CN114515129A

CN114515129A - Cleaning system and method for disassembling cleaning unit of cleaning system

Info

Publication number: CN114515129A
Application number: CN202210200343.7A
Authority: CN
Inventors: 张舒良; 柯辉; 祁立刚; 赖德键; 钱晨阳; 黄宏发
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2022-03-02
Filing date: 2022-03-02
Publication date: 2022-05-20
Anticipated expiration: 2042-03-02
Also published as: CN114515129B

Abstract

The application discloses a cleaning system and a method of disassembling a cleaning unit of the cleaning system, the cleaning system includes: the base station is provided with an accommodating space, and a disassembling unit is arranged in the accommodating space; a cleaning robot selectively received into the accommodating space, the cleaning robot including: a cleaning body and a cleaning unit detachably mounted on the cleaning body; wherein be provided with the fixed block on clean unit's the lateral wall, be provided with first buckle on the clean body, be provided with the second buckle on the dismantlement unit, first buckle be suitable for with the fixed block joint is in order to assemble clean unit, the second buckle be suitable for with the fixed block joint is in order to dismantle clean unit, just the second buckle is suitable for to stretch into first buckle with in order to unblock between the fixed block first buckle with the joint of fixed block has promoted the automation and the convenience of clean system.

Description

Cleaning system and method for disassembling cleaning unit of cleaning system

Technical Field

The application relates to the field of household appliances, in particular to a cleaning system and a method for disassembling a cleaning unit of the cleaning system.

Background

Along with the continuous improvement of people's standard of living, self-moving cleaning device such as robot of sweeping the floor becomes the selection of more and more families because its convenient to use and intelligence gradually.

Self-moving cleaning devices have cleaning elements such as wipes and edge brushes that become dirty after a period of sweeping or mopping, affecting the cleaning effect, and therefore require removal of the cleaning elements from the device for replacement or cleaning. The removal and installation of the cleaning elements is often done by the user, resulting in an inability to completely free the user from the cleaning process, increasing the workload of the user. The existing self-moving cleaning device is matched with a base station with a cleaning function, and after the self-moving cleaning device enters a preset position of the base station, the base station can clean a cleaning piece of the self-moving cleaning device. However, the existing base station mostly adopts a mode of spraying water to the cleaning parts for cleaning, the cleaning effect is poor, the efficiency is not high, the cleaning parts after cleaning are in an over-wet state, the cleaning is inconvenient to continue cleaning, and the cleaning process is long in time consumption and low in efficiency due to the fact that the cleaning parts need to be dried to a certain extent or another cleaning part needs to be replaced manually. Therefore, improvements in the automatic removal, installation and effective cleaning of cleaning elements are needed.

Disclosure of Invention

The present application is directed to solving at least one of the problems in the prior art. To this end, it is an object of the present application to propose a cleaning system intended to automatically and conveniently remove the cleaning unit of the cleaning robot.

A cleaning system according to an embodiment of the application, comprising:

the base station is provided with an accommodating space, and a disassembling unit is arranged in the accommodating space;

a cleaning robot selectively received into the accommodating space, the cleaning robot including: a cleaning body and a cleaning unit detachably mounted on the cleaning body; wherein

Be provided with the fixed block on clean unit's the lateral wall, be provided with first buckle on the clean body, be provided with the second buckle on the dismantlement unit, first buckle be suitable for with the fixed block joint is in order to assemble clean unit, the second buckle be suitable for with the fixed block joint is in order to dismantle clean unit, just the second buckle is suitable for to stretch into first buckle with in order to unblock between the fixed block first buckle with the joint of fixed block.

The cleaning system of this embodiment is through first buckle, second buckle and the fixed block of mutually supporting for cleaning machines people is after getting into the basic station, and its cleaning unit can be dismantled by automatic, has promoted the automation and the convenience of cleaning system.

According to the cleaning system of an embodiment of the present application, the fixing block includes a vertical protrusion, and a top end and/or a bottom end of the vertical protrusion is adapted to be engaged with the first catch or the second catch.

Further, first buckle with the second buckle all extends along the horizontal direction, just first buckle the second buckle is located same horizontal plane, just first buckle with during the fixed block joint, the free end of first buckle with the horizontal plane has the contained angle, the second buckle with during the fixed block joint, the free end of second buckle with the horizontal plane has the contained angle.

Further, the fixed block further includes: the horizontal lug and the vertical lug are oppositely arranged in the height direction or are connected with each other so as to limit the first buckle or the second buckle.

According to the cleaning system of the further embodiment of the application, the transverse section of the vertical bump is gradually reduced in the direction away from the horizontal bump so as to limit the orientation of the first pushing and supporting surface of the detaching unit and the orientation of the second pushing and supporting surface of the cleaning body, the first pushing and supporting surface is clamped with the first buckle, and the second pushing and supporting surface is clamped with the second buckle.

According to a further embodiment of the present application, the vertical projection comprises: go up lug and/or lower lug, the bottom of lug down, the top of going up the lug be suitable for with first buckle or second buckle joint, first buckle includes: the first buckle that goes up with last lug cooperation and/or with the first buckle that goes down lug cooperation down, the second buckle includes: a second upper buckle matched with the upper lug and the first upper buckle and/or a second lower buckle matched with the lower lug and the first lower buckle.

A cleaning system according to a further embodiment of the present application, further comprising: the cleaning device comprises a cleaning body, a first buckle and a second elastic piece, wherein the first buckle is pivotally connected to the cleaning body, the first elastic piece is elastically pushed against between the first buckle and the cleaning body, the second buckle is pivotally connected to the detaching unit, and the second elastic piece is elastically pushed against between the second buckle and the detaching unit.

