CN114468876B - Base stations, cleaning robots and cleaning robot systems - Google Patents

Abstract

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

Description

Base stations, cleaning robots and cleaning robot systems

This application is a divisional application with application number 201611175803.6. The filing date of the parent application is: December 16, 2016; the invention and creation names of the parent application are: cleaning robot and cleaning robot system.

Technical field

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

Background technique

In recent years, with the development of social economy and the improvement of family living standards, furniture cleaning has gradually entered an era of intelligence and mechanization. The emergence of cleaning robots can liberate people from home cleaning work and effectively reduce people's work at home. It reduces the workload of cleaning and relieves people's fatigue in the process of household cleaning.

In existing cleaning robots, the cleaning of the mopping parts needs to be completed by the user. During the entire process of cleaning the floor, the user needs to frequently participate in changing the mopping parts of the cleaning robot. This aspect will make it impossible to remove the user from the mopping process. It completely frees up the machine and increases the user's workload. On the other hand, it is also easy to affect the mopping effect due to not changing the machine in time, resulting in the inability to clean the floor.

Contents of the invention

A technical problem to be solved by the present invention is that the existing base station of the cleaning robot is not ideal for the cleaning effect of the cleaning robot.

In order to solve the above technical problems, a first aspect of the present invention provides a base station. The base station is configured independently of the cleaning robot. The base station includes:

Base station body;

A cleaning device for mopping parts. The device for cleaning mopping parts includes a cleaning tank provided on the base station body. A cleaning roller is provided in the cleaning tank. The cleaning roller is used to clean the mopping parts of the cleaning robot.

Optionally, the cleaning roller is used to support the mopping member, and during the cleaning process of the mopping member by the mopping member cleaning device, the mopping member is pressed against the cleaning roller.

Optionally, during the process of the mopping element cleaning device cleaning the mopping element, the cleaning roller and the mopping element rotate relatively to achieve cleaning of the mopping element.

Optionally, the mopping member actively rotates, and the cleaning roller is driven by the mopping member;

Alternatively, the cleaning roller actively rotates, and the mopping member is driven by the cleaning roller;

Alternatively, the cleaning roller and the mopping member both actively rotate, and their rotation directions and/or rotational speeds are different.

Optionally, the cleaning robot includes a mopping unit. The mopping unit includes a roller that can rotate horizontally and a mopping member disposed on the outer surface of the drum. The cleaning roller is used for mopping with the mopping unit. Wipe contact.

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

Optionally, the mopping element cleaning device includes at least two cleaning rollers, and at least two cleaning rollers are arranged at intervals and are respectively in contact with the mopping elements of the mopping unit.

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

Optionally, the two cleaning rollers are arranged side by side and spaced apart and the distance between them is smaller than the cross-sectional diameter of the mopping unit, so as to be supported on both sides of the bottom of the mopping unit.

A second aspect of the present invention provides a cleaning robot system, including a cleaning robot and a base station as described in any one of the above items. The cleaning robot is arranged independently of the base station and can clean the floor.

Optionally, the cleaning robot includes a mopping unit. The mopping unit includes a roller that can rotate horizontally and a mopping member disposed on the outer surface of the drum. The mopping unit is driven by a mopping drive mechanism. , rotate around the horizontal axis.

The base station and cleaning robot system of the present invention use cleaning rollers to clean the mopping parts of the cleaning robot. It is especially suitable for cleaning the mopping unit covering the mopping parts on the roller, ensuring the cleaning effect of the mopping parts.

A third aspect of the invention provides a cleaning robot, including:

case;

A floor cleaning device located on the housing;

A garbage scraper is used to contact the floor cleaning device to scrape garbage adhered to the floor cleaning device.

Optionally, the floor cleaning device includes a mopping unit. The mopping unit includes a roller that can rotate horizontally and a mopping member disposed on the outer surface of the drum. The garbage scraping member is used to scrape off the garbage adhered to the mop. Wipe the junk on the piece.

Optionally, the garbage scraping member is provided on the housing.

Optionally, the garbage scraping member includes a scraper and/or a roller brush.

Optionally, the garbage scraping member includes a scraper blade, and the scraper blade can contact the rotating mopping member, so that when the mopping member rotates to clean the floor, the mopping member Once in contact with the scraper blade, the scraper blade will scrape off the garbage adhered to the mopping member.

Optionally, the garbage scraping member includes a roller brush, and the roller brush can rotate in the same direction as the dragging member, so that the roller brush and the dragging member contact and rub in the same direction to remove the rubbish. Rubbish on the mop parts is scraped off.

Optionally, a garbage collection device is also included, with a collection opening of the garbage collection device facing the side of the mopping member that is in contact with the garbage scraping member.

A fourth aspect of the present invention provides a cleaning robot system, including a base station and the cleaning robot as described in any one of the above items.

The cleaning robot and cleaning robot system of the present invention scrape the garbage on the human mopping parts by arranging garbage scraping parts on the cleaning robot, which is beneficial to keeping the mopping parts clean and ensuring the quality of floor cleaning.

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

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 shows a schematic diagram of the overall structure of the cleaning robot system according to the first embodiment of the present invention.

Figure 2 shows a schematic diagram of the overall structure of the base station shown in Figure 1.

FIG. 3 shows a schematic diagram of the exploded structure of FIG. 2 .

FIG. 4 shows a schematic structural diagram of the mopping element cleaning device in FIG. 2 .

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

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

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

Figure 8 shows a schematic diagram of the exploded structure of Figure 6 .

FIG. 9 shows a schematic structural diagram of the cleaning robot shown in FIG. 6 with the upper casing and processing circuit removed.

FIG. 10 shows a schematic structural diagram based on FIG. 9 with the fan and fan duct further removed.

FIG. 11 shows a schematic diagram of the overall structure of the mopping device of the cleaning robot shown in FIG. 6 .

Figure 12 shows a schematic diagram of the explosion structure of Figure 11.

Figure 13 shows the degree of freedom of swing of the wiping member in Figure 12 under the action of the flexible connecting block and the horizontal rotation axis.

FIG. 14 shows a schematic structural view of the mopping device shown in FIG. 11 with the horizontal rotation axis removed.

Figure 15 shows the swing freedom of the wiping member in Figure 14 under the action of the flexible connecting block.

FIG. 16 shows a first modification example of FIG. 13 .

FIG. 17 shows a second modification of FIG. 13 .

FIG. 18 shows a third modification example of FIG. 13 .

FIG. 19 shows a schematic diagram of the air duct of the garbage collection device of the cleaning robot shown in FIG. 6 .

FIG. 20 is a schematic diagram of the positional relationship between the mopping device and the garbage collection device of the cleaning robot shown in FIG. 6 .

Figure 21 shows the process of the cleaning robot in the first embodiment shown in Figure 1 entering the base station under the action of the lifting mechanism.

FIG. 22 shows a schematic diagram of the cooperation state between the cleaning robot and the base station after entering the base station in the first embodiment shown in FIG. 1 .

FIG. 23 shows a schematic diagram of the cleaning principle of the mopping member of the cleaning robot by the base station in the first embodiment shown in FIG. 1 .

Figure 24 shows a schematic diagram of the overall structure of the cleaning robot system according to the second embodiment of the present invention.

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

Figure 26 shows a schematic diagram of the exploded structure of Figure 25.

FIG. 27 shows a schematic diagram of the overall structure of the cleaning robot shown in FIG. 24 .

Figure 28 shows a schematic diagram of the exploded structure of Figure 27.

FIG. 29 shows a schematic structural diagram of the cleaning robot shown in FIG. 27 after removing the upper case and the upper case cover.

FIG. 30 shows a schematic structural diagram of the cleaning robot shown in FIG. 27 after removing the lower shell cover.

FIG. 31 shows an exploded structural diagram of the mopping device shown in FIG. 30 .

Figure 32a shows a cross-sectional view of the assembly structure of the output shaft and the mopping unit in Figure 31.

Figure 32b shows a partial enlarged schematic diagram of I in Figure 32a.

Figure 32c shows a partial enlarged schematic diagram of II in Figure 32b.

Figure 33 shows a schematic diagram of the exploded structure of the garbage collection device in the second embodiment (the dust removal fan is omitted).

Figure 34 shows a schematic diagram of the air duct of the garbage collection device in the second embodiment.

Figure 35 shows a schematic diagram of the movement of the cleaning robot when it enters the base station in the second embodiment.

Figure 36 shows a variation of the positional relationship between the suction port and the mopping device in the first and second embodiments.

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

Figure 38 shows a schematic diagram of the overall structure of the cleaning robot system according to the third embodiment of the present invention.

FIG. 39 shows a bottom perspective view of the overall structure of the cleaning robot shown in FIG. 38 .

FIG. 40 shows a schematic structural view of the cleaning robot shown in FIG. 38 after the upper casing is removed.

Figure 41 shows a schematic diagram of the positional relationship between the suction port and the mopping device in the third embodiment of the figure.

Figure 42 shows a schematic structural diagram of a cleaning robot having a mopping unit capable of rotating around a horizontal axis in the fourth embodiment.

FIG. 43 shows a schematic diagram of the principle of cleaning the mopping member of the cleaning robot shown in FIG. 42 by a base station with cleaning rollers.

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

Figure 45 shows a variation of the cleaning robot shown in Figure 44.

FIG. 46 shows a schematic structural diagram of a cleaning robot having a mopping unit capable of horizontal reciprocation in the fifth embodiment.

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

Figures 48 and 49 respectively show two modified structures of the protruding structure of the present invention.

Figure 50 shows a schematic structural diagram of a cleaning robot equipped with suspension devices at its wheels.

FIG. 51 shows a partial enlarged schematic diagram of III in FIG. 50 .

FIG. 52 shows the process of the cleaning robot entering and exiting the base station based on the lifting mechanism and the suspension device shown in FIG. 50 .

Figure 53 shows the process of the cleaning robot entering and exiting the base station based on the guide surface and guide wheels.

Figure 54 shows a schematic structural diagram of a cleaning robot system according to the sixth embodiment of the present invention.

FIG. 55 shows a schematic diagram of a state where the base station cleans the cleaning robot in the sixth embodiment shown in FIG. 54 .

Figure 56 shows a schematic diagram of the cleaning principle of the mopping member of the cleaning robot by the base station in another embodiment of the present invention.

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

FIG. 58 shows a partial schematic view of the bottom of the cleaning robot according to the embodiment shown in FIG. 57 of the present invention from a different perspective than that of FIG. 57 .

