lifting action, rising from the current height to the third height, and then from the third height. Descend to the second altitude; where the current altitude may be the third altitude, or any altitude between the third altitude and the second altitude.

In some embodiments, it can also be sensed whether the mop assembly is successfully disassembled. For example, when the mopping component is sensed at the second position, the connecting component can be controlled to retreat to the third height or the fourth height, and then drop from the third height or the fourth height to the second height. Wherein, the second position is the position where the mop component that can maintain a connected state with the connection component is located. For specific implementation methods, reference may be made to the above embodiments and will not be described in detail here. After the connecting component drops to the second height, the installation of the mopping component is detected. If the installation is not successfully completed, repeat the above lifting action and try to install the mopping component again, which can further ensure that the mopping component is installed. Installed successfully. Of course, if the number of repetitions of the above-mentioned lifting actions exceeds the preset threshold, an abnormal reminder can be issued to allow the user to intervene and manually complete the installation of the mopping component.

Preferably, when it is detected at the third height that the mop component and the connection component are not connected, the connection component can be controlled to descend from the third height. Lower to the second height, or control the connection assembly to return to the fourth height, and then drop from the fourth height to the second height; and/or control the mobile device to move in the cleaning base station. For the solution of detecting the connection state of the mop component and the connection component at the third height, refer to the above embodiment and will not be described again here.

Based on the solution of the embodiment, for example, during the process of controlling the connection component to drop from the fourth height to the second height to install the mop component, the duration of the drop of the connection component from the fourth height to the third height, and the length of the drop of the third height to The duration of the second altitude, or the duration of the descent from the fourth altitude to the second altitude. If a timeout occurs, the corresponding lifting action will be executed. After the number of repetitions of the lifting action reaches the preset threshold, a reminder for abnormal motion of the connected component can be issued. If no timeout occurs, you can check whether the mop component has been installed. If the detection results indicate that the mop component has not been installed, the connecting component can be controlled to perform the action of descending from the fourth height to the second height again and try to install again. After the number of attempts reaches the preset threshold, a reminder can be issued for abnormal installation of the mop component.

Or, in some application scenarios, only the sensor for detecting the connection status of the mop component and the connection component is provided at the third height, and no detection components are provided at other heights. For this application scenario, if the connection component is controlled from the fourth height After descending to the second height and performing the disassembly of the mop component, the duration of the connection component descending from the fourth height to the third height can be detected first. For example, if the moment when the controller sends an instruction to descend to the second height is taken as the initial moment, if after a preset time period, no signal reflecting the connection status of the mop component and the connection component is detected at the third height, it can be considered that the connection component During the descent from the fourth altitude to the third altitude, motion abnormalities occurred. You can control the connecting component to return to the fourth height and try to descend to the third height again; if after trying multiple times, the connection status of the mop component and the connecting component cannot be detected at the third height within the preset time period. signal, it will send out a reminder that there is abnormal movement of the connecting component between the fourth height and the third height.

If a signal reflecting the connection status of the mop component and the connection component is detected at the third height within the preset time period, the connection component can be controlled to drop from the third height to the second height, and the time when the drop starts from the third height is the initial moment. For example, the moment when the signal reflecting the connection status of the mop component and the connection component is detected at the third height can be used as the initial moment; or, if it involves re-issuing the control command, the controller can issue a command to descend from the third height to the second height. The time of the instruction is the initial time, and so on. After a preset time period, the connection component can be controlled to return to the third height to detect the connection status of the mop component and the connection component. If it is confirmed that the mop component is connected to the connection component, it can be considered that the mop component is installed successfully. The successful installation of the mop component can indirectly reflect that there is no abnormality in the movement of the connecting component between the third height and the second height. Of course, if it is confirmed that the mop component and the connecting component are still separated at the third height, it is considered that there is an abnormality in the movement of the connecting component between the third height and the second height. At this time, the connecting component can try to descend from the third height. to the second height, and after a preset time period, return to the third height to detect the connection status of the mop component and the connection component; after repeating several times, if the mop component and the connection component are still in a separated state, the connection component can be sent out at the third height. It is a reminder that there is an abnormality in the movement between the third height and the second height or there is an abnormality in the disassembly.

Correspondingly, in some embodiments, for the case where a sensor for detecting the connection status of the mop component and the connection component is provided only at the third height, the control logic for the connection component to drop from the fourth height to the second height is as follows: After a preset time period after the fourth height begins to decrease, a signal reflecting the connection status of the mop component and the connection component is detected at the third height, and the connection component is controlled to drop from the third height to the second height. If no signal reflecting the connection status of the mop component and the connection component is detected at the third height, the connection component is controlled to return to the fourth height and attempts to descend to the third height again. After a preset time period after starting to descend from the third height, the connection component is controlled to return to the third height. If a signal reflecting the connection status of the mop component and the connection component is detected at the third height, it is confirmed that the mop component is installed successfully; If no signal reflecting the connection status of the mop component and the connection component is detected at the third height, the connection component is controlled to return to the third height and attempts to descend to the second height again. By utilizing the above control logic, while simplifying the detection components, the control logic for installing the mop assembly can be further simplified.