According to a further embodiment of the present application, the first catch is identical in structure to the second catch, and the first catch and the second catch each comprise:

A connection part connected with the cleaning body or the detaching unit;

one end of the connecting rod is connected with the connecting part;

the clamping portion is connected to the other end of the connecting rod and used for being clamped with the fixing block.

According to a further embodiment of the present application, the clamping portion includes, toward one side of the fixing block: the first inclined plane, the first plane and the second inclined plane are connected in sequence; wherein

The first inclined plane extends from the connecting rod towards the first plane, the first inclined plane is in pushing fit with the first pushing surface or the second pushing surface, the first plane is parallel to the horizontal plane, and the second inclined plane extends away from the fixed lug in an inclined mode.

According to the cleaning system of the further embodiment of this application, one side that the joint portion kept away from the fixed block includes: the third inclined plane and the second plane are connected in sequence; wherein

The third inclined plane is from the connecting rod orientation the second plane extends, the second plane with first plane is parallel, the first plane of first buckle is suitable for to push and is supported the second buckle on the third inclined plane, in order to promote the second buckle with the fixed block joint.

According to the cleaning system of the further embodiment of the present application, one side of the clamping portion away from the fixing block further comprises: and the fourth inclined plane is connected with the second inclined plane and is formed into an unlocking wedge, so that the second buckle moves towards the first buckle, and the first buckle is unlocked from the fixing block.

According to a further embodiment of the present application, the cleaning robot further includes: the flip cover is pivotally connected to the cleaning body, an installation space for placing the cleaning unit is defined between the flip cover and the cleaning body, and the flip cover can be selectively opened or closed.

According to a further embodiment of the application, the base station further comprises: and the overturning unit is suitable for driving the turnover cover to open or close the installation space.

One object of the present application is to propose a method of disassembling a cleaning unit of a cleaning system, comprising:

the cleaning robot moves to a first position towards the base station;

after reaching the first position, opening the installation space of the cleaning robot through the overturning unit;

the cleaning robot moves to a second position towards the disassembling unit, and the disassembling unit completes the disassembling of the cleaning unit;

The cleaning robot moves to a first position, and the cleaning system sends out a cleaning prompt; wherein the cleaning prompt is corresponding to a prompt for a user to remove the cleaning unit in the unit and needs cleaning.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is an overall schematic view of a cleaning system provided by an embodiment of the present application;

FIG. 2 is a schematic structural view illustrating a first buckle of the cleaning system provided by the embodiment of the present application being clamped to a fixing block;

fig. 3 is a schematic structural diagram of a detaching unit and a cleaning body according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a cleaning body of an unloaded cleaning unit provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a cleaning unit provided in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a detaching unit provided in an embodiment of the present application;

FIG. 7 is an enlarged view of section A of FIG. 6;

fig. 8 is a schematic structural diagram of a first buckle provided in the embodiment of the present application;

FIG. 9 is a schematic view of another structure of a cleaning unit provided in an embodiment of the present application;

fig. 10 is a schematic diagram illustrating relative positions of the first clip, the second clip and the fixing block according to an embodiment of the present disclosure.

Reference numerals are as follows:

the base station comprises a base station 1, a dismounting unit 10, a second buckle 11, a base station body 12, a second elastic piece 13, a turnover unit 14, a connecting piece 141, a first connecting rod 142, a second connecting rod 143, a sliding block 144 and a guide block 145;

the cleaning robot 2, the cleaning body 20, the cleaning unit 21, the cleaning member 211, the carrier 212, the fixing block 22, the horizontal protrusion 221, the vertical protrusion 222, the first abutting surface 223, the second abutting surface 224, the upper protrusion 225, the lower protrusion 226, the first buckle 23, the connecting portion 231, the connecting rod 232, the clamping portion 233, the first inclined surface 2331, the first plane 2332, the second inclined surface 2333, the third inclined surface 2334, the second plane 2335, the fourth inclined surface 2336, and the flip cover 24.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

It should be noted that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. in this application indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the application.

It should be noted that the terms "first", "second", etc. in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of indicated technical features is high. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature.

It should be noted that unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and include, for example, fixed or removable connections or integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1 to 10, the cleaning system of the present application includes a base station and a cleaning robot provided independently of each other, wherein the cleaning robot is used for automatic cleaning including mopping of the floor, the base station is a docking station of the cleaning robot, which is used to perform a preset operation to the cleaning robot, such as charging the cleaning robot, unloading, adding, replacing or washing accessories, or performing other preset operations to the cleaning robot, etc. When the cleaning robot needs to perform the preset operation, the cleaning robot can automatically return to the base station.

As shown in fig. 1 to 9, the cleaning system includes a base station 1 and a cleaning robot 2, the base station 1 has an accommodating space, and a detaching unit 10 is provided in the accommodating space; the cleaning robot 2 is selectively received into the receiving space, and the cleaning robot 2 includes a cleaning body 20 and a cleaning unit 21 detachably mounted on the cleaning body 20; wherein be provided with fixed block 22 on cleaning unit 21's the lateral wall, be provided with first buckle 23 on the clean body 21, be provided with second buckle 11 on the dismantlement unit 10, first buckle 23 is suitable for with fixed block 22 joint in order to assemble cleaning unit 21, second buckle 11 is suitable for with fixed block 22 joint in order to dismantle cleaning unit 21, and second buckle 11 is suitable for stretching into between first buckle 11 and the fixed block 22 with the joint of unblock first buckle 23 and fixed block 22.