In the picture:

1. Base station;

10. Base station body; 101. Support frame; 102. Support frame bottom cover;

11. Cleaning device for mopping parts; 111. Cleaning tank; 112. Protrusion; 1121. Bottom protrusion; 1122. Side protrusion; 113. Liquid inlet structure; 114. Liquid discharge structure; 115. Guide plate; 116 , guide surface; 117, scraper; 118, cleaning roller; 119, guide wheel;

12. Clean liquid supply device; 121. First storage structure; 1211. Box body; 1212. Box lid; 1213. Handle; 1214. Buckle; 122. First water pump;

13. Sewage collection device; 131. Second storage structure; 132. Second water pump;

14. Charging device; 141. Charging tablet;

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

2. Cleaning robot;

20. Shell; 201. Upper shell; 2011. Upper shell cover; 202. Chassis; 2021. Lower shell cover; 203. Avoidance groove;

21. Traveling device; 211. Travel wheel; 212. Spring; 213. Support piece;

22. Floor cleaning device; 221. Mopping device; 2211. Mopping unit; 22111. Mopping parts; 22112. Pressure plate; 2212. Mopping driving mechanism; 22121. Double-head worm motor; 22121', single-head worm motor ; 22122, worm gear; 22123, output shaft; 22124, bearing; 22125, oil seal ring; 2213, installation chassis; 2214, upper plate; 2215, lower plate; 2216, flexible connecting block; 2217, magnetic adsorption piece; 2218, horizontal rotation Shaft; 2219, scraper structure; 222, cleaning device; 2221, side brush;

23. Garbage collection device; 231. Dust box; 2311. Baffle; 2312. Scraper; 2312', roller brush; 2313. Box body; 2314. Box lid; 2315. Handle; 2316. Positioning pin; 233. Filter ; 233', Hypa paper; 2331', Hypa paper holder; 234, dust removal fan; 235, fan duct; 236, vacuum inlet; 237, garbage blocking piece; 238, filter rack;

24. Jacking mechanism;

25. Collision sensor plate; 251. Camera; 252. Charging contacts;

26. Lidar; 261. Radar protective cover;

27. Control device;

28. Battery.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present invention.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the authorized specification.

In the description of the present invention, it should be understood that the use of words such as "first" and "second" to define components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above words have no special meaning. meaning and therefore cannot be construed as limiting the scope of the present invention.

In addition, in the description of the present invention, it should be understood that directional words such as "front, back, up, down, left, right", "lateral, vertical, vertical, horizontal" and "top, bottom" etc. indicate The orientation or positional relationship is usually defined based on the normal use state of the cleaning robot system, where the forward direction of the cleaning robot is the front, and correspondingly, the backward direction of the cleaning robot is the rear; the orientation words "inside and outside" refer to Inside and outside relative to the contours of each component itself.

Figures 1-58 illustrate multiple embodiments of a cleaning robot system including a base station of the present invention. Referring to Figures 1-58, the cleaning robot 2 of the present invention includes a walking device 21 for driving the cleaning robot 2 to walk on the ground and a floor cleaning device 22 for cleaning the floor. The floor cleaning device 22 includes a mopping device. 221. The mopping device 221 includes a mopping unit 2211. The mopping unit 2211 includes a mopping member 22111. The mopping member 22111 is used for mopping the ground.

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

In the present invention, in order to further improve the mopping effect, the mopping unit 2211 is configured to be able to rotate and/or horizontally reciprocate relative to the chassis 202 of the cleaning robot 2 . In this way, during the mopping process, the relative motion between the mopping member 22111 and the ground includes not only the movement of the cleaning robot 2 as a whole on the ground, but also the rotational movement and/or horizontal reciprocating motion of the mopping member 22111 relative to the ground. Thus, The mopping strength of the mopping member 22111 can be enhanced, and the number of mopping times of the mopping member 22111 can be increased to achieve repeated mopping of the ground, thereby improving the mopping effect of the mopping member 22111, which is especially helpful for more thorough cleaning. Clean stubborn stains stuck to the floor. Preferably, the mopping unit 2211 is configured to be able to rotate relative to the chassis 202 of the cleaning robot 2, because the rotating mopping member 22111 can also sweep up large particles, dust and other garbage on the ground, that is, it also plays a cleaning role. The cleaning robot 2 becomes an integrated sweeping and mopping robot with more comprehensive functions and better floor cleaning effect. Moreover, since it can realize the cleaning function without setting up a special cleaning device 222, the cleaning robot 2 can also be used in places with integrated sweeping and mopping functions. At the same time, it has a simpler structure and smaller volume, which is conducive to further miniaturization and dexterity of the cleaning robot 2.

As another improvement method to further improve the mopping effect, in the present invention, the mopping unit 2211 can also be configured to be able to swing relative to the chassis 202 . Based on this setting, the mopping element 22111 of the mopping unit 2211 can maintain contact with the ground by swinging relative to the chassis 202 along with the unevenness of the ground, thereby ensuring that the two mopping elements 22111 of this embodiment are in close contact at all times. This can not only effectively prevent the phenomenon of leakage due to uneven ground, thereby ensuring a more thorough and efficient cleaning of various floors, but also allows the cleaning robot 2 to clean floors with more complex and diverse terrain, effectively expanding Scope of application of Cleaning Robot 2.

In addition, the present invention also provides a cleaning robot system including the cleaning robot 2 of the present invention. The cleaning robot system may further include a base station 1 capable of cleaning the mopping member 22111. The base station 1 includes a base station body 10 and a mopping piece cleaning device 11 provided on the base station body 10 . The mopping piece cleaning device 11 is used to clean the mopping piece 22111 of the cleaning robot 2 .

In the present invention, the base station 1 can use ultrasonic cleaning, dry cleaning or water washing to clean the mopping part 22111. Among them, the water washing method is preferred because the water washing method is not only easier to implement, lower in cost, and has a cleaner cleaning effect. Moreover, the mopping part 22111 after cleaning with water has a certain amount of moisture, and can be directly put into mopping work without having to set up an additional step of getting the mopping part 22111 wet. Therefore, the washing cleaning method can further reduce user participation, and This further ensures the continuity of the cleaning robot 2's work.

In order to make the base station 1 have a better cleaning effect, in the present invention, it is preferable to set the mopping member cleaning device 11 and the mopping member 22111 to be relatively movable. 22111 rotates relative to each other, and/or, the mopping member cleaning device 11 can move relative to the mopping member 22111, so that when the mopping member cleaning device 11 cleans the mopping member 22111, the mopping member 22111 is pressed against the mopping member 22111. On the piece cleaning device 11, the mopping piece cleaning device 11 can apply friction force to the mopping piece 22111, thereby improving the cleaning performance of the mopping piece 22111 and improving the cleaning effect of the mopping piece cleaning device 11. The relative motion between the mopping element cleaning device 11 and the mopping element 22111 can be caused by one of the mopping element cleaning device 11 and the mopping element 22111 moving and the other remaining stationary, or it can also be caused by the mopping element cleaning device 11 and the mopping element 22111 moving. The dragging parts 22111 all move but in different directions and/or speeds.

In the present invention, the mopping element cleaning device 11 can be configured to include a raised structure, and the raised structure includes a raised portion 112. When the mopping element cleaning device 11 cleans the mopping element 22111, the raised portion 112 and the mopping element 22111 are connected. Wipe piece 22111 contacts. By providing the protruding portion 112 on the mopping element cleaning device 11, the protruding portion 112 can not only be used to scrape off the sewage or garbage on the mopping element 22111 during the cleaning process of the mopping element 22111, but also realize the cleaning of the mopping element 22111. The cleaning device 22111 can be more thoroughly cleaned, and the cleaning device 22111 can be prevented from being too wet. Moreover, when the cleaning device 11 and the mopping device 22111 can move relative to each other, the protruding portion 112 and the mopping device 22111 can also move Planar friction motion will occur, which can further increase the friction between the mopping element cleaning device 11 and the mopping element 22111, and further improve the cleaning effect of the mopping element cleaning device 11 on the mopping element 22111.

In addition, in order to facilitate the cleaning robot 2 to enter the base station 1, the base station 1 of the present invention is preferably configured to further include a guide structure provided on the mop cleaning device 11. The guide structure is used to guide the cleaning robot 2 relative to the mop cleaning device. 11 moves to make the mopping member 22111 move in and out of the mopping member cleaning device 11. Based on this, when the mopping part 22111 needs to be cleaned, the cleaning robot 2 can easily enter the base station 1 under the guidance of the guide structure, so that the mopping part 22111 enters the mopping part cleaning device 11 for cleaning. Once the cleaning is completed, the cleaning robot 2 can smoothly drive out of the base station 1 under the guidance of the guide structure, so that the mopping part 22111 leaves the mopping part cleaning device 11. It can be seen that the setting of the guide structure can make cleaning It is more convenient for the robot 2 to enter and exit the base station 1, which helps to improve the working efficiency of the cleaning robot system. The guide structure may include at least one of a guide surface, a guide plate and a guide wheel.

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

Figures 1-23 illustrate a first embodiment of a cleaning robot system.

As shown in Figure 1-23, in this first embodiment, the cleaning robot system includes a cleaning robot 2 and a base station 1 that are arranged independently of each other. The cleaning robot 2 is used to automatically clean the floor including mopping. The base station 1 is used to charge the cleaning robot 2 and clean the mopping part 22111 of the cleaning robot 2. When the mopping part 22111 mops for a period of time and the cleaning robot 2 needs to be charged and/or needs to clean the mopping part 22111, the cleaning robot 2 can automatically return to the base station 1 and charge and/or clean the mopping part at the base station 1.

Figures 6-20 show the structure of the cleaning robot 2 in this first embodiment. As shown in Figures 6-20, in the first embodiment, the cleaning robot 2 is a mobile cleaning equipment, which includes a housing 20, a walking device 21, a floor cleaning device 22, a garbage collection device 23, etc.

Among them, the housing 20 constitutes the installation base of other structural components of the cleaning robot 2 and provides support for other components. As can be seen from Figures 6-8, the casing 20 of this embodiment includes an upper casing 201 and a chassis 202. The walking device 21, the floor cleaning device 22, the garbage collection device 23, etc. are all installed on the chassis 202. The upper casing 201 covers It is located above the chassis 202 and is used to protect the structural components in the hollow space between the upper shell 201 and the chassis 202 and keep the overall structure neat and beautiful.

The walking device 21 is used to provide driving force for the cleaning robot 2 to move on the ground, and drive the cleaning robot 2 to walk on the ground. As can be seen from Figures 7 and 8, the walking device 21 of this embodiment includes a pair of running wheels 211. The pair of running wheels 211 are symmetrically arranged on the left and right sides of the chassis 202. The running wheels 211 rotate to enable the cleaning robot 2 to move Advance or retreat on the ground. Moreover, the steering of the cleaning robot 2 can be realized through the differential rotation of the pair of traveling wheels 211 .

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

The mopping member 22111 may be a mop (or rag) or a sponge, or any other component capable of mopping the ground. In this embodiment, a mop is selected as the mopping member 22111 . Moreover, the mopping member 22111 is preferably detachably connected to the pressure plate 22112. For example, in this embodiment, the mopping member 22111 can be pasted on the lower end surface of the pressure plate 22112 using Velcro to facilitate the disassembly and replacement of the mopping member. 22111.

The wiping member 22111 and the pressure plate 22112 in this embodiment are both circular. Of course, in other embodiments, they can also be set in other shapes such as rectangles, but in this embodiment, the shapes of the two are circular. The advantage is that it is easier for the mopping unit 2211 to clean small spaces such as corners in the house, and it is also easier to rotate and set as follows.