Alternatively, the connection status of the connecting component and the mop component may be detected after a preset time period has elapsed after the instruction is issued to control the connecting component to descend to the second height. If the detection results indicate that the mop component has not been installed, the connecting component can also be controlled to perform the action of descending from the fourth height or the third height to the second height again, and try to install it again. After the number of attempts reaches the preset threshold, the mop component can be installed. Alerts for exceptions. By combining duration control with connection status detection, the installation control of the mop component can be made more simple and convenient.

Alternatively, when it is determined that the mop assembly has not been completely installed, in the process of controlling the connection assembly to drop from the third height or the fourth height to the second height, the self-mobile device can be controlled to move slightly in the cleaning base station, This can ensure that the mop component is installed completely even if there is a positional deviation of the mop component. For example, without sensing the second target signal, the connecting component may be controlled to descend from the third height and at the same time, the mobile device may be controlled to perform a backward operation to attempt to install the mop component.

It can be seen from the above embodiments that the self-mobile device occasionally requires the user to intervene to manually complete the installation and disassembly of the mop assembly; or in the absence of a cleaning base station, the self-mobile device requires the user to manually complete the installation and disassembly of the mop assembly. Regarding the disassembly of the mop component, the user can manually disassemble the mop component regardless of the location of the connecting component. Regarding the installation of the mop component, when it is confirmed that the user is required to manually install the mop component, it can be determined whether the mop component is located at the fourth height; if the mop component is located at the fourth height, the mop component can be controlled to drop from the fourth height to the third height. or the second height, or any height between the third height and the second height, after which the user can manually connect the mop component to the connection component.

Based on the above embodiments, embodiments of this specification also provide a method for installing a mop component of a self-moving device. The self-moving device includes a connecting component, and the mop component is detachably connected to the connecting component; along the self-moving device In the height direction of the device, the connecting component has at least a second height and a third height and/or a fourth height higher than the second height. At the second height, the mop component connected to the connection component can perform mopping work. There is no mop assembly on the self-moving device, the cleaning task of the self-moving device requires the use of a mop assembly, the wheels of the self-moving device are suspended, and it is detected at the third height that the mop assembly and the connection assembly are not connected. In the case of connection, the connecting component is controlled to drop from the third height to the fifth height, so as to connect the mop component to the connecting component at the fifth height; wherein the fifth height is lower than the third height, And the height at which the mop component and the connection component are connected cannot be detected at the third height.

The sensor for detecting the connection status of the mop component and the connection component may be provided only at the third height. For specific implementation details, refer to the above embodiments and will not be described again here. Correspondingly, when it is confirmed that the user is required to manually install the mop component, if the mop component is located at the fourth height, the mop component can be controlled to descend from the fourth height. When the connecting component passes the third height, the sensor at the third height can be used to determine the mop component. The connection status of components and connected components. If the mop component and the connection component are not connected, the connection component can be controlled to continue to descend from the third height, and stop when the connection state between the mop component and the connection component cannot be detected at the third height, so that the user can manually install the mop component. to connect components. After the user installs the mop component on the mobile device, the user can also control the connection component to rise to the third height, and detect the connection status of the mop component and the connection component to determine whether the mop component is installed successfully.

Since the detection height of whether the mop component and the connecting component are connected is only at the third height, when the connecting component descends from the third height to the second height, the sensor at the third height cannot distinguish whether the connecting component is at the second height or at the second height. between the second and third heights. Correspondingly, if the second height is used as the height for manually installing the mop assembly, it is also necessary to set a detection element at the second height to determine whether the connection assembly has moved to the second height. According to the solution of the above embodiment, when the sensor at the third height cannot detect the connection state between the mop component and the connection component when the connection component is controlled to descend from the third height, the descent is stopped and the mop component is installed at that height. Only the sensor at the third height can be used to control the manual installation of the mop assembly, thus further simplifying the control logic and detection structure.

At the same time, the solution of the above embodiment makes the connecting component between the second height and the third height. No matter whether the connecting component and the mop component are connected by snap connection, threaded connection, or magnetic connection, the connecting component is based on It is within the range that is convenient for users to manually operate, thereby meeting the user's manual installation needs and ensuring the stability of the installation of the mop component and the connecting component.

