CN112168085B - Base station for water adding and draining of cleaning robot and robot system - Google Patents
Base station for water adding and draining of cleaning robot and robot system Download PDFInfo
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- CN112168085B CN112168085B CN202011053125.2A CN202011053125A CN112168085B CN 112168085 B CN112168085 B CN 112168085B CN 202011053125 A CN202011053125 A CN 202011053125A CN 112168085 B CN112168085 B CN 112168085B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 224
- 238000004140 cleaning Methods 0.000 title claims abstract description 212
- 239000010865 sewage Substances 0.000 claims abstract description 132
- 210000001503 joint Anatomy 0.000 claims abstract description 13
- 238000005086 pumping Methods 0.000 claims abstract description 4
- 239000008399 tap water Substances 0.000 claims description 8
- 235000020679 tap water Nutrition 0.000 claims description 8
- 230000002829 reductive effect Effects 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 230000000284 resting effect Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 description 27
- 230000005484 gravity Effects 0.000 description 22
- 238000002347 injection Methods 0.000 description 17
- 239000007924 injection Substances 0.000 description 17
- 238000003032 molecular docking Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/026—Refilling cleaning liquid containers
Landscapes
- Manipulator (AREA)
Abstract
The application discloses a base station for water feeding and draining of a cleaning robot and a robot system, wherein the base station comprises an inclined surface base and a water inlet component fixedly arranged above the inclined surface base; the inclined surface base is provided with concave-convex alternate slots which are used for guiding the cleaning robot to enter and obliquely stop in the base station relative to the horizontal ground; when the cleaning robot is stopped in the concave-convex alternate groove, the groove structure is abutted against the driving wheel of the cleaning robot and the side surface of the machine body where the sewage tank of the cleaning robot is located, and the drain assembly arranged inside the convex structure with the minimum maximum height value from the horizontal ground is abutted against the sewage outlet of the sewage tank of the cleaning robot and is used for pumping out sewage from the sewage tank of the cleaning robot; the water inlet assembly is in butt joint with a water filling port of the clean water tank of the cleaning robot and is used for filling water into the clean water tank inside the parked cleaning robot. Wherein the cleaning robot is a robot integrating a driving wheel, a sewage tank and a clean water tank.
Description
Technical Field
The application relates to the technical field of cleaning robot equipment, in particular to a base station for water feeding and draining of a cleaning robot and a robot system.
Background
The indoor floor cleaning robot needs a large amount of cleaning water to wet the floor before cleaning operation and needs to recover the sewage after the operation after cleaning, so the indoor floor cleaning robot needs a large amount of space to store the cleaning water before the cleaning operation and the sewage after the cleaning operation and needs frequent water change. The conventional indoor floor-cleaning robot divides a water tank into two independent small water tanks with similar volumes, and the two small water tanks are respectively used for storing clean water for cleaning operation and sewage recovered by operation. The storage space of the clean water only occupies half of the volume of the water tank, and the sewage recovered into the sewage tank is not reusable, so that the water is fully discharged. The water tank in the prior art has low space utilization rate, low water use efficiency and needs to change water manually and frequently.
The cleaning robot base station and the cleaning robot system disclosed in the Chinese patent 2017102526212 can overcome the technical problems, but after the cleaning robot enters the base station and stops on the base station, the cleaning robot easily slides out of the base station under the action of gravity or other factors, so that the cleaning robot is not beneficial to stably adding water and draining water on the base station.
Disclosure of Invention
In order to solve the technical problems, the application discloses a base station for water adding and draining of a cleaning robot and a robot system, wherein the base station is integrated with concave-convex alternate slots, a water outlet assembly and a water draining assembly on an inclined surface base, so that the cleaning robot can be parked in the base station in an inclined manner relative to the horizontal ground under the action of the abutting force and friction force of the concave-convex alternate slots, and the cleaning robot can stably finish automatic water adding and draining in the base station. The specific technical scheme is as follows:
a base station for water feeding and draining of a cleaning robot, the base station comprises an inclined surface base and a water inlet component fixedly arranged above the inclined surface base; the inclined surface base is provided with concave-convex alternate slots which are used for guiding the cleaning robot to enter and obliquely stop in the base station relative to the horizontal ground, wherein the concave-convex alternate slots comprise at least two convex structures arranged at intervals and at least two groove structures arranged at intervals; when the cleaning robot is stopped in the concave-convex alternate groove, the groove structure is abutted against the driving wheel of the cleaning robot and the side surface of the machine body where the sewage tank of the cleaning robot is located, and the drain assembly arranged inside the convex structure with the minimum maximum height value from the horizontal ground is abutted against the sewage outlet of the sewage tank of the cleaning robot and is used for pumping out sewage from the sewage tank of the cleaning robot; the water inlet assembly is in butt joint with a water filling port of a clean water tank of the cleaning robot and is used for filling water into the clean water tank in the parked cleaning robot; wherein the cleaning robot is a self-moving robot integrating a driving wheel, a sewage tank and a clean water tank.
