CN112656319A - Base station and cleaning robot system - Google Patents

Abstract

The invention relates to the technical field of cleaning robots, in particular to a base station and a cleaning robot system. The base station provided by the invention is independent of the cleaning robot system, and comprises a base station body and a mopping piece cleaning device arranged on the base station body, wherein the mopping piece cleaning device is used for cleaning a mopping piece which is used for mopping the floor of the cleaning robot; drag a cleaning device and include the bulge structure, the bulge structure includes the bellying, when dragging a cleaning device and cleaning to dragging and wiping the piece, the bellying with drag a contact and can relative motion, dirty washing liquid after the washing can be scraped by the bellying from dragging and wiping the piece and keep off. The mop cleaning device is beneficial to more thoroughly cleaning the mop, improves the cleaning effect and simultaneously is beneficial to avoiding the condition that the cleaned mop is excessively wet.

Description

Base station and cleaning robot system

The present application is a divisional application of an invention patent application having an application number of 201611175804.0, an application date of 2016, 12, and 16, and an invention name of "cleaning robot and cleaning robot system".

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a base station and a cleaning robot system.

Background

In recent years, with the development of social economy and the improvement of the domestic living standard, furniture cleaning gradually enters an intelligent and mechanized era, and a cleaning robot produced by transportation can free people from household cleaning work, effectively reduce the workload of people in the aspect of household cleaning, and relieve the fatigue degree of people in the household cleaning process.

Traditional cleaning machines people, the cleaning of its mop etc. drags the piece to need to be accomplished by the user, and in the whole in-process on clean ground, the user need frequently participate in the cleaning machines people's that drags piece of changing and washing, and this one side can lead to can't completely liberating the user from mopping the ground in-process, increases user's work load, and on the other hand also influences the effect of dragging because of changing and washing untimely easily, leads to unable clean with ground.

In order to automatically clean the mopping piece, a base station for automatically cleaning the mopping piece of the cleaning robot appears in the industry, when the mopping piece needs to be cleaned, a user does not need to frequently change and wash the mopping piece, and the cleaning robot can drive into the base station to clean the mopping piece. However, the cleaning effectiveness of prior base station cleaning wipes is not ideal and there may be instances where the wipe is excessively wet after cleaning.

Disclosure of Invention

The invention aims to solve the technical problems that: the cleaning effect of the cleaning mopping piece of the existing base station is not ideal, and the situation that the cleaning mopping piece is excessively wet can occur.

In order to solve the above technical problems, a first aspect of the present invention provides a base station for a cleaning robot system. The base station is independent of a cleaning robot system and comprises a base station body and a mopping piece cleaning device arranged on the base station body, wherein the mopping piece cleaning device is used for cleaning a mopping piece which is used for mopping the floor of the cleaning robot; drag a cleaning device and include the bulge structure, the bulge structure includes the bellying, when dragging a cleaning device and cleaning to dragging and wiping the piece, the bellying with drag a contact and can relative motion, dirty washing liquid after the washing can be scraped by the bellying from dragging and wiping the piece and keep off.

Alternatively, the protrusion and the mop can rotate relative to each other during cleaning of the mop by the mop cleaning device.

Optionally, the mop can rotate during the cleaning process of the mop cleaning device, and the dirty cleaning solution after cleaning can be thrown off from the mop under the action of centrifugal force during the rotation process of the mop.

Optionally, the protrusions comprise bottom protrusions arranged at the bottom of the cleaning groove and side protrusions formed at the inner side of the cleaning groove; when the mopping piece cleaning device cleans the mopping piece, the bottom protrusion rotates relative to the bottom surface of the mopping piece and is in friction extrusion type contact with the bottom surface of the mopping piece, and the side protrusion rotates relative to the side surface of the mopping piece and is in friction extrusion type contact with the side surface of the mopping piece.

Optionally, the mop cleaning device remains stationary during washing of the mop.

Optionally, the mop cleaning device comprises a cleaning slot for receiving the mop when the mop cleaning device is cleaning the mop.

Optionally, the raised structure is disposed in the cleaning tank.

Optionally, the cleaning device for the mop further comprises a liquid inlet structure, and cleaning liquid for cleaning the mop can enter the cleaning groove through the liquid inlet structure; and the cleaning device for the mop piece also comprises a liquid discharging structure, and the cleaning liquid after the mop piece is cleaned can be discharged to the outside of the cleaning groove through the liquid discharging structure.

Optionally, the mop cleaning device further comprises a liquid inlet structure, and cleaning liquid for cleaning the mop can be sprayed onto the mop through the liquid inlet structure.

The invention also provides a cleaning robot system. The cleaning robot system comprises a cleaning robot, the cleaning robot comprises a walking device for driving the cleaning robot to walk on the ground and a ground cleaning device for cleaning the ground, the ground cleaning device comprises a mopping device, the mopping device comprises a mopping unit, the mopping unit comprises a mopping piece for mopping the ground, and the cleaning robot system also comprises the base station.

Optionally, the mopping device comprises two mopping units, the edges of the mopping pieces of the two mopping units are contacted in the process of cleaning the mopping pieces by the mopping piece cleaning device, and the two mopping pieces can rotate relative to the convex parts in the same direction so as to enable the two mopping pieces to move towards each other at the position where the two mopping pieces are contacted in the middle and rub against each other to clean the side surfaces.

In the process of cleaning the mopping piece, the convex part can scrape and block the dirty cleaning liquid after cleaning from the mopping piece by the contact and the relative movement of the convex part and the mopping piece, so that the mopping piece is cleaned more thoroughly, the cleaning effect is improved, and the condition that the cleaned mopping piece is excessively wet is avoided.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view showing an overall configuration of a cleaning robot system according to a first embodiment of the present invention.

Fig. 2 is a schematic diagram illustrating an overall structure of the base station shown in fig. 1.

Fig. 3 shows the exploded view of fig. 2.

Figure 4 shows a schematic view of the structure of the mop cleaning device of figure 2.

Fig. 5 shows a schematic view of the installation of the liquid level detection device in the first storage configuration.

Fig. 6 is a top perspective view illustrating the overall structure of the cleaning robot shown in fig. 1.

Fig. 7 illustrates a bottom perspective view of the overall structure of the cleaning robot shown in fig. 1.

Fig. 8 shows the exploded structure of fig. 6.

Fig. 9 is a schematic view illustrating a structure of the cleaning robot shown in fig. 6 after removing the upper housing and the processing circuit.

Fig. 10 shows a schematic view of the structure of fig. 9 with the fan and the fan duct removed.

Fig. 11 is a schematic view showing an overall structure of a mopping device of the cleaning robot shown in fig. 6.

Fig. 12 shows the exploded structure of fig. 11.

Figure 13 shows the degree of freedom of oscillation of the mop of figure 12 with the flexible connecting block and the horizontal pivot shaft.

Fig. 14 is a schematic view of the mopping device of fig. 11 with the horizontal rotating shaft removed.

Figure 15 shows the degree of freedom of oscillation of the mop of figure 14 by the flexible link block.

Fig. 16 shows a first modification of fig. 13.

Fig. 17 shows a second modification of fig. 13.

Fig. 18 shows a third modification of fig. 13.

Fig. 19 shows a schematic view of the air duct of the garbage collection device of the cleaning robot shown in fig. 6.

Fig. 20 is a schematic view illustrating a positional relationship between the mopping device and the garbage collecting device of the cleaning robot shown in fig. 6.

Fig. 21 shows a process in which the cleaning robot enters the base station by the jack-up mechanism in the first embodiment shown in fig. 1.

Fig. 22 is a schematic view showing a state in which the cleaning robot is engaged with a base station after entering the base station in the first embodiment shown in fig. 1.

Fig. 23 shows a schematic view of the cleaning principle of the base station on the mop of the cleaning robot in the first embodiment shown in fig. 1.

Fig. 24 is a schematic view showing the overall configuration of a cleaning robot system according to a second embodiment of the present invention.

Fig. 25 is a schematic diagram showing the overall configuration of the base station shown in fig. 24.

Fig. 26 shows the exploded structure of fig. 25.

Fig. 27 is a schematic view showing an overall structure of the cleaning robot shown in fig. 24.

Fig. 28 shows the exploded structure of fig. 27.

Fig. 29 is a schematic view showing a structure after the cleaning robot shown in fig. 27 removes the upper case and the upper case cover.

Fig. 30 is a schematic view showing a structure of the cleaning robot shown in fig. 27 after removing a lower case cover.

Figure 31 shows a schematic exploded view of the mopping device of figure 30.

Fig. 32a shows a sectional view of an assembled structure of the output shaft and the mopping unit in fig. 31.

Fig. 32b shows a schematic enlarged view of part I in fig. 32 a.

Fig. 32c shows a schematic enlarged view of II in fig. 32 b.

Fig. 33 shows a schematic view of the explosion structure of the garbage collection apparatus in the second embodiment (the dust removal fan is omitted).

Fig. 34 shows a schematic view of the air duct of the garbage collection apparatus in the second embodiment.

Fig. 35 is a schematic view showing the movement of the cleaning robot when it enters the base station in the second embodiment.

Figure 36 shows a variation of the first and second embodiments in the positional relationship of the suction opening to the mop.

Fig. 37 shows another modification of the first embodiment and the second embodiment.

Fig. 38 is a schematic view showing the overall configuration of a cleaning robot system according to a third embodiment of the present invention.

Fig. 39 is a bottom perspective view showing the overall structure of the cleaning robot shown in fig. 38.

Fig. 40 is a schematic view showing a structure after the cleaning robot shown in fig. 38 removes the upper housing.

Figure 41 shows a schematic view of the relationship between the suction opening and the mop in the third embodiment.

Fig. 42 shows a schematic configuration of a cleaning robot having a wiping unit rotatable about a horizontal axis in the fourth embodiment.

Fig. 43 shows a schematic diagram of a base station with cleaning rollers for cleaning the mop of the cleaning robot of fig. 42.

Fig. 44 shows a modification of the cleaning robot of the fourth embodiment shown in fig. 43.

Fig. 45 shows a modification of the cleaning robot shown in fig. 44.

Fig. 46 shows a schematic configuration diagram of a cleaning robot having a horizontally reciprocating wiping unit in a fifth embodiment.

Fig. 47 shows a modification of the cleaning robot of the fifth embodiment shown in fig. 46.

Fig. 48 and 49 show two modified structures of the projection structure of the present invention, respectively.

Fig. 50 shows a schematic view of a cleaning robot provided with suspension means at the wheels.

Fig. 51 shows a partially enlarged schematic view of III in fig. 50.

Fig. 52 shows a process of the cleaning robot entering and exiting the base station based on the jack-up mechanism and the suspension shown in fig. 50.

Fig. 53 illustrates a process in which the cleaning robot enters and exits the base station based on the guide surface and the guide wheels.

Fig. 54 is a schematic view showing a structure of a cleaning robot system according to a sixth embodiment of the present invention.

Fig. 55 is a schematic view showing a state where the cleaning robot is washed by the base station in the sixth embodiment shown in fig. 54.

Fig. 56 shows a schematic diagram of the cleaning principle of the base station on the mop of the cleaning robot in another embodiment of the invention.

Fig. 57 is a partial schematic view showing the bottom of the cleaning robot in a modified embodiment of the first embodiment of the present invention.

Fig. 58 is a partial schematic view showing a bottom of the cleaning robot of the embodiment of the present invention shown in fig. 57 from a different perspective from that of fig. 57.

