CN106725135A

CN106725135A - Base station and cleaning robot system

Info

Publication number: CN106725135A
Application number: CN201611169198.1A
Authority: CN
Inventors: 张峻彬; 林伟劲
Original assignee: Yi Cloud Intelligent Technology (dongguan) Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2016-12-16
Filing date: 2016-12-16
Publication date: 2017-05-31
Anticipated expiration: 2036-12-16
Also published as: CN109316136A; CN109316135B; CN109316135A; CN109316136B; CN106725135B

Abstract

The present invention relates to clean robot technical field, more particularly to a kind of base station and cleaning robot system.Base station provided by the present invention, clean robot independently of cleaning robot system is set, and base station includes base station body and the mopping part cleaning device being arranged on the body of base station, mopping part cleaning device is used to clean the mopping part for mopping floor of clean robot.Based on base station of the invention, cleaning robot system can realize the automated cleaning to mopping part, and no longer need user frequently to change clothes mopping part, so as to be conducive to that further user is freed from during floor cleaning, mitigate the cleaning burden of user, it is also beneficial to realize more timely cleaning mopping part, prevents from influenceing mopping effect because mopping part is changed clothes not in time.

Description

Base station and cleaning robot system

Technical field

The present invention relates to clean robot technical field, more particularly to a kind of base station and cleaning robot system.

Background technology

In recent years, with the development and the raising of family life level of social economy, furniture cleaning steps into intelligence Change, robotic epoch, the clean robot for arising at the historic moment can free people from household cleaning work, effectively subtract Light work load of the people in terms of household cleaning, alleviates tired degree of the people during household cleaning is carried out.

Existing some clean robots mopping part such as including mop, clean robot along ground running process In, the soiled item using mopping part to adhesion on the ground is cleaned, and realizes the function that mops floor.However, can realize at present The clean robot of the function that mops floor, it has the problem of the following aspects：

(1) existing clean robot can not realize the automated cleaning to the mopping part such as mop, and a mopping part without Cleaning is difficult to reach the purpose for cleaning whole house, so, it is necessary to user frequently participates in changing during the entire process of ground is cleaned Wash the mopping part of clean robot, this aspect can lead to not user that thorough liberation out, increases and uses from during mopping floor The workload at family, on the other hand also easily influences mopping effect because changing clothes not in time, leads to not floor cleaning is clean.

(2) existing clean robot, during mopping floor, mop close proximity to ground is pushed down using the gravity of itself, dragging Mop scrape along the ground is cleaned, and mop is only to be formed by the mobile of clean robot itself with the relative motion on ground, is dragged Cloth is less with the relative motion on ground, and the effect that mops floor is undesirable.

The content of the invention

A technical problem to be solved by this invention is：Existing clean robot can not be realized to the mopping part such as mop Automated cleaning, it is necessary to user frequently participate in change clothes rag.

In order to solve the above-mentioned technical problem, first aspect present invention provides a kind of base for cleaning robot system Stand.The base station is set independently of the clean robot of cleaning robot system, and the base station includes base station body and is arranged on base The mopping part cleaning device stood on body, mopping part cleaning device is used for the mopping part for mopping floor to clean robot Cleaned.

Alternatively, mopping part cleaning device includes bulge-structure, and bulge-structure includes lug boss, in mopping part cleaning device When being cleaned to mopping part, lug boss is contacted with mopping part；And/or, mopping part cleaning device includes cleaning roller, in mopping When part cleaning device is cleaned to mopping part, cleaning roller is contacted with mopping part.

Alternatively, lug boss is curved convex portion, rectilinear projection portion or broken line lug boss.

Alternatively, bulge-structure includes at least two lug bosses, and at least two lug bosses are radially set and/or in battle array Column-shaped is set.

Alternatively, during mopping part cleaning device mop part, mopping part cleaning device can with mopping part Relatively rotate, and/or, mopping part cleaning device can be relatively moved with mopping part.

Alternatively, base station also includes scraping block piece, scrape block piece in mopping part into striking off before mopping part cleaning device Rubbish on mopping part, and/or, block piece is scraped for preventing cleaning fluid used during mopping part cleaning device mop part from flying Splash.

Alternatively, base station also includes the guide frame being arranged on mopping part cleaning device, and guide frame is used to guide clear Clean robot is moved relative to mopping part cleaning device so that mopping part turnover mopping part cleaning device.

Alternatively, guide frame includes oliquely downward being inclined by mopping part cleaning device and being extended to the spigot surface on ground； And/or, guide frame includes the directive wheel for projecting upwards；And/or, guide frame includes being arranged on mopping part cleaning device side Guide plate.

Alternatively, guide frame includes spigot surface and directive wheel, and directive wheel is arranged on spigot surface.

Alternatively, base station also includes mopping drying unit, and mopping drying unit is used to dry mopping part.

Alternatively, base station also includes the charging device being arranged on the body of base station, and charging device is used for clean robot Charge.

Alternatively, mopping part cleaning device includes cleaning groove, and cleaning groove is used to enter mopping part in mopping part cleaning device Accommodating mopping part during row cleaning.

Alternatively, mopping part cleaning device also includes feed liquor structure, and the cleaning fluid for cleaning mopping part can be via entering Liquid structure enters in cleaning groove；And/or, mopping part cleaning device also includes drainage structure, the cleaning fluid after cleaning mopping part Can be expelled to outside cleaning groove via drainage structure.

Alternatively, base station also includes the net liquid supply unit that connect with feed liquor structural fluid, net liquid supply unit for Cleaning fluid for cleaning mopping part is provided in cleaning groove；And/or, base station also includes being received with the soiling solution that drainage structure is in fluid communication Acquisition means, soiling solution collection device is used to collect the cleaning fluid after cleaning mopping part.

Alternatively, net liquid supply unit includes the first storage organization and the first power set, and the first storage organization is used to deposit Storage cleaning fluid, the first power set are used to drive cleaning fluid by the first storage organization flow direction cleaning groove；And/or, soiling solution is collected Device includes the second storage organization, the cleaning fluid that the second storage organization is used for after store washing mopping part.

Alternatively, net liquid supply unit also includes auxiliary material feeding mechanism, and auxiliary material feeding mechanism is to the first storage organization or clear Auxiliary material needed for cleaning mopping part is provided in clean groove.

Alternatively, the second storage organization be arranged at cleaning groove lower section and with cleaning fluid communication；Or, soiling solution collects dress Putting also includes the second power set, and the second power set are used to for the cleaning fluid cleaned after mopping part to be pumped to the second storage knot Storage collection is carried out in structure.

Alternatively, base station also includes liquid level detection device, and liquid level detection device is used to detect the liquid level of cleaning fluid.

Alternatively, liquid level detection device includes the first conducting strip, the second conducting strip and the 3rd conducting strip, and the first conducting strip is used In the capacitance of detection environment, the second conducting strip and the 3rd conducting strip are arranged at the storage organization of accommodating cleaning fluid to be detected In, and the second conducting strip is used to detect the capacitive differential produced by the liquid level change because of cleaning fluid that the 3rd conducting strip to be used to detect The capacitance of cleaning fluid.

Another aspect of the present invention additionally provides a kind of cleaning robot system.The cleaning robot system includes cleaning machine People, clean robot to ground including for the running gear for driving clean robot to walk on the ground and for carrying out clearly Clean floor cleaning device, floor cleaning device includes mopping device, and mopping device includes mopping unit, and mopping unit includes using In the mopping part of mopping floor, it is characterised in that cleaning robot system also includes base station of the invention.

Alternatively, cleaning robot system also includes jacking mechanism, and jacking mechanism is arranged on clean robot and/or base station On, jacking mechanism is used for the front end and/or rear end of jack-up clean robot.

Alternatively, clean robot includes being arranged on the suspension arrangement at the road wheel of running gear, and suspension arrangement is used for Make road wheel with the chassis elastic connection of clean robot to keep road wheel to be contacted with ground.

Alternatively, mopping device also includes mopping drive mechanism, under the driving effect of mopping drive mechanism, mopping unit Mopping part can be rotated relative to the chassis of clean robot, and/or, the mopping part of mopping unit can be relative to clear The chassis of clean robot carries out horizontal reciprocating movement.

Alternatively, mopping device only includes a mopping unit, under the driving effect of mopping drive mechanism, a mopping Mopping part on unit can be rotated and/or horizontal reciprocating movement relative to chassis.

Alternatively, mopping device includes two mopping units, under the driving effect of mopping drive mechanism, two mopping lists The mopping part of unit can be rotated relative to chassis around vertical axis, wherein：The mopping part of two mopping units can be the bottom of relative to Coiling vertical axis in the same direction or are rotated backward, or, two mopping parts of mopping unit are relative to chassis switchably around vertical Axis is rotate in same direction and is rotated backward.

Base station of the invention, is set independently of clean robot, and its mopping part cleaning device can be realized to cleaner The cleaning of the mopping part of device people, therefore so that the cleaning robot system with the base station can be realized to the automatic of mopping part Cleaning, and no longer need user frequently to change clothes mopping part, so as to be conducive to that further user is liberated from during floor cleaning Out, mitigate user cleaning burden, be also beneficial to realize mopping part is more timely cleaned, prevent because mopping part change clothes it is too late When and influence mopping effect.

By being described in detail to exemplary embodiment of the invention referring to the drawings, further feature of the invention and Its advantage will be made apparent from.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also Other accompanying drawings are obtained with according to these accompanying drawings.

Fig. 1 shows the overall structure diagram of first embodiment of the invention cleaning robot system.

Fig. 2 shows the overall structure diagram of base station shown in Fig. 1.

Fig. 3 shows the configuration schematic diagram of Fig. 2.

Fig. 4 shows the structural representation of mopping part cleaning device in Fig. 2.

Fig. 5 shows scheme of installation of the liquid level detection device in the first storage organization.

Fig. 6 shows the integrally-built top perspective view of clean robot shown in Fig. 1.

Fig. 7 shows the integrally-built face upwarding stereogram of clean robot shown in Fig. 1.

Fig. 8 shows the configuration schematic diagram of Fig. 6.

Fig. 9 shows the structural representation after the removal upper shell of clean robot shown in Fig. 6 and process circuit.

Figure 10 shows further to remove blower fan and the Postductal structural representation of blower fan on the basis of Fig. 9.

Figure 11 shows the overall structure diagram of the mopping device of clean robot shown in Fig. 6.

Figure 12 shows the configuration schematic diagram of Figure 11.

Figure 13 shows the swing free degree of the mopping part under flexible connection block and horizontal rotating shaft effect in Figure 12.

Figure 14 shows the structural representation after the removal horizontal rotating shaft of mopping device shown in Figure 11.

Figure 15 shows the swing free degree of the mopping part under flexible connection block effect in Figure 14.

Figure 16 shows first modified example of Figure 13.

Figure 17 shows second modified example of Figure 13.

Figure 18 shows the 3rd modified example of Figure 13.

Figure 19 shows the air channel schematic diagram of the refuse collector of clean robot shown in Fig. 6.

Figure 20 shows the mopping device of clean robot shown in Fig. 6 and the position relationship schematic diagram of refuse collector.

Figure 21 shows that clean robot in first embodiment shown in Fig. 1 enters the process of base station under jacking mechanism effect.

Figure 22 shows that clean robot is illustrated after entering base station with the mated condition of base station in first embodiment shown in Fig. 1 Figure.

Figure 23 shows cleaning principle schematic of the base station to the mopping part of clean robot in first embodiment shown in Fig. 1.

Figure 24 shows the overall structure diagram of second embodiment of the invention cleaning robot system.

Figure 25 shows the overall structure diagram of base station shown in Figure 24.

Figure 26 shows the configuration schematic diagram of Figure 25.

Figure 27 shows the overall structure diagram of clean robot shown in Figure 24.

Figure 28 shows the configuration schematic diagram of Figure 27.

Figure 29 shows the structural representation after the removal upper shell of clean robot shown in Figure 27 and upper casing capping.

Figure 30 shows the structural representation after the removal lower casing capping of clean robot shown in Figure 27.

Figure 31 shows the configuration schematic diagram of mopping device shown in Figure 30.

Figure 32 a show the package assembly sectional view of output shaft and mopping unit in Figure 31.

Figure 32 b show the I close-up schematic views in Figure 32 a.

Figure 32 c show the II close-up schematic views in Figure 32 b.

Figure 33 shows the configuration schematic diagram (omission dedusting fan) of refuse collector in second embodiment.

Figure 34 shows the air channel schematic diagram of refuse collector in second embodiment.

Motion schematic diagram when Figure 35 shows that clean robot in second embodiment enters base station.

