CN114515129B

CN114515129B - Cleaning system and method for detaching cleaning unit of cleaning system

Info

Publication number: CN114515129B
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: 2023-07-28
Anticipated expiration: 2042-03-02
Also published as: CN114515129A

Abstract

The application discloses a cleaning system and a method for disassembling a cleaning unit of the cleaning system, wherein the cleaning system comprises: 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 receiving space, the cleaning robot comprising: a cleaning body and a cleaning unit detachably mounted on the cleaning body; the cleaning device comprises a cleaning unit, and is characterized in that a fixing block is arranged on the side wall of the cleaning unit, a first buckle is arranged on the cleaning body, a second buckle is arranged on the disassembling unit, the first buckle is suitable for being connected with the fixing block in a clamping mode to assemble the cleaning unit, the second buckle is suitable for being connected with the fixing block in a clamping mode to disassemble the cleaning unit, and the second buckle is suitable for being stretched into between the first buckle and the fixing block to unlock the clamping mode of the first buckle and the fixing block, and therefore automation and convenience of the cleaning system are improved.

Description

Cleaning system and method for detaching cleaning unit of cleaning system

Technical Field

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

Background

With the continuous improvement of the living standard of people, the self-moving cleaning device such as the sweeping robot is gradually the choice of more families due to the convenient and intelligent use.

Self-moving cleaning devices have cleaning elements such as wipes, side brushes, etc. that become dirty after a period of time has elapsed from the sweeping or mopping operation, and therefore require removal of the cleaning elements from the device for replacement or cleaning. The removal and installation of the cleaning elements is typically accomplished by the user, resulting in an inability to thoroughly liberate the user from the cleaning process, increasing the user's effort. 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 cleaning pieces of the self-moving cleaning device. However, the existing base station mostly adopts a mode of spraying water to the cleaning piece to clean, the cleaning effect is poor, the efficiency is low, the cleaning piece after cleaning is in an excessively wet state, the cleaning is inconvenient to continue, the cleaning piece needs to be dried to a certain extent or the other cleaning piece needs to be manually replaced, and the cleaning process is long in time consumption and low in efficiency. Accordingly, there is a need for improved automatic disassembly, assembly, and efficient cleaning of cleaning elements.

Disclosure of Invention

The present application aims to solve at least one of the technical problems existing in the prior art. To this end, it is an object of the present application to propose a cleaning system aimed at automatically and conveniently removing the cleaning unit of the cleaning robot.

A cleaning system according to an embodiment of the present 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 receiving space, the cleaning robot comprising: a cleaning body and a cleaning unit detachably mounted on the cleaning body; wherein the method comprises the steps of

The cleaning device comprises a cleaning unit and is characterized in that a fixing block is arranged on the side wall of the cleaning unit, a first buckle is arranged on the cleaning body, a second buckle is arranged on the disassembling unit, the first buckle is suitable for being connected with the fixing block in a clamping mode to assemble the cleaning unit, the second buckle is suitable for being connected with the fixing block in a clamping mode to disassemble the cleaning unit, and the second buckle is suitable for being stretched into the space between the first buckle and the fixing block to unlock the clamping mode of the first buckle and the fixing block.

The cleaning system of this embodiment is through first buckle, second buckle and the fixed block of mutually supporting for cleaning robot gets into the basic station after, its cleaning unit can dismantle automatically, has promoted cleaning system's automation and convenience.

According to a cleaning system of one embodiment of the application, the fixing block comprises a vertical projection, and the top end and/or the bottom end of the vertical projection are/is suitable for being clamped with the first buckle or the second buckle.

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

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

According to a further embodiment of the cleaning system of the present application, the vertical projection has a gradually decreasing cross section in a direction away from the horizontal projection to define a first pushing surface towards the detaching unit, a second pushing surface towards the cleaning body, the first pushing surface being in snap-fit with the first catch, the second pushing surface being in snap-fit with the second catch.

According to a further embodiment of the present application, the vertical bump comprises: go up lug and/or lower lug, the bottom of lower lug, the top of going up the lug be suitable for with first buckle or second buckle joint, first buckle includes: a first upper clasp cooperating with the upper bump and/or a first lower clasp cooperating with the lower bump, the second clasp comprising: a second upper buckle matched with the upper protruding block and the first upper buckle and/or a second lower buckle matched with the lower protruding block and the first lower buckle.