In some embodiments, the method further includes: determining the working status of the self-mobile device when the self-mobile device is provided with the mop assembly and the self-mobile device is not located in the cleaning base station. ; When the working state indicates that the mobile device is in a working state, control the connection assembly at the second height to rise to a third height, and the third height is the lifting of the mop assembly set for the cleaning task to be done Height; when the working status indicates that the self-mobile device is in an idle state, control the self-mobile device to move to the cleaning base station to separate the mop component of the self-mobile device from the connection component. For specific implementation methods, reference may be made to the above embodiments, which will not be described in detail here.

In some embodiments, when the number of tasks to be cleaned on the self-mobile device is greater than 1, the method further includes: determining the first cleaning task according to whether the self-mobile device is equipped with the mop assembly at the current moment. and the execution sequence of the second cleaning task; wherein the first cleaning task is a task that uses the mop assembly among the tasks to be cleaned, and the second cleaning task is a task that does not use the mop assembly among the tasks to be cleaned.

When the self-mobile device is equipped with a mop assembly at the current moment, execute the first cleaning task; when the execution of the first cleaning task is completed, control the self-mobile device to move to the cleaning base station to separate the mop assembly of the self-mobile device from the connection assembly; and after the mop assembly of the self-mobile device is separated from the connection assembly, the second cleaning task is performed.

When the self-mobile device is not equipped with a mop assembly at the current moment, execute the second cleaning task; when the execution of the second cleaning task is completed, control the self-mobile device to move to the cleaning a base station to connect the mop assembly in the cleaning base station with the connection assembly; and perform the first cleaning task after connecting the mop assembly in the cleaning base station with the connection assembly.

For specific implementation methods, reference may be made to the above embodiments, which will not be described in detail here.

Other embodiments of this specification also provide a method of disassembling and assembling a mop assembly on a mobile device. The mobile device includes a connection assembly, and the mop assembly is detachably connected to the connection assembly; along the height of the mobile device direction, the connecting component has at least a first height and a second height. At the second height, the mop component connected to the connecting component can perform mopping work. The method includes: the mop component is present in the cleaning base station, the self-mobile device is not provided with the mop component, the cleaning task of the self-mobile device requires the use of the mop component, and the self-mobile device When located in a cleaning base station, control the mobile device to descend from the second height to the first height, so as to connect the mop assembly in the cleaning base station to the first height. The component is connected, or the mop component on the mobile device is separated from the connecting component.

A solution for detecting abnormal motion of the connecting component can also be implemented between the first height and the second height. For example, it can be detected whether the time for the connecting component to drop from the second height to the first height is greater than the preset time. If it is greater, the connecting component moves back. Go to the second height, then drop to the first height, repeat several times, and if it is longer than the preset time, an abnormal reminder will be issued. Of course, the connection status of the mop component and the connection component can also be detected; if the connection status does not meet the disassembly/installation requirements of the mop component, the connection component returns to the second height and then drops to the first height; repeat several times, if the connection status If they do not meet the requirements for disassembly/installation of the mop component, an abnormality reminder will be issued. Of course, you can also refer to the above embodiment to check whether the connection status meets the requirements for disassembly/installation of the mop assembly after each preset time period after issuing an instruction to descend to the first height. The connection status of the mop component and the connection component can be detected at any height. Preferably, the connection state of the mop component and the connection component is detected at the second height. For specific implementation methods of installing and disassembling the mop assembly at the first height, reference may be made to the above embodiments and will not be described again here.

Other embodiments of this specification also provide a method for disassembling a mop assembly on a self-moving device. The self-moving device includes a connecting assembly, and the mopping assembly is detachably connected to the connecting assembly; the connecting assembly at least has The mopping position, the lifting position and the separation position; at least in the mopping position and the lifting position, the mopping component can be connected to the connecting component. The method includes: controlling the connection component when the mop component is provided on the self-mobile device, the mop component is not used for cleaning tasks of the self-mobile device, and the self-mobile device is located in a cleaning base station. Move from the mopping position or the lifting position to the separation position, so as to separate the mop assembly and the connection assembly on the self-moving device at the separation position.

Along the height direction of the mobile device, the height corresponding to the mopping position of the connecting component is the second height, the height corresponding to the lifting position of the connecting component is the third height, and the separation position of the connecting component corresponds to The height is the fourth height. Correspondingly, when the connection component has a mopping position, a lifting position and a separation position, the separation operation of the connection component and the mop component may refer to the above embodiment, and will not be described again here.

