CN114343496A

CN114343496A - Automatic replacement system and automatic replacement method

Info

Publication number: CN114343496A
Application number: CN202111676915.0A
Authority: CN
Inventors: 彭振声; 罗林斌; 杨勇
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-15
Anticipated expiration: 2041-12-31
Also published as: CN114343496B

Abstract

The invention provides an automatic replacement system and an automatic replacement method. The automatic replacing system comprises a cleaning device, a base station and a control unit, wherein the cleaning device is provided with a driving device for moving the cleaning device and an installation position for installing the cleaning unit; the base station comprises a parking place for parking the cleaning device and an integrated unit for receiving a cleaning unit; the control unit is respectively in communication connection with the cleaning equipment and the base station, controls the cleaning equipment to automatically disassemble and replace the cleaning unit, and controls the integrated unit in the base station to automatically recover and disassemble the cleaning unit. Compared with the prior art, the automatic cleaning device has the advantages that the automatic replacement of the cleaning unit is realized, the structure is compact, the working efficiency of the cleaning device is improved, and the experience of a user is improved.

Description

Automatic replacement system and automatic replacement method

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to an automatic replacing system and an automatic replacing method.

Background

In recent years, with the development of social economy and the improvement of the domestic living standard, furniture cleaning gradually enters an intelligent and mechanized era, and a cleaning robot produced by transportation can free people from household cleaning work, effectively reduce the workload of people in the aspect of household cleaning, and relieve the fatigue degree of people in the household cleaning process. However, the prior art cannot completely realize the integrated arrangement of the rolling brush in the base station and the automatic replacement of the rolling brush of the sweeper.

In view of the above, it is necessary to provide an automatic replacing system and an automatic replacing method to solve the above problems.

Disclosure of Invention

The invention aims to provide an automatic replacing system and an automatic replacing method, which can integrate and arrange a cleaning unit in a base station and automatically replace the cleaning unit of a cleaning device.

In order to achieve the above object, the present invention provides an automatic changing system, which includes a cleaning device, a base station, and a control unit, wherein the cleaning device is provided with a driving device for moving the cleaning device and an installation position for installing the cleaning unit. The base station comprises a parking place for parking the cleaning device and an integrated unit for receiving a cleaning unit. The control unit is respectively in communication connection with the cleaning equipment and the base station, controls the cleaning equipment to automatically disassemble and replace the cleaning unit, and controls the integrated unit in the base station to automatically recover and disassemble the cleaning unit.

As a further improvement of the present invention, the automatic replacement system further includes an automatic detaching unit, the automatic detaching unit is in communication connection with the control unit, the automatic detaching unit includes a fixing component detachably connected with the cleaning device, the fixing component includes a disconnecting switch disposed outside the cleaning unit, a unhooking component for triggering the disconnecting switch is disposed in the base station, and the unhooking component is configured to enable the disconnecting switch to generate displacement so as to separate the cleaning unit from the cleaning device.

As a further development of the invention, the integrated unit is provided with at least one empty space for accommodating the cleaning unit.

As a further improvement of the present invention, the automatic replacement system further includes an automatic rotation unit and a first identification unit, the automatic rotation unit and the first identification unit are respectively connected to the control unit in a communication manner, the automatic rotation unit drives the integrated unit to rotate, and when the first identification unit identifies that the cleaning unit passing through the first identification unit is a target cleaning unit, the control unit controls the automatic rotation unit to stop rotating.

As a further development of the invention, the cleaning appliance comprises a second recognition unit which is in communicative connection with the control unit, which recognizes the environmental information and sends the recognition result to the control unit.

In order to further achieve the above object, the present invention further provides an automatic replacing method, which uses the automatic replacing system, and the automatic replacing method comprises the following steps:

step S10: the cleaning equipment sends an instruction for replacing the cleaning unit to the automatic replacing system;

step S20: the control unit receives the instruction and controls the automatic disassembling unit to disassemble the first cleaning unit on the cleaning equipment;

step S30: the integrated unit recovers the first cleaning unit and stores the first cleaning unit to a first position;

step S40: the control unit controls the integrated unit to rotate so as to select a target cleaning unit and controls the integrated unit to automatically disassemble the target cleaning unit;

step S50: the control unit automatically assembles the target cleaning unit to the cleaning apparatus.

As a further improvement of the present invention, the cleaning apparatus further includes a second recognition unit, and the automatic replacement method further includes:

step S00: the second recognition unit recognizes the environmental information and sends the recognition result to the control unit.

As a further improvement of the present invention, the step S20 specifically includes:

step S21: the control unit receives an instruction and controls the automatic disassembling unit to release the fixation of the first cleaning unit and the cleaning equipment;

step S22: the cleaning device is out of the station.

As a further improvement of the present invention, the step S30 specifically includes:

step S31: the integrated unit is driven by the automatic lifting unit to descend to a first height, and an empty area of the integrated unit recovers the first cleaning unit and stores the first cleaning unit to the first position;

step S32: the integrated unit is driven by the automatic lifting unit to ascend to the initial height.