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

According to a further embodiment of the present application, the first catch and the second catch are structurally identical, 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;

and the clamping part is connected with the other end of the connecting rod and is used for being clamped with the fixed block.

According to a further embodiment of the present application, the side of the clamping portion facing the fixing block includes: the first inclined plane, the first plane and the second inclined plane are sequentially connected; wherein the method comprises the steps of

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 fixing lug in an inclined mode.

According to a further embodiment of the present application, the side of the clamping portion away from the fixing block includes: the third inclined plane and the second plane are connected in sequence; wherein the method comprises the steps of

The third inclined surface extends from the connecting rod towards the second plane, the second plane is parallel to the first plane, and the first plane of the first buckle is suitable for pushing against the third inclined surface of the second buckle so as to push the second buckle to be clamped with the fixed block.

According to a further embodiment of the cleaning system of the present application, a side of the clamping portion away from the fixing block further includes: and the fourth inclined plane is connected with the second inclined plane and is formed into an unlocking wedge so as to release the clamping connection between the first buckle and the fixed block when the second buckle moves towards the first buckle.

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

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

An object of the present application is to propose a method for 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 an 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 is used for disassembling the cleaning unit;

The cleaning robot moves to a first position, and the cleaning system sends out a cleaning prompt; the cleaning prompt is correspondingly used for prompting a user to detach the cleaning unit in the unit for cleaning.

Additional aspects and advantages of the 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 application.

Drawings

The foregoing 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, wherein:

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

fig. 2 is a schematic structural diagram of a first fastener and a fixing block of the cleaning system according to the embodiment of the present application;

FIG. 3 is a schematic view of a disassembling unit and a cleaning body according to an embodiment of the present disclosure;

fig. 4 is a schematic structural view of a cleaning body provided in an embodiment of the present application, on which a cleaning unit is not mounted;

fig. 5 is a schematic structural view of a cleaning unit according to an embodiment of the present application;

fig. 6 is a schematic structural view of a disassembling unit provided in an embodiment of the present application;

fig. 7 is an enlarged view of a portion a of fig. 6;

fig. 8 is a schematic structural view of a first buckle according to an embodiment of the present application;

FIG. 9 is another schematic view of a cleaning unit according to an embodiment of the present application;

fig. 10 is a schematic diagram showing the relative positions of the first buckle, the second buckle and the fixing block according to the embodiment of the present application.

Reference numerals:

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 piece 211, the carrier 212, the fixing block 22, the horizontal projection 221, the vertical projection 222, the first pushing surface 223, the second pushing surface 224, the upper projection 225, the lower projection 226, the first buckle 23, the connecting portion 231, the connecting rod 232, the clamping portion 233, the first inclined surface 2331, the first flat surface 2332, the second inclined surface 2333, the third inclined surface 2334, the second flat surface 2335, the fourth inclined surface 2336, and the flip cover 24.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring 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, in the present application, terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

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

It should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

Referring to fig. 1 to 10, the cleaning system of the present application includes a base station and a cleaning robot that are disposed independently of each other, wherein the cleaning robot is used for performing automatic cleaning including mopping on a floor, and the base station is a docking station of the cleaning robot for performing a preset operation on the cleaning robot, such as charging the cleaning robot, unloading, adding, replacing or cleaning accessories, or performing other preset operations on the cleaning robot, etc. When the cleaning robot needs to perform the above-described 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 having a receiving space in which a detaching unit 10 is provided; the cleaning robot 2 is selectively received in 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; the side wall of the cleaning unit 21 is provided with a fixing block 22, the cleaning body 21 is provided with a first buckle 23, the disassembly unit 10 is provided with a second buckle 11, the first buckle 23 is suitable for being clamped with the fixing block 22 to assemble the cleaning unit 21, the second buckle 11 is suitable for being clamped with the fixing block 22 to disassemble the cleaning unit 21, and the second buckle 11 is suitable for being stretched into between the first buckle 11 and the fixing block 22 to unlock the clamping connection of the first buckle 23 and the fixing block 22.

In this embodiment, the base station 1 is used at least for automatically disassembling the cleaning unit 21 when the cleaning robot 2 is in operation for a period of time, requiring cleaning or replacement of the cleaning unit 21.

