CN114468876B

CN114468876B - Base station, cleaning robot and cleaning robot system

Info

Publication number: CN114468876B
Application number: CN202210111846.7A
Authority: CN
Inventors: 张峻彬; 林伟劲
Original assignee: Yunjing Intelligent Innovation Shenzhen Co ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd
Priority date: 2016-12-16
Filing date: 2016-12-16
Publication date: 2023-11-10
Anticipated expiration: 2036-12-16
Also published as: CN114468874A; CN114468876A; CN106510556A; CN114468875A; CN106510556B

Abstract

The application relates to the technical field of cleaning robots, and particularly discloses a base station, a cleaning robot and a cleaning robot system. A base station body; the cleaning device for the cleaning piece comprises a cleaning groove arranged on the base station body, wherein cleaning rollers are arranged in the cleaning groove and used for cleaning the cleaning piece of the cleaning robot. Therefore, the base station is used for cleaning the mopping piece, so that the automatic cleaning of the mopping piece is realized, the user can be further liberated from the cleaning process, the cleaning load of the user is lightened, and the cleaning effect of the mopping piece can be prevented from being influenced due to untimely cleaning of the mopping piece.

Description

Base station, cleaning robot and cleaning robot system

The application is a divisional application with the application number of 201611175803.6, and the application date of the main application is as follows: 2016 12 months 16 days; the application of the parent case is named as follows: cleaning robot and cleaning robot system.

Technical Field

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

Background

In recent years, with the development of social economy and the improvement of household living standard, furniture cleaning gradually enters an intelligent and mechanized era, and the cleaning robot can liberate people from household cleaning work, so that the workload of people in household cleaning is effectively reduced, and the fatigue degree of people in household cleaning is relieved.

The cleaning of the conventional cleaning robot, namely the cleaning of the cleaning piece is required to be completed by a user, and the user needs to frequently participate in the cleaning of the cleaning robot in the whole process of cleaning the ground.

Disclosure of Invention

The invention aims to solve the technical problems that: the base station of the existing cleaning robot has an unsatisfactory cleaning effect on the cleaning robot.

In order to solve the above technical problem, a first aspect of the present invention provides a base station provided independently of a cleaning robot, the base station comprising:

a base station body;

The cleaning device for the cleaning piece comprises a cleaning groove arranged on the base station body, wherein cleaning rollers are arranged in the cleaning groove and used for cleaning the cleaning piece of the cleaning robot.

Optionally, the cleaning roller is used for supporting the cleaning piece, and the cleaning piece is extruded on the cleaning roller in the process of cleaning the cleaning piece by the cleaning device.

Optionally, in the process of cleaning the cleaning piece by the cleaning device for the cleaning piece, the cleaning roller and the cleaning piece rotate relatively so as to clean the cleaning piece.

Optionally, the cleaning roller is driven by the cleaning piece, and the cleaning piece is driven by the cleaning roller;

or the cleaning roller actively rotates, and the mopping piece is driven by the cleaning roller;

or the cleaning roller and the mopping piece are both actively rotated, and the rotation directions and/or the rotation speeds of the cleaning roller and the mopping piece are different.

Optionally, the cleaning robot comprises a mopping unit, the mopping unit comprises a roller capable of horizontally rotating and a mopping piece arranged on the outer surface of the roller, and the cleaning roller is used for contacting with the mopping piece of the mopping unit.

Optionally, the cross-sectional diameter of the cleaning roller is smaller than the cross-sectional diameter of the mopping unit.

Optionally, the cleaning device for the cleaning piece comprises at least two cleaning rollers, and the at least two cleaning rollers are arranged at intervals and respectively contacted with the cleaning piece of the cleaning unit.

Optionally, the cross-sectional diameters of the two cleaning rollers are the same.

Optionally, the two cleaning rollers are arranged in parallel at intervals, and the distance between the two cleaning rollers is smaller than the diameter of the cross section of the mopping unit, so as to be supported on two sides of the bottom of the mopping unit.

A second aspect of the present invention provides a cleaning robot system comprising a cleaning robot and a base station as claimed in any one of the preceding claims, the cleaning robot being arranged independently of the base station and being capable of cleaning a floor surface.

Optionally, the cleaning robot comprises a mopping unit, the mopping unit comprises a roller capable of horizontally rotating and a mopping piece arranged on the outer surface of the roller, and the mopping unit rotates around a horizontal axis under the driving action of a mopping driving mechanism.

According to the base station and the cleaning robot system, the cleaning rollers are utilized to clean the cleaning elements of the cleaning robot, so that the base station and the cleaning robot system are particularly suitable for cleaning the cleaning elements covered on the roller, and the cleaning effect on the cleaning elements is ensured.

A third aspect of the present invention provides a cleaning robot comprising:

a housing;

the ground cleaning device is arranged on the shell;

and the garbage scraping part is used for contacting with the floor cleaning device so as to scrape garbage adhered to the floor cleaning device.

Optionally, the floor cleaning device comprises a mopping unit, the mopping unit comprises a roller capable of horizontally rotating and a mopping piece arranged on the outer surface of the roller, and the garbage scraping piece is used for scraping garbage adhered to the mopping piece.

Optionally, the garbage scraping element is arranged on the shell.

Optionally, the garbage scraping element comprises a wiper blade and/or a roller brush.

Optionally, the garbage scraping part comprises a scraping blade, the scraping blade can be in contact with the rotary scraping part, so that the scraping blade can stop garbage adhered to the scraping part every time the scraping part is in contact with the scraping blade in the process of rotationally cleaning the floor.

Optionally, the garbage scraping part comprises a rolling brush, and the rolling brush can rotate in the same direction as the dragging part, so that the rolling brush contacts and rubs with the dragging part in the same direction to scrape the garbage on the dragging part.

Optionally, the garbage collection device is further provided with a collecting opening facing to one side of the mopping piece contacted with the garbage scraping piece.

A fourth aspect of the invention provides a cleaning robot system comprising a base station and a cleaning robot as claimed in any one of the preceding claims.

According to the cleaning robot and the cleaning robot system, the garbage scraping piece is arranged on the cleaning robot to scrape the garbage on the human cleaning piece, so that the cleaning piece is kept clean, and the ground cleaning quality is ensured.

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

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

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

Fig. 2 shows a schematic overall structure of the base station shown in fig. 1.

Fig. 3 shows a schematic diagram of the explosive structure of fig. 2.

Fig. 4 shows a schematic structural view of the mop cleaning device of fig. 2.

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

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

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

Fig. 8 shows a schematic diagram of the explosive structure of fig. 6.

Fig. 9 is a schematic view showing a structure of the cleaning robot shown in fig. 6 after removing the upper case and the process circuit.

Fig. 10 shows a schematic view of the structure after further removal of the fan and fan duct on the basis of fig. 9.

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

Fig. 12 shows a schematic diagram of the explosive structure of fig. 11.

Fig. 13 shows the degree of freedom of oscillation of the mop of fig. 12 under the action of the flexible connection block and the horizontal rotation axis.

Fig. 14 is a schematic view showing a structure of the mop shown in fig. 11 after removing the horizontal rotation shaft.

Figure 15 shows the swinging freedom of the mop of figure 14 under the influence of the flexible connection 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 an air duct of a garbage collection device of the cleaning robot shown in fig. 6.

Fig. 20 is a schematic view showing a positional relationship between a mopping device and a garbage collection 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 of cooperation with a base station after a cleaning robot enters the base station in the first embodiment shown in fig. 1.

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

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

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

Fig. 26 shows a schematic diagram of the explosive structure of fig. 25.

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

Fig. 28 shows a schematic view of the explosive structure of fig. 27.

Fig. 29 is a schematic view showing a structure of the cleaning robot shown in fig. 27 after removing 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 cover of the lower case.

Fig. 31 shows a schematic view of an exploded construction of the mop device of fig. 30.

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

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

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

Fig. 33 shows an exploded construction schematic of the garbage collection apparatus (omitting the dust removing blower) in the second embodiment.

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

Fig. 35 shows a schematic diagram of the movement of the cleaning robot entering the base station in the second embodiment.

Fig. 36 shows a modification of the positional relationship of the suction opening and the cleaning device in the first and second embodiments.

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

Fig. 38 is a schematic view showing the overall structure 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 illustrates a schematic structural view of the cleaning robot shown in fig. 38 after removing the upper case.

Fig. 41 is a schematic view showing the positional relationship between the suction opening and the cleaning device in the third embodiment.

Fig. 42 shows a schematic structural view of a cleaning robot having a mopping unit rotatable about a horizontal axis in a fourth embodiment.

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

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

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

Fig. 46 shows a schematic structural view of a cleaning robot having a mopping unit capable of horizontally reciprocating in the 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 bump structure of the present invention, respectively.

Fig. 50 shows a simplified construction of a cleaning robot with suspension means at the wheels.

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

Fig. 52 shows a process in which the cleaning robot enters and exits the base station based on the jack-up mechanism and the suspension device shown in fig. 50.

Fig. 53 shows a process in which the cleaning robot moves in and out of the base station based on the guide surface and the guide wheel.

Fig. 54 shows a schematic configuration of a cleaning robot system according to a sixth embodiment of the present invention.

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

Fig. 56 shows a schematic view of a cleaning principle of a cleaning robot by a base station according to another embodiment of the present invention.

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

Fig. 58 shows a partial schematic view of the bottom of the cleaning robot of the embodiment shown in fig. 57, which is different from the view angle of fig. 57, according to the present invention.

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. a cleaning tank; 112. a boss; 1121. a bottom bulge; 1122. a side portion protrusion; 113. a liquid inlet structure; 114. a liquid discharge structure; 115. a guide plate; 116. a guide surface; 117. a scraper; 118. cleaning the roller; 119. a guide wheel;

12. a clean liquid supply device; 121. a first storage structure; 1211. a case; 1212. a case cover; 1213. a handle; 1214. a buckle; 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 piece;

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. an upper shell cover; 202. a chassis; 2021. a lower shell cover; 203. an avoidance groove;

21. a walking device; 211. a walking wheel; 212. a spring; 213. a support;

22. a floor cleaning device; 221. a mopping device; 2211. a mopping unit; 22111. a mop; 22112. a pressure plate; 2212. a mop drive mechanism; 22121. a double-ended worm motor; 22121', single-ended worm motor; 22122. a worm wheel; 22123. an output shaft; 22124. a bearing; 22125. an oil seal ring; 2213. installing a chassis; 2214. a top plate; 2215. a lower plate; 2216. a flexible connection block; 2217. a magnetic absorbing member; 2218. a horizontal rotation shaft; 2219. a scraping structure; 222. a cleaning device; 2221. side brushing;

23. A garbage collection device; 231. a dust box; 2311. a baffle; 2312. a wiper blade; 2312', a roller brush; 2313. a case body; 2314. a box cover; 2315. a handle; 2316. a positioning pin; 233. a filter screen; 233', HEPA paper; 2331', a hepa paper scaffold; 234. a dust removal fan; 235. a fan duct; 236. a dust collection port; 237. a waste barrier; 238. a filter frame;

24. a jack-up mechanism;

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

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

27. a control device;

28. and a battery.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on embodiments of the present invention, are within the scope of the present invention.