In order to further solve the problem of poor mopping effect of existing cleaning robots, as can be seen from Figures 7 to 12 and Figure 20, as mentioned above, the mopping unit 2211 of this embodiment is configured to be able to rotate relative to the chassis 202. The mopping effect is improved by increasing the relative rotation between the mopping unit 2211 and the ground. Here, the rotation of the mopping unit 2211 relative to the chassis 202 can be either a rotation around a horizontal axis or a rotation around a vertical axis. This embodiment is preferably configured to rotate around the vertical axis, because the rotation around the vertical axis is preferred. The axis-rotating mopping member 22111 can achieve better mopping and cleaning effects. Moreover, when the mopping device 221 includes at least two mopping units 2211, the at least two mopping units 2211 can rotate in the same direction or in different directions, and can also switchably rotate in the same direction and in the opposite direction, that is, a certain direction. The at least two mopping units 221 rotate in opposite directions for a period of time and change to reverse rotation for another period of time. Among them, by setting the pairs of mopping units 2211 to rotate in opposite directions around the vertical axis, the mopping device 221 can also play a role in gathering garbage toward the middle, thereby achieving a better garbage gathering effect.

As shown in Figure 20, in this embodiment, both mopping units 2211 rotate around the vertical axis, but in opposite directions. Due to reverse rotation around the vertical axis, the two mopping units 2211 can collect the swept garbage toward the middle of the two mopping units 2211. Therefore, this arrangement allows the mopping device 221 to realize the mopping and cleaning functions at the same time. , and can also play a better role in gathering garbage to facilitate more complete collection of garbage. Based on this, the mopping device 221 of this embodiment can cooperate with the garbage collection device 23 of this embodiment to achieve a cleaner cleaning effect, which will be described in more detail later. In addition, when the two mopping units 2211 are set to rotate in opposite directions around the vertical axis, the friction forces generated by the rotation of the two mopping units 2211 are in opposite directions and can cancel each other out, which can effectively avoid frictional imbalance during the cleaning process. The problem helps the cleaning robot 2 walk more smoothly along the predetermined route.

In order to realize the rotation of the mopping unit 2211 relative to the ground, the mopping device 221 of this embodiment also includes a mopping drive mechanism 2212, which connects the mopping unit 2211 and the chassis 202 and is used to drive the mopping unit 2211. Rotating relative to the chassis 202 is used to drive the mopping unit 2211 to rotate relative to the ground. Specifically, as shown in Figures 8-12, in this embodiment, the mopping drive mechanism 2212 includes a worm motor, two worm gears 22122 and two output shafts 22123, where: the worm motor is used to power the two mopping units 2211 Provide torque; two worm gears 22122 and two output shafts 22123 are driven and connected between the worm motor and the two output shafts 22123 in one-to-one correspondence. Each worm gear 22122 meshes with the worm on the worm motor, that is, the worm gear 22122 and the worm motor The worm on the worm gear forms a worm gear mechanism, and the two worm gears 22122 are engaged with the worm gears of the worm motor to transmit torque in opposite directions to the two output shafts 22123; the two output shafts 22123 are drivingly connected to the two worm gears 22122 and the two between the two mopping units 2211, and the two output shafts 22123 are arranged in one-to-one correspondence with the two mopping units 2211, for transmitting torque in opposite directions to the two mopping units 2211 respectively. At the same time, the two output shafts 22123 are arranged vertically, so that the two mopping units 2211 rotate around their respective output shafts 22123 under the drive of the worm motor, that is, the reverse rotation of the two mopping units 2211 around the vertical axis can be realized.

More specifically, as shown in Figure 12, in this embodiment, the worm motor is a double-head worm motor 22121, where: the double-head worm motor 22121 is used as a worm power mechanism for outputting torque; two worm gears 22122 and two The mopping units 2211 are arranged in one-to-one correspondence and mesh with the two worm heads on both sides of the double-head worm motor 22121 respectively, and the two worm gears 22122 mesh with the double-head worm motor 22121 for transmission. In this way, when the double-head worm motor 22121 rotates, the power can be transmitted to the two worm gears 22122, and the torque in opposite directions is transmitted to the two output shafts 22123 through the two worm gears 22122, driving the two output shafts 22123 to drive the two mopping units. 2211 rotates in reverse around the vertical axis, with a simple and compact structure and high transmission efficiency.

Moreover, as can be seen from Figures 11 and 12, the mopping device 221 of this embodiment also includes a mounting chassis 2213, an upper plate 2214, and a lower plate 2215. The mopping driving mechanism 2212 is installed through the mounting chassis 2213, the upper plate 2214, and the lower plate 2215. on chassis 202. Among them, the upper plate 2214 and the lower plate 2215 are interlocked with each other to form a hollow space. Each component of the drag drive mechanism 2212 is arranged in the hollow space for cooperative transmission, and the installation chassis 2213 is arranged on the chassis 202, and the lower plate 2215 It is installed on the mounting chassis 2213, so that the drag drive mechanism 2212 is installed on the chassis 202. In addition, the drag drive mechanism 2212 of this embodiment also includes a bearing 22124 and an oil seal ring 22125. The bearing 22124 and the oil seal ring 22125 are disposed between the output shaft 22123 and the worm gear 22122 to achieve smoother transmission.

In addition, in this embodiment, the mopping unit 2211 is swingably connected to the chassis 202 of the cleaning robot 2. By keeping the two mopping members 22111 close to the ground at all times, the mopping effect of the mopping device 221 is improved and expanded. Scope of application of Cleaning Robot 2.

Specifically, the mopping unit 2211 of this embodiment can not only swing with the vertical axis as the center, but also can swing with the horizontal axis as the center. In this way, the mopping member 22111 has multiple swing degrees of freedom, which is conducive to realizing the entire mopping. The mopping member 22111 is in constant contact with the ground, so that the mopping member 22111 can better adapt to uneven floors and achieve a cleaner cleaning effect.

In order to realize the swing of the mopping unit 2211 with the vertical axis as the center, in this embodiment, as shown in Figure 12, a flexible connecting block is provided between the mopping unit 2211 and the output shaft 22123 of the mopping driving mechanism 2212. 2216, the two are connected through the flexible connection block 2216. The flexible connection block 2216 may be detachably connected to the mopping unit 2211 and/or the mopping driving mechanism 2212. As a flexible connection structure, the flexible connection block 2216 can deform relatively freely. Therefore, when the cleaning robot 2 encounters an uneven ground, the flexible connection block 2216 can absorb the ground force transmitted by the mopping member 22111. Adaptive deformation occurs under the action, driving the entire drag unit 2211 to produce an adaptive swing centered on the vertically arranged output shaft 22123 relative to the chassis 202 (that is, relative to the ground), thereby maintaining contact with the ground. Moreover, as shown in Figures 11, 13 and 15, each flexible connection block 2216 can provide the corresponding drag unit 2211 with a degree of freedom of swing adjustment (ie, the first degree of freedom of swing I in Figure 13). The swing mode More versatile and more flexible to adapt to the ground.

It can be seen that by arranging the flexible connecting block 2216 between the output shaft 22123 and the mopping unit 2211, the material deformation of the flexible connecting block 2216 can be used to realize the swing of the mopping unit 2211 centered on the vertical axis, and the mopping unit 2211 can swing according to the unevenness of the ground. The swing angle of the mopping unit 2211 can be flexibly adjusted according to the degree, so that the mopping member 22111 can always adhere to the ground for mopping, further improving the mopping effect.

It should be noted that the flexible connection structure applied in this embodiment is not limited to the form of the flexible connection block 2216. Other flexible connection structures that can utilize the deformation of their own materials to realize the swing of the mopping unit 2211 are also applicable.

In order to realize the swing of the mopping unit 2211 centered on the horizontal axis, in this embodiment, a horizontal rotation axis 2218 is provided between the mopping device 221 and the chassis 202, and the two are connected through the horizontal rotation axis 2218. Specifically, as shown in FIGS. 12 and 13 , the horizontal rotation shaft 2218 of this embodiment is connected between the chassis 202 and the middle part of the transmission shaft of the mopping device 221 that is connected between the two mopping units 2211 . The horizontal rotation axis 2218 can provide a horizontal rotational freedom for each mopping unit 2211 (ie, the second swing degree of freedom J shown in FIG. 13), so that each mopping unit 2211 can follow the unevenness of the ground. The horizontal rotation axis 2218 swings as a center to ensure that the mopping member 22111 is in contact with the ground.

It can be seen that in this embodiment, by simultaneously setting the flexible connecting block 2216 and the horizontal rotation axis 2218, the mopping member 22111 has multiple swing degrees of freedom, and can more flexibly adapt to uneven ground, so that the cleaning robot 2 can even encounter uneven terrain. It can also make the mopping part 22111 close to the ground for cleaning, so that the ground can be cleaned even cleaner.

On the other hand, as can be seen from Figure 13, in this embodiment, since a horizontal rotation axis 2218 is provided between the mopping device 221 and the chassis 202, the contact between the mopping device 221 and the ground is equivalent to a fulcrum, that is, in this embodiment The mopping device 221 of this embodiment provides a fulcrum for the cleaning robot 2. At the same time, since the contact between the two running wheels 211 and the ground is equivalent to two fulcrums, on the whole, a three-dimensional connection is formed between the cleaning robot 2 of this embodiment and the ground. The point support method allows the cleaning robot 2 to land on the ground at three points at all times, thereby increasing the overall operating stability of the cleaning robot 2 and further ensuring the cleaning effect.

It should be noted that the implementation of making the mopping unit 221 swing along with the uneven ground is not limited to the above-mentioned method (ie, the method shown in FIG. 13 ), and three alternative implementations are provided here.

As an alternative, as shown in FIG. 16 , the position of the horizontal rotation axis 2218 can also be changed, and the horizontal rotation axis 2218 can be arranged between the traveling device 21 and the chassis 202 . Based on this alternative method, the walking device 21 and the chassis 202 are connected by a rotation axis. The walking device 21 as a whole provides a fulcrum for the cleaning robot 2. At the same time, each flexible connection block 2216 of the mopping device 221 provides a fulcrum for each mopping device. The unit 2211 provides two swing adjustment degrees of freedom, so that when the mopping device 221 is in contact with the ground, it is equivalent to two fulcrums in contact with the ground. That is, the mopping device 221 provides two fulcrums for the cleaning robot 2. It can be seen that this alternative method is still The mopping part 22111 can be kept close to the ground at all times, and a three-point support mode can be formed between the cleaning robot 2 and the ground. The three-point support in this alternative includes two fulcrums in the front and one fulcrum in the rear, whereas the three-point support in the manner shown in Figure 13 includes one fulcrum in the front and two fulcrums in the rear.