Figure 36 shows a kind of modification of suction port and mopping setting position relation in first embodiment and second embodiment.

Figure 37 shows another modification of first embodiment and second embodiment.

Figure 38 shows the overall structure diagram of the cleaning robot system of third embodiment of the invention.

Figure 39 shows the overall structure face upwarding stereogram of clean robot shown in Figure 38.

Figure 40 shows the structural representation after the removal upper shell of clean robot shown in Figure 38.

Figure 41 shows the schematic diagram of suction port and mopping setting position relation in figure 3rd embodiment.

Figure 42 shows the knot of the clean robot with the mopping unit that can be rotated around horizontal axis in fourth embodiment Structure sketch.

Figure 43 shows the principle that the base station with cleaning roller is cleaned to the mopping part of clean robot shown in Figure 42 Schematic diagram.

Figure 44 shows a kind of modification of fourth embodiment clean robot shown in Figure 43.

Figure 45 shows a kind of modification of clean robot shown in Figure 44.

Figure 46 shows the structure of the clean robot with the mopping unit for being capable of horizontal reciprocating movement in the 5th embodiment Sketch.

Figure 47 shows a kind of modification of the 5th embodiment clean robot shown in Figure 46.

Figure 48 and Figure 49 are shown respectively two kinds of modification structures of bulge-structure of the present invention.

Figure 50 shows the structure diagram of the clean robot that suspension arrangement is provided with wheel.

Figure 51 shows the III close-up schematic views in Figure 50.

Figure 52 shows that clean robot passes in and out the process of base station based on the suspension arrangement shown in jacking mechanism and Figure 50.

Figure 53 shows that clean robot is based on spigot surface and directive wheel passes in and out the process of base station.

Figure 54 shows the structure diagram of the cleaning robot system of sixth embodiment of the invention.

Figure 55 shows the view that base station is cleaned to clean robot in sixth embodiment shown in Figure 54.

Figure 56 shows cleaning principle schematic of the base station to the mopping part of clean robot in another embodiment of the present invention.

Figure 57 shows the partial schematic diagram of the bottom of clean robot in the improvement embodiment of first embodiment of the invention.

Figure 58 shows that the bottom of the clean robot of Figure 57 illustrated embodiments is different from the partially schematic of the visual angle of Figure 57 Figure.

In figure：

1st, base station；

10th, base station body；101st, support frame；102nd, support frame bottom；

11st, mopping part cleaning device；111st, groove is cleaned；112nd, lug boss；1121st, bottom protrusion；1122nd, side projections； 113rd, feed liquor structure；114th, drainage structure；115th, guide plate；116th, spigot surface；117th, block piece is scraped；118th, cleaning roller；119、 Directive wheel；

12nd, net liquid supply unit；121st, the first storage organization；1211st, casing；1212nd, case lid；1213rd, handle；1214、 Buckle；122nd, the first water pump；

13rd, soiling solution collection device；131st, the second storage organization；132nd, the second water pump；

14th, charging device；141st, charge sheet；

151st, the first conducting strip；152nd, the second conducting strip；153rd, the 3rd conducting strip；

2nd, clean robot；

20th, housing；201st, upper shell；2011st, upper casing capping；202nd, chassis；2021st, lower casing capping；203rd, escape groove；

21st, running gear；211st, road wheel；212nd, spring；213rd, support member；

22nd, floor cleaning device；221st, mopping device；2211st, mopping unit；22111st, mopping part；22112nd, platen； 2212nd, mopping drive mechanism；22121st, double-thread worm motor；22121 ', single start worm motor；22122nd, worm gear；22123rd, it is defeated Shaft；22124th, bearing；22125th, oil seal washer；2213rd, installation chassis；2214th, upper disk；2215th, lower wall；2216th, it is flexibly connected Block；2217th, magnetic absorption part；2218th, horizontal rotating shaft；2219th, gear structure is scraped；222nd, clearing apparatus；2221st, side brush；

23rd, refuse collector；231st, dust box；2311st, baffle plate；2312nd, scraping blade；2312 ', round brush；2313rd, box body； 2314th, lid；2315th, handle；2316th, alignment pin；233rd, filter screen；233 ', Hai Pazhi；2331 ', extra large handkerchief paper support；234th, remove Dirt blower fan；235th, blower fan conduit；236th, suction port；237th, garbage blocking part；238th, filtering frame；

24th, jacking mechanism；

25th, collision sensing plate；251st, camera；252nd, charging contact；

26th, laser radar；261st, radar protection cap；

27th, control device；

28th, battery.

Specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Below Description only actually at least one exemplary embodiment is illustrative, and never conduct is to the present invention and its application or makes Any limitation.Based on the embodiment in the present invention, those of ordinary skill in the art are without development creative work premise Lower obtained every other embodiment, belongs to the scope of protection of the invention.

May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.

In the description of the invention, it is to be understood that limit parts using the word such as " first ", " second ", only It is for only for ease of and corresponding parts is distinguished, such as without Stated otherwise, above-mentioned word does not have particular meaning, therefore not It is understood that to be limiting the scope of the invention.

In addition, in the description of the invention, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " laterally, Vertically, vertically, level " and the indicated orientation such as " top, bottom " or position relationship to be normally based on cleaning robot system normal The state definition for using, wherein, with the direction of advance of clean robot as preceding, correspondingly, with the retrogressing side of clean robot Xiang Weihou；The noun of locality " inside and outside " refers to relative to inside and outside each part profile in itself.

Fig. 1-58 shows multiple embodiments of the cleaning robot system including base station of the present invention.Reference picture 1-58, this The base station 1 of invention, the clean robot 2 independently of cleaning robot system is set, and the base station 1 includes base station body 10 and sets The mopping part cleaning device 11 on base station body 10 is put, mopping part cleaning device 11 is used for clean robot 2 for dragging The mopping part 22111 for wiping ground is cleaned.

Base station of the invention 1, its mopping part cleaning device 11 can be realized to the mopping part 22111 of clean robot 2 Cleaning, this enables that the cleaning robot system with the base station 1 realizes the automated cleaning to mopping part 22111, and no longer User is needed frequently to change clothes mopping part 22111, therefore, base station of the invention 1 is not only facilitated user from floor cleaning process In further free, mitigate user cleaning burden, be also beneficial to realize mopping part 22111 is more timely cleaned, protect Card floor cleaning effect.

In the present invention, base station 1 can be realized to mopping part 22111 using modes such as ultrasonic clean, dry-cleaning or washings Cleaning, wherein, preferred water-washing method because water-washing method is not only more easily implemented, cost is lower, and cleaning effect is cleaner, And the mopping part 22111 after water-washing method cleaning has certain moisture, can continue directly to input and mop floor work, without The step of mopping part 22111 is got in extra setting wet again, therefore, washing cleaning mode can further reduce user's participation, and It is further ensured that the continuity of the work of clean robot 2.

And in order that base station 1 has preferably cleaning effect, in the present invention, it is preferred to by mopping part cleaning device 11 with drag Wipe part 22111 and be set to what be can be movable relatively, for example, mopping part cleaning device 11 can be relatively rotated with mopping part 22111, And/or, mopping part cleaning device 11 can be relatively moved with mopping part 22111, so be dragged in the cleaning of mopping part cleaning device 11 During wiping part 22111, mopping part 22111 is pressed on mopping part cleaning device 11, mopping part cleaning device 11 Frictional force is applied to mopping part 22111, such that it is able to improve the cleaning cleanliness of mopping part 22111, improves mopping part sanitizer cartridge Put 11 cleaning effect.Wherein, the generation of mopping part cleaning device 11 and the relative motion of mopping part 22111, can be mopping part One in cleaning device 11 and mopping part 22111 move another remains stationary, or mopping part cleaning device 11 with Mopping part 22111 is moved but the direction of motion and/or movement velocity are different.

In the present invention, mopping part cleaning device 11 could be arranged to include bulge-structure that bulge-structure includes lug boss 112, when mopping part cleaning device 11 is cleaned to mopping part 22111, lug boss 112 is contacted with mopping part 22111.Pass through Lug boss 112 is set on mopping part cleaning device 11, the projection can be not only utilized during mop part 22111 Portion 112 strikes off to the sewage or rubbish on mopping part 22111, realizes more thoroughly cleaning mopping part 22111, and prevent The mopping part 22111 for completing cleaning is undue moist, and, being capable of relative fortune in mopping part cleaning device 11 and mopping part 22111 In the case of dynamic, lug boss 112 can also produce planar friction to move with mopping part 22111, can further increase mopping part clear Clean device 11 and the frictional force of mopping part 22111, further improve cleaning effect of the mopping part cleaning device 11 to mopping part 22111 Really.

In addition, entering base station 1 for the ease of clean robot 2, base station of the invention 1 is preferably arranged to also include being arranged on Guide frame on mopping part cleaning device 11, the guide frame is used to guide clean robot 2 relative to mopping part sanitizer cartridge 11 motions are put so that the turnover mopping part of mopping part 22111 cleaning device 11.Based on this, when needing that mopping part 22111 is carried out clearly When clean, clean robot 2 can be conveniently entered in base station 1 under the guide effect of the guide frame, makes mopping part 22111 Cleaned into mopping part cleaning device 11, and once clean and finish, clean robot 2 again can be in the guide frame Under guide effect, base station 1 is successfully rolled away from, mopping part 22111 is left mopping part cleaning device 11, it is seen then that the guide frame Setting, can cause that turnover of the clean robot 2 in base station 1 is all more convenient, this is favorably improved clean robot system The operating efficiency of system.Wherein guide frame can include at least one of spigot surface, guide plate and directive wheel.

The present invention is carried out further with reference to each embodiment of the cleaning robot system shown in Fig. 1-58 Explanation.

Fig. 1-2 3 shows the first embodiment of cleaning robot system.

As shown in Fig. 1-2 3, in this first embodiment, cleaning robot system includes the cleaner for setting independently of one another Device people 2 and base station 1, wherein clean robot 2 are used to carry out ground including the automated cleaning including mopping, and base station 1 is then used for For clean robot 2 is charged and the mopping part 22111 of clean robot 2 is cleaned.When the mopping one of mopping part 22111 The section time, when clean robot 2 needs to charge and/or need mop part 22111, clean robot 2 being capable of auto-returned Base station 1, is charged and/or mopping part cleaning at base station 1.

Fig. 6-20 shows the structure of the clean robot 2 in the first embodiment.As shown in Fig. 6-20, in first reality Apply in example, clean robot 2 is a mobile cleaning equipment, and it includes housing 20, running gear 21, the and of floor cleaning device 22 Refuse collector 23 etc..

Wherein, housing 20 constitutes the installation foundation of the other structures part of clean robot 2, for miscellaneous part provides branch Support.From Fig. 6-8, the housing 20 of the embodiment includes upper shell 201 and chassis 202, running gear 21, floor cleaning device 22 and refuse collector 23 etc. are mounted on chassis 202, and upper shell 201 then covers at the top of chassis 202, for protection The structure member in hollow space between housing 201 and chassis 202, and keep integrally-built neat and attractive in appearance.

Running gear 21 is used to be the mobile offer driving force on the ground of clean robot 2 that driving clean robot 2 to exist Walked on ground.From Fig. 7 and Fig. 8, the running gear 21 of the embodiment includes a pair of road wheels 211, this pair of road wheels 211 left and right sides for being symmetrically disposed in chassis 2, road wheel 211 is rotated, before can realizing clean robot 2 on the ground Enter or retreat.Also, rotated by a pair of differentials of road wheel 211, the steering of clean robot 2 can be realized.

Floor cleaning device 22 is used to clean ground.In this embodiment, floor cleaning device 22 includes mopping Device 221, the mopping device 221 includes a pair of mopping units 2211, and each mopping unit 2211 includes the He of platen 22112 Mopping part 22111, mopping part 22111 is installed on the lower surface of platen 22112, for mopping floor.

Mopping part 22111 can be the various parts that mopping can be carried out to ground such as mop (or rag) or sponge, The mopping part 22111 of the embodiment selects mop.And, mopping part 22111 is preferably detachably connected with platen 22112, for example, In this embodiment it is possible to mopping part 22111 is pasted on the lower surface of platen 22112 using VELCRO, in order to dismount Change mopping part 22111.

The mopping part 22111 and platen 22112 of the embodiment are rounded, and certainly, in other embodiments, the two also may be used To be set to the other shapes such as rectangle, and the two is shaped to circle and is advantageous in that by the embodiment, is more convenient for dragging The small spaces such as 2211 pairs of corners within doors of unit are wiped to clean, and the rotation for being also more convenient for following is set.