Other embodiments of this specification also provide a method for installing a mop assembly on a self-moving device. The self-moving device includes a connecting assembly, and the mopping assembly is detachably connected to the connecting assembly; the connecting assembly at least has The mopping position, the lifting position and the separation position; at least in the mopping position and the lifting position, the mopping component can be connected to the connecting component. The method includes: there is a mop assembly in the cleaning base station, the mop assembly is not provided on the self-moving device, the cleaning task of the self-moving device requires the use of a mop assembly, and the self-moving device is located at the cleaning base station. In this case, the connecting component is controlled to move from the lifting position or the separation position to the mopping position, so as to connect the mop component in the cleaning base station with the connecting component at the mopping position.

Along the height direction of the mobile device, the height corresponding to the mopping position of the connecting component is the second height, the height corresponding to the lifting position of the connecting component is the third height, and the separation position of the connecting component corresponds to The height is the fourth height. Correspondingly, when the connection component has a mopping position, a lifting position and a separation position, the connection operation of the connection component and the mop component can refer to the above embodiment, and will not be described again here.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is Better implementation. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or the part that contributes to the existing technology. The computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

This embodiment also provides an installation device for a mop assembly. The device is used to implement the above embodiments and preferred implementations. What has already been described will not be described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

Figure 62 is a structural block diagram of an optional mop assembly installation device according to an embodiment of the present invention. The device includes:

The first determination module 52 is used to determine whether the cleaning task from the mobile device uses the mop assembly;

The second determination module 54 is used to determine whether the mop component exists in the cleaning base station corresponding to the self-mobile device when the to-be-cleaned task uses the mop component, and determine whether the self-mobile device is configured Has said mop assembly;

The first control module 56 is used to control the mobile device to move to the cleaning base station when the mop assembly is present in the cleaning base station and the mop assembly is not provided on the self-mobile device. The first position is at least a position where the mobile device installs the mop assembly in the cleaning base station.

Through the above device, by determining whether the mop assembly is used in the task to be cleaned from the mobile device; using the mop assembly in the task to be cleaned In the case of components, determine whether the mop component exists in the cleaning base station corresponding to the self-mobile device, and determine whether the self-mobile device is equipped with the mop component; thereby determining whether the self-mobile device needs to go to the cleaning base station to install the mop. component, when the mop component is present in the cleaning base station and the mop component is not provided on the self-mobile device, control the self-mobile device to move to the first position in the cleaning base station, to The mop assembly in the cleaning base station is placed on a mobile device, wherein the first position is at least a position where the mop assembly is installed in the cleaning base station by the mobile device. Adopting the above technical solution solves the problem in the existing technology that the sweeping robot cannot automatically install the mop, causing the user to manually install the mop, resulting in poor user experience; it realizes that the mop component can be automatically installed at any time according to task requirements; thereby better Complete technical effects of cleaning.

Wherein, the second determination module 54 is also used to receive the first sensing information of the cleaning base station, wherein the first sensing information is used to indicate that the first sensor on the cleaning base station has a pair of signals from the first location. The sensing result of a first target signal, which is emitted by an electronic component provided on the mop assembly; when the first sensing information indicates that the first target signal is sensed at the first position In the case of , it is determined that the mop assembly exists in the cleaning base station.

It should be noted that the above-mentioned process of determining whether there is a mop assembly in the cleaning base station can also be implemented through other optional methods, for example, using an image acquisition device to collect images of the first position in the cleaning base station, and performing the collected images. Image recognition is used to determine whether there is a mop component in the cleaning base station; other methods can also be used, and this application is not limited to this.

Optionally, the second determination module 54 is also configured to receive the second perception information of the self-mobile device, wherein the second perception information is used to indicate that the second sensor pair of the self-mobile device comes from the third sensor. Perception results of second target signals at two locations, the second target signal is emitted by an electronic component provided on the mop assembly, and the second location is the installation location where the mop assembly is installed on the mobile device. ; In the case where the second sensing information indicates that the second target signal is not sensed at the second location, determine that the self-moving device is not provided with the mop component.

The self-mobile device can sense the installation position of the mop component of the self-mobile device through its own second sensor. When the second position senses the second target signal sent by the mop component, it is determined that the self-mobile device is equipped with the mop. component; when the second location does not sense the second target signal sent by the mop component, it is determined that the self-mobile device is not equipped with the mop component; through the above steps, the self-mobile device can clearly sense whether it The mop component is installed, and the effect can be achieved more easily by sensing the second target signal. There is no need to set up complex circuits, components, etc. for the mobile device; thus, when the mop component is needed but not installed, go to the cleaning base station for cleaning. Automatic installation. When the mop component is installed and no longer required, go to the cleaning base station for automatic disassembly.

