CN114587180A - Base station and cleaning robot system - Google Patents

Abstract

The present disclosure relates to the technical field of smart home, and proposes a base station and a cleaning robot system. The base station for cleaning the cleaning mechanism of the cleaning robot includes a cleaning tank, the cleaning tank is used for accommodating at least a part of the cleaning mechanism and cleaning at least a part of the cleaning mechanism, the cleaning tank includes a first end and a second end, the first end and the first end The direction of the connecting line between the two ends is substantially parallel to the extending direction of the cleaning mechanism. A cleaning tank for accommodating cleaning liquid is provided on the main body of the base station, so that the lower part of the cleaning mechanism moves into the cleaning tank, and the cleaning mechanism is cleaned with the cleaning liquid in the cleaning tank, that is, the cleaning robot can realize automatic cleaning in the cleaning tank .

Description

Base station and cleaning robot system

technical field

The present disclosure relates to the field of smart home technology, and in particular, to a base station and a cleaning robot system.

Background technique

The sweeping and mopping integrated cleaning robot in the related art includes a sweeping roller brush and a flat mop. After the flat mop is used, it needs to be cleaned. At this stage, it is mostly cleaned manually or directly replaced with a new flat mop, which is extremely inconvenient to use.

SUMMARY OF THE INVENTION

The present disclosure provides a base station and a cleaning robot system for automatic cleaning of a mopping roller brush.

According to a first aspect of the present disclosure, there is provided a base station for cleaning a cleaning mechanism of a cleaning robot, the base station comprising:

The cleaning tank is used for accommodating at least a part of the cleaning mechanism and cleaning at least a part of the cleaning mechanism, the cleaning tank includes a first end and a second end, and the direction of the line between the first end and the second end is substantially parallel to the The extension direction of the cleaning mechanism.

According to a second aspect of the present disclosure, there is provided a base station for cleaning a cleaning mechanism of a cleaning robot, the base station comprising:

a cleaning tank, which is used for accommodating at least a part of the cleaning mechanism and cleaning at least a part of the cleaning mechanism;

The sewage tank is communicated with the cleaning tank, and the sewage tank is provided with a liquid inlet, and the cleaning liquid entering the sewage tank through the liquid inlet can impact the cleaning liquid in the sewage tank.

According to a third aspect of the present disclosure, there is provided a cleaning robot system, comprising:

Cleaning robots, cleaning robots include cleaning mechanisms;

The base station, the base station includes a cleaning tank, the cleaning tank is used for accommodating at least a part of the cleaning mechanism and cleaning at least a part of the cleaning mechanism, the cleaning tank includes a first end and a second end, and a line connecting the first end and the second end is used. The direction is substantially parallel to the extension direction of the cleaning mechanism.

In the base station of the present disclosure, a cleaning tank for accommodating cleaning liquid is provided on the main body of the base station, so that the lower part of the cleaning mechanism moves into the cleaning tank, and the cleaning mechanism is cleaned with the cleaning liquid in the cleaning tank, that is, the cleaning robot can clean the cleaning mechanism. Automatic cleaning in the tank.

Description of drawings

Various objects, features and advantages of the present disclosure will become more apparent from consideration of the following detailed description of preferred embodiments of the present disclosure, taken in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale. Throughout the drawings, the same reference numbers refer to the same or like parts. in:

1 is a schematic diagram of a cleaning structure from a first perspective of a cleaning robot system according to an exemplary embodiment;

2 is a schematic diagram of a cleaning structure from a second perspective of a cleaning robot system according to an exemplary embodiment;

3 is a schematic cross-sectional view of a cleaning structure of a cleaning robot system according to an exemplary embodiment;

4 is a schematic diagram of a charging structure from a first perspective of a cleaning robot system according to an exemplary embodiment;

5 is a schematic diagram of a charging structure from a second perspective of a cleaning robot system according to an exemplary embodiment;

FIG. 6 is a schematic diagram of an exploded structure of a base station according to an exemplary embodiment;

FIG. 7 is a schematic structural diagram of a base station from a first perspective according to an exemplary embodiment;

FIG. 8 is a schematic structural diagram of a base station from a second perspective according to an exemplary embodiment;

FIG. 9 is a first schematic diagram of the internal structure of a base station according to an exemplary embodiment;

FIG. 10 is a second schematic diagram of the internal structure of a base station according to an exemplary embodiment;

Fig. 11 is a third schematic diagram of the internal structure of a base station according to an exemplary embodiment;

FIG. 12 is a schematic diagram of a partial structure of a base station according to an exemplary embodiment;

13 is a schematic structural diagram of a state of a liquid level detection component of a base station according to an exemplary embodiment;

Fig. 14 is a schematic diagram showing another state structure of a liquid level detection component of a base station according to an exemplary embodiment;

