CN106510556B

CN106510556B - Cleaning robot and cleaning robot system

Info

Publication number: CN106510556B
Application number: CN201611175803.6A
Authority: CN
Inventors: 张峻彬; 林伟劲
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd
Priority date: 2016-12-16
Filing date: 2016-12-16
Publication date: 2022-05-06
Anticipated expiration: 2036-12-16
Also published as: CN114468876A; CN114468875A; CN106510556A; CN114468874A; CN114468876B

Abstract

The invention relates to the technical field of cleaning robots, in particular to a cleaning robot and a cleaning robot system. According to the cleaning robot provided by the invention, the two mopping pieces on the mopping units can rotate around the vertical axis in the same direction or opposite directions relative to the chassis of the cleaning robot, and the collection ports of the garbage collection devices are arranged in the middle of the two mopping units. Therefore, in the mopping process, the relative motion between the mopping piece and the ground not only comprises the movement of the cleaning robot on the whole ground, but also comprises the rotation motion of the mopping piece relative to the ground, so that the mopping force of the mopping can be enhanced, and the mopping effect of the mopping piece can be improved. In addition, the rotary mopping piece can also sweep up garbage such as large particles, dust and the like on the ground, so that the garbage collection device can collect the garbage gathered by the mopping pieces of the two mopping units rotating around the vertical axis, namely, the rotary mopping piece can play a role in sweeping simultaneously, and the cleaning robot becomes a sweeping and mopping integrated robot.

Description

Cleaning robot and cleaning robot system

Technical Field

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

Background

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

Some existing cleaning robots can only realize a cleaning function, but cannot realize a floor mopping function, are difficult to effectively remove stubborn stains attached to the ground, and are unsatisfactory in ground cleaning effect. In addition, in the existing cleaning robot, the cleaning of the mopping piece needs to be completed by a user, and in the whole process of cleaning the floor, the user needs to frequently participate in changing and washing the mopping piece of the cleaning robot, so that on one hand, the user cannot be completely liberated from the floor mopping process, the workload of the user is increased, and on the other hand, the mopping effect is easily influenced due to untimely changing and washing, and the floor cannot be cleaned.

The most common of the existing sweeping and mopping integrated machines is to add a wet rag, such as kowski dirobao. The biggest problem with such a cleaning and mopping machine is that the robot has no way to automatically clean or change the cleaning cloth. While a single wipe may not clean the entire house, the entire cleaning process requires the user to frequently participate in changing and cleaning the wipes of the robot. In the cleaning process, the robot presses the cleaning cloth to cling to the ground by using the gravity of the robot, and drags the cleaning cloth to rub the ground for cleaning. The relative movement between the cleaning cloth and the ground is only formed by the movement of the robot, so the relative movement between the ground and the mop is less, the effect of repeatedly cleaning the ground cannot be achieved, and the cleaning effect is poor.

Disclosure of Invention

The invention aims to solve the technical problems that: the existing sweeping and mopping integrated cleaning robot has unsatisfactory floor cleaning effect.

In order to solve the above technical problems, a first aspect of the present invention provides a cleaning robot. The cleaning robot comprises a walking device for driving the cleaning robot to walk on the ground, a ground cleaning device for cleaning the ground and a garbage collecting device, the floor cleaning device comprises a mopping device, the mopping device comprises two mopping units and a mopping driving mechanism, the mopping units comprise mopping pieces used for mopping the floor, under the driving action of the mopping driving mechanism, the mopping pieces of the two mopping units can rotate around a vertical axis in the same direction or opposite directions relative to the chassis of the cleaning robot, the garbage collection device comprises a collection port for communicating the inside and the outside of the garbage collection device, the collection port is arranged in the middle of the two mopping units, so that the garbage collection device collects the garbage collected by the mopping pieces of the two mopping units rotating around the vertical axis in the same direction or in opposite directions.

Optionally, the mopping unit and/or the walking device are swingably connected to a chassis of the cleaning robot, so that the mopping piece of the mopping unit can be kept in contact with the ground by swinging along with unevenness of the ground.

Optionally, the mop unit further comprises a cleaning member, the cleaning member being arranged at an edge of the mop member.

Optionally, the cleaning robot further comprises a jacking mechanism mounted on the cleaning robot for jacking up the front end and/or the rear end of the cleaning robot.

Optionally, the cleaning robot comprises a suspension device arranged at the travelling wheel of the travelling device, the suspension device being used for keeping the travelling wheel elastically connected with the chassis of the cleaning robot so as to keep the travelling wheel in contact with the ground.

Optionally, the mopping driving mechanism includes two output shafts, the two output shafts are arranged in one-to-one correspondence with the two mopping units and are used for transmitting torques in opposite directions to the two mopping units, and the two output shafts are both vertically arranged.

Optionally, the mopping driving mechanism further comprises a worm gear mechanism and/or a gear mechanism for transmitting torque in opposite directions to the two output shafts.

Optionally, the dragging and wiping driving mechanism includes a worm motor and two worm gears in one-to-one driving connection with the two output shafts, the worm motor is used for outputting torque, and the two worm gears are both meshed with the worm motor to transmit torque in opposite directions to the two output shafts.

Optionally, the worm motor comprises two single-headed worm motors, each of which is engaged with one of the worm gears.

Optionally, the garbage collection device includes a dust collection device, the dust collection device includes a dust box, a filter screen, a dust removal fan, a fan duct and a dust collection port, the collection port includes a dust collection port of the dust collection device, the dust collection port is disposed at a lower portion of the dust box and opens toward the ground, the dust removal fan is in fluid communication with an inside of the dust box through the fan duct, so that garbage can enter the dust box through the dust collection port under the action of the dust removal fan; the filter screen is positioned on a fluid communication passage of the dust removal fan and the dust box;

the whole dust suction device extends along the front-back direction of the cleaning robot, and the mopping driving mechanisms are arranged on two sides of the dust suction device.

Optionally, the mopping device further comprises a scraping structure arranged behind the mopping unit, and the scraping structure is used for scraping garbage and/or sewage to prevent the garbage and/or sewage from remaining on the ground mopped by the mopping unit.

Optionally, the collecting port is arranged in the middle of the front or the rear of the two mopping units which rotate around the vertical axis in the same direction or in the opposite direction.