In the figure:

1. a base station;

10. a base station body; 101. a support frame; 102. a support frame bottom cover;

11. a mop cleaning device; 111. cleaning the tank; 112. a boss portion; 1121. the bottom is convex; 1122. a side projection; 113. a liquid inlet structure; 114. a liquid discharge structure; 115. a guide plate; 116. a guide surface; 117. a scraping member; 118. cleaning the roller; 119. a guide wheel;

12. a purified liquid supply device; 121. a first storage structure; 1211. a box body; 1212. a box cover; 1213. a handle; 1214. buckling; 122. a first water pump;

13. a dirty liquid collecting device; 131. a second storage structure; 132. a second water pump;

14. a charging device; 141. a charging sheet;

151. a first conductive sheet; 152. a second conductive sheet; 153. a third conductive sheet;

2. a cleaning robot;

20. a housing; 201. an upper housing; 2011. sealing the upper shell; 202. a chassis; 2021. the lower shell is covered; 203. an avoidance groove;

21. a traveling device; 211. a traveling wheel; 212. a spring; 213. a support member;

22. a floor cleaning device; 221. a mopping device; 2211. a mopping unit; 22111. a mopping member; 22112. a platen; 2212. a mopping driving mechanism; 22121. a double-headed worm motor; 22121', single-headed worm motor; 22122. a worm gear; 22123. an output shaft; 22124. a bearing; 22125. an oil seal ring; 2213. installing a chassis; 2214. hanging the plate; 2215. a bottom wall; 2216. a flexible connecting block; 2217. a magnetic adsorption member; 2218. a horizontal rotating shaft; 2219. a scraping structure; 222. a cleaning device; 2221. brushing edges;

23. a waste collection device; 231. a dust box; 2311. a baffle plate; 2312. scraping a blade; 2312', rolling and brushing; 2313. a box body; 2314. a box cover; 2315. a handle; 2316. positioning pins; 233. filtering with a screen; 233', hypa paper; 2331', a hekean paper holder; 234. a dust removal fan; 235. a fan duct; 236. a dust suction port; 237. a trash receptacle; 238. a filter frame;

24. a jack-up mechanism;

25. a collision sensing plate; 251. a camera; 252. a charging contact piece;

26. a laser radar; 261. a radar protection cover;

27. a control device;

28. a battery.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In the description of the present invention, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for the convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present invention.

In addition, in the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom" etc. is generally defined based on the state in which the cleaning robot system is normally used, with the forward direction of the cleaning robot being taken as the front, and correspondingly, the backward direction of the cleaning robot being taken as the back; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Fig. 1-58 illustrate various embodiments of a cleaning robot system including a base station of the present invention. Referring to fig. 1 to 58, the cleaningrobot 2 of the present invention includes awalking device 21 for driving thecleaning robot 2 to walk on the floor and afloor cleaning device 22 for cleaning the floor, thefloor cleaning device 22 includes amopping device 221, themopping device 221 includes amopping unit 2211, themopping unit 2211 includes amopping piece 22111, and themopping piece 22111 is used for mopping the floor.

The cleaningrobot 2 of the present invention includes the wipingmember 22111 for wiping the floor, thereby realizing a floor wiping function, removing stubborn stains on the floor, and improving a floor cleaning effect.

In the present invention, in order to further improve the mopping effect, themopping unit 2211 is provided to be capable of rotating and/or horizontally reciprocating with respect to thechassis 202 of the cleaningrobot 2. In this way, in the mopping process, the relative movement between the moppingelement 22111 and the ground not only includes the movement of the cleaningrobot 2 on the whole ground, but also includes the rotation movement and/or horizontal reciprocating movement of themopping element 22111 relative to the ground, so that the mopping force of themopping element 22111 can be enhanced, the mopping times of themopping element 22111 can be increased, the repeated mopping of the ground can be realized, the mopping effect of themopping element 22111 can be improved, and especially, the mopping robot helps to clean stubborn stains adhered to the ground more thoroughly. Wherein preferably, themopping unit 2211 is configured to be able to rotate relative to thechassis 202 of the cleaningrobot 2, because therotating mopping piece 22111 can also sweep up the garbage such as large particles and dust on the ground, i.e. simultaneously play a role in sweeping, so that the cleaningrobot 2 becomes a mopping integrated robot, the function is more comprehensive, the ground cleaning effect is better, and the cleaning function can be realized without setting up a specialsweeping device 222, therefore, the cleaningrobot 2 can also have a simpler structure and a smaller volume while having a mopping integrated function, which is beneficial to further realizing the miniaturization and dexterity of the cleaningrobot 2.

As another improvement for further improving the mopping effect, in the present invention, themopping unit 2211 may be further provided to be capable of swinging with respect to thechassis 202. Based on this setting,drag piece 22111 ofwiping unit 2211 can keep with ground contact through swinging forchassis 202 along with the unevenness of ground to can guarantee that two of thisembodiment drag piece 22111 hug closely ground constantly, this not only can effectively prevent to appear leaking because of the unevenness of ground and drag the phenomenon, thereby guarantee to realize more thoroughly and more efficient cleanness various ground, can also makecleaning robot 2 clean the more complicated diversified ground of topography, effectively enlarge cleaningrobot 2's application scope.

In addition, the present invention also provides a cleaning robot system including thecleaning robot 2 of the present invention. The cleaning robot system may further include abase station 1 capable of cleaning theeraser 22111. Thebase station 1 includes abase station body 10 and amop cleaning device 11 provided on thebase station body 10, and themop cleaning device 11 is used for cleaning amop 22111 of the cleaningrobot 2.

In the present invention, thebase station 1 may use ultrasonic cleaning, dry cleaning or water washing to clean themop 22111, wherein the water washing method is preferred because the water washing method is easier to implement, the cost is lower, the cleaning effect is cleaner, and themop 22111 cleaned by the water washing method has a certain amount of water, and can be directly used for mopping without additionally providing a step of wetting themop 22111, so the water washing cleaning method can further reduce the user participation and further ensure the working continuity of the cleaningrobot 2.

In order to provide a better cleaning effect for thebase station 1, in the present invention, thecleaning device 11 and thecleaning element 22111 are preferably configured to be relatively movable, for example, thecleaning device 11 can rotate relative to thecleaning element 22111, and/or thecleaning device 11 can move relative to thecleaning element 22111, so that thecleaning element 22111 is pressed onto thecleaning device 11 during the cleaning process of thecleaning element 22111, and thecleaning device 11 can apply friction to thecleaning element 22111, thereby improving the cleaning performance of thecleaning element 22111 and improving the cleaning effect of thecleaning device 11. The relative movement between the cleaningdevice 11 and thecleaning element 22111 may be generated by moving onecleaning device 11 or 22111 and keeping the other stationary, or by moving both thecleaning device 11 and thecleaning element 22111 but at different directions and/or speeds.

In the present invention, the wipecleaning device 11 may be configured to include a raised structure including theprojection 112, theprojection 112 contacting the wipe 22111 when the wipecleaning device 11 is cleaning the wipe 22111. By arranging theprotrusion 112 on thecleaning device 11, not only can the dirt or garbage on themop 22111 be scraped by theprotrusion 112 in the process of cleaning themop 22111, so as to achieve more thorough cleaning of themop 22111 and prevent themop 22111 which is cleaned from being excessively wet, but also, under the condition that thecleaning device 11 and themop 22111 can move relatively, theprotrusion 112 and themop 22111 can generate plane friction movement, so that the friction force between the cleaningdevice 11 and themop 22111 can be further increased, and the cleaning effect of thecleaning device 11 on themop 22111 can be further improved.

In addition, in order to facilitate thecleaning robot 2 to enter thebase station 1, thebase station 1 of the present invention is preferably configured to further include a guide structure provided on themop cleaning device 11 for guiding thecleaning robot 2 to move relative to themop cleaning device 11 to move themop 22111 in and out of themop cleaning device 11. Based on this, when themop 22111 needs to be cleaned, the cleaningrobot 2 can conveniently enter thebase station 1 under the guiding action of the guiding structure, so that themop 22111 enters themop cleaning device 11 for cleaning, and once cleaning is completed, the cleaningrobot 2 can smoothly exit thebase station 1 under the guiding action of the guiding structure, so that themop 22111 leaves themop cleaning device 11, therefore, the arrangement of the guiding structure can facilitate the entry and exit of the cleaningrobot 2 in thebase station 1, which is beneficial to improving the working efficiency of the cleaning robot system. Wherein the guide structure may comprise at least one of a guide surface, a guide plate and a guide wheel.

The present invention is further described below in conjunction with various embodiments of the cleaning robot system shown in fig. 1-58.

Fig. 1-23 show a first embodiment of a cleaning robot system.

As shown in fig. 1 to 23, in this first embodiment, the cleaning robot system includes acleaning robot 2 and abase station 1 which are provided independently of each other, wherein the cleaningrobot 2 is used for automatic cleaning including mopping of the floor surface, and thebase station 1 is used for charging thecleaning robot 2 and cleaning themopping piece 22111 of the cleaningrobot 2. When the cleaningrobot 2 needs to be charged and/or needs to clean theeraser 22111 when theeraser 22111 is being wiped for a period of time, the cleaningrobot 2 can automatically return to thebase station 1 where charging and/or eraser cleaning takes place.

Fig. 6 to 20 show the structure of the cleaningrobot 2 in this first embodiment. As shown in fig. 6 to 20, in this first embodiment, the cleaningrobot 2 is a mobile cleaning apparatus including ahousing 20, a travelingunit 21, afloor cleaning unit 22, agarbage collection unit 23, and the like.

Wherein thehousing 20 forms a mounting base for other structural components of the cleaningrobot 2, providing support for the other components. As can be seen from fig. 6 to 8, thehousing 20 of this embodiment includes anupper housing 201 and achassis 202, thechassis 202 is mounted with the travelingdevice 21, thefloor cleaning device 22, thegarbage collecting device 23, and the like, and theupper housing 201 is covered above thechassis 202 for protecting the structural components in the hollow space between theupper housing 201 and thechassis 202 and keeping the overall structure neat and beautiful.

The travelingdevice 21 is used to provide driving force for thecleaning robot 2 to move on the ground, and drive the cleaningrobot 2 to travel on the ground. As can be seen from fig. 7 and 8, the travelingdevice 21 of this embodiment includes a pair of travelingwheels 211, the pair of travelingwheels 211 are symmetrically disposed on the left and right sides of thechassis 2, and the travelingwheels 211 rotate to enable thecleaning robot 2 to advance or retreat on the ground. Further, the cleaningrobot 2 can be steered by differential rotation of the pair of travelingwheels 211.

Thefloor cleaning device 22 is used to clean the floor. In this embodiment, thefloor cleaning device 22 comprises amopping device 221, themopping device 221 comprises a pair of moppingunits 2211, eachmopping unit 2211 comprises apressure plate 22112 and amopping piece 22111, and themopping piece 22111 is mounted on the lower end face of thepressure plate 22112 for mopping the floor.

The moppingmember 22111 can be a mop cloth (or rag) or a sponge, and the moppingmember 22111 of this embodiment is a mop cloth. Also, theeraser 22111 is preferably detachably connected to thepressing plate 22112, for example, in this embodiment, theeraser 22111 can be adhered to the lower end surface of thepressing plate 22112 by using a hook and loop fastener to facilitate the replacement and removal of theeraser 22111.

Themop 22111 and thepress plate 22112 of this embodiment are circular, but they may be rectangular in other embodiments, and the circular shape of this embodiment is advantageous in that themop 2211 can be used to clean narrow spaces such as corners in a room, and the following rotation arrangement is also convenient.