As a further improvement of the present invention, the step S50 specifically includes:

step S51: the automatic disassembling unit is used for disassembling the target cleaning unit to a target installation position, and the integrated unit is lifted to an initial height;

step S52: the cleaning device enters the station again;

step S53: the integrated unit descends to press the main machine of the cleaning equipment to a second height so that the main machine of the cleaning equipment and the target cleaning unit are connected into a whole;

step S54: the cleaning device is again out of the station.

The invention has the beneficial effects that: according to the invention, by arranging the full-automatic replacement system, the automatic replacement of the cleaning unit is realized, the structure is compact and intelligent, and the cleaning efficiency is improved. Secondly, through setting up integrated casing, integrate a plurality of cleaning unit together, and mutual independence between each cleaning unit can satisfy the demand to the multiple cleaning unit usage of different scenes. Moreover, through setting up the guide unit, can effectively guide the lift of integrated unit, improve the stability of lift process. The cleaning unit can be classified, placed and stored, space and time are saved, the cleaning unit can be replaced quickly, cleaning efficiency is improved, and cleaning experience of a user is improved.

Drawings

Fig. 1 is a block diagram of an automatic exchange system according to a preferred embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a base station and a cleaning device.

Fig. 3 is a schematic structural view of an integrated unit and a bracket.

Fig. 4 is a schematic view of the structure of fig. 3 at another angle.

Fig. 5 is a schematic structural view of the cleaning unit, the integration unit, and the bracket.

Fig. 6 is a schematic structural diagram of an integrated unit.

Fig. 7 is an exploded view of fig. 6 at a first angle.

Fig. 8 is an exploded view of fig. 6 at a second angle.

Fig. 9 is an exploded view of fig. 6 at a third angle.

Fig. 10 is an internal structural view of a part of the elements of the integrated unit to which the rotating shaft is attached.

Fig. 11 is an exploded view of the whole of the integrated unit to which the rotation shaft is attached.

Fig. 12 is a schematic structural view of the auxiliary removing member of fig. 11.

Fig. 13 is a schematic structural view of the stent.

FIG. 14 is a schematic view of the structure of the cleaning apparatus, parking station, stand and integrated unit.

FIG. 15 is a schematic view of the cleaning apparatus, parking station and unhooking assembly.

Fig. 16 is a schematic structural view of the unhooking assembly and the cleaning unit.

Fig. 17 is an exploded schematic view of the unhooking assembly and the securing assembly.

Fig. 18 is an exploded schematic view of the unhooking assembly.

FIG. 19 is an exploded view of the third trigger and slider arrangement.

Fig. 20 is a sectional view schematically showing the structure of the support member.

Fig. 21 is a schematic view of the structure of a unhooking assembly in another embodiment.

Fig. 22 is an exploded view of a unhooking assembly and a securing assembly in another embodiment.

Fig. 23 is a schematic view of the bottom structure of the cleaning apparatus.

Fig. 24 is a schematic sectional view showing the structure of the cleaning apparatus when assembled with the cleaning unit.

Fig. 25 is an enlarged view of the structure at a in fig. 24.

Fig. 26 is a schematic structural view of the cleaning unit.

Fig. 27 is a flowchart of an automatic exchange method according to a preferred embodiment of the present invention.

Fig. 28 is a detailed flowchart of step S20 in fig. 27.

Fig. 29 is a detailed flowchart of step S30 in fig. 27.

Fig. 30 is a detailed flowchart of step S50 in fig. 27.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure.

In the description of the present invention, it will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, unless otherwise defined, the terms "first," "second," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another.

Referring to fig. 1 to 26, an automatic exchanging system 100 according to the present invention includes a base station 10, a cleaning device 20, and a control unit 30, wherein the cleaning device 20 is provided with a driving device 23 for moving the cleaning device 20 and a mounting position 24 for mounting the cleaning unit 40. The base station 10 comprises a parking place 11 for parking the cleaning device 20 and an integrated unit 12 for receiving the cleaning unit 40. The control unit 30 is in communication connection with the cleaning device 20 and the base station 10, respectively, and the control unit 30 controls the cleaning device 20 to automatically remove and automatically replace the cleaning unit 40, and controls the integration unit 12 in the base station 10 to automatically retrieve and automatically remove the cleaning unit 40.

Specifically, referring to fig. 1-14, the base station 10 has a cavity for accommodating the cleaning device 20, a parking space 11 is disposed in the cavity, the parking space 11 is located at the bottom of the base station 10, an entrance of the parking space 11 is disposed in a slope manner, so that the cleaning device 20 can be driven into the base station 10, and the base station 10 is used for cleaning, charging and other operations of the cleaning device 20. The cleaning device 20 may be partially or completely accommodated in the cavity, and may be specifically disposed according to the requirement, without any limitation.