Specifically, the base station 1 includes a base station body 12, and the base station body 12 can be used for installing various parts of the base station 1, and is correspondingly provided with a framework, a shell plate and other components, wherein the framework, the shell plate and other components form a containing space for containing the cleaning robot 2, a parking station for the cleaning robot 2 to park and a disassembling unit 10 for unloading the cleaning unit 21 of the cleaning robot 2 are arranged in the containing space, and the disassembling unit 10 automatically completes the disassembling of the cleaning unit 2 when the cleaning robot 2 parks at the parking station or in the process of completing the parking of the cleaning robot 2. The base station body 12 may be fixedly disposed in a certain space, for example, indoor or outdoor, or may be movable in a certain space, and when the base station body 12 needs to be fixedly disposed somewhere, the surface of the base station body may be provided with a structure such as a mounting hole, which is convenient for fixing. When the base station body 12 is movable, the bottom thereof may be provided with a traveling wheel, a traveling crawler, and the like. The base station body 12 may be disposed in a cube shape, a triangular prism shape, or other regular shapes, or may be disposed in other irregular shapes, which are not particularly 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 piece 211 that performs a cleaning operation, and the cleaning piece 211 may be a member that can wipe a floor surface, such as a rag, a sponge, a mopping roller, a pallet, or the like, or may be a member that can clean a floor surface, 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 rolling brush that performs a sweeping work on the floor in a room. In other embodiments, the cleaning robot 2 is a mopping robot, and the cleaning unit 21 includes a wiper, a mopping drum, or the like.

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 fixed block 22 is provided on a side wall of the cleaning unit 21, a first buckle 23 is provided on a side wall of the cleaning body 20 corresponding to the fixed block 22, and the first buckle 23 is clamped on the fixed block 22 to load the cleaning unit 21 on the cleaning body 20;

wherein the fixing block 22 is a protrusion provided at the side wall of the cleaning unit 21, which may be formed as a separate member, attached to the side wall of the cleaning unit 21 by any suitable means, such as by fastening, welding, fusing, adhesive, etc., or which may be integrally formed with the side wall 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 23 can move towards or away from the fixed block 22, so that the first buckle can be clamped with or separated from the fixed block 22, when the first buckle is clamped with the fixed block 22, the cleaning unit 21 is fixed on the cleaning body 20, and when the first buckle is separated from the fixed block 22, the cleaning unit 21 can be movably removed from the cleaning body 20;

Further, as shown in fig. 3, the disassembly unit 10 is provided with a second buckle 11 at a position opposite to the fixed block 22, the second buckle 11 is movably connected to the disassembly unit 10, and the movable connection means that the second buckle 11 can move towards or away from the fixed block 22 along with the change of the positions of the cleaning robot 2 and the base station 1, and can be clamped on the fixed block 22 when appropriate. Specifically, when the cleaning robot 2 moves toward the base station 1, the fixing block 22 and the first catch 23 engaged with each other move toward the second catch 11 such 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 is inserted 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 away from the fixing block 22 such that the engagement of the first catch 23 with the fixing block 22 is gradually released, the preset position may be a position when the cleaning unit 21 of the cleaning robot 2 is located near the second catch 11 mounted on the dismounting unit 10; when the cleaning robot 2 continues to move to another preset position relative to the base station body 12, the second buckle 11 completely releases the clamping connection between the first buckle 23 and the fixed block 22, and the second buckle 11 is clamped on the fixed block 22, so that the cleaning unit 21 is removed from the cleaning body 20 and fixed on the disassembling unit 10, and thus the disassembling of the cleaning unit 21 is automatically completed in the process that the cleaning robot 2 is parked at the base station 1, and the preset position can be a parking position of the cleaning robot 2 preset in the base station 1 to be capable of performing operations such as charging or cleaning. Wherein the first clasp 23, the second clasp 11 and the fixed block 22 can be made of any suitable metallic or non-metallic material. For example, may be made of iron or a suitable, strong plastic material may be used.

It will be understood that the cleaning robot 2 may be moving toward the base station 1 without moving the base station 1, the cleaning robot 2 may be moving toward the base station 1 without moving the cleaning robot 2, the base station 1 may be moving toward the cleaning robot 2, or both the cleaning robot 1 and the base station 2 may be moving toward each other.