In order to further solve the problem of poor mopping effect of the conventional cleaning robot, as can be seen from fig. 7-12 and 20, themopping unit 2211 of this embodiment is configured to be rotatable with respect to thechassis 202, and the mopping effect is improved by increasing the relative rotation of themopping unit 2211 with respect to the floor. Here, the rotation of thewiping unit 2211 relative to thechassis 202 can be either a rotation around a horizontal axis or a rotation around a vertical axis, wherein the embodiment is preferably configured to rotate around a vertical axis, because the wipingmember 22111 rotating around a vertical axis can achieve better wiping and cleaning effects. Moreover, when themopping device 221 includes at least two moppingunits 2211, the at least two moppingunits 2211 may be rotated in the same direction or in different directions, and may also be rotated in the same direction or in opposite directions in a switchable manner, that is, the at least two moppingunits 221 are rotated in opposite directions within a certain period of time and are rotated in opposite directions within another period of time. Wherein, by arranging the paired dragging and wipingunits 2211 to rotate reversely around the vertical axis, the dragging and wipingdevice 221 can also play a role of gathering garbage to the middle, so as to achieve a better garbage gathering effect.

As shown in fig. 20, in this embodiment, both of the wipingunits 2211 rotate about a vertical axis, but in opposite directions. Due to the fact that the two moppingunits 2211 can reversely rotate around the vertical axis, the swept-up garbage can be gathered to the middle of the two moppingunits 2211, and therefore due to the arrangement, themopping device 221 can achieve the functions of mopping and sweeping, meanwhile, the function of better garbage gathering can be achieved, and the garbage can be collected more fully and thoroughly. Based on this, themopping device 221 of this embodiment can achieve a cleaner cleaning effect in cooperation with thegarbage collection device 23 of this embodiment, which will be described in more detail later. In addition, when the two moppingunits 2211 are arranged to rotate reversely around the vertical axis, the directions of the friction forces generated by the two moppingunits 2211 due to rotation are opposite, and the friction forces can be offset, so that the problem of unbalanced friction force in the cleaning process can be effectively avoided, and thecleaning robot 2 can walk more stably according to a predetermined route.

In order to realize the rotation of themopping unit 2211 relative to the ground, themopping device 221 of this embodiment further includes amopping driving mechanism 2212, wherein themopping driving mechanism 2212 connects themopping unit 2211 with thechassis 202 and is used for driving themopping unit 2211 to rotate relative to thechassis 202, i.e. for driving themopping unit 2211 to rotate relative to the ground. Specifically, as shown in fig. 8-12, in this embodiment, the mopping drive mechanism 2212 includes a worm motor, two worm gears 22122, and two output shafts 22123, wherein: the worm motor is used for providing torque for the two dragging units 2211; the two worm wheels 22122 and the two output shafts 22123 are in one-to-one corresponding driving connection between the worm motor and the two output shafts 22123, each worm wheel 22122 is meshed with a worm on the worm motor, namely, the worm wheels 22122 and the worms on the worm motors form a worm-gear mechanism, and the two worm wheels 22122 are meshed with the worms of the worm motors for transmission, so that torques in opposite directions can be transmitted to the two output shafts 22123; the two output shafts 22123 are drivingly connected between the two worm gears 22122 and the two dragging units 2211, the two output shafts 22123 and the two dragging units 2211 are arranged in a one-to-one correspondence manner, and are used for respectively transmitting torques in opposite directions to the two dragging units 2211, and meanwhile, the two output shafts 22123 are vertically arranged, so that the two dragging units 2211 rotate around the respective output shafts 22123 under the driving action of the worm motor, and the reverse rotation of the two dragging units 2211 around the vertical axis can be realized.

More specifically, as shown in fig. 12, in this embodiment, the worm motor is a double-headedworm motor 22121, in which: the double-headedworm motor 22121 serves as a worm power mechanism for outputting torque; the twoworm wheels 22122 are arranged corresponding to the two draggingunits 2211 one by one, and are respectively meshed with the two worm rod heads on the two sides of the double-headedworm motor 22121, and the twoworm wheels 22122 are meshed with the double-headedworm motor 22121 for transmission. Thus, when the double-headedworm motor 22121 rotates, power can be transmitted to the twoworm wheels 22122, and torques in opposite directions are transmitted to the twooutput shafts 22123 through the twoworm wheels 22122, so that the twooutput shafts 22123 are driven to drive the two draggingunits 2211 to rotate reversely around the vertical axis, the structure is simple and compact, and the transmission efficiency is high.

As is apparent from fig. 11 and 12, themopping device 221 of this embodiment further includes a mountingbase plate 2213, anupper plate 2214, and alower plate 2215, and themopping driving mechanism 2212 is mounted on thebase plate 202 via the mountingbase plate 2213, theupper plate 2214, and thelower plate 2215. Theupper plate 2214 and thelower plate 2215 are fastened to form a hollow space, the components of the draggingdrive mechanism 2212 are disposed in the hollow space for transmission, theinstallation base plate 2213 is disposed on thebase plate 202, and thelower plate 2215 is mounted on theinstallation base plate 2213, so that the draggingdrive mechanism 2212 is mounted on thebase plate 202. In addition, thefriction driving mechanism 2212 of this embodiment further includes abearing 22124 and anoil seal ring 22125, wherein thebearing 22124 and theoil seal ring 22125 are disposed between theoutput shaft 22123 and theworm wheel 22122, so as to achieve smoother transmission.

In addition, in this embodiment, themopping unit 2211 is swingably attached to thechassis 202 of the cleaningrobot 2, and the mopping effect of themopping device 221 is improved by bringing the two moppingpieces 22111 into close contact with the floor surface at all times, and the applicable range of the cleaningrobot 2 is expanded.

Specifically, themopping unit 2211 of this embodiment can swing not only around the vertical axis but also around the horizontal axis, so that themopping piece 22111 has multiple degrees of freedom of swing, which is beneficial to the instant contact between thewhole mopping piece 22111 and the ground, so that themopping piece 22111 can better adapt to the uneven ground and achieve a cleaner cleaning effect.

In order to swing themop unit 2211 around a vertical axis, as shown in fig. 12, a flexible connectingblock 2216 is disposed between themop unit 2211 and theoutput shaft 22123 of themop driving mechanism 2212, and the two units are connected by the flexible connectingblock 2216. Theflexible connection block 2216 may be removably connected to themopping unit 2211 and/or the moppingactuation mechanism 2212. As a flexible connection structure, theflexible connection block 2216 can deform freely, so that when the cleaningrobot 2 encounters an uneven ground, theflexible connection block 2216 can deform adaptively under the action of the ground force transmitted by the moppingmember 22111, so as to drive themopping unit 2211 to swing adaptively around the vertically arrangedoutput shaft 22123 with respect to the chassis 202 (i.e. with respect to the ground), thereby maintaining contact with the ground. Moreover, as shown in fig. 11, 13 and 15, each flexible connectingblock 2216 can provide thecorresponding mopping unit 2211 with an adjustment degree of freedom of oscillation (i.e. the first degree of freedom of oscillation I in fig. 13), and the oscillation manner is more various and can be more flexibly adapted to the ground.

It can be seen that by arranging theflexible connection block 2216 between theoutput shaft 22123 and themopping unit 2211, the material deformation of theflexible connection block 2216 can be utilized to realize the swinging of themopping unit 2211 around the vertical axis, and the swinging angle of themopping unit 2211 can be flexibly adjusted according to the unevenness degree of the ground, so that themopping piece 22111 is attached to the ground at any time for mopping, and the mopping effect is further improved.

It should be noted that the flexible connecting structure applied to this embodiment is not limited to the form of the flexible connectingblock 2216, and other flexible connecting structures capable of realizing the swing of thewiping unit 2211 by using the deformation of the material thereof are also applicable.

In order to swing themopping unit 2211 around the horizontal axis, a horizontalrotating shaft 2218 is provided between the moppingdevice 221 and thechassis 202, and the two are connected by the horizontalrotating shaft 2218. Specifically, as shown in fig. 12 and 13, thehorizontal rotation shaft 2218 of this embodiment is connected between thechassis 202 and the middle portion of the driving shaft of themopping apparatus 221 connected between the twomopping units 2211. Thehorizontal rotation shaft 2218 can provide each of the wipingunits 2211 with a horizontal rotation degree of freedom (i.e., the second swing degree of freedom J shown in fig. 13), so that each of the wipingunits 2211 can swing around thehorizontal rotation shaft 2218 along with unevenness of the ground surface, thereby ensuring that the wipingmember 22111 is in contact with the ground surface.

It can be seen that this embodiment makes themop 22111 have a plurality of swing degrees of freedom by setting up theflexible connection block 2216 and thehorizontal rotation shaft 2218 simultaneously, can adapt to uneven ground more flexibly, makes the cleaningrobot 2 can let themop 22111 hug closely ground and clean even meet uneven ground, thereby can clean ground cleaner.

On the other hand, as can be seen from fig. 13, in this embodiment, since the horizontalrotating shaft 2218 is provided between the moppingdevice 221 and thechassis 202, the contact between the moppingdevice 221 and the ground is equivalent to one fulcrum, that is, themopping device 221 of this embodiment provides one fulcrum to thecleaning robot 2, and meanwhile, since the contact between the two travelingwheels 211 and the ground is equivalent to two fulcrums, as a whole, a three-point support manner is formed between the cleaningrobot 2 of this embodiment and the ground, which enables the cleaningrobot 2 to land on three points at any time, thereby increasing the overall operation stability of the cleaningrobot 2 and further ensuring the cleaning effect.

It should be noted that the embodiment of making themopping unit 221 swing along with the unevenness of the ground is not limited to the above-mentioned manner (i.e., the manner shown in fig. 13), and three alternative embodiments are provided herein.

Alternatively, as shown in fig. 16, the position of the horizontalrotating shaft 2218 may be changed, and the horizontalrotating shaft 2218 may be disposed between the travelingdevice 21 and thechassis 202. Based on this alternative, thewalking device 21 and thechassis 202 are connected by a rotating shaft, thewalking device 21 provides a fulcrum for thecleaning robot 2 as a whole, and meanwhile, eachflexible connection block 2216 of themopping device 221 provides two degrees of freedom for adjusting the swing of eachmopping unit 2211, so that themopping device 221 contacts with the ground equivalently when the two fulcrums contact with the ground, that is, themopping device 221 provides two fulcrums for thecleaning robot 2, and thus, this alternative still enables themopping piece 22111 to cling to the ground at any time and forms a three-point support between the cleaningrobot 2 and the ground. The three-point support in this alternative includes two fulcrums in front and one fulcrum in rear, while the three-point support in the manner shown in fig. 13 includes one fulcrum in front and two fulcrums in rear.

As another alternative, as shown in fig. 17 and 18, in this embodiment, the flexible connectingblock 2216 may be omitted, and the horizontalrotating shaft 2218 may be provided only between the moppingdevice 221 and thechassis 202, or the horizontalrotating shaft 2218 may be provided only between the travelingdevice 21 and thechassis 202. With these two alternatives, although the effect of themop 22111 being constantly pressed against the ground is not as good as the case of themop 2211 simultaneously swinging around the vertical axis, the overall swinging of themop 22111 and/or thechassis 21 with respect to thechassis 202 can be achieved, forming the three-point support, and the structure is simpler and the cost is lower.

Thewaste collection device 23 is used for collecting the waste collected by thefloor cleaning device 22, and includes a collection opening for communicating the inside and the outside of thewaste collection device 23, and the waste collected by thefloor cleaning device 22 enters the inside of thewaste collection device 23 through the collection opening.