Compared with the prior art, this technical scheme sets up groove structure and comes the drive wheel of butt cleaning robot on the inclined plane base to utilize the drain of the drain assembly in the protruding structure come butt joint cleaning robot's sewage case, realize cleaning robot for horizontal ground incline dock and carry out automatic water and drainage in the basic station, avoid cleaning robot to roll off the basic station from the position of docking on the basic station, improve the steady degree of drain assembly and cleaning robot's sewage case butt joint simultaneously, improve the accuracy of play water assembly and cleaning robot's clean water tank butt joint.
Further, the concave-convex alternate groove comprises a first convex structure and a second convex structure; the first protruding structure extends to the horizontal ground from one side to form an inlet of the base station, and the groove structure is connected between the other side of the first protruding structure and the second protruding structure; the maximum vertical height position of the first protruding structure is a first protrusion, and the height of the first protruding structure is reduced along the direction that the first protrusion extends towards the entrance of the base station; the maximum vertical height position of the second bulge structure is a second bulge, the height of the position of the second bulge is larger than that of the position of the first bulge, so that when the cleaning robot stops in the concave-convex alternate groove, the groove structure is abutted against the driving wheel of the cleaning robot, and the second bulge is abutted against the universal wheel of the cleaning robot; the horizontal distance between the second protrusion and the inlet of the base station is greater than the horizontal distance between the first protrusion and the inlet of the base station in the direction along the inlet of the base station to the first protrusion, and the bottom of the cleaning robot stopped in the groove with the alternate concave and convex is sequentially provided with a driving wheel and a universal wheel. According to the technical scheme, the inclined plane butt joint structure is constructed by arranging the first protruding structures and the second protruding structures with different heights and is used for preventing the driving wheel and the universal wheel from rotating backwards to slide out of the base station, so that the cleaning robot stably stops on the base station to smoothly finish automatic water adding and draining.
Further, the drainage assembly comprises a drainage pipe and a sewage tank, one end of the drainage pipe penetrates through the first protrusion and is connected with a sewage outlet of the sewage tank of the cleaning robot, the sewage outlet of the sewage tank is stopped in the concave-convex alternate tank position, the other end of the drainage pipe is communicated with a water inlet of the sewage tank, and a water outlet of the sewage tank is communicated with a sewage pipe outside the drainage assembly. According to the technical scheme, in order to enable sewage in the sewage tank of the cleaning robot to be discharged cleanly in time, sewage grooves communicated with the sewage tank are formed in the bottoms of the concave-convex alternate grooves, when the side face of the machine body where the sewage tank of the cleaning robot is located is abutted against and stopped in the groove structure, the sewage grooves can be communicated with a ground sewage discharge pipeline, and the sewage in the sewage tank can be discharged stably and timely under the action of gravity component force of the cleaning robot.
Further, the concave-convex alternate groove position comprises a first groove structure and a second groove structure; the first groove structure is arranged between the first protruding structure and the second protruding structure; when the cleaning robot is stopped in the concave-convex alternate groove, a first abutting surface for abutting against the side face of the machine body where the sewage tank of the cleaning robot is located is arranged on the groove wall of the first groove structure, a second abutting surface for abutting against the driving wheel of the cleaning robot is arranged on the groove wall of the first groove structure, and a third abutting surface for abutting against the universal wheel of the cleaning robot is arranged on the second protrusion, so that the cleaning robot is obliquely stopped in the concave-convex alternate groove relative to the horizontal ground. Therefore, the unbalanced factors of gravity and friction force are overcome through the abutting acting forces on the three abutting surfaces, so that the cleaning robot can stably receive water injection and drainage of the base station in the concave-convex alternate groove positions.
Further, in the direction in which the inlet of the base station extends toward the first protrusion, a side surface with a decreasing height of the first protrusion structure is connected with the first abutting surface, the third abutting surface is connected with the groove wall of the second groove structure, and the height of the lowest horizontal position of the first groove structure is smaller than the height of the lowest horizontal position of the second groove structure. The cooperation of the three abutting surfaces is used for abutting the cleaning robot, so that the cleaning robot is obliquely stopped in the groove with the alternate concave and convex relative to the horizontal ground.
Further, the water inlet assembly comprises an electromagnetic valve and a water inlet pipe, one end of the water inlet pipe is connected with a water injection port of the clean water tank of the cleaning robot, which is stopped in the concave-convex alternate groove, the other end of the water inlet pipe is connected with one end of the electromagnetic valve, and the other end of the electromagnetic valve is connected with a tap water pipe outside the water inlet assembly. The technical effect of the technical scheme is as follows: when the cleaning robot detects that the clean water tank is free of water in the cleaning process, the cleaning robot can automatically walk and obliquely stop to the concave-convex alternate groove of the base station, and after the stop of the butt joint water inlet pipe and the sewage groove is completed, the electromagnetic valve is controlled to be connected with the water inlet pipe through a transmission instruction, so that the base station can automatically add water to the cleaning robot.
Furthermore, the water inlet pipe and the water outlet pipe are telescopic pipes, and the sewage tank is a telescopic water tank. According to the technical scheme, the base station is in soft connection with the sewage outlet of the sewage tank of the cleaning robot and the water filling port of the clean water tank of the cleaning robot, after the cleaning robot stops stably, the problems of damage or water leakage of the water inlet pipe, the water outlet pipe and the telescopic water tank caused by buffering during automatic docking are prevented, the controllability of docking work is improved, and the docking effect is further improved.