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

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for defining the components, and are merely for convenience in distinguishing the corresponding components, and the terms are not meant to have any special meaning unless otherwise indicated, so that the scope of the present invention is not to be construed as being limited.

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

Figures 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 cleaning robot 2 of the present invention includes a traveling device 21 for driving the cleaning robot 2 to travel on a floor and a floor cleaning device 22 for cleaning the floor, the floor cleaning device 22 includes a mopping device 221, the mopping device 221 includes a mopping unit 2211, the mopping unit 2211 includes a mopping member 22111, and the mopping member 22111 is used for mopping the floor.

The cleaning robot 2 of the present invention includes the mopping member 22111 for mopping the floor, and thus, can realize a mopping function, can remove stubborn stains on the floor, and can improve the floor cleaning effect.

In the present invention, in order to further improve the mopping effect, the mopping unit 2211 is provided to be capable of rotating and/or horizontally reciprocating with respect to the chassis 202 of the cleaning robot 2. In this way, during the cleaning process, the relative movement between the cleaning member 22111 and the ground not only includes the movement of the cleaning robot 2 on the ground as a whole, but also includes the rotational movement and/or the horizontal reciprocating movement of the cleaning member 22111 relative to the ground, so that the cleaning force of the cleaning member 22111 can be enhanced, the cleaning frequency of the cleaning member 22111 is increased, the repeated cleaning of the ground can be realized, and the cleaning effect of the cleaning member 22111 can be improved, wherein the cleaning device is particularly helpful for cleaning stubborn stains adhered to the ground more thoroughly. Wherein, preferably, the cleaning unit 2211 is configured to rotate relative to the chassis 202 of the cleaning robot 2, because the rotating cleaning member 22111 can sweep up the large particles on the ground and dust and other garbage, that is, play the cleaning role at the same time, so that the cleaning robot 2 becomes a cleaning robot, the function is more comprehensive, the cleaning effect of the ground is better, and the cleaning function can be realized without a special cleaning device 222, so that the cleaning robot 2 can have a simpler structure and smaller volume while having the cleaning function, thereby being beneficial to further realizing the miniaturization and the dexterity of the cleaning robot 2.

As another modification to further improve the mopping effect, in the present invention, the mopping unit 2211 may also be provided so as to be swingable with respect to the chassis 202. Based on this setting, the mop 22111 of the mop unit 2211 can keep contact with the ground by swinging relative to the chassis 202 along with the unevenness of the ground, so that it can be ensured that the two mop 22111 of this embodiment cling to the ground at any time, which can not only effectively prevent the phenomenon of missing mopping caused by the unevenness of the ground, thereby ensuring that more thorough and efficient cleaning of various grounds is achieved, but also cleaning the ground with more complex and diversified terrains by the cleaning robot 2, and effectively expanding the application range of the cleaning robot 2.

In addition, the present invention also provides a cleaning robot system including the cleaning robot 2 of the present invention. The cleaning robot system may further include a base station 1 capable of cleaning the robot 22111. The base station 1 includes a base station body 10 and a mop cleaning device 11 provided on the base station body 10, the mop cleaning device 11 being for cleaning the mop 22111 of the cleaning robot 2.

In the invention, the base station 1 can clean the mop 22111 by adopting ultrasonic cleaning, dry cleaning or water washing and the like, wherein the water washing mode is preferable, because the water washing mode is easier to realize, the cost is lower, the cleaning effect is cleaner, the mop 22111 cleaned by the water washing mode has certain moisture, the cleaning operation can be directly and continuously carried out without the step of wetting the mop 22111, therefore, the water washing cleaning mode can further reduce the participation of users, and further ensure the continuity of the operation of the cleaning robot 2.

In order to provide the base station 1 with a better cleaning effect, in the present invention, the mop cleaning device 11 and the mop 22111 are preferably configured to be relatively movable, for example, the mop cleaning device 11 may be relatively rotatable with the mop 22111, and/or the mop cleaning device 11 may be relatively movable with the mop 22111, so that the mop 22111 is pressed against the mop cleaning device 11 during the cleaning process of the mop 22111, and the mop cleaning device 11 may apply a friction force to the mop 22111, thereby improving the cleaning cleanliness of the mop 22111 and the cleaning effect of the mop cleaning device 11. The relative movement of the mop cleaning device 11 and the mop 22111 may be that one of the mop cleaning device 11 and the mop 22111 moves and the other is still, or that the mop cleaning device 11 and the mop 22111 both move but the movement direction and/or the movement speed are different.

In the present invention, the mop cleaning device 11 may be configured to include a protrusion structure including a protrusion 112, the protrusion 112 being in contact with the mop 22111 when the mop cleaning device 11 cleans the mop 22111. By providing the protruding portion 112 on the mop cleaning device 11, not only can the dirty water or garbage on the mop 22111 be scraped by the protruding portion 112 in the process of cleaning the mop 22111, so as to clean the mop 22111 more thoroughly, and prevent the cleaned mop 22111 from being excessively wet, but also the protruding portion 112 and the mop 22111 can generate planar friction movement under the condition that the mop cleaning device 11 and the mop 22111 can move relatively, so that the friction force between the mop cleaning device 11 and the mop 22111 can be further increased, and the cleaning effect of the mop cleaning device 11 on the mop 22111 can be further improved.

In addition, in order to facilitate the entry of the cleaning robot 2 into the base station 1, the base station 1 of the present invention is preferably arranged to further comprise a guiding structure provided on the mop cleaning device 11 for guiding the movement of the cleaning robot 2 relative to the mop cleaning device 11 to move the mop 22111 into and out of the mop cleaning device 11. Based on this, when cleaning needs to be performed on the cleaning element 22111, the cleaning robot 2 can conveniently enter the base station 1 under the guiding action of the guiding structure, so that the cleaning element 22111 enters the cleaning device 11 for cleaning, once cleaning is completed, the cleaning robot 2 can smoothly exit the base station 1 under the guiding action of the guiding structure, so that the cleaning element 22111 leaves the cleaning device 11 for cleaning, and the guiding structure is provided, so that the cleaning robot 2 can conveniently enter and exit the base station 1, which is helpful for improving the working efficiency of the cleaning robot system. Wherein the guiding structure may comprise at least one of a guiding surface, a guiding plate and a guiding wheel.

The invention is further described in connection with the 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 a cleaning robot 2 and a base station 1 which are disposed independently of each other, wherein the cleaning robot 2 is used for performing automatic cleaning including mopping on a floor, and the base station 1 is used for charging the cleaning robot 2 and cleaning a mopping member 22111 of the cleaning robot 2. When the mop 22111 is mopped for a period of time, the cleaning robot 2 needs to be charged and/or the mop 22111 needs to be cleaned, the cleaning robot 2 can automatically return to the base station 1, and charging and/or mop cleaning is performed at the base station 1.

Fig. 6 to 20 show the structure of the cleaning robot 2 in this first embodiment. As shown in fig. 6 to 20, in this first embodiment, the cleaning robot 2 is a mobile cleaning apparatus including a housing 20, a traveling device 21, a floor cleaning device 22, a garbage collection device 23, and the like.

Wherein the housing 20 forms the mounting base for the other structural components of the cleaning robot 2, providing support for the other components. As can be seen from fig. 6 to 8, the housing 20 of this embodiment includes an upper housing 201 and a chassis 202, and the running gear 21, the floor cleaning device 22, the garbage collection device 23, etc. are mounted on the chassis 202, and the upper housing 201 is covered above the chassis 202, so as to protect structural components in a hollow space between the upper housing 201 and the chassis 202, and maintain the uniformity and the beauty of the overall structure.

The traveling device 21 is used for providing a driving force for the movement of the cleaning robot 2 on the floor and driving the cleaning robot 2 to travel on the floor. As can be seen from fig. 7 and 8, the traveling device 21 of this embodiment includes a pair of traveling wheels 211, the pair of traveling wheels 211 being symmetrically disposed on the left and right sides of the chassis 202, the traveling wheels 211 being rotated, and the cleaning robot 2 being able to advance or retreat on the ground. Further, the steering of the cleaning robot 2 can be achieved by the differential rotation of the pair of traveling wheels 211.

The floor cleaning device 22 is used for cleaning floors. In this embodiment, the floor cleaning device 22 includes a mopping device 221, the mopping device 221 includes a pair of mopping units 2211, and each of the mopping units 2211 includes a platen 22112 and a mopping member 22111, and the mopping member 22111 is mounted on a lower end surface of the platen 22112 for mopping a floor.

The mop 22111 may be a mop (or called a rag) or a sponge, which can mop the floor, and the mop 22111 of this embodiment is a mop. Further, the mop 22111 is preferably detachably connected to the pressure plate 22112, and in this embodiment, for example, the mop 22111 may be attached to the lower end surface of the pressure plate 22112 by a velcro tape to facilitate the replacement of the mop 22111.

The mop 22111 and the pressure plate 22112 of this embodiment are both circular, however, in other embodiments, they may be rectangular or other shapes, and the advantage of the circular shapes of the two embodiments is that the mop 2211 is more convenient for cleaning narrow spaces such as corners in a room, and is also more convenient for the following rotation arrangement.

In order to further solve the problem of poor mopping effect of the conventional cleaning robot, as shown in fig. 7-12 and 20, the mopping unit 2211 of this embodiment is configured to be rotatable relative to the chassis 202, and the mopping effect is improved by increasing the relative rotation of the mopping unit 2211 and the ground as described above. Here, the rotation of the mop unit 2211 relative to the chassis 202 may be either rotation about a horizontal axis or rotation about a vertical axis, wherein the embodiment is preferably configured to rotate about a vertical axis, because the mop 22111 rotating about a vertical axis can achieve better mopping and sweeping effects. In addition, when the wiping device 221 includes at least two wiping units 2211, the at least two wiping units 2211 may turn the same or different, and may be switchably rotated in the same direction and in the opposite direction, that is, the at least two wiping units 221 are rotated in the opposite direction for a certain period of time and are changed into rotation in the opposite direction for another period of time. Wherein, by arranging the paired mopping units 2211 to reversely rotate around the vertical axis, the mopping device 221 can also play a role of gathering garbage to the middle, so as to realize a better garbage gathering effect.

As shown in fig. 20, in this embodiment, both the traction units 2211 rotate about the vertical axis, but the directions of rotation are opposite. Because the two mopping units 2211 can gather the swept garbage to the middle of the two mopping units 2211 by reversely rotating around the vertical axis, the arrangement ensures that the mopping device 221 can realize the functions of mopping and cleaning and simultaneously can play a good role of garbage gathering, thereby being convenient for more fully and thoroughly collecting the garbage. Based on this, the mopping device 221 of this embodiment can cooperate with the garbage collection device 23 of this embodiment to achieve a cleaner cleaning effect, as will be described in more detail below. In addition, when the two mopping units 2211 are reversely rotated around the vertical axis, the directions of the friction forces generated by the rotation of the two mopping units 2211 are opposite, so that the friction forces can be offset, the problem of unbalanced friction force in the cleaning process can be effectively avoided, and the cleaning robot 2 can walk more stably according to a preset route.