There are various ways in which the cleaning robot 2 can be driven to move in a direction approaching the base station 1, for example, the cleaning robot 1 includes a moving unit for moving it and a power unit for powering it, the moving unit includes a traveling wheel or a track 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 operate, and the transmission action of the transmission mechanism causes the moving unit to move, wherein 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 approaching the cleaning robot 2 in various ways, and the base station body 12 may be provided with a driving wheel at the bottom, or the base station body 2 may be driven by a linear transmission module such as a motor screw linear transmission module or a cylinder linear transmission module.

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 projection 222 to realize clamping and fixing, and the convenience in dismounting 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 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 clamped with the fixed block 22, an included angle is formed between the free end of the first buckle 23 and the horizontal plane, and when the second buckle 11 is clamped with the fixed block 22, an included angle is formed between the free end of the second buckle 11 and the horizontal plane.

That is, referring to fig. 10, when the first buckle 23 and the second buckle 11 are clamped with the top end of the vertical projection 222, in the clamped position, the positions (i.e., the free ends) of the first buckle 23 and the first buckle 11 clamped with the vertical projection 222 are slightly tilted upward (i.e., have an included angle with the horizontal plane), so that when the disassembly unit 10 and the cleaning body 20 generate relative movement on the same horizontal plane, the first buckle 23 can be horizontally inserted between the vertical projection 222 and the second buckle 11 to realize unlocking between the second buckle 11 and the fixing block 22 and complete clamping between the first buckle 23 and the fixing block 22, so as to realize assembling of the cleaning unit 21, or the second buckle 11 can be horizontally inserted between the vertical projection 222 and the first buckle 23 to realize unlocking between the first buckle 23 and the fixing block 22 and complete clamping between the second buckle 11 and the fixing block 22, so as to realize disassembly of the cleaning unit 21.

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

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 between first buckle 23 and fixed block 22 or second buckle 23 and the fixed block 22 and link up the smoothness to improve the dismouting convenience.

Further, the fixing block 22 further includes a horizontal protrusion 221, and the horizontal protrusion 221 and the vertical protrusion 222 are disposed opposite to each other or connected to each other in the height direction so as 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 is selectively clamped with the first buckle 23 or the second buckle 11; or the vertical bumps 222 are above or below the horizontal bumps 221 and are spaced apart.

Specifically, the horizontal protruding block 221 is connected with the vertical protruding block 222 to form a T-shaped fixing block, the free end of the vertical protruding block 222 is used for being respectively clamped with the first buckle 23 and the second buckle 11, and the horizontal protruding block 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 smoothly unlock the first buckle 23.

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

Specifically, the first pushing surface 223 and the second pushing surface 224 are located at two opposite sides of the vertical bump 222, and the first pushing surface 223 and the second pushing surface 224 are inclined in a direction away from the horizontal bump 221, so that an included angle between the first pushing surface 223 and the second pushing surface 224 and the horizontal bump 221 is an obtuse angle, which is convenient for the first buckle 23 and the second buckle 11 to be clamped on one hand, and can improve pushing stability on the other hand. The included angle between the first pushing surface 223 and the second pushing surface 224 and the horizontal convex 221 is preferably 120 ° or less, more preferably 110 ° or less, for example, 110 °, 108 °, 105 °, 100 °, 95 °, etc., and the included angle is greater than 120 ° so that the first pushing surface 223 and the second pushing surface 224 are too inclined, which results in the loose engagement between the first buckle 23 and the second buckle 11 and the fixed block 22, and easy connection failure.

According to some preferred embodiments of the present application, the vertical protrusion 222 includes: the upper protruding block 225 and/or the lower protruding block 226, the bottom end of the lower protruding block 226 and the top end of the upper protruding block 225 are suitable for being clamped with the first buckle 23 or the second buckle 11, and the first buckle 23 comprises: the first upper clasp engaged with the upper bump 225 and/or the first lower clasp engaged with the lower bump 226, the second clasp 11 comprises: a second upper catch that mates with the upper tab 225, the first upper catch, and/or a second lower catch that mates with the lower tab 226, the first lower catch.