In this embodiment, the base station 1 is used at least for automatically detaching the cleaning unit 21 when the cleaning robot 2 is operated for a certain period of time and the cleaning unit 21 needs to be cleaned or replaced.

Specifically, base station 1 includes base station body 12, and this base station body 12 can be used for supplying the installation of various spare parts of base station 1, and it corresponds and is provided with components such as skeleton, coverboard, and components such as skeleton, coverboard form the accommodation space who accommodates cleaning robot 2, have the dismantlement unit 10 that supplies the parking station that cleaning robot 2 stopped and be used for uninstalling cleaning unit 21 of cleaning robot 2 in this accommodation space, and when cleaning robot 2 stopped in the parking station or in the process that cleaning robot 2 accomplished the stop, dismantlement unit 10 automatic completion cleaning unit 2's dismantlement. The base station body 12 may be fixed in a certain space, such as indoors or outdoors, or may be movable in a certain space, and when the base station body 12 needs to be fixed in a certain place, the surface thereof may be provided with a mounting hole and other structures convenient to fix. When the base station body 12 can move, the bottom thereof may be provided with moving mechanisms such as traveling wheels, traveling crawlers, and the like. The base station body 12 may be disposed in a cubic shape, a triangular prism shape, other regular shapes, or other irregular shapes, which is not limited herein.

The cleaning robot 2 includes a cleaning body 20 and a cleaning unit 21, the cleaning unit 21 is carried on the cleaning body 20, the cleaning unit 21 includes a cleaning member 211 for performing a cleaning operation, and the cleaning member 211 may be a member capable of mopping the floor, such as a rag, a sponge, a floor-mopping roller, a pallet, or a member capable of sweeping the floor, such as a side brush, a middle brush, or the like. In some embodiments, the cleaning robot 2 is a sweeping robot, and the cleaning unit 21 includes a roll brush that performs sweeping work on the indoor floor. In other embodiments, the cleaning robot 2 is a mopping robot, and the cleaning unit 21 includes a cleaning cloth or a mopping roller.

In the present embodiment, in order to facilitate replacement of the cleaning unit 21, the cleaning unit 21 and the cleaning body 20 are connected in a snap-fit manner. Specifically, as shown in fig. 2 and 5, a fixing block 22 is disposed on a side wall of the cleaning unit 21, a first buckle 23 is disposed on a side wall of the cleaning body 20 corresponding to the fixing block 22, and the first buckle 23 is buckled on the fixing block 22 to load the cleaning unit 21 on the cleaning body 20;

wherein the fixing block 22 is a protrusion provided to a sidewall of the cleaning unit 21, which may be formed as a separate member, attached to the sidewall of the cleaning unit 21 by any suitable means, such as by fasteners, welding, fusing, adhesives, etc., or it may be integrally formed with the sidewall of the cleaning unit 21 by means such as die casting; the first buckle 23 is movably connected to the side wall of the cleaning body 20, and the movable connection means that the first buckle can move towards or away from the fixing block 22, so that the cleaning body 20 has two states of being clamped with or separated from the fixing block 22, when the cleaning body is clamped with the fixing block 22, the cleaning unit 21 is fixed to the cleaning body 20, and when the cleaning body is separated from the fixing block 22, the cleaning unit 21 can be movably taken down from the cleaning body 20;

Further, as shown in fig. 3, a second buckle 11 is disposed at a position of the detaching unit 10 opposite to the fixing block 22, the second buckle 11 is movably connected to the detaching unit 10, and the movable connection means that the second buckle 11 can relatively move toward or away from the fixing block 22 with a change of the positions of the cleaning robot 2 and the base station 1, and can be clamped on the fixing block 22 at a proper time. Specifically, when the cleaning robot 2 moves closer to the base station 1, the fixing block 22 and the first catch 23, which are engaged with each other, move toward the second catch 11 so that the second catch 11 is relatively close to both of them, and when the cleaning robot 2 moves to a certain preset position with respect to the base station body 12, the second catch 11 extends between the first catch 23 and the fixing block 22 and interferes with the first catch 23, pushing the first catch 23 to gradually move in a direction away from the fixing block 22 so that the engagement of the first catch 23 with the fixing block 22 is gradually released, which may be a position when the cleaning unit 21 of the cleaning robot 2 is located near the second catch 11 mounted on the detaching unit 10; when the cleaning robot 2 continues to move to another preset position relative to the base station body 12, which may be a parking position predetermined in the base station 1 by the cleaning robot 2 to enable charging or cleaning, etc., the second catch 11 causes the first catch 23 to be completely released from being caught by the fixed block 22, and the second catch 11 is caught by the fixed block 22, so that the cleaning unit 21 is removed from the cleaning body 20 and fixed to the detaching unit 10, thereby automatically completing the detaching of the cleaning unit 21 in the process that the cleaning robot 2 is parked at the base station 1. Wherein the first catch 23, the second catch 11 and the fixing block 22 may be made of any suitable metal or non-metal material. For example, it may be made of iron or a suitable, strong plastic material may be used.

It is understood that the movement of the cleaning robot 2 toward the base station 1 may be the movement of the base station 1 being stationary and the cleaning robot 2 moving toward the base station 1, or the movement of the cleaning robot 2 being stationary and the movement of the base station 1 moving toward the cleaning robot 2, or the movement of both the cleaning robot 1 and the base station 2 moving toward each other.