15 is a schematic diagram of an exploded structure of a cleaning robot according to an exemplary embodiment;

16 is a schematic structural diagram of a cleaning robot from a first perspective according to an exemplary embodiment;

17 is a schematic structural diagram of a cleaning robot from a second perspective according to an exemplary embodiment;

18 is a schematic structural diagram of a cleaning robot from a third perspective according to an exemplary embodiment;

FIG. 19 is a schematic structural diagram of a cleaning robot from a fourth perspective according to an exemplary embodiment;

20 is a schematic structural diagram of a cleaning robot from a fifth perspective according to an exemplary embodiment;

21 is a schematic structural diagram of a cleaning robot from a sixth perspective according to an exemplary embodiment;

22 is a schematic diagram of the internal structure of a cleaning robot according to an exemplary embodiment;

Fig. 23 is a schematic structural diagram showing a first cleaning member of a cleaning robot in a working position according to an exemplary embodiment;

Fig. 24 is a schematic structural diagram showing a second cleaning member of a cleaning robot in a working position according to an exemplary embodiment;

25 is a first exploded schematic diagram of a mopping and mopping module of a cleaning robot according to an exemplary embodiment;

Figure 26 is a second exploded schematic diagram of a mopping and mopping module of a cleaning robot according to an exemplary embodiment;

FIG. 27 is a schematic structural diagram of a mopping and mopping module of a cleaning robot from a first perspective according to an exemplary embodiment;

FIG. 28 is a schematic structural diagram from a second perspective of a mopping and mopping module of a cleaning robot according to an exemplary embodiment;

Figure 29 is a schematic structural diagram of a sweeping roller brush of a mopping and mopping module in a station position according to an exemplary embodiment;

FIG. 30 is a schematic structural diagram of a mopping roller brush of a sweeping and mopping module of a cleaning robot in a station position according to an exemplary embodiment;

Fig. 31 is a schematic structural diagram of a position adjustment mechanism of a cleaning robot from a first perspective according to an exemplary embodiment;

32 is a schematic structural diagram of a position adjustment mechanism of a cleaning robot from a second perspective according to an exemplary embodiment;

Fig. 33 is a schematic structural diagram of a position adjustment mechanism of a cleaning robot from a third perspective according to an exemplary embodiment;

Fig. 34 is an exploded schematic diagram of a position adjustment mechanism of a cleaning robot according to an exemplary embodiment;

Fig. 35 is a schematic structural diagram showing that the floating member of the position adjustment mechanism of a cleaning robot is separated from the turntable according to an exemplary embodiment;

Fig. 36 is a schematic structural diagram showing that a floating member of a position adjustment mechanism of a cleaning robot is connected to a turntable according to an exemplary embodiment.

The reference numerals are explained as follows:

1. Cleaning robot; 2. Base station;

300, base station main body; 301, cleaning tank; 3011, liquid suction port; 3012, liquid inlet; 302, cleaning blade; 3021, connecting plate; 303, protrusion; 304, water guide tank; 3041, guide plate; 305, auxiliary Water tank; 3051, liquid outlet; 306, sealing strip; 307, through hole; 308, guide bottom surface; 3081, anti-skid protrusion; 309, guide side; 310, liquid level detection component; 311, signal transmitter; 312, support 313, connecting rod; 314, the first floating part; 315, the shielding part; 316, the first filter part; 320, the first pump body; 321, the first water tank; 330, the second pump body; 331, the second water tank; 340, the second floating part; 341, the second filter part; 350, the drying mechanism; 360, the first charging contact pole piece; 361, the guide wheel; 362, the guide top surface; 363, the first pressing block; 364, 370, communication module; 371, first hall module; 372, second hall module; 373, switching detection groove; 374, deceleration detection groove; 380, sewage tank;

200, body; 201, chassis; 202, side panel; 203, front crash assembly; 2031, protective sensor; 204, top cover; 205, travel wheel assembly; 206, universal wheel; 208, battery cover; 210, charging Contact pole piece; 220, infrared communication module; 221, carpet identification module; 222, along the wall sensor; 223, laser ranging sensor;

100, fixed bracket; 111, floating bracket; 112, cover plate; 1121, anti-roll tooth; 1122, scraper; 113, first accommodating cavity; 114, second accommodating cavity; 115, grounding pressure block assembly; Buffer pad; 110, rotating assembly; 120, sweeping roller brush; 130, mopping roller brush; 140, position adjustment mechanism; 150, side brush assembly; 151, side brush brushing mechanism; 160, dust suction channel; 161, power Parts; 162, dust box;

10. Connecting shaft; 20. Turntable; 21. First raised portion; 30. Floating member; 31. Second raised portion; 32. First helical gear segment; 33. Output gear segment; 40. Connecting rod shaft; 50, adapter; 60, second drive assembly; 61, first transmission gear; 611, second helical gear segment; 612, transmission gear segment; 62, second transmission gear; 63, power source; 64, first output gear; 65, second output gear; 66, third output gear; 67, fourth output gear; 70, gear lever; 71, notch; 72, sensor; 80, first drive assembly; 81, first gear 82, the second gear; 83, the third gear; 84, the fourth gear; 85, the second power source; 90, the housing part.