Specifically, in one embodiment, the vertical projection 222 includes an upper projection 225, that is, the vertical projection 225 is located above the horizontal projection 221 to form an inverted T-shaped fixing block, at this time, 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 engaged 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 projection 222 includes a lower projection 226, i.e. the vertical projection 222 is located below the horizontal projection 221 to form a T-shaped fixing block, at this time, 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 engaged 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 bump 222 "above" or "below" the horizontal bump 221 may include the vertical bump 222 and the horizontal bump 221 being in direct contact, or may include the vertical bump 222 and the horizontal bump 221 not being in direct contact but being in contact through another feature therebetween. Also, the vertical bumps 222 being "above", "over" and "upper" the horizontal bumps 221 include the vertical bumps 222 being directly above and obliquely above the horizontal bumps 221, or simply signifying that the vertical bumps 222 are higher in level than the horizontal bumps 221.

In another embodiment, as shown in fig. 5, the vertical bump 222 includes an upper bump 225 and a lower bump 226, that is, the horizontal bump 221 and the vertical bump 222 are partially overlapped to form a cross-shaped fixing block, at this time, one or more first buckles 23 and second buckles 11 may be provided to be clamped with the fixing block 22, and illustratively, the first buckles 23 include a first upper buckle and a first lower buckle, the second buckles 11 include a second upper buckle and a second lower buckle, when the cleaning unit 21 is fixed on the cleaning body 20, the first upper buckle is clamped with the upper bump 225, the first lower buckle is clamped with the lower bump 226, during the disassembly of the cleaning unit 21, the second upper buckle is used to be clamped with the first upper buckle and the upper bump 225, the second lower buckle is used to be clamped with the first lower bump 226, and after the disassembly of the cleaning unit 21 is completed, the second upper buckle is clamped with the upper bump 225, and the second lower buckle is clamped with the lower bump 226, so that the cleaning body 20 is clamped with the fixing block 22 and the cleaning unit 21 is connected with the cleaning unit 10 more reliably. In the description of the present application, the term "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 carrier 212 being symmetrically disposed with the fixing blocks 22 on an outer wall surface in an extending direction of the mounting groove.

According to some preferred embodiments of the present application, the cleaning system further comprises a first elastic member (not shown in the figures) and a second elastic member 13 (fig. 6 and 7), wherein the first buckle 23 is pivotally connected to the cleaning body 20, the first elastic member is elastically pushed between the first buckle 23 and the cleaning body 20, the second buckle 11 is pivotally connected to the disassembling unit 10, and the second elastic member 13 is elastically pushed between the second buckle 11 and the disassembling unit 10.

Specifically, the cleaning body 21 and the disassembling unit 10 are respectively provided with fixing members, such as shafts, for connecting the first buckle 23 and the second buckle 22, and the first buckle 23 and the second buckle 22 are respectively connected to the corresponding fixing members and can rotate along the central axis 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 the dismantlement unit 10 is connected to the other end, through the elastic force of first elastic component and second elastic component, makes second buckle 11 unblock first buckle 23 and second buckle 11 and fixed block 22's joint, and makes first buckle 23 and/or second buckle 11 reset to dismantle next time. Specifically, in some embodiments, when the cleaning robot 2 moves toward the base station 1, the second catch 11 extends between the first catch 23 and the horizontal projection 22, and the first catch 23 is gradually moved away from the horizontal projection 221 by the downward force of the second catch 11, 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 fixed block 22 under 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 elastic force. Wherein in some embodiments the first and second elastic members 13 are linear springs, respectively. In other embodiments, the first elastic member and the second elastic member 13 are torsion springs, and include an elastic main body, a front arm and a rear arm, where a free end of one of the front arm and the rear arm pushes against the first buckle 23 or the second buckle 11, and a free end of the other pushes against the cleaning body 20 or the disassembling unit 10. In other embodiments, one of the first and second elastic members 13 is a linear spring and the other is a torsion spring.

It will be appreciated that in other embodiments of the present application, the first buckle 23 and the second buckle 11 may comprise rigid bodies, and the rigid bodies are connected with the cleaning body 20 or the disassembling unit 10 by elastic connection, that is, the first buckle 23 and the second buckle 11 are elastic sheets formed on the cleaning body 20 and the disassembling unit 10, respectively, and the unlocking, the clamping and the resetting are completed by utilizing the elastic restoring force of the elastic sheets.

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

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

a link 232, one end of the link 232 being connected to the connection part 231;

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 fixed block 22.