It is poor in order to further solve the problems, such as existing clean robot mopping effect, can by Fig. 7-Figure 12 and Figure 20 Know, the mopping unit 2211 of the embodiment is configured to be rotated relative to chassis 202, so in mopping process, drags Wiping the relative motion between part 22111 and ground not only includes the overall movement on the ground of clean robot 2, also including mopping Part 22111 such that it is able to strengthen the mopping dynamics of mopping part 22111, and increases mopping part relative to the rotary motion on ground 22111 mopping number of times, realizes to the mopping repeatedly on ground, and then can improve the mopping effect of mopping part 22111, wherein especially It helps more thoroughly to clean the stain adhered on ground.Also, the mopping part 22111 of rotation can also sweep up ground The rubbish such as bulky grain thing and dust on face, namely cleaning effect is played simultaneously so that the clean robot 2 of the first embodiment One robot is dragged as sweeping, function is more comprehensive, and floor cleaning is better, and due to special clearing apparatus need not be set 222 are capable of achieving cleaning functions, therefore, also allow that the clean robot 2 of the embodiment is dragging a body function with sweeping There is simpler structure and smaller volume simultaneously, be conducive to further realizing miniaturization and the dexterityization of clean robot 2.

Foregoing mopping unit 2211, relative to the rotation on chassis 202, both can be the rotation around horizontal axis, or Around the rotation of vertical axis, the wherein embodiment is preferably arranged to the rotation around vertical axis, because rotated around vertical axis Mopping part 22111 can realize more preferably mopping and clean effect.Also, when mopping device 221 includes at least two mopping lists During unit 2211, at least two mopping units 2211 can turn to identical, it is also possible to turn to difference, can also switchably carry out same To rotating and rotate backward, namely in certain a period of time this at least two moppings unit 221 rotate backward and in another a period of time Change into again and rotate backward.Wherein it is set to be rotated backward around vertical axis by by the mopping unit 2211 of paired youngster, moreover it is possible to Enough make mopping device 221 play a part of to assemble rubbish to centre, realize more preferable rubbish congregational rate.

As shown in figure 20, in this embodiment, two mopping units 2211 are rotated around vertical axis, but rotation direction phase Instead.Due to being rotated backward around vertical axis, the rubbish that two mopping units 2211 will can sweep up is to two mopping units 2211 In the middle of aggregation, therefore, the setting causes mopping device 221 while mopping and cleaning function is realized, moreover it is possible to play preferably Rubbish aggtegation, be easy to more sufficiently thoroughly collect rubbish.Based on this, the mopping device 221 of the embodiment can be with this The refuse collector 23 of embodiment coordinates realizes cleaner cleaning effect, and this point will be said in more detail later It is bright.In addition, two mopping units 2211 be set to around vertical axis rotate backward when, two mopping units 2211 are produced because of rotation Direction conversely, can cancel out each other, can be prevented effectively from and occur frictional force imbalance problem during cleaning, have Help make clean robot 2 more smoothly be walked according to projected route.

And in order to realize rotation of the mopping unit 2211 relative to ground, the mopping device 221 of the embodiment also includes mopping Drive mechanism 2212, the mopping drive mechanism 2212 connection mopping unit 2211 and chassis 202, and for driving mopping unit 2211 are rotated relative to chassis 202, namely for driving mopping unit 2211 to be rotated relative to ground.Specifically, As illustrated in figs. 8-12, in this embodiment, mopping drive mechanism 2212 includes that endless screw electric motor, two worm gears 22122 and two are defeated Shaft 22123, wherein：Endless screw electric motor is used to provide torque for two mopping units 2211；Two worm gears 22122 and two outputs Axle 22123 correspondingly drive connection between endless screw electric motor and two output shafts 22123, each worm gear 22122 and worm screw Worm engaging on motor, i.e. worm gear 22122 form worm-and-wheel gear, and two worm gears with the worm screw on endless screw electric motor 22122 are driven with the worm engaging of endless screw electric motor such that it is able to the opposite torque of two direction of transfer of output shaft 22123；Two The drive connection of individual output shaft 22123 is between two worm gears 22122 and two mopping units 2211, and two output shafts 22123 Corresponded with two mopping units 2211 and set, for torque in opposite direction to be transferred into two mopping units respectively 2211, meanwhile, two output shafts 22123 are vertically arranged, driving effect of the two such mopping unit 2211 in endless screw electric motor Under rotated around respective output shaft 22123, i.e., can realize two rotating backward around vertical axis of mopping unit 2211.

More specifically, as shown in figure 12, in this embodiment, endless screw electric motor is double-thread worm motor 22121, wherein：It is double Head endless screw electric motor 22121 is used as worm screw actuating unit, for output torque；Two worm gears 22122 and two mopping units 2211 Correspond and set, and engage with two worm screws of the both sides of double-thread worm motor 22121 head respectively, and two worm gears 22122 With the engaged transmission of double-thread worm motor 22121.So when double-thread worm motor 22121 is rotated, power can be transferred to two Worm gear 22122, and by two worm gears 22122 to the opposite torque of two direction of transfer of output shaft 22123, drive two outputs Axle 22123 drives two mopping units 2211 to be rotated backward around vertical axis, simple and compact for structure, and transmission efficiency.

Also, from Figure 11 and Figure 12, the mopping device 221 of the embodiment also includes installation chassis 2213, upper disk 2214th, lower wall 2215, mopping drive mechanism 2212 is installed on chassis 202 by installation chassis 2213, upper disk 2214, lower wall 2215 On.Wherein, upper disk 2214 and lower wall 2215 are mutually fastened, and form a hollow space, each part of mopping drive mechanism 2212 Being arranged in the hollow space carries out cooperation transmission, and installation chassis 2213 is arranged on chassis 202, and lower wall 2215 is installed on On installation chassis 2213 so that mopping drive mechanism 2212 is installed on chassis 202.In addition, the mopping of the embodiment drives Mechanism 2212 also includes bearing 22124 and oil seal washer 22125, wherein, bearing 22124 and oil seal washer 22125 are arranged at output shaft Between 22123 and worm gear 22122, realization is smoothly driven.

In addition, in this embodiment, mopping unit 2211 is pivotably connected on the chassis 202 of clean robot 2.Base In the setting, the mopping part 22111 of mopping unit 2211 can enter by with the uneven of landing ground relative to chassis 202 Row swings to keep being contacted with ground such that it is able to ensure two 22111 moment of mopping part close proximity to grounds of the embodiment, this is not Only can effectively prevent from occurring leakage because of ground relief to drag phenomenon, so as to ensure to realize various ground more thorough and higher The cleaning of effect, can also clean the various ground more complicated to landform of clean robot 2, effectively expand clean robot 2 scope of application.

Specifically, the mopping unit 2211 of the embodiment can not only be swung centered on vertical axis, can be with Swung centered on horizontal axis, such mopping part 22111 has multiple swing frees degree, is advantageously implemented whole mopping Part 22111 is contacted with the moment on ground, mopping part 22111 is better adapted to broken terrain, is realized cleaner Cleaning effect.

Wherein, in order to realize swing of the mopping unit 2211 centered on vertical axis, in this embodiment, such as Figure 12 institutes Show, flexible connection block 2216 is provided between the output shaft 22123 of mopping unit 2211 and mopping drive mechanism 2212, and the two passes through The flexible connection block 2216 is connected.Flexible connection block 2216 can with mopping unit 2211 and/or mopping drive mechanism 2212 Dismounting connection.Because used as a kind of flexible connecting structure, flexible connection block 2216 can relatively freely be deformed, therefore, when When clean robot 2 runs into broken terrain, the ground that flexible connection block 2216 can be transmitted in mopping part 22111 is made Adaptability deformation is produced in the presence of firmly, drives mopping unit 2211 overall relative to chassis 202 (namely relative to ground) Produce the adaptability centered on the output shaft 22123 being vertically arranged to swing, and then keep the contact with ground.And, such as scheme 11st, shown in Figure 13 and Figure 15, each flexible connection block 2216 can be that corresponding mopping unit 2211 provides the adjustment for swinging certainly By degree (i.e. the first swing free degree I in Figure 13), swing mode is more various, can for greater flexibility adapt to ground.

It can be seen that, by setting flexible connection block 2216 between output shaft 22123 and mopping unit 2211, it is possible to use soft Property contiguous block 2216 material deformation realize swing of the mopping unit 2211 centered on vertical axis, and can be with base area The rough degree in face is adjusted flexibly the pendulum angle of mopping unit 2211, so that the moment of mopping part 22111 fits in Mopping is carried out on ground, further improves mopping effect.

It should be noted that the flexible connecting structure for being applied to the embodiment be not limited to flexible connection block 2216 this The form of kind, can realize other flexible connecting structures of swing of mopping unit 2211 similarly using the deformation of own material It is applicable.

And in order to realize swing of the mopping unit 2211 centered on horizontal axis, in this embodiment, mopping device 221 Horizontal rotating shaft 2218 is provided between chassis 202, the two is connected by the horizontal rotating shaft 2218.Specifically, such as Figure 12 and Shown in Figure 13, what the horizontal rotating shaft 2218 of the embodiment was connected to chassis 202 and mopping device 221 is connected to two mopping lists Between the middle part of the power transmission shaft between unit 2211.The horizontal rotating shaft 2218 can provide a water for each mopping unit 2211 Flat rotary freedom (the second swing free degree J i.e. shown in Figure 13) so that each mopping unit 2211 can be with landing ground It is uneven and swung centered on the horizontal rotating shaft 2218, so as to ensure that mopping part 22111 is contacted with ground.

It can be seen that, the embodiment is by setting flexible connection block 2216 and horizontal rotating shaft 2218 simultaneously so that mopping part 22111 have multiple swing frees degree, can for greater flexibility adapt to broken terrain so that even if clean robot 2 is met The close proximity to ground of mopping part 22111 can be also allowed to be cleaned to uneven landform, such that it is able to floor cleaning is obtained into cleaner.

On the other hand, as shown in Figure 13, in this embodiment, due to being provided with level between mopping device 221 and chassis 202 Rotary shaft 2218, therefore contact of the mopping device 221 with ground is equivalent to a fulcrum, namely the embodiment mopping device 221 are supplied to 2 one fulcrums of clean robot, simultaneously as two contacts of the road wheel 211 with ground are equivalent to two branch Point, therefore, on the whole, supported at three point mode being formed between the clean robot 2 of the embodiment and ground, this causes the cleaner Device people 2 can moment three points of contact such that it is able to increases the overall operation stability of clean robot 2, is further ensured that cleaning Effect.

It should be noted that making mopping unit 221 be not limited to the implementation method that landing ground injustice is swung State mode (i.e. mode shown in Figure 13), three kinds of alternate embodiments provided herein.

As a kind of alternative therein, as shown in figure 16, the set location of horizontal rotating shaft 2218 can also be changed, Horizontal rotating shaft 2218 is arranged between running gear 21 and chassis 202.Based on this alternative, running gear 21 and bottom Rotary shaft connected mode is used between disk 202, the generally clean robot 2 of running gear 21 provides a fulcrum, meanwhile, mopping Each flexible connection block 2216 of device 221 is that each mopping unit 2211 provides two adjustment frees degree of swing so that dragged Device 221 is wiped to be contacted with ground equivalent to two fulcrums when being contacted with ground, namely mopping device 221 is carried for clean robot 2 For two fulcrums, it is seen then that the alternative still can make 22111 moment of mopping part close proximity to ground, and make clean robot 2 with ground Supported at three point mode is formed between face.Supported at three point in the alternative includes of two fulcrums in front and rear Fulcrum, and the supported at three point in mode shown in Figure 13 includes a fulcrum in front and two fulcrums at rear.

As other two alternative therein, as shown in Figure 17 and Figure 18, in this embodiment, can also omit foregoing Flexible connection block 2216, and only between mopping device 221 and chassis 202 set horizontal rotating shaft 2218, or, be only expert at Horizontal rotating shaft 2218 is set between walking apparatus 21 and chassis 202.Using both alternatives, although make mopping part 22111 The situation that the effect of moment close proximity to ground is swung centered on vertical axis simultaneously not as mopping unit 2211, but still can be real Existing mopping part 22111 and/or running gear 21 form foregoing supported at three point, and structure relative to the Integral swinging on chassis 202 Simpler, cost is relatively low.

Refuse collector 23 is used to collect the rubbish assembled by floor cleaning device 22, and it is included for connecting rubbish The inside of collection device 23 and outside collection port, the rubbish assembled by floor cleaning device 22 are received from the collection port into rubbish The inside of acquisition means 23.