The integrated unit 12 is located in the base station 10, the integrated unit 12 is integrated with the cleaning unit 40, and at least one vacant area for accommodating the cleaning unit 40 is provided on the integrated unit 12. The integrated unit 12 integrated with the cleaning unit 40 is mounted on the bracket 17 of the base station 10. The integrated unit 12 is capable of performing both the turning and lifting functions on the support 17. The integrated unit 12 comprises an integrated housing 121, the integrated housing 121 comprises a side wall 1211 and an end cap 1212, and the vacant area is one of the side walls 1211 of the integrated housing 121, preferably, the side wall 1211 of the integrated housing 121 closest to the ground is the vacant area, so that the integrated unit 12 can conveniently recycle the used cleaning unit 40 on the cleaning device 20. The empty space is used for recycling the old cleaning units 40 on the cleaning device 20. Be equipped with in the integrated casing 121 and hold the cavity, the opening has been seted up to the end cover 1212 of integrated casing 121, and the pivot passes therefrom, and the both ends of pivot expose in the open-ended outside of end cover 1212.

The end cap 1212 of the integrated housing 121 is further provided with a plurality of first protrusions 122, the cleaning unit 40 is provided with positioning holes 431 at positions corresponding to the first protrusions 122, and the first protrusions 122 are inserted into the positioning holes 431 in a matching manner, so as to accommodate and place the cleaning unit 40 in the integrated housing 121. The first protrusion 122 includes a tip portion and a rod portion, a flange is disposed at a connection portion of the tip portion and the rod portion, the flange extends from the connection portion to an end portion of the tip portion, and a cross-sectional area corresponding to any one position on the flange is positively correlated to a distance between the any one position and the end portion of the tip portion, so as to guide the sidewall 1211 of the integrated housing 121 to be coupled to the cleaning unit 40. The first protrusions 122 on each sidewall 1211 of the integrated housing 121 correspond to the cleaning units 40 on the sidewall 1211 one-to-one, and the information of the first protrusions 122 of the cleaning units 40 with different purposes, including but not limited to thickness, length, etc., is different.

In a preferred embodiment, the integrated housing 121 has a polygonal structure, and preferably, the integrated housing 121 has a quadrangular structure. In other embodiments, the integrated housing 121 may also be a triangular prism, pentagonal prism lamp structure. So set up for integrated unit 12 compact structure and small, integrate the degree height, can effectively improve cleaning device 20's work efficiency, improve user's experience and feel. Of course, the specific structure of the integrated housing 121 may be specifically set according to the actual use requirement, which is not further limited in this application. The integrated unit 12 may integrate cleaning units 40 having different uses including, but not limited to, sweeping and mopping the floor. Of course, the integrated unit 12 may also integrate a cleaning unit 40 having the same purpose.

Referring to fig. 8-26, the automatic lifting unit 13 is used for performing the lifting operation of the integrated unit 12 under the control command of the control unit 30. The automatic lifting unit 13 includes a lifting motor assembly and a lifting assembly, the lifting motor assembly is located in the accommodating cavity of the integrated housing 121, the lifting motor assembly includes a lifting motor 131, a first gear 132 and a second gear 133, and the first gear 132 is located at an end of the lifting motor 131 close to the connecting member 152. The second gear 133 is inserted into the rotating shaft and fixedly connected with the rotating shaft, and the second gear 133 is also meshed with the first gear 132. The lifting motor 131 drives the first gear 132 to rotate, and drives the second gear 133 to rotate by the engaging force between the first gear 132 and the second gear 133. The lifting assembly comprises a third gear 134 and a plurality of first racks 135, and the third gear 134 is located at the end of the rotating shaft and is fixedly connected with the rotating shaft. The first racks 135 are disposed on the support 17, and the second gear 133 is fixedly connected to the rotating shaft, so that the integrated unit 12 is driven to rotate by the rotation of the lifting motor 131, and the third gear 134 reciprocates on the first racks 135 to lift the integrated unit 12. In other embodiments, the lifting assembly may also have other structures, such as a screw lifting structure, and the like.

Further, the lifting assembly further comprises a motor protection device 136, the motor protection device 136 is arranged on one side, away from the first rack 135, of the third gear 134, the motor protection device 136 is fixedly connected with the rotating shaft, when the lifting motor 131 is in a power-off state, the safety and stability of the rotating shaft can be protected, the rotating shaft is prevented from moving randomly on the support 17, and the structural stability of the whole lifting assembly is improved.

In addition, the automatic exchanging system 100 further includes the automatic detaching unit 14, and the control unit 30 controls the automatic detaching unit 14 to automatically detach the cleaning unit 40 on the cleaning apparatus 20, and the target cleaning unit 40 on the integrated unit 12. The automatic detaching unit 14 includes a fixing member 43 detachably connected to the cleaning device 20, the fixing member 43 includes a separation switch 41 disposed outside the cleaning unit 40, and a decoupling member for activating the separation switch 41 is provided in the base station 10, and the decoupling member is configured to displace the separation switch 41 to separate the cleaning unit 40 from the cleaning device 20.

The unhooking assembly is located within the base station 10 to automatically disassemble the cleaning unit 40. Unhooking assemblies are provided on both sides of the parking place 11. When the cleaning device 20 travels into the parking place 11, the unhooking assembly may separate the cleaning device 20 from the cleaning unit 40, the cleaning unit 40 will be temporarily stored in the base station 10, and the cleaning device 20 may then leave the base station 10. Of course, it will be appreciated that the unhooking assembly can be reversed to install the cleaning unit 40 to the cleaning apparatus 20. In other embodiments of the present invention, the cleaning unit 40 may also be manually removed and installed, including but not limited to, automatically removed by the unhooking assembly and manually installed, or manually removed and automatically installed by the unhooking assembly. In a preferred embodiment, the automatic exchanging system 100 further includes an auxiliary detaching element 14a, and the auxiliary detaching element 14a is located inside the integrated housing 121 to assist in detaching the cleaning unit 40, thereby improving the detaching efficiency. Preferably, the auxiliary dismounting member 14a is of an eccentric wheel structure.