Optionally, the garbage collection device further comprises a baffle plate, wherein the baffle plate inclines downwards from the collection port and extends to the ground, and the baffle plate is used for preventing the garbage cleaned by the ground cleaning device from spreading to the outside of the collection range of the collection port.

The invention also provides a cleaning robot system. The cleaning robot system comprises the cleaning robot with the base station, wherein the base station is independent of the cleaning robot and can charge the cleaning robot and/or clean the mopping piece of the cleaning robot.

Optionally, the base station includes a base station body and a mopping piece cleaning device arranged on the base station body, the mopping piece cleaning device is used for cleaning a mopping piece of the cleaning robot for mopping the floor; the mopping piece cleaning device comprises a convex structure, the convex structure comprises a convex part, and the convex part is contacted with the mopping piece when the mopping piece cleaning device cleans the mopping piece; and/or the cleaning device for the mopping piece comprises a cleaning roller, and when the cleaning device for the mopping piece cleans the mopping piece, the cleaning roller is contacted with the mopping piece.

Optionally, the mop cleaning device and the mop can be rotated relative to each other and/or the mop cleaning device and the mop can be moved relative to each other during cleaning of the mop by the mop cleaning device.

According to the cleaning robot, the two mopping pieces on the mopping units can rotate around the vertical axis in the same direction or in opposite directions relative to the chassis of the cleaning robot, and the collection port of the garbage collection device is arranged in the middle of the two mopping units. Therefore, in the mopping process, the relative motion between the mopping piece and the ground not only comprises the movement of the cleaning robot on the whole ground, but also comprises the rotation motion of the mopping piece relative to the ground, so that the mopping force of the mopping can be enhanced, the mopping times of the mopping piece can be increased, the repeated mopping on the ground can be realized, and the mopping effect of the mopping piece can be improved. In addition, the rotatory piece of mopping can also sweep rubbish such as subaerial big particulate matter and dust, so that rubbish collection device collects the rubbish of being dragged the piece gathering of mopping of wiping the unit around vertical axis syntropy or two of antiport, rotatory piece of mopping plays the effect of cleaning simultaneously promptly, make this cleaning robot become to sweep and drag integrative robot, the function is more comprehensive, the ground cleaning effect is better, and can realize cleaning the function owing to need not to set up special cleaning device, therefore, also make cleaning robot can have simpler structure and littleer volume when having and sweep and drag integrative function, be favorable to further realizing cleaning robot's miniaturization and dexterity.

In addition, the cleaning effect of the cleaning robot is further improved by measures of increasing the relative movement between the mopping piece and the ground, enabling the mopping piece to swing relative to the ground and the like.

In addition, the base station independent of the cleaning robot is additionally arranged, and the base station is used for cleaning the mopping piece, so that the mopping piece can be automatically cleaned, the user can be further liberated from the ground cleaning process, the cleaning burden of the user is relieved, and the mopping effect can be prevented from being influenced due to the fact that the mopping piece is not changed and washed in time.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

In the figure:

1. a base station;

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

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

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

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

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

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

2. a cleaning robot;

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

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

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

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

24. a jack-up mechanism;

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

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

27. a control device;

28. a battery.

Detailed Description

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

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

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

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

Fig. 1-58 illustrate various embodiments of a cleaning robot system including a base station of the present invention. Referring to fig. 1 to 58, the cleaning robot 2 of the present invention includes a walking device 21 for driving the cleaning robot 2 to walk on the 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 piece 22111, and the mopping piece 22111 is used for mopping the floor.

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

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

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

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 eraser 22111. The base station 1 includes a base station body 10 and a mop cleaning device 11 provided on the base station body 10, and the mop cleaning device 11 is used for cleaning a mop 22111 of the cleaning robot 2.

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

In order to provide a better cleaning effect for the base station 1, in the present invention, the cleaning device 11 and the cleaning element 22111 are preferably configured to be relatively movable, for example, the cleaning device 11 can rotate relative to the cleaning element 22111, and/or the cleaning device 11 can move relative to the cleaning element 22111, so that the cleaning element 22111 is pressed onto the cleaning device 11 during the cleaning process of the cleaning element 22111, and the cleaning device 11 can apply friction to the cleaning element 22111, thereby improving the cleaning performance of the cleaning element 22111 and improving the cleaning effect of the cleaning device 11. The relative movement between the cleaning device 11 and the cleaning element 22111 may be generated by moving one

cleaning device

11 or 22111 and keeping the other stationary, or by moving both the cleaning device 11 and the cleaning element 22111 but at different directions and/or speeds.

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

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

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

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

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

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 unit 21, a floor cleaning unit 22, a garbage collection unit 23, and the like.

Wherein the housing 20 forms a mounting base for 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, the chassis 202 is mounted with the traveling device 21, the floor cleaning device 22, the garbage collecting device 23, and the like, and the upper housing 201 is covered above the chassis 202 for protecting the structural components in the hollow space between the upper housing 201 and the chassis 202 and keeping the overall structure neat and beautiful.

The traveling device 21 is used to provide driving force for the cleaning robot 2 to move on the ground, and drive the cleaning robot 2 to travel on the ground. 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 are symmetrically disposed on the left and right sides of the chassis 202, and the traveling wheels 211 rotate to enable the cleaning robot 2 to move forward or backward on the ground. Further, the cleaning robot 2 can be steered by differential rotation of the pair of traveling wheels 211.

The floor cleaning device 22 is used to clean the floor. In this embodiment, the floor cleaning device 22 comprises a mopping device 221, the mopping device 221 comprises a pair of mopping units 2211, each mopping unit 2211 comprises a pressure plate 22112 and a mopping piece 22111, and the mopping piece 22111 is mounted on the lower end face of the pressure plate 22112 for mopping the floor.