There are many ways in which the cleaning robot 2 can be driven to move in a direction close to the base station 1, for example, the cleaning robot 1 includes a moving unit for moving the cleaning robot and a power unit for providing power to the moving unit, the moving unit includes a walking wheel or a crawler structure, the power unit includes a motor and a transmission mechanism connected to the motor, the transmission mechanism is connected to the moving unit, the motor drives the transmission mechanism to work, the transmission function of the transmission mechanism makes the moving unit move, and the transmission mechanism may be a worm gear mechanism, a bevel gear mechanism, or the like.

The base station 1 can be driven to move in a direction close to the cleaning robot 2, and the base station body 2 can be driven by a driving wheel arranged at the bottom of the base station body 12 or a linear transmission module group such as a motor lead screw linear transmission module group and a cylinder linear transmission module group.

According to some preferred embodiments of the present application, as shown in fig. 5, the fixing block 22 includes a vertical protrusion 222, and a top end or/and a bottom end of the vertical protrusion 222 is adapted to be engaged with the first buckle 23 or the second buckle 11. So that the first buckle 23 and the second buckle 11 can be matched with the top end surface or the bottom end surface of the vertical convex block 222 to realize clamping fixation, and the convenience of assembling and disassembling the cleaning unit 21 on the cleaning body 20 is improved.

It should be noted that, the first buckle 23 and the second buckle 11 both extend along the horizontal direction, and the first buckle 23 and the second buckle 11 are located on the same horizontal plane, and when the first buckle 23 is in clamping connection with the fixing block 22, the free end of the first buckle 23 and the horizontal plane have an included angle, and when the second buckle 11 is in clamping connection with the fixing block 22, the free end of the second buckle 11 and the horizontal plane have an included angle.

That is, referring to fig. 10, when the first and

second hooks

23 and 11 are engaged with the top end of the vertical protrusion 222, in the engaged position, the position (i.e., the free end) where the first and

second hooks

23 and 11 are engaged with the vertical protrusion 222 is tilted slightly upward (i.e., forms an included angle with the horizontal plane), so that when the relative movement between the detaching unit 10 and the cleaning body 20 is generated on the same horizontal plane, the first hook 23 may be horizontally inserted between the vertical protrusion 222 and the second hook 11 to unlock the second hook 11 and the fixing block 22 and complete the engagement between the first hook 23 and the fixing block 22 to assemble the cleaning unit 21, or the second hook 11 may be horizontally inserted between the vertical protrusion 222 and the first hook 23 to unlock the first hook 23 and the fixing block 22 and complete the engagement between the second hook 11 and the fixing block 22, the disassembly of the cleaning unit 21 is achieved.

Similarly, when the first buckle 23 and the second buckle 11 are clamped with the bottom end of the vertical protrusion 222, the positions (i.e., the free ends) where the first buckle 23 and the first buckle 11 are clamped with the vertical protrusion 222 slightly tilt downwards (i.e., form an included angle with the horizontal plane) at the clamping position.

Like this, make the free end of first buckle 23 and second buckle 11 have the contained angle with the horizontal plane under the joint position, can improve the dismouting in-process, insert, the smooth degree that links up between first buckle 23 and fixed block 22 or second buckle 23 and the fixed block 22 to improve dismouting convenience.

Further, the fixing block 22 further includes a horizontal protrusion 221, and the horizontal protrusion 221 and the vertical protrusion 222 are oppositely disposed in the height direction or connected to each other to limit the first buckle 23 or the second buckle 11.

That is, one end of the vertical projection 222 is connected with the horizontal projection 221, and the free end of the vertical projection 222 can be selectively clamped with the first buckle 23 or the second buckle 11; or the vertical protrusion 222 is above or below the horizontal protrusion 221, and the two are spaced apart.

Specifically, the horizontal projection 221 and the vertical projection 222 are connected to form a T-shaped fixing block, the free end of the vertical projection 222 is used for being clamped with the first buckle 23 and the second buckle 11 respectively, and the horizontal projection 221 is used for playing a certain limiting role when the first buckle 23 interferes with the second buckle 11, so that the second buckle 11 can be smoothly unlocked from the first buckle 23.

According to some preferred embodiments of the present application, the cross section of the vertical protrusion 222 is gradually reduced in a direction away from the horizontal protrusion 221 to define a first pushing surface 223 facing the detaching unit 10 and a second pushing surface 224 facing the cleaning body 20, the first pushing surface 223 is clamped with the first buckle 23, and the second pushing surface 224 is clamped with the second buckle 11.

Specifically, the first pushing surface 223 and the second pushing surface 224 are located on two opposite sides of the vertical protrusion 222, and the first pushing surface 223 and the second pushing surface 224 are inclined towards a direction away from the horizontal protrusion 221, so that an included angle between the first pushing surface 223 and the horizontal protrusion 221 and an included angle between the second pushing surface 224 and the horizontal protrusion 221 are obtuse angles, which are convenient for the first buckle 23 and the second buckle 11 to be clamped, and can improve pushing stability. An included angle between the first pushing-against surface 223 and the second pushing-against surface 224 and the horizontal convex block 221 is preferably 120 ° or less, more preferably 110 ° or less, for example, 110 °, 108 °, 105 °, 100 °, 95 °, and the like, and the included angle is greater than 120 ° so that the first pushing-against surface 223 and the second pushing-against surface 224 are too inclined, which causes the first buckle 23 and the second buckle 11 to be unfastened from being clamped with the fixing block 22, and is prone to connection failure.