Further, a separation switch 41 is provided outside the cleaning unit 40, the separation switch 41 is configured to be able to separate the cleaning unit 40 and the cleaning device 20 by one key, and the unhooking assembly is configured to be able to displace the separation switch 41 to separate the cleaning unit 40 from the cleaning device 20. Preferably, both sides of the cleaning unit 40 are provided with the separation switches 41, and the unhooking assemblies are correspondingly disposed at both sides of the base station 10, so that the cleaning unit 40 can be separated smoothly.

In the above-described embodiment of the present invention, the separation switch 41 is of a slide type, the separation switch 41 is configured to be slidable only along the surface of the cleaning unit 40, the surface of the cleaning unit 40 is provided with the guide groove 411, the separation switch 41 is disposed in the guide groove 411, and the separation switch 41 is movable along the guide groove 411.

The unhooking assembly comprises a shell 141, a motor 142 and a rotating piece 143, wherein the motor 142 and the rotating piece 143 are accommodated inside the shell 141, the rotating piece 143 is driven by the motor 142 through a gear and rotates, the shell 141 is provided with a sliding chute 1411 for the rotating piece 143 to partially extend to the outer side of the shell 141, and the rotating piece 143 can reciprocate along the sliding chute 1411. The rotation plane of the rotation member 143 is parallel to the sliding plane of the separation switch 41, the rotation member 143 is provided with a first triggering member 1431 extending toward the cleaning unit 40, and the first triggering member 1431 may be a cylindrical structure and perpendicular to the rotation plane of the rotation member 143. When the rotating member 143 reciprocates along the sliding slot 1411, the first triggering member 1431 is driven to rotate, so that the first triggering member 1431 is abutted to the disconnecting switch 41, and the disconnecting switch 41 is driven to slide. Preferably, the first triggering member 1431 is located at the same level as the separation switch 41, and it is understood that the first triggering member 1431 is located at approximately the same level as the separation switch 41, and is not limited herein as long as the first triggering member 1431 can correctly trigger the separation switch 41.

In order to make the rotating member 143 perform a correct reciprocating motion, the rotating member 143 is provided with a second triggering member 1432, and the second triggering member 1432 may be a cylindrical structure and perpendicular to the rotation plane of the rotating member 143, so that the first triggering member 1431 and the second triggering member 1432 perform a synchronous rotation. The unhooking assembly further comprises a first microswitch 1433 and a second microswitch 1434, respectively disposed on either side of the second trigger 1432, the first trigger 1431, when at an initial height, the first trigger 1431 is remote from the disconnect switch 41, the second trigger 1432 is located between the first trigger 1431 and the second trigger 1432, when the unhooking assembly is in operation, the motor 142 drives the first trigger member 1431 towards the disconnecting switch 41, while the second trigger member 1432 is simultaneously moved towards the first microswitch 1433, after the first triggering part 1431 drives the separation switch 41 to generate the maximum displacement, the second triggering part 1432 triggers the first micro switch 1433 to control the motor 142 to rotate reversely, causing the first trigger switch to move in reverse, and, at the same time, the second trigger member 1432 to move in reverse, i.e., toward the second microswitch 1434, to control the motor 142 to stall after the second trigger 1432 triggers the second microswitch 1434, thereby effecting a reset of the first trigger 1431. It should be noted that the motor 142 is configured as a motor 142 capable of performing reverse rotation in the present invention, and the present invention may also use an H-bridge circuit or a relay to control the motor 142 to perform reverse rotation, which is not limited herein.

Furthermore, the rotating member 143 is provided with a third triggering member 1435, the third triggering member 1435 is fixedly connected with the rotating member 143 and rotates synchronously with the rotating member 143, and the unhooking assembly further includes a supporting member 1436 disposed in the parking place 11, and the supporting member 1436 is configured to support the cleaning unit 40 to be lifted and lowered. The bottom of the cleaning unit 40 is provided with a supporting groove 42 matched with the supporting member 1436, and the supporting member 1436 is positioned right below the supporting groove 42. The third trigger member 1435 is connected to the supporting member 1436 through a slider structure 1437, the slider structure 1437 is configured to be able to convert the rotational motion of the third trigger member 1435 into a linear motion of the supporting member 1436, specifically, the slider structure 1437 abuts against the supporting member 1436 through an inclined surface, the slider structure 1437 is further provided with a limit groove 1438, the third trigger member 1435 is partially disposed in the limit groove 1438, and the extending direction of the limit groove 1438 is perpendicular to the moving direction of the slider structure 1437, so as to decompose the rotational motion amount of the third trigger member 1435. In this embodiment, the slider structure 1437 moves in a horizontal direction and the limit groove 1438 is disposed in a vertical direction.