Further, the water inlet component is arranged vertically above the inclined plane base through a fixed bracket, and the bracket is arranged on the upper surface of the second groove structure to form an L-shaped base, so that one end of the water inlet pipe is automatically aligned and sucked with a water injection port of a clean water tank of the cleaning robot, which is stopped in the groove with the alternate concave and convex; wherein, the height of the water inlet component is greater than the height of the clean water tank. The technical scheme accelerates the automatic water injection speed of the water inlet assembly based on the water flow principle, and saves the action of external force.
A robot system comprising a cleaning robot and the base station for water feeding and draining of the cleaning robot; wherein, the side surface of the sewage tank is provided with a sewage outlet; the upper surface of the clear water tank is provided with a water filling port. Compared with the prior art, the base station integrates the concave-convex alternate slots, the water outlet assembly and the water discharge assembly on the inclined surface base, so that the cleaning robot overcomes the unbalanced factors of the friction force and the gravity of the concave-convex alternate slots, and the base station is inclined and stopped in the base station relative to the horizontal ground, so that the base station stably completes automatic water adding and water discharging to the stopped cleaning robot.
Further, the drain outlet and the water injection port are both provided with liquid level switch sensors for detecting liquid level information in the sewage tank and liquid level information in the clear water tank, and converting the liquid level information into switch-type electric signals corresponding to the opening. According to the technical scheme, through automatically detecting the liquid level inside the clean water tank or the sewage tank, when the liquid level of the clean water tank is too low or the liquid level of the sewage tank is too high, the operation that the water inlet component and the water outlet component of the base station are triggered to replace water is automatically in butt joint with the base station through the cleaning robot, clear water is added or sewage is poured, and complicated manual operation is avoided.
Drawings
Fig. 1 is a schematic diagram of a base station for water feeding and draining of a cleaning robot and a structure where the cleaning robot stops at the base station according to an embodiment of the present application. Wherein:
1. a clean water tank; 2. a sewage tank; 3. a driving wheel; 4. a universal wheel; 51. a first groove structure 52, a second groove structure 53, a first protrusion structure 54, a second protrusion structure; 6. a sewage tank; 7. a drain pipe; 8. a sewage pipe; 9. a water inlet pipe; 10. an electromagnetic valve; 11. a tap water pipe.
Detailed Description
The following describes the technical solution in the embodiment of the present application in detail with reference to the drawings in the embodiment of the present application. Other configurations and operations of the reminder according to embodiments of the present application will be apparent to those of ordinary skill in the art and will not be described in detail herein. In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. The terms "mounted," "connected," "secured," and the like are intended to be interpreted broadly, as they may be connected detachably or as a unit, as they may be connected directly or indirectly via an intermediary, as they may be in communication with one another or as they may be in an interactive relationship with one another, unless otherwise specifically indicated. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The embodiment discloses a base station for water feeding and draining of a cleaning robot, wherein the base station comprises an inclined surface base and a water inlet component fixedly arranged above the inclined surface base; the inclined surface base is provided with concave-convex alternate slots which are used for guiding the cleaning robot to enter and obliquely stop in the base station relative to the horizontal ground, wherein the concave-convex alternate slots comprise at least two convex structures arranged at intervals and at least two groove structures arranged at intervals; specifically, when the cleaning robot is stopped in the groove position with the alternating concave and convex, the groove structures are abutted against the driving wheel of the cleaning robot and the side surface of the machine body where the sewage tank of the cleaning robot is located, namely one groove structure is abutted against the driving wheel of the cleaning robot and the side surface of the machine body where the sewage tank of the cleaning robot is located at the same time, so that an abutting acting force is generated on the corresponding abutting surface, and the cleaning robot is stopped on the inclined surface base in a force balance manner; meanwhile, in the embodiment, for the convex structure with the minimum maximum height value from the horizontal ground, a drain outlet of the sewage tank of the cleaning robot currently parked in the base station is arranged in the convex structure, the sewage tank of the cleaning robot is used for pumping out sewage, and a water inlet component is also just docked with a water inlet of the clean water tank of the cleaning robot currently parked in the base station, and is used for filling water into the clean water tank of the parked cleaning robot; and because a groove structure is abutted to the side surface of the machine body where the sewage tank of the cleaning robot is located, the stability of the abutting joint of the drainage assembly and the sewage tank of the cleaning robot is improved, the accuracy of the abutting joint of the water outlet assembly and the clean water tank of the cleaning robot is improved, the cleaning robot is enabled to stop on the base station obliquely relative to the horizontal ground, and the base station can smoothly finish automatic water feeding and drainage of the stably stopped cleaning robot. It should be noted that, the cleaning robot is a self-moving robot integrating a driving wheel, a sewage tank and a clean water tank, wherein, the relative assembly position of the sewage tank and the clean water tank in the machine body and the relative assembly position of the drainage component and the water inlet component in the base station are in a structural butt-joint matching relationship, when the relative assembly position of the sewage tank and the clean water tank in the machine body is changed, the relative assembly position of the drainage component and the water inlet component in the base station is also changed, so that when the cleaning robot stably stops at the base station, the drainage component is abutted against the sewage outlet of the sewage tank of the cleaning robot, and the water inlet component is also just abutted against the water inlet of the clean water tank. According to the embodiment, the groove structure is arranged on the inclined plane base to be abutted against the driving wheel of the cleaning robot, and the drain outlet of the sewage tank of the cleaning robot is abutted against the drain assembly in the protruding structure, so that the cleaning robot can be obliquely stopped in the base station for automatically adding water and draining water relative to the horizontal ground, and the cleaning robot is prevented from sliding out of the base station from the stopping position on the base station.