As shown in Fig. 7-9 and Figure 19, in this embodiment, refuse collector 23 includes dust box 231, filter screen 233, removes Dirt blower fan 234, blower fan conduit 235 and suction port 236, wherein：Dust box 231 includes box body 2313 and lid 2314, lid 2314 cover at the top end opening of box body 2313；Suction port 236 is arranged on the bottom of dust box 231, towards surface openings, with Rubbish is set to enter in dust box 231 via the suction port 236；Dedusting fan 234 passes through blower fan conduit 235 and dust box 231 internal fluid communications, so that the rubbish such as dust can enter dust box in the presence of dedusting fan 234 by suction port 236 231；Filter screen 233 is then arranged on the sidepiece of dust box 231 and is located at the fluid communication passageway of dedusting fan 234 and dust box 231 Upper (filter screen 233 is specifically located in fluid communication passageway of the blower fan conduit 235 with dust box 231 in Figure 19), so that in wind Rubbish can be filtered by filter screen 233 and stayed in dust box 231, and wind can continue to be taken away by dedusting fan 234.

As shown in figure 19, the outlet of dedusting fan 234 is so flowed towards double-thread worm motor 22121 by dedusting fan 234 The wind for going out can directly blow to double-thread worm motor 22121, and double-thread worm motor 22121 is radiated, and advantageously ensure that double The service behaviour of head endless screw electric motor 22121, the working life of extension double-thread worm motor 22121.

In a remodeling is implemented, the mopping drive mechanism is arranged in the both sides of dust exhaust apparatus, to cause dust exhaust apparatus Integrally can extend along the fore-and-aft direction of clean robot 2.For example, double-thread worm motor 22121 can be replaced with two motors, Two motors export power by worm-and-wheel gear or gear mechanism.So, it is easy to for two motors to be arranged in dust suction The both sides of device, it is to avoid because machine shaft crosses dust exhaust apparatus and to dust exhaust apparatus caused by stop, the wind of dust exhaust apparatus can be made Road is more smooth, reduces the air intake resistance of dust exhaust apparatus, increases the air intake flow of dust exhaust apparatus, improves the dust suction effect of dust exhaust apparatus Really.

Operationally, dedusting fan 234 drives wind to drive rubbish via suction port to the refuse collector 23 of the embodiment 236 enter inside box body 2313, and rubbish is blocked by filter screen 233, and wind then enters blower fan conduit 235 through screen pack 233, and flow direction is removed Dirt blower fan 234, and finally taken away by dedusting fan 234.

It can be seen that, the refuse collector 23 of the embodiment is dust exhaust apparatus, and suction port 236 is used as collection port.The embodiment It is advantageous in that as refuse collector 23 using dust exhaust apparatus, refuse collector 23 can apply attraction to rubbish, This can not only be such that more rubbish assembled by floor cleaning device 22 are collected more quickly, reduce rubbish on the ground Residual, and under suction, the rubbish of larger particles can also be drawn to inside refuse collector 23, therefore, adopt Be conducive to for floor cleaning obtaining cleaner as refuse collector 23 with dust exhaust apparatus.

In addition, as it was previously stated, in this embodiment, can be by around the counter-rotational two mopping units 2211 of vertical axis Rubbish is gathered between two mopping units 2211, therefore, rubbish is effectively collected in order to more convenient, as shown in Fig. 7 and Figure 20, In this embodiment, suction port 236 is arranged on two middle parts of mopping unit 2211 of the embodiment mopping device 221, so, Suction port 236 is located between two mopping units 2211, on the path that rubbish is aggregated, therefore, refuse collector 23 More fully rubbish can be collected, realize more effective refuse collection effect.Wherein, suction port 236 can both be set At two middle parts at the rear of mopping unit 2211, it is also possible to be arranged on two middle parts in the front of mopping unit 2211.To inhale Dirt mouthfuls 236 is arranged on two middle parts at the rear of mopping unit 2211, as shown in figure 36, due to rubbish be focused into one it is smaller Region after collected by refuse collector 23 again, therefore suction port 236 can be configured to smaller, and suction port 236 is smaller, inhales Power is bigger, it is possible to achieve more effectively collect.And suction port 236 is arranged on two middle parts in the front of mopping unit 2211, As shown in Fig. 7 and Figure 20, it is advantageous in that, can cause that refuse collection was carried out before mopping, and rubbish can be by mopping Part 22111 is collected in the case of getting wet, because the rubbish not being dampened is smaller to the adhesive force on ground, is more easy to be received Collection, therefore, suction port 236 is arranged on two middle parts in the front of mopping unit 2211 reversely rotated around vertical axis, can To reduce refuse collection difficulty so that dust exhaust apparatus need to only apply the less suction i.e. achievable collection to rubbish, and can Effectively to prevent the problem that the rubbish such as hair are difficult to be collected because of overly moist, rubbish is thoroughly collected such that it is able to more convenient Rubbish, realizes cleaner refuse collection effect.

Based on above-mentioned mopping device 221 and refuse collector 23, when the clean robot 2 of the embodiment can be carried out more High-quality floor cleaning work：During work, the driving effect of two mopping parts 2111 in mopping drive mechanism 2212 on ground is pasted Under rotated backward around vertical axis, mopping on the one hand is carried out to the stain on ground, rubbish is on the other hand gathered two The middle part of individual mopping part 2111, the rubbish for being focused into middle part picks up collection by refuse collector 23.

And, can also be learnt with reference to Figure 57 and Figure 58, in the improvement embodiment of the embodiment, refuse collector 23 Baffle plate 2311 can also be included, the baffle plate 2311 (is suction port in this embodiment by the collection port of refuse collector 23 236) it is downward-sloping and extend to ground.Based on this, the baffle plate 2311 can be hindered the rubbish assembled to its position Gear, outside preventing from diffusing to the scope that collection port (suction port 236) can be collected by the rubbish that floor cleaning device 22 is flushed out, So as to be more convenient for, refuse collector 23 is collected, and prevents ground of the rubbish to cleaning from causing secondary pollution.Particularly, When mopping part 22111 is rotated relative to the chassis 202 of the clean robot 2 around vertical axis carries out cleaning work, the baffle plate 2311 can avoid the rubbish for converging from taking away collection port (suction port 236) by mopping part 22111.

Certainly, the clean robot 2 of the embodiment, it can also close refuse collector 23, and only allow mopping to fill Put 221 work；Or, mopping device 221 can also be replaced by clearing apparatus 222 for cleaning rubbish on ground, for example Round brush, is coordinated using clearing apparatus 222 and refuse collector 23 and realizes single floor sweeping function, due to the mopping of the embodiment Device 221 is detachably connected with mopping drive mechanism 2212, it is therefore convenient to mopping device 221 is replaced by into cleaning dress 222 are put, the switching of cleaning mode is realized；And, change dry mopping part 22111 into by by wet mopping part 22111, can be with Make the embodiment clean robot 2 realize it is dry drag function, similarly, since the mopping part 22111 of the embodiment removably connects Be connected on platen 22112, accordingly it is also possible to easily change dry mopping part 22111 and wet mopping part 22111, realize it is dry drag and Wet drag mode formula is switched fast.

Additionally, as shown in Fig. 6 and Fig. 8-10, in this embodiment, clean robot 2 also includes collision sensing plate 25, swashs The human-computer interaction device such as optical radar 26, control device 27, battery 28 and the button for man-machine interaction, screen.Wherein, collide Tablet 25 is used to prevent clean robot 2 from being collided with barrier, and in this embodiment, collision sensing plate 25 is arranged at shell The front end of body 20；Laser radar 26 is used to carry out Scaned map, and that realizes clean robot 2 builds figure and positioning, in the embodiment In, laser radar 26 is embedded in the rear portion of upper shell 201；Battery 28 is used to provide electric energy for clean robot 2；Control device 27 is then Various activities for controlling clean robot 2, for example, sensor signal collection, drive and control of electric machine, battery management, navigation Positioning, map generation, intelligent barrier avoiding and cleaning path planning etc..

Further, clean robot 2 carries out obstacle detouring and turnover base station 1, the clean robot 2 of the embodiment for convenience Also include jacking mechanism 24.Jacking mechanism 24 is used for the front end and/or rear end of jack-up clean robot 2, and this can be cleaner Device people 2 provides lift, can not only make clean robot 2 that certain altitude can more conveniently be crossed during ground running Barrier (such as threshold), lift the obstacle climbing ability of clean robot 2, expand the cleaning scope of clean robot 2, can be with During the turnover of clean robot 2 base station 1, clean robot 2 is helped more easily to pass in and out base station 1, especially turnover has one Determine the mopping part cleaning device 11 of the base station 1 of height.

Specifically, as shown in Fig. 7, Fig. 8 and Figure 10, in this embodiment, jacking mechanism 24 is arranged on clean robot 2 On chassis 202, and positioned at the forward position on chassis 202, it includes a swing rod that can be swung up and down, when swing rod is to the bottom After going out, swing rod can be extended downwardly from and be supported on loading end (such as ground) from chassis 202 such that it is able to jack-up cleaning machine The front end of people 2, after swing rod swings back upwards, swing rod is withdrawn, and releases jack-up, and the front height of clean robot 2 is reduced again.Base In this, as shown in figure 21 and figure, during the obstacle detouring of clean robot 2 or entrance base station 1, jacking mechanism 24 can be with jack-up The front end of clean robot 2, actively lifts the front height of clean robot 2, helps the fast obstacle of clean robot 2, or Help clean robot 2 quickly to sail base station 1 into and mopping part 22111 is smoothly entered mopping part cleaning device 11.

It will be appreciated by those skilled in the art that jacking mechanism 24 is not limited to be arranged on chassis 202, it can also set Put on base station 1, or a jacking mechanism 24 can also be respectively provided with base station 1 and chassis 202；And, when jack-up machine Structure 24 is arranged at when on chassis 202, and jacking mechanism 24 is also not limited to be arranged at the front portion on chassis 202, and it can also be set At the rear portion on chassis 202, for the rear end of jack-up clean robot 2.

Figure 50-52 shows that jacking mechanism 24 is arranged on the alternate embodiment at the rear portion of chassis 202.As shown in Figure 50-52, In the alternate embodiment, jacking mechanism 24 is arranged on the rear portion on chassis 202, in this case, as shown in figure 52, works as cleaner When device people 2 needs to enter base station 1, jacking mechanism 24 can be failure to actuate, and clean robot 2 is oriented in own drive power and base station 1 Base station 1 is directly sailed under the guide effect of structure (the inclined spigot surface 116 in such as Figure 52), enter mopping part 22111 and drag Part cleaning device 11 is wiped, and when the completion of the cleaning of mopping part 22111, clean robot 2 need to exit base station 1, jacking mechanism 24 Action, by the rear end jack-up of clean robot 2, makes the rear edge of mopping part 22111 high higher than the edge of mopping part cleaning device 11 Degree, and then roll base station 1 away from.And, in the alternate embodiment, it is preferable that suspension arrangement can be set at road wheel 211, The suspension arrangement is used to make road wheel 211 keep elastic connection with chassis 202, and such road wheel 211 can keep and ground constantly Face contacts, so as to when rear end jack-up of the jacking mechanism 24 by clean robot 2, road wheel 211 is in the presence of suspension arrangement Remain on can close proximity to ground, be clean robot 2 provide frictional force, so, by setting suspension arrangement, can further help Clean robot 2 is helped more efficiently to exit base station 1.

Specifically, as shown in Figure 50 and Figure 51, in the alternate embodiment, suspension arrangement includes spring 212 and support member 213, spring 212 is horizontally disposed with, and support member 213 is obliquely connected between spring 212 and road wheel 211, and support member 213 is used Part between the two ends being connected with spring 212 and road wheel 211 rotationally sets relative to the housing 20 of clean robot 2 Put.Based on this structure setting, the suspension arrangement can not only make road wheel 211 keep being contacted with ground, can also utilize bullet The elastic force auxiliary jacking mechanism 24 of spring 212 tilts the rear end of clean robot 2, so, in this case, jacking mechanism 24 less jack-up power of need can just carry out the rear end jack-up of clean robot 2, so that jacking mechanism 24 can be selected Less motor, realizes reducing cost, saves the purpose of installing space.

Certainly, suspension arrangement can not also be set together with jacking mechanism 24, because suspension arrangement can make road wheel 211 All the time keep contacting with ground, therefore, when being separately provided suspension arrangement, it is also possible to increase the obstacle climbing ability of clean robot 2.