The supporting member 1436 is driven by the third triggering member 1435 to move in a vertical direction and protrude into the cavity from the stopping position 11, and after the cleaning unit 40 is separated from the cleaning device 20, the supporting member 1436 is aligned with the supporting groove 42 to support the cleaning unit 40 to slowly fall down, so as to play a role of buffering. Preferably, the unhooking assembly further includes an elastic member 1439 connected to the support member 1436, and the elastic member 1439 may be provided at an end of the support member 1436 to enhance a buffering effect by converting kinetic energy of the cleaning unit 40 falling into elastic potential energy. It can be understood that, when the rotating member 143 rotates, the first triggering member 1431 and the third triggering member 1435 are synchronously driven to move, that is, the separation switch 41 and the supporting member 1436 move to the maximum displacement synchronously, which is equivalent to that the supporting member 1436 moves to the highest point when the cleaning unit 40 is about to fall off.

It is to be noted that the supporting member 1436 is used to lift the cleaning unit 40 when separating the cleaning unit 40, that is, after the cleaning unit 40 is completely unhooked from the cleaning device 20, the rotating member 143 makes the cleaning unit 40 descend in synchronization with the supporting member 1436 during the returning process to misalign the cleaning unit 40 from the cleaning device 20 in the vertical direction so that the cleaning device 20 is driven away from the base station 10. On the contrary, when the cleaning device 20 returns to the base station 10, the rotating member 143 makes the cleaning unit 40 ascend along with the supporting member 1436 in synchronization with the rotation, so as to make the cleaning unit 40 dock with the cleaning device 20 in the vertical direction.

In another alternative embodiment of the present invention, the disconnecting switch 41 ' is a pressing type, the disconnecting switch 41 ' is configured to be displaceable only in a direction perpendicular to the surface of the cleaning unit 40, the unhooking assembly includes a motor 142, a transmission member 1441 and a fourth trigger member 144, and the motor 142 is used for driving the fourth trigger member 144 to reciprocate in a horizontal direction to touch the disconnecting switch 41 ' to be displaced. The fourth trigger 144 is connected to the transmission member 1441 through a slider structure 1437, the slider structure 1437 is configured to convert the rotational motion of the fourth trigger 144 into a linear motion of the supporting member 1436, specifically, the slider structure 1437 abuts against the fourth trigger 144 through an inclined surface, the slider structure 1437 is further provided with a limit groove 1438, the transmission member 1441 is partially disposed in the limit groove 1438 ', and the extending direction of the limit groove 1438' is perpendicular to the moving direction of the slider structure 1437, so as to decompose the amount of the rotational motion of the rotation member 143. In this embodiment, the limit groove 1438' is disposed in a horizontal direction and the slider structure 1437 moves in a vertical direction.

In an alternative embodiment of the invention, the unhooking assembly is configured to be displaced by electromagnetically actuating the disconnecting switch 41. The disconnecting switch 41 may be provided with a magnet, and the unhooking assembly may be provided with a relay, so that the disconnecting switch 41 is controlled to generate displacement by controlling on and off of the relay. The specific setting can be performed according to the needs, and is not limited herein.

The fixing assembly 43 includes a positioning hole 431 opened at an upper end of the cleaning unit 40 and a catch 432, and the catch 432 is used to catch the second protrusion 22 in the positioning hole 431 to fix the cleaning unit 40 in the receiving cavity of the cleaning device 20.

The clamping member 432 is provided with a clamping hole 4321 having the same size as the positioning hole 431, and when the clamping hole 4321 is aligned with the positioning hole 431, the second protrusion 22 passes through the positioning hole 431 and the clamping hole 4321, respectively, so that the bottom surface of the tip portion of the second protrusion 22 is abutted against the side wall of the clamping hole 4321 to achieve fixation, preferably, the diameters of the positioning hole 431 and the clamping hole 4321 are larger than the diameter of the bottom surface of the tip portion of the second protrusion 22, so as to achieve connection and separation of the cleaning unit 40 and the cleaning device 20. When the card hole 4321 is misaligned with the positioning hole 431, the size of the overlapped through hole between the card hole 4321 and the positioning hole 431 can be reduced, thereby preventing the positioning hole 431 from being randomly removed.

As a preferred embodiment of the present invention, the holding member 432 is connected to the separation switch 41, and the separation switch 41 is triggered to switch the alignment/misalignment state between the holding hole 4321 and the positioning hole 431, so as to connect and disconnect the cleaning unit 40 and the cleaning device 20. Further, the fixing assembly 43 further includes a reset member 433 for resetting the holding member 432, in this embodiment, the locking hole 4321 and the positioning hole 431 are dislocated to each other to be in an initial state, after the release switch 41 is triggered, the locking hole 4321 and the positioning hole 431 are mutually aligned, and then, under the driving of the reset member 433, the locking hole 4321 and the positioning hole 431 are restored to the dislocated state, and simultaneously, the release switch 41 is reset.