In order to achieve the rotation of the mop unit 2211 relative to the ground, the mop device 221 of this embodiment further includes a mop driving mechanism 2212, where the mop driving mechanism 2212 connects the mop unit 2211 with the chassis 202 and is used for driving the mop unit 2211 to rotate relative to the chassis 202, that is, for driving the mop unit 2211 to rotate relative to the ground. In particular, as shown in fig. 8-12, in this embodiment, the mop drive 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 mopping units 2211; the two worm gears 22122 and the two output shafts 22123 are in one-to-one correspondence and are in driving connection between the worm motor and the two output shafts 22123, each worm gear 22122 is meshed with a worm on the worm motor, namely, the worm gear 22122 and the worm on the worm motor form a worm gear mechanism, and the two worm gears 22122 are meshed with the worm of the worm motor for transmission, so that torque with opposite directions can be transmitted to the two output shafts 22123; the two output shafts 22123 are in driving connection between the two worm gears 22122 and the two wiping units 2211, and the two output shafts 22123 are arranged in one-to-one correspondence with the two wiping units 2211 and are used for respectively transmitting torques in opposite directions to the two wiping units 2211, meanwhile, the two output shafts 22123 are vertically arranged, so that the two wiping units 2211 rotate around the respective output shafts 22123 under the driving action of the worm motor, and the opposite rotation of the two wiping 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-headed worm motor 22121 in which: the double-ended worm motor 22121 serves as a worm power mechanism for outputting torque; the two worm gears 22122 are arranged in one-to-one correspondence with the two dragging units 2211, and are respectively meshed with the two worm heads on two sides of the double-ended worm motor 22121, and the two worm gears 22122 are meshed with the double-ended worm motor 22121 for transmission. Thus, when the double-ended worm motor 22121 rotates, power can be transmitted to the two worm gears 22122, and torque with opposite directions is transmitted to the two output shafts 22123 through the two worm gears 22122, so that the two output shafts 22123 are driven to drive the two mopping units 2211 to reversely rotate around the vertical axis, and the double-ended worm motor has a simple and compact structure and high transmission efficiency.

As can be seen from fig. 11 and 12, the mop device 221 of this embodiment further includes a mounting chassis 2213, an upper plate 2214, and a lower plate 2215, and the mop driving mechanism 2212 is mounted on the chassis 202 through the mounting chassis 2213, the upper plate 2214, and the lower plate 2215. Wherein, the upper plate 2214 and the lower plate 2215 are fastened to each other to form a hollow space, each component of the mop driving mechanism 2212 is disposed in the hollow space for cooperative transmission, the mounting chassis 2213 is disposed on the chassis 202, and the lower plate 2215 is mounted on the mounting chassis 2213, so that the mop driving mechanism 2212 is mounted on the chassis 202. In addition, the drag driving mechanism 2212 of this embodiment further includes a bearing 22124 and an oil seal 22125, wherein the bearing 22124 and the oil seal 22125 are disposed between the output shaft 22123 and the worm gear 22122, so as to realize a smoother transmission.

In addition, in this embodiment, the mopping unit 2211 is swingably connected to the chassis 202 of the cleaning robot 2, and the mopping effect of the mopping device 221 is improved by bringing the two mopping members 22111 into close contact with the floor at any time, and the application range of the cleaning robot 2 is enlarged.

Specifically, the mop unit 2211 of this embodiment not only can swing with the vertical axis as the center, but also can swing with the horizontal axis as the center, so that the mop 22111 has multiple degrees of freedom of swing, which is beneficial to realizing the contact of the entire mop 22111 with the ground at any time, so that the mop 22111 can better adapt to the uneven ground, and a cleaner cleaning effect is realized.

In order to realize the swing of the mop unit 2211 about the vertical axis, in this embodiment, as shown in fig. 12, a flexible connection block 2216 is provided between the mop unit 2211 and the output shaft 22123 of the mop driving mechanism 2212, and the two are connected through the flexible connection block 2216. The flexible connection block 2216 may be detachably connected to the mop unit 2211 and/or the mop drive mechanism 2212. Since the flexible connection block 2216 can be deformed more freely as a flexible connection structure, when the cleaning robot 2 encounters uneven ground, the flexible connection block 2216 can generate adaptive deformation under the action of the ground force transmitted by the mop 22111, so as to drive the mop unit 2211 to generate adaptive swing centering on the output shaft 22123 vertically arranged relative to the chassis 202 (i.e. relative to the ground), and further maintain contact with the ground. Furthermore, as shown in fig. 11, 13 and 15, each flexible connection block 2216 can provide the corresponding mopping unit 2211 with an adjustment degree of freedom of swing (i.e. the first swing degree of freedom I in fig. 13), and the swing manner is more various, so that the device can be adapted to the ground more flexibly.

It can be seen that, by disposing the flexible connection block 2216 between the output shaft 22123 and the mop unit 2211, the swing of the mop unit 2211 with the vertical axis as the center can be realized by using the material deformation of the flexible connection block 2216, and the swing angle of the mop unit 2211 can be flexibly adjusted according to the degree of the uneven ground, so that the mop member 22111 is attached to the ground for mop at any time, and the mop effect is further improved.

It should be noted that the flexible connection structure applied to this embodiment is not limited to the form of the flexible connection block 2216, and other flexible connection structures that can utilize deformation of the material thereof to realize swinging of the mop unit 2211 are also applicable.

In order to realize the swing of the mop unit 2211 about the horizontal axis, a horizontal rotation shaft 2218 is provided between the mop device 221 and the chassis 202 in this embodiment, and the two are connected through the horizontal rotation shaft 2218. Specifically, as shown in fig. 12 and 13, the horizontal rotation shaft 2218 of this embodiment is connected between the chassis 202 and the middle portion of the transmission shaft of the mopping device 221 connected between the two mopping units 2211. The horizontal rotation shaft 2218 may provide one horizontal rotation degree of freedom (i.e., the second swing degree of freedom J shown in fig. 13) for each of the mopping units 2211, so that each of the mopping units 2211 may swing with the unevenness of the ground surface centering on the horizontal rotation shaft 2218, thereby ensuring that the mopping members 22111 contact with the ground surface.

It can be seen that, in this embodiment, by simultaneously providing the flexible connection block 2216 and the horizontal rotation shaft 2218, the mop 22111 has a plurality of swinging degrees of freedom, and can be adapted to the uneven ground more flexibly, so that the cleaning robot 2 can make the mop 22111 cling to the ground for cleaning even if encountering uneven terrain, and the ground can be cleaned more cleanly.

On the other hand, as can be seen from fig. 13, in this embodiment, since the horizontal rotation shaft 2218 is provided between the mopping device 221 and the chassis 202, the contact between the mopping device 221 and the floor corresponds to one pivot, that is, the mopping device 221 of this embodiment provides one pivot to the cleaning robot 2, and meanwhile, since the contact between the two travelling wheels 211 and the floor corresponds to two pivots, the cleaning robot 2 of this embodiment forms a three-point support manner with the floor as a whole, which enables the cleaning robot 2 to land at three points at any time, thereby increasing the overall operation stability of the cleaning robot 2 and further ensuring the cleaning effect.

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

As an alternative, as shown in fig. 16, the position of the horizontal rotation shaft 2218 may be changed, and the horizontal rotation shaft 2218 may be disposed between the running gear 21 and the chassis 202. Based on this alternative, a rotation shaft connection mode is adopted between the running gear 21 and the chassis 202, the running gear 21 integrally provides a pivot for the cleaning robot 2, and meanwhile, each flexible connection block 2216 of the mopping device 221 provides two swinging adjustment degrees of freedom for each mopping unit 2211, so that when the mopping device 221 contacts with the ground, two pivot points are equivalent to contact with the ground, that is, the mopping device 221 provides two pivot points for the cleaning robot 2, and the alternative still enables the mopping piece 22111 to cling to the ground all the time, and forms a three-point support mode between the cleaning robot 2 and the ground. The three-point support in this alternative includes two forward points and one rearward point, while the three-point support in the manner shown in fig. 13 includes one forward point and two rearward points.

As another two alternatives thereof, as shown in fig. 17 and 18, in this embodiment, the aforementioned flexible connection block 2216 may also be omitted, and only the horizontal rotation shaft 2218 is provided between the traction device 221 and the chassis 202, or only the horizontal rotation shaft 2218 is provided between the running device 21 and the chassis 202. With both alternatives, although the effect of bringing the mop 22111 into close contact with the ground at all times is not as good as in the case where the mop unit 2211 is simultaneously swung about the vertical axis, the entire swing of the mop 22111 and/or the running gear 21 relative to the chassis 202 can be achieved, the three-point support described above is formed, and the structure is simpler and the cost is also lower.

The garbage collection device 23 is for collecting garbage collected by the floor cleaning device 22, and includes a collection port for communicating the inside and the outside of the garbage collection device 23, from which garbage collected by the floor cleaning device 22 enters the inside of the garbage collection device 23.

As shown in fig. 7 to 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 collection port 236, wherein: the dust box 231 includes a box body 2313 and a box cover 2314, and the box cover 2314 covers the top end opening of the box body 2313; a dust suction port 236 is provided at a lower portion of the dust box 231, open toward the ground, so that the dust can enter the dust box 231 through the dust suction port 236; the dust removing fan 234 is in fluid communication with the inside of the dust box 231 through a fan duct 235, so that dust and other garbage can enter the dust box 231 through a dust collecting opening 236 under the action of the dust removing fan 234; the filter screen 233 is disposed on the side of the dust box 231 and in fluid communication with the dust box 231 by the dust removal fan 234 (in fig. 19, the filter screen 233 is specifically disposed in fluid communication with the dust box 231 by the fan duct 235), so that the dust in the wind can be filtered by the filter screen 233 and remain in the dust box 231, and the wind can be continuously pumped away by the dust removal fan 234.

As shown in fig. 19, the outlet of the dust removing fan 234 faces the double-ended worm motor 22121, so that the wind flowing out from the dust removing fan 234 can directly blow to the double-ended worm motor 22121 to dissipate heat of the double-ended worm motor 22121, which is beneficial to ensuring the working performance of the double-ended worm motor 22121 and prolonging the service life of the double-ended worm motor 22121.

In a modified implementation, the mop drive mechanism is arranged on both sides of the dust collection device so that the dust collection device can extend in the front-rear direction of the cleaning robot 2 as a whole. For example, the double-ended worm motor 22121 may be replaced with two motors that output power through a worm gear mechanism or a gear mechanism. Therefore, the two motors are conveniently arranged at two sides of the dust collection device respectively, the blocking of the dust collection device caused by the fact that the motor rotating shaft crosses the dust collection device is avoided, the air path of the dust collection device can be smoother, the air inlet resistance of the dust collection device is reduced, the air inlet flow of the dust collection device is increased, and the dust collection effect of the dust collection device is improved.