According to some preferred embodiments of the present application, the vertical protrusions 222 comprise: an upper convex block 225 and/or a lower convex block 226, wherein the bottom end of the lower convex block 226 and the top end of the upper convex block 225 are suitable for being clamped with the first buckle 23 or the second buckle 11, and the first buckle 23 comprises: a first upper catch cooperating with the upper cam 225 and/or a first lower catch cooperating with the lower cam 226, the second catch 11 comprising: a second upper catch cooperating with the upper cam 225, the first upper catch and/or a second lower catch cooperating with the lower cam 226, the first lower catch.

Specifically, in one embodiment, the vertical protrusion 222 includes an upper protrusion 225, that is, the vertical protrusion 225 is located above the horizontal protrusion 221 to form an inverted T-shaped fixing block, in which case, the first buckle 23 includes a first upper buckle, the second buckle 11 includes a second upper buckle, and when the first upper buckle and the second upper buckle are buckled with the fixing block 22, the first upper buckle and the second upper buckle are correspondingly located above the fixing block 22.

In another embodiment, the vertical protrusion 222 includes a lower protrusion 226, that is, the vertical protrusion 222 is located below the horizontal protrusion 221 to form a T-shaped fixing block, in this case, the first buckle 23 includes a first lower buckle, the second buckle 11 includes a second lower buckle, and when the first lower buckle and the second lower buckle are clamped with the fixing block 22, the first lower buckle and the second lower buckle are correspondingly located below the fixing block 22.

It should be noted that in the description of the present application, the vertical protrusion 222 being "above" or "below" the horizontal protrusion 221 may include the vertical protrusion 222 and the horizontal protrusion 221 being in direct contact, or may include the vertical protrusion 222 and the horizontal protrusion 221 not being in direct contact but being in contact through another feature therebetween. Also, the vertical protrusions 222 being "above", "over" and "above" the horizontal protrusion 221 includes the vertical protrusion 222 being directly above and obliquely above the horizontal protrusion 221, or simply means that the vertical protrusion 222 is horizontally higher than the horizontal protrusion 221.

In another embodiment, as shown in fig. 5, the vertical protrusion 222 includes an upper protrusion 225 and a lower protrusion 226, that is, the horizontal protrusion 221 and the vertical protrusion 222 are partially overlapped to form a fixing block in a cross shape, and at this time, one or more first fasteners 23 and second fasteners 11 may be provided to be engaged with the fixing block 22, and illustratively, the first fasteners 23 include a first upper fastener and a first lower fastener, and the second fasteners 11 include a second upper fastener and a second lower fastener, and when the cleaning unit 21 is fixed to the cleaning body 20, the first upper fastener is engaged with the upper protrusion 225, the first lower fastener is engaged with the lower protrusion 226, during the detachment of the cleaning unit 21, the second upper fastener is used to unlock the engagement of the first upper fastener with the upper protrusion 225, the second lower fastener is used to unlock the engagement of the first lower fastener with the lower protrusion 226, and when the detachment of the cleaning unit 21 is completed, the second upper fastener is engaged with the upper protrusion 225, the second lower catch is caught by the lower protrusion 226, and the connection between the cleaning body 20 and the cleaning unit 21 and between the cleaning unit 21 and the detaching unit 10 is more reliable by the plurality of catches being caught by the fixing block 22. In the description of the present application, "a plurality" means two or more.

According to some preferred embodiments of the present application, as shown in fig. 5, the cleaning unit 21 includes a cleaning member 211 that performs a cleaning operation, and a carrier for disposing the cleaning member 212, the carrier 212 having a mounting groove in which the cleaning member 211 is mounted, and the fixing blocks 22 are symmetrically disposed on an outer wall surface of the carrier 212 in an extending direction of the mounting groove.

According to some preferred embodiments of the present application, the cleaning system further includes a first elastic member (not shown) and a second elastic member 13 (fig. 6 and 7), the first catch 23 is pivotally connected to the cleaning body 20, the first elastic member elastically pushes between the first catch 23 and the cleaning body 20, the second catch 11 is pivotally connected to the detaching unit 10, and the second elastic member 13 elastically pushes between the second catch 11 and the detaching unit 10.

Specifically, the cleaning body 21 and the detaching unit 10 are respectively provided with a fixing member, such as a shaft, for connecting the first catch 23 and the second catch 22, and the first catch 23 and the second catch 22 are respectively connected to the corresponding fixing members and can rotate along the central shaft of the fixing members; wherein first buckle 23 is connected to the one end of first elastic component, and clean body 20 is connected to the other end, and second buckle 11 is connected to the one end of second elastic component 13, and dismantlement unit 10 is connected to the other end, through the elastic force of first elastic component and second elastic component, impels second buckle 11 unblock first buckle 23 and the joint of second buckle 11 and fixed block 22, and impels first buckle 23 and/or second buckle 11 to reset to dismantle next time in order to carry out. Specifically, in some embodiments, when the cleaning robot 2 moves toward the base station 1, the second buckle 11 extends between the first buckle 23 and the horizontal projection 22, the first buckle 23 is acted by the downward force of the second buckle 11 and gradually moves away from the horizontal projection 221, and at this time, the first elastic member and the second elastic member are compressed; when the first buckle 23 is completely separated from the first pushing surface 223 and the second buckle 11 reaches the position corresponding to the second pushing surface 224, the second buckle 11 is clamped to the fixing block 22 under the action of the elastic restoring force of the second elastic member 13, and the first buckle 23 further promotes the second buckle 11 to be clamped to the second pushing surface 224 under the action of the elastic force. Wherein in some embodiments the first and second elastic members 13 are each linear springs. In other embodiments, the first elastic member and the second elastic member 13 are respectively torsion springs, and each of the torsion springs includes an elastic main body, a front arm and a rear arm, wherein a free end of one of the front arm and the rear arm is pushed against the first buckle 23 or the second buckle 11, and a free end of the other one is pushed against the cleaning body 20 or the detaching unit 10. In other embodiments, one of the first elastic member and the second elastic member 13 is a linear spring, and the other is a torsion spring.