As shown in fig. 7-9 and 19, in this embodiment, the garbage collection device 23 includes a dust box 231, a filter screen 233, a dust removal fan 234, a fan duct 235, and a dust suction port 236, wherein: the dust box 231 comprises a box body 2313 and a box cover 2314, and the box cover 2314 covers the opening at the top end of the box body 2313; a dust suction port 236 is provided at a lower portion of the dust box 231 to be opened toward the floor, so that garbage can enter the dust box 231 through the dust suction port 236; the dust removing fan 234 is in fluid communication with the interior of the dust box 231 through a fan conduit 235, so that dust and other garbage can enter the dust box 231 through the dust suction port 236 under the action of the dust removing fan 234; a screen 233 is provided at a side of the dust box 231 and in fluid communication with the dust box 231 by the dust removing fan 234 (in fig. 19, the screen 233 is provided in particular in fluid communication with the dust box 231 by a fan duct 235), so that the dust in the wind can be filtered by the screen 233 to remain in the dust box 231, while the wind can continue to be drawn away by the dust removing fan 234.

As shown in fig. 19, the outlet of thedust removing blower 234 faces the double-headedworm motor 22121, so that the air flowing out of thedust removing blower 234 can directly blow to the double-headedworm motor 22121 to dissipate the heat of the double-headedworm motor 22121, which is beneficial to ensuring the working performance of the double-headedworm motor 22121 and prolonging the service life of the double-headedworm motor 22121.

In thegarbage collection device 23 of this embodiment, when in operation, thedust removing fan 234 drives the wind to drive the garbage to enter thebox body 2313 through thedust suction port 236, the garbage is blocked by thefilter screen 233, and the wind enters thefan duct 235 through thefilter screen 233, flows to thedust removing fan 234, and is finally drawn away by thedust removing fan 234.

It can be seen that thewaste collection device 23 of this embodiment is a dust extraction device and that thedust extraction opening 236 serves as a collection opening. The advantage of using a dust collector as thegarbage collection device 23 in this embodiment is that thegarbage collection device 23 can apply an attraction force to the garbage, which not only can collect more garbage gathered by thefloor cleaning device 22 more quickly and reduce the residue of the garbage on the floor, but also can suck larger particles of garbage into thegarbage collection device 23 under the action of the attraction force, so that the use of a dust collector as thegarbage collection device 23 is beneficial to cleaning the floor more cleanly.

In addition, as described above, in this embodiment, the two wipingunits 2211 reversely rotating around the vertical axis can gather the garbage between the two wipingunits 2211, and therefore, in order to collect the garbage more conveniently and effectively, as shown in fig. 7 and 20, in this embodiment, thedust suction port 236 is provided in the middle of the two wipingunits 2211 of thewiping apparatus 221 of this embodiment, so that thedust suction port 236 is located between the two wipingunits 2211 on the path where the garbage is gathered, and therefore, thegarbage collection apparatus 23 can collect the garbage more sufficiently, and a more effective garbage collection effect is achieved. Thedust suction opening 236 may be disposed at the middle of the rear of the two wipingunits 2211, or may be disposed at the middle of the front of the twowiping units 2211. By arranging thedust suction opening 236 at the middle of the rear of the two moppingunits 2211, as shown in fig. 36, since the dust is collected by thedust collecting device 23 after being collected in a smaller area, thedust suction opening 236 can be arranged to be smaller, and the smaller thedust suction opening 236, the greater the suction force, the more efficient collection can be achieved. Thedust suction port 236 is arranged in the middle of the front of the two moppingunits 2211, as shown in fig. 7 and 20, the advantage is that the garbage can be collected before being mopped, the garbage can be collected without being wetted by the moppingpieces 22111, and the garbage which is not wetted is easier to be collected because the adhesion force of the garbage to the ground is smaller, so that thedust suction port 236 is arranged in the middle of the front of the two moppingunits 2211 which rotate reversely around the vertical axis, the difficulty of garbage collection can be reduced, the dust suction device can collect the garbage by applying a smaller suction force, the problem that the garbage such as hair is difficult to be collected due to over-wetting can be effectively prevented, the garbage can be collected more conveniently and thoroughly, and a cleaner garbage collection effect can be realized.

Based on the above-describedmopping device 221 and thegarbage collection device 23, while thecleaning robot 2 of this embodiment can perform higher-quality floor cleaning work: when the mop is in use, the two mopping pieces 2111 attached to the ground rotate reversely around the vertical axis under the driving action of themopping driving mechanism 2212, on one hand, the mopping is carried out on stubborn stains on the ground, on the other hand, the garbage is gathered to the middle parts of the two mopping pieces 2111, and the garbage gathered to the middle parts is sucked and collected by thegarbage collecting device 23.

Moreover, as can be seen from fig. 57 and 58, in thecleaning robot 2 of the above embodiment, thegarbage collection devices 23 each further include abaffle 2311, and thebaffle 2311 is inclined downward from the collection port (dust suction port 236) of thegarbage collection device 23 and extends to the floor. Based on this, thebaffle 2311 can block the garbage gathered to the position where the garbage is, and prevent the garbage cleaned by thefloor cleaning device 22 from spreading to the outside of the range where the collection port (dust collection port 236) can collect, so that thegarbage collection device 23 can collect the garbage more conveniently, and the garbage can be prevented from causing secondary pollution to the cleaned floor. In particular, thebaffle 2311 prevents the collected debris from being carried away from the collection opening (the suction opening 236) by themop 22111 when themop 22111 is rotated about a vertical axis relative to thechassis 202 of the cleaningrobot 2 for cleaning operations.

Of course, the cleaningrobot 2 of this embodiment may also turn off thegarbage collection device 23 and let only themopping device 221 operate; or, themopping device 221 may be replaced by acleaning device 222 for cleaning the garbage on the ground, such as a rolling brush, and thecleaning device 222 and thegarbage collection device 23 are used to cooperate to realize a separate sweeping function, and since themopping device 221 of this embodiment is detachably connected to themopping driving mechanism 2212, themopping device 221 may be conveniently replaced by thecleaning device 222 to realize the switching of the cleaning mode; further, the cleaningrobot 2 of this embodiment can also perform a dry-mopping function by replacing thewet mop 22111 with thedry mop 22111, and also, since themop 22111 of this embodiment is detachably attached to thepressure plate 22112, thedry mop 22111 and thewet mop 22111 can be easily replaced, thereby performing a quick switching between dry-mopping and wet mopping modes.

In addition, as shown in fig. 6 and fig. 8 to 10, in this embodiment, the cleaningrobot 2 further includes acollision sensing plate 25, alaser radar 26, acontrol device 27, abattery 28, and a human-machine interaction device such as a button, a screen, or the like for human-machine interaction. Wherein thecollision sensing plate 25 is used to prevent thecleaning robot 2 from colliding with an obstacle, and in this embodiment, thecollision sensing plate 25 is disposed at the front end of thehousing 20; thelaser radar 26 is used for map scanning to realize map building and positioning of the cleaningrobot 2, and in the embodiment, thelaser radar 26 is embedded in the rear part of theupper shell 201; thebattery 28 is used to supply electric power to thecleaning robot 2; thecontrol device 27 is used for controlling various activities of the cleaningrobot 2, such as sensor signal collection, motor drive control, battery management, navigation and positioning, map generation, intelligent obstacle avoidance, and cleaning path planning.

Further, in order to facilitate thecleaning robot 2 to make an obstacle detour and get in and out of thebase station 1, the cleaningrobot 2 of this embodiment further includes a jack-upmechanism 24. The jackingmechanism 24 is used for jacking the front end and/or the rear end of the cleaningrobot 2, and can provide lifting force for thecleaning robot 2, so that the cleaningrobot 2 can conveniently cross a barrier (such as a threshold) with a certain height in the ground walking process, the obstacle crossing capability of the cleaningrobot 2 is improved, the cleaning range of the cleaningrobot 2 is enlarged, and thecleaning robot 2 can conveniently enter and exit thebase station 1 in the process that the cleaningrobot 2 enters and exits thebase station 1, particularly thecleaning device 11 for the mopping piece of thebase station 1 with a certain height.

Specifically, as shown in fig. 7, 8 and 10, in this embodiment, the jackingmechanism 24 is disposed on thechassis 202 of the cleaningrobot 2 and located at a front position of thechassis 202, and includes a swing link capable of swinging up and down, when the swing link swings out downward, the swing link can extend downward from thechassis 202 and be supported on a carrying surface (e.g., the ground) so as to jack up the front end of the cleaningrobot 2, and when the swing link swings back upward, the swing link retracts to release the jacking, and the height of the front end of the cleaningrobot 2 is lowered again. Based on this, as shown in fig. 21 and 22, in the process that the cleaningrobot 2 gets over the obstacle or enters thebase station 1, the jackingmechanism 24 may jack up the front end of the cleaningrobot 2, actively raise the height of the front end of the cleaningrobot 2, help thecleaning robot 2 get over the obstacle quickly, or help thecleaning robot 2 get into thebase station 1 quickly and make themop 22111 enter themop cleaning device 11 smoothly.

It should be understood by those skilled in the art that the jackingmechanism 24 is not limited to be disposed on thechassis 202, but may be disposed on thebase station 1, or one jackingmechanism 24 may be disposed on each of thebase station 1 and thechassis 202; further, when the jack-upmechanism 24 is provided on thechassis 202, the jack-upmechanism 24 is not limited to be provided at the front portion of thechassis 202, and may be provided at the rear portion of thechassis 202 for jacking up the rear end of the cleaningrobot 2.

Fig. 50-52 illustrate an alternative embodiment in which the jackingmechanism 24 is disposed at the rear of thechassis 202. As shown in fig. 50-52, in this alternative embodiment, the jackingmechanism 24 is disposed at the rear of thechassis 202, in this case, as shown in fig. 52, when the cleaningrobot 2 needs to enter thebase station 1, the jackingmechanism 24 may not be operated, the cleaningrobot 2 directly enters thebase station 1 under its own driving force and the guiding action of the guiding structure (such as the inclined guidingsurface 116 in fig. 52) of thebase station 1, so that themop 22111 enters themop cleaning device 11, and when the cleaningrobot 2 needs to exit thebase station 1 after the cleaning of themop 22111 is completed, the jackingmechanism 24 is operated to jack the rear end of the cleaningrobot 2, so that the rear edge of themop 22111 is higher than the edge height of themop cleaning device 11, so as to exit thebase station 1. Moreover, in this alternative embodiment, it is preferable to provide a suspension device at the travelingwheel 211, and the suspension device is used to keep the travelingwheel 211 elastically connected to thechassis 202, so that the travelingwheel 211 can be kept in contact with the ground at all times, and therefore, when the jack-upmechanism 24 jacks up the rear end of the cleaningrobot 2, the travelingwheel 211 can still be tightly attached to the ground under the action of the suspension device to provide friction for thecleaning robot 2, so that, by providing the suspension device, the cleaningrobot 2 can be further assisted to be more efficiently ejected from thebase station 1.

Specifically, as shown in fig. 50 and 51, in this alternative embodiment, the suspension means includes aspring 212 and asupport 213, thespring 212 is disposed horizontally, thesupport 213 is connected obliquely between thespring 212 and thewalking wheel 211, and a portion between both ends of thesupport 213 for connection with thespring 212 and thewalking wheel 211 is rotatably disposed with respect to thehousing 20 of the cleaningrobot 2. Based on the structure setting, the suspension device can not only make the travelingwheels 211 keep in contact with the ground, but also can utilize the elastic force of thesprings 212 to assist the jackingmechanism 24 in tilting the rear end of the cleaningrobot 2, so that under the condition, the jackingmechanism 24 only needs a smaller jacking force to jack the rear end of the cleaningrobot 2, so that the jackingmechanism 24 can select a smaller motor, and the purposes of reducing the cost and saving the installation space are achieved.