Detailed ways

Exemplary embodiments embodying the features and advantages of the present disclosure will be described in detail in the following description. It should be understood that the present disclosure can have various changes in different embodiments without departing from the scope of the present disclosure, and the descriptions and drawings therein are for illustrative purposes only, rather than for limiting the present disclosure. public.

In the following description of various exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of example various exemplary structures, systems and steps in which various aspects of the present disclosure may be implemented . It is to be understood that other specific arrangements of components, structures, exemplary devices, systems and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present disclosure. Furthermore, although the terms "on," "between," "within," etc. may be used in this specification to describe various exemplary features and elements of the present disclosure, these terms are used herein for convenience only, such as according to The orientation of the examples in the drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of a structure to fall within the scope of this disclosure.

For a cleaning robot system according to an embodiment of the present disclosure, please refer to FIG. 1 to FIG. 36 , the cleaning robot system includes a cleaning robot 1 and a base station 2 .

The cleaning robot 1 includes a body 200 and a cleaning mechanism.

The cleaning mechanism includes at least one of the sweeping roller brush 120 and the mopping roller brush 130 .

The mopping roller brush 130 is rotatably disposed on the body 200 . The base station 2 includes a base station main body 300 , and a cleaning tank 301 for accommodating cleaning liquid is provided on the base station main body 300 . The mopping roller brush 130 is cleaned in the cleaning tank 301 .

The base station main body 300 is provided with a first charging contact pole piece 360, and the main body 200 is provided with a second charging contact pole piece 210. The first charging contact pole piece 360 is used for electrical connection with the second charging contact pole piece 210, so that the base station 2 Charge the cleaning robot 1.

In one embodiment, the cleaning robot 1 needs to move to the base station 2 for subsequent cleaning or charging.

Specifically, the cleaning robot 1 can move along the base station 2, that is, the cleaning robot 1 can perform the pile-up movement, and the pile-up movement can be understood as when the distance between the cleaning robot 1 and the base station 2 is less than a certain threshold, for example, the cleaning robot 1 has When reaching the vicinity of the base station 2, the cleaning robot 1 will obviously move in one direction. The forward direction of the pile-up movement can be understood as: in order to make the mopping roller brush 130 clean in the cleaning tank 301, or the first charging contact pole piece 360 and the second charging contact pole piece 210 to contact, the cleaning robot 1 is moved by the first charging contact pole piece 210. When a position point moves to the second position point, the direction from the first position point to the second position point is the forward direction of the pile-up movement.

In one embodiment, after the cleaning robot 1 drives the lower portion of the mopping roller brush 130 to move into the cleaning tank 301 , the cleaning robot 1 rotates the mopping roller brush 130 to clean the mopping roller brush 130 with the cleaning liquid in the cleaning tank 301 .

Specifically, the lower part of the mopping roller brush 130 moves into the cleaning tank 301 , that is, a part below the center line of the mopping roller brush 130 is immersed in the liquid in the cleaning tank 301 , and the center line of the mopping roller brush 130 is used as the axis. During the rotation, the circumferential surface of the mopping roller brush 130 is circulated for agitation and cleaning until the cleaning is completed.

It should be noted that the length extension direction of the cleaning tank 301 is consistent with the length extension direction of the mopping roller brush 130, so that a part of the mopping roller brush 130 can be reliably immersed in the liquid in the cleaning tank 301, and the mopping roller brush 130 can be reliably immersed in the liquid in the cleaning tank 301. The cleaning can be completed during the rotation of the 130 , and the center line of the mopping roller brush 130 is approximately parallel to the lengthwise extending direction of the cleaning tank 301 .

A base station for cleaning a cleaning mechanism of a cleaning robot according to an embodiment of the present disclosure, the base station includes: a cleaning tank 301, the cleaning tank 301 is used for accommodating at least a part of the cleaning mechanism and cleaning at least a part of the cleaning mechanism, and the cleaning tank 301 includes a first One end and the second end, and the direction of the connecting line between the first end and the second end is substantially parallel to the extending direction of the cleaning mechanism.