As an embodiment, as shown in fig. 1, the concave-convex alternate groove position includes a first convex structure 53 and a second convex structure 54; the first protruding structure 53 has a side extending toward the horizontal ground to form an entrance of the base station, that is, the left side of the first protruding structure 53 of fig. 1 extends toward the horizontal ground, and the intersection point of the left inclined surface of the first protruding structure 53 and the horizontal ground is used as the entrance of the base station; the groove structure is connected between the other side of the first protruding structure 53 and the second protruding structure 54, for example, the right side of the first protruding structure 53 in fig. 1 is adjacent to the left side of the groove structure, and the right side of the groove structure is adjacent to the left side of the second protruding structure 54, so as to form two protruding structures arranged at intervals. The vertical height maximum position of the first bump structure 53 is a first bump, and the height of the first bump structure 53 decreases in a direction in which the first bump extends toward the entrance of the base station, i.e., corresponds to the left slope of the first bump structure 53 of fig. 1, so that the cleaning robot can enter the base station across this first bump structure 53, into the inside of the groove where the unevenness alternates. The second protrusion structure 54 has a maximum vertical height at a second protrusion, and the height of the second protrusion is greater than the height of the first protrusion. When the cleaning robot stops in the groove position with the alternate concave-convex, the driving wheel 3 and the universal wheel 4 stop rotating, the groove structure is abutted against the driving wheel 3 of the cleaning robot, the second protrusion is abutted against the universal wheel 4 of the cleaning robot, so that the groove structure, the first protrusion structure 53 and the second protrusion structure 54 can be matched for use to apply more force to the driving wheel 3 and the universal wheel 4, wherein the acting force direction of the abutting surface of the sewage tank and the groove structure acting on the machine body is away from the inlet of the base station, the acting force direction of the abutting surface of the driving wheel 3 and the groove structure acting on the driving wheel 3 is away from the inlet of the base station, the acting force direction of the abutting surface of the universal wheel 4 and the second protrusion acting on the universal wheel 4 is away from the inlet of the base station, and the force can reduce the possibility of backward rotation of the driving wheel 3 and the universal wheel 4, so that the backward movement of the driving wheel 3 and the universal wheel 4 is avoided, and the cleaning robot stops on the base station more stably. According to the embodiment, the inclined plane abutting structure is constructed by arranging the first protruding structure and the second protruding structure with different heights, so that the driving wheel and the universal wheel are prevented from rotating backwards to slide out of the base station, and the cleaning robot stably stops on the base station to smoothly finish automatic water adding and draining.
It should be noted that, in this embodiment, the groove wall of the groove structure, the abutting surface of the first protruding structure 53, and the abutting surface of the second protruding structure 54 are connected, and the groove structure is recessed with respect to the first protruding structure 53, so that the groove wall and the abutting surface of the groove structure can abut against the side surface of the body where the sewage tank of the cleaning robot is located and part of the tread of the driving wheel, thereby providing friction force and abutting force for the driving wheel 3 and the universal wheel 4. In the direction along the entrance of the base station toward the first protrusion, the horizontal distance between the second protrusion and the entrance of the base station is greater than the horizontal distance between the first protrusion and the entrance of the base station, that is, the second protrusion structure 54 of fig. 1 is disposed on the right side of the first protrusion structure 53, the bottom of the cleaning robot resting in the groove with alternating recesses and protrusions is sequentially provided with the driving wheel 3 and the universal wheel 4, the driving wheel 3 at the bottom of the cleaning robot is accommodated in the groove structure, and the universal wheel 4 is abutted by a protrusion structure, so that the driving wheel 3 and the universal wheel 4 are prevented from moving backward by the groove with alternating recesses and protrusions.