Of course, the suspension device may not be provided together with the jack-upmechanism 24, and since the suspension device can keep the travelingwheels 211 in contact with the ground all the time, the obstacle surmounting capability of the cleaningrobot 2 can be increased even when the suspension device is provided alone.

Fig. 2 to 5 show the structure of thebase station 1 in this first embodiment. In this embodiment, thebase station 1 cleans theeraser 22111 by washing with water, i.e. thebase station 1 keeps theeraser 22111 clean by washing theeraser 22111.

As shown in fig. 2 to 5, in this embodiment, thebase station 1 includes abase station body 10, awiper cleaning device 11, a cleanliquid supply device 12, a dirtyliquid collecting device 13, and a chargingdevice 14.

Wherein thebase station body 10 forms a mounting base for other structural components of thebase station 1, themop cleaning device 11, the cleanliquid supply device 12, the dirtyliquid collecting device 13, etc. are all arranged on thebase station body 10, and thebase station body 10 provides support for these structural components mounted thereon.

As shown in fig. 2, in this embodiment, themop cleaning device 11 is installed below thebase station body 10, and the cleanliquid supply device 12 and the dirtyliquid collecting device 13 are installed above thebase station body 10 and located at the left and right sides of thebase station body 10, respectively, for compact structure and good appearance. Thecleaning device 11 of the mop of this embodiment is matched with the cleanliquid supply device 12 and the dirtyliquid collecting device 13 to realize the water washing cleaning of themop 22111; further, since theeraser unit 2211 of this embodiment is rotatable about a vertical axis, theeraser unit 2211 and theeraser cleaning device 11 can be relatively rotated, and thebase station 1 can implement a friction type water washing cleaning method. During the cleaning process, themop 22111 is carried on themop cleaning device 11 and is rotated for cleaning, the cleaningliquid supply device 12 provides the cleaning liquid, and the dirtyliquid collecting device 13 collects the dirty cleaning liquid after cleaning.

Specifically, as shown in fig. 3, themop cleaning device 11 of this embodiment includes acleaning tank 111, a convex structure having a plurality ofconvex portions 112, aliquid inlet structure 113, and aliquid discharge structure 114.

The cleaninggroove 111 is used for accommodating themop 22111 when themop 22111 is cleaned by themop cleaning device 11, and also provides an accommodating space for the cleaning solution. As can be seen from fig. 3 and 4, in this embodiment, themop cleaning device 11 includes two cleaninggrooves 111, and the shape and size of each cleaninggroove 111 are adapted to the shape and size of themop unit 221 of this embodiment, wherein the cross-sectional shape of thecleaning groove 111 is circular. This arrangement is for adapting the shape, size and number of thecleaning tank 111 and the wipingunits 221 of the cleaningrobot 2, which not only can better accommodate the wiping parts 2111 and the cleaning liquid and prevent the cleaning liquid from splashing, but also enables thebase station 1 to clean all the wipingparts 22111 of onecleaning robot 2 at the same time, thereby improving the cleaning efficiency. Of course, the shape and size of the cleaninggrooves 111 can be adaptively set according to the specific situation of the wipingunits 2211, and the number of the cleaninggrooves 111 can also be set to be equal to the total number of the wipingunits 221 of the plurality of cleaningrobots 2, and the cleaning grooves are arranged in a one-to-one correspondence manner, so that thebase station 1 can simultaneously clean all the wipingmembers 22111 of the plurality of cleaningrobots 2, and the cleaning efficiency is higher.

The protrusion structure is used for contacting with the wipingpart 22111 accommodated in thecleaning groove 111, and since the whole surface of the wipingpart 22111 can contact with the protrusion structure, the contact area is large, the cleaning efficiency is high, and the protrusion structure can play a role in scraping off sewage and increasing friction force in the cleaning process, so that the cleaning effect can be further improved. As shown in fig. 4, in this embodiment, the convex structures are arranged in the cleaninggrooves 111, wherein each of theconvex portions 112 is a curved convex portion, that is, the extending path of the cross section of theconvex portion 112 is a curve, and the plurality ofconvex portions 112 in each of the cleaninggrooves 111 are arranged in a radial shape. The protruding structure shown in this embodiment can better adapt to the rotation mode of the wipingmember 22111, so that the protruding structure can rub against the rotating wipingmember 22111 more fully during the cleaning process, and a cleaner cleaning effect can be achieved. In addition, during the squeezing rotation of theeraser 22111 and the protrusion, water is squeezed from theeraser 22111 by theprotrusion 112, so that the protrusion also has a function of drying theeraser 22111.

Theliquid inlet structure 113 and theliquid outlet structure 114 are both in fluid communication with thecleaning tank 111, so that the cleaning liquid can enter thecleaning tank 111 through theliquid inlet structure 113, and the cleaning liquid after cleaning themop 22111 can be discharged to the outside of thecleaning tank 111 through theliquid outlet structure 114. As shown in fig. 4, in this embodiment, theliquid inlet structure 113 and theliquid outlet structure 114 are both disposed in thecleaning tank 111, but they may be disposed in other positions as long as they are in fluid communication with thecleaning tank 111.

The cleaningliquid supply device 12 is in fluid communication with thecleaning tank 111 through aliquid inlet structure 113 to conveniently supply cleaning liquid into thecleaning tank 111; thedirty liquid supply 113 is in fluid communication with thecleaning tank 111 via adrain 114 to facilitate collection of dirty cleaning liquid after cleaning themop 22111. As can be seen from fig. 3 and 4, in this embodiment, the cleanliquid supply device 12 includes afirst storage structure 121 and afirst water pump 122, thefirst storage structure 121 is used for containing the cleaning liquid, and thefirst water pump 122 is used as a first power device for driving the cleaning liquid to flow from thefirst storage structure 121 to thecleaning tank 111; the dirty-liquid collecting device 13 comprises asecond storage structure 131 and asecond water pump 132, thesecond storage structure 131 being used for storing the dirty-cleaning liquid, thesecond water pump 132 being used as a second power device for pumping the dirty-cleaning liquid into thesecond storage structure 131.

In addition, in order to facilitate the user to know the liquid levels of the cleaning solutions in thefirst storage structure 121 and thesecond storage structure 131 in time, in this embodiment, thebase station 1 may further include a liquid level detection device for detecting the liquid levels of the cleaning solutions. Specifically, as shown in fig. 5, in this embodiment, liquid level detection devices are disposed in thefirst storage structure 121 and thesecond storage structure 131, and each liquid level detection device includes a firstconductive sheet 151, a secondconductive sheet 152, and a thirdconductive sheet 153, where the firstconductive sheet 151 is used for detecting a capacitance value of an environment, the secondconductive sheet 152 and the thirdconductive sheet 153 are disposed in the storage structure containing the cleaning solution to be detected, that is, in thefirst storage structure 121 and thesecond storage structure 131, the secondconductive sheet 152 is used for detecting a capacitance difference value generated by a liquid level change of the cleaning solution, and the thirdconductive sheet 153 is used for detecting a capacitance value of the cleaning solution. Because the liquid at different liquid levels can affect the capacitance value of the conductive sheet, the liquid level detection apparatus can detect the liquid levels of the cleaning liquid in thefirst storage structure 121 and thesecond storage structure 122 in real time, so as to add new cleaning liquid to thefirst storage structure 121 in time or empty thesecond storage structure 131 in time. The firstconductive sheet 151 and the secondconductive sheet 152 are used for correcting the measured liquid level detection data, so that the liquid level detection result is more accurate. The specific calibration process can be referred to the following formula:

wherein, H: the final obtained liquid level;

C₂: the capacitance measured by the secondconductive sheet 152 when there is a certain liquid level;

C₂₀: the capacitance measured by the secondconductive sheet 152 when there is no liquid in the storage structure;

C₃: the capacitance value (when covered by liquid) measured by the thirdconductive sheet 153;

C₁: the capacitance value (in air) measured by the firstconductive sheet 151;

γ: and correcting the parameters.

In the working process of thebase station 1 of this embodiment, as can be seen from fig. 23, themopping piece 22111 is accommodated in thecleaning tank 111, the whole surface of the mopping piece is pressed against the convex structure to rotate around the vertical axis, the cleaning solution in thefirst storage structure 121 is pressurized by thefirst water pump 122 and then sprayed onto themopping piece 22111 accommodated in thecleaning tank 111 through theliquid inlet structure 113, and the impact force generated in the spraying process is beneficial to further improving the cleaning effect; the dirty cleaning liquid after cleaning is scraped off the wipingmember 22111 by theprotrusion 112, and is also thrown off the wipingmember 22111 by centrifugal force during the rotation of the wipingmember 22111, flows to theliquid discharge structure 114, and is pumped into thesecond storage structure 131 by thesecond water pump 132.

It can be seen that the cleaning liquid in thecleaning tank 111 can be kept relatively clean by the cooperation of the cleaningliquid supply device 12 and the dirtyliquid collecting device 13, so as to prevent the dirty cleaning liquid from generating secondary pollution on the wipingmember 22111, thereby further ensuring the cleaning effect. Moreover, the rotation of themop 22111 in the cleaning process can play a role of centrifugal drying, so as to prevent the over-wet of the cleanedmop 22111, which can prevent themop 22111 from leaving more water on the ground in the cleaning process, which affects the cleanliness of the ground, even causes potential safety hazards such as slipping, on the one hand, and can also prevent thecleaning robot 2 from being unable to be applied to special grounds such as wooden floors due to theover-wet mop 22111, and thus the application range of the cleaningrobot 2 can be effectively expanded. Based on this, in the cleaning process, themop 22111 can be adjusted to maintain a proper rotation speed to perform friction cleaning with theconvex portion 112, and the cleaning liquid is prevented from being thrown out due to too high rotation speed, after the cleaning is finished, theliquid inlet structure 113 can stop feeding liquid, themop 22111 is controlled to rotate at a lower rotation speed for a period of time to spin most of the water, and then themop 22111 is controlled to rotate at an accelerated speed to further spin. Of course, the rotation speed and the spin-drying degree can be controlled according to actual needs.

In this embodiment, the cleaning liquid may be water or a mixture of water and a cleaning agent, and preferably a mixture of water and a cleaning agent, so that theeraser 22111 can be cleaned more cleanly. Wherein, when a mixed solution of water and a detergent is used as the cleaning solution, thefirst storage structure 121 may include only one container in which the mixed solution is directly stored; alternatively, thefirst storage structure 121 may include two containers, one of the containers stores the cleaning agent, and the other container stores water, in this case, thefirst water pump 122 may drive the cleaning agent and the water to flow from the respective containers to thecleaning tank 111, or a third water pump may be further provided, that is, the first power unit further includes a third water pump, the cleaning agent is driven by the third water pump to be mixed with the water, and then the mixed liquid is driven by thefirst water pump 122 to flow to thecleaning tank 111.

In order to further facilitate the control of the humidity of the wipingpart 22111, thebase station 1 of this embodiment may further include a drying device, which is used to dry the cleaned wipingpart 22111, so as to ensure that after thecleaning robot 2 exits thebase station 1, the wipingpart 22111 retains a proper amount of water, so as to prevent the floor from being slippery due to over-wet condition and prevent the cleaning robot from getting damp and mildewing due to over-wet condition. And, set up drying device inbasic station 1, can make the stoving process can accomplish inbasic station 1, not only can further enrich the function ofbasic station 1, can also simplify the aftertreatment step, raise the efficiency.