Since the base station main body 300 is provided with a cleaning tank 301 for accommodating cleaning liquid, when the lower part of the mopping roller brush 130 moves into the cleaning tank 301 , the mopping roller brush 130 is rotated to clean with the cleaning liquid in the cleaning tank 301 The mopping roller brush 130 , that is, the cleaning robot 1 can realize automatic cleaning in the cleaning tank 301 .

The first end and the second end can be understood as the left and right ends of the cleaning tank 301 along the length direction, and the direction of the connecting line between the first end and the second end is roughly parallel to the extension direction of the cleaning mechanism, that is, the length of the cleaning tank 301 extends The direction is basically the same as the length extension direction of the mopping roller brush 130. In actual use, a certain angle between the two is not excluded. The angle range can be between 0 degrees and 15 degrees. Further, the angle range can be Between 0 degrees and 10 degrees.

In order to facilitate the cleaning liquid in the cleaning tank 301 to smoothly flow through one end of the cleaning tank 301 to the first filter part 316 at the other end, the bottom of the cleaning tank 301 can be inclined at a small angle and is suitable for the cleaning liquid to autonomously flow from the cleaning tank 301 under the action of gravity. One end flows to the other end without resorting to external action, such as the suction action of a pump at the other end or tilting the base station body 300 or the like. In this way, the non-parallel relationship between the bottom of the cleaning tank 301 and the top of the cleaning tank 301 is formed, and the top of the cleaning tank 301 is substantially parallel to the central axis of the mopping roller brush 130, so that the cleaning blade 302 disposed in the cleaning tank 301 can effectively clean the floor Roller brush 130.

It should be noted that the cleaning mechanism may be at least one of the sweeping roller brush 120 and the mopping roller brush 130 , that is, both the sweeping roller brush 120 and the mopping roller brush 130 can be cleaned through the cleaning tank 301 . In one embodiment, the first end and the second end are distributed in symmetrical directions with respect to the center of the cleaning tank 301 .

In one embodiment, the cleaning liquid for cleaning the cleaning mechanism flows into the cleaning tank 301 through the first end, and the cleaning liquid flows out of the cleaning tank 301 through the second end. Alternatively, the cleaning liquid used for cleaning the cleaning mechanism flows into the cleaning tank 301 through the position between the first end and the second end, which is not limited here and can be selected according to actual needs.

In one embodiment, the cleaning liquid used for cleaning the cleaning mechanism flows out of the cleaning tank 301 through the second end, and the base station further includes a first filter part 316, and the second end is disposed close to the first filter part 316, that is, the liquid flowing out from the second end The cleaning liquid is filtered through the first filter part 316 .

In one embodiment, as shown in FIGS. 6 to 8 , a cleaning blade 302 is provided in the cleaning tank 301 , and the cleaning blade 302 is used to squeeze the mopping roller brush 130 , so as to rotate the mopping roller brush 130 during the cleaning process In the middle, the sundries on the mopping roller brush 130 can be removed in time.

In one embodiment, as shown in FIG. 7 , the cleaning blade 302 includes a plurality of protrusions 303 , and the plurality of protrusions 303 are arranged at intervals, so that the mopping roller brush 130 can be squeezed by the protrusions 303 and the adjacent protrusions 303 can be ensured. A gap can be formed between the two protrusions 303 to ensure that the mopping roller brush 130 is partially deformed.

In one embodiment, as shown in FIG. 6 , the cleaning blade 302 further includes a connecting plate 3021, and the connecting plate 3021 is disposed on the bottom wall of the cleaning tank 301 and extends along the extending direction of the cleaning tank 301; The risers 303 are arranged on the connecting plate 3021 at intervals.

Specifically, the plurality of protrusions 303 and the connecting plate 3021 are integrally formed, so that they can be easily installed in the cleaning tank 301, and the connecting plate 3021 is detachably installed in the cleaning tank 301, so as to facilitate cleaning and replacement.

In one embodiment, the connecting plate 3021 can be fixedly connected with the cleaning tank 301 , that is, the connecting plate 3021 is not detachable relative to the cleaning tank 301 .

In one embodiment, the plurality of protrusions 303 form a multi-row protrusion structure, that is, the multiple rows of protrusion structures are arranged in the cleaning tank 301 at intervals, and the protrusions 303 of two adjacent rows of the protrusion structures are staggered. In this embodiment, the protruding structures are in two rows, and the plurality of protuberances 303 forming the two rows of protruding structures are arranged staggered in the width direction of the cleaning tank 301 , as shown in FIGS. 6 and 7 .

In one embodiment, as shown in FIG. 9 , the base station further includes: a first pump body 320 , the first pump body 320 is communicated with the cleaning tank 301 , and the first pump body 320 is used for feeding cleaning liquid into the cleaning tank 301 ; The second pump body 330, the second pump body 330 communicates with the cleaning tank 301, and the second pump body 330 is used to remove the cleaning liquid in the cleaning tank 301. The first pump body 320 and the second pump body 330 respectively realize the feeding and extraction of the cleaning liquid, so as to ensure that the cleaning liquid in the cleaning tank 301 can be replaced in time and ensure the cleaning effect.