As an embodiment, as shown in fig. 1, the drain assembly comprises a drain pipe 7 and a drain tank 6, wherein one end of the drain pipe 7 passes through the first protrusion and is connected with a drain outlet of the drain tank 2 of the cleaning robot stopped in the groove with alternating concave and convex, the other end of the drain pipe 7 is communicated with a water inlet of the drain tank 6, a water outlet of the drain tank 6 is communicated with a drain pipe 8 outside the drain assembly, and the drain pipe 7 is automatically connected with the drain outlet of the drain tank 2 of the cleaning robot stopped in the groove with alternating concave and convex, and sealing treatment is completed at an interface; a negative pressure source can be arranged in the sewage tank 6, and the negative pressure source sucks sewage in the sewage tank 2 of the cleaning robot through a water inlet of the sewage tank 6; wherein, the side of the sewage tank 2 is provided with a sewage outlet. In order to enable timely discharge of sewage in the sewage tank 2 of the cleaning robot, a sewage tank 6 communicated with the sewage tank 2 is arranged at the bottom of the concave-convex alternate tank, when the side face of the body where the sewage tank of the cleaning robot is located is abutted against and stopped in the groove structure, the sewage tank 6 can be communicated with a sewage drain pipe 8, and since the cleaning robot is stopped obliquely relative to the horizontal plane in the concave-convex alternate tank, the sewage tank of the cleaning robot is also stopped obliquely relative to the horizontal plane in the concave-convex alternate tank, and then is acted by the gravity downward component force of the sewage (the downward slope here is the direction in which the first convex structure 53 of fig. 1 extends to the ground), the sewage in the sewage tank 2 has the tendency of flowing from the sewage outlet of the side face of the tank to the drain pipe 7, and then the suction of a negative pressure source is arranged in combination with the inside of the sewage tank 6, and the sewage in the sewage tank 2 can be stably and timely discharged, and naturally flows from the sewage tank 2 stably and naturally under the premise that the suction of the negative pressure source can be arranged inside the sewage tank 6 is not depended on the suction of the sewage tank 6.
Preferably, the drain pipe adopts flexible pipe, the drain pipe is flexible basin, drain pipe 7 with the drain of cleaning robot's drain tank 2 keeps the flexible connection state when automatic butt joint, drain pipe 6 with the outside drain pipe 8 of drainage assembly keeps the flexible connection state when automatic butt joint to the drain of base station butt joint cleaning robot's drain tank 2 all adopts the flexible connection state. After the cleaning robot stably stops, the problems of damage or water leakage of a drain pipe and a telescopic water tank caused by buffering during automatic docking are prevented, the controllability of docking work is improved, and the docking effect is further improved.
As an embodiment, as shown in fig. 1, the groove position with alternating concave-convex comprises a first groove structure 51 and a second groove structure 52; the first groove structure 51 is arranged between the first projection structure 53 and the second projection structure 54; when the cleaning robot is stopped in the groove position with the alternating concave-convex, a first abutting surface for abutting against the side surface of the machine body where the sewage tank 2 of the cleaning robot is located is arranged on the groove wall of the first groove structure 51, a second abutting surface for abutting against the driving wheel 3 of the cleaning robot is arranged on the groove wall of the first groove structure 51, and a third abutting surface for abutting against the universal wheel 4 of the cleaning robot is arranged on the second protrusion, so that the cleaning robot is stopped in the groove position with the alternating concave-convex obliquely relative to the horizontal ground, specifically: the head of the cleaning robot is higher than the tail, the cleaning robot has a tendency to slide downwards from the first protruding structure 53 under the action of gravity, but the first abutting surface and the second abutting surface are both used for abutting against the tail of the cleaning robot, and the third abutting surface is used for abutting against the head of the cleaning robot, so that the factors of unbalanced gravity and friction force are overcome through the abutting acting forces on the three abutting surfaces, and the cleaning robot is enabled to stably receive water injection of a base station and drain water to the base station in the concave-convex alternate slots.
In the above embodiment, in the direction in which the inlet of the base station extends toward the first protrusion, a side surface with decreasing height exists on the right side of the first protrusion structure 53 and is connected with the first abutment surface, the first protrusion structure 53 is adjacent to the first groove structure 51, the first groove structure 51 is adjacent to the second protrusion structure 54, the third abutment surface is connected with the groove wall of the second groove structure 52, the second protrusion structure 54 is adjacent to the second groove structure 52, the height of the lowest horizontal position of the first groove structure 51 is smaller than the height of the lowest horizontal position of the second groove structure 52, so that the cleaning robot is inclined in the groove position with alternating concave-convex with respect to the horizontal ground based on the cooperation abutment action of the three abutment surfaces, a part of the tread surface of the driving wheel 3 at the bottom of the cleaning robot is accommodated in the first groove structure 51, the universal wheel 4 is abutted by the second protrusion structure 54, the first abutment surface generates a certain abutment force against the tail of the body, the second abutment surface generates a certain force against the tread surface of the driving wheel 3, and the third abutment force against the universal wheel 4 has a certain force against the tread surface; meanwhile, since the cleaning robot is inclined to the horizontal plane in the groove position where the protrusions and depressions alternate, the cleaning robot has a tendency to slide down from the first bump structure 53 under the action of gravity, but the cleaning robot controls the driving wheel 3 to have a tendency to rotate forward in a stationary state due to inertia, so that the first bump structure 54 provides a friction force to the driving wheel 3 based on the height characteristics of the groove structure, and the second bump structure 54 provides a friction force to the universal wheel 4, which can be offset with a part of gravity of the cleaning robot. For example, when the friction force is directed obliquely upwards, part of the gravity force of the cleaning robot is directed obliquely downwards in opposite directions, so that the two can partially cancel each other, it is avoided that the cleaning robot slides away from the abutment surface, and in some examples the cleaning robot is subjected to the forces of gravity and the base station (abutment force of the alternating grooves of the irregularities against the wheel set, the sides of the machine body and friction force), the forces are mutually cancelled, and when the fresh water tank 1 of the cleaning robot increases the gravity force due to water filling and/or the sewage tank 2 of the cleaning robot decreases the gravity force due to water draining, the forces remain mutually cancelled, because the relative positions of the first projection structure 53, the first recess structure 51, the second recess structure 52 and the second projection structure 54 arranged in the alternating grooves of the irregularities remain unchanged. Therefore, the cleaning robot can stably stop on the bevel base of the base station in the process of receiving water injected into the base station and draining water to the base station.