Specifically, the fixing assembly 43 further includes a rotating shaft 4322 disposed on the retaining member 432, the retaining member 432 can rotate around the rotating shaft 4322 to switch the alignment/dislocation state, two ends of the retaining member 432 are respectively provided with two retaining holes 4321, i.e. the rotating shaft 4322 is disposed between the two retaining holes 4321, and two second protrusions 22 are disposed in the receiving cavity of the cleaning device 20 to respectively correspond to the two retaining holes 4321. One end of the holding member 432 is connected to the reset member 433, the reset member 433 can be an elastic member 1439 including but not limited to a spring, etc., the other end of the holding member 432 is connected to the disconnecting switch 41 in a transmission manner, when the disconnecting switch 41 is triggered, the holding member 432 rotates around the rotating shaft 4322, and the elastic potential energy of the reset member 433 is increased.

It will be appreciated that the need to replace the cleaning unit 40 may be an instruction from the cleaning device 20 to the base station 10 or an instruction from the user to the base station 10, which improves the utility and flexibility of the automatic replacement system 100 and improves the user experience.

The automatic exchanging system 100 further includes a control unit 30, and the control unit 30 is in communication connection with the automatic disassembling unit 14, the automatic lifting unit 13, and the integrating unit 12, respectively. Preferably, the control unit 30 is in communication connection with a mobile terminal, such as a mobile phone, a computer, etc., and a user can issue an instruction to the control unit 30 through the mobile terminal, so that the flexibility of the automatic replacement system 100 is improved, the intelligent degree is high, and the experience of the user is improved.

The automatic replacing system 100 further includes an automatic rotating unit 15 and a first identifying unit 16, the automatic rotating unit 15 and the first identifying unit 16 are respectively connected to the control unit 30 in a communication manner, and the automatic rotating unit 15 drives the integrated unit 12 to rotate. The automatic rotation unit 15 includes a rotation motor 151 and a rotation assembly, the rotation motor 151 is fixed in the accommodating cavity of the integrated housing 121 and is opposite to the lifting motor 131, and the rotation motor 151 drives the rotation assembly to rotate so as to drive the integrated housing 121 to rotate.

Specifically, the rotating assembly includes a connecting member 152 fixedly connected to the integrated housing 121 and a fourth gear 153 fixedly connected to a motor shaft of the rotating electrical machine 151, the connecting member 152 is of a hollow structure, an inner peripheral portion of the connecting member 152 is circular, a plurality of second racks 1521 are disposed on the inner peripheral portion of the connecting member 152, the fourth gear 153 is located on the inner peripheral portion of the connecting member 152 and is in meshed connection with the plurality of second racks 1521, and a rotation plane of the fourth gear 153 and the connecting member 152 is perpendicular to a radial cross section of the rotation shaft. The rotary motor 151 rotates to effect the inversion of the integrated housing 121 so as to select the target cleaning unit 40.

In a preferred embodiment of the present invention, the fourth gear 153 is a driving gear, and the driving gear is fixedly connected to a motor shaft of the rotating motor 151 and driven by the rotating motor 151 to rotate synchronously with the motor shaft of the rotating motor 151. The diameter of the inner circumference of the connecting member 152 is larger than that of the driving gear, so that the connecting member 152 is driven by the driving gear to rotate circumferentially around the driving gear, and then the integrated mechanism 2 is driven to rotate circumferentially. Of course, in other embodiments, the rotating component may have other structures, which is not limited in the present invention, so as to be able to turn the integrated housing 121.

In addition, in order to ensure the long-term operation of the lifting motor 131 and the rotating motor 151, the integrated unit 12 is further provided with a protective sleeve respectively matched with the lifting motor 131 and the rotating motor 151, and the protective sleeve has a heat transfer function so as to ensure that heat generated by the lifting motor 131 and the rotating motor 151 in long-term operation can be timely dissipated through the protective sleeve. Preferably, the lifting motor 131 and the rotating motor 151 are different purposes of the same type of motor 142, which improves the versatility of the motor 142.

Further, in order to ensure the stability of the turning of the integrated unit 12, the automatic rotating unit 15 further includes an auxiliary gear 15a, and the auxiliary gear 15a is symmetrically disposed with respect to the fourth gear 153 and is rotatably connected to the second rack 1521 of the connecting member 152. Preferably, the auxiliary gear 15a is a slave driving gear tooth fixed on the base of the integrated housing 121 and rotatably connected with the second gear 1521 of the connecting member 152. When the second rack 1521 rotates circumferentially around the drive gear, the stability of the rotation of the second rack 1521 can be ensured due to the presence of the slave drive gear teeth, and thus the stability of the rotation of the integrated unit 12 is ensured.

The first recognition unit 16 is used to recognize whether the cleaning unit 40 passing through the first recognition unit 16 is the target cleaning unit 40 and transmit the recognition result to the control unit 30. The first recognition unit 16 is provided corresponding to the first protrusion 122 to recognize information of the first protrusion 122 passing through the first recognition unit 16, and the control unit 30 controls the automatic rotation unit 15 to stop rotating when the cleaning unit 40 passing through the first recognition unit 16 is the target cleaning unit 40. Preferably, the first identification unit 16 is a sensor.