Specifically, referring to FIG. 9 and FIG. 10 , the base station is provided with a first water tank 321 and a second water tank 331 , the first water tank 321 is used to store clean cleaning liquid, and the second water tank 331 is used to store the water extracted from the cleaning tank 301 cleaning liquid.

The first pump body 320 communicates with the first water tank 321 , so that the cleaning liquid in the first water tank 321 is sent into the cleaning tank 301 . The second pump body 330 communicates with the second water tank 331 , so that the cleaning liquid in the cleaning tank 301 is pumped into the second water tank 331 .

In one embodiment, the first pump body 320 and the second pump body 330 can work at the same time, the first pump body 320 sprays the cleaning liquid into the cleaning tank 301, and the second pump body 330 draws the cleaning liquid out of the cleaning tank 301, that is, cleaning The liquid can flow rapidly in the cleaning tank 301 , which can quickly clean the mopping roller brush 130 or the cleaning tank 301 .

In some embodiments, the cleaning liquid for cleaning the cleaning mechanism flows into the cleaning tank 301 through the first end, and the cleaning liquid flows out of the cleaning tank 301 through the second end. The first pump body 320 sprays the cleaning liquid into the cleaning tank 301 through the first end, and the second pump body 330 pulls the cleaning liquid out of the cleaning tank 301 through the second end.

In one embodiment, the first pump body 320 stops working, and only the second pump body 330 works to drain the cleaning liquid in the cleaning tank 301, so as to ensure that the cleaning tank 301 can be empty when not in use.

In one embodiment, as shown in FIG. 11 , the base station main body 300 is provided with a liquid suction port 3011 and a liquid inlet port 3012 , and the liquid suction port 3011 and the liquid inlet port 3012 are both communicated with the cleaning tank 301 , and the first pump body 320 The cleaning liquid in the first water tank 321 is sent into the cleaning tank 301 through the liquid inlet 3012 , and the second pump body 330 sucks the cleaning liquid in the cleaning tank 301 into the second water tank 331 through the liquid suction port 3011 .

In one embodiment, there may be multiple liquid inlets 3012 , and the multiple liquid inlets 3012 are arranged at intervals, wherein, both ends of the cleaning tank 301 are provided with liquid inlets 3012 , as shown in FIG. 11 . When the second pump body 330 draws the cleaning liquid in the cleaning tank 301 into the second water tank 331 through the liquid suction port 3011, the first pump body 320 can spray the cleaning liquid at a high speed through the liquid inlet 3012, for example, the cleaning liquid It can be water, and the steadily descending water flow is stirred up, so that impurities in the sewage are not easy to sink to the bottom, that is, the first pump body 320 and the second pump body 330 can work at the same time. After the first pump body 320 and the second pump body 330 work simultaneously for a certain period of time, the second pump body 330 works independently, thereby draining the sewage in the cleaning tank 301 , that is, the self-cleaning work of the cleaning tank 301 is completed. In order to better realize the self-cleaning of the cleaning tank 301, the liquid inlets 3012 can be distributed in multiple positions of the cleaning tank 301. The purpose is that when the self-cleaning procedure is started, the water flow of the plurality of liquid inlets 3012 may be directly Flush the bottom wall and side wall of the cleaning tank, or arouse the existing cleaning liquid in the cleaning tank 301 to form an irregular stirring effect, or inject the cleaning liquid into the cleaning tank 301 in a manner of opening/closing at intervals, so that the cleaning tank 301 can be effectively realized. cleaning.

In one embodiment, a sewage tank 380 is provided downstream of the cleaning tank 301 , the first filter part 316 is covered on the top of the sewage tank 380 , and the liquid suction port 3011 is provided on the bottom. After the self-cleaning mode is activated, the water flow from the liquid inlet 3012 flushes the dirt in the cleaning tank 301 into the sewage tank 380. At this time, only the operation of the second pump body 330 cannot completely clean the residual dirt in the sewage tank. Therefore, an offset liquid inlet 3012 can be provided on the side wall of the sewage tank 380, the liquid inlet 3012 is supplied with liquid by the first pump body 320, and the direction of the liquid inlet 3012 is to remove the sewage in the sewage tank as a whole. The liquid is excited into a spiral vortex, so that the sewage in the sewage tank can be in a swirling state during the liquid pumping process, so as to avoid the water flow caused by only pumping liquid from the liquid suction port 3011 at the bottom of the sewage tank 380. direction flow.