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

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

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

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

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

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

As is apparent from fig. 11 and 12, the mopping device 221 of this embodiment further includes a mounting base plate 2213, an upper plate 2214, and a lower plate 2215, and the mopping driving mechanism 2212 is mounted on the base plate 202 via the mounting base plate 2213, the upper plate 2214, and the lower plate 2215. The upper plate 2214 and the lower plate 2215 are fastened to form a hollow space, the components of the dragging drive mechanism 2212 are disposed in the hollow space for transmission, the installation base plate 2213 is disposed on the base plate 202, and the lower plate 2215 is mounted on the installation base plate 2213, so that the dragging drive mechanism 2212 is mounted on the base plate 202. In addition, the friction driving mechanism 2212 of this embodiment further includes a bearing 22124 and an oil seal ring 22125, wherein the bearing 22124 and the oil seal ring 22125 are disposed between the output shaft 22123 and the worm wheel 22122, so as to achieve 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 constantly bringing the two mopping pieces 22111 into close contact with the floor surface, and the applicable range of the cleaning robot 2 is enlarged.

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

In order to swing the mop unit 2211 around a vertical axis, as shown in fig. 12, a flexible connecting block 2216 is disposed between the mop unit 2211 and the output shaft 22123 of the mop driving mechanism 2212, and the two units are connected by the flexible connecting block 2216. The flexible connection block 2216 may be removably connected to the mopping unit 2211 and/or the mopping actuation mechanism 2212. As a flexible connection structure, the flexible connection block 2216 can deform freely, so that when the cleaning robot 2 encounters an uneven ground, the flexible connection block 2216 can deform adaptively under the action of a ground force transmitted by the mopping piece 22111, and the mopping unit 2211 is driven to swing adaptively around the output shaft 22123 arranged vertically with respect to the chassis 202 (i.e., with respect to the ground), so as to maintain contact with the ground. Moreover, as shown in fig. 11, 13 and 15, each flexible connecting block 2216 can provide the corresponding mopping unit 2211 with an adjustment degree of freedom of oscillation (i.e. the first degree of freedom of oscillation I in fig. 13), and the oscillation manner is more various and can be more flexibly adapted to the ground.

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

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

In order to swing the mopping unit 2211 around the horizontal axis, a horizontal rotating shaft 2218 is provided between the mopping device 221 and the chassis 202, and the two are connected by the horizontal rotating 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 driving shaft of the mopping apparatus 221 connected between the two mopping units 2211. The horizontal rotation shaft 2218 can provide each of the wiping units 2211 with a horizontal rotation degree of freedom (i.e., the second swing degree of freedom J shown in fig. 13), so that each of the wiping units 2211 can swing around the horizontal rotation shaft 2218 along with unevenness of the ground surface, thereby ensuring that the wiping member 22111 is in contact with the ground surface.

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

On the other hand, as can be seen from fig. 13, in this embodiment, since the horizontal rotating shaft 2218 is provided between the mopping device 221 and the chassis 202, the contact between the mopping device 221 and the ground is equivalent to one fulcrum, that is, the mopping device 221 of this embodiment provides one fulcrum to the cleaning robot 2, and meanwhile, since the contact between the two traveling wheels 211 and the ground is equivalent to two fulcrums, as a whole, a three-point support manner is formed between the cleaning robot 2 of this embodiment and the ground, which enables the cleaning robot 2 to land on 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 making the mopping unit 221 swing along with the unevenness of the ground is not limited to the above-mentioned manner (i.e., the manner shown in fig. 13), and three alternative embodiments are provided herein.

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

As another alternative, as shown in fig. 17 and 18, in this embodiment, the flexible connecting block 2216 may be omitted, and the horizontal rotating shaft 2218 may be provided only between the mopping device 221 and the chassis 202, or the horizontal rotating shaft 2218 may be provided only between the traveling device 21 and the chassis 202. With these two alternatives, although the effect of bringing the eraser 22111 into close contact with the ground at any time is not as good as the case where the eraser unit 2211 simultaneously swings around the vertical axis, the whole swing of the eraser 22111 and/or the traveling device 21 with respect to the chassis 202 can be realized, the three-point support is formed, and the structure is simpler and the cost is lower.

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

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

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

In a modified implementation, the mopping driving mechanism is arranged at both sides of the dust suction device so that the dust suction device can be integrally extended in the front-rear direction of the cleaning robot 2. For example, the double-headed 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 on the two sides of the dust collection device respectively, the blocking of the dust collection device caused by the fact that the motor rotating shaft penetrates through 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.

In the garbage collection device 23 of this embodiment, when in operation, the dust removing fan 234 drives the wind to drive the garbage to enter the box body 2313 through the dust suction port 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 removing fan 234, and is finally drawn away by the dust removing fan 234.

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

In addition, as described above, in this embodiment, the two wiping units 2211 reversely rotating around the vertical axis can gather the garbage between the two wiping units 2211, and therefore, in order to collect the garbage more conveniently and effectively, as shown in fig. 7 and 20, in this embodiment, the dust suction port 236 is provided in the middle of the two wiping units 2211 of the wiping apparatus 221 of this embodiment, so that the dust suction port 236 is located between the two wiping units 2211 on the path where the garbage is gathered, and therefore, the garbage collection apparatus 23 can collect the garbage more sufficiently, and a more effective garbage collection effect is achieved. The dust suction opening 236 may be disposed at the middle of the rear of the two wiping units 2211, or may be disposed at the middle of the front of the two wiping units 2211. By arranging the dust suction opening 236 at the middle of the rear of the two mopping units 2211, as shown in fig. 36, since the dust is collected by the dust collecting device 23 after being collected in a smaller area, the dust suction opening 236 can be arranged to be smaller, and the smaller the dust suction opening 236, the greater the suction force, the more efficient collection can be achieved. As shown in fig. 7 and 20, the dust collection port 236 is disposed in the middle of the front of the two mopping units 2211, which is advantageous in that the collection of the garbage can be performed before the mopping, the garbage can be collected without being wetted by the mopping members 22111, and the non-wetted garbage is easy to collect due to the small adhesion force to the ground, so that the dust collection port 236 is disposed in the middle of the front of the two mopping units 2211 rotating in the opposite direction around the vertical axis, which can reduce the difficulty of collecting the garbage, so that the dust collection device can collect the garbage by applying a small suction force, and the problem that the garbage such as hair is difficult to collect due to excessive wetting can be effectively prevented, thereby collecting the garbage more conveniently and thoroughly and realizing a cleaner garbage collection effect.