As an embodiment, as shown in fig. 1, the water inlet assembly comprises a solenoid valve 10 and a water inlet pipe 9, one end of the water inlet pipe 9 is connected with a water injection port of the clean water tank 1 of the cleaning robot stopped in the concave-convex alternate slot, one end of the solenoid valve 10 is connected with the other end of the water inlet pipe 9, the other end of the solenoid valve 10 is connected with a tap water pipe 11 outside the water inlet assembly, wherein the water inlet pipe 9 is automatically connected with the water injection port of the clean water tank 1 of the cleaning robot stopped in the concave-convex alternate slot in a sucking way, and sealing treatment is completed at an interface; preferably, the water inlet pipe 9 adopts a telescopic pipe, the water inlet pipe 9 and the water injection port of the clean water tank 1 of the cleaning robot are kept in a soft connection state when automatically butted, and the electromagnetic valve 10 and the tap water pipe 11 outside the water inlet assembly are kept in a soft connection state when automatically butted, so that the water injection port of the clean water tank 1 of the cleaning robot is butted by the base station in a soft connection state. After the cleaning robot stably stops, the problem that the water inlet pipe is damaged or leaks due to water injection buffering during automatic docking is prevented, the controllability of docking work is improved, and the docking effect is further improved.
It should be noted that the base station is placed in a fixed position, then the tap water pipe 11 is connected to the tap water, the tap water is turned on, and the sewage pipe 8 is connected to the sewage pipe. The position of the base station is preset in a cleaning navigation area map of the cleaning robot. When the cleaning robot detects that the clean water tank 1 is free of water in the cleaning process, the cleaning robot can automatically walk and obliquely stop in the concave-convex alternate groove of the base station, after the stop of the abutting joint water inlet pipe and the sewage groove is completed, the electromagnetic valve 10 is opened by transmitting an opening signal instruction to the electromagnetic valve 10, the water inlet pipe 9 is communicated, the base station automatically adds water to the cleaning robot, after the clean water in the clean water tank 1 is filled up, the cleaning robot gives a closing signal to the electromagnetic valve 10, and the electromagnetic valve 10 is closed to complete water adding. In the water injection process, the cleaning robot receives more and more complicated force in the concave-convex alternate groove, namely the gravity of the cleaning robot is increased, the component force of the gravity is also increased, the first groove structure 51 provides a friction force for the driving wheel 3, but the positions of the two convex structures arranged at intervals and the two groove structures arranged at intervals in the concave-convex alternate groove are fixed and are enough to offset the influence of the gravity, so that the cleaning robot can stably stop on the base station to finish water injection. Similarly, in the sewage draining process, the cleaning robot receives more and more complicated force in the concave-convex alternate groove, that is, the gravity of the cleaning robot is reduced, the component force of gravity is also reduced, the first groove structure 51 provides a friction force for the side surface of the machine body is also reduced, but the positions of the two convex structures arranged at intervals and the two groove structures arranged at intervals in the concave-convex alternate groove are fixed and are enough to offset the influence of gravity, so that the cleaning robot can stably stop on the base station to finish the water draining.
In the foregoing embodiment, the water inlet assembly is mounted vertically above the bevel base by a fixed bracket, the bracket is disposed on the upper surface of the second groove structure 52, and may be disposed on the right side surface of the second groove structure 52, and the bevel base and the bracket form an L-shaped base, so that one end of the water inlet pipe 9 is automatically aligned and sucked with the water inlet of the clean water tank 1 of the cleaning robot resting in the groove with alternating concave and convex; meanwhile, the height of the water inlet component is larger than that of the clean water tank 1, the automatic water injection speed of the water inlet component is accelerated based on the water flow principle, namely, the kinetic energy of water flow in the water inlet pipe 9 is converted by utilizing gravitational potential energy, the automatic water injection speed of the water inlet pipe 9 is accelerated, and the pushing effect of external force is saved. Meanwhile, as the cleaning robot in the water injection process receives more and more complicated force in the concave-convex alternate groove, the inclined plane base of the base station has higher requirements on the stopping stability of the cleaning robot.