As two other alternatives, as shown in Figures 17 and 18, in this embodiment, the aforementioned flexible connection block 2216 can also be omitted, and only a horizontal rotation axis is provided between the mopping device 221 and the chassis 202. 2218, or only a horizontal rotation axis 2218 is provided between the running device 21 and the chassis 202. Using these two alternative methods, although the effect of keeping the mopping member 22111 close to the ground at all times is not as good as that of the mopping unit 2211 swinging around the vertical axis at the same time, it is still possible to realize that the mopping member 22111 and/or the walking device 21 move relative to each other. Due to the overall swing of the chassis 202, the aforementioned three-point support is formed, and the structure is simpler and the cost is lower.

The garbage collection device 23 is used to collect garbage collected by the floor cleaning device 22. It includes a collection port for connecting the inside and outside of the garbage collection device 23. The garbage collected by the floor cleaning device 22 enters the garbage collection device through the collection port. 23 interior.

As shown in Figures 7-9 and 19, in this embodiment, the garbage collection device 23 includes a dust box 231, a filter 233, a dust removal fan 234, a fan duct 235 and a dust suction port 236, where the dust box 231 includes a box The body 2313 and the box lid 2314, the box lid 2314 is closed at the top opening of the box body 2313; the dust suction port 236 is provided at the lower part of the dust box 231, opening toward the ground, so that garbage can enter the dust box through the dust suction port 236 231; the dust removal fan 234 is in fluid communication with the inside of the dust box 231 through the fan duct 235, so that dust and other garbage can enter the dust box 231 through the dust suction port 236 under the action of the dust removal fan 234; the filter 233 is arranged in the dust box 231 and is located on the fluid communication path between the dust removal fan 234 and the dust box 231 (in Figure 19, the filter 233 is specifically disposed on the fluid communication path between the fan duct 235 and the dust box 231), so that the garbage in the wind can be The filter screen 233 filters and remains in the dust box 231, and the wind can continue to be sucked away by the dust removal fan 234.

As shown in Figure 19, the outlet of the dust removal fan 234 faces the double-head worm motor 22121, so that the wind flowing out of the dust removal fan 234 can directly blow to the double-head worm motor 22121, dissipating heat to the double-head worm motor 22121, which is beneficial to ensuring the double-head worm motor 22121. The working performance of the worm motor 22121 extends the working life of the double-head worm motor 22121.

In a modified implementation, the mopping drive mechanism is arranged on both sides of the dust suction device, so that the entire dust suction device can extend along the front and rear directions of the cleaning robot 2 . For example, the double-head worm motor 22121 can be replaced with two motors that output power through a worm gear mechanism or a gear mechanism. In this way, it is convenient to arrange the two motors on both sides of the dust suction device, avoiding the obstruction of the dust suction device due to the motor shaft crossing the dust suction device, making the air path of the dust suction device smoother, and reducing the size of the dust suction device. The air inlet resistance increases the air inlet flow of the dust collector and improves the dust collection effect of the dust collector.

When the garbage collection device 23 of this embodiment is working, the dust removal fan 234 drives the wind to drive the garbage into the inside of the box 2313 through the dust suction port 236. The garbage is blocked by the filter screen 233, and the wind enters the fan duct 235 through the filter screen 233, and flows in the direction of the fan duct 235. Dust removal fan 234, and finally removed by the dust removal fan 234.

It can be seen that the garbage collection device 23 of this embodiment is a dust suction device, and the dust suction port 236 is used as a collection port. The advantage of using a vacuum device as the garbage collection device 23 in this embodiment is that the garbage collection device 23 can exert an attraction force on the garbage, which not only allows more garbage collected by the floor cleaning device 22 to be collected more quickly, but also reduces the amount of garbage. Residues on the ground, and under the action of suction, larger particles of garbage can also be sucked into the interior of the garbage collection device 23. Therefore, using a vacuum cleaner as the garbage collection device 23 is beneficial to cleaning the ground cleaner.

In addition, as mentioned above, in this embodiment, the two mopping units 2211 that rotate in opposite directions around the vertical axis can collect garbage between the two mopping units 2211. Therefore, in order to collect garbage more conveniently and effectively 7 and 20, in this embodiment, the dust suction port 236 is disposed in the middle of the two mopping units 2211 of the mopping device 221 in this embodiment. In this way, the dust suction port 236 is located between the two mopping units 2211. The units 2211 are on the path where the garbage is collected. Therefore, the garbage collection device 23 can more fully collect the garbage and achieve a more effective garbage collection effect. The dust suction port 236 can be disposed in the middle of the rear of the two mopping units 2211 or in the middle of the front of the two mopping units 2211 . The dust suction port 236 is arranged in the middle of the rear of the two mopping units 2211. As shown in Figure 36, since the garbage is gathered into a smaller area and then collected by the garbage collection device 23, the dust suction port 236 can be set The smaller the ground, the smaller the suction port 236, the greater the suction power, and more effective collection can be achieved. The advantage of arranging the dust suction port 236 in the middle of the front of the two mopping units 2211, as shown in Figures 7 and 20, is that the garbage can be collected before mopping, and the garbage can be collected on the parts that have not been mopped. 22111 is collected when it gets wet. Since unwetted garbage has less adhesion to the ground and is easier to collect, the vacuum nozzle 236 is set on two mops that rotate in opposite directions around the vertical axis. Wiping the middle of the front of the unit 2211 can reduce the difficulty of garbage collection, so that the vacuum device only needs to apply a small suction force to collect garbage, and can effectively prevent the problem of hair and other garbage being difficult to collect due to excessive moisture. , so that garbage can be collected more conveniently and thoroughly, and a cleaner garbage collection effect can be achieved.

Based on the above-mentioned mopping device 221 and garbage collection device 23, when the cleaning robot 2 of this embodiment can perform higher-quality floor cleaning work: when working, the two mopping parts 2111 attached to the floor are driven by the mopping driving mechanism 2212. It rotates reversely around the vertical axis under the action, on the one hand, it mops the stubborn stains on the ground, and on the other hand, it collects the garbage to the middle part of the two mopping parts 2111. The garbage gathered in the middle part is collected by the garbage collection device. 23 suck up and collect.

57 and 58, it can also be known that in the cleaning robot 2 of the above embodiment, the garbage collection device 23 also includes a baffle 2311. The baffle 2311 is formed by the collection port of the garbage collection device 23 (in this embodiment In this example, the suction port 236) is inclined downward and extends to the ground. Based on this, the baffle 2311 can block the garbage collected at its location and prevent the garbage cleaned by the floor cleaning device 22 from spreading beyond the collection range of the collection port (vacuum port 236), thereby making it easier to collect garbage. The collection device 23 collects and prevents the garbage from causing secondary pollution to the cleaned ground. In particular, when the mopping member 22111 rotates around the vertical axis relative to the chassis 202 of the cleaning robot 2 to perform cleaning operations, the baffle 2311 can prevent the accumulated garbage from being taken away from the collection port (vacuum port 236) by the mopping member 22111. ).

Of course, the cleaning robot 2 of this embodiment can also turn off the garbage collection device 23 and only allow the mopping device 221 to work; or, the mopping device 221 can also be replaced with a cleaning device 222 for cleaning garbage on the ground. For example, a roller brush uses the cleaning device 222 to cooperate with the garbage collection device 23 to achieve a separate sweeping function. Since the mopping device 221 of this embodiment is detachably connected to the mopping driving mechanism 2212, the mopping device 221 can be conveniently connected. The cleaning device 222 is replaced to realize switching of the cleaning mode; and by replacing the wet mopping part 22111 with the dry mopping part 22111, the cleaning robot 2 of this embodiment can also realize the dry mopping function. Similarly, due to the The mopping part 22111 of the embodiment is detachably connected to the pressure plate 22112. Therefore, the dry mopping part 22111 and the wet mopping part 22111 can also be easily replaced to achieve quick switching between dry mopping and wet mopping modes.

In addition, as shown in Figures 6 and 8-10, in this embodiment, the cleaning robot 2 also includes a collision sensor panel 25, a laser radar 26, a control device 27, a battery 28, and buttons and screens for human-computer interaction. Human-computer interaction device. Among them, the collision sensor plate 25 is used to prevent the cleaning robot 2 from colliding with obstacles. In this embodiment, the collision sensor plate 25 is provided at the front end of the housing 20; the laser radar 26 is used to scan the map to realize the cleaning robot 2. Mapping and positioning, in this embodiment, the lidar 26 is embedded in the rear of the upper housing 201; the battery 28 is used to provide electrical energy to the cleaning robot 2; the control device 27 is used to control various activities of the cleaning robot 2. For example, sensor signal collection, motor drive control, battery management, navigation and positioning, map generation, intelligent obstacle avoidance and cleaning path planning, etc.

Furthermore, in order to facilitate the cleaning robot 2 to overcome obstacles and enter and exit the base station 1 , the cleaning robot 2 in this embodiment also includes a lifting mechanism 24 . The lifting mechanism 24 is used to lift the front end and/or the rear end of the cleaning robot 2, which can provide lifting force for the cleaning robot 2, which not only allows the cleaning robot 2 to more easily overcome obstacles of a certain height when walking on the ground ( For example, threshold), improve the obstacle-crossing ability of the cleaning robot 2, expand the cleaning range of the cleaning robot 2, and also help the cleaning robot 2 enter and exit the base station 1 more conveniently when the cleaning robot 2 enters and exits the base station 1, especially when the entrance and exit have a certain height. The mop piece cleaning device 11 of the base station 1.

Specifically, as shown in Figures 7, 8 and 10, in this embodiment, the lifting mechanism 24 is provided on the chassis 202 of the cleaning robot 2 and is located at the front of the chassis 202. It includes a lifting mechanism that can move up and down. When the swing bar swings downward, the swing bar can extend downward from the chassis 202 and be supported on the bearing surface (such as the ground), thereby being able to lift the front end of the cleaning robot 2. When the swing bar swings upward, After returning, the swing rod is retracted, the lifting is released, and the height of the front end of the cleaning robot 2 is lowered again. Based on this, as shown in Figures 21 and 22, when the cleaning robot 2 overcomes obstacles or enters the base station 1, the lifting mechanism 24 can lift the front end of the cleaning robot 2 and actively raise the height of the front end of the cleaning robot 2 to help with cleaning. The robot 2 can quickly overcome obstacles, or help the cleaning robot 2 quickly drive into the base station 1 and enable the mopping element 22111 to enter the mopping element cleaning device 11 smoothly.

Those skilled in the art should understand that the lifting mechanism 24 is not limited to being provided on the chassis 202, it can also be provided on the base station 1, or one lifting mechanism 24 can be provided on the base station 1 and the chassis 202 respectively; and, When the lifting mechanism 24 is disposed on the chassis 202, the lifting mechanism 24 is not limited to being disposed at the front of the chassis 202. It can also be disposed at the rear of the chassis 202 for lifting the rear end of the cleaning robot 2. .