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

Moreover, as can be seen from fig. 57 and 58, in the cleaning robot 2 of the above embodiment, the garbage collection devices 23 each further include a baffle 2311, and the baffle 2311 is inclined downward from the collection port (i.e., the dust suction 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 gathered to the position where the garbage is, and prevent the garbage cleaned by the floor cleaning device 22 from spreading to the outside of the range where the collection port (dust collection port 236) can collect, so that the garbage collection device 23 can collect the garbage more conveniently, and the garbage can be prevented from causing secondary pollution to the cleaned floor. In particular, the baffle 2311 prevents the collected debris from being carried away from the collection opening (the suction opening 236) by the mop 22111 when the mop 22111 is rotated about a vertical axis relative 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 let only the mopping device 221 operate; or, the mopping device 221 may be replaced by a cleaning device 222 for cleaning the garbage on the ground, such as a rolling brush, and the cleaning device 222 and the garbage collection device 23 are used to cooperate to realize a separate sweeping function, and since the mopping device 221 of this embodiment is detachably connected to the mopping driving mechanism 2212, the mopping device 221 may be conveniently replaced by the cleaning device 222 to realize the switching of the cleaning mode; further, the cleaning robot 2 of this embodiment can also perform a dry-mopping function by replacing the wet mop 22111 with the dry mop 22111, and also, since the mop 22111 of this embodiment is detachably attached to the pressure plate 22112, the dry mop 22111 and the wet mop 22111 can be easily replaced, thereby performing a quick switching between dry-mopping and wet mopping modes.

In addition, as shown in fig. 6 and fig. 8 to 10, in this embodiment, the cleaning robot 2 further includes a collision sensing plate 25, a laser radar 26, a control device 27, a battery 28, and a human-machine interaction device such as a button, a screen, or the like for human-machine interaction. Wherein the collision sensing plate 25 is used to prevent the cleaning robot 2 from colliding with an obstacle, and in this embodiment, the collision sensing plate 25 is disposed at the front end of the housing 20; the laser radar 26 is used for map scanning to realize map building and positioning of the cleaning robot 2, and in the embodiment, the laser radar 26 is embedded in the rear part of the upper shell 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 drive control, battery management, navigation and positioning, map generation, intelligent obstacle avoidance, and cleaning path planning.

Further, in order to facilitate the cleaning robot 2 to make an obstacle detour and get in and out of the base station 1, the cleaning robot 2 of this embodiment further includes 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, and can provide lifting force for the cleaning robot 2, so that the cleaning robot 2 can conveniently cross a barrier (such as a threshold) with a certain height in the ground walking process, the obstacle crossing capability of the cleaning robot 2 is improved, the cleaning range of the cleaning robot 2 is enlarged, and the cleaning robot 2 can conveniently enter and exit the base station 1 in the process that the cleaning robot 2 enters and exits the base station 1, particularly the cleaning device 11 for the mopping piece of the base station 1 with a certain height.

Specifically, as shown in fig. 7, 8 and 10, in this embodiment, the jacking mechanism 24 is disposed on the chassis 202 of the cleaning robot 2 and located at a position in front of the chassis 202, and includes a swing link capable of swinging up and down, when the swing link swings out downwards, the swing link can extend downwards from the chassis 202 and be supported on a carrying surface (for example, the ground) so as to jack up the front end of the cleaning robot 2, and when the swing link swings back upwards, the swing link retracts to release jacking, 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 jacking mechanism 24 may jack up the front end of the cleaning robot 2, actively raise the height of the front end of the cleaning robot 2, help the cleaning robot 2 get over the obstacle quickly, or help the cleaning robot 2 get into the base station 1 quickly and make the mop 22111 enter the mop cleaning device 11 smoothly.

It should be understood by those skilled in the art that the jacking mechanism 24 is not limited to be disposed on the chassis 202, but may be disposed on the base station 1, or one jacking 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 be provided at the front portion of the chassis 202, and may be provided at the rear portion of the chassis 202 for jacking 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. 50-52, in this alternative embodiment, the jacking mechanism 24 is disposed at the rear of the chassis 202, in this case, as shown in fig. 52, when the cleaning robot 2 needs to enter the base station 1, the jacking mechanism 24 may not be operated, the cleaning robot 2 directly enters the base station 1 under its own driving force and the guiding action of the guiding structure (such as the inclined guiding surface 116 in fig. 52) of the base station 1, so that the mop 22111 enters the mop cleaning device 11, and when the cleaning robot 2 needs to exit the base station 1 after the cleaning of the mop 22111 is completed, the jacking mechanism 24 is operated to jack the rear end of the cleaning robot 2, so that the rear edge of the mop 22111 is higher than the edge height of the mop cleaning device 11, so as to exit the base station 1. Moreover, in this alternative embodiment, it is preferable to provide a suspension device at the traveling wheel 211, and the suspension device is used to keep the traveling wheel 211 elastically connected to the chassis 202, so that the traveling wheel 211 can be kept in contact with the ground at all times, and therefore, when the jack-up mechanism 24 jacks up the rear end of the cleaning robot 2, the traveling wheel 211 can still be tightly attached to the ground under the action of the suspension device to provide friction for the cleaning robot 2, so that, by providing the suspension device, the cleaning robot 2 can be further assisted to be more efficiently ejected from the base station 1.

Specifically, as shown in fig. 50 and 51, in this alternative embodiment, the suspension means 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 walking wheel 211, and a portion between both ends of the support 213 for connection with the spring 212 and the walking wheel 211 is rotatably disposed with respect to the housing 20 of the cleaning robot 2. Based on the structure setting, the suspension device can not only make the traveling wheels 211 keep in contact with the ground, but also can utilize the elastic force of the springs 212 to assist the jacking mechanism 24 in tilting the rear end of the cleaning robot 2, so that under the condition, the jacking mechanism 24 only needs a smaller jacking force to jack the rear end of the cleaning robot 2, so that the jacking mechanism 24 can select a smaller motor, and the purposes of reducing the cost and saving the installation space are achieved.

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

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 eraser 22111 by washing with water, i.e. the base station 1 keeps the eraser 22111 clean by washing the eraser 22111.