Fig. 2-5 shows the structure of the base station 1 in the first embodiment.In this embodiment, base station 1 uses water-washing method Mopping part 22111 is cleaned, namely base station 1 makes mopping part 22111 keep clean by cleaning mopping part 22111.

As shown in Figure 2-5, in this embodiment, base station 1 includes that base station body 10, mopping part cleaning device 11, net liquid are supplied Answer device 12, soiling solution collection device 13 and charging device 14.

Wherein, base station body 10 constitutes the installation foundation of the other structures part of base station 1, mopping part cleaning device 11, net Liquid supply unit 12 and soiling solution collection device 13 etc. are arranged on base station body 10, base station body 10 be mounted thereon this A little structure members provide support.

As shown in Fig. 2 in this embodiment, mopping part cleaning device 11 is installed on the lower section of base station body 10, and net liquid Feeding mechanism 12 and soiling solution collection device 13 are then installed on the top of base station body 10 and respectively positioned at the left and right of base station body 10 Both sides, compact conformation and attractive in appearance.The mopping part cleaning device 11 of the embodiment and net liquid supply unit 12 and soiling solution collection device 13 coordinate, and the washing cleaning to mopping part 22111 is realized together；Also, because the mopping unit 2211 of the embodiment can be around perpendicular Straight axis are rotated, therefore, mopping unit 2211 can be relatively rotated with mopping part cleaning device 11, and base station 1 can realize friction Formula washes cleaning mode.In cleaning process, mopping part 22111 is carried on mopping part cleaning device 11 and carries out rotating clear Wash, net liquid supply unit 12 provides cleaning fluid, and soiling solution collection device 13 collects the dirty cleaning fluid after cleaning.

Specifically, as shown in figure 4, the mopping part cleaning device 11 of the embodiment is including cleaning groove 111, with multiple raised The bulge-structure in portion 112, feed liquor structure 113 and drainage structure 114.

Wherein, cleaning groove 111 is used to house mopping part when mopping part cleaning device 11 cleans mopping part 22111 22111, also for cleaning fluid provides accommodation space.From Fig. 3 and Fig. 4, in this embodiment, mopping part cleaning device 11 includes Two cleaning grooves 111, and each cleans the form and dimension phase of the form and dimension with the embodiment mopping unit 221 of groove 111 Adaptation, wherein, it is circle to clean the cross sectional shape of groove 111.This is disposed to make dragging for cleaning groove 111 and clean robot 2 Shape, size and the number for wiping unit 221 are adapted, and this not only can preferably house mopping part 2111 and cleaning fluid, prevent Cleaning fluid splashes, and also allows that base station 1 is cleaned to all mopping parts 22111 of a clean robot 2 simultaneously, improves Cleaning efficiency.Certainly, the shapes and sizes of cleaning groove 111 can carry out adaptability and set according to the concrete condition of mopping unit 2211 Put, and clean the number of groove 111 it can also be provided that equal with the total number of the mopping unit 221 of multiple clean robots 2, and Correspond and set, such base station 1 can simultaneously be cleaned to all mopping parts 22111 of multiple clean robots 2, clean It is in hgher efficiency.

Bulge-structure is used to be contacted with the mopping part 22111 being placed in cleaning groove 111, whole due to mopping part 22111 Individual surface can contact with bulge-structure, therefore, contact area is big, and cleaning efficiency is high, also, bulge-structure is in cleaning process In can play a part of to strike off sewage and increase frictional force, can further improve cleaning performance.As shown in figure 4, in the reality Apply in example, bulge-structure is arranged in cleaning groove 111, and wherein each lug boss 112 is curved convex portion, namely lug boss The extension path of 112 cross section is curve, and, the multiple lug bosses 112 in each cleaning groove 111 are radially arranged Cloth.This bulge-structure shown in the embodiment, can better adapt to the rotary movement of mopping part 22111 so that In cleaning process, bulge-structure can more fully be rubbed with the mopping part 22111 of rotation, realize cleaner cleaning effect Really.In addition, in the extruding rotary course of mopping part 22111 and bulge-structure, water is from mopping part 22111 by lug boss 112 Extruding gets rid of, thus, it is to play a part of to dry mopping part 22111 that bulge-structure also has an effect.

Feed liquor structure 113 and drainage structure 114 are in fluid communication with cleaning groove 111, so that cleaning fluid can be via feed liquor Structure 113 enters in cleaning groove 111, and the cleaning fluid after cleaning mopping part 22111 is discharged via drainage structure 114 To cleaning groove 111.As shown in figure 4, in this embodiment, feed liquor structure 113 and drainage structure 114 are arranged at cleaning groove In 111, certainly, the two can also be arranged on other positions, as long as keeping being in fluid communication with cleaning groove 111.

Net liquid supply unit 12 is in fluid communication by feed liquor structure 113 with cleaning groove 111, with easily to cleaning groove 111 Middle offer cleaning fluid；Soiling solution feeding mechanism 113 is then in fluid communication by drainage structure 114 with cleaning groove 111, easily to collect Dirty cleaning fluid after cleaning mopping part 22111.Understood with reference to Fig. 3 and Fig. 4, in this embodiment, net liquid supply unit 12 Including the first storage organization 121 and the first water pump 122, the first storage organization 121 is used to house cleaning fluid, and the first water pump 122 is used Make the first power set, for drive cleaning fluid by the first storage organization 121 flow to cleaning groove 111 in；Soiling solution collection device 13 Including the second storage organization 131 and the second water pump 132, the second storage organization 131 is used to store dirty cleaning fluid, the second water pump 132 are used as the second power set, for dirty cleaning fluid to be pumped in the second storage organization 131.

Additionally, user understands the cleaning fluid in the first storage organization 121 and the second storage organization 131 in time for convenience Liquid level, in this embodiment, base station 1 can also include the liquid level detection device for detecting cleaning fluid liquid level.Specifically, as schemed Shown in 5, the embodiment is provided with liquid level detection device, and each in the first storage organization 121 and the second storage organization 131 Liquid level detection device includes the first conducting strip 151, the second conducting strip 152 and the 3rd conducting strip 153, wherein, the first conducting strip 151 capacitances for being used to detect environment, the second conducting strip 152 and the 3rd conducting strip 153 are arranged at accommodating cleaning fluid to be detected Storage organization in, i.e., in the first storage organization 121 and the second storage organization 131, and the second conducting strip 152 is used to detect because clearly Capacitive differential produced by the liquid level change of washing lotion, the 3rd conducting strip 153 is used to detect the capacitance of cleaning fluid.Due to different liquid The liquid of position can influence the capacitance of conducting strip, therefore, the liquid level detection device can obtain the first storage organization with real-time detection 121 and the liquid level of the second cleaning fluid in storage organization 122, in order to new clear to increasing in the first storage organization 121 in time Washing lotion, or empty the second storage organization 131 in time.Wherein, the first conducting strip 151 and the second conducting strip 152 are used to correct institute The level sensing data for measuring, so that level sensing result is more accurate.Specific trimming process is referred to equation below：

Wherein, H：The final liquid level for obtaining；

C₂：When having certain liquid level, the capacitance that the second conducting strip 152 is measured；

C₂₀：When there is no liquid in storage organization, the capacitance that the second conducting strip 152 is measured；

C₃：The capacitance that 3rd conducting strip 153 is measured (when being covered with the liquid)；

C₁：The capacitance that first conducting strip 151 is measured (in air)；

γ：Correction parameter.

In the course of the work, reference picture 23 is understood for the base station 1 of the embodiment, and mopping part 22111 is placed in cleaning groove 111 And whole surface is pressed on bulge-structure and is rotated around vertical axis, the cleaning fluid in the first storage organization 121 is by the first water After pump 122 pressurizes, sprayed to the mopping part 22111 being placed in cleaning groove 111 via feed liquor structure 113, course of injection Produced impulsive force, is conducive to further improving cleaning performance；And clean after dirty cleaning fluid can by lug boss 112 from Gear is scraped on mopping part 22111 to get off, also can be in the rotation process of mopping part 22111 under the influence of centrifugal force from mopping part Get rid of on 22111, flow at drainage structure 114, and be pumped in the second storage organization 131 by the second water pump 132.

It can be seen that, by the mating reaction of net liquid supply unit 12 and soiling solution collection device 13, in can keeping cleaning groove 111 Cleaning fluid is more clean, it is to avoid dirty cleaning fluid produces secondary pollution to mopping part 22111, such that it is able to further guarantor Card cleaning performance.And, rotary motion of the mopping part 22111 in cleaning process can play a part of centrifuge dripping, prevent The overly moist of mopping part 22111 after cleaning, this aspect can prevent mopping part 22111 from more water is remained in mopping process On the ground, floor cleaning degree is influenceed, or even the potential safety hazard such as cause to slip, on the other hand it is also prevented from clean robot 2 The special ground such as wood floors cannot be applied to because of the overly moist of mopping part 22111, can effectively expand being applicable for clean robot 2 Scope.Based on this, in cleaning process, mopping part 22111 can be adjusted and keep suitable rotating speed to be rubbed with lug boss 112 Cleaning, and prevent from causing cleaning fluid to be thrown out of because rotating speed is too fast, and after cleaning and terminating, can make feed liquor structure 113 stop into Liquid, and first control mopping part 22111, compared with slow-speed of revolution spin for some time, most moisture to be dried, then controls to drag again Wipe part 22111 and accelerate rotation, further dry.Certainly, specifically rotary speed and drying degree can be entered according to actual needs Row control.

In this embodiment, cleaning fluid can be water, or the mixed liquor of water and cleaning agent, wherein preferably water with The mixed liquor of cleaning agent, can clean cleaner by mopping part 22111.Wherein, when the mixed liquor using water and cleaning agent During as cleaning fluid, the first storage organization 121 can only include a container, wherein directly depositing the mixed liquor for mixing；Or Person, the first storage organization 121 can also include two containers, and one of container deposits cleaning agent, and another container deposits water, In this case, cleaning agent and water can simultaneously be driven respectively by flowing directly into cleaning in respective container by the first water pump 122 In groove 111, it is also possible to set the 3rd water pump again, even if also the first power set include the 3rd water pump again, by the 3rd Water pump drives cleaning agent first mix with water, then by the first water pump 122 drives mixed mixed liquor to flow to and clean groove 111.

And in order to further be easy to control the humidity of mopping part 22111, the base station 1 of the embodiment can also include that drying is filled Put, the mopping part 22111 that cleaning is finished dried using the drying unit, it is ensured that after clean robot 2 exits base station 1, Appropriate moisture is remained with mopping part 22111, be unlikely to because of overly moist and caused by ground it is wet and slippery, be also unlikely to be made moist because of overly moist It is mouldy.Also, drying unit is set in base station 1, is completed by drying course can be made in the base station 1, one can not only be entered The function of the abundant base station 1 of step, can also simplify post-processing step, improve efficiency.

Additionally, clean robot 2 passes in and out base station 1 for convenience, base station 1 can also include being arranged on mopping part cleaning device Guide frame on 11, the guide frame is used to guide clean robot 2 to be moved so as to drag relative to mopping part cleaning device 11 Wipe the turnover mopping part of part 22111 cleaning device 11.Specifically, as shown in figure 4, in this embodiment, base station 1 includes being used as to be oriented to The spigot surface 116 of structure, the spigot surface 116 is from mopping part cleaning device 11 edge of groove 111 (specially clean) under tiltedly Side inclines and extends to ground, and so the spigot surface 116 can guide clean robot 2 to be risen to clearly along the spigot surface 116 Height where the edge of clean groove 111, is easy to mopping part 22111 to enter in cleaning groove 111.As shown in figure 21 and figure, the spigot surface 116 are used cooperatively with the jacking mechanism 24 of foregoing clean robot 2, and clean robot 2 can be made more easily to pass in and out base station 1, improve the operating efficiency of cleaning robot system.Certainly, guide frame is not limited to the structure type shown in the embodiment, It can also include guide plate 116 and/or directive wheel 119, after this point by the second embodiment shown in Figure 24-35 and It is further illustrated in embodiment shown in Figure 53.

Charging device 14 is used to be charged for the battery 28 of clean robot 2, realizes the charge function of base station 1.As Fig. 2-4 institute Show, in this embodiment, charging device 114 is arranged on spigot surface 116, so when clean robot 2 climbs up spigot surface 116 When, charging device 114 can charge to clean robot 2.The charging modes of charging device 14 can have various, for example, Can be contact charging modes, using the charge sheet 141 being arranged on base station 1 and the charging being arranged on clean robot 2 Charging process is realized in the contact of contact 252 (as shown in FIG. 28 and 29)；Again for example, it is also possible to be wireless charging mode, utilize The induction coil being arranged on the chassis 202 of clean robot 2 and the charge coil being arranged on the spigot surface 116 of base station 1 Coordinate, realize wireless charging.