Figures 50-52 illustrate an alternative embodiment in which the jacking mechanism 24 is positioned at the rear of the chassis 202. As shown in Figures 50-52, in this alternative embodiment, the lifting mechanism 24 is provided at the rear of the chassis 202. In this case, as shown in Figure 52, when the cleaning robot 2 needs to enter the base station 1, the lifting mechanism 24 is The lifting mechanism 24 may not move, and the cleaning robot 2 directly drives into the base station 1 under the guidance of its own driving force and the guide structure of the base station 1 (the inclined guide surface 116 in Figure 52), so that the mopping member 22111 enters the mopping member. Cleaning device 11, and when the cleaning of the mopping part 22111 is completed and the cleaning robot 2 needs to exit the base station 1, the lifting mechanism 24 acts to lift the rear end of the cleaning robot 2 so that the rear edge of the mopping part 22111 is higher than the mopping device 11. The edge height of the cleaning device 11 is increased, and then the base station 1 is driven out. Moreover, in this alternative embodiment, preferably, a suspension device can be provided at the running wheel 211, which is used to maintain an elastic connection between the running wheel 211 and the chassis 202, so that the running wheel 211 can always remain in contact with the ground, thereby When the lifting mechanism 24 lifts up the rear end of the cleaning robot 2, the running wheels 211 can still be close to the ground under the action of the suspension device, providing friction for the cleaning robot 2. Therefore, by providing a suspension device, it can further help The cleaning robot 2 exits the base station 1 more efficiently.

Specifically, as shown in Figures 50 and 51, in this alternative embodiment, the suspension device includes a spring 212 and a support member 213. The spring 212 is arranged horizontally, and the support member 213 is obliquely connected between the spring 212 and the running wheel 211. And the portion between the two ends of the support member 213 used to connect the spring 212 and the running wheel 211 is rotatably disposed relative to the housing 20 of the cleaning robot 2 . Based on this structural arrangement, the suspension device can not only keep the running wheel 211 in contact with the ground, but also use the elastic force of the spring 212 to assist the lifting mechanism 24 to tilt the rear end of the cleaning robot 2. Therefore, in this case, , the lifting mechanism 24 can lift the rear end of the cleaning robot 2 with only a small lifting force, so that the lifting mechanism 24 can use a smaller motor to achieve the purpose of reducing costs and saving installation space.

Of course, the suspension device does not need to be provided together with the jacking mechanism 24. Since the suspension device can keep the running wheels 211 in contact with the ground at all times, when the suspension device is provided alone, the obstacle surmounting ability of the cleaning robot 2 can also be increased.

Figures 2-5 show the structure of the base station 1 in this first embodiment. In this embodiment, the base station 1 uses water washing to clean the mopping member 22111, that is, the base station 1 keeps the mopping member 22111 clean by cleaning the mopping member 22111.

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

Among them, the base station body 10 constitutes the installation basis of other structural components of the base station 1. The mop cleaning device 11, the clean liquid supply device 12, the dirty liquid collection device 13, etc. are all arranged on the base station body 10. The base station body 10 is installed on it. These structural components provide support.

As shown in Figure 2, in this embodiment, the mop cleaning device 11 is installed below the base station body 10, while the clean liquid supply device 12 and the dirty liquid collection device 13 are installed above the base station body 10 and are respectively located at the base station. The left and right sides of the body 10 are compact and beautiful in structure. The mopping element cleaning device 11 of this embodiment cooperates with the clean liquid supply device 12 and the dirty liquid collection device 13 to realize water washing and cleaning of the mopping element 22111; and, because the mopping unit 2211 of this embodiment can be rotated around the vertical The axis rotates, so the mopping unit 2211 and the mopping piece cleaning device 11 can rotate relative to each other, and the base station 1 can implement friction-type water washing cleaning. During the cleaning process, the mopping member 22111 is carried on the mopping member cleaning device 11 and rotates for cleaning. The clean liquid supply device 12 provides cleaning liquid, and the dirty liquid collecting device 13 collects the dirty cleaning liquid after cleaning.

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

Among them, the cleaning tank 111 is used to accommodate the mopping member 22111 when the mopping member cleaning device 11 cleans the mopping member 22111, and also provides a receiving space for the cleaning liquid. As can be seen from FIGS. 3 and 4 , in this embodiment, the mop cleaning device 11 includes two cleaning slots 111 , and the shape and size of each cleaning slot 111 are similar to the shape and size of the mopping unit 221 in this embodiment. Adaptation, wherein the cross-sectional shape of the cleaning tank 111 is circular. This setting is to make the cleaning tank 111 adapt to the shape, size and number of the mopping units 221 of the cleaning robot 2. This can not only better accommodate the mopping parts 2111 and cleaning fluid, prevent the cleaning fluid from splashing, but also make The base station 1 can clean all the mopping parts 22111 of a cleaning robot 2 at the same time, thereby improving cleaning efficiency. Of course, the shape and size of the cleaning tank 111 can be set adaptively according to the specific conditions of the mopping unit 2211, and the number of cleaning tanks 111 can also be set to be equal to the total number of mopping units 221 of multiple cleaning robots 2. , and are set in one-to-one correspondence, so that the base station 1 can clean all the mopping parts 22111 of multiple cleaning robots 2 at the same time, and the cleaning efficiency is higher.

The protruding structure is used to contact the mopping member 22111 accommodated in the cleaning tank 111. Since the entire surface of the mopping member 22111 can be in contact with the protruding structure, the contact area is large and the cleaning efficiency is high. Moreover, the protruding structure is The structure can play the role of scraping off sewage and increasing friction during the cleaning process, which can further improve the cleaning effect. As shown in FIG. 4 , in this embodiment, the protruding structure is disposed in the cleaning tank 111 , in which each protruding portion 112 is a curved protruding portion, that is, the extending path of the cross section of the protruding portion 112 is a curve. , and the plurality of protrusions 112 in each cleaning groove 111 are arranged in a radial manner. The raised structure shown in this embodiment can better adapt to the rotational movement mode of the mopping member 22111, so that during the cleaning process, the raised structure can more fully rub against the rotating mopping member 22111, achieving Cleaner cleaning results. In addition, during the extrusion and rotation process between the mopping member 22111 and the protruding structure, water is extruded and thrown off from the mopping member 22111 by the protruding portion 112. Therefore, the protruding structure also has a function of drying the mop. The function of wiper 22111.

The liquid inlet structure 113 and the liquid discharge structure 114 are both in fluid communication with the cleaning tank 111, so that the cleaning liquid can enter the cleaning tank 111 through the liquid inlet structure 113, and the cleaning liquid after cleaning the mopping part 22111 can pass through the liquid drainage structure 114 It is discharged to the outside of the cleaning tank 111. As shown in FIG. 4 , in this embodiment, the liquid inlet structure 113 and the liquid discharge structure 114 are both arranged in the cleaning tank 111 . Of course, they can also be arranged in other positions as long as they maintain fluid communication with the cleaning tank 111 . .

The clean liquid supply device 12 is in fluid communication with the cleaning tank 111 through the liquid inlet structure 113 to conveniently provide cleaning liquid into the cleaning tank 111; the dirty liquid supply device 113 is in fluid communication with the cleaning tank 111 through the liquid drainage structure 114 to conveniently supply cleaning liquid to the cleaning tank 111. Collect the dirty cleaning fluid after cleaning the mopping part 22111. It can be seen from FIG. 3 and FIG. 4 that in this embodiment, the cleaning liquid supply device 12 includes a first storage structure 121 and a first water pump 122. The first storage structure 121 is used to contain cleaning liquid, and the first water pump 122 is used as a third water pump. A power device for driving the cleaning liquid to flow from the first storage structure 121 to the cleaning tank 111; the dirty liquid collection device 13 includes a second storage structure 131 and a second water pump 132, and the second storage structure 131 is used to store dirty cleaning liquid. , the second water pump 132 is used as a second power device for sucking the dirty cleaning liquid into the second storage structure 131 .

In addition, in order to facilitate the user to know the liquid level of the cleaning liquid in the first storage structure 121 and the second storage structure 131 in a timely manner, in this embodiment, the base station 1 may also include a liquid level detection device for detecting the liquid level of the cleaning liquid. Specifically, as shown in Figure 5, this embodiment is provided with liquid level detection devices in both the first storage structure 121 and the second storage structure 131, and each liquid level detection device includes a first conductive sheet 151, a second The conductive sheet 152 and the third conductive sheet 153, wherein the first conductive sheet 151 is used to detect the capacitance value of the environment, the second conductive sheet 152 and the third conductive sheet 153 are arranged in a storage structure containing the cleaning liquid to be detected, That is, in the first storage structure 121 and the second storage structure 131, the second conductive sheet 152 is used to detect the capacitance difference caused by the change in the level of the cleaning fluid, and the third conductive sheet 153 is used to detect the capacitance value of the cleaning fluid. . Since liquids with different liquid levels will affect the capacitance value of the conductive sheet, the liquid level detection device can detect the liquid levels of the cleaning liquid in the first storage structure 121 and the second storage structure 131 in real time, so as to promptly send the liquid level to the first storage structure 121 and the second storage structure 131 . Add new cleaning fluid to the storage structure 121, or empty the second storage structure 131 in time. Among them, the first conductive sheet 151 and the second conductive sheet 152 are used to correct the measured liquid level detection data, thereby making the liquid level detection results more accurate. The specific correction process can refer to the following formula:

Among them, H: the final liquid level obtained;

C2: When there is a certain liquid level, the capacitance value measured by the second conductive piece 152;

C20: When there is no liquid in the storage structure, the capacitance value measured by the second conductive sheet 152;

C3: Capacitance value measured by the third conductive piece 153 (when covered by liquid);

C1: Capacitance value measured by the first conductive piece 151 (in air);

γ: Correction parameter.

During the operation of the base station 1 of this embodiment, as shown in FIG. 23 , the mopping member 22111 is accommodated in the cleaning tank 111 and the entire surface is pressed against the protruding structure and rotates around the vertical axis. After the cleaning fluid is pressurized by the first water pump 122, it is sprayed onto the mopping member 22111 housed in the cleaning tank 111 through the liquid inlet structure 113. The impact force generated by the spraying process is conducive to further improving the cleaning effect; and after cleaning The dirty cleaning liquid will be scraped off from the mopping part 22111 by the protruding part 112, and will also be thrown off from the mopping part 22111 under the action of centrifugal force during the rotation of the mopping part 22111, and flow to the drainage structure. 114, and is pumped into the second storage structure 131 by the second water pump 132.

It can be seen that through the cooperation of the clean liquid supply device 12 and the dirty liquid collection device 13, the cleaning liquid in the cleaning tank 111 can be kept relatively clean, and the dirty cleaning liquid can avoid secondary contamination of the mopping member 22111, so that further Guaranteed cleaning effect. Moreover, the rotational movement of the mopping part 22111 during the cleaning process can play the role of centrifugal drying to prevent the mopping part 22111 from getting too wet after cleaning. This aspect can prevent the mopping part 22111 from leaving a large amount of residue during the mopping process. Too much water on the ground will affect the cleanliness of the ground and even cause safety hazards such as slipping. On the other hand, it can also prevent the cleaning robot 2 from being unable to be used on special floors such as wooden floors due to excessive moisture in the mopping parts 22111, which can effectively expand cleaning Scope of application of Robot 2. Based on this, during the cleaning process, the dragging member 22111 can be adjusted to maintain a suitable rotation speed to perform friction cleaning with the protruding portion 112, and prevent the cleaning liquid from being thrown out due to the rotation speed being too fast. After the cleaning is completed, the liquid can be allowed to enter The structure 113 stops the liquid inflow, and first controls the mopping member 22111 to rotate at a lower speed for a period of time to dry most of the water, and then controls the mopping member 22111 to accelerate the rotation to further dry it. Of course, the specific rotation speed and drying degree can be controlled according to actual needs.