Specifically, the cleaning body 20 and the disassembling 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 is provided with a structure matched with the fixing member, so that the first buckle 23 and the second buckle 11 are respectively movably connected to the cleaning body 20 and the disassembling unit 10 to realize automatic disassembly of the cleaning unit. Illustratively, in some embodiments, the cleaning body 20 and the disassembling unit 10 have shafts for connecting the first and second buckles 23 and 11, respectively, the first and second buckles 23 and 11 have hollow cylindrical connecting portions 231, respectively, the connecting portions 231 are sleeved on the shafts and can rotate along the central axis of the shafts, thereby achieving pivotal connection of the first and second buckles 23 and 11 with the cleaning body 20 and the disassembling unit 10.

According to some preferred embodiments of the present application, the side of the clamping portion 233 facing the fixing block 22 includes: the first inclined plane 2331, the first plane 2332 and the second inclined plane 2333 are sequentially connected; wherein the method comprises the steps of

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

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

According to some preferred embodiments of the present application, the side of the clamping portion 233 away from the fixing block 22 includes: a third inclined surface 2334 and a second plane 2335 connected in sequence; the third inclined surface 2334 extends from the connecting rod 232 towards 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 surface 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 towards the lower surface of the connecting rod 232, and during the process of disassembling the cleaning unit 21, the third inclined surface 2334 guides the first plane 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 clamped with the fixing block 22 under the action of elastic restoring force.

According to some preferred embodiments of the present application, the side of the clamping portion 233 away from the fixing block 22 further includes: fourth inclined surface 2336, fourth inclined surface 2336 links to each other with second inclined surface 2333 and forms the unblock wedge to when second buckle 11 moves towards first buckle 23, release the joint of first buckle 23 and fixed block 22.

In the first buckle 23 or the second buckle 44 of the present embodiment, the fourth inclined plane 2336 and the second inclined plane 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 in the process of disassembling the cleaning unit 21, the unlocking wedge of the second buckle 11 is in friction contact with the second inclined plane 2333 of the unlocking wedge of the first buckle 23, so as to push the first buckle 23 to be gradually far 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 folder 24 pivotally connected to the cleaning body 20, and a mounting space for placing the cleaning unit 21 is defined between the folder 24 and the cleaning body 20, and the folder 24 selectively opens or closes the mounting space.

Specifically, in the cleaning body 20 having a first fixing structure such as a flip connection shaft, the flip cover 24 has a second fixing structure such as a connection shaft sleeve, the first fixing structure and the second fixing structure are coupled to each other in a pivotally connected manner to fix the flip cover 24 to the cleaning body 20, and the flip cover 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 closes the installation space, first buckle 23 and fixed block 22 hide simultaneously in flip 24 to improve cleaning robot's aesthetic property, when flip 24 was opened in order to expose the installation space, first buckle 23 and fixed 22 piece were exposed, convenient to detach cleaning unit.

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 24 having a snap and detent disposed thereon. In other embodiments, the first and second securing structures are bonded to one another 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 attracted to each other, that is, the polarities of the magnets at the parts where the first fixing structure and the second fixing structure contact 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 flip unit 14, and the flip unit 14 is adapted to drive the flip cover 24 to open or close the installation space.

Specifically, in some embodiments, as shown in fig. 9, the turnover unit 14 includes a connection member 141 for connecting the turnover cover 24 and a driving assembly and a sliding part for driving the connection member 141 to turn the turnover cover 24, wherein the driving assembly includes a driver (e.g., a cylinder), a first connection rod 142 and a second connection rod 143 disposed perpendicular to each other, one end of the first connection rod 142 is connected to an output end of the driver, the other end is connected to the second connection rod 143, and the other end of the second connection rod 143 is connected to the connection member 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 a guide groove of the guide block 145; wherein, be equipped with on the flip 24 with connecting piece 141 matched with conjunction, and can rotate between connecting piece 141 and the conjunction, when driver drive head rod 142 moves down, slider 144 moves down along the guide way of guide block 145, drives flip 24 upward movement, and flip 24's adapter sleeve rotates along the center pin of upset connecting axle, opens the installation space. When the driver drives the first connecting rod 142 to move upwards, the connecting piece 141 drives the flip cover 24 to move downwards, and the installation space is closed. The connecting piece 141 may be a rod-shaped structure as shown in the figure, or may be a hook, a clasp, or the like, and the corresponding connecting piece may be a rod-shaped structure as shown in the figure, or a clasp, or a hole, or the like.