Further, to facilitate the movement of the cleaningrobot 2 into and out of thebase station 1, thebase station 1 may further include a guide structure provided on themop cleaning device 11 for guiding the movement of the cleaningrobot 2 relative to themop cleaning device 11 to move themop 22111 into and out of themop cleaning device 11. Specifically, as shown in fig. 4, in this embodiment, thebase station 1 includes aguide surface 116 serving as a guide structure, and theguide surface 116 is inclined obliquely downward from the mop cleaning device 11 (specifically, at the edge of the cleaning slot 111) and extends to the ground, so that theguide surface 116 can guide thecleaning robot 2 to climb along theguide surface 116 to the height of the edge of thecleaning slot 111, facilitating the entry of themop 22111 into thecleaning slot 111. As shown in fig. 21 and 22, theguide surface 116 is used in cooperation with the jack-upmechanism 24 of the cleaningrobot 2, so that the cleaningrobot 2 can more easily enter and exit thebase station 1, and the work efficiency of the cleaning robot system can be improved. Of course, the guide structure is not limited to the form of the structure shown in this embodiment, and may further include aguide plate 116 and/or aguide wheel 119, which will be further described later in the second embodiment shown in fig. 24 to 35 and the embodiment shown in fig. 53.

The chargingdevice 14 is used to charge thebattery 28 of the cleaningrobot 2, and performs a charging function of thebase station 1. As shown in fig. 2 to 4, in this embodiment, the chargingdevice 114 is provided on theguide surface 116, so that the cleaningrobot 2 can be charged by the chargingdevice 114 when the cleaningrobot 2 climbs up theguide surface 116. The charging means 14 may be charged in various ways, for example, it may be a contact type charging method, in which a charging process is performed by contact between acharging pad 141 provided on thebase station 1 and a charging pad 252 (shown in fig. 28 and 29) provided on thecleaning robot 2; for another example, wireless charging may be performed by using a wireless charging method in which an induction coil provided on thechassis 202 of the cleaningrobot 2 is engaged with a charging coil provided on theguide surface 116 of thebase station 1.

Fig. 24-35 illustrate a second embodiment of a cleaning robot system.

As shown in fig. 24-35, this second embodiment is substantially the same as the first embodiment, wherein thebase station 1 is still able to charge the cleaningrobot 2 and wash the two moppingpieces 22111 of the cleaningrobot 2, and the two moppingpieces 22111 of the cleaningrobot 2 are still able to rotate in opposite directions around the vertical axis, and each moppingpiece 22111 is also still able to oscillate with respect to thechassis 202, and the difference is mainly: on the one hand, the specific structure of themop driving mechanism 2212 for driving the twomop pieces 22111 to rotate reversely around the vertical axis is different; on the other hand, the specific implementation manner of the swinging of themop 22111 relative to thechassis 202 is different; on the other hand, the specific structure of thegarbage collection device 23 is slightly different; on the other hand, the specific structures of thebase station body 10, thefirst storage structure 121, thesecond storage structure 131 and the guiding structure of thebase station 1 are slightly different. Therefore, the following description focuses on the differences in the four aspects, and other parts not described can be understood with reference to the first embodiment. When other embodiments are described, only the differences will be emphasized.

Fig. 27 to 34 show the structure of the cleaningrobot 2 in this second embodiment.

As shown in fig. 28-31, in this second embodiment, although themop driving mechanism 2212 still uses the worm and gear mechanism to transmit torque to theoutput shaft 22123, the worm motor in the worm and gear mechanism does not use the double-headedworm motor 22121, but uses two single-headed worm motors 22121 ', each single-headed worm motor 22121' is in one-to-one meshing transmission with twoworm wheels 22122 in the worm and gear mechanism, so that two groups of worm and gear with different rotation directions can be used to drive the twomop pieces 22111 to rotate reversely around theoutput shaft 22123 arranged vertically, which can ensure the relative dynamic balance of the head of the cleaningrobot 2, improve the mop effect, and simultaneously play a role of cleaning, and collect the garbage to the middle for the convenience of collecting by thegarbage collecting device 23.

As shown in fig. 32a to fig. 32c, in order to achieve the swingable connection between themop unit 2211 and themop driving mechanism 2212 and further the swingable connection between themop unit 2211 and thechassis 202, in this second embodiment, a flexible connection structure such as aflexible connection block 2216 is not provided between theoutput shaft 22123 and themop unit 2211, but the fitting relationship between themop unit 2211 and themop driving mechanism 2212 is set to be in clearance fit. Specifically, as shown in fig. 32c, in this second embodiment, theoutput shaft 22123 is in clearance fit with thepressure plate 22112, and since the gap between theoutput shaft 22123 and thepressure plate 22112 enables thepressure plate 22112 to have a certain clearance swing angle relative to theoutput shaft 22123, and themopping piece 22111 is further disposed on thepressure plate 22112, this way of the clearance fit between themopping unit 2211 and themopping driving mechanism 2212 can utilize clearance movement to achieve the swingable connection between themopping unit 2211 and thechassis 202, so that themopping piece 22111 can change its own swing angle according to the actual situation of the ground, thereby achieving the purpose of adapting to the ground.

Further, as shown in fig. 32b, in this embodiment, in order to facilitate the attachment and detachment of theeraser unit 2211, amagnetic attraction member 2217 capable of attracting theeraser unit 2211 to the eraser connecting structure is provided between thepressure plate 22112 of theeraser unit 2211 and theoutput shaft 22123 of theeraser driving mechanism 2212. Through setting upmagnetic adsorption piece 2217, can avoid the rigid connection betweenpressure disk 22112 and theoutput shaft 22123, realize the two and can dismantle the connection to, utilize magnetic adsorption to realize connecting, when needs carry out the dismouting to dragging theunit 2211, only need pull out one and detain can, very simple and convenient. Of course, to achieve the detachable connection between themopping unit 2211 and themopping driving mechanism 2212, one or more of other ways such as a threaded connection, a snap-fit connection, and a hook-and-loop connection may be adopted.

As shown in fig. 33 and 34, in the second embodiment, although thedust collection device 23 is still a dust suction device and thedust suction port 236 is still disposed at the middle of the front of the two moppingmembers 22111, the filtering structure is changed from the first embodiment, thefilter net 233 is not used, and the filter net 233 'is replaced with the paper handkerchief 233', the dust in the airflow is filtered by the paper handkerchief 233 ', and the paper handkerchief bracket 2331' for supporting the paper handkerchief 233 'is correspondingly disposed, and thefilter bracket 238 is disposed between thebox body 2313 and thebox cover 2314 of thedust box 231, the paper handkerchief 233' is disposed at the outer side of thefilter bracket 238 and on the path of the fluid communication between thebox body 2313 and thedust suction fan 234; in addition, ahandle 2315 is additionally arranged on thebox cover 2314, and thehandle 2315 is arranged on thebox cover 2314 through apositioning pin 2316, so that a user can take out thedust box 231 conveniently and can clean dust in thedust box 231 timely.

In addition to the above-mentioned several main differences, the cleaningrobot 2 in this second embodiment has some other differences from the first embodiment. As shown in fig. 28, in this second embodiment, the structure of thehousing 20 of the cleaningrobot 2 is slightly different, theupper housing 201 is provided with a battery mounting groove for mounting thebattery 28, and accordingly, the battery mounting groove is covered by anupper housing cover 2011 to shield the battery mounting groove and thebattery 28 therein, protect thebattery 28, and keep the whole flat and beautiful, and thelower housing cover 2021 is added to the lower portion of thechassis 202 to facilitate the disassembly and assembly and maintenance; moreover, acamera 251 and acharging contact 252 are additionally arranged on thecollision sensing board 25, wherein thecamera 251 is used for matching with thelaser radar 26 to realize better scanning positioning and obstacle identification functions, and the chargingcontact 252 is used for contacting with a chargingsheet 141 on thebase station 1 to realize charging of thebattery 28.

Fig. 25 to 26 show the structure of thebase station 1 in this second embodiment.

As shown in fig. 25 and 26, in this second embodiment, thebase station body 10 includes asupport frame 101 and a supportframe bottom cover 102, wherein the cleanliquid supply device 12 and the dirtyliquid collecting device 13 are provided at the upper portion of thesupport frame 101 and at the left and right sides of thesupport frame 101, and the supportframe bottom cover 102 is provided at the bottom of thesupport frame 101; thefirst storage structure 121 and thesecond storage structure 131 each include abox 1211, alid 1212, ahandle 1213, and alatch 1214, wherein thelid 1212 is disposed at an opening at a top end of thebox 1211, thehandle 1213 is disposed on thelid 1212 for facilitating carrying, and thelatch 1214 is disposed at a connection between thebox 1211 and thelid 1212 for realizing a latching connection between thebox 1211 and thelid 1212.

As shown in fig. 25 and 26, in this second embodiment, ascraping piece 117, which may be a scraping sheet, for example, is provided at the notch of thecleaning groove 111. Thescraper 117 is disposed at the notch of thecleaning groove 111, which can increase the height of thecleaning groove 111, so as to prevent the cleaning liquid in thecleaning groove 111 from splashing outside the cleaninggroove 111 during the cleaning process of themop 22111 by themop cleaning device 11, so that thescraper 117 functions as a waterproof fence; on the other hand, since the wipingmember 22111 needs to pass through the scrapingmember 117 before entering thecleaning tank 11, the scrapingmember 117 can scrape off the garbage on the wipingmember 22111 before the wipingmember 22111 enters the wipingmember cleaning device 11, so as to prevent the garbage adhered to the wipingmember 22111 from entering thecleaning tank 111 together with the wipingmember 22111 during the floor cleaning process, thereby reducing the blockage of theliquid inlet structure 113 and theliquid outlet structure 114 in thecleaning tank 111. Wherein the scrapingmember 117 can be a flexible member or a rigid member, preferably, the scrapingmember 117 is a flexible member, such as a rubber scraper, which on one hand facilitates the pressing of the wipingmember 22111 on the scrapingmember 117 when entering thecleaning groove 111 to enhance the scraping effect of the scrapingmember 117, and on the other hand also reduces the scraping damage of the scrapingmember 22111 caused by thescraping plate 117, and on the other hand, when the flexible member is used as the scrapingmember 117, after the wipingmember 22111 completely enters the cleaninggroove 111, the scrapingmember 117 can automatically return to the original shape, still playing a role of preventing the cleaning liquid from splashing outward. Of course, the scrapingmember 117 may not be disposed at the notch of thecleaning groove 111, and may be disposed on theguide surface 116, for example, as long as it can prevent the cleaning liquid from splashing and/or scrape off the garbage in advance.

Furthermore, as can be seen from fig. 35, in order to further facilitate the entry of the cleaningrobot 2 into thebase station 1, in this second embodiment, the guide structure of thebase station 1 further includes aguide plate 115 disposed at a side of themop cleaning device 11, preferably extending to the bottom of theguide surface 116 along the direction of inclination of theguide surface 116. Theguide plate 115 together with theguide surface 116 can guide themop 22111 of the cleaningrobot 2 more accurately and quickly into themop cleaning device 11 of thebase station 1. As shown in fig. 35, the two draggingmembers 22111 rotate in opposite directions, and when one of the draggingmembers 22111 touches theguide plate 115 when entering thebase station 1, the friction force f between the draggingmember 22111 and theguide plate 115 can be used to correct the route deviation, so as to drag thecleaning robot 2 to enter thebase station 1 along the correct track, and thus, theguide plate 115 can also function to correct the route deviation of the cleaningrobot 2.