It is understood that in other embodiments of the present application, the first catch 23 and the second catch 11 may comprise rigid bodies, the rigid bodies of which are elastically connected to the cleaning body 20 or the detaching unit 10, that is, the first catch 23 and the second catch 11 are elastic pieces formed on the cleaning body 20 and the detaching unit 10, respectively, and the unlocking, the catching and the resetting are accomplished by using the elastic restoring force of the first catch 23 and the second catch 11.

According to some preferred embodiments of the present application, the first buckle 23 and the second buckle 11 have the same structure, taking the first buckle 23 as an example, as shown in fig. 8, both the first buckle 23 and the second buckle 11 include:

a connection part 231, the connection part 231 being connected with the cleaning body 20 or the detaching unit 10;

a connecting rod 232, one end of the connecting rod 232 is connected with the connecting part 231;

and the clamping part 233, the clamping part 233 is connected to the other end of the connecting rod 232 and is used for clamping with the fixing block 22.

Specifically, the cleaning body 20 and the detaching unit 10 are respectively provided with a fixing member for connecting the first buckle 23 and the second buckle 11, and the connecting portion 231 has a structure matched with the fixing member, so that the first buckle 23 and the second buckle 11 are movably connected to the cleaning body 20 and the detaching unit 10 respectively to realize automatic detachment of the cleaning unit. Illustratively, in some embodiments, the cleaning body 20 and the detaching unit 10 are respectively provided with a shaft for connecting the first buckle 23 and the second buckle 11, the first buckle 23 and the second buckle 11 are respectively provided with a hollow cylindrical connecting part 231, and the connecting part 231 is sleeved on the shaft and can rotate along the central axis of the shaft, so as to realize the pivotal connection between the first buckle 23 and the second buckle 11 and the cleaning body 20 and the detaching unit 10.

According to some preferred embodiments of the present application, a side of the seizing portion 233 facing the fixing block 22 includes: a first inclined plane 2331, a first plane 2332, and a second inclined plane 2333 connected in sequence; wherein

The first inclined surface 2331 extends from the connecting rod 232 toward the first plane 2332, and the first inclined surface 2331 is in abutting engagement with the first abutting surface 223 or the second abutting surface 224, the first plane 2332 is parallel to the horizontal plane, and the second inclined surface 2333 extends obliquely away from the fixing block 22.

In the first buckle 23 or the second buckle 11 of the present embodiment, the first inclined surface 2331 faces the first abutting surface 223 and the second abutting surface 224, and when the first buckle 23 or the second buckle 11 is fastened to the fixing block 22, the first inclined surface 2331 abuts against the first abutting surface 223 or the second abutting surface 224. Meanwhile, the second inclined plane 2333 is inclined in a direction away from the horizontal protrusion 221, on one hand, the second inclined plane 2333 can be used as a guiding inclined plane to guide the second latch 11 to be inserted between the first latch 23 and the horizontal protrusion 22 when the cleaning unit 21 is disassembled, and on the other hand, a sufficient gap can be formed between the bottom surface of the horizontal protrusion 331 and the first latch 23 to facilitate the insertion of the second latch 11 between the first latch 23 and the horizontal protrusion 221.

According to some preferred embodiments of the present application, a side of the seizing portion 233 away from the fixing block 22 includes: a third inclined surface 2334 and a second flat surface 2335 connected in sequence; the third inclined plane 2334 extends from the connecting rod 232 toward the second plane 2335, the second plane 2335 is parallel to the first plane 2332, and the first plane 2332 of the first buckle 23 is adapted to push against the third inclined plane 2334 of the second buckle 11 to push the second buckle 11 to be clamped with the fixing block 22.

In the first buckle 23 or the second buckle 11 of the present embodiment, the third inclined surface 2334 is inclined toward the lower surface of the connecting rod 232, and during the process of detaching the cleaning unit 21, the third inclined surface 2334 guides the first flat surface 2332 of the first buckle 23 to abut against the lower surface of the second buckle 11, and the second buckle 11 is urged to be buckled with the fixing block 22 by the elastic restoring force.

According to some preferred embodiments of the present application, a side of the clamping portion 233 far away from the fixing block 22 further includes: a fourth inclined surface 2336, and the fourth inclined surface 2336 is connected to the second inclined surface 2333 and is formed as an unlocking wedge to release the first catch 23 from being caught to the fixing block 22 when the second catch 11 moves toward the first catch 23.

In the first buckle 23 or the second buckle 44 of the present embodiment, the fourth inclined surface 2336 and the second inclined surface 2333 form a wedge-shaped unlocking wedge, the arrangement direction of the unlocking wedge of the second buckle 11 is adapted to the unlocking direction of the first buckle 23, and during the process of detaching the cleaning unit 21, the unlocking wedge of the second buckle 11 and the second inclined surface 2333 of the unlocking wedge of the first buckle 23 generate frictional contact to push the first buckle 23 to gradually get away from the fixing block 22.

According to some preferred embodiments of the present application, as shown in fig. 1 to 4, the cleaning robot 2 further includes a flip cover 24, the flip cover 24 is pivotally connected to the cleaning body 20, and an installation space in which the cleaning unit 21 is placed is defined between the flip cover 24 and the cleaning body 20, and the flip cover 24 selectively opens or closes the installation space.