It should be noted that the above solution of determining whether the mobile device is equipped with a mop assembly can also be implemented by other methods, for example: setting a circuit in the second position, and when the mop assembly is installed in the second position, by setting the mop assembly in the second position. The electronic components on the component form a path with the preset circuit, thereby transmitting an electrical signal to the mobile device to inform the mobile device that the mop component has been installed; other methods can also be used, and this application is not limited to this.

Optionally, the second determination module 54 is also used to determine whether the automatic disassembly and assembly switch is turned on before removing the mop assembly in the cleaning base station from the mobile device; if the automatic disassembly and assembly switch is not turned on, It is forbidden to remove the mop assembly from the mobile device; when the automatic disassembly and assembly switch is turned on, the mop assembly is removed from the mobile device.

The mobile device and/or the base station can also be provided with an automatic disassembly and assembly switch. When the switch is turned on, the automatic disassembly and assembly of the mop assembly is performed; when the switch is not turned on, the automatic disassembly and assembly of the mop assembly is not performed. Disassembly and assembly. By setting the automatic disassembly and assembly switch, the user can configure whether to automatically disassemble and assemble the mop assembly according to needs, further improving the flexibility of disassembly and assembly of the mop assembly. For example, when the automatic disassembly and assembly switch on the self-mobile device and/or the base station is turned on, the self-mobile device and/or the base station detects whether there is a mop component on the self-mobile device and/or the cleaning component. Or, when it is determined that the mobile device is not equipped with a mop component, it is also necessary to determine whether the switch for automatic disassembly and assembly of the mobile device and/or the base station is turned on. When the mop assembly is turned on, the mobile device is controlled to move to the first position in the cleaning base station to install the mop assembly on the mobile device. Regarding the automatic disassembly and assembly control method of the mop assembly by the automatic disassembly and assembly switch, there is no limitation here.

Among them, the first control module 56 is also used to control the connection component from the mobile device to drop to the first height, wherein the connection component is used to connect the mop component; when the connection component drops to the first height In the case of , connect the mop component to the connection component; control the connection component at the first height to rise to the second height, and sense the mop component to determine whether the mop component has been from the mobile device; repeat the above steps of controlling the connection component down to sensing the mop component until it is determined that the mop component has been removed from the mobile device.

It should be noted that the above-mentioned connection component may be a mop bucket sleeve or other device used to connect the mop component to the mobile device, which is not limited in this application.

In an exemplary embodiment, the first control module 56 is also used to control the connection component at the second height in the mobile device to descend to the first height, wherein the connection component is used to connect the mop component. ; When the connecting component at the second height drops to the first height, separate the mop component from the connecting component; control the connecting component at the first height to rise to the second height, and The mop component senses to determine whether the mop component has been detached from the self-moving device; repeat the above steps of controlling the connection component to descend to sense the mop component until it is determined that the mop component has been removed from the self-moving device. Disassemble the device.

When the mop component is not required for the cleaning task, or after the mobile device has completed the cleaning task that requires the mop component, the mop component needs to be disassembled into the base station to prevent the dirty mop from damaging the clean area during the movement of the mobile device. Cause pollution, even to areas such as carpets that cannot be cleaned by mobile devices, giving users a bad experience. Detaching the mop component from the mobile device includes the following steps: controlling the connection component at the second height to drop to the first height, separating the mop component from the connection component; and then sensing the mop component to determine whether the mop component Disassembled successfully. For example, the second sensor of the self-mobile device can be controlled to sense the second position, and when the obtained second sensing information indicates that the second target signal is not sensed, it is determined that the mop component has moved from the self-mobile device. When disassembling, please refer to the above embodiment for specific sensing implementation methods, which will not be described in detail here. Of course, you can also refer to other mop component sensing methods given in the above embodiments to determine whether the mop component Whether the component has been removed from the mobile device.

Optionally, the first control module 56 is also used to control the connection component at the second height in the mobile device to rise to the fourth height, wherein the connection component is used to connect the mop component; by disassembling the component Separate the mop assembly from the connection assembly, wherein the detachment assembly is provided on the self-moving device, and the detachment assembly is disposed at the fourth height; control the connection assembly to descend to the second height, and sense the mop assembly to determine whether the mop assembly has been detached from the mobile device; repeat the above steps of controlling the connection assembly to rise to sensing the mop assembly until it is determined that the mop assembly has been removed from the mobile device. Detached from the mobile device.

Based on the above steps, the first determination module 52 is also used to determine whether the task to be cleaned of the self-mobile device uses the mop assembly, and in the case that the task to be cleaned does not use the mop assembly, determine whether the self-mobile device The mop assembly is provided, and determining whether the self-moving device is located in the cleaning base station; in the case where the self-moving device is provided with the mop assembly, and the self-moving device is located in the cleaning base station. , disassemble the mop assembly of the self-moving device from the self-moving device.