Figure 24-35 shows the second embodiment of cleaning robot system.

As shown in Figure 24-35, the second embodiment is essentially identical with first embodiment, wherein, base station 1 is remained able to as clear Clean robot 2 charges and two mopping parts 22111 of clean robot 2 is cleaned, and clean robot 2 two moppings Part 22111 is remained able to be rotated backward around vertical axis, and each mopping part 22111 is remained on can be carried out relative to chassis 202 Swing, and the difference of the two is essentially consisted in：On the one hand, for driving two mopping parts 22111 counter-rotational around vertical axis The concrete structure of mopping drive mechanism 2212 is different；On the other hand, mopping part 22111 is relative to the tool that chassis 202 is swung Body implementation is different；Another further aspect, the concrete structure of refuse collector 23 is slightly different；Another aspect, the base station of base station 1 The concrete structure of body 10, the first storage organization 121, the second storage organization 131 and guide frame is slightly different.Therefore, below The difference to this four aspect is illustrated emphatically, and other not specified (NS)s part is referred to first embodiment and is understood.It is being situated between During the other embodiment that continues, its difference is also only highlighted.

Figure 27-Figure 34 shows the structure of the clean robot 2 in the second embodiment.

As shown in Figure 28-31, in this second embodiment, although mopping drive mechanism 2212 still uses worm-and-wheel gear Double-thread worm motor 22121 is no longer used to the endless screw electric motor in output shaft 22123 transmission torque, but worm-and-wheel gear, and It is using two single start worm motors 22121 ', two worm gears in each single start worm motor 22121 ' and worm-and-wheel gear 22122 correspond engaged transmissions, such that it is able to drive two mopping parts 22111 using two groups of worm and gear rotation directions are different Reversely rotated around the output shaft 22123 being vertically arranged, can both ensure the relative dynamic balancing of the head of clean robot 2, again can be with Improve mopping effect, while cleaning effect can also be played, and be easy to refuse collector 23 to collect to middle refuse collection.

As shown in Figure 32 a- Figure 32 c, in order to realize the swingable connection of mopping unit 2211 and mopping drive mechanism 2212, And then the swingable connection of mopping unit 2211 and chassis 202 is realized, in this second embodiment, no longer in output shaft 22123 The flexible connecting structures such as flexible connection block 2216 are set between mopping unit 2211, but mopping unit 2211 and mopping are driven Matching relationship between motivation structure 2212 is set to gap socket.Specifically, it is in this second embodiment, defeated as shown in Figure 32 c Gap socket between shaft 22123 and platen 22112, because the gap between output shaft 22123 and platen 22112 causes platen 22112 can have certain gap wobble angle relative to output shaft 22123, and mopping part 22111 is arranged at platen On 22112, therefore, the fit system of gap socket, Neng Gouli between this mopping unit 2211 and mopping drive mechanism 2212 The swingable connection of mopping unit 2211 and chassis 202 is realized with gap activity so that mopping part 22111 can be according to ground Actual conditions change the pendulum angle of itself, reach the purpose for adapting to ground.

And, as shown in Figure 32 b, in this embodiment, the dismounting of mopping unit 2211 for convenience, mopping unit 2211 Platen 22112 and the output shaft 22123 of mopping drive mechanism 2212 between be provided with and mopping unit 2211 and mopping can be connected The magnetic absorption part 2217 that binding structure is attached together.By setting magnetic absorption part 2217, can avoid platen 22112 with it is defeated Being rigidly connected between shaft 22123, realizes being detachably connected for the two, also, realizes connection using magnetic-adsorption, is needing When being dismounted to mopping unit 2211, one is only needed to pull out a button, it is very simple and convenient.Certainly, mopping unit is realized Being detachably connected between 2211 and mopping drive mechanism 2212, it would however also be possible to employ threaded connector, fastener and hooking part etc. One or more in other modes.

As shown in figs. 33 and 34, in this second embodiment, although refuse collector 23 still uses dust exhaust apparatus, and Suction port 236 is still arranged on two middle parts in the front of mopping part 22111, but relative to aforementioned first embodiment, filtering knot Structure is changed, and no longer using filter screen 233, but extra large handkerchief paper 233 ' is replaced with, using extra large handkerchief paper 233 ' to the dust in air-flow Filtered, and be correspondingly provided with the extra large handkerchief paper support 2331 ' for supporting extra large handkerchief paper 233 ', also, in dust box 231 Filter holder 238 is provided between box body 2313 and lid 2314, extra large handkerchief paper 233 ' is arranged on the outside of the filter holder 238, And on the path in box body 2313 and the fluid communication of dedusting fan 234；In addition, having additional handle on lid 2314 2315, handle 2315 is installed on lid 2314 by alignment pin 2316, is easy to user to take out dust box 231, and ash is emptied in time Dust in dirt box 231.

In addition to the main difference in above-mentioned several places, the clean robot 2 in the second embodiment is gone back and first embodiment There is other difference.As shown in figure 28, in this second embodiment, the structure of the housing 20 of clean robot 2 is slightly There is difference, upper shell 201 is provided with battery settling groove, for installing battery 28, correspondingly, upper casing is covered with battery settling groove Capping 2011, to cover the battery 28 of battery settling groove and its inside, protects battery 28, and keeps overall leveling attractive in appearance, chassis 202 bottoms also have additional lower casing capping 2021, dismounting maintenance of being more convenient for；And, camera 251 is set up on collision sensing plate 25 With charging contact 252, wherein camera 251 is used to coordinate with laser radar 26, realizes that more preferable Scan orientation and barrier are known Other function, charging contact 252 is then used to be contacted with the charge sheet 141 on base station 1, realizes the charging to battery 28.

Figure 25-26 shows the structure of the base station 1 in the second embodiment.

As illustrated in figs. 25 and 26, in this second embodiment, base station body 10 includes support frame 101 and support frame bottom 102, wherein, net liquid supply unit 12 and soiling solution collection device 13 are arranged on the top of support frame 101 and are located at support frame 101 The left and right sides, support frame bottom 102 is arranged at the bottom of support frame 101；First storage organization 121 and the second storage organization 131 Include casing 1211, case lid 1212, handle 1213 and buckle 1214, wherein, case lid 1212 is covered on the top of casing 1211 At opening, handle 1213 is arranged at portable to facilitate on case lid 1212, and buckle 1214 is then arranged at casing 1211 and case lid 1212 Junction, for realizing snapping connection for casing 1211 and case lid 1212.

As illustrated in figs. 25 and 26, in this second embodiment, it is provided with the notch of cleaning groove 111 and scrapes block piece 117, for example Catch can be scraped for one.This is scraped block piece 117 and is arranged at the notch of cleaning groove 111, can increase the height of cleaning groove 111, This aspect can be used to prevent the cleaning fluid cleaned in groove 111 from being carried out clearly to mopping part 22111 in mopping part cleaning device 11 Splashed in clean process outside cleaning groove 111 so that scrape block piece 117 and play a part of waterproof column；On the other hand, due to mopping Part 22111 before cleaning groove 11 is entered, it is necessary to first passing through this scrapes block piece 117, therefore, this scrapes block piece 117 can also be in mopping Part 22111 strikes off the rubbish on mopping part 22111 into mopping part cleaning device 11 before, prevents from being glued during floor cleaning The rubbish invested on mopping part 22111 enters in cleaning groove 111 with mopping part 22111, it is possible to reduce enter in cleaning groove 111 The blocking of liquid structure 113 and drainage structure 114.Wherein, it can be flexible piece or rigid member to scrape block piece 117, it is preferable that scrape block piece 117 use flexible piece, and for example with blade insert, this aspect is easy to mopping part 22111 to be pressed in and scrape when cleaning groove 111 is entered On block piece 117, the gear of scraping that block piece 117 is scraped in enhancing is acted on, and on the other hand can also be reduced and be scraped catch 117 to mopping part 22111 Scrape damage, another further aspect, during using flexible piece as block piece 117 is scraped, after mopping part 22111 is completely into cleaning groove 111, Scraping block piece 117 can automatically return to original state, still function as the effect for preventing cleaning fluid spluttering.Certainly, scraping block piece 117 can also It is not arranged in cleaning at the notch of groove 111, for example, can also be arranged on spigot surface 116, as long as it can be played prevents cleaning Liquid spluttering and/or the advance effect for striking off rubbish.

And, as shown in Figure 35, base station 1 is entered in order to further facilitate clean robot 2, in this second embodiment, The guide frame of base station 1 also includes being arranged on the guide plate 115 of the side of mopping part cleaning device 11, preferably along spigot surface 116 Incline direction extend to the bottom of spigot surface 116.The guide plate 115 can guide clean robot 2 together with spigot surface 116 Mopping part 22111 more quickly and accurately into base station 1 mopping part cleaning device 11 in.As shown in figure 35, two mopping parts 22111 rotation direction conversely, when base station 1 is entered, if one of mopping part 22111 touches guide plate 115, can be with profit Path deviation is corrected with the frictional force f of mopping part 22111 and guide plate 115, traction clean robot 2 enters along correct path Base station 1, it is seen then that the guide plate 115 can also play a part of to correct the turnover path deviation of clean robot 2.

Additionally, robot convenient for cleaning 2 enters the mode of base station 1, except can be such as first embodiment and second embodiment The shown cooperation by jacking mechanism 24 and the guide frame of base station 1 is come outside realizing, naturally it is also possible to which selection is not provided with top Mechanism 24 is played, and clean robot 2 is only entered base station under the guide effect of guide frame.As shown in figure 53, base station 1 is led Foregoing spigot surface 116 can not only be included to structure, also including directive wheel 119, directive wheel 119 is arranged on spigot surface 116 And it is protruding upward, in this case, clean robot 2, can first in the guiding function of spigot surface 116 when base station 1 is entered It is lower to rise to the place of directive wheel 119 height by the hoofing part power of itself, then in the presence of directive wheel 119, make cleaning The front end of robot 2 tilts, until mopping unit 2211 is crossed directive wheel 119 and entered in cleaning groove 111, completion enters process, And when the cleaning of mopping part 22111 is finished and needs to exit base station 1, the counter motion of clean robot 2 equally can be in directive wheel 119 and spigot surface 116 in the presence of smoothly complete the process of exiting.Also, in order to avoid directive wheel 119 protruding upward is in cleaning During to mopping part 22111, contact with clean surface produces interference, from Figure 53, can also be on clean robot 2 The escape groove 203 that setting is adapted to directive wheel 119, after mopping unit 2211 is crossed in the entrance cleaning groove 111 of directive wheel 119, leads In to wheel 119 just embedded escape groove 203, such that it is able to make mopping part 22111 be in close contact with clean surface, it is ensured that cleaning effect Really.

Figure 37 shows the further improvement embodiment of aforementioned first embodiment and second embodiment.

As shown in figure 37, the main difference with aforementioned first embodiment and second embodiment is, the cleaning of the embodiment Robot 2, its mopping device 221 also includes that being arranged at scraping for the rear of mopping unit 2211 keeps off structure 2219, and this scrapes gear structure 2219 can be carried out scraping gear to the rubbish and/or sewage by being dropped on mopping unit 221, such that it is able to prevent rubbish and/or dirt Water is residued on the ground crossed by 2211 moppings of mopping unit, realizes secondary cleaning.It can be scraping blade that this scrapes gear structure 2219 Or cloth etc., preferably flexible piece, damage is scraped to ground to reduce.Certainly, scrape gear structure 2219 and be not limited to the first implementation Clean robot 2 shown in example and second embodiment, is also suitable for other clean robots 2 of the invention.

Figure 38-41 shows the 3rd embodiment of cleaning robot system.

As Figure 38-41 understand, the 3rd embodiment is essentially consisted in the difference of both of the aforesaid embodiment, the embodiment it is clear Clean robot 2, its mopping device 221 only includes a mopping unit 2211, correspondingly, the mopping part of the base station 1 of the embodiment Cleaning device 11 also only includes a cleaning groove 111, and in order that structure is compacter, the He of net liquid supply unit 12 of base station 1 Soiling solution collection device 13 is changed to mounted on top arrangement.The clean robot 2 of the embodiment and the specification of base station 1 are smaller, more can Adapt to the use of small apartment family.