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

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

As shown in fig. 2, in this embodiment, the mop cleaning device 11 is installed below the base station body 10, and the clean liquid supply device 12 and the dirty liquid collecting device 13 are installed above the base station body 10 and located at the left and right sides of the base station body 10, respectively, for compact structure and good appearance. The mop cleaning device 11 of this embodiment cooperates with the clean liquid supply device 12 and the dirty liquid collecting device 13 to achieve water washing cleaning of the mop 22111; further, since the eraser unit 2211 of this embodiment is rotatable about a vertical axis, the eraser unit 2211 and the eraser cleaning device 11 can be relatively rotated, and the base station 1 can implement a friction type water washing cleaning method. 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 provides the cleaning liquid, and the dirty liquid collecting device 13 collects the dirty cleaning liquid after 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 inlet structure 113, and a liquid discharge structure 114.

The cleaning groove 111 is used for accommodating the mop 22111 when the mop 22111 is cleaned by the mop cleaning device 11, and also provides an accommodating space for the cleaning solution. As can be seen from fig. 3 and 4, in this embodiment, the mop cleaning device 11 includes two cleaning grooves 111, and the shape and size of each cleaning groove 111 are adapted to the shape and size of the mop unit 221 of this embodiment, wherein the cross-sectional shape of the cleaning groove 111 is circular. This arrangement is intended to make the shape, size and number of the cleaning tank 111 and the wiping units 221 of the cleaning robot 2 correspond to each other, which not only can better accommodate the wiping members 2111 and the cleaning liquid and prevent the cleaning liquid from splashing, but also can make the base station 1 clean all the wiping members 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 can be adaptively set according to the specific situation of the wiping units 2211, and the number of the cleaning grooves 111 can also be set to be equal to the total number of the wiping units 221 of the plurality of cleaning robots 2, and the cleaning grooves are arranged in a one-to-one correspondence manner, so that the base station 1 can simultaneously clean all the wiping members 22111 of the plurality of cleaning robots 2, and the cleaning efficiency is higher.

The protrusion structure is used for contacting with the wiping part 22111 accommodated in the cleaning groove 111, and since the whole surface of the wiping part 22111 can contact with the protrusion structure, the contact area is large, the cleaning efficiency is high, and the protrusion structure can play a role in scraping off sewage and increasing friction force in the cleaning process, so that the cleaning effect can be further improved. As shown in fig. 4, in this embodiment, the convex structures are arranged in the 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 in a radial shape. The protruding structure shown in this embodiment can better adapt to the rotation mode of the wiping member 22111, so that the protruding structure can rub against the rotating wiping member 22111 more fully during the cleaning process, and a cleaner cleaning effect can be achieved. In addition, during the squeezing rotation of the eraser 22111 and the protrusion, water is squeezed from the eraser 22111 by the protrusion 112, so that the protrusion also has a function of drying the eraser 22111.

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

The cleaning liquid supply device 12 is in fluid communication with the cleaning tank 111 through a liquid inlet structure 113 to conveniently supply cleaning liquid into the cleaning tank 111; the dirty liquid supply 113 is in fluid communication with the cleaning tank 111 via a drain 114 to facilitate collection of dirty cleaning liquid after cleaning the mop 22111. As can be seen from 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 containing 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 to 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 used for storing the dirty-cleaning liquid, the second water pump 132 being used as a second power device for pumping the dirty-cleaning liquid into the second storage structure 131.

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

wherein the content of the first and second substances,

: the final obtained liquid level;

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

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

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

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

: and correcting the parameters.

In the working process of the base station 1 of this embodiment, as can be seen from fig. 23, the mopping piece 22111 is accommodated in the cleaning tank 111, the whole surface of the mopping piece is pressed against the convex structure to rotate around the vertical axis, the cleaning solution in the first storage structure 121 is pressurized by the first water pump 122 and then sprayed onto the mopping piece 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 wiping member 22111 by the protrusion 112, and is also thrown off the wiping member 22111 by centrifugal force during the rotation of the wiping member 22111, flows to the liquid discharge structure 114, and is pumped into the second storage structure 131 by the second water pump 132.

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

In this embodiment, the cleaning liquid may be water or a mixture of water and a cleaning agent, and preferably a mixture of water and a cleaning agent, so that the eraser 22111 can be cleaned more cleanly. Wherein, when a mixed solution of water and a detergent 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 the containers stores the cleaning agent, and the other container stores water, in this case, the first water pump 122 may drive the cleaning agent and the water to flow from the respective containers to the cleaning tank 111, or a third water pump may be further provided, that is, the first power unit further includes a third water pump, the cleaning agent is driven by the third water pump to be mixed with the water, and then the mixed liquid is driven by the first water pump 122 to flow to the cleaning tank 111.

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

Further, to facilitate the movement of the cleaning robot 2 into and out of the base station 1, the base station 1 may further include a guide 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. Specifically, as shown in fig. 4, in this embodiment, the base station 1 includes a guide surface 116 serving as a guide structure, and the guide surface 116 is inclined obliquely downward from the mop cleaning device 11 (specifically, at the edge of the cleaning slot 111) and extends to the ground, so that the guide surface 116 can guide the cleaning robot 2 to climb along the guide surface 116 to the height of the edge of the cleaning slot 111, facilitating the entry of the mop 22111 into the cleaning slot 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 easily enter and exit the base station 1, and the work efficiency of the cleaning robot system can be improved. Of course, the guide structure is not limited to the form of the structure shown in this embodiment, and may further include a guide plate 116 and/or a guide wheel 119, which will be further described later in the second embodiment shown in fig. 24 to 35 and the embodiment shown in fig. 53.

The charging device 14 is used to charge the battery 28 of the cleaning robot 2, and performs a 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, so that the cleaning robot 2 can be charged by the charging device 114 when the cleaning robot 2 climbs up the guide surface 116. The charging means 14 may be charged in various ways, for example, it may be a contact type charging method, in which a charging process is performed by contact between a charging pad 141 provided on the base station 1 and a charging pad 252 (shown in fig. 28 and 29) provided on the cleaning robot 2; for another example, wireless charging may be performed by using a wireless charging method in which an induction coil provided on the chassis 202 of the cleaning robot 2 is engaged with a charging coil provided on the guide surface 116 of the base station 1.