When the garbage collection device 23 of this embodiment works, the dust collection fan 234 drives the wind to drive the garbage to enter the box 2313 through the dust collection opening 236, the garbage is blocked by the filter screen 233, and the wind enters the fan duct 235 through the filter screen 233, flows to the dust collection fan 234 and is finally pumped by the dust collection fan 234.

As can be seen, the garbage collection device 23 of this embodiment is a dust collection device, and the dust collection port 236 serves as a collection port. The advantage of using a dust extraction device as the dust collection device 23 in this embodiment is that the dust collection device 23 is able to apply an attractive force to the dust, which not only allows more dust collected by the floor cleaning device 22 to be collected more quickly, reducing the residue of the dust on the floor, but also allows larger particles of dust to be sucked into the dust collection device 23 under the action of the attractive force, thus using a dust extraction device as the dust collection device 23 is advantageous for cleaning the floor cleaner.

In addition, as previously described, in this embodiment, the two mopping units 2211 reversely rotated about the vertical axis can collect the garbage between the two mopping units 2211, and thus, in order to more conveniently and effectively collect the garbage, as shown in fig. 7 and 20, in this embodiment, the dust suction opening 236 is provided at the middle of the two mopping units 2211 of the mopping device 221, so that the dust suction opening 236 is positioned between the two mopping units 2211 in the path where the garbage is collected, and thus, the garbage collection device 23 can collect the garbage more sufficiently, achieving a more effective garbage collection effect. The dust suction port 236 may be disposed at a rear middle portion of the two mop units 2211 or at a front middle portion of the two mop units 2211. The dust suction opening 236 is provided at the rear middle of the two mopping units 2211, as shown in fig. 36, since the garbage is collected by the garbage collection device 23 after being collected to a smaller area, the dust suction opening 236 can be provided smaller, and the smaller the dust suction opening 236, the greater the suction force, so that more efficient collection can be achieved. The dust collection opening 236 is disposed in the middle of the front of the two mopping units 2211, as shown in fig. 7 and 20, which has the advantages that the dust collection can be performed before mopping, the dust can be collected under the condition that the non-mopping member 22111 is not wetted, and the non-wetted dust is more easily collected due to the smaller adhesion force of the non-wetted dust to the ground, so that the dust collection opening 236 is disposed in the middle of the front of the two mopping units 2211 rotating reversely around the vertical axis, the dust collection difficulty can be reduced, the dust collection device can collect the dust only by applying smaller suction force, and the problem that the dust such as hair is difficult to collect due to over-wetting can be effectively prevented, so that the dust can be collected more conveniently and thoroughly, and the cleaner dust collection effect can be realized.

Based on the above-described mopping device 221 and the garbage collection device 23, the cleaning robot 2 of this embodiment is capable of performing a higher quality floor cleaning work: in operation, the two mopping members 2111 on the ground are driven by the mopping driving mechanism 2212 to reversely rotate around the vertical axis, on one hand, mopping is performed on stubborn stains on the ground, on the other hand, garbage is collected in the middle part of the two mopping members 2111, and the garbage collected in the middle part is sucked and collected by the garbage collecting device 23.

Furthermore, as can be seen from fig. 57 and 58, in the cleaning robot 2 of the above embodiment, the garbage collection device 23 further includes a baffle 2311, and the baffle 2311 is inclined downward from the collection port (i.e., the dust collection port 236 in this embodiment) of the garbage collection device 23 and extends to the floor. Based on this, the baffle 2311 can block the garbage collected to the position where it is located, prevent the garbage cleaned by the floor cleaning device 22 from diffusing out of the range where the collection port (the dust suction port 236) can collect, thereby facilitating the collection of the garbage collection device 23 and preventing the garbage from causing secondary pollution to the cleaned floor. In particular, the baffle 2311 can prevent collected debris from being carried away from the collection port (the dust collection port 236) by the wiper 22111 when the wiper 22111 is rotated about a vertical axis with respect to the chassis 202 of the cleaning robot 2 for cleaning operations.

Of course, the cleaning robot 2 of this embodiment may also turn off the garbage collection device 23 and only operate the mopping device 221; alternatively, the cleaning device 221 may be replaced by a cleaning device 222, such as a roller brush, for cleaning the garbage on the ground, and the cleaning device 222 and the garbage collection device 23 cooperate to implement a separate sweeping function, so that the cleaning mode can be switched conveniently by replacing the cleaning device 221 by the cleaning device 222 due to the detachable connection between the cleaning device 221 and the cleaning driving mechanism 2212 in this embodiment; moreover, the cleaning robot 2 of this embodiment can also realize a dry cleaning function by changing the wet cleaning member 22111 to the dry cleaning member 22111, and also, since the cleaning member 22111 of this embodiment is detachably connected to the pressure plate 22112, the dry cleaning member 22111 and the wet cleaning member 22111 can be easily changed, thereby realizing rapid switching between the dry cleaning mode and the wet cleaning mode.

In addition, as shown in fig. 6 and 8-10, in this embodiment, the cleaning robot 2 further includes a collision sensing plate 25, a laser radar 26, a control device 27, a battery 28, and a human-computer interaction device for human-computer interaction, such as a button, a screen, and the like. Wherein the collision sensing plate 25 is for preventing the cleaning robot 2 from colliding with an obstacle, in this embodiment, the collision sensing plate 25 is provided at the front end of the housing 20; the laser radar 26 is used for map scanning to realize the mapping and positioning of the cleaning robot 2, and in this embodiment, the laser radar 26 is embedded in the rear part of the upper housing 201; the battery 28 is used to supply electric power to the cleaning robot 2; the control device 27 is used for controlling various activities of the cleaning robot 2, such as sensor signal collection, motor driving control, battery management, navigation positioning, map generation, intelligent obstacle avoidance, cleaning path planning, etc.

Further, in order to facilitate obstacle surmounting and access of the cleaning robot 2 to the base station 1, the cleaning robot 2 of this embodiment further comprises a jack-up mechanism 24. The jacking mechanism 24 is used for jacking the front end and/or the rear end of the cleaning robot 2, which can provide a lifting force for the cleaning robot 2, so that the cleaning robot 2 can conveniently cross an obstacle (such as a threshold) with a certain height in the ground walking process, the obstacle crossing capability of the cleaning robot 2 is improved, the cleaning range of the cleaning robot 2 is enlarged, and the cleaning robot 2 can be helped to more conveniently enter and exit the base station 1 in the process of entering and exiting the base station 1 by the cleaning robot 2, in particular to enter and exit the cleaning device 11 of a mopping piece of the base station 1 with a certain height.

Specifically, as shown in fig. 7, 8 and 10, in this embodiment, the jack-up mechanism 24 is provided on the chassis 202 of the cleaning robot 2 and located at a position forward of the chassis 202, and includes a swing link capable of swinging up and down, and when the swing link swings out downward, the swing link can extend downward from the chassis 202 and be supported on a bearing surface (e.g., the ground), so that the front end of the cleaning robot 2 can be jacked up, and when the swing link swings back upward, the swing link is retracted, the jack-up is released, and the height of the front end of the cleaning robot 2 is lowered again. Based on this, as shown in fig. 21 and 22, in the process that the cleaning robot 2 gets over the obstacle or enters the base station 1, the jack-up mechanism 24 may jack up the front end of the cleaning robot 2, actively raise the front end height of the cleaning robot 2, help the cleaning robot 2 quickly get over the obstacle, or help the cleaning robot 2 quickly drive into the base station 1 and make the mop 22111 smoothly enter the mop cleaning device 11.

It should be understood by those skilled in the art that the jack-up mechanism 24 is not limited to being disposed on the chassis 202, but may be disposed on the base station 1, or one jack-up mechanism 24 may be disposed on each of the base station 1 and the chassis 202; further, when the jack-up mechanism 24 is provided on the chassis 202, the jack-up mechanism 24 is not limited to being provided at the front of the chassis 202, and may be provided at the rear of the chassis 202 for jack-up the rear end of the cleaning robot 2.

Fig. 50-52 illustrate an alternative embodiment in which the jacking mechanism 24 is disposed at the rear of the chassis 202. As shown in fig. 50 to 52, in this alternative embodiment, the jack-up mechanism 24 is provided at the rear of the chassis 202, in which case, as shown in fig. 52, when the cleaning robot 2 needs to enter the base station 1, the jack-up mechanism 24 may not be operated, and the cleaning robot 2 directly enters the base station 1 under the guiding action of its own driving force and the guiding structure of the base station 1 (e.g., the inclined guiding surface 116 in fig. 52), so that the cleaning robot 22111 enters the cleaning device 11, and when the cleaning robot 2 needs to exit the base station 1 after the cleaning of the cleaning robot 22111 is completed, the jack-up mechanism 24 is operated to jack up the rear end of the cleaning robot 2, so that the rear edge of the cleaning robot 22111 is higher than the edge height of the cleaning device 11, and thus exits the base station 1. Also, in this alternative embodiment, preferably, a suspension means for keeping the traveling wheel 211 in elastic connection with the chassis 202 may be provided at the traveling wheel 211, so that the traveling wheel 211 can be kept in contact with the floor all the time, so that when the jack-up mechanism 24 jacks up the rear end of the cleaning robot 2, the traveling wheel 211 can still be brought into close contact with the floor by the suspension means to provide friction force to the cleaning robot 2, so that by providing the suspension means, it is possible to further assist the cleaning robot 2 to exit the base station 1 more efficiently.

Specifically, as shown in fig. 50 and 51, in this alternative embodiment, the suspension device includes a spring 212 and a support 213, the spring 212 is disposed horizontally, the support 213 is connected obliquely between the spring 212 and the traveling wheel 211, and a portion between both ends of the support 213 for connection with the spring 212 and the traveling wheel 211 is rotatably disposed with respect to the housing 20 of the cleaning robot 2. Based on this structural arrangement, the suspension device not only can keep the travelling wheel 211 in contact with the ground, but also can assist the jacking mechanism 24 to tilt the rear end of the cleaning robot 2 by using the elastic force of the spring 212, so that in this case, the jacking mechanism 24 can jack up the rear end of the cleaning robot 2 with a smaller jacking force, so that the jacking mechanism 24 can select a smaller motor, thereby achieving the purposes of reducing cost and saving installation space.

Of course, the suspension device may not be provided together with the jack-up mechanism 24, and the suspension device may be provided alone to increase the obstacle surmounting capability of the cleaning robot 2 since the suspension device can always keep the traveling wheel 211 in contact with the floor.

Fig. 2 to 5 show the structure of the base station 1 in this first embodiment. In this embodiment, the base station 1 cleans the mop 22111 using a water wash, i.e., the base station 1 keeps the mop 22111 clean by washing the mop 22111.