As shown in Figure 41, in the 3rd embodiment, mopping unit 2211 turns still in relation to chassis 202 around vertical axis It is dynamic, and in order to realize rotation of the mopping unit 2211 around vertical axis, as shown in figure 40, the mopping drive mechanism of the embodiment 2212, it is still come output torque, but difference using endless screw electric motor, and the endless screw electric motor of the embodiment only includes a list A head endless screw electric motor 22121 ' and worm gear 22122, using the engagement of the single start worm motor 22121 ' and the worm gear 22122 come Mopping unit 2211 is driven to be rotated around vertical axis, realization is more effectively cleaned to ground.

Based on the floor cleaning device 22 of this single mopping unit 2211, in order to realize fully refuse collection, such as Figure 41 Shown, in this embodiment, the suction port 236 of refuse collector 23 is arranged at the edge outside of mopping unit 2211.Due to Rubbish can be focused to the outside of the mopping unit 2211 of rotation along the edge of mopping part 2211, therefore, this setup, So that be in aggregation paths of the mopping unit 2211 to rubbish as the suction port 236 of collection port, consequently facilitating rubbish is received In collection to dust box 231.Further, the embodiment also has additional garbage blocking part 237 on the side side wall of housing 20, and Suction port 236 is arranged between the edge of mopping unit 2211 and the garbage blocking part 237, can so utilize the garbage blocking Rubbish is further gathered a less region to the barrier effect of rubbish for part 237, and realization is more effectively collected.

In above three embodiment, the structure of cleaning groove 111 and bulge-structure is essentially identical, wherein, cleaning groove 111 is Section is circular deep trouth, and bulge-structure includes the multiple curved convex portions for radially arranging.But it should be recognized that at this In invention, the concrete structure of cleaning groove 111 and bulge-structure is not limited to the concrete structure shown in these three embodiments, to scheme As a example by modified example shown in 48 and Figure 49, cleaning groove 111 may be arranged as cleaning deskitte, i.e., be rectangular tray knot in section Structure, and lug boss 112 can also be rectilinear projection portion or broken line lug boss, i.e. the extension path of the cross section of lug boss 112 is Straight line or broken line, in addition, the arrangement mode of multiple lug bosses 112 can also use the other modes in addition to radial, for example Array-like, array-like can be linear array shape (i.e. rectangular), circle column-shaped or circular array column-shaped etc., wherein line array Column-shaped is particularly suited for mopping part 22111 and the reciprocating situation of relative level of mopping part cleaning device 11, can be by mopping Part 22111 cleans more clean.In addition, in each cleaning groove 111, the shape of each lug boss 112 can also be different, i.e., many In individual lug boss 112, any combination in curved convex portion, rectilinear projection portion and broken line lug boss can be included；Similarly, each The arrangement mode in cleaning groove 111 protrusions portion 112 can also be using any group of various arrangement modes such as radial and array-like Close；And the shape and arrangement mode of the lug boss 112 in different cleaning groove 111 can be with identical or different.

In addition, in another embodiment, lug boss 112 includes the bottom protrusion 1121 for being arranged on cleaning groove 111 bottom And it is formed in the side projections 1122 of the cleaning medial surface of groove 111.In the mopping part 22111 of mopping part cleaning device 11 pairs When being cleaned, the bottom protrusion 1121 is relatively rotated with the bottom surface of the mopping part 22111 and friction and Extrusion formula is contacted, institute Side projections 1122 are stated to be contacted with the side relative rotation of the mopping part 22111 and friction and Extrusion formula.It is convex by bottom with this The bottom surface of 1121 mop parts 22111 is played, can be with the side of mop part 22111 by side projections 1122.

Certainly, the side of mop part 22111 can also have other manner.For example, two mopping parts 22111 are set It is EDGE CONTACT, so, when two mopping parts 22111 rotate in the same direction, two mopping parts 22111 are in middle contact Position relative motion, phase mutual friction carries out the cleaning of side.

In addition, in above three embodiment, soiling solution collection device 13 is the swabbing action by the second power set Realize to the collection of dirty cleaning fluid.But in other embodiments of the invention, it is also possible to be not provided with the second power set, and It is as shown in Figure 54 and Figure 55, the second storage organization 131 to be directly arranged at the lower section of cleaning groove 111, and make the second storage knot Structure 131 is in fluid communication with cleaning groove 111, and in this case, dirty cleaning fluid can be flowed by cleaning groove 111 automatically under gravity Enter in the second storage organization 111, simple and convenient, cost is relatively low.

And, in order to realize to the more preferable cleaning effect of mopping part 22111, and meet user's use demand with a greater variety and The quality of life of higher quality is pursued, and net liquid supply unit 12 of the invention can also include auxiliary material feeding mechanism, for providing The auxiliary material such as thimerosal, aromatic needed for cleaning mopping part 22111 and the wax layer for waxing, the auxiliary material feeding mechanism can So that directly auxiliary material is provided into cleaning groove 111；Auxiliary material can also be provided into the first storage organization 121, made Auxiliary material first mixes with cleaning fluid, further with flow direction cleaning groove 111 under the driving effect of the first power set.

It should be noted that in other embodiments of the invention, net liquid supply unit 12 and/or soiling solution can also be omitted Collection device 13, and directly base station 1 is arranged at and is provided near the position of water supply pipe and/or drainage pipeline, such base 1 running water that directly can be supplied using water supply pipe is stood to clean mopping part 22111, and the sewage after cleaning can also Directly drained by drainage pipeline, due to net liquid supply unit 12 and/or soiling solution collection device 13 can be reduced, therefore, it is this Mode can make that the structure of base station 1 is simpler, and cost is also lower.

In addition, though being used to drive what mopping unit 2211 was rotated relative to chassis 202 in above three embodiment Mopping drive mechanism 2212 is using worm-and-wheel gear to the opposite torque of two direction of transfer of output shaft 22123, but reality On, in other embodiments of the invention, can also be using gear mechanism come opposite to two direction of transfer of output shaft 22123 Torque.And, as illustrated in the first embodiment, in order to solve, the mopping effect of existing clean robot 2 is poor to ask Topic, mopping unit 2211 is rotated except that can be arranged with respect to chassis 202 as above three embodiment around vertical axis, May be arranged as being rotated around horizontal axis.Figure 42 and Figure 43 are to show the mopping unit 2211 based on being rotated around horizontal axis Fourth embodiment cleaning robot system.

As shown in figure 42, in the fourth embodiment, the mopping unit 2211 of clean robot 2 includes horizontally rotating Roller and the mopping part 22111 that is arranged on outer surface of cylinder, drive of the mopping unit 2211 in mopping drive mechanism 2212 Under action is used, rotated around horizontal axis.Due to can also so increase the relative motion between mopping part 22111 and ground, increase Big mopping dynamics, increases mopping number of times, and plays mopping and cleaning effect simultaneously, thus, it is also possible to be effectively improved mopping part 22111 mopping effect.

For the clean robot 2 of the embodiment, the embodiment additionally provides a kind of different from foregoing three embodiments Base station 1.As shown in figure 43, the base station 1 of the embodiment, cleaning roller is provided with the cleaning groove 111 of its mopping part cleaning device 11 118, and the cleaning to mopping part 22111 is realized using the cleaning roller 118.During mop part 22111, mopping Part 22111 is squeezed on cleaning roller 118, is supported by cleaning roller 118, then using cleaning roller 118 and mopping part 22111 Relative rotation, realize to the cleaning of mopping part 22111.Wherein, the relative rotation of cleaning roller 118 and mopping part 22111, both Can be the active rotation of mopping part 22111, or the active rotation of cleaning roller 118, or the two equal active rotation but turn Dynamic direction and/or rotating speed are of different sizes, wherein it is preferred that the active rotation of mopping part 22111, its reason is：Mopping part 22111 Active rotation is capable of achieving using the mopping drive mechanism 2212 of clean robot 2 itself, and is driven without being set on base station 1 again The mechanism of dynamic cleaning roller 118, therefore, it can to make that the structure of base station 1 is relatively simple, and cost is relatively low, and, mopping part 22111 Active rotation may also operate as certain drying effect, and mopping part 22111 can be made to keep appropriate after completion is cleaned Humidity.Certainly, the mopping part cleaning device 11 with cleaning roller 118 is applied equally to other embodiment of the invention.

Additionally, the cleaning effect in order to further improve clean robot 2, in the fourth embodiment, can also be on ground Rubbish is further set on face cleaning device 22 and strikes off part, strike off part using the rubbish and strike off and adhere on floor cleaning device 22 Rubbish.Wherein, it can be scraping blade 2312 that rubbish strikes off part, or it is right that round brush 2312 ', Figure 44 and Figure 45 are respectively illustrated The two kinds of structures of clean robot 2 answered.

In clean robot 2 as shown in figure 44, rubbish strikes off part using scraping blade 2312, and the scraping blade 2312 is arranged on clearly On the housing 20 of clean robot 2, and can be contacted with the mopping part 22111 of rotation, so on the spin-cleaning of mopping part 22111 ground During face, mopping part 22111 is often contacted once with scraping blade 2312, and scraping blade 2312 will will be adhered on mopping part 22111 Rubbish scrape gear and get off such that it is able to mopping part 22111 is kept clean, it is ensured that floor cleaning quality.

In the clean robot 2 shown in Figure 45, rubbish strikes off part using round brush 2312 ', and the round brush 2312 ' is arranged on shell On body 20, and with the rotating Vortex of mopping part 22111, using the contact friction in the same direction of round brush 2312 ' and mopping part 22111, also can The rubbish on mopping part 22111 enough is scraped into gear to get off, also, in this fashion, the rotation of round brush 2312 ' also can be further Play a part of for rubbish to throw to refuse collector 23, so as to refuse collection of being more convenient for.

And, can also be learnt with reference to Figure 44 and Figure 45, in both clean robots 2, refuse collector 23 is equal Also include baffle plate 2311, the baffle plate 2311 is downward-sloping by the collection port (suction port 236) of refuse collector 23 and extends to Ground.Based on this, the baffle plate 2311 can stop to the rubbish assembled to its position, prevent by floor cleaning device 22 rubbish for flushing out are diffused to outside the scope that collection port can be collected, and so as to be more convenient for, refuse collector 23 is received Collection, and prevent ground of the rubbish to cleaning from causing secondary pollution.Particularly, when mopping part 22111 is relative to the cleaning machine The chassis 202 of people 2 rotates when carrying out cleaning operation around vertical axis, and the baffle plate 2311 can avoid the rubbish for converging by mopping part 22111 take away collection port.And, the baffle plate 2311 strikes off part and coordinates with foregoing rubbish, is more conducive to refuse collector 23 real Now sufficient refuse collection.Certainly, the rubbish shown in Figure 44 and Figure 45 strike off part and baffle plate 2311 may also apply to it is of the invention Other embodiment.

In addition, foregoing embodiments are that the present invention is carried out so that mopping unit 2211 is rotated relative to chassis 202 as an example Illustrate, but in fact, in order to improve the mopping of mopping device 221 by increasing mopping part 22111 with the relative motion on ground Effect, mopping unit 2211 of the invention may be arranged as that horizontal reciprocating movement can be carried out relative to chassis 202, that is, Mopping unit 2211 not only can be rotated to improvement mopping effect by relative to ground, can also be by relative to ground Horizontal reciprocating movement is carried out to improve mopping effect.In the embodiment shown in Figure 46 and Figure 47, mopping unit 2211 is relative In chassis 202 can horizontal reciprocating movement, in this case, mopping part 22111 carries out pushing-type cleaning to ground, by over the ground The reciprocal mopping in face removes spot or rubbish, similar to manual mopping mode, it is possible to reduce rubbish is after mopping device 2211 Portion leaves.Be capable of the clean robot 2 of horizontal reciprocating movement based on this mopping unit 2211, can more easily with base station 1 coordinates, and makes mopping part cleaning device 11 that the cleaning to mopping part 22111 is realized in the relative movement thereof of mopping part 22111. Also, in the present invention, the mopping unit 2211 of clean robot 2 could be arranged to be rotated relative to chassis 202, and Relative to the horizontal reciprocating movement of chassis 202, and during floor cleaning, rotary mop wiping preferably can be first carried out, then pushed away Formula mopping, so can realize more effective floor cleaning with comprehensive rotary mopping mode and the advantage of pushing-type mopping mode.