In this embodiment, the cleaning liquid may be water, or a mixture of water and cleaning agent, preferably a mixture of water and cleaning agent, which can clean the mopping member 22111 more cleanly. When a mixture of water and detergent is used as the cleaning liquid, the first storage structure 121 may include only one container, in which the mixed liquid is directly stored; or, the first storage structure 121 may also include two containers, One container stores cleaning agent and the other container stores water. In this case, the first water pump 122 can simultaneously drive the cleaning agent and water to flow directly from their respective containers to the cleaning tank 111, or a third water pump 122 can be provided. The water pump, that is, the first power device further includes a third water pump. The third water pump drives the cleaning agent to mix with water first, and then the first water pump 122 drives the mixed liquid to flow into the cleaning tank 111 .

In order to further facilitate the control of the humidity of the mopping part 22111, the base station 1 of this embodiment can also include a drying device, and the drying device is used to dry the cleaned mopping part 22111 to ensure that the cleaning robot 2 exits the base station 1 , there is a moderate amount of moisture retained on the mop part 22111, so that the ground will not be slippery due to excessive moisture, nor will it become damp and moldy due to excessive moisture. Moreover, arranging a drying device in the base station 1 allows the drying process to be completed in the base station 1, which not only further enriches the functions of the base station 1, but also simplifies post-processing steps and improves efficiency.

In addition, in order to facilitate the cleaning robot 2 to enter and exit the base station 1, the base station 1 may also include a guide structure provided on the mop cleaning device 11. The guide structure is used to guide the cleaning robot 2 to move relative to the mop cleaning device 11 to make the mop The wiping piece 22111 enters and exits the wiping piece cleaning device 11 . Specifically, as shown in FIG. 4 , in this embodiment, the base station 1 includes a guide surface 116 used as a guide structure. The guide surface 116 is inclined by the mop cleaning device 11 (specifically, the edge of the cleaning tank 111 ). The lower part is inclined and extends to the ground, so that the guide surface 116 can guide the cleaning robot 2 to climb along the guide surface 116 to the height of the edge of the cleaning tank 111 to facilitate the mopping member 22111 to enter the cleaning tank 111 . As shown in FIGS. 21 and 22 , the guide surface 116 is used in conjunction with the aforementioned lifting mechanism 24 of the cleaning robot 2 to enable the cleaning robot 2 to enter and exit the base station 1 more conveniently and improve the working efficiency of the cleaning robot system. Of course, the guide structure is not limited to the structural form shown in this embodiment, it may also include a guide plate 116 and/or a guide wheel 119, which will be discussed later in the second embodiment shown in Figures 24-35 and Figure 53 This is further explained in the examples shown.

The charging device 14 is used to charge the battery 28 of the cleaning robot 2 to realize the charging function of the base station 1 . As shown in Figures 2-4, in this embodiment, the charging device 114 is disposed on the guide surface 116, so that when the cleaning robot 2 climbs up the guide surface 116, the charging device 114 can charge the cleaning robot 2. The charging device 14 can be charged in a variety of ways, for example, it can be a contact charging mode, using the charging pad 141 provided on the base station 1 and the charging contact pad 252 provided on the cleaning robot 2 (as shown in Figures 28 and 29 (shown) to realize the charging process; as another example, it can also be a wireless charging method, using the cooperation of the induction coil provided on the chassis 202 of the cleaning robot 2 and the charging coil provided on the guide surface 116 of the base station 1 to achieve wireless charging. .

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

As shown in Figures 24-35, the second embodiment is basically the same as the first embodiment, in which the base station 1 can still charge the cleaning robot 2 and clean the two mopping parts 22111 of the cleaning robot 2, and the cleaning robot The two wiping parts 22111 of 2 can still rotate in reverse around the vertical axis, and each wiping part 22111 can still swing relative to the chassis 202. The main difference between the two is: on the one hand, it is used to drive two The specific structure of the mopping driving mechanism 2212 for the mopping member 22111 to rotate in reverse around the vertical axis is different; on the other hand, the specific implementation of the swing of the mopping member 22111 relative to the chassis 202 is different; on the other hand, the garbage collection device 23 The specific structures are slightly different; on the other hand, the specific structures of the base station body 10, the first storage structure 121, the second storage structure 131 and the guide structure of the base station 1 are slightly different. Therefore, the following description focuses on the differences in these four aspects, and other unexplained parts can be understood with reference to the first embodiment. When introducing other embodiments, only the differences will be emphasized.

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

As shown in Figures 28-31, in the second embodiment, although the drag drive mechanism 2212 still uses a worm gear mechanism to transmit torque to the output shaft 22123, the worm motor in the worm gear mechanism no longer uses a double-head worm motor. 22121, instead, two single-head worm motors 22121' are used. Each single-head worm motor 22121' meshes with the two worm gears 22122 in the worm gear mechanism one-to-one, so that the two sets of worm gears can use different rotation directions. Driving the two mopping members 22111 to rotate in reverse around the vertically arranged output shaft 22123 can not only ensure the relative dynamic balance of the head of the cleaning robot 2, but also improve the mopping effect. At the same time, it can also play a cleaning role and remove garbage. Collected in the middle, it is convenient for the garbage collection device 23 to collect. Moreover, this embodiment uses two motors. Compared with the case of using one motor, the advantage is that it is convenient to arrange the two motors on both sides of the dust suction device, which can effectively avoid accidents caused by the motor shaft crossing the dust suction device. Blocking the air path of the dust collector can improve the smoothness of the air path of the dust collector, reduce the air inlet resistance of the dust collector, increase the air inlet flow of the dust collector, and improve the dust collection effect of the dust collector.

As shown in Figures 32a-32c, in order to realize the swingable connection between the mopping unit 2211 and the mopping driving mechanism 2212, and further realize the swingable connection between the mopping unit 2211 and the chassis 202, in this second embodiment, no more A flexible connection structure such as a flexible connecting block 2216 is provided between the output shaft 22123 and the mopping unit 2211. Instead, the cooperative relationship between the mopping unit 2211 and the mopping driving mechanism 2212 is set as a gap socket. Specifically, as shown in Figure 32c, in the second embodiment, the output shaft 22123 and the pressure plate 22112 are connected with each other with a gap. Due to the gap between the output shaft 22123 and the pressure plate 22112, the pressure plate 22112 can be positioned relative to the output The shaft 22123 has a certain clearance swing angle, and the wiping member 22111 is set on the pressure plate 22112. Therefore, the clearance socket fit between the wiping unit 2211 and the wiping drive mechanism 2212 can utilize the clearance movement. The swingable connection between the mopping unit 2211 and the chassis 202 is realized, so that the mopping member 22111 can change its own swing angle according to the actual conditions of the ground to achieve the purpose of adapting to the ground.

Moreover, as shown in Figure 32b, in this embodiment, in order to facilitate the disassembly and assembly of the mopping unit 2211, there is a mopping device between the pressure plate 22112 of the mopping unit 2211 and the output shaft 22123 of the mopping driving mechanism 2212. The unit 2211 is attached to the magnetic adsorption piece 2217 of the drag connection structure. By providing the magnetic adsorption part 2217, the rigid connection between the pressure plate 22112 and the output shaft 22123 can be avoided, and the two can be detachably connected. Moreover, magnetic adsorption is used to realize the connection. When it is necessary to disassemble and assemble the mopping unit 2211, Just pull and buckle, very simple and convenient. Of course, to realize the detachable connection between the mopping unit 2211 and the mopping driving mechanism 2212, one or more other methods such as threaded connectors, buckles, and hooks may also be used.

As shown in Figures 33 and 34, in this second embodiment, although the garbage collection device 23 still uses a dust suction device, and the dust suction port 236 is still provided in the middle of the front of the two mopping members 22111, it is In the aforementioned first embodiment, the filtration structure has been changed. The filter 233 is no longer used, but is replaced with Hypa paper 233'. HyPa paper 233' is used to filter dust in the airflow, and is accordingly provided with a supporting structure. The hypa paper 233' has a hypa paper bracket 2331', and a filter bracket 238 is provided between the box body 2313 and the box cover 2314 of the dust box 231. The hypa paper 233' is arranged outside the filter bracket 238, and It is on the fluid communication path between the box body 2313 and the dust removal fan 234; in addition, a handle 2315 is added to the box cover 2314, and the handle 2315 is installed on the box cover 2314 through the positioning pin 2316 to facilitate the user to take out the dust box 231 and empty the dust in time. Dust in box 231.

In addition to the above-mentioned major differences, the cleaning robot 2 in the second embodiment also has other differences from the first embodiment. As shown in Figure 28, in this second embodiment, the structure of the housing 20 of the cleaning robot 2 is slightly different. The upper housing 201 is provided with a battery installation slot for installing the battery 28. Correspondingly, the battery installation slot The upper cover is provided with an upper shell cover 2011 to cover the battery installation slot and the battery 28 inside, protect the battery 28, and maintain the overall smoothness and appearance. The lower part of the chassis 202 is also provided with a lower shell cover 2021, which is more convenient for disassembly and maintenance; Moreover, a camera 251 and a charging contact 252 are added to the collision sensor plate 25 . The camera 251 is used to cooperate with the laser radar 26 to achieve better scanning positioning and obstacle recognition functions. The charging contact 252 is used to cooperate with the base station 1 The charging piece 141 on the battery is in contact to realize charging of the battery 28.

Figures 25-26 show the structure of the base station 1 in this second embodiment.

As shown in Figures 25 and 26, in this second embodiment, the base station body 10 includes a support frame 101 and a support frame bottom cover 102, wherein the clean liquid supply device 12 and the dirty liquid collection device 13 are provided on the support frame 101 The upper part is located on the left and right sides of the support frame 101, and the support frame bottom cover 102 is provided at the bottom of the support frame 101; the first storage structure 121 and the second storage structure 131 both include a box body 1211, a box cover 1212, a handle 1213 and a card. Buckle 1214, wherein the box lid 1212 is installed at the top opening of the box body 1211, the handle 1213 is provided on the box lid 1212 for convenient carrying, and the buckle 1214 is provided at the connection between the box body 1211 and the box lid 1212. To realize the buckle connection between the box body 1211 and the box cover 1212.