In addition, the cleaningrobot 2 can enter thebase station 1 conveniently, besides being realized by the matching of the jackingmechanism 24 and the guiding structure of thebase station 1 as shown in the first embodiment and the second embodiment, the jackingmechanism 24 can be omitted, and thecleaning robot 2 can enter the base station only under the guiding action of the guiding structure. As shown in fig. 53, the guiding structure of thebase station 1 may include not only theaforementioned guiding surface 116, but also aguiding wheel 119, in which case, when the cleaningrobot 2 enters thebase station 1, the cleaning robot can firstly climb to the height of theguiding wheel 119 by its own walking driving force under the guiding action of the guidingsurface 116, and then tilt the front end of the cleaningrobot 2 under the action of theguiding wheel 119 until thewiping unit 2211 passes theguiding wheel 119 and enters thecleaning slot 111 to complete the entering process, and when the wipingmember 22111 is cleaned and needs to exit thebase station 1, the cleaningrobot 2 moves reversely, and the exiting process can also be successfully completed under the action of theguiding wheel 119 and the guidingsurface 116. In addition, in order to avoid interference of theguide wheel 119 protruding upwards with the contact between the wipingmember 22111 and the cleaning surface during the cleaning process, as can be seen from fig. 53, an avoidinggroove 203 adapted to theguide wheel 119 may be further provided on thecleaning robot 2, and after thewiping unit 2211 passes over theguide wheel 119 and enters the cleaninggroove 111, theguide wheel 119 is just embedded into the avoidinggroove 203, so that the wipingmember 22111 can be in close contact with the cleaning surface, and the cleaning effect can be ensured.

Fig. 37 shows a further modified embodiment of the foregoing first and second embodiments.

As shown in fig. 37, the cleaningrobot 2 of this embodiment is mainly different from the first and second embodiments in that thewiping device 221 further includes ascraping structure 2219 disposed behind thewiping unit 2211, and thescraping structure 2219 can scrape the garbage and/or sewage dropped from thewiping unit 221, so that the garbage and/or sewage can be prevented from remaining on the ground wiped by thewiping unit 2211, and secondary cleaning can be achieved. Thescraping structure 2219 can be a scraper or a cloth strip, etc., and is preferably a flexible member to reduce the scraping damage to the ground. Of course, thescraping structure 2219 is not limited to thecleaning robot 2 shown in the first and second embodiments, and is also applicable toother cleaning robots 2 of the present invention.

Fig. 38-41 illustrate a third embodiment of a cleaning robot system.

As can be seen from fig. 38 to 41, the difference between the third embodiment and the two embodiments is mainly that the cleaningrobot 2 of this embodiment includes only onemopping unit 2211 for themopping device 221, and correspondingly, the moppingmember cleaning device 11 of thebase station 1 of this embodiment includes only onecleaning tank 111 for the mopping device, and the cleanliquid supply device 12 and the dirtyliquid collecting device 13 of thebase station 1 are arranged above each other in order to make the structure more compact. The cleaningrobot 2 and thebase station 1 of the embodiment are small in size and can be used in small-sized households.

As can be seen from fig. 41, in this third embodiment, themopping unit 2211 still rotates around the vertical axis relative to thechassis 202, and in order to realize the rotation of themopping unit 2211 around the vertical axis, as shown in fig. 40, themopping driving mechanism 2212 of this embodiment still uses a worm motor to output torque, but the difference is that the worm motor of this embodiment only comprises a single-head worm motor 22121 'and aworm wheel 22122, and the engagement of the single-head worm motor 22121' and theworm wheel 22122 is used to drive themopping unit 2211 to rotate around the vertical axis, so as to realize more effective cleaning of the ground.

In order to achieve sufficient waste collection based on such afloor cleaning device 22 of thesingle mopping unit 2211, as shown in fig. 41, in this embodiment, thedust suction port 236 of thewaste collection device 23 is disposed outside the edge of themopping unit 2211. Since the garbage is collected to the outside of therotating wiping unit 2211 along the edge of the wipingmember 2211, thedust collection port 236 as the collection port is located on the collection path of the garbage by thewiping unit 2211, thereby facilitating the collection of the garbage into thedust box 231. Further, in this embodiment, agarbage blocking member 237 is further provided on one side wall of thehousing 20, and thedust suction opening 236 is disposed between the edge of thewiping unit 2211 and thegarbage blocking member 237, so that the garbage can be further collected in a smaller area by the blocking effect of thegarbage blocking member 237, and thus, the garbage can be collected more effectively.

In the above three embodiments, the cleaninggroove 111 and the protruding structure have substantially the same structure, wherein the cleaninggroove 111 is a deep groove with a circular cross section, and the protruding structure includes a plurality of curved protruding portions arranged in a radial shape. It should be noted that, in the present invention, the specific structures of thecleaning groove 111 and the protruding structure are not limited to the specific structures shown in these three embodiments, and taking the modified examples shown in fig. 48 and fig. 49 as examples, the cleaninggroove 111 may also be configured as a cleaning disc, that is, a shallow disc structure with a rectangular cross section, and the protrudingportion 112 may also be a linear protruding portion or a polygonal line protruding portion, that is, the extending path of the cross section of the protrudingportion 112 is a linear or polygonal line, and in addition, the arrangement manner of the plurality of protrudingportions 112 may also be other than radial, for example, an array, which may be a linear array (that is, a matrix), a circular array, or a circular array, and the like, where the linear array is particularly suitable for the case where themop 22111 and themop cleaning device 11 reciprocate horizontally, and themop 22111 can be cleaned more cleanly. In addition, the shape of eachprojection 112 may be different in each cleaninggroove 111, that is, any combination of a curved projection, a straight projection, and a polygonal projection may be included in the plurality ofprojections 112; similarly, the arrangement of theprotrusions 112 in each cleaninggroove 111 may also adopt any combination of various arrangements such as a radial arrangement and an array arrangement; and the shape and arrangement of theprotrusions 112 indifferent cleaning baths 111 may be the same or different.

In addition, in another embodiment, theprotrusion 112 includes abottom protrusion 1121 formed at the bottom of thecleaning groove 111 and aside protrusion 1122 formed at the inner side of thecleaning groove 111. When themop 22111 is cleaned by themop cleaning device 11, thebottom protrusions 1121 are in relative rotation and friction pressing contact with the bottom surface of themop 22111, and theside protrusions 1122 are in relative rotation and friction pressing contact with the side surfaces of themop 22111. Thus, the bottom surface of the wipe 22111 is cleaned by thebottom projections 1121 and the sides of the wipe 22111 are cleaned by theside projections 1122.

Of course, the sides of the cleaning wipe 22111 can have other ways. For example, the twowipes 22111 are arranged in edge contact such that when the twowipes 22111 are rotated in the same direction, the twowipes 22111 move relative to each other at the point of intermediate contact, rubbing against each other to clean the sides.

In addition, in the above three embodiments, the dirtyliquid collecting device 13 collects the dirty cleaning liquid through the suction action of the second power device. However, in another embodiment of the present invention, instead of providing the second power device, as shown in fig. 54 and 55, thesecond storage structure 131 may be directly disposed below thecleaning tank 111, and thesecond storage structure 131 may be in fluid communication with thecleaning tank 111, in which case the dirty cleaning solution may automatically flow from thecleaning tank 111 into thesecond storage structure 111 under the action of gravity, which is simple and convenient and has low cost.

Moreover, in order to achieve a better cleaning effect for theeraser 22111 and meet the user's more diverse use demands and the pursuit of higher quality of life, the cleaningsolution supplying device 12 of the present invention may further include an auxiliary material supplying device for supplying auxiliary materials such as a disinfectant solution, an aromatic agent, and a wax layer for waxing, which are required for cleaning theeraser 22111, and the auxiliary material supplying device may directly supply the auxiliary materials into thecleaning tank 111; it is also possible to provide the auxiliary material into thefirst storage structure 121 such that the auxiliary material is mixed with the cleaning liquid and then flows into thecleaning tank 111 under the driving of the first power unit.

It should be noted that, in another embodiment of the present invention, the cleanliquid supply device 12 and/or the dirtyliquid collecting device 13 may be omitted, and thebase station 1 may be directly installed near a position where a tap water pipeline and/or a drain pipeline is installed, so that thebase station 1 may directly clean theeraser 22111 by tap water supplied from the tap water pipeline, and the cleaned sewage may also be directly drained through the drain pipeline, and the cleanliquid supply device 12 and/or the dirtyliquid collecting device 13 may be reduced, so that the structure of thebase station 1 may be simpler and the cost may be lower.

Although thedrag drive mechanism 2212 for driving thedrag unit 2211 to rotate relative to thechassis 202 in the above three embodiments employs a worm and gear mechanism to transmit torque in opposite directions to the twooutput shafts 22123, in other embodiments of the present invention, a gear mechanism may be employed to transmit torque in opposite directions to the twooutput shafts 22123. Also, as explained in the first embodiment, in order to solve the problem that the existingcleaning robot 2 has a poor mopping effect, themopping unit 2211 may be configured to rotate about a vertical axis with respect to thechassis 202, or may be configured to rotate about a horizontal axis, as in the above-described three embodiments. Fig. 42 and 43 show a cleaning robot system based on a fourth embodiment of thewiping unit 2211 rotating around a horizontal axis.

As shown in fig. 42, in the fourth embodiment, awiping unit 2211 of the cleaningrobot 2 includes a drum capable of rotating horizontally and a wipingmember 22111 provided on an outer surface of the drum, and thewiping unit 2211 is rotated about a horizontal axis by a driving force of awiping driving mechanism 2212. Because the relative movement between the moppingpiece 22111 and the ground can be increased, the mopping force is increased, the mopping times are increased, and the mopping and cleaning effects are achieved simultaneously, the mopping effect of themopping piece 22111 can be effectively improved.

With respect to thecleaning robot 2 of this embodiment, this embodiment also provides abase station 1 different from the foregoing three embodiments. As shown in fig. 43, in thebase station 1 of this embodiment, a cleaningroller 118 is provided in thecleaning groove 111 of themop cleaning device 11, and the cleaning of themop 22111 is performed by the cleaningroller 118. In the process of cleaning theeraser 22111, theeraser 22111 is pressed against the cleaningroller 118 and supported by the cleaningroller 118, and then the cleaning of theeraser 22111 is achieved by the relative rotation of the cleaningroller 118 and theeraser 22111. The relative rotation between the cleaningroller 118 and the wipingmember 22111 may be the active rotation of the wipingmember 22111, the active rotation of the cleaningroller 118, or both the active rotation and the active rotation of the cleaningroller 118, but the rotation direction and/or the rotation speed are different, wherein the active rotation of the wipingmember 22111 is preferred because: the active rotation of thecleaning component 22111 can be realized by using the self-cleaningdriving mechanism 2212 of the cleaningrobot 2 without arranging a mechanism for driving thecleaning roller 118 on thebase station 1, so that thebase station 1 has a simpler structure and lower cost, and the active rotation of thecleaning component 22111 can also play a certain role in spin-drying, so that thecleaning component 22111 can keep proper humidity after cleaning. Of course, themop cleaning device 11 having the cleaningroller 118 is equally applicable to other embodiments of the present invention.

In addition, in order to further improve the cleaning effect of the cleaningrobot 2, in the fourth embodiment, a garbage scraping member may be further provided on thefloor cleaning device 22, and the garbage adhering to thefloor cleaning device 22 is scraped by the garbage scraping member. Here, the garbage scraping member may be ascraping blade 2312, or a rolling brush 2312', and fig. 44 and 45 respectively show the structures of twocorresponding cleaning robots 2.