As shown in fig. 2 to 5, in this embodiment, the base station 1 includes a base station body 10, a mop cleaning device 11, a cleaning liquid supply device 12, a dirty liquid collecting device 13, and a charging device 14.

Wherein the base station body 10 forms the installation foundation of other structural components of the base station 1, the cleaning device 11, the cleaning liquid supply device 12, the dirty liquid collecting device 13 and the like are all arranged on the base station body 10, and the base station body 10 provides support for the structural components arranged on the base station body.

As shown in fig. 2, in this embodiment, the mop cleaning device 11 is installed below the base station body 10, and the cleaning liquid supply device 12 and the dirty liquid collecting device 13 are installed above the base station body 10 and respectively located at the left and right sides of the base station body 10, so that the structure is compact and attractive. The mop cleaning device 11 of this embodiment cooperates with the cleaning liquid supply device 12 and the dirty liquid collecting device 13 to realize water-washing cleaning of the mop 22111; also, since the mop unit 2211 of this embodiment is rotatable about a vertical axis, the mop unit 2211 and the mop cleaning device 11 can be rotated relatively, and the base station 1 can realize a friction type water washing cleaning manner. During the cleaning process, the mop 22111 is carried on the mop cleaning device 11 and is rotated for cleaning, the cleaning liquid supply device 12 supplies the cleaning liquid, and the dirty liquid collecting device 13 collects the dirty cleaning liquid after the cleaning.

Specifically, as shown in fig. 3, the mop cleaning device 11 of this embodiment includes a cleaning tank 111, a convex structure having a plurality of convex portions 112, a liquid intake structure 113, and a liquid discharge structure 114.

Wherein, the cleaning groove 111 is used for accommodating the mop 22111 when the mop cleaning device 11 cleans the mop 22111, and also provides a accommodating space for cleaning liquid. As can be seen from fig. 3 and 4, in this embodiment, the cleaning device 11 for cleaning the cleaning member includes two cleaning grooves 111, and the shape and size of each cleaning groove 111 is adapted to the shape and size of the cleaning unit 221 in this embodiment, wherein the cross-sectional shape of the cleaning groove 111 is circular. The arrangement is to adapt the cleaning groove 111 to the shape, size and number of the cleaning units 221 of the cleaning robot 2, which not only can better accommodate the cleaning pieces 2111 and cleaning liquid and prevent the cleaning liquid from splashing, but also can enable the base station 1 to clean all the cleaning pieces 22111 of one cleaning robot 2 at the same time, thereby improving the cleaning efficiency. Of course, the shape and size of the cleaning grooves 111 may be adaptively set according to the specific conditions of the cleaning units 2211, and the number of the cleaning grooves 111 may be equal to the total number of the cleaning units 221 of the cleaning robots 2 and be set in one-to-one correspondence with each other, so that the base station 1 can simultaneously clean all the cleaning members 22111 of the cleaning robots 2, and the cleaning efficiency is higher.

The protruding structure is used for contacting with the mop 22111 accommodated in the cleaning tank 111, and since the entire surface of the mop 22111 can contact with the protruding structure, the contact area is large, the cleaning efficiency is high, and the protruding structure can play a role in scraping 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 provided in the cleaning grooves 111, wherein each of the convex portions 112 is a curved convex portion, that is, the extending path of the cross section of the convex portion 112 is a curve, and the plurality of convex portions 112 in each of the cleaning grooves 111 are arranged radially. The protruding structure in this embodiment can better adapt to the rotation movement mode of the mop 22111, so that the protruding structure can more fully rub with the rotating mop 22111 in the cleaning process, and a cleaner cleaning effect is achieved. In addition, during the squeezing rotation of the mop 22111 and the bump structure, water is squeezed and thrown off the mop 22111 by the bump 112, so that the bump structure also has a function of throwing the mop 22111.

Both the liquid inlet structure 113 and the liquid outlet structure 114 are in fluid communication with the cleaning tank 111 to enable cleaning liquid to enter the cleaning tank 111 via the liquid inlet structure 113 and to enable cleaning liquid after cleaning the mop 22111 to be discharged outside the cleaning tank 111 via the liquid outlet structure 114. In this embodiment, both the liquid intake structure 113 and the liquid discharge structure 114 are disposed in the cleaning tank 111, as shown in fig. 4, although they may be disposed in other locations as long as they are in fluid communication with the cleaning tank 111.

The cleaning solution supply device 12 is in fluid communication with the cleaning tank 111 through the liquid inlet structure 113 to conveniently supply cleaning solution into the cleaning tank 111; the dirty liquid supply means 113 is in fluid communication with the cleaning tank 111 via a drain 114 to conveniently collect dirty liquid after cleaning the mop 22111. As can be seen in conjunction with fig. 3 and 4, in this embodiment, the clean liquid supply device 12 includes a first storage structure 121 and a first water pump 122, the first storage structure 121 is used for accommodating the cleaning liquid, and the first water pump 122 is used as a first power device for driving the cleaning liquid to flow from the first storage structure 121 into the cleaning tank 111; the dirty liquid collecting device 13 comprises a second storage structure 131 and a second water pump 132, the second storage structure 131 being adapted to store dirty cleaning liquid, the second water pump 132 being adapted as a second power means for pumping dirty cleaning liquid into the second storage structure 131.

Furthermore, in order to facilitate the user to know the liquid level of the cleaning liquid in the first storage structure 121 and the second storage structure 131 in time, in this embodiment, the base station 1 may further comprise a liquid level detection device for detecting the liquid level of the cleaning liquid. Specifically, as shown in fig. 5, in this embodiment, liquid level detecting devices are disposed in the first storage structure 121 and the second storage structure 131, and each of the liquid level detecting devices includes a first conductive sheet 151, a second conductive sheet 152, and a third conductive sheet 153, wherein the first conductive sheet 151 is used for detecting a capacitance value of an environment, the second conductive sheet 152 and the third conductive sheet 153 are disposed in the storage structures accommodating the cleaning liquid to be detected, that is, the first storage structure 121 and the second storage structure 131, and the second conductive sheet 152 is used for detecting a capacitance difference value generated due to a liquid level change of the cleaning liquid, and the third conductive sheet 153 is used for detecting a capacitance value of the cleaning liquid. Because the capacitance of the conductive sheet is affected by the liquids with different liquid levels, the liquid level detection device can detect the liquid levels of the cleaning liquid in the first storage structure 121 and the second storage structure 131 in real time, so as to add new cleaning liquid to the first storage structure 121 in time or empty the second storage structure 131 in time. Wherein, the first conductive sheet 151 and the second conductive sheet 152 are used for correcting the measured liquid level detection data, thereby making the liquid level detection result more accurate. The specific correction procedure can be referred to as follows:

Wherein, H: the liquid level finally obtained;

c2: the capacitance value measured by the second conductive plate 152 when there is a certain liquid level;

c20: the capacitance value measured by the second conductive pad 152 when there is no liquid in the storage structure;

and C3: the capacitance value (when covered with liquid) measured by the third conductive sheet 153;

c1: the capacitance value (in air) measured by the first conductive sheet 151;

gamma: correcting the parameters.

In the working process of the base station 1 of this embodiment, referring to fig. 23, it can be seen that the mop 22111 is accommodated in the cleaning tank 111, the whole surface is pressed on the protruding structure and rotates around the vertical axis, the cleaning liquid in the first storage structure 121 is pressurized by the first water pump 122 and then is sprayed onto the mop 22111 accommodated in the cleaning tank 111 through the liquid 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 mop 22111 by the protruding portion 112, and is thrown off the mop 22111 under the action of centrifugal force during the rotation of the mop 22111, flows to the liquid draining structure 114, and is pumped into the second storage structure 131 by the second water pump 132.

Therefore, through the cooperation of the clean liquid supply device 12 and the dirty liquid collecting device 13, the cleaning liquid in the cleaning tank 111 can be kept clean, and the dirty cleaning liquid is prevented from causing secondary pollution to the cleaning member 22111, so that the cleaning effect can be further ensured. Moreover, the rotation movement of the cleaning member 22111 in the cleaning process can play a role of centrifugal spin-drying, so that the cleaning member 22111 after cleaning is prevented from being excessively wet, on the one hand, the cleaning member 22111 can be prevented from leaving more water on the ground in the cleaning process, the ground cleanliness is affected, even potential safety hazards such as slipping are caused, on the other hand, the cleaning robot 2 can be prevented from being applied to special grounds such as wooden floors due to the excessively wet cleaning member 22111, and the application range of the cleaning robot 2 can be effectively expanded. Based on this, during the cleaning process, the mop 22111 can be adjusted to keep a suitable rotation speed to perform friction cleaning with the protruding portion 112, and the cleaning liquid is prevented from being thrown out due to too fast rotation speed, after the cleaning is finished, the liquid inlet structure 113 can stop liquid inlet, and the mop 22111 is controlled to rotate for a period of time at a lower rotation speed, so that most of the water is spin-dried, and then the mop 22111 is controlled to accelerate to spin, so that the water is spin-dried further. Of course, the specific rotation speed and the spin-drying degree can be controlled according to actual needs.

In this embodiment, the cleaning solution may be water or a mixture of water and a cleaning agent, wherein a mixture of water and a cleaning agent is preferred, so that the mop 22111 can be cleaned more cleanly. When a mixed solution of water and a cleaning agent is used as the cleaning solution, the first storage structure 121 may include only one container in which the mixed solution is directly stored; alternatively, the first storage structure 121 may include two containers, one of which stores the cleaning agent and the other of which stores water, in which case the cleaning agent and the water may be simultaneously driven by the first water pump 122 to flow from the respective containers directly into the cleaning tank 111, or a third water pump may be further provided, that is, even if the first power device further includes a third water pump, the cleaning agent is driven by the third water pump to mix with the water first, and then the mixed liquid is driven by the first water pump 122 to flow into the cleaning tank 111.

In order to further facilitate the control of the humidity of the mop 22111, the base station 1 of this embodiment may further include a drying device, and the cleaned mop 22111 is dried by using the drying device, so that it is ensured that the cleaning robot 2 is kept with moderate moisture on the mop 22111 after exiting the base station 1, so that the floor is not wet and slippery due to excessive humidity, and is not affected by damp and mildew due to excessive humidity. In addition, the drying device is arranged in the base station 1, so that the drying process can be completed in the base station 1, the functions of the base station 1 can be further enriched, the post-processing steps can be simplified, and the efficiency is improved.