It can be understood that during the self-cleaning process, the liquid inlet 3012 of the cleaning tank 301 and the liquid inlet 3012 of the sewage tank 380 simultaneously feed liquid at a high speed, so that the liquid in the cleaning tank 301 and the sewage tank 380 is always in a swirling state, At the same time, in cooperation with the function of the liquid suction port 3011, the garbage in the cleaning tank 301 and the sewage tank 380 can be cleaned up, avoiding the need to manually clean the cleaning tank or the sewage tank.

It should be noted that the liquid inlet 3012 of the cleaning tank 301 and the liquid inlet 3012 of the sewage tank 380 both realize the liquid inlet function, but it does not specifically mean that the structures of the two are completely the same, which is not limited here, and can be implemented according to implementation needs. Adjust accordingly.

It should be noted that the first pump body 320 may be a peristaltic pump, and the first water tank 321 adds water to the cleaning tank 301 through the peristaltic pump. When the cleaning robot stops on the pile, and the lower part of the mopping roller brush 130 is put into the cleaning tank 301, the peristaltic pump adds water to the cleaning tank 301 according to the set parameters (including the water injection amount). The peristaltic pump can precisely control the amount of water injected, so the amount of water injected each time can be precisely controlled according to the setting, while the mopping roller brush 130 rotates and cleans itself. When the cleaning is completed, the second pump body 330 pumps the sewage in the cleaning tank 301 into the first Two water tanks 331. Then carry out the next water injection, cleaning, and pumping until the cleaning of the mopping roller brush 130 is completed for the set number of times. After the last pumping, the mopping roller brush 130 is rotated and dried when the cleaning tank 301 is empty of water, and finally the pile is lowered. , that is, leaving base station 2.

In one embodiment, the base station further includes: a cleaning liquid tank and a cleaning liquid pump, the cleaning liquid tank is used for storing the cleaning liquid, the cleaning liquid pump is communicated with the cleaning tank 301, and the cleaning liquid pump transfers the cleaning liquid in the cleaning liquid tank It is sent into the cleaning tank 301 to be mixed with the water sent by the first pump body 320 . The cleaning liquid may be a common cleaning agent such as detergent.

In one embodiment, as shown in FIG. 6 and FIG. 7 , the base station further includes: a liquid level detection assembly 310 . The liquid level detection assembly 310 is disposed on the base station main body 300 and is used to detect the liquid level of the cleaning liquid in the cleaning tank 301 , so that it can be determined whether there is cleaning liquid in the cleaning tank 301, and the feeding amount of the cleaning liquid in the cleaning tank 301 can be controlled, so that problems such as overflow will not occur.

Specifically, the liquid level detection component 310 can be signal-connected with the first pump body 320, the liquid level detection component 310 detects the liquid level of the cleaning liquid in the cleaning tank 301, and the liquid level in the cleaning tank 301 is lower than the first preset When the value is set, the first pump body 320 is used for feeding the cleaning liquid into the cleaning tank 301 . Alternatively, the liquid level detection component 310 can be signal-connected with the second pump body 330, and when the liquid level in the cleaning tank 301 is higher than the second preset value, the second pump body 330 is used to remove the cleaning liquid in the cleaning tank 301 draw out.

It should be noted that, the liquid level detection component 310 may be a liquid level detector in the related art, that is, the liquid level detection can be realized. The detection of the liquid level of the cleaning liquid here does not necessarily mean that the height of the cleaning liquid needs to be clarified, as long as it can be determined whether the cleaning liquid should be fed into the cleaning tank 301 or whether the second pump body 330 should be activated to extract from the cleaning tank 301. .

In one embodiment, as shown in FIG. 13 and FIG. 14 , the liquid level detection assembly 310 includes: a signal transmitting part 311 ; a signal receiving part, the signal transmitting part 311 is arranged opposite to the signal receiving part; a supporting part 312 , the supporting part 312 is arranged On the base station main body 300; the connecting rod 313, the connecting rod 313 is rotatably arranged on the support part 312; the first floating part 314, the first floating part 314 is arranged on one end of the connecting rod 313, and is located in the cleaning tank 301, the first floating part 314 is located in the cleaning tank 301. A floating part 314 drives the connecting rod 313 to rotate relative to the supporting part 312 under the action of the cleaning liquid; the blocking part 315 is arranged on the other end of the connecting rod 313 and is located between the signal transmitting part 311 and the signal receiving part, The shielding part 315 is used to disconnect the signal connection state between the signal transmitting part 311 and the signal receiving part; wherein, when the signal transmitting part 311 and the signal receiving part are in the signal connection state, the first pump body 320 can be sent into the cleaning tank 301 cleaning liquid.