It will be appreciated that a grasping member (e.g., a robot) or an adhesive or magnetic-absorbing structure may be employed to open or close the flip cover 24 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, wherein the control unit may be disposed in the base station 1, and when the cleaning unit 21 is detached, the control unit may send a prompt to a user that the cleaning unit 21 in the detachment unit 10 needs cleaning, 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 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 working 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) system-on-a-chip (SOC), a Central Processing Unit (CPU), or a Field Programmable Gate Array (FPGA), etc.

The power supply unit supplies working energy to a control unit, a power unit, etc. of the cleaning robot 2. The power supply unit is typically a rechargeable battery to supply power for the cleaning robot operation, or may be connected to an external power supply to be charged.

Further, the present embodiment proposes a disassembly method of a cleaning unit of a cleaning system to facilitate cleaning of the cleaning unit or replacement of the cleaning unit, the disassembly method including the steps of:

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

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

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

step S104: the cleaning robot moves 2 to a first position, and the cleaning system sends out a cleaning prompt; wherein the cleaning prompt corresponds to prompting the user to detach 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 that the base station 1 is not moved, the cleaning robot 2 is moved toward the base station 1, or the cleaning robot 2 is not moved, the base station 1 is moved toward the cleaning robot 2, or both the cleaning robot 1 and the base station 2 are moved toward each other, preferably, the base station 1 is not moved, and the cleaning robot 2 is moved toward the base station 1. There are various ways in which the cleaning robot 2 can be driven towards the base station 1 to the first position, and it may be that the bottom of the cleaning robot 2 is provided with travelling wheels, which are not listed here.

In steps S101 and S102, there are various methods for determining whether the cleaning robot 2 reaches the first position, for example, the method may be detected by signal sensing, that is, the cleaning robot 2 is provided with an optical signal transmitter, the base station body 12 is provided with an optical signal receiver, and when 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 is 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, the image shot 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 the result of the image processing.

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

In step S103, the second buckle 11 may unlock the first buckle 23 during the process of moving the cleaning robot 2 from the first position to the second position, so that the first buckle 23 is gradually separated from the fixed block 22, and when the cleaning robot 2 reaches the second position, the second buckle 11 is clamped to the fixed block 22.

The method in which it is judged whether the cleaning robot 2 reaches the second position is as above, and will not be described here.

In step S104, the manner of sending the cleaning prompt includes a variety of manners, such as a voice prompt or a light signal prompt. Wherein the removal of 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 circuitry of the cleaning robot 2.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., 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 present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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: many changes, modifications, substitutions and variations may 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:

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

3. The cleaning system of claim 2, wherein the first catch and the second catch each extend in a horizontal direction, and the first catch and the second catch are on a same horizontal plane, and wherein the free end of the first catch has an included angle with the horizontal plane when the first catch is engaged with the fixed block, and wherein the free end of the second catch has an included angle with the horizontal plane when the second catch is engaged with the fixed block.

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

5. The cleaning system of claim 4, wherein the vertical projection tapers in cross-section in a direction away from the horizontal projection to define a first push surface toward the disassembly unit that snaps with the first catch and a second push surface toward the cleaning body that snaps with the second catch.

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

7. The cleaning system of claim 1, further comprising: the cleaning device comprises a cleaning body, a first buckle, a first elastic piece and a second elastic piece, wherein the first buckle is pivotally connected to the cleaning body, the first elastic piece is elastically pushed between the first buckle and the cleaning body, the second buckle is pivotally connected to the disassembling unit, and the second elastic piece is elastically pushed between the second buckle and the disassembling unit.

8. The cleaning system of claim 5, wherein the first catch and the second catch are structurally identical, 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 clip facing the securing block comprises: the first inclined plane, the first plane and the second inclined plane are sequentially connected; wherein the method comprises the steps of

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 block in an inclined mode.

10. The cleaning system of claim 9, wherein a side of the clip portion remote from the securing block comprises: the third inclined plane and the second plane are connected in sequence; wherein the method comprises the steps of

11. The cleaning system of claim 10, wherein a side of the clip portion remote from the securing block further comprises: and the fourth inclined plane is connected with the second inclined plane and is formed into an unlocking wedge so as to release the clamping connection between the first buckle and the fixed block when the second buckle moves towards the first buckle.

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

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

14. A method of disassembling a cleaning unit of a cleaning system, wherein the cleaning system is the cleaning system of claim 13, the method comprising:

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