The cradle 17 of the base station 10 includes a first support arm 171 and a second support arm 172, and the first support arm 171 and the second support arm 172 are fixedly connected. The first support arm 171 is disposed vertically, the second support arm 172 is disposed vertically, and the sidewall 1211 where the empty area of the integrated housing 121 is located below the second support arm 172 and is parallel to the second support arm 172. The number of the first support arms 171 of the first support arm 171 is 2, and 2 first support arms 171 are symmetrically disposed at both ends of the second support arm 172. An accommodating space is formed between the first supporting arm 171 and the second supporting arm 172, so that the integrated unit 12 can conveniently accommodate the cleaning units 40, the number of the integrated unit 12 accommodating the cleaning units 40 is increased, and meanwhile, the integrated unit 12 can conveniently turn over in the support 17, so that a user can conveniently rotate the integrated unit 12 to select the proper cleaning unit 40.

It can be known that, lifting unit is located first support arm 171, and first support arm 171 still is equipped with guide bar 1711 in lifting unit's both sides, is equipped with 2 guide bar 1711 on every first support arm 171, and 2 guide bar 1711 are located the both sides of first rack 135 to the up-and-down reciprocating motion of guide integrated casing 121 improves automatic change efficiency, has guaranteed the steadiness of integrated casing 121 up-and-down reciprocating motion process. Preferably, the central axis of the second support arm 172 is on the same vertical plane as the central axis of the cleaning apparatus 20 housed within the base station 10.

Further, reinforcing ribs are provided on both the first support arm 171 and the second support arm 172 to further improve the stability of the bracket 17.

In addition, the automatic exchange system 100 further includes a guide unit 18, the guide unit 18 includes a guide rod 1711 and an auxiliary member 1712, and the auxiliary member 1712 is slidably connected to the guide rod 1711. The auxiliary members 1712 are located on two sides of the end cap 1212 of the integrated housing 121, a through hole matching with the guide rod 1711 is formed in a position corresponding to the guide rod 1711 of each auxiliary member 1712, the guide rods 1711 are located on two sides of the first rack 135, and the guide rods 1711 are inserted into the through holes of the auxiliary members 1712, so that the guide effect of the integrated unit 12 during up-and-down reciprocating motion is achieved. By such arrangement, the automatic lifting efficiency and stability of the integrated unit 12 can be effectively improved. In other embodiments, the guiding unit 18 may also be another structure that can slide up and down along the vertical direction, for example: the guide rod 1711 may be a guide rail, and the auxiliary member 1712 may include a sliding ball, which is not limited in the present invention.

Further, the cleaning device 20 comprises a second identification unit 21, the second identification unit 21 is in communication connection with the control unit 30, and the second identification unit 21 identifies the environmental information and sends the identification result to the control unit 30. The environmental information includes, but is not limited to, ground material information and current ground state. In addition, the second recognition unit 21 can also recognize information of the cleaning unit 40 on the cleaning device 20, including but not limited to the model, size, degree of cleanliness, and the like of the cleaning unit 40. The second identifying unit 21 identifies the information of the cleaning unit 40 on the cleaning device 20 to determine whether the cleaning unit 40 is the target cleaning unit 40, if the cleaning unit 40 to be detected is the target cleaning unit 40, the cleaning unit 40 is connected to the body of the cleaning device 20, otherwise, the cleaning unit 40 to be detected cannot be electrically connected to the cleaning device 20, so as to further remind the user to replace the target cleaning unit 40 in time through the control unit 30.

It can be known that, on the cleaning device 20 body, the second protrusion 22 matching with the positioning hole 431 is provided on the positioning hole 431 corresponding to the cleaning unit 40, and the cleaning unit 40 is connected to the cleaning device 20 body through the second protrusion 22. In a preferred embodiment, the second protrusion 22 and the first protrusion 122 are the same in size.

Referring to fig. 27-30, an automatic replacing method according to the present invention, which uses the automatic replacing system 100, includes the following steps:

step S10: the cleaning apparatus 20 sends an instruction to the automatic exchanging system 100 to exchange the cleaning unit 40.

Step S20: the control unit 30 receives the instruction and controls the automatic detaching unit 14 to detach the first cleaning unit 40 on the cleaning apparatus 20.

Step S30: the integrated unit 12 recovers the first cleaning unit 40 and stores the first cleaning unit 40 to the first position.

Step S40: the control unit 30 controls the integration unit 12 to rotate to select the target cleaning unit 40, and controls the integration unit 12 to automatically detach the target cleaning unit 40.

Step S50: the control unit 30 automatically assembles the target cleaning unit 40 to the cleaning apparatus 20.

It is noted that, in addition to the cleaning apparatus 20 sending an instruction to the automatic exchanging system 100 to replace the cleaning unit 40, the user can also send an instruction to the automatic exchanging system 100 to replace the cleaning unit 40, which improves the flexibility of the automatic exchanging system 100 and improves the user experience.

Further, the cleaning apparatus 20 further includes a second recognition unit 21, and the automatic exchange method further includes:

step S00: the second recognition unit 21 recognizes the environmental information and transmits the recognition result to the control unit 30.

It can be understood that the environmental information includes, but is not limited to, the floor material and the current floor state, and the control unit 30 can replace the target cleaning member for the corresponding purpose according to the floor material, and also can replace the corresponding target cleaning member according to the current floor state.