Based on the foregoing embodiments, there is also disclosed a robot system including a cleaning robot and the base station for water-adding and water-draining of the cleaning robot of the foregoing embodiments; wherein, the side surface of the sewage tank is provided with a sewage outlet; the upper surface of the clear water tank is provided with a water filling port. Compared with the prior art, in the robot system, the base station integrates the concave-convex alternate slots, the water outlet assembly and the water discharge assembly on the inclined surface base, so that the cleaning robot overcomes the unbalanced factors of the friction force and the gravity of the concave-convex alternate slots, the cleaning robot is inclined and stopped in the base station relative to the horizontal ground, and the base station stably completes automatic water feeding and water discharging for the stopped cleaning robot. Therefore, the cleaning robot can stably stop in the groove position of the inclined plane base, which is alternately concave and convex, in the process of receiving water injected from the base station and draining water to the base station.
Preferably, the drain outlet and the water injection outlet are both provided with liquid level switch sensors for detecting the liquid level information in the sewage tank 2 and the liquid level information in the clean water tank 1, and converting the liquid level information into switch type electric signals corresponding to the openings. In this embodiment, a liquid level switch sensor is disposed at the water filling port on the upper surface of the clean water tank 1, and a liquid level switch sensor is disposed at the drain outlet on the side surface of the sewage tank 2. The liquid level switch sensor of the clean water tank 1 is used for detecting whether the liquid level of clean water in the clean water tank 1 is close to a water filling port, and when the fact that the liquid level in the clean water tank 1 is too low is detected, a detection signal of the liquid level switch sensor is converted into an opening electric signal corresponding to the opening, so that the electromagnetic valve 10 is controlled to be opened, the water inlet pipe 9 is communicated, and automatic water filling of the cleaning robot by a base station is achieved; when the internal liquid level is detected to be too high so as to approach the water filling port, the detection signal of the liquid level switch sensor is converted into a closing electric signal corresponding to the opening, so that the electromagnetic valve 10 is controlled to be closed, the water inlet pipe 9 is blocked, the base station is prevented from automatically adding water to the cleaning robot, and overfilling and overflowing are avoided; the liquid level switch sensor at the side surface of the sewage tank 2 is used for detecting whether the sewage liquid level in the sewage tank 2 is close to the sewage outlet, when the fact that the internal liquid level is too low to be close to the sewage outlet is detected, the detection signal of the liquid level switch sensor is converted into a closing electric signal at the corresponding opening position so as to control the water pump in the sewage tank 6 to be closed, sewage does not need to be pumped out to enter the drain pipe 8, the sewage can be naturally discharged out of the sewage tank 2 by utilizing the gravity factor, and automatic drainage of the cleaning robot by the base station is maintained; when the internal liquid level is detected to be too high, the detection signal of the liquid level switch sensor is converted into an opening electric signal corresponding to the opening position, so that the water pump in the sewage tank 6 is controlled to be opened, sewage is pumped into the drain pipe 8, the sewage is accelerated to be discharged out of the sewage tank 2, and the automatic drainage of the cleaning robot by the base station is realized; therefore, when the liquid level in the clean water tank 1 is too low or the liquid level in the sewage tank 2 is too high, the cleaning robot is controlled to move and jump into the base station, and when the cleaning robot stably stops in the concave-convex alternate groove, the operation of the water inlet component and the water outlet component of the base station to change water is triggered, and the cleaning robot is automatically in butt joint with the base station to add clean water or discharge sewage, so that complicated manual operation is avoided.
In the embodiment of the present application, the cleaning robot may be a sweeping robot, a mopping robot, or a sweeping and mopping robot, which is not particularly limited in this embodiment. The cleaning robot of the present embodiment is provided with a driving wheel at the bottom thereof, and the cleaning robot supplies power to the driving wheel to rotate the driving wheel. When the driving wheel moves to the first groove structure, the second groove structure, the first protruding structure and the second protruding structure, the friction force provided by the concave-convex alternate grooves to the driving wheel is provided for the driving wheel, so that the driving wheel can drive the cleaning robot to finally counteract the gravity to stop moving. In addition, the bottom of the cleaning robot is also provided with a universal wheel, and the universal wheel is matched with the driving wheel to realize the movement and the steering of the cleaning robot.
It should be noted that the driving wheel of the cleaning robot of the present embodiment walks on a horizontal ground, so that the driving wheel can drive the cleaning robot to move by a frictional force provided to the driving wheel by the ground.
The above embodiments are merely for fully disclosing the present application, but not limiting the present application, and should be considered as the scope of the present disclosure based on the substitution of equivalent technical features of the inventive subject matter without creative work.