Specifically, as shown in FIG. 13 , when there is no cleaning liquid in the cleaning tank 301 , that is, the first floating part 314 is located at the bottom of the cleaning tank 301 , and the signal transmitting part 311 is blocked at this time, indicating that there is no cleaning liquid in the cleaning tank 301 , and the first floating part 314 is located at the bottom of the cleaning tank 301 . The pump body 320 works, the first floating part 314 will float up, and the signal between the signal transmitting part 311 and the signal receiving part will change, that is, there is cleaning liquid in the first water tank 321. If the signal does not change, there is no cleaning liquid in the first water tank 321, or the amount of cleaning liquid is insufficient.

As shown in FIG. 14 , the first floating part 314 is in the upper position, that is, the signal transmitting part 311 is blocked, indicating that the cleaning liquid in the cleaning tank 301 is full. During the cleaning process of the mopping roller brush 130, if the first floating part 314 descends, the The signal between the signal transmitting part 311 and the signal receiving part changes, and the first pump body 320 is appropriately replenished with the cleaning liquid.

In one embodiment, the first floating part 314 may be a floating ball, and the signal transmitting part 311 and the signal receiving part form an optical coupler.

The above embodiment can be understood as, when the first floating part 314 is located at the bottom and the top, the output signal of the liquid level detection component 310 is "0"; and when there is cleaning liquid in the cleaning tank 301, the first floating part 314 is located at the bottom and the top. Between the tops, the output signal of the liquid level detection assembly 310 is "1". Therefore, the change of the water level in the cleaning tank 301 can be determined by the change of the signal and the operation of the pump. For example, when the first pump body 320 is working and the signal changes to 0-1-0, it means that the cleaning tank 301 is full of water; when the second pump body 330 is working, and the signal changes to 1-0, it means that the cleaning tank is full of water 301 Liquid is evacuated.

In one embodiment, the base station main body 300 is provided with a first Hall module 371 and a second Hall module 372. The first Hall module 371 can be used to detect the amount of water in the first water tank 321, and the base station main body 300 can also A third hall module is provided, and the third hall module can be used to detect the amount of water in the second water tank 331 . Exemplarily, the base station may also be provided with a fourth Hall module for performing in-position detection on the first water tank 321 and the second water tank 331 .

In one embodiment, as shown in FIG. 7 and FIG. 8 , the base station main body 300 is provided with a water guide groove 304 . The water guide groove 304 is located on one side of the cleaning groove 301 and communicated with the cleaning groove 301 , so that when the cleaning liquid enters the guide groove After the water tank 304, the cleaning liquid can be returned to the cleaning tank 301, so that the cleaning liquid can be returned to the cleaning tank 301 in time on the premise that the cleaning liquid will not splash.

Specifically, referring to FIG. 6 to FIG. 8 , the base station main body 300 is provided with a guide plate 3041, so that the water guiding groove 304 and the cleaning groove 301 are separated from the base station main body 300, so that the water guiding groove 304 and the cleaning groove 301 are arranged at intervals, but the water guiding groove needs to be ensured 304 and the cleaning tank 301 can communicate with each other.

In one embodiment, as shown in FIG. 6 to FIG. 8 , the base station main body 300 is provided with an auxiliary water tank 305 . The auxiliary water tank 305 is located on the other side of the cleaning tank 301 and is independent of the cleaning tank 301 . Generally, the cleaning liquid It will not enter the auxiliary water tank 305 , and the auxiliary water tank 305 is a protection tank to ensure that the cleaning liquid will not affect the cleaning robot 1 .

In one embodiment, the second pump body 330 communicates with the auxiliary water tank 305, so that after the cleaning liquid enters the auxiliary water tank 305, the second pump body 330 can pump out the cleaning liquid, that is, the cleaning tank 301 and the auxiliary water tank 305 are completely isolated , so that the second pump body 330 is required to pump away the cleaning liquid entering the auxiliary water tank 305 .

In one embodiment, as shown in FIG. 6 and FIG. 8 , a sealing strip 306 is provided between the auxiliary water tank 305 and the cleaning tank 301 to prevent the cleaning liquid in the cleaning tank 301 from entering the auxiliary water tank 305, that is, generally only the sealing strip Only when the 306 is damaged will the auxiliary water tank 305 enter the cleaning liquid.

In one embodiment, as shown in FIG. 11 , the auxiliary water tank 305 is provided with a liquid outlet 3051 , and the liquid outlet 3051 communicates with the second pump body 330 .

In one embodiment, the base station further includes: a second floating part 340 , the second floating part 340 is arranged in the auxiliary water tank 305 and is blocked on the liquid outlet 3051 ; wherein, when there is cleaning liquid in the auxiliary water tank 305 , the first floating part 340 is The two floating parts 340 float up, so that the second pump body 330 communicates with the auxiliary water tank 305 .