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

As shown in fig. 24-35, this second embodiment is substantially the same as the first embodiment, wherein the base station 1 is still able to charge the cleaning robot 2 and wash the two mopping pieces 22111 of the cleaning robot 2, and the two mopping pieces 22111 of the cleaning robot 2 are still able to rotate in opposite directions around the vertical axis, and each mopping piece 22111 is also still able to oscillate with respect to the chassis 202, and the difference is mainly: on the one hand, the specific structure of the mop driving mechanism 2212 for driving the two mop pieces 22111 to rotate reversely around the vertical axis is different; on the other hand, the specific implementation manner of the swinging 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 guiding structure of the base station 1 are slightly different. Therefore, the following description focuses on the differences in the four aspects, and other parts not described can be understood with reference to the first embodiment. When other embodiments are described, only the differences will be emphasized.

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

As shown in fig. 28-31, in this second embodiment, although the mop driving mechanism 2212 still uses the worm and gear mechanism to transmit torque to the output shaft 22123, the worm motor in the worm and gear mechanism does not use the double-headed worm motor 22121, but uses two single-headed worm motors 22121 ', each single-headed worm motor 22121' is in one-to-one meshing transmission with two worm wheels 22122 in the worm and gear mechanism, so that two groups of worm and gear with different rotation directions can be used to drive the two mop pieces 22111 to rotate reversely around the output shaft 22123 arranged vertically, which can ensure the relative dynamic balance of the head of the cleaning robot 2, improve the mop effect, and simultaneously play a role of cleaning, and collect the garbage to the middle for the convenience of collecting by the garbage collecting device 23. Moreover, the embodiment adopts two motors, and compared with the case of adopting one motor, the embodiment has the advantages that the two motors are conveniently arranged on two sides of the dust collection device respectively, the phenomenon that the air path of the dust collection device is blocked because the rotating shaft of the motor penetrates 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. 32a to fig. 32c, in order to achieve the swingable connection between the mop unit 2211 and the mop driving mechanism 2212 and further the swingable connection between 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, but the fitting relationship between the mop unit 2211 and the mop driving mechanism 2212 is set to be in clearance fit. Specifically, as shown in fig. 32c, in this second embodiment, the output shaft 22123 is in clearance fit with the pressure plate 22112, and since the gap between the output shaft 22123 and the pressure plate 22112 enables the pressure plate 22112 to have a certain clearance swing angle relative to the output shaft 22123, and the mopping piece 22111 is further disposed on the pressure plate 22112, this way of the clearance fit between the mopping unit 2211 and the mopping driving mechanism 2212 can utilize clearance movement to achieve the swingable connection between the mopping unit 2211 and the chassis 202, so that the mopping piece 22111 can change its own swing angle according to the actual situation of the ground, thereby achieving the purpose of adapting to the ground.

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

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

In addition to the above-mentioned several major differences, the cleaning robot 2 in this second embodiment has other differences from the first embodiment. As shown in fig. 28, in this second embodiment, the structure of the housing 20 of the cleaning robot 2 is slightly different, the upper housing 201 is provided with a battery mounting groove for mounting the battery 28, and accordingly, the battery mounting groove is covered by an upper housing cover 2011 to shield the battery mounting groove and the battery 28 therein, protect the battery 28, and keep the whole flat and beautiful, and the lower housing cover 2021 is added to the lower portion of the chassis 202 to facilitate the disassembly and assembly and maintenance; moreover, a camera 251 and a charging contact 252 are additionally arranged on the collision sensing board 25, wherein the camera 251 is used for matching with the laser radar 26 to realize better scanning positioning and obstacle identification functions, and the charging contact 252 is used for contacting with a charging sheet 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 collecting device 13 are provided at the upper portion 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 provided at the bottom of the support frame 101; the first storage structure 121 and the second storage structure 131 each include a box 1211, a lid 1212, a handle 1213, and a latch 1214, wherein the lid 1212 is disposed at an opening at a top end of the box 1211, the handle 1213 is disposed on the lid 1212 for facilitating carrying, and the latch 1214 is disposed at a connection between the box 1211 and the lid 1212 for realizing a latching connection between the box 1211 and the lid 1212.

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

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

In addition, the way of facilitating the cleaning robot 2 to enter the base station 1 can be realized by the cooperation of the jacking mechanism 24 and the guiding structure of the base station 1 as shown in the first and second embodiments, and of course, the jacking mechanism 24 may not be provided, and the cleaning robot 2 can enter the base station only under the guiding action of the guiding structure. As shown in fig. 53, the guiding structure of the base station 1 may include not only the aforementioned guiding surface 116, but also a guiding wheel 119, in which case, when the cleaning robot 2 enters the base station 1, the cleaning robot can firstly climb to the height of the guiding wheel 119 by its own walking driving force under the guiding action of the guiding surface 116, and then tilt the front end of the cleaning robot 2 under the action of the guiding wheel 119 until the wiping unit 2211 passes the guiding wheel 119 and enters the cleaning slot 111 to complete the entering process, and when the wiping member 22111 is cleaned and needs to exit the base station 1, the cleaning robot 2 moves reversely, and the exiting process can also be successfully completed under the action of the guiding wheel 119 and the guiding surface 116. In addition, in order to avoid interference of the guide wheel 119 protruding upwards with the contact between the wiping member 22111 and the cleaning surface during the cleaning process, as can be seen from fig. 53, an avoiding groove 203 adapted to the guide wheel 119 may be further provided on the cleaning robot 2, and after the wiping unit 2211 passes over the guide wheel 119 and enters the cleaning groove 111, the guide wheel 119 is just embedded into the avoiding groove 203, so that the wiping member 22111 can be in close contact with the cleaning surface, and the cleaning effect can be ensured.

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

As shown in fig. 37, the cleaning robot 2 of this embodiment is mainly different from the first and second embodiments in that the wiping device 221 further includes a scraping structure 2219 disposed behind the wiping unit 2211, and the scraping structure 2219 can scrape the garbage and/or sewage dropped from the wiping unit 221, so that the garbage and/or sewage can be prevented from remaining on the ground surface wiped by the wiping unit 2211, and secondary cleaning can be achieved. The scraping structure 2219 can be a scraper or a cloth strip, etc., and is preferably a flexible member to reduce the scraping damage to the ground. Of course, 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 illustrate a third embodiment of a cleaning robot system.