Based on the above steps, the second determination module 54 is also used to determine whether the self-mobile device is equipped with the mop assembly, and after determining whether the self-mobile device is located in the cleaning base station, after the self-mobile device is set When there is the mop assembly and the self-mobile device is not located in the cleaning base station, determine the working status of the self-moving device; when the working status indicates that the self-moving device is in a working state , controlling the connection component at the second height to rise to a third height, wherein the connection component is used to connect the mop component, and the third height is the lifting height of the mop component set for the task to be cleaned; where When the working status indicates that the self-mobile device is in an idle state, control the self-mobile device to move to the first position of the cleaning base station to move the mop assembly of the self-mobile device from the self-mobile device. Disassemble the device.

Optionally, the first determination module 52 is also used to determine whether the number of tasks to be cleaned is greater than 1; when the number of tasks to be cleaned is 1, determine whether the task to be cleaned uses the mop components.

Optionally, to determine whether the cleaning task from the mobile device uses the mop component, you can follow the following steps: Determine the received cleaning task Whether the number is greater than 1, if the number is 1, determine whether to use the mop component according to the category of the cleaning task.

Based on the above steps, the first determination module 52 is further configured to determine whether the number of tasks to be cleaned is greater than 1, and if the number of tasks to be cleaned is greater than 1, determine whether the number of tasks to be cleaned is used in the tasks to be cleaned. The first cleaning task of the mop component, and the second cleaning task that does not use the mop component among the tasks to be cleaned; determine whether the self-moving device is equipped with the mop component at the current moment; and determine whether the self-moving device is equipped with the mop component at the current moment; Whether the device is provided with the mop assembly determines the execution order of the first cleaning task and the second cleaning task.

Optionally, the first determination module 52 is also configured to execute the first cleaning task if the mobile device is equipped with the mop assembly at the current moment; after the first cleaning task is completed, In this case, the self-mobile device is controlled to move to a first position in the cleaning base station to detach the mop assembly of the self-mobile device from the self-mobile device; and the second cleaning task is performed.

Optionally, the first determination module 52 is also configured to execute the second cleaning task if the mobile device is not equipped with the mop assembly at the current moment; after the execution of the second cleaning task is completed, In the case of controlling the mobile device to move to a first position in the cleaning base station, so as to move the mop assembly in the cleaning base station to the mobile device; perform the first cleaning task.

Figure 63 is a structural block diagram of an optional mop assembly disassembly device according to an embodiment of the present invention. The device includes:

The third determination module 62 is used to determine whether the cleaning task from the mobile device uses the mop assembly;

The fourth determination module 64 is used to determine whether the mop component exists in the cleaning base station corresponding to the self-mobile device when the task to be cleaned does not use the mop component, and determine whether the self-mobile device The mop component is provided;

The second control module 66 is used to control the mobile device to move to the cleaning base station when the mop assembly does not exist in the cleaning base station and the mop assembly is provided on the self-mobile device. a first position to disassemble the mop assembly of the self-mobile device from the self-mobile device, wherein the first position is at least a position where the self-mobile device performs disassembly of the mop assembly in the cleaning base station Location.

Through the above device, it is determined whether the to-be-cleaned task of the self-mobile device uses the mop component; when the to-be-cleaned task does not use the mop component, it is determined whether the mop exists in the cleaning base station corresponding to the self-mobile device. component, and determine whether the self-mobile device is provided with the mop component; thereby determining whether the self-mobile device needs to go to the cleaning base station to remove the mop component, the mop component does not exist in the cleaning base station, and the self-mobile device When the mop assembly is provided, the self-mobile device is controlled to move to the first position in the cleaning base station to detach the mop assembly of the self-mobile device from the self-mobile device, wherein, The first position is at least a position where the mobile device disassembles the mop assembly in the cleaning base station. The above technical solution is adopted to solve the problem in the existing technology that the sweeping robot cannot automatically disassemble the mop, which leads to the reduction of the sweeping robot's escape ability and the dirty mop may cause contamination to the clean area; it realizes that the sweeping robot can automatically disassemble the mop at any time according to the task requirements. Disassemble the mop assembly to better complete the technical effect of cleaning.

Embodiments of the present invention also provide a computer-readable storage medium that stores a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

Optionally, in this embodiment, the above-mentioned storage medium may be configured to store a computer program for performing the following steps:

S1, determine whether the to-be-cleaned task of the mobile device uses the mop component;

S2, when the task to be cleaned uses the mop component, determine whether the mop component exists in the cleaning base station corresponding to the self-mobile device, and determine whether the self-mobile device is equipped with the mop component;

S3. If the mop assembly is present in the cleaning base station and the mop assembly is not provided on the self-mobile device, control the self-mobile device to move to the first position in the cleaning base station to The mop assembly in the cleaning base station is placed on a mobile device, wherein the first position is at least a position where the mop assembly is installed in the cleaning base station by the mobile device.