Further, step S20 specifically includes:

step S21: the control unit 30 receives the instruction and controls the automatic detaching unit 14 to release the fixation of the first cleaning unit 40 and the cleaning apparatus 20.

Step S22: the cleaning device 20 is out of the station.

In other embodiments, the control unit 30 controls the automatic detaching unit 14 to detach the first cleaning unit 40 from the cleaning apparatus 20 by magnetic force.

Further, step S30 specifically includes:

step S31: the integrated unit 12 is driven by the automatic lifting unit 13 to descend to a first height, the first cleaning unit 40 is recovered in an empty area of the integrated unit 12, and the first cleaning unit 40 is accommodated in a first position.

Step S32: the integrated unit 12 is lifted to an initial height by the automatic lifting unit 13.

Further, step S50 specifically includes:

step S51: the robotic detachment unit 14 target cleaning unit 40 is brought to the target installation location 24 and the integrated unit 12 is raised to the initial elevation.

Step S52: the cleaning device 20 comes to the station again.

Step S53: the integration unit 12 descends to press down the main body of the cleaning apparatus 20 to the second height, so that the main body of the cleaning apparatus 20 and the target cleaning unit 40 are integrally connected.

Step S54: the cleaning device 20 is again out of the station.

Further, position sensors are correspondingly arranged at the positions of the target positions of the initial height, the first height and the second height, and the position sensors are in communication connection with the control unit 30. The position sensor recognizes the integration unit 12 passing the position sensor, and the control unit 30 controls the automatic lifting unit 13 to stop lifting when the position sensor recognizes that the integration unit 12 passes the aforementioned target position.

It is understood that the cleaning device 20 includes, but is not limited to, a sweeping robot, and the cleaning unit 40 includes, but is not limited to, a roll brush.

In summary, the automatic cleaning unit 40 is automatically replaced by the automatic replacement system 100, so that the structure is compact and intelligent, and the cleaning efficiency is improved. Secondly, through setting up integrated casing 121, integrate a plurality of cleaning unit together, and each cleaning unit is independent each other, can satisfy the demand to the usage of multiple cleaning unit 40 of different scenes. Furthermore, the guide unit 18 can effectively guide the lifting of the integrated unit 12, and the stability of the lifting process is improved. The cleaning device can realize the classified placement and the storage of the cleaning units 40, save space and time, automatically assemble the required cleaning units 40 on the cleaning equipment 20 according to the requirements, facilitate the quick replacement of the cleaning units 40, improve the cleaning efficiency and improve the cleaning experience of users.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic changing system for changing a cleaning unit, the automatic changing system comprising:

the cleaning device is provided with a driving device for moving the cleaning device and an installation position for installing the cleaning unit;

a base station comprising a parking place for parking the cleaning apparatus and an integrated unit for receiving the cleaning unit; and

and the control unit is in communication connection with the cleaning equipment and the base station respectively, controls the automatic disassembly and automatic replacement of the cleaning unit of the cleaning equipment, and controls the automatic recovery and automatic disassembly of the cleaning unit of the integrated unit in the base station.

2. The automatic change system according to claim 1, wherein: the automatic replacement system further comprises an automatic disassembly unit, the automatic disassembly unit is in communication connection with the control unit, the automatic disassembly unit comprises a fixing assembly detachably connected with the cleaning equipment, the fixing assembly comprises a disconnecting switch arranged on the outer side of the cleaning unit, a tripping assembly used for triggering the disconnecting switch is arranged in the base station, and the tripping assembly is configured to enable the disconnecting switch to generate displacement so that the cleaning unit can be separated from the cleaning equipment.

3. The automatic change system according to claim 1, wherein: the integrated unit is provided with at least one vacant area for accommodating the cleaning unit.

4. The automatic change system according to claim 1, wherein: the automatic replacing system further comprises an automatic rotating unit and a first identification unit, the automatic rotating unit and the first identification unit are respectively in communication connection with the control unit, the automatic rotating unit drives the integrated unit to rotate, and when the first identification unit identifies that the cleaning unit passing through the first identification unit is a target cleaning unit, the control unit controls the automatic rotating unit to stop rotating.

5. The automatic change system according to claim 1, wherein: the cleaning equipment further comprises a second identification unit, the second identification unit is in communication connection with the control unit, and the second identification unit identifies the environmental information and sends an identification result to the control unit.

6. An automatic replacing method using the automatic replacing system according to any one of claims 1 to 5, wherein the automatic replacing method comprises the steps of:

7. The automatic exchange method according to claim 6, characterized in that: the cleaning apparatus further includes a second recognition unit, and the automatic exchange method further includes:

8. The automatic exchange method according to claim 6, characterized in that: the step S20 specifically includes:

step S22: the cleaning device is out of the station.

9. The automatic exchange method according to claim 6, characterized in that: the step S30 specifically includes:

10. The automatic exchange method according to claim 6, characterized in that: the step S50 specifically includes:

step S52: the cleaning device enters the station again;

step S53: the integrated unit descends to press down the main body of the cleaning device to a second height so that the main body of the cleaning device and the target cleaning unit are connected into a whole;

step S54: the cleaning device is again out of the station.