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

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

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

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

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

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

In addition, in the above three embodiments, the dirty liquid collecting device 13 collects the dirty cleaning liquid through the suction action of the second power device. However, in another embodiment of the present invention, instead of providing the second power device, as shown in fig. 54 and 55, the second storage structure 131 may be directly disposed below the cleaning tank 111, and the second storage structure 131 may be in fluid communication with the cleaning tank 111, in which case the dirty cleaning solution may automatically flow 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 a better cleaning effect for the eraser 22111 and meet the user's more diverse use demands and the pursuit of higher quality of life, the cleaning solution supplying device 12 of the present invention may further include an auxiliary material supplying device for supplying auxiliary materials such as a disinfectant solution, an aromatic agent, and a wax layer for waxing, which are required for cleaning the eraser 22111, and the auxiliary material supplying device may directly supply the auxiliary materials into the cleaning tank 111; it is also possible to provide the auxiliary material into the first storage structure 121 such 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 another embodiment 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 installed near a position where a tap water pipeline and/or a drain pipeline is installed, so that the base station 1 may directly clean the eraser 22111 by tap water supplied from the tap water pipeline, and the cleaned sewage may also be directly drained through the drain pipeline, and the clean liquid supply device 12 and/or the dirty liquid collecting device 13 may be reduced, so that the structure of the base station 1 may be simpler and the cost may be lower.

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

As shown in fig. 42, in the fourth embodiment, a wiping unit 2211 of the cleaning robot 2 includes a drum capable of rotating horizontally and a wiping member 22111 provided on an outer surface of the drum, and the wiping unit 2211 is rotated about a horizontal axis by a driving force of a wiping driving mechanism 2212. Because the relative movement between the mopping piece 22111 and the ground can be increased, the mopping force is increased, the mopping times are increased, and the mopping and cleaning effects are achieved simultaneously, the mopping effect of the mopping piece 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, in the base station 1 of this embodiment, a cleaning roller 118 is provided in the cleaning groove 111 of the mop cleaning device 11, and the cleaning of the mop 22111 is performed by the cleaning roller 118. In the process of cleaning the eraser 22111, the eraser 22111 is pressed against the cleaning roller 118 and supported by the cleaning roller 118, and then the cleaning of the eraser 22111 is achieved by the relative rotation of the cleaning roller 118 and the eraser 22111. The relative rotation between the cleaning roller 118 and the wiping member 22111 can be the active rotation of the wiping member 22111, the active rotation of the cleaning roller 118, or both the active rotations but with different rotation directions and/or rotation speeds, wherein the active rotation of the wiping member 22111 is preferred because: the active rotation of the cleaning component 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 component 22111 can also play a certain role in spin-drying, so that the cleaning component 22111 can keep proper humidity after cleaning. Of course, the mop cleaning device 11 having the cleaning roller 118 is equally applicable to other embodiments of the present invention.

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

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

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

Further, as can be seen from fig. 44 and 45, in both of the cleaning robots 2, the garbage collection device 23 further includes a baffle 2311, and the baffle 2311 is inclined downward from the collection port of the garbage collection device 23 and extends to the floor. Based on this, this baffle 2311 can block the rubbish of gathering to its position, prevents that the rubbish of being cleaned out by ground cleaning device 22 from spreading to outside the scope that the collection mouth can be collected to be more convenient for garbage collection device 23 is collected, and prevents that rubbish from causing secondary pollution to the ground of cleaning. In particular, the baffle 2311 prevents the collected debris from being carried away from the collection opening 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 garbage scraping element to further facilitate the garbage collection device 23 to achieve sufficient garbage collection. Of course, the trash scrapers and baffles 2311 shown in fig. 44 and 45 are also suitable for use in other embodiments of the invention.

In addition, although the above embodiments have described the present invention by taking the rotation of the mopping unit 2211 relative to the chassis 202 as an example, in order to improve the mopping effect of the mopping device 221 by increasing the relative movement of the mopping piece 22111 to the ground, the mopping unit 2211 of the present invention may be configured to horizontally reciprocate 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 horizontally reciprocating relative to the ground. In the embodiment shown in fig. 46 and 47, the mopping unit 2211 can horizontally reciprocate relative to the chassis 202, in which case the mopping member 22111 performs a push-type cleaning on the floor to remove dirt or garbage by reciprocating mopping on the floor, which can reduce the remaining of garbage at the rear of the mopping device 2211, similar to a manual mopping method. The cleaning robot 2, which can horizontally reciprocate based on the mopping unit 2211, can be more conveniently matched with the base station 1, so that the mopping piece cleaning device 11 can clean the mopping piece 22111 in the process of moving relative to the mopping piece 22111. Further, in the present invention, the mopping unit 2211 of the cleaning robot 2 may be configured to be capable of rotating with respect to the chassis 202 and horizontally reciprocating with respect to the chassis 202, and preferably performs the rotating mopping and then the pushing mopping in the floor cleaning process, so that the advantages of the rotating mopping and the pushing mopping may be combined to realize more effective floor cleaning.

Furthermore, in the foregoing embodiments, the floor cleaning device 22 only comprises the mopping device 221, but actually, in other embodiments of the present invention, the floor cleaning device 21 may also comprise the sweeping device 222 for sweeping the floor garbage, so that the cleaning robot 2 can clean the floor by using the mopping device 221 and the special sweeping device 222 at the same time, and a cleaner floor cleaning effect is obtained. When a special cleaning device 222 is provided, the cleaning device 222 can be disposed in front of and/or behind the mopping device 221, wherein the cleaning device 222 is preferably disposed in front of the mopping device 221 so as to implement a cleaning mode of "sweeping first and then mopping", most of the garbage (dust and larger particles) is cleaned by the cleaning device 222, and then the remaining garbage (such as stubborn dirt) which is difficult to clean is further cleaned by the mopping device 221, thereby improving the cleaning quality of the floor. One embodiment of which is shown in fig. 47. As shown in fig. 47, in this embodiment, the floor cleaning device 22 includes a horizontally reciprocating wiping unit 2211 and a side brush 2221 disposed in front of the wiping unit 2211 and used as the cleaning device 222, and the dust suction port 236 is disposed between the wiping unit 2211 and the side brush 2221, and they 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 edge brush 2221, and that various cleaning devices 222 may be used with various mopping units 2211.