In addition, in order to facilitate the access of the cleaning robot 2 to the base station 1, the base station 1 may further comprise a guiding structure provided on the mop cleaning device 11 for guiding the cleaning robot 2 to move relative to the mop cleaning device 11 to move the mop 22111 in and out of the mop cleaning device 11. Specifically, as shown in fig. 4, in this embodiment, the base station 1 includes a guide surface 116 serving as a guide structure, the guide surface 116 being inclined obliquely downward from the mop cleaning device 11 (specifically, at the edge of the cleaning tank 111) and extending to the floor, so that the guide surface 116 can guide the cleaning robot 2 to climb up to the height of the edge of the cleaning tank 111 along the guide surface 116, facilitating entry of the mop 22111 into the cleaning tank 111. As shown in fig. 21 and 22, the guide surface 116 is used in cooperation with the jack-up mechanism 24 of the cleaning robot 2, so that the cleaning robot 2 can more conveniently enter and exit the base station 1, and the working efficiency of the cleaning robot system can be improved. Of course, the guiding structure is not limited to the form shown in this embodiment, but may also include a guiding plate 116 and/or guiding wheels 119, as will be further described in the second embodiment shown in fig. 24-35 and the embodiment shown in fig. 53.

The charging device 14 is used for charging the battery 28 of the cleaning robot 2, and realizes the charging function of the base station 1. As shown in fig. 2 to 4, in this embodiment, the charging device 114 is provided on the guide surface 116 such that the charging device 114 charges the cleaning robot 2 when the cleaning robot 2 climbs on the guide surface 116. The charging means 14 may be a contact type charging means, for example, the charging process is performed by contact between the charging pad 141 provided on the base station 1 and the charging contact 252 (as shown in fig. 28 and 29) provided on the cleaning robot 2; for another example, wireless charging may be performed by using an induction coil provided on the chassis 202 of the cleaning robot 2 in combination with a charging coil provided on the guide surface 116 of the base station 1.

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

As shown in fig. 24-35, this second embodiment is substantially the same as the first embodiment in that the base station 1 is still capable of charging the cleaning robot 2 and cleaning the two mops 22111 of the cleaning robot 2, and the two mops 22111 of the cleaning robot 2 are still capable of counter-rotating about the vertical axis, each of the mops 22111 is still capable of swinging relative to the chassis 202, and the difference is mainly that: on the one hand, the specific structure of the mop drive mechanism 2212 for driving the two mops 22111 to reversely rotate about the vertical axis is different; on the other hand, the specific implementation of the swing of the mop 22111 relative to the chassis 202 is different; on the other hand, the specific structure of the garbage collection device 23 is slightly different; on the other hand, the specific structures of the base station body 10, the first storage structure 121, the second storage structure 131, and the guide structure of the base station 1 are slightly different. Therefore, differences in these four aspects will be emphasized below, and other points not described can be understood with reference to the first embodiment. In describing other embodiments, only the differences are emphasized.

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

As shown in fig. 28-31, in this second embodiment, although the drag driving mechanism 2212 still adopts the worm gear mechanism to transmit torque to the output shaft 22123, the worm motor in the worm gear mechanism does not adopt the double-head worm motor 22121 any more, but adopts two single-head worm motors 22121', and each single-head worm motor 22121' is in one-to-one meshed transmission with two worm gears 22122 in the worm gear mechanism, so that two sets of worm gears can be used to drive two drag members 22111 to reversely rotate around the vertically arranged output shaft 22123 in different rotation directions, thereby not only ensuring the relative dynamic balance of the head of the cleaning robot 2, but also improving the drag effect, simultaneously playing a cleaning role, and collecting garbage in the middle, and facilitating the collection of garbage collection device 23. Moreover, compared with the case of adopting one motor, the embodiment adopts two motors, and has the advantages that the two motors are conveniently and respectively arranged at two sides of the dust collection device, so that the blocking of the air path of the dust collection device due to the fact that the motor rotating shaft transversely passes through the dust collection device can be effectively avoided, the smoothness of the air path of the dust collection device can be improved, the air inlet resistance of the dust collection device is reduced, the air inlet flow of the dust collection device is increased, and the dust collection effect of the dust collection device is improved.

As shown in fig. 32 a-32 c, in order to achieve the swingable connection of the mop unit 2211 and the mop driving mechanism 2212, and thus the swingable connection of the mop unit 2211 and the chassis 202, in this second embodiment, a flexible connection structure such as a flexible connection block 2216 is not provided between the output shaft 22123 and the mop unit 2211 any more, but the mating relationship between the mop unit 2211 and the mop driving mechanism 2212 is set to be a gap socket. Specifically, as shown in fig. 32c, in the second embodiment, the output shaft 22123 is in gap sleeving connection with the pressure plate 22112, because the gap between the output shaft 22123 and the pressure plate 22112 enables the pressure plate 22112 to have a certain gap swinging angle relative to the output shaft 22123, and the mop 22111 is further arranged on the pressure plate 22112, the gap sleeving connection between the mop unit 2211 and the mop driving mechanism 2212 can realize the swinging connection between the mop unit 2211 and the chassis 202 by using the gap movement, so that the mop 22111 can change the swinging angle thereof according to the actual condition of the ground, and the purpose of adapting to the ground is achieved.

Further, as shown in fig. 32b, in this embodiment, in order to facilitate the attachment and detachment of the mop unit 2211, a magnetic adsorbing member 2217 capable of adsorbing the mop unit 2211 and the mop connection structure together is provided between the pressure plate 22112 of the mop unit 2211 and the output shaft 22123 of the mop driving mechanism 2212. Through setting up magnetism adsorption member 2217, can avoid the rigid connection between pressure disk 22112 and the output shaft 22123, realize the detachable connection of two to utilize magnetic force to adsorb and realize connecting, when need drag the dismouting of wiping unit 2211, only need one pull out one detain can, very simple and convenient. Of course, to achieve the detachable connection between the mop unit 2211 and the mop driving mechanism 2212, one or more of a screw connection, a clip, a hook, and the like may be used.

As shown in fig. 33 and 34, in this second embodiment, although the dust collection device 23 is still a dust collection device, and the dust collection opening 236 is still provided in the middle of the front of the two mopping members 22111, the filter structure is changed with respect to the aforementioned first embodiment, instead of using the filter screen 233, the filter screen 233' is replaced, the dust in the air flow is filtered by the paper 233', and accordingly, the paper support 2331' for supporting the paper 233' is provided, and a filter support 238 is provided between the case 2313 and the cover 2314 of the dust box 231, and the paper 233' is provided outside the filter support 238 and on the path of the fluid communication between the case 2313 and the dust collection fan 234; in addition, a handle 2315 is additionally provided on the cover 2314, and the handle 2315 is mounted on the cover 2314 through a positioning pin 2316, so that a user can conveniently take out the dust box 231 and empty dust in the dust box 231 in time.

In addition to the above-described several main differences, the cleaning robot 2 in this second embodiment also differs from the first embodiment in some other ways. As shown in fig. 28, in the second embodiment, the structure of the housing 20 of the cleaning robot 2 is slightly different, a battery mounting groove is formed on the upper housing 201 for mounting the battery 28, and correspondingly, an upper housing cover 2011 is arranged on the upper cover of the battery mounting groove to shield the battery 28 in the battery mounting groove and the battery mounting groove, so as to protect the battery 28 and maintain the whole flat and beautiful, and a lower housing cover 2021 is additionally arranged on the lower part of the chassis 202, so that the cleaning robot is more convenient to assemble, disassemble and maintain; moreover, a camera 251 and a charging contact 252 are additionally arranged on the collision sensing plate 25, wherein the camera 251 is used for being matched with the laser radar 26 to realize better scanning positioning and obstacle recognition functions, and the charging contact 252 is used for being in contact with the charging plate 141 on the base station 1 to realize charging of the battery 28.

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

As shown in fig. 25 and 26, in this second embodiment, the base station body 10 includes a support frame 101 and a support frame bottom cover 102, wherein the clean liquid supply device 12 and the dirty liquid collection device 13 are disposed at the upper part of the support frame 101 and at the left and right sides of the support frame 101, and the support frame bottom cover 102 is disposed at the bottom of the support frame 101; the first storage structure 121 and the second storage structure 131 each include a case 1211, a case cover 1212, a handle 1213, and a buckle 1214, where the case cover 1212 is covered on the top opening of the case 1211, the handle 1213 is disposed on the case cover 1212 to facilitate carrying, and the buckle 1214 is disposed at a connection between the case 1211 and the case cover 1212, for implementing a buckle connection between the case 1211 and the case cover 1212.

As shown in fig. 25 and 26, in this second embodiment, a scraping piece 117, which may be, for example, a scraping piece, is provided at the notch of the cleaning tank 111. The scraping piece 117 is arranged at the notch of the cleaning groove 111, so that the height of the cleaning groove 111 can be increased, and the scraping piece 117 can be used for preventing cleaning liquid in the cleaning groove 111 from splashing out of the cleaning groove 111 in the process of cleaning the cleaning piece 22111 by the cleaning device 11 of the cleaning piece, so that the scraping piece 117 plays a role of a waterproof fence; on the other hand, since the mop 22111 needs to pass through the scraping member 117 before entering the cleaning tank 111, the scraping member 117 can also scrape the garbage on the mop 22111 before the mop 22111 enters the mop cleaning device 11, so as to prevent the garbage adhered to the mop 22111 from entering the cleaning tank 111 together with the mop 22111 during the floor cleaning, and reduce the blockage of the liquid inlet structure 113 and the liquid outlet structure 114 in the cleaning tank 111. The scraping piece 117 may be a flexible piece or a rigid piece, preferably, the scraping piece 117 is a flexible piece, for example, a rubber wiper blade is adopted, so that the scraping piece 22111 is pressed on the scraping piece 117 when entering the cleaning groove 111, the scraping effect of the scraping piece 117 is enhanced, on the other hand, the scraping damage of the scraping piece 117 on the scraping piece 22111 can be reduced, on the other hand, when the flexible piece is adopted as the scraping piece 117, after the scraping piece 22111 completely enters the cleaning groove 111, the scraping piece 117 can automatically return to the original state, and the effect of preventing the cleaning liquid from splashing is still achieved. Of course, the scraping member 117 may not be provided at the notch of the cleaning tank 111, for example, may be provided on the guide surface 116 as long as it can function to prevent the cleaning liquid from splashing and/or scrape the garbage in advance.

Furthermore, as can be seen from fig. 35, in order to further facilitate the entry of the cleaning robot 2 into the base station 1, in this second embodiment the guiding structure of the base station 1 further comprises a guiding plate 115 arranged laterally of the mop cleaning device 11, preferably extending in an oblique direction of the guiding surface 116 to the bottom of the guiding surface 116. The guide plate 115 can guide the mop 22111 of the cleaning robot 2 into the mop cleaning device 11 of the base station 1 more accurately and quickly together with the guide surface 116. As shown in fig. 35, when the two mops 22111 rotate in opposite directions, if one of the mops 22111 touches the guide plate 115 during entering the base station 1, the friction force f between the mops 22111 and the guide plate 115 can be used to correct the route deviation, and the cleaning robot 2 is pulled to enter the base station 1 along the correct track, so that the guide plate 115 can also function to correct the route deviation of the cleaning robot 2.