Specifically, in the case where the cleaning body 20 has a first fixing structure, such as a flip connecting shaft, the folder 24 has a second fixing structure, such as a connecting bushing, the first fixing structure and the second fixing structure are coupled to each other in a pivotal connection manner to fix the folder 24 to the cleaning body 20, and the folder 24 can be opened or closed by an appropriate manner to expose or cover an installation space for accommodating the cleaning unit 21. Wherein, be equipped with first buckle 23 on the both sides wall of installation space extending direction, when flip 24 lid closed installation space, first buckle 23 and fixed block 22 hide simultaneously in flip 24 to improve cleaning machines people's aesthetic property, when flip 24 was opened in order to expose installation space, first buckle 23 and fixed 22 piece exposed, the clean unit of convenient to detach.

It will be appreciated that in some embodiments, the first and second securing structures may be cooperating snaps and detents, with one of the cleaning body 20 and the flip cover 24 having a snap disposed thereon and the other having a detent disposed thereon. In other embodiments, the first and second fixed structures are coupled to each other by magnetic attraction. Illustratively, the first fixed structure is a ferromagnetic material and the second fixed structure is a magnet; or the first fixing structure is a magnet, and the second fixing structure is a ferromagnetic material; or the first fixing structure and the second fixing structure are magnets which attract each other, namely the polarities of the magnets of the parts of the first fixing structure and the second fixing structure which are contacted with each other are opposite.

According to some preferred embodiments of the present application, as shown in fig. 9, the base station 1 further includes a turning unit 14, and the turning unit 14 is adapted to drive the turning cover 24 to open or close the installation space.

Specifically, in some embodiments, as shown in fig. 9, the flipping unit 14 includes a link 141 for connecting the flip cover 24 and a driving component and a sliding part for driving the link 141 to flip the flip cover 24, the driving component includes a driver (e.g., an air cylinder), and a first connecting rod 142 and a second connecting rod 143 disposed perpendicular to each other, one end of the first connecting rod 142 is connected to an output end of the driver, the other end is connected to the second connecting rod 143, and the other end of the second connecting rod 143 is connected to the link 141; the sliding part comprises a sliding block 144 and a guide block 145, the first connecting rod 142 is connected to the sliding block 144, and the sliding block 144 can move along the guide groove of the guide block 145; wherein, the turning cover 24 is provided with a combining member matched with the connecting member 141, and the connecting member 141 and the combining member can rotate, when the driver drives the first connecting rod 142 to move downwards, the sliding block 144 moves downwards along the guide groove of the guide block 145 to drive the turning cover 24 to move upwards, and the connecting shaft sleeve of the turning cover 24 rotates along the central shaft of the turning connecting shaft to open the installation space. When the driver drives the first connecting rod 142 to move upward, the connecting rod 141 drives the folder 24 to move downward, closing the installation space. The connecting member 141 may be a rod-shaped structure as shown in the figure, or may be a hook, a snap ring, or the like, and the corresponding connecting member may be a rod-shaped structure as shown in the figure, or a snap ring, a hole, or the like.

It is understood that the folder 24 may be opened or closed using a grasping member (e.g., a robot) or an adhesive structure or a magnetic adsorption structure to open or close the installation space.

In some preferred embodiments of the present application, the cleaning system of the present application further includes a control unit and a power supply unit, the control unit may be disposed in the base station 1, and when the cleaning unit 21 is detached, the control unit may give a user a prompt that the cleaning unit 21 in the detaching unit 10 needs to be cleaned, and the user may clean the cleaning unit 21 or replace the cleaned cleaning unit 21.

The control unit is a control center of the cleaning robot, is electrically connected with the power unit, the power supply unit and the like, and receives information sent by each unit. The control unit controls the power unit to drive the walking unit to drive the cleaning robot 2 to move, and controls the cleaning robot 2 to execute various actions or tasks such as work area switching, returning to the base station 1, charging and the like. The control unit may be an embedded Digital Signal Processor (DSP), a Microprocessor (MPU), an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a System On Chip (SOC), a Central Processing Unit (CPU), or a Field Programmable Gate Array (FPGA), etc.

The power supply unit supplies power for operation to a control unit, a power unit, etc. of the cleaning robot 2. The power supply unit is generally a rechargeable battery that supplies power for the operation of the cleaning robot, or is connectable to an external power supply for charging.

Further, the present embodiment proposes a disassembling method of a cleaning unit of a cleaning system for cleaning or replacing the cleaning unit, the disassembling method comprising the steps of:

step S101: the cleaning robot 2 moves to a first position toward the base station 1;

step S102: after reaching the first position, the installation space of the cleaning robot 2 is opened by the flipping unit 14;

step S103: the cleaning robot 2 moves to the second position toward the detaching unit 10, and the detaching unit 10 completes the detachment of the cleaning unit 21;

step S104: the cleaning robot moves to the first position 2, and the cleaning system sends out a cleaning prompt; wherein the cleaning prompt corresponds to a prompt to the user to remove the cleaning unit 21 in the unit for cleaning.

According to an embodiment of the present application, in step S101, the movement of the cleaning robot 2 toward the base station 1 to the first position may be the movement of the base station 1 being stationary, the movement of the cleaning robot 2 toward the base station 1 may be the movement of the cleaning robot 2, the movement of the base station 1 toward the cleaning robot 2 may be the movement of both the cleaning robot 1 and the base station 2 toward each other, and preferably, the movement of the base station 1 is stationary, and the movement of the cleaning robot 2 toward the base station 1 may be the movement of the cleaning robot 2. There are many ways in which the cleaning robot 2 can be driven to move towards the base station 1 to the first position, and it is possible that the bottom of the cleaning robot 2 is provided with road wheels, which are not listed here.