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

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

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

It should be noted that, in the present invention, the garbage collection device 23 may adopt other structures besides the dust suction device shown in the above embodiments, for example, the dust removal fan 234 and the fan duct 235 may not be provided, so that the garbage enters the inside of the garbage collection device 23 from the collection port only under the action of its own inertia and the gathering action of the floor cleaning device 22, in this case, the garbage collection device 23 does not further act on the garbage, and the garbage collection device 23 only acts as a dustpan.

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

Claims

1. A cleaning robot (2), characterized by comprising a housing (20), a walking device (21) for driving the cleaning robot (2) to walk on the ground, a ground cleaning device (22) for cleaning the ground and a garbage collection device (23), wherein the ground cleaning device (22) comprises a mopping device (221), the mopping device (221) comprises two mopping units (2211) and a mopping driving mechanism (2212), the mopping units (2211) comprise mopping pieces (22111) for mopping the ground, the mopping pieces (22111) of the two mopping units (2211) can rotate around a vertical axis in the same direction or opposite directions relative to a chassis (202) of the cleaning robot (2) under the driving action of the mopping driving mechanism (2212), the garbage collection device (23) comprises a collection port for communicating the inside with the outside of the garbage collection device (23), the collection port is arranged in the middle of the two mopping units (2211) so that the garbage collection device (23) can collect the garbage gathered by the mopping pieces (22111) of the two mopping units (2211) rotating around the vertical axis in the same direction or in the opposite directions, the walking device (21) is connected to the chassis (202) of the cleaning robot (2) in a swinging mode, or the mopping units (2211) and the walking device (21) are connected to the chassis (202) of the cleaning robot (2) in a swinging mode, and therefore the mopping pieces (22111) of the mopping units (2211) can keep in contact with the ground by swinging along with unevenness of the ground.

2. A cleaning robot (2) according to claim 1, characterized in that the mop unit (2211) further comprises a sweeper arranged at the rim of the mop (22111).

3. A cleaning robot (2) according to claim 1, characterized in that the cleaning robot (2) further comprises a jack-up mechanism (24), the jack-up mechanism (24) being mounted on the cleaning robot (2), the jack-up mechanism (24) being used to jack up the front and/or rear end of the cleaning robot (2).

4. A cleaning robot (2) according to any of claims 1-3, characterized in that the cleaning robot (2) comprises suspension means arranged at the travelling wheels (211) of the travelling means (21) for keeping the travelling wheels (211) in resilient connection with the chassis (202) of the cleaning robot (2) for keeping the travelling wheels (211) in contact with the ground.

5. A cleaning robot (2) according to any of claims 1-3, characterized in that the mopping driving mechanism (2212) comprises two output shafts (22123), the two output shafts (22123) are arranged in one-to-one correspondence with the two mopping units (2211) and are used for transmitting torque in opposite directions to the two mopping units (2211), and the two output shafts (22123) are both arranged vertically.

6. A cleaning robot (2) according to claim 5, characterized in that the mopping drive mechanism (2212) further comprises a worm and gear mechanism and/or a gear mechanism for transferring oppositely directed torques to the two output shafts (22123).

7. A cleaning robot (2) according to claim 6, characterized in that the mopping driving mechanism comprises a worm motor and two worm wheels (22122) in one-to-one driving connection with the two output shafts (22123), the worm motor is used for outputting torque, and the two worm wheels (22122) are both meshed with the worm motor to transmit torque in opposite directions to the two output shafts (22123).

8. A cleaning robot (2) according to claim 7, characterized in that the worm motor comprises two single-headed worm motors (22121 '), each single-headed worm motor (22121') meshing with one worm wheel (22122), respectively.

9. The cleaning robot (2) of claim 1, characterized in that the debris collection device (23) comprises a dust suction device comprising a dust box (231), a screen (233), a dust removal fan (234), a fan duct (235) and a suction opening (236), the collection opening comprising a suction opening (236) of the dust suction device, the suction opening (236) being arranged at a lower portion of the dust box (231) and being open towards the floor, the dust removal fan (234) being in fluid communication with the interior of the dust box (231) via the fan duct (235) to enable debris to enter the dust box (231) from the suction opening (236) under the action of the dust removal fan (234); the screen (233) is located in fluid communication with the dust box (231) and the dust exhaust fan (234);

the whole dust suction device extends along the front-back direction of the cleaning robot (2), and the mopping driving mechanisms are arranged on two sides of the dust suction device.

10. A cleaning robot (2) according to any of claims 1-3, characterized in that the mopping device (221) further comprises a scraping structure (2219) arranged behind the mopping unit (2211), the scraping structure (2219) prevents the garbage and/or sewage from remaining on the ground being mopped by the mopping unit (2211) by scraping the garbage and/or sewage.

11. A cleaning robot (2) according to claim 1, characterized in that the collection port is arranged in the middle of the front or the rear of the two mopping units (2211) rotating in the same or opposite direction around the vertical axis.

12. A cleaning robot (2) according to claim 1, characterized in that the waste collection device (23) further comprises a baffle (2311), the baffle (2311) being inclined downwards from the collection opening and extending to the floor for preventing waste cleaned by the floor cleaning device (22) from spreading out of the range where the collection opening can collect.

13. A cleaning robot system, characterized in that it comprises a base station (1) and a cleaning robot (2) according to any of claims 1-12, said base station (1) being arranged independently of the cleaning robot (2) and being capable of charging the cleaning robot (2) and/or cleaning a mop (22111) of the cleaning robot (2).

14. The cleaning robot system according to claim 13, characterized in that the base station (1) comprises a base station body (10) and a mop cleaning device (11) arranged on the base station body (10), the mop cleaning device (11) being used for cleaning a mop (22111) of the cleaning robot (2) for mopping a floor; the mop cleaning device (11) comprises a protruding structure, the protruding structure comprises a protruding part (112), and when the mop cleaning device (11) cleans the mop (22111), the protruding part (112) is in contact with the mop (22111); and/or the mop cleaning device (11) comprises a cleaning roller (118), and when the mop cleaning device (11) cleans the mop (22111), the cleaning roller (118) is in contact with the mop (22111).

15. The cleaning robot system of claim 14, wherein the mop cleaning device (11) and the mop (22111) are rotatable relative to each other and/or the mop cleaning device (11) and the mop (22111) are movable relative to each other during cleaning of the mop (22111) by the mop cleaning device (11).