In addition, the manner of facilitating the cleaning robot 2 to enter the base station 1 may be realized by the cooperation of the jack-up mechanism 24 and the guide structure of the base station 1 as in the first and second embodiments, but it is of course also possible to select not to provide the jack-up mechanism 24 and to make the cleaning robot 2 enter the base station only under the guide action of the guide structure. As shown in fig. 53, the guiding structure of the base station 1 may include not only the aforementioned guiding surface 116, but also the guiding wheel 119, where the guiding wheel 119 is disposed on the guiding surface 116 and protrudes upward, in this case, when the cleaning robot 2 enters the base station 1, it may first climb to the height of the guiding wheel 119 by means of its own walking driving force under the guiding action of the guiding surface 116, and then under the action of the guiding wheel 119, the front end of the cleaning robot 2 is tilted until the mopping unit 2211 passes over the guiding wheel 119 and enters the cleaning groove 111, so as to complete the entering process, and when the mopping member 22111 needs to exit the base station 1 after cleaning, the cleaning robot 2 moves reversely, and likewise, the exiting process may be smoothly completed under the actions of the guiding wheel 119 and the guiding surface 116. In addition, in order to avoid interference between the upward protruding guide wheel 119 and the contact between the mop 22111 and the cleaning surface during the cleaning process, as can be seen from fig. 53, an avoidance groove 203 adapted to the guide wheel 119 may be further provided on the cleaning robot 2, and after the mop 2211 passes over the guide wheel 119 and enters the cleaning groove 111, the guide wheel 119 is just embedded into the avoidance groove 203, so that the mop 22111 can be in close contact with the cleaning surface, and the cleaning effect is ensured.

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

As shown in fig. 37, the cleaning robot 2 according to the first and second embodiments is mainly different from the first and second embodiments in that the cleaning device 221 further includes a scraping structure 2219 disposed at the rear of the cleaning unit 2211, and the scraping structure 2219 can scrape the garbage and/or sewage dropped from the cleaning unit 221, thereby preventing the garbage and/or sewage from remaining on the ground cleaned by the cleaning unit 2211 and realizing secondary cleaning. The scraping structure 2219 may be a scraping blade or a cloth strip, and is preferably a flexible member, so as to reduce scraping damage to the ground. Of course, the scraping structure 2219 is not limited to the cleaning robot 2 shown in the first and second embodiments, and is also applicable to other cleaning robots 2 of the present invention.

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

As can be seen from fig. 38 to 41, the difference between the third embodiment and the foregoing two embodiments is mainly that the cleaning robot 2 of the embodiment has only one cleaning unit 2211 in the cleaning device 221, and accordingly, the cleaning device 11 of the base station 1 of the embodiment also has only one cleaning groove 111, and in order to make the structure more compact, the clean liquid supply device 12 and the dirty liquid collecting device 13 of the base station 1 are arranged one above the other instead. The cleaning robot 2 and the base station 1 of this embodiment are smaller in size and more suitable for use in small households.

As can be seen from fig. 41, in this third embodiment, the mop unit 2211 still rotates about the vertical axis relative to the chassis 202, and in order to achieve the rotation of the mop unit 2211 about the vertical axis, as shown in fig. 40, the mop driving mechanism 2212 of this embodiment still employs a worm motor to output torque, but is different in that the worm motor of this embodiment includes only one single-head worm motor 22121 'and one worm wheel 22122, and the engagement of the single-head worm motor 22121' and the worm wheel 22122 is used to drive the mop unit 2211 to rotate about the vertical axis, thereby achieving more effective cleaning of the floor.

In order to achieve sufficient garbage collection based on the floor cleaning device 22 of the single-mop unit 2211, as shown in fig. 41, in this embodiment, the dust suction opening 236 of the garbage collection device 23 is provided outside the edge of the mop unit 2211. Since the garbage is collected to the outside of the rotating mop unit 2211 along the edge of the mop 2211, the arrangement is such that the dust suction port 236 as a collection port is located on the garbage collection path of the mop unit 2211, thereby facilitating the collection of the garbage into the dust box 231. Further, this embodiment further adds a garbage blocking member 237 on a side wall of the housing 20, and the dust suction opening 236 is provided between the edge of the mop unit 2211 and the garbage blocking member 237, so that the garbage can be further collected to a smaller area by using the blocking effect of the garbage blocking member 237, thereby achieving more effective collection.

In the above three embodiments, the cleaning groove 111 and the protrusion structure have substantially the same structure, wherein the cleaning groove 111 is a deep groove having a circular cross section, and the protrusion structure includes a plurality of curved protrusions arranged in a radial manner. However, in the present invention, the specific structures of the cleaning groove 111 and the protruding structure are not limited to the specific structures shown in the three embodiments, and taking the modification examples shown in fig. 48 and 49 as an example, the cleaning groove 111 may be configured as a cleaning tray, that is, a shallow tray structure with a rectangular cross section, and the protruding portion 112 may be a straight protruding portion or a folding line protruding portion, that is, an extending path of the cross section of the protruding portion 112 is a straight line or a folding line, and in addition, the plurality of protruding portions 112 may be arranged in other manners than a radial manner, for example, an array manner may be a straight array (i.e., a matrix manner), a circular array manner, or an annular array manner, wherein the straight array manner is particularly suitable for the case that the mop 22111 reciprocates horizontally relative to the mop cleaning device 11, so that the mop 22111 can be cleaned more. In addition, in each cleaning groove 111, the shape of each protrusion 112 may also be different, that is, any combination of curved protrusions, straight protrusions, and broken line protrusions may be included in the plurality of protrusions 112; similarly, the arrangement of the protrusions 112 in each cleaning groove 111 may be any combination of various arrangements such as radial and array arrangements; and the shape and arrangement of the protrusions 112 in the different cleaning grooves 111 may be the same or different.

In addition, in another embodiment, the protrusion 112 includes a bottom protrusion 1121 provided at the bottom of the cleaning tank 111 and a side protrusion 1122 formed at the inner side of the cleaning tank 111. When the mop cleaning device 11 cleans the mop 22111, the bottom protrusions 1121 are in relative rotation and friction-press contact with the bottom surface of the mop 22111, and the side protrusions 1122 are in relative rotation and friction-press contact with the side surfaces of the mop 22111. Thus, the bottom surface of the mop 22111 is cleaned by the bottom protrusions 1121, and the side surfaces of the mop 22111 can be cleaned by the side protrusions 1122.

Of course, there may be other ways to clean the sides of the mop 22111. For example, the two wipers 22111 are disposed in edge contact, so that when the two wipers 22111 are rotated in the same direction, the two wipers 22111 relatively move at the position of the intermediate contact, rubbing against each other to perform cleaning of the sides.

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

Moreover, in order to achieve better cleaning effect on the mop 22111 and meet more various use demands and pursuit of higher quality life quality of users, the cleaning solution supply device 12 of the present invention may further include an auxiliary material supply device for providing auxiliary materials such as disinfectant, aromatic and wax layer for waxing required for cleaning the mop 22111, and the auxiliary material supply device may directly provide the auxiliary materials into the cleaning tank 111; the auxiliary material may be supplied to the first storage structure 121 so that the auxiliary material is mixed with the cleaning liquid and then flows into the cleaning tank 111 under the driving of the first power unit.

It should be noted that, in other embodiments of the present invention, the clean liquid supply device 12 and/or the dirty liquid collecting device 13 may be omitted, and the base station 1 may be directly disposed near a location where a tap water pipe and/or a drain pipe are installed, so that the base station 1 may directly use tap water supplied by the tap water pipe to clean the cleaning member 22111, and the cleaned sewage may also be directly drained through the drain pipe, so that the clean liquid supply device 12 and/or the dirty liquid collecting device 13 may be reduced, and therefore, the structure of the base station 1 may be simpler and the cost may be lower.

In addition, although the above three embodiments have been described in which the drag driving mechanism 2212 for driving the drag unit 2211 to rotate relative to the chassis 202 employs a worm gear mechanism to transmit torque in opposite directions to the two output shafts 22123, in practice, in other embodiments of the present invention, a gear mechanism may be employed to transmit torque in opposite directions to the two output shafts 22123. Further, as described in the first embodiment, in order to solve the problem of poor mopping effect of the existing cleaning robot 2, the mopping unit 2211 may be provided to rotate about a vertical axis with respect to the chassis 202 as in the above-described three embodiments, and may be provided to rotate about a horizontal axis. Fig. 42 and 43 show a cleaning robot system based on a fourth embodiment of the mopping unit 2211 rotating around a horizontal axis.

As shown in fig. 42, in this fourth embodiment, the cleaning robot 2 has a cleaning unit 2211 including a drum capable of horizontally rotating and a cleaning member 22111 provided on the outer surface of the drum, the cleaning unit 2211 being rotated about a horizontal axis by the driving of a cleaning driving mechanism 2212. Since the relative movement between the mop 22111 and the ground can be increased, the mop force is increased, the number of mopping times is increased, and the functions of mopping and cleaning are simultaneously achieved, the mopping effect of the mop 22111 can be effectively improved.

With respect to the cleaning robot 2 of this embodiment, this embodiment also provides a base station 1 different from the foregoing three embodiments. As shown in fig. 43, the base station 1 of this embodiment has a cleaning roller 118 provided in a cleaning groove 111 of the mop cleaning device 11, and uses the cleaning roller 118 to clean the mop 22111. In the process of cleaning the mop 22111, the mop 22111 is pressed on the cleaning roller 118 and supported by the cleaning roller 118, and then the cleaning of the mop 22111 is realized by the relative rotation of the cleaning roller 118 and the mop 22111. The relative rotation of the cleaning roller 118 and the mop 22111 may be that the mop 22111 actively rotates, or that the cleaning roller 118 actively rotates, or that both actively rotate but the rotation directions and/or the rotation speeds are different, where the mop 22111 actively rotates is preferable because: the active rotation of the cleaning member 22111 can be realized by using the self cleaning driving mechanism 2212 of the cleaning robot 2 without arranging a mechanism for driving the cleaning roller 118 on the base station 1, so that the base station 1 has a simpler structure and lower cost, and the active rotation of the cleaning member 22111 can also play a certain spin-drying role, so that the cleaning member 22111 can keep a proper humidity after cleaning is completed. Of course, the mop cleaning device 11 with the cleaning roller 118 is equally applicable to other embodiments of the present invention.

Further, in order to further improve the cleaning effect of the cleaning robot 2, in this fourth embodiment, a garbage scraping member with which garbage adhering to the floor cleaning device 22 is scraped off may be further provided on the floor cleaning device 22. The garbage scraping member may be a scraping blade 2312 or a rolling brush 2312', and fig. 44 and 45 show the structures of the two corresponding cleaning robots 2, respectively.

In the cleaning robot 2 shown in fig. 44, the garbage scraping member employs a scraping blade 2312, and the scraping blade 2312 is provided on the housing 20 of the cleaning robot 2 and can contact with the rotating mop 22111, so that the scraping blade 2312 scrapes off garbage adhered to the mop 22111 every time the mop 22111 contacts the scraping blade 2312 during the rotation of the mop 22111 to clean the floor, thereby enabling the cleaning of the floor.