In steps S101 and S102, there are many methods for determining whether the cleaning robot 2 reaches the first position, for example, the method may be detected by signal sensing, that is, when the cleaning robot 2 is provided with an optical signal transmitter, the base station body 12 is provided with an optical signal receiver, and the optical signal receiver on the base station body 12 receives a signal transmitted by the optical signal transmitter on the cleaning robot 2, it may be determined that the cleaning robot 2 reaches the first position. For example, the base station body 12 may monitor the position of the cleaning robot 2 through a camera, a picture taken by the camera is transmitted to the control unit of the base station body 12 for processing, and the control unit determines whether the cleaning robot 2 is located at the first position according to a result of the image processing.

In step S102, there are many methods for the flipping unit 14 to open the installation space of the cleaning robot 2, and the flipping cover 24 may be opened by the driving component and the sliding part adapted as above, which will not be described one by one.

In step S103, the second buckle 11 unlocks the first buckle 23 when the cleaning robot 2 moves from the first position to the second position, so that the first buckle 23 is gradually separated from the fixed block 22, and the second buckle 11 is clamped to the fixed block 22 when the cleaning robot 2 reaches the second position.

The method of determining whether the cleaning robot 2 reaches the second position is as described above, and is not described one by one here.

In step S104, the manner of sending the cleaning prompt includes many ways, such as a voice prompt or an optical signal prompt. Wherein detaching the cleaning unit from the cleaning robot for cleaning not only ensures that the cleaning unit 21 is sufficiently cleaned but also avoids damaging the circuit system of the cleaning robot 2.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning system, comprising:

a cleaning robot selectively received into the receiving space, the cleaning robot including: a cleaning body and a cleaning unit detachably mounted on the cleaning body; wherein

2. The cleaning system of claim 1, wherein the securing block comprises a vertical protrusion having a top end and/or a bottom end adapted to snap into engagement with the first catch or the second catch.

3. The cleaning system of claim 2, wherein the first and second buckles extend in a horizontal direction, and the first and second buckles are located on the same horizontal plane, and when the first buckle is in clamping connection with the fixing block, a free end of the first buckle and the horizontal plane have an included angle, and when the second buckle and the fixing block are in clamping connection, a free end of the second buckle and the horizontal plane have an included angle.

4. The cleaning system of claim 3, wherein the fixed block further comprises: the horizontal lug and the vertical lug are oppositely arranged in the height direction or are connected with each other so as to limit the first buckle or the second buckle.

5. The cleaning system of claim 4, wherein the vertical protrusion has a gradually decreasing cross-sectional area in a direction away from the horizontal protrusion to define a first abutting surface facing the detaching unit, and a second abutting surface facing the cleaning body, the first abutting surface being engaged with the first buckle, and the second abutting surface being engaged with the second buckle.

6. The cleaning system of claim 3, wherein the vertical tab comprises: go up lug and/or lower lug, the bottom of lug down, the top of going up the lug be suitable for with first buckle or second buckle joint, first buckle includes: with go up the lug complex first buckle and/or with down the lug complex first buckle down, the second buckle includes: a second upper buckle matched with the upper lug and the first upper buckle and/or a second lower buckle matched with the lower lug and the first lower buckle.

7. The cleaning system of claim 1, further comprising: the cleaning device comprises a cleaning body, a first buckle and a second elastic piece, wherein the first buckle is connected to the cleaning body in a pivoting mode, the first elastic piece pushes against between the first buckle and the cleaning body in an elastic mode, the second buckle is connected to the dismounting unit in a pivoting mode, and the second elastic piece pushes against between the second buckle and the dismounting unit in an elastic mode.

8. The cleaning system of claim 5, wherein the first catch and the second catch are identical in structure, the first catch and the second catch each comprising:

a connection part connected with the cleaning body or the detaching unit;

one end of the connecting rod is connected with the connecting part;

9. The cleaning system of claim 8, wherein a side of the catch facing the fixed block comprises: the first inclined plane, the first plane and the second inclined plane are connected in sequence; wherein

The first inclined plane extends from the connecting rod towards the first plane, the first inclined plane is in pushing fit with the first pushing and abutting surface or the second pushing and abutting surface, the first plane is parallel to the horizontal plane, and the second inclined plane extends away from the fixed block in an inclined mode.

10. The cleaning system of claim 9, wherein a side of the snap-fit portion remote from the fixed block comprises: the third inclined plane and the second plane are connected in sequence; wherein

11. The cleaning system of claim 10, wherein a side of the snap portion distal from the fixed block further comprises: and the fourth inclined plane is connected with the second inclined plane and is formed into an unlocking wedge, so that when the second buckle moves towards the first buckle, the first buckle is unlocked from being clamped with the fixing block.

12. The cleaning system of claim 1, wherein the cleaning robot further comprises: the flip cover is pivotally connected to the cleaning body, an installation space for placing the cleaning unit is defined between the flip cover and the cleaning body, and the flip cover can be selectively opened or closed.

13. The cleaning system of claim 12, wherein the base station further comprises: and the turnover unit is suitable for driving the turnover cover to open or close the installation space.

14. A method of disassembling a cleaning unit of a cleaning system, comprising:

the cleaning robot moves to a first position towards the base station;