Optionally, the above storage medium can also be configured to store a computer program for performing the following steps:

S2. If the task to be cleaned does not use the mop component, determine whether the mop component exists in the cleaning base station corresponding to the self-mobile device, and determine whether the self-mobile device is equipped with the mop component. ;

S3: In the case where the mop assembly does not exist in the cleaning base station and the mop assembly is provided on the self-mobile device, control the self-mobile device to move to the first position in the cleaning base station to The mop assembly of the self-mobile device is detached from the self-mobile device, wherein the first position is at least a position where the self-mobile device detaches the mop assembly in the cleaning base station.

In an exemplary embodiment, the computer-readable storage medium may include but is not limited to: U disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM) , mobile hard disk, magnetic disk or optical disk and other media that can store computer programs.

For specific examples in this embodiment, reference may be made to the examples described in the above-mentioned embodiments and exemplary implementations, and details will not be described again in this embodiment.

An embodiment of the present invention also provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

Optionally, in this embodiment, the above-mentioned processor may be configured to perform the following steps through a computer program:

Optionally, the above-mentioned processor can also be set to perform the following steps through a computer program:

Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented using general-purpose computing devices. They can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices. They may be implemented in program code executable by a computing device, such that they may be stored in a storage device for execution by the computing device, and in some cases may be executed in a sequence different from that shown herein. Or the described steps can be implemented by making them into individual integrated circuit modules respectively, or by making multiple modules or steps among them into a single integrated circuit module. As such, the invention is not limited to any specific combination of hardware and software.

Obviously, the above-described embodiments are only part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art can make other changes or modifications in different forms without making creative efforts, and all of them shall fall within the scope of protection of the present invention.

Claims

A cleaning equipment, characterized in that it includes:

organism;

Lifting structure, the lifting structure includes a driving component and a threaded mechanism; the threaded mechanism is connected to a cleaning component;

At least one matching piece is provided on the body;

The threaded mechanism is in contact with the mating piece, so that the driving component drives the threaded mechanism to rise and fall, so as to drive the cleaning component to rise and fall between the working position and the non-working position; the cleaning component is lifted and lowered. During the process, the fitting part remains stationary relative to the cleaning component or the body;

When the cleaning assembly is in the working position, the driving assembly drives the threaded mechanism to drive the cleaning assembly to rotate, and a rotational abutment and/or an interference flexible abutment is formed between the threaded mechanism and the matching piece. .
The cleaning equipment according to claim 1, characterized in that at least one of the matching parts is a rotating body, and the rotating body is rotatably arranged relative to the body; so that when the cleaning component rotates in the working position, the A rotational contact is formed between the rotating body and the threaded mechanism.
The cleaning device according to claim 2, characterized in that at least one of the fitting parts is made of flexible or elastic material, and the inner end of the fitting part is in interference contact with the outer wall of the threaded mechanism, and the The outer end of the fitting piece is installed on the body.
The cleaning equipment according to claim 3, characterized in that the matching piece includes a damping strip, a plurality of hair transplants are fixed on the inner wall of the damping strip, and the interference of the hair transplants is in contact with the outer wall of the threaded mechanism; or

A number of hair transplants are fixed in the body, the hair transplants surround the outer peripheral wall of the threaded mechanism, and the interference of the hair transplants is in contact with the outer wall of the threaded mechanism; or

The fitting part is a damping strip, which is made of elastic material. The inner wall of the blocking strip is in interference contact with the outer wall of the threaded mechanism. The outer wall of the blocking strip is installed on the body. superior.
The cleaning equipment according to claim 4, further comprising a base bracket provided on the body, and the damping strip is installed on the base bracket and is provided on the body; and/or

The damping strip is annular and is placed on the outer peripheral wall of the threaded mechanism.
The cleaning equipment according to any one of claims 1 to 5, further comprising an installation member having a receiving cavity, the installation member being provided in the receiving cavity; and the fitting member being provided in the receiving cavity. between the mounting piece and the threaded mechanism.
The cleaning device according to claim 2, further comprising a mounting part having a receiving cavity, the mounting part further comprising at least one elastic body, at least one of the elastic bodies being disposed in the groove. In the mouth, and there is a distance between the inner surface of the elastomer and the outer surface of the threaded mechanism;

The rotating body is rotatably mounted on the elastic member through a rotating shaft; the elastic body has an elastic force always facing the outer surface of the threaded mechanism, so that the rotating body contacts the outer surface of the threaded mechanism. catch.
The cleaning equipment according to any one of claims 1-5, wherein the thread mechanism includes a first rotating member and a second rotating member;