Additionally, in foregoing embodiments, floor cleaning device 22 only includes mopping device 221, but in fact, at this In the other embodiment of invention, floor cleaning device 21 can also include the clearing apparatus 222 for cleaning ground refuse simultaneously, To enable that clean robot 2 is cleaned using mopping device 221 and special clearing apparatus 222 to ground simultaneously, obtain Obtain cleaner floor cleaning effect.When special clearing apparatus 222 is provided with, clearing apparatus 222 can be arranged on mopping dress 221 front and/or rear are put, wherein the front of mopping device 221 is preferably provided at, in order to realize the clear of " first sweeping rear dragging " Clean pattern, is first cleaned up most of rubbish (dust and larger particles) using clearing apparatus 222, then by mopping device 221 pairs of rubbish of remaining more difficult cleaning (such as stain) are further cleaned, and improve floor cleaning quality.Figure 47 is to show One of embodiment is gone out.As shown in figure 47, in this embodiment, floor cleaning device 22 includes horizontal reciprocating movement Mopping unit 2211 and the front of mopping unit 2211 and the side brush 2221 as clearing apparatus 222 are arranged on, suction port 236 sets Put between mopping unit 2211 and side brush 2221, three coordinates, and ground is cleaned.Those skilled in the art are not difficult to manage Solution, clearing apparatus 222 is not limited to side brush 2221, and various clearing apparatus 222 can be used cooperatively with various mopping units 2211.

And, as the further improvement of the various embodiments described above, can also be in the mopping part of above-mentioned mopping unit 2211 22111 edge sets cleaning item (such as bristle or hairbrush), can so cause that mopping unit 2211 itself becomes to sweep and drag Integrative-structure, is had concurrently to sweep and drags function, even if no longer additionally setting special clearing apparatus 222, mopping unit 2211 itself also can It is enough that rubbish (the especially rubbish such as hair) more fully gathers together, realize more preferable cleaning effect；Also, it is arranged on mopping The cleaning item at the edge of part 22111, can also mopping unit 2211 clean ground edge when close proximity to ground edge, effectively expand The cleaning scope of big mopping device 221 so that clean robot 2 can be efficiently completed the cleaning to indoor corner.

In addition, though mopping unit 2211 is by mopping list relative to the swing on chassis 202 in foregoing embodiments Unit 2211 realizes with the swingable connection of mopping drive mechanism 2212, but in fact, implementation is not limited thereto, example Such as, mopping unit 2211 can also be realized by the way that the swingable connection of mopping drive mechanism 2212 is connected on chassis 202 Swing, the now swing non-with mopping drive mechanism 2212 of mopping unit 2211 be connected (such as both be fixedly connected), in fact, When mopping unit 2211 is connected with chassis 202 by mopping drive mechanism 2212, mopping unit 2211 be pivotably connected in In mopping drive mechanism 2212, and/or, mopping drive mechanism 2212 is pivotably connected on chassis 202, can realizing dragging Wipe swing of the unit 2211 relative to chassis 202；Again for example, when mopping unit 2211 do not carried out relative to chassis 202 rotate and/ Or during horizontal reciprocating movement, mopping drive mechanism 2212 may alternatively be connection mopping unit 2211 and the chassis of on-propelled 202 mopping attachment structure, at this moment will realize swing of the mopping unit 2211 relative to chassis 202, then can be by mopping unit 2211 are pivotably connected in the mopping attachment structure of the on-propelled, and/or, can by the on-propelled mopping attachment structure Swingingly it is connected on chassis 202.

It can be seen that, in the present invention, the mopping attachment structure on connection mopping unit 2211 and chassis 202 both can be driving The mopping attachment structure (such as the mopping drive mechanism 2212 in foregoing embodiments), or the mopping of on-propelled of formula Attachment structure (is for example connected to the connecting shaft between mopping unit 2211 and chassis 202)；Regardless of whether mopping unit 2211 and bottom Which kind of mopping attachment structure connection disk 202 is based on, and mopping unit 2211 be able to can be put by mopping attachment structure with chassis 202 Dynamic connection, if mopping unit 2211 is pivotably connected in mopping attachment structure, and/or, can by mopping attachment structure Swingingly it is connected on chassis 202.

Also, it should be noted that in the present invention, refuse collector 23 is except that can use shown in the various embodiments described above Dust exhaust apparatus outside, it would however also be possible to employ other structures form, for example, dedusting fan 234 and blower fan conduit 235 can be not provided with Deng so that rubbish enters rubbish only under self inertia effect and under the aggtegation of floor cleaning device 22 from collection port The inside of collection device 23, in this case, refuse collector 23 does not apply further to act on to rubbish, and rubbish is received Acquisition means 23 just correspond to dustpan and use.

Exemplary embodiment of the invention is the foregoing is only, is not intended to limit the invention, it is all in spirit of the invention Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.

Claims

1. a kind of base station (1) for cleaning robot system, it is characterised in that the base station (1) is independently of clean robot The clean robot (2) of system is set, and the base station (1) is including base station body (10) and is arranged on the base station body (10) On mopping part cleaning device (11), the mopping part cleaning device (11) for the clean robot (2) for dragging The mopping part (22111) for wiping ground is cleaned.

2. base station (1) according to claim 1, it is characterised in that the mopping part cleaning device (11) includes raised knot Structure, the bulge-structure includes lug boss (112), and the mopping part (22111) is entered in the mopping part cleaning device (11) During row cleaning, the lug boss (112) contacts with the mopping part (22111)；And/or, the mopping part cleaning device (11) It is described when the mopping part cleaning device (11) is cleaned to the mopping part (22111) including cleaning roller (118) Cleaning roller (118) is contacted with the mopping part (22111).

3. base station (1) according to claim 2, it is characterised in that the lug boss (112) is curved convex portion, straight line Lug boss or broken line lug boss.

4. base station (1) according to claim 2, it is characterised in that the bulge-structure includes raised described at least two Portion (112), at least two lug boss (112) radially sets and/or is set in array-like.

5. base station (1) according to claim 1, it is characterised in that described in the mopping part cleaning device (11) cleaning During mopping part (22111), the mopping part cleaning device (11) can relatively rotate with the mopping part (22111), And/or, the mopping part cleaning device (11) can relatively move with the mopping part (22111).

6. base station (1) according to claim 1, it is characterised in that the base station (1) also includes scraping block piece (117), described Block piece (117) is scraped for striking off the mopping before the mopping part (22111) enters the mopping part cleaning device (11) Rubbish on part (22111), and/or, the block piece (117) of scraping is for preventing mopping part cleaning device (11) cleaning described Cleaning fluid used during mopping part (22111) splashes.

7. base station (1) according to claim 1, it is characterised in that the base station (1) also includes being arranged on the mopping part Guide frame on cleaning device (11), the guide frame is used to guide the clean robot (2) relative to the mopping Part cleaning device (11) is moved so that the mopping part (22111) passes in and out the mopping part cleaning device (11).

8. base station (1) according to claim 7, it is characterised in that the guide frame includes being cleaned by the mopping part Device (11) is oliquely downward inclined and extends to the spigot surface (116) on ground；And/or, the guide frame includes projecting upwards Directive wheel (119)；And/or, the guide frame includes being arranged on the guide plate of mopping part cleaning device (11) side (115)。

9. base station (1) according to claim 8, it is characterised in that the guide frame include the spigot surface (116) and The directive wheel (119), the directive wheel (119) is arranged on the spigot surface (116).

10. base station (1) according to claim 1, it is characterised in that the base station (1) also includes mopping drying unit, institute Mopping drying unit is stated for being dried to the mopping part (22111).

11. base stations (1) according to claim 1, it is characterised in that the base station (1) also includes being arranged on the base station Charging device (14) on body (10), the charging device (14) to the clean robot (2) for charging.

12. according to any described base stations (1) of claim 1-11, it is characterised in that mopping part cleaning device (11) bag Include cleaning groove (111), it is described cleaning groove (111) in the mopping part cleaning device (11) to the mopping part (22111) The mopping part (22111) is housed when being cleaned.

13. base stations (1) according to claim 12, it is characterised in that the mopping part cleaning device (11) also include into Liquid structure (113), the cleaning fluid for cleaning the mopping part (22111) can enter institute via the feed liquor structure (113) In stating cleaning groove (111)；And/or, the mopping part cleaning device (11) also includes drainage structure (114), cleans the mopping It is outside that the cleaning fluid after part (22111) can be expelled to cleaning groove (111) via the drainage structure (114).

14. base stations (1) according to claim 13, it is characterised in that the base station (1) also includes and the feed liquor structure (113) the net liquid supply unit (12) being in fluid communication, the net liquid supply unit (12) in cleaning groove (111) for carrying For the cleaning fluid for cleaning the mopping part (22111)；And/or, the base station (1) also includes and the drainage structure (114) the soiling solution collection device (13) being in fluid communication, the soiling solution collection device (13) is for collecting the cleaning mopping part (22111) cleaning fluid after.

15. base stations (1) according to claim 14, it is characterised in that the net liquid supply unit (12) is deposited including first Storage structure (121) and the first power set, for storing the cleaning fluid, described first moves first storage organization (121) During power apparatus are used to driving the cleaning fluid to flow to cleaning groove (111) by first storage organization (121)；And/or, institute Stating soiling solution collection device (13) includes the second storage organization (131), and second storage organization (131) is for described in store washing The cleaning fluid after mopping part (22111).

16. base stations (1) according to claim 15, it is characterised in that the net liquid supply unit (12) also includes auxiliary material Feeding mechanism, the auxiliary material feeding mechanism is to offer cleaning institute in first storage organization (121) or cleaning groove (111) Auxiliary material needed for stating mopping part (22111).

17. base stations (1) according to claim 15, it is characterised in that second storage organization (131) is arranged at described Cleaning groove (111) lower section is simultaneously in fluid communication with cleaning groove (111)；Or, the soiling solution collection device (13) also includes the Two power set, second power set are used to be pumped to the cleaning fluid cleaned after the mopping part (22111) Storage collection is carried out in second storage organization (131).

18. base stations (1) according to claim 15, it is characterised in that the base station (1) also includes liquid level detection device, The liquid level detection device is used to detect the liquid level of the cleaning fluid.

19. base stations (1) according to claim 18, it is characterised in that the liquid level detection device includes the first conducting strip (151), the second conducting strip (152) and the 3rd conducting strip (153), first conducting strip (151) is for detecting the electric capacity of environment Value, second conducting strip (152) and the 3rd conducting strip (153) are arranged at the storage organization of accommodating cleaning fluid to be detected In, and second conducting strip (152) is for detecting the capacitive differential produced by the liquid level change because of the cleaning fluid, described the Three conducting strips (153) are for detecting the capacitance of the cleaning fluid.

A kind of 20. cleaning robot systems, including clean robot (2), the clean robot (2) is including described for driving Running gear (21) and the floor cleaning device for being cleaned to ground that clean robot (2) is walked on the ground (22), the floor cleaning device (22) includes mopping device (221), and the mopping device (221) includes mopping unit (2211), the mopping unit (2211) includes the mopping part (22111) for mopping floor, it is characterised in that the cleaning Robot system also includes the base station (1) as described in claim 1-19 is any.

21. cleaning robot systems according to claim 20, it is characterised in that the cleaning robot system also includes Jacking mechanism (24), the jacking mechanism (24) on the clean robot (2) and/or the base station (1), the top Mechanism (24) is played for the front end and/or rear end of clean robot described in jack-up (2).

22. cleaning robot system according to claim 20 or 21, it is characterised in that clean robot (2) bag The suspension arrangement at road wheel (211) place for being arranged on the running gear (21) is included, the suspension arrangement is used to make the walking (211) are taken turns with chassis (202) elastic connection of the clean robot (2) to keep the road wheel (211) to be contacted with ground.

23. cleaning robot system according to claim 20 or 21, it is characterised in that the mopping device (221) is also Including mopping drive mechanism (2212), under the driving effect of the mopping drive mechanism (2212), the mopping unit (2211) mopping part (22111) can be rotated relative to the chassis (202) of the clean robot (2), and/or, institute The mopping part (22111) for stating mopping unit (2211) can carry out level relative to the chassis (202) of the clean robot (2) Move back and forth.

24. cleaning robot systems according to claim 23, it is characterised in that the mopping device (221) only includes One mopping unit (2211), under the driving effect of the mopping drive mechanism (2212), one mopping unit (2211) the mopping part (22111) on can be rotated and/or horizontal reciprocating movement relative to the chassis (202).

25. cleaning robot systems according to claim 23, it is characterised in that the mopping device (221) is including two Individual mopping unit (2211), under the driving effect of the mopping drive mechanism (2212), described two mopping units (2211) Mopping part (22111) can relative to the chassis (202) around vertical axis rotate, wherein：Described two mopping units (2211) mopping part (22111) in the same direction or can be rotated backward relative to the chassis (202) around vertical axis, or, institute The mopping part (22111) for stating two mopping units (2211) is switchably carried out relative to the chassis (202) around vertical axis Rotate in same direction and rotate backward.