Claims (7)
1. The base station for adding water and draining water of the cleaning robot is characterized by comprising an inclined surface base and a water inlet component fixedly arranged above the inclined surface base;
the inclined surface base is provided with concave-convex alternate slots which are used for guiding the cleaning robot to enter and obliquely stop in the base station relative to the horizontal ground, wherein the concave-convex alternate slots comprise at least two convex structures arranged at intervals and at least two groove structures arranged at intervals;
when the cleaning robot is stopped in the concave-convex alternate groove, the groove structure is abutted against the driving wheel of the cleaning robot and the side surface of the machine body where the sewage tank of the cleaning robot is located, and the drain assembly arranged inside the convex structure with the minimum maximum height value from the horizontal ground is abutted against the sewage outlet of the sewage tank of the cleaning robot and is used for pumping out sewage from the sewage tank of the cleaning robot; the water inlet assembly is in butt joint with a water filling port of a clean water tank of the cleaning robot and is used for filling water into the clean water tank in the parked cleaning robot;
wherein the height of the water inlet component is greater than the height of the clean water tank;
wherein the cleaning robot is a self-moving robot integrating a driving wheel, a sewage tank and a clean water tank;
the concave-convex alternate groove comprises a first convex structure and a second convex structure; the first protruding structure extends to the horizontal ground from one side to form an inlet of the base station, and the groove structure is connected between the other side of the first protruding structure and the second protruding structure;
the maximum vertical height position of the first protruding structure is a first protrusion, and the height of the first protruding structure is reduced along the direction that the first protrusion extends towards the entrance of the base station; the maximum vertical height position of the second bulge structure is a second bulge, the height of the position of the second bulge is larger than that of the position of the first bulge, so that when the cleaning robot stops in the concave-convex alternate groove, the groove structure is abutted against the driving wheel of the cleaning robot, and the second bulge is abutted against the universal wheel of the cleaning robot;
the horizontal distance between the second protrusion and the inlet of the base station is greater than the horizontal distance between the first protrusion and the inlet of the base station in the direction along which the inlet of the base station extends to the first protrusion, and a driving wheel and a universal wheel are sequentially arranged at the bottom of the cleaning robot which is stopped in the groove with the alternate concave-convex;
the concave-convex alternate groove position comprises a first groove structure and a second groove structure; the first groove structure is arranged between the first protruding structure and the second protruding structure;
when the cleaning robot is stopped in the groove position with the alternating concave and convex, a first abutting surface for abutting against the side surface of the machine body where the sewage tank of the cleaning robot is positioned is arranged on the groove wall of the first groove structure, a second abutting surface for abutting against the driving wheel of the cleaning robot is arranged on the groove wall of the first groove structure, and a third abutting surface for abutting against the universal wheel of the cleaning robot is arranged on the second protrusion, so that the cleaning robot is stopped in the groove position with the alternating concave and convex obliquely relative to the horizontal ground;
the drainage assembly comprises a drainage pipe and a sewage groove, one end of the drainage pipe penetrates through the first protrusion and is connected with a sewage outlet of the sewage tank of the cleaning robot, the sewage outlet of the sewage tank is stopped in the concave-convex alternate groove position, the other end of the drainage pipe is communicated with a water inlet of the sewage groove, and a water outlet of the sewage groove is communicated with a sewage pipe outside the drainage assembly.
2. The base station according to claim 1, wherein the side surface of the first protrusion structure having a decreasing height is connected to the first abutment surface and the third abutment surface is connected to the groove wall of the second groove structure in a direction in which the entrance of the base station extends toward the first protrusion, and the height of the lowest horizontal position of the first groove structure is smaller than the height of the lowest horizontal position of the second groove structure.
3. The base station according to claim 2, wherein the water inlet assembly comprises a solenoid valve and a water inlet pipe, one end of the water inlet pipe is connected with a water inlet of a clean water tank of the cleaning robot stopped in the concave-convex alternate slot, the other end of the water inlet pipe is connected with one end of the solenoid valve, and the other end of the solenoid valve is connected with a tap water pipe outside the water inlet assembly.
4. A base station according to claim 3, wherein the inlet pipe and the outlet pipe are telescopic pipes, and the sewage tank is a telescopic tank.
5. The base station of claim 4, wherein the water inlet assembly is mounted vertically above the bevel base by a fixed bracket disposed on the upper surface of the second groove structure to form an L-shaped base such that one end of the water inlet pipe is automatically aligned with a water inlet of the clean water tank of the cleaning robot resting in the alternate concave-convex groove.
6. A robot system comprising a cleaning robot and the base station for water-adding and draining of the cleaning robot according to any one of claims 1 to 5;
wherein, the side surface of the sewage tank is provided with a sewage outlet; the upper surface of the clear water tank is provided with a water filling port.
7. The robotic system of claim 6, wherein a level switch sensor is provided at both the drain and the fill port.
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| CN202011053125.2A CN112168085B (en) | 2020-09-29 | 2020-09-29 | Base station for water adding and draining of cleaning robot and robot system |
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| CN202011053125.2A CN112168085B (en) | 2020-09-29 | 2020-09-29 | Base station for water adding and draining of cleaning robot and robot system |
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| CN113057531A (en) * | 2021-03-24 | 2021-07-02 | 北京享捷科技有限公司 | Integrated alignment structure and alignment method for sweeping robot and maintenance station |
| CN112842187A (en) * | 2021-04-01 | 2021-05-28 | 广东美房智高机器人有限公司 | Clean water tank waterproof surging structure and cleaning robot |
| CN113287980A (en) * | 2021-04-27 | 2021-08-24 | 苏州三六零机器人科技有限公司 | Base station and cleaning system |
| CN113080779A (en) * | 2021-05-12 | 2021-07-09 | 深圳市银星智能科技股份有限公司 | Water tank of cleaning robot, cleaning robot and cleaning system |
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