The driving component is connected to the second rotating member, the second rotating member and the first rotating member are threadedly engaged, and the outer wall of the first rotating member is in interference contact with the matching member.
The cleaning equipment according to claim 6, wherein the thread mechanism includes a first rotating member and a second rotating member;

The driving component is connected to the second rotating member, the second rotating member and the first rotating member are threadedly engaged, and the outer wall of the first rotating member is in interference contact with the matching member;

It also includes a mounting piece, and the matching piece is provided on the mounting piece;

The bottom of the body is provided with a moving channel, and the bottom of the second fixed body is connected to the cleaning component; the lifting structure is driven by the driving force to drive the threaded mechanism to drive the cleaning component to move in the moving channel. , causing the cleaning component to switch between the retracted position and the outward swing position;

The cleaning equipment further includes a sealing structure, which is provided on the outer wall of the installation member and can move in the moving channel following the lifting structure to seal or block the moving channel.
A kind of cleaning equipment, characterized in that it includes

The body is provided with a moving channel for at least one cleaning component to move between a retracted position and an outward swing position;

The lifting structure includes a housing and a lifting mechanism provided on the housing; the threaded mechanism performs lifting and/or rotating movements relative to the housing to drive the cleaning component to perform lifting and/or rotating to clean the parts to be cleaned. clean surfaces;

a sealing structure, the sealing structure is provided on the housing, the sealing structure moves driven by the movement of the cleaning component, at least when the cleaning component is in the retracted position, the swing-out position and the swinging position In any of the positions, the sealing structure can seal or block the moving channel.
A cleaning device for cleaning equipment, characterized in that it includes:

cleaning components;

a drive assembly adapted to connect the cleaning device;

The lifting transmission assembly includes a threaded mechanism and a rotating body that at least partially resists the outer surface of the threaded mechanism. The threaded mechanism is connected to the cleaning assembly and the driving assembly respectively;

The cleaning component has a working position and a non-working position arranged along the height direction of the cleaning device, and the driving component is adapted to drive the thread mechanism to drive the cleaning component in the working position and the non-working position. Switch between, and drive the threaded mechanism to drive the cleaning component to rotate in the working position;

Wherein, at least when the cleaning component is in the working position and rotates, the rotating body is in rotational contact with the threaded mechanism.
The cleaning device according to claim 11, wherein the rotating body is adapted to be movably connected to the cleaning equipment; the rotating axis of the rotating body is parallel or tends to be parallel to the rotating axis of the thread mechanism.
The cleaning device according to claim 12, wherein the lifting transmission assembly further includes a rotating shaft extending along the height direction of the cleaning equipment, and the rotating body is sleeved on the rotating shaft;

At least when the cleaning assembly is in the working position and rotates, at least a part of the outer surface of the rotating body is in rotational contact with the outer surface of the threaded mechanism.
The cleaning device according to claim 13, wherein the static friction force between the rotating body and the rotating shaft is less than the static friction force between the outer surface of the rotating body and the outer surface of the thread mechanism.
The cleaning device according to claim 13, wherein the lifting transmission assembly further includes a mounting member having an accommodating cavity, and the threaded mechanism is located in the accommodating cavity.
The cleaning device of claim 15, wherein the mounting member has a notch, the mounting member further includes at least one elastic body, at least one of the elastic bodies is disposed in the notch, and the elastic body There is a distance between the inner surface of the body and the outer surface of the threaded mechanism;

The rotating shaft is arranged through the elastic body; the elastic body has an elastic force always facing the outer surface of the threaded mechanism, so that the rotating body abuts the outer surface of the threaded mechanism.
The cleaning device of claim 16, wherein the elastic member has a first recess disposed in a direction away from the thread mechanism and a mounting portion connected to the first recess, and the rotating shaft is connected to the mounting portion. external connection;

The first recessed portion always exerts a force on the mounting portion in a direction approaching the thread mechanism.
The cleaning device according to claim 17, wherein there are two first recessed parts, and the two first recessed parts are respectively connected to two ends of the mounting part;

and / or

There are two elastic bodies. The two elastic bodies are distributed along the height direction of the cleaning device and are respectively connected to both ends of the rotating shaft.
The cleaning device of claim 11, wherein at least when the cleaning component is in the working position and rotates, the threaded mechanism rotates and drives the rotating body to rotate, so that the rotating body is in contact with the rotating body. The threaded mechanisms are in rotational contact with each other.
The cleaning device of claim 19, wherein when the driving component drives the cleaning component to switch between the working position and the non-working position, the rotating body remains stationary.