In thecleaning robot 2 as shown in fig. 44, the waste scraping means is ascraper 2312, and thescraper 2312 is arranged on thehousing 20 of the cleaningrobot 2 and can contact with therotating mop 22111, so that thescraper 2312 scrapes off the waste adhered to themop 22111 every time themop 22111 contacts with thescraper 2312 during the process that themop 22111 rotates to clean the floor, thereby keeping themop 22111 clean and ensuring the quality of floor cleaning.

In thecleaning robot 2 shown in fig. 45, the garbage scraping member is a rolling brush 2312 ', the rolling brush 2312' is arranged on thehousing 20 and rotates in the same direction as the wipingmember 22111, the garbage on the wipingmember 22111 can be scraped off by the contact friction of the rolling brush 2312 'and the wipingmember 22111 in the same direction, and in this way, the rotation of the rolling brush 2312' can further play a role of throwing the garbage to thegarbage collecting device 23, thereby facilitating the garbage collection.

Further, as can be seen from fig. 44 and 45, in both of thecleaning robots 2, thegarbage collection device 23 further includes abaffle 2311, and thebaffle 2311 is inclined downward from the collection port (dust suction port 236) of thegarbage collection device 23 and extends to the floor surface. Based on this, thisbaffle 2311 can block the rubbish of gathering to its position, prevents that the rubbish of being cleaned out byground cleaning device 22 from spreading to outside the scope that the collection mouth can be collected to be more convenient forgarbage collection device 23 is collected, and prevents that rubbish from causing secondary pollution to the ground of cleaning. In particular, thebaffle 2311 prevents the collected debris from being carried away from the collection opening by thewiper 22111 when thewiper 22111 is rotated about a vertical axis relative to thechassis 202 of the cleaningrobot 2 for cleaning operations. Moreover, thebaffle 2311 cooperates with the garbage scraping element to further facilitate thegarbage collection device 23 to achieve sufficient garbage collection. Of course, the trash scrapers and baffles 2311 shown in fig. 44 and 45 are also suitable for use in other embodiments of the invention.

In addition, although the above embodiments have described the present invention by taking the rotation of themopping unit 2211 relative to thechassis 202 as an example, in order to improve the mopping effect of themopping device 221 by increasing the relative movement of themopping piece 22111 to the ground, themopping unit 2211 of the present invention may be configured to horizontally reciprocate relative to thechassis 202, that is, themopping unit 2211 may not only improve the mopping effect by rotating relative to the ground, but also improve the mopping effect by horizontally reciprocating relative to the ground. In the embodiment shown in fig. 46 and 47, themopping unit 2211 can horizontally reciprocate relative to thechassis 202, in which case the moppingmember 22111 performs a push-type cleaning on the floor to remove dirt or garbage by reciprocating mopping on the floor, which can reduce the remaining of garbage at the rear of themopping device 2211, similar to a manual mopping method. The cleaningrobot 2, which can horizontally reciprocate based on themopping unit 2211, can be more conveniently matched with thebase station 1, so that the moppingpiece cleaning device 11 can clean themopping piece 22111 in the process of moving relative to themopping piece 22111. Further, in the present invention, themopping unit 2211 of the cleaningrobot 2 may be configured to be capable of rotating with respect to thechassis 202 and horizontally reciprocating with respect to thechassis 202, and preferably performs the rotating mopping and then the pushing mopping in the floor cleaning process, so that the advantages of the rotating mopping and the pushing mopping may be combined to realize more effective floor cleaning.

Furthermore, in the foregoing embodiments, thefloor cleaning device 22 only comprises themopping device 221, but actually, in other embodiments of the present invention, thefloor cleaning device 21 may also comprise thesweeping device 222 for sweeping the floor garbage, so that the cleaningrobot 2 can clean the floor by using themopping device 221 and the specialsweeping device 222 at the same time, and a cleaner floor cleaning effect is obtained. When aspecial cleaning device 222 is provided, thecleaning device 222 can be disposed in front of and/or behind themopping device 221, wherein thecleaning device 222 is preferably disposed in front of themopping device 221 so as to implement a cleaning mode of "sweeping first and then mopping", most of the garbage (dust and larger particles) is cleaned by thecleaning device 222, and then the remaining garbage (such as stubborn dirt) which is difficult to clean is further cleaned by themopping device 221, thereby improving the cleaning quality of the floor. One embodiment of which is shown in fig. 47. As shown in fig. 47, in this embodiment, thefloor cleaning device 22 includes a horizontally reciprocatingwiping unit 2211 and aside brush 2221 disposed in front of thewiping unit 2211 and used as thecleaning device 222, and thedust suction port 236 is disposed between thewiping unit 2211 and theside brush 2221, and they cooperate to clean the floor. It will be appreciated by those skilled in the art that thecleaning device 222 is not limited to theedge brush 2221, and thatvarious cleaning devices 222 may be used withvarious mopping units 2211.

Moreover, as a further improvement of the above embodiments, a cleaning element (e.g., a brush or a brush) may be disposed at an edge of thecleaning element 22111 of thecleaning unit 2211, so that thecleaning unit 2211 itself becomes a sweeping and cleaning integrated structure and has a sweeping and cleaning function, and even if aspecial cleaning device 222 is not additionally disposed, thecleaning unit 2211 itself can sufficiently collect the garbage (especially the garbage such as hair) to achieve a better cleaning effect; in addition, the cleaning member disposed at the edge of the moppingmember 22111 can be tightly attached to the edge of the floor when themopping unit 2211 cleans the edge of the floor, so as to effectively expand the cleaning range of themopping device 221, and thecleaning robot 2 can more effectively clean the corners in the room.

In addition, although the swinging of the mopping unit 2211 relative to the chassis 202 in the foregoing embodiments is realized by the swingable connection of the mopping unit 2211 and the mopping driving mechanism 2212, in practice, the realization method is not limited to this, for example, the swinging of the mopping unit 2211 can also be realized by the swingable connection of the mopping driving mechanism 2212 to the chassis 202, in which case the mopping unit 2211 and the mopping driving mechanism 2212 are not connected in a swinging manner (for example, they are fixedly connected), in fact, when the mopping unit 2211 and the chassis 202 are connected by the mopping driving mechanism 2212, the mopping unit 2211 is connected to the mopping driving mechanism 2212 in a swinging manner, and/or the mopping driving mechanism 2212 is connected to the chassis 202 in a swinging manner, so that the swinging of the mopping unit 2211 relative to the chassis 202 can be realized; for another example, when the mopping unit 2211 does not rotate and/or horizontally reciprocate relative to the chassis 202, the mopping driving mechanism 2212 may be replaced by a non-driving type mopping connecting structure for connecting the mopping unit 2211 with the chassis 202, and when the swinging of the mopping unit 2211 relative to the chassis 202 is to be realized, the mopping unit 2211 may be swingably connected to the non-driving type mopping connecting structure, and/or the non-driving type mopping connecting structure may be swingably connected to the chassis 202.

As can be seen, in the present invention, the mopping connection structure connecting themopping unit 2211 and thechassis 202 may be a driving type mopping connection structure (for example, themopping driving mechanism 2212 in the foregoing embodiments), or a non-driving type mopping connection structure (for example, a connection shaft connecting themopping unit 2211 and the chassis 202); regardless of the type of the mop connection structure used to connect themop unit 2211 to thechassis 202, themop unit 2211 can be pivotally connected to thechassis 202 via the mop connection structure, so long as themop unit 2211 is pivotally connected to the mop connection structure, and/or the mop connection structure is pivotally connected to thechassis 202.

It should be noted that, in the present invention, thegarbage collection device 23 may adopt other structures besides the dust suction device shown in the above embodiments, for example, thedust removal fan 234 and thefan duct 235 may not be provided, so that the garbage enters the inside of thegarbage collection device 23 from the collection port only under the self-inertia effect and the accumulation effect of thefloor cleaning device 22, in this case, thegarbage collection device 23 does not further act on the garbage, and thegarbage collection device 23 is only used as a dustpan.

The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A base station (1) for a cleaning robot system, characterized in that the base station (1) is arranged independently of a cleaning robot (2) of the cleaning robot system, and the base station (1) comprises a base station body (10) and a mop cleaning device (11) arranged on the base station body (10), the mop cleaning device (11) being used for cleaning a mop (22111) of the cleaning robot (2) for mopping a floor;

the mopping piece cleaning device (11) comprises a protruding structure, the protruding structure comprises a protruding portion (112), when the mopping piece cleaning device (11) cleans the mopping piece (22111), the protruding portion (112) is in contact with the mopping piece (22111) and can move relatively, and dirty cleaning liquid after cleaning can be scraped off from the mopping piece (22111) by the protruding portion (112).

2. A base station according to claim 1, wherein the protrusion (112) and the mop (22111) are rotatable relative to each other during cleaning of the mop (22111) by the mop cleaning device (11).

3. A base station according to claim 1 or 2, characterized in that the mop (22111) is rotatable during cleaning of the mop (22111) by the mop cleaning device (11), and that dirty cleaning liquid after cleaning is thrown off the mop (22111) by centrifugal force during rotation of the mop (22111).

4. The base station according to claim 1 or 2, wherein the protrusion (112) comprises a bottom protrusion (1121) disposed at the bottom of the cleaning tank (111) and a side protrusion (1122) formed on the inner side of the cleaning tank (111); when the mop piece cleaning device (11) cleans the mop piece (22111), the bottom protrusions (1121) and the bottom surface of the mop piece (22111) rotate relatively and are in friction extrusion contact, and the side protrusions (1122) and the side surfaces of the mop piece (22111) rotate relatively and are in friction extrusion contact.

5. A base station according to claim 1 or 2, characterized in that the mop cleaning device (11) remains stationary during cleaning of the mop (22111).

6. A base station according to claim 1, characterized in that the mop cleaning device (11) comprises a cleaning slot (111), said cleaning slot (111) being adapted to receive the mop (22111) when the mop cleaning device (11) is cleaning the mop (22111).

7. A base station according to claim 6, characterized in that the protruding structure is arranged in the cleaning tank (111).

8. A base station according to claim 6, wherein the mop cleaning device (11) further comprises an inlet structure (113), wherein cleaning liquid for cleaning the mop (22111) can enter the cleaning tank (111) via the inlet structure (113); the mop cleaning device (11) further comprises a liquid discharge structure (114), and the cleaning liquid after cleaning the mop (22111) can be discharged to the outside of the cleaning tank (111) through the liquid discharge structure (114).

9. A base station according to claim 1, wherein the mop cleaning device (11) further comprises an inlet structure (113), and wherein cleaning liquid for cleaning the mop (22111) can be sprayed onto the mop (22111) via the inlet structure (113).

10. A cleaning robot system comprising a cleaning robot (2), said cleaning robot (2) comprising a walking means (21) for driving said cleaning robot (2) to walk on the ground and a ground cleaning means (22) for cleaning the ground, said ground cleaning means (22) comprising a mopping means (221), said mopping means (221) comprising a mopping unit (2211), said mopping unit (2211) comprising a mopping element (22111) for mopping the ground, characterized in that said cleaning robot system further comprises a base station (1) according to any of claims 1-9.

11. The cleaning robot system of claim 10, wherein the mopping device (221) comprises two mopping units (2211), the mopping pieces (22111) of the two mopping units (2211) are in edge contact during the process of the mopping piece cleaning device (11) cleaning the mopping pieces (22111), and the two mopping pieces (22111) can rotate relative to the protrusion (112) in the same direction to enable the two mopping pieces (22111) to move towards each other at the position of middle contact and rub against each other for lateral cleaning.

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