As shown in FIGS. 25 and 26 , in this second embodiment, a scraper 117 is provided at the notch of the cleaning tank 111 , which may be a scraper, for example. The scraper 117 is disposed at the notch of the cleaning tank 111, which can increase the height of the cleaning tank 111. This aspect can be used to prevent the cleaning liquid in the cleaning tank 111 from damaging the mopping element 22111 in the mopping element cleaning device 11. During the cleaning process, the scraper 117 is splashed out of the cleaning tank 111, causing the scraper 117 to function as a waterproof barrier; on the other hand, since the mop 22111 needs to pass through the scraper 117 before entering the cleaning tank 111, so , the scraping member 117 can also scrape the garbage on the mopping member 22111 before the mopping member 22111 enters the mopping member cleaning device 11 to prevent the garbage adhered to the mopping member 22111 from being dragged along during the floor cleaning process. The components 22111 enter the cleaning tank 111 together, which can reduce the clogging of the liquid inlet structure 113 and the liquid discharge structure 114 in the cleaning tank 111. The scraper 117 can be a flexible piece or a rigid piece. Preferably, the scraper 117 is a flexible piece, such as a rubber scraper. This facilitates the dragging member 22111 to press against the scraper when entering the cleaning tank 111. 117, the scraping effect of the scraping member 117 is enhanced. On the other hand, the scratching effect of the scraping piece 117 on the dragging member 22111 can also be reduced. On the other hand, when a flexible piece is used as the scraping member 117, when the dragging member 22111 is After 22111 completely enters the cleaning tank 111, the scraper 117 can automatically return to its original state and still prevent the cleaning liquid from splashing out. Of course, the scraper 117 may not be disposed at the notch of the cleaning tank 111, for example, it may also be disposed on the guide surface 116, as long as it can prevent the cleaning liquid from splashing out and/or scrape off garbage in advance. .

Moreover, as can be seen from Figure 35, in order to further facilitate the cleaning robot 2 to enter the base station 1, in this second embodiment, the guide structure of the base station 1 also includes a guide plate 115 arranged on the side of the mop cleaning device 11, preferably along the The inclined direction of the guide surface 116 extends to the bottom of the guide surface 116 . The guide plate 115 and the guide surface 116 can guide the mopping element 22111 of the cleaning robot 2 to enter the mopping element cleaning device 11 of the base station 1 more accurately and quickly. As shown in Figure 35, the rotation directions of the two wiping parts 22111 are opposite. When entering the base station 1, if one of the wiping parts 22111 touches the guide plate 115, the friction between the wiping part 22111 and the guide plate 115 can be used. f to correct the route deviation and pull the cleaning robot 2 into the base station 1 along the correct track. It can be seen that the guide plate 115 can also play a role in correcting the route deviation of the cleaning robot 2 in and out.

In addition, in addition to facilitating the cleaning robot 2 to enter the base station 1 as shown in the first and second embodiments, the lifting mechanism 24 cooperates with the guide structure of the base station 1. Of course, it is also possible to choose not to. A lifting mechanism 24 is provided so that the cleaning robot 2 enters the base station only under the guidance of the guide structure. As shown in Figure 53, the guide structure of the base station 1 may not only include the aforementioned guide surface 116, but also include guide wheels 119. The guide wheels 119 are disposed on the guide surface 116 and protrude upward. In this case, the cleaning robot 2 When entering the base station 1, you can first rely on its own walking driving force to climb to the height of the guide wheel 119 under the guidance of the guide surface 116, and then tilt the front end of the cleaning robot 2 under the action of the guide wheel 119 until it is wiped. The unit 2211 crosses the guide wheel 119 and enters the cleaning tank 111 to complete the entry process. When the cleaning part 22111 needs to exit the base station 1, the cleaning robot 2 moves in the opposite direction, also under the action of the guide wheel 119 and the guide surface 116. Complete the exit process successfully. Moreover, in order to prevent the upwardly protruding guide wheel 119 from interfering with the contact between the mopping member 22111 and the cleaning surface during the cleaning process, as shown in Figure 53, an avoidance groove adapted to the guide wheel 119 can also be provided on the cleaning robot 2. 203. After the mopping unit 2211 passes over the guide wheel 119 and enters the cleaning tank 111, the guide wheel 119 is just embedded in the avoidance groove 203, so that the mopping member 22111 can be in close contact with the cleaning surface to ensure the cleaning effect.

FIG. 37 shows a further modified embodiment of the aforementioned first and second embodiments.

As shown in Figure 37, the main difference from the aforementioned first and second embodiments is that the mopping device 221 of the cleaning robot 2 of this embodiment also includes a scraping structure 2219 disposed behind the mopping unit 2211. The scraping structure 2219 can scrape the garbage and/or sewage dropped by the mopping unit 221, thereby preventing the garbage and/or sewage from remaining on the ground mopped by the mopping unit 2211, achieving the second purpose. Second cleaning. The scraper structure 2219 can be a scraper or a cloth strip, and is preferably a flexible member to reduce scratches on the ground. Of course, the scraper structure 2219 is not limited to the cleaning robot 2 shown in the first and second embodiments, and is also applicable to other cleaning robots 2 of the present invention.

Figures 38-41 illustrate a third embodiment of a cleaning robot system.

As can be seen from Figures 38-41, the main difference between this third embodiment and the previous two embodiments is that the mopping device 221 of the cleaning robot 2 in this embodiment only includes one mopping unit 2211. Correspondingly, this embodiment The mop cleaning device 11 of the base station 1 also only includes one cleaning tank 111, and in order to make the structure more compact, the clean liquid supply device 12 and the dirty liquid collection device 13 of the base station 1 are stacked one above the other. The cleaning robot 2 and the base station 1 of this embodiment are both smaller in size and more suitable for use in small households.

As can be seen from Figure 41, in the third embodiment, the mopping unit 2211 still rotates around the vertical axis relative to the chassis 202, and in order to realize the rotation of the mopping unit 2211 around the vertical axis, as shown in Figure 40, this implementation The drag drive mechanism 2212 of the example still uses a worm motor to output torque, but the difference is that the worm motor of this embodiment only includes a single-head worm motor 22121' and a worm gear 22122. Using the single-head worm motor The meshing of 22121' and the worm gear 22122 drives the mopping unit 2211 to rotate around the vertical axis to achieve more effective cleaning of the ground.

In order to achieve sufficient garbage collection based on this kind of floor cleaning device 22 with a single mopping unit 2211, as shown in Figure 41, in this embodiment, the suction port 236 of the garbage collection device 23 is provided at the edge of the mopping unit 2211. outside. Since the garbage will be collected along the edge of the mopping member 2211 to the outside of the rotating mopping unit 2211, this arrangement makes the suction port 236 as the collection port located on the garbage collection path of the mopping unit 2211. , thereby facilitating the collection of garbage into the dust box 231. Furthermore, this embodiment also adds a garbage blocking member 237 on one side wall of the housing 20, and the dust suction port 236 is provided between the edge of the mopping unit 2211 and the garbage blocking member 237, so that the dust blocking member 237 can be used. The blocking effect of the garbage blocking member 237 on garbage further collects the garbage into a smaller area to achieve more effective collection.

In the above three embodiments, the structures of the cleaning groove 111 and the protruding structure are basically the same. The cleaning groove 111 is a deep groove with a circular cross-section, and the protruding structure includes a plurality of curved protrusions arranged in a radial manner. . However, it should be noted that in the present invention, the specific structures of the cleaning tank 111 and the protruding structure are not limited to the specific structures shown in these three embodiments. Taking the modifications shown in Figures 48 and 49 as examples, The cleaning tank 111 can also be configured as a cleaning plate, that is, a shallow plate structure with a rectangular cross-section, and the protruding portion 112 can also be a linear protruding portion or a folded line protruding portion, that is, the extending path of the cross-section of the protruding portion 112 is Straight lines or broken lines. In addition, the plurality of protrusions 112 can also be arranged in other ways besides radial form, such as array form. The array form can be a linear array form (i.e., matrix form), a circular array form, or Ring array shape, etc., among which the linear array shape is particularly suitable for the situation where the mopping member 22111 and the mopping member cleaning device 11 move relatively horizontally and reciprocally, so that the mopping member 22111 can be cleaned more cleanly. In addition, the shapes of the protrusions 112 in each cleaning tank 111 may also be different, that is, the plurality of protrusions 112 may include any combination of curved protrusions, linear protrusions and folded line protrusions; similarly Specifically, the arrangement of the protrusions 112 in each cleaning tank 111 can also be any combination of various arrangements such as radial and array; and the shape and arrangement of the protrusions 112 in the cleaning tank 111 are different. The methods can be the same or different.

In addition, in another embodiment, the protruding portion 112 includes a bottom protrusion 1121 provided at the bottom of the cleaning tank 111 and a side protrusion 1122 formed on the inner surface of the cleaning tank 111 . When the mopping element cleaning device 11 cleans the mopping element 22111, the bottom protrusion 1121 rotates relative to the bottom surface of the mopping element 22111 and comes into friction and squeezing contact, and the side protrusions 1122 rotates relatively with the side surface of the dragging member 22111 and makes frictional and extrusive contact. In this way, the bottom surface of the mopping member 22111 can be cleaned through the bottom protrusion 1121, and the side surface of the mopping member 22111 can be cleaned through the side protrusions 1122.

Of course, there are other ways to clean the side of the mopping member 22111. For example, the two mopping members 22111 are arranged to be in edge contact. In this way, when the two mopping members 22111 rotate in the same direction, the two mopping members 22111 move relatively at the middle contact position and rub against each other for side cleaning.

In addition, in the above three embodiments, the dirty liquid collection device 13 collects the dirty cleaning liquid through the suction action of the second power device. However, in other embodiments of the present invention, the second power device may not be provided. Instead, as shown in FIGS. 54 and 55 , the second storage structure 131 is directly provided below the cleaning tank 111 and the second storage structure 131 is disposed directly below the cleaning tank 111 . The structure 131 is in fluid communication with the cleaning tank 111. In this case, the dirty cleaning liquid will automatically flow from the cleaning tank 111 into the second storage structure 131 under the action of gravity, which is simple, convenient and low-cost.

Moreover, in order to achieve a better cleaning effect on the mopping member 22111 and meet the user's more diverse usage needs and pursuit of higher quality of life, the cleaning liquid supply device 12 of the present invention can also include an auxiliary material supply device. In order to provide auxiliary materials such as disinfectant, fragrance, and wax layer for cleaning the mopping part 22111, the auxiliary material supply device can directly provide the auxiliary materials into the cleaning tank 111; it can also provide the auxiliary materials. In the first storage structure 121, the auxiliary material is first mixed with the cleaning liquid, and then flows together into the cleaning tank 111 under the driving action of the first power device.

It should be noted that in other embodiments of the present invention, the clean liquid supply device 12 and/or the dirty liquid collection device 13 can also be omitted, and the base station 1 is directly installed near the location where the tap water pipe and/or the drainage pipe is installed. , in this way, the base station 1 can directly use the tap water supplied by the tap water pipe to clean the mopping part 22111, and the cleaned sewage can also be directly drained through the drainage pipe, because the clean liquid supply device 12 and/or the dirty liquid collection device 13 can be reduced , therefore, this method can make the structure of the base station 1 simpler and the cost lower.