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

Furthermore, as can be seen in conjunction with fig. 44 and 45, in both cleaning robots 2, the garbage collection device 23 further comprises a baffle 2311, which baffle 2311 is inclined downwards from the collection opening of the garbage collection device 23 and extends to the ground. Based on this, this baffle 2311 can block the garbage collected to its place, prevent the garbage cleaned by the floor cleaning device 22 from diffusing out of the range where the collection port can collect, thereby facilitating the collection by the garbage collection device 23 and preventing the garbage from causing secondary pollution to the cleaned floor. In particular, the baffle 2311 can prevent collected debris from being carried away from the collection port by the wiper 22111 when the wiper 22111 is rotated about a vertical axis relative to the chassis 202 of the cleaning robot 2 for cleaning operations. Moreover, the baffle 2311 cooperates with the aforementioned garbage scraping element to further assist the garbage collection device 23 in achieving sufficient garbage collection. Of course, the debris scraper and baffle 2311 shown in fig. 44 and 45 are also applicable to other embodiments of the present invention.

In addition, the foregoing embodiments have each been described with reference to the case where the mopping unit 2211 rotates relative to the chassis 202, but in practice, in order to improve the mopping effect of the mopping device 221 by increasing the relative movement of the mopping member 22111 and the ground, the mopping unit 2211 of the present invention may be configured to be capable of performing horizontal reciprocation relative to the chassis 202, that is, the mopping unit 2211 may not only improve the mopping effect by rotating relative to the ground, but also improve the mopping effect by performing horizontal reciprocation relative to the ground. In the embodiment shown in fig. 46 and 47, the mop unit 2211 is capable of horizontally reciprocating movement with respect to the chassis 202, in which case the mop 22111 performs push cleaning on the floor, and cleaning dirt or dust by reciprocating mopping on the floor, similar to a manual mopping manner, can reduce carry-over of dust at the rear of the mop 2211. Based on the cleaning robot 2 with the horizontal reciprocating motion of the mop 2211, the cleaning robot can be more conveniently matched with the base station 1, so that the cleaning device 11 of the mop 22111 can clean the mop 22111 in the process of moving relative to the mop 22111. In addition, in the present invention, the cleaning robot 2 may be configured such that the cleaning unit 2211 can rotate with respect to the chassis 202 and can horizontally reciprocate with respect to the chassis 202, and in the floor cleaning process, it is preferable to perform rotary cleaning first and then push cleaning, so that the advantages of the rotary cleaning mode and the push cleaning mode can be combined, and more effective floor cleaning can be achieved.

Further, in the foregoing embodiments, the floor cleaning device 22 includes only the mopping device 221, but in practice, in other embodiments of the present invention, the floor cleaning device 21 may also include a cleaning device 222 for cleaning floor waste, so that the cleaning robot 2 can clean the floor with both the mopping device 221 and the dedicated cleaning device 222 to obtain a cleaner floor cleaning effect. When a special cleaning device 222 is provided, the cleaning device 222 may be disposed in front of and/or behind the cleaning device 221, preferably in front of the cleaning device 221, so as to achieve a cleaning mode of "cleaning before cleaning", and most of the garbage (dust and larger particles) is cleaned by the cleaning device 222, and then the remaining garbage (such as stubborn dirt) which is difficult to clean is further cleaned by the cleaning device 221, so as to improve the cleaning quality of the ground. Fig. 47 shows one embodiment thereof. As shown in fig. 47, in this embodiment, the floor cleaning device 22 includes a horizontally reciprocating mop unit 2211 and a side brush 2221 provided in front of the mop unit 2211 and serving as a cleaning device 222, and a dust suction port 236 is provided between the mop unit 2211 and the side brush 2221, and the three cooperate to clean the floor. It will be appreciated by those skilled in the art that the cleaning device 222 is not limited to the side brush 2221, and that various cleaning devices 222 may be used with various mopping units 2211.

In addition, as a further improvement of the above embodiments, a cleaning member (such as bristles or a brush) may be disposed on the edge of the cleaning member 22111 of the cleaning unit 2211, so that the cleaning unit 2211 itself may be a sweeping and cleaning integrated structure, and has a sweeping and cleaning function, and even if no special cleaning device 222 is disposed, the cleaning unit 2211 itself may collect the garbage (especially the garbage such as hair) more sufficiently, so as to achieve a better cleaning effect; in addition, the cleaning member disposed at the edge of the cleaning member 22111 can be closely attached to the ground edge when the cleaning unit 2211 cleans the ground edge, so that the cleaning range of the cleaning device 221 is effectively enlarged, and the cleaning robot 2 can more effectively clean the indoor corners.

In addition, although the swing of the mop unit 2211 relative to the chassis 202 is achieved by the swingable connection of the mop unit 2211 and the mop driving mechanism 2212 in the foregoing embodiments, in practice, the implementation is not limited thereto, for example, the swing of the mop unit 2211 may be achieved by swingably connecting the mop driving mechanism 2212 to the chassis 202, at which time the mop unit 2211 is not swingably connected (e.g., fixedly connected) to the mop driving mechanism 2212, in practice, when the mop unit 2211 is connected to the chassis 202 by the mop driving mechanism 2212, the mop unit 2211 is swingably connected to the mop driving mechanism 2212, and/or the mop driving mechanism 2212 is swingably connected to the chassis 202, which may achieve the swing of the mop unit 2211 relative to the chassis 202; for another example, when the mop unit 2211 does not rotate and/or reciprocate horizontally with respect to the chassis 202, the mop driving mechanism 2212 may be replaced with a non-driven mop connection structure for connecting the mop unit 2211 with the chassis 202, and when the mop unit 2211 swings with respect to the chassis 202, the mop unit 2211 may be swingably connected to the non-driven mop connection structure and/or the non-driven mop connection structure may be swingably connected to the chassis 202.

It can be seen that, in the present invention, the mop connection structure connecting the mop unit 2211 and the chassis 202 may be a driving type mop connection structure (such as the mop driving mechanism 2212 in the foregoing embodiments) or a non-driving type mop connection structure (such as a connection shaft connected between the mop unit 2211 and the chassis 202); regardless of which mop connection structure the mop unit 2211 is connected to the chassis 202, the mop unit 2211 may be swingably connected to the chassis 202 via the mop connection structure, as long as the mop unit 2211 is swingably connected to the mop connection structure and/or the mop connection structure is swingably connected to the chassis 202.

In the present invention, the dust collection device 23 may be configured as a dust collection device other than the dust collection device described in the above embodiments, for example, the dust collection fan 234 and the fan duct 235 may not be provided, so that the dust enters the dust collection device 23 from the collection port only under the action of the self inertia and the collection action of the floor cleaning device 22, and in this case, the dust collection device 23 does not exert any further action on the dust, and the dust collection device 23 is used only as a dustpan.

The foregoing description of the exemplary embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims

1. A cleaning robot system comprising a base station (1) and a cleaning robot (2), characterized in that the base station (1) is arranged independently of the cleaning robot (2), the base station (1) comprising:

a base station body (10);

the cleaning device for the cleaning robot comprises a cleaning device (11) for the cleaning piece, wherein the cleaning device (11) for the cleaning piece comprises a cleaning groove (111) arranged on the base station body (10), a cleaning roller (118) is arranged in the cleaning groove (111), and the cleaning roller (118) is used for cleaning the cleaning piece (22111) of the cleaning robot (2);

the cleaning tank (111) is provided with a liquid inlet structure (113) and a liquid outlet structure (114), the liquid inlet structure (113) is in fluid communication with the cleaning tank (111) so that cleaning liquid can be sprayed onto a cleaning piece (22111) accommodated in the cleaning tank (111) through the liquid inlet structure (113), and the liquid outlet structure (114) is in fluid communication with the cleaning tank (111) so that the cleaning liquid after cleaning the cleaning piece (22111) can be discharged to the outside of the cleaning tank (111) through the liquid outlet structure (114);

The cleaning robot (2) comprises a housing (20);

the floor cleaning device (22) is arranged on the shell (20), the floor cleaning device (22) comprises a mopping unit (2211), the mopping unit (2211) comprises a roller capable of horizontally rotating and a mopping piece (22111) arranged on the outer surface of the roller, and the mopping unit (2211) rotates around a horizontal axis under the driving action of a mopping driving mechanism;

the garbage scraping part is used for contacting with the ground cleaning device (22) to scrape garbage adhered to the ground cleaning device (22), the garbage scraping part comprises a rolling brush (2312 '), the rolling brush (2312 ') can rotate in the same direction with the dragging part (22111) so that the rolling brush (2312 ') can rub with the dragging part (22111) in the same direction to scrape the garbage on the dragging part (22111).

2. The cleaning robot system of claim 1, wherein the cleaning roller (118) is configured to support the mop (22111), and the mop (22111) is pressed against the cleaning roller (118) during the cleaning of the mop (22111) by the mop cleaning device (11).

3. The cleaning robot system according to claim 2, wherein the cleaning roller (118) rotates relative to the mop (22111) during cleaning of the mop (22111) by the mop cleaning device (11) to effect cleaning of the mop (22111).

4. The cleaning robot system of claim 2, wherein the mop (22111) is actively rotated, the cleaning roller (118) being driven by the mop (22111);

alternatively, the cleaning roller (118) actively rotates, and the cleaning member (22111) is driven by the cleaning roller (118);

alternatively, the cleaning roller (118) and the mop (22111) both actively rotate, and the rotation directions and/or rotation speeds of the cleaning roller and the mop are different.

5. The cleaning robot system of claim 1, wherein a cross-sectional diameter of the cleaning roller (118) is smaller than a cross-sectional diameter of the mopping unit (2211).

6. The cleaning robot system according to claim 1, wherein the mop cleaning device (11) includes two cleaning rollers (118), and the two cleaning rollers (118) are spaced apart and respectively contact with the mopping members (22111) of the mopping unit (2211).

7. The cleaning robot system according to claim 6, wherein two of the cleaning rollers (118) are arranged in parallel at a distance from each other smaller than a cross-sectional diameter of the mopping unit (2211) so as to be supported on both sides of a bottom of the mopping unit (2211).

8. The cleaning robot system according to claim 1, characterized in that the debris scraper is provided to the housing (20).

9. The cleaning robot system of claim 1, wherein the debris scraper comprises a wiper blade (2312).

10. The cleaning robot system of claim 9, wherein the debris scraping member comprises a scraping blade (2312), the scraping blade (2312) being capable of contacting the rotating cleaning member (22111) such that the cleaning member (22111) scrapes debris adhered to the cleaning member (22111) each time the cleaning member (22111) contacts the scraping blade (2312) during rotation of the cleaning surface.

11. The cleaning robot system according to claim 1, further comprising a garbage collection device (23), a collection port of the garbage collection device (23) being directed toward a side of the mop (22111) contacting the garbage scraper.