In addition, although the mopping drive mechanism 2212 used to drive the mopping unit 2211 to rotate relative to the chassis 202 in the above three embodiments all uses a worm gear mechanism to transmit torque in opposite directions to the two output shafts 22123, in fact, In other embodiments of the present invention, a gear mechanism can also be used to transmit torque in opposite directions to the two output shafts 22123. Moreover, as explained in the first embodiment, in order to solve the problem of poor mopping effect of the existing cleaning robot 2, the mopping unit 2211 can be arranged vertically relative to the chassis 202 like the above three embodiments. Axis rotation can also be set to rotate around a horizontal axis. 42 and 43 illustrate a cleaning robot system based on a fourth embodiment of a mopping unit 2211 that rotates around a horizontal axis.

As shown in Figure 42, in the fourth embodiment, the mopping unit 2211 of the cleaning robot 2 includes a horizontally rotating drum and a mopping member 22111 disposed on the outer surface of the drum. The mopping unit 2211 is driven when mopping. Under the driving action of mechanism 2212, it rotates around the horizontal axis. Since this can also increase the relative movement between the mopping member 22111 and the ground, increase the mopping strength, increase the number of mopping times, and play the role of mopping and cleaning at the same time, it can also effectively improve the mopping effect of the mopping member 22111. Rubbing effect.

For the cleaning robot 2 of this embodiment, this embodiment also provides a base station 1 that is different from the previous three embodiments. As shown in Figure 43, in the base station 1 of this embodiment, a cleaning roller 118 is provided in the cleaning tank 111 of the mopping element cleaning device 11, and the cleaning roller 118 is used to clean the mopping element 22111. In the process of cleaning the mopping member 22111, the mopping member 22111 is squeezed on the cleaning roller 118 and supported by the cleaning roller 118. Then the relative rotation of the cleaning roller 118 and the mopping member 22111 is used to clean the mopping member 22111. . Among them, the relative rotation between the cleaning roller 118 and the mopping member 22111 can be either the mopping member 22111 actively rotating, the cleaning roller 118 actively rotating, or both actively rotating but with different rotation directions and/or rotational speeds, where It is preferred that the mopping member 22111 actively rotates. The reason is that the active rotation of the mopping member 22111 can be realized by using the mopping driving mechanism 2212 of the cleaning robot 2 itself, without the need to provide a mechanism for driving the cleaning roller 118 on the base station 1. Therefore, , the structure of the base station 1 can be simpler and the cost is lower, and the active rotation of the mopping member 22111 can also play a certain drying role, so that the mopping member 22111 can maintain a more appropriate humidity after cleaning is completed. Of course, the mop cleaning device 11 with the cleaning roller 118 is also applicable to other embodiments of the present invention.

In addition, in order to further improve the cleaning effect of the cleaning robot 2, in the fourth embodiment, a rubbish scraping piece can be further provided on the floor cleaning device 22, and the rubbish scraping piece can be used to scrape off the dirt adhered to the floor cleaning device 22. garbage on. The garbage scraping member can be a scraper 2312 or a roller brush 2312'. Figures 44 and 45 respectively show the corresponding structures of the two cleaning robots 2.

In the cleaning robot 2 as shown in Figure 44, the garbage scraping member uses a scraper 2312. The scraper 2312 is provided on the housing 20 of the cleaning robot 2 and can be in contact with the rotating mopping member 22111, so that during mopping When the wiping member 22111 rotates to clean the floor, every time the wiping member 22111 comes into contact with the scraping blade 2312, the scraping blade 2312 will scrape off the garbage adhered to the wiping member 22111, thereby keeping the mopping member 22111 Clean and ensure the quality of floor cleaning.

In the cleaning robot 2 shown in Figure 45, the rubbish scraping member adopts a roller brush 2312'. The roller brush 2312' is provided on the housing 20 and rotates in the same direction as the mopping member 22111. The roller brush 2312' is used to interact with the mopping member 22111. The same-direction contact friction of the wiping member 22111 can also scrape off the garbage on the wiping member 22111, and in this way, the rotation of the roller brush 2312' can also further throw the garbage to the garbage collection device 23 function, thus making garbage collection easier.

Moreover, it can also be known from FIG. 44 and FIG. 45 that in these two types of cleaning robots 2, the garbage collection device 23 also includes a baffle 2311, which is inclined downward and extends from the collection opening of the garbage collection device 23. to the ground. Based on this, the baffle 2311 can block the garbage collected at its location and prevent the garbage cleaned by the floor cleaning device 22 from spreading beyond the collection range of the collection port, thereby making it easier for the garbage collection device 23 to collect. And prevent garbage from causing secondary pollution to the cleaned ground. In particular, when the mopping member 22111 rotates around the vertical axis relative to the chassis 202 of the cleaning robot 2 to perform cleaning operations, the baffle 2311 can prevent the accumulated garbage from being taken away from the collection port by the mopping member 22111. Moreover, the baffle 2311 cooperates with the aforementioned garbage scraping member, which further helps the garbage collection device 23 to achieve sufficient garbage collection. Of course, the garbage scraping member and baffle 2311 shown in Figures 44 and 45 are also applicable to other embodiments of the present invention.

In addition, the foregoing embodiments all illustrate the present invention by taking the mopping unit 2211 rotating relative to the chassis 202 as an example. However, in fact, in order to improve the mopping of the mopping device 221 by increasing the relative movement between the mopping member 22111 and the ground. The mopping unit 2211 of the present invention can also be configured to perform horizontal reciprocating motion relative to the chassis 202. That is, the mopping unit 2211 can not only improve the mopping effect by rotating relative to the ground, but also can improve the mopping effect by rotating relative to the ground. Perform horizontal reciprocating motion to improve mopping effect. In the embodiment shown in FIG. 46 and FIG. 47 , the mopping unit 2211 is capable of horizontal reciprocating movement relative to the chassis 202 . In this case, the mopping member 22111 performs push-type cleaning on the ground. By mopping the ground back and forth, Wiping to remove stains or garbage is similar to the manual mopping method, which can reduce the residue of garbage at the rear of the mopping device 2211. The cleaning robot 2 based on the mopping unit 2211 capable of horizontal reciprocating motion can more conveniently cooperate with the base station 1 so that the mopping element cleaning device 11 can clean the mopping element 22111 during the relative movement with the mopping element 22111 . Moreover, in the present invention, the mopping unit 2211 of the cleaning robot 2 can be configured to both rotate relative to the chassis 202 and horizontally reciprocate relative to the chassis 202, and during the floor cleaning process, it is preferred to perform rotation mopping first, Then perform push mopping, which can combine the advantages of rotary mopping and push mopping to achieve more effective floor cleaning.

In addition, in the above-mentioned embodiments, the floor cleaning device 22 only includes a mopping device 221, but in fact, in other embodiments of the present invention, the floor cleaning device 21 may also include a cleaning device for cleaning floor garbage. 222, so that the cleaning robot 2 can use the mopping device 221 and the special cleaning device 222 to clean the floor at the same time to obtain a cleaner floor cleaning effect. When a special cleaning device 222 is provided, the cleaning device 222 can be disposed in front and/or behind the mopping device 221 , and is preferably disposed in front of the mopping device 221 in order to achieve a "sweep first, then mop" cleaning mode. First, use the cleaning device 222 to clean most of the garbage (dust and larger particles), and then use the mopping device 221 to further clean the remaining garbage (such as stubborn stains) that are difficult to clean, thereby improving the quality of floor cleaning. Figure 47 shows one embodiment. As shown in Figure 47, in this embodiment, the floor cleaning device 22 includes a horizontally reciprocating mopping unit 2211 and a side brush 2221 disposed in front of the mopping unit 2211 and used as a cleaning device 222. The dust suction port 236 is disposed on the mopping unit 2211. The wiping unit 2211 and the side brush 2221 cooperate to clean the floor. It is easy for those skilled in the art to understand that the cleaning device 222 is not limited to the side brush 2221, and various cleaning devices 222 can be used in conjunction with various mopping units 2211.

Moreover, as a further improvement of the above embodiments, cleaning members (such as bristles or brushes) can also be provided on the edge of the mopping member 22111 of the mopping unit 2211, so that the mopping unit 2211 itself can become an integrated sweeping and mopping unit. The structure has both a sweeping and mopping function. Even if no additional special cleaning device 222 is provided, the mopping unit 2211 itself can more fully gather garbage (especially hair and other garbage) to achieve better cleaning effects; and, The cleaning element provided on the edge of the mopping element 22111 can also be close to the edge of the ground when the mopping unit 2211 cleans the edge of the ground, effectively expanding the cleaning range of the mopping device 221 so that the cleaning robot 2 can more effectively complete indoor corners. of cleanliness.

In addition, although in the aforementioned embodiments, the swing of the mopping unit 2211 relative to the chassis 202 is achieved through the swingable connection between the mopping unit 2211 and the mopping driving mechanism 2212, in fact, the implementation is not limited to this. For example, the swing of the mopping unit 2211 can also be achieved by connecting the mopping driving mechanism 2212 to the chassis 202 in a swingable manner. At this time, the mopping unit 2211 and the mopping driving mechanism 2212 are not swingably connected (for example, they are fixedly connected). , in fact, when the mopping unit 2211 and the chassis 202 are connected through the mopping driving mechanism 2212, the mopping unit 2211 is swingably connected to the mopping driving mechanism 2212, and/or the mopping driving mechanism 2212 is swingably connected. On the chassis 202, the swing of the mopping unit 2211 relative to the chassis 202 can be realized; for another example, when the mopping unit 2211 does not rotate and/or horizontally reciprocate relative to the chassis 202, the mopping drive mechanism 2212 can be replaced. It is a non-driven mopping connection structure that connects the mopping unit 2211 and the chassis 202. In order to realize the swing of the mopping unit 2211 relative to the chassis 202, the mopping unit 2211 can be swingably connected to the non-driven mopping unit 2211. on the drag connection structure, and/or, the non-driven drag connection structure is swingably connected to the chassis 202.

It can be seen that in the present invention, the dragging connection structure connecting the dragging unit 2211 and the chassis 202 can be a driven dragging connection structure (such as the dragging drive mechanism 2212 in the above embodiments), or a non-driven dragging connection structure. A type of drag connection structure (such as a connecting shaft connected between the drag unit 2211 and the chassis 202); and no matter which drag connection structure the drag unit 2211 and the chassis 202 are connected to, the drag unit 2211 can be connected through the drag connection structure. The wiping connection structure is swingably connected to the chassis 202, as long as the mopping unit 2211 is swingably connected to the mopping connection structure, and/or the mopping connection structure is swingably connected to the chassis 202.

It should also be noted that in the present invention, in addition to the dust collection device shown in the above embodiments, the garbage collection device 23 may also adopt other structural forms. For example, the dust removal fan 234 and the fan duct 235 may not be provided. etc., so that the garbage only enters the interior of the garbage collection device 23 from the collection port under the action of its own inertia and the gathering effect of the floor cleaning device 22. In this case, the garbage collection device 23 does not exert further action on the garbage. The collection device 23 is only used as a dustpan.

The above are only exemplary embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (11)

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

a base station body (10);

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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