Specifically, when the cleaning liquid does not enter the auxiliary water tank 305, the second floating part 340 will block the liquid outlet 3051. Only when the cleaning liquid enters the auxiliary water tank 305, that is, the cleaning liquid needs to be drawn out, the second floating part 340 floats The cleaning liquid in the auxiliary water tank 305 is pumped away through the second pump body 330 .

In one embodiment, the second floating part 340 may be a floating ball.

In one embodiment, the water guiding tank 304 and the auxiliary water tank 305 are located on two sides of the cleaning tank 301 respectively, and when the cleaning robot 1 cleans the mopping roller brush 130 , the water guiding tank 304 is closer to the front end of the cleaning robot 1 .

In one embodiment, the base station main body 300 is provided with a first filter part 316 and a second filter part 341 , the first filter part 316 is provided on the liquid suction port 3011 of the cleaning tank 301 , and the first filter part 316 may include coarse Filters and fine filters. The second filter part 341 is disposed on the liquid outlet 3051, and the second filter part 341 may be a filter screen.

Wherein, the first filter part 316 further includes a bracket for supporting the coarse filter screen and/or the fine filter screen.

In one embodiment, the second Hall module 372 can be used for the presence detection of the filter screen assembly of the sewage tank, and the first filter part 316 is detachably installed on the base station, so the user can remove the first filter part 316 to For cleaning, since the second Hall module 372 can detect whether the first filter part 316 is in place or not, it can ensure that the sewage in the cleaning tank 301 will be filtered by the first filter part 316 before being extracted, so as to avoid large particles The pump body blocks the pumping port and even further damages the pump body, thereby extending the service life of the base station and improving the user experience.

A base station for cleaning a cleaning mechanism of a cleaning robot according to an embodiment of the present disclosure, as shown in FIG. 7 and FIG. 11 , the base station includes: a cleaning tank 301 and a sewage tank 380 . The cleaning tank 301 is used to accommodate at least a part of the cleaning mechanism and At least a part of the cleaning mechanism is cleaned; the sewage tank 380 is communicated with the cleaning tank 301, the sewage tank 380 is provided with a liquid inlet 3012, and the cleaning liquid entering the sewage tank 380 through the liquid inlet 3012 can impact the cleaning in the sewage tank 380. liquid, so that the cleaning liquid in the sewage tank 380 forms a swirling state, so as to improve the self-cleaning effect of the cleaning tank 301 and the sewage tank 380 .

In one embodiment, the depth of the slop tank 380 may be greater than the depth of the wash tank 301 .

It should be noted that the cleaning liquid entering the sewage tank 380 through the liquid inlet 3012 can agitate the cleaning liquid in the sewage tank 380 .

In some embodiments, the liquid inlet 3012 may be disposed at the bottom of the sewage tank 380 , and the cleaning liquid may impact the cleaning liquid in the sewage tank 380 at a high speed from the bottom of the sewage tank 380 , and may be blocked by the sidewall of the sewage tank 380 . A reflective backflow is formed, thereby agitating the cleaning liquid in the sewage tank 380 .

In some embodiments, the side wall of the sewage tank 380 is provided with a liquid inlet 3012 , and the cleaning liquid can impact the cleaning liquid in the sewage tank 380 at a high speed from the side of the sewage tank 380 , and can be blocked by the side wall of the sewage tank 380 . Under the action, a reflective backflow is formed, so as to agitate the cleaning liquid in the sewage tank 380, and finally a swirling state is formed.

In one embodiment, the sewage tank 380 may be provided with a plurality of liquid inlets 3012, and the plurality of liquid inlets 3012 are arranged at intervals. The side wall and bottom wall of the sewage tank 380 may be provided with liquid inlets 3012, or, a plurality of liquid inlets 3012 may be provided on the side wall of the sewage tank 380. For example, the entire sewage tank 380 may be rectangular. Liquid inlets 3012 may be provided on at least two side walls of the sewage tank 380, and the cleaning liquid entered through the liquid inlet 3012 can be sprayed onto the adjacent side walls, so that the cleaning liquid in the sewage tank 380 is in a rotating position. flow state.

Specifically, the extending direction of the liquid inlet 3012 can be inclined to the side wall of the sewage tank 380 where it is located, so as to ensure that the cleaning liquid entering from the liquid inlet 3012 can be sprayed onto the adjacent side wall.

In one embodiment, the cleaning tank 301 is also provided with a liquid inlet 3012 , the sewage tank 380 is also provided with a liquid suction port 3011 , and the cleaning liquid in the sewage tank 380 can be discharged through the liquid suction port 3011 . That is, during the self-cleaning process, the liquid inlet 3012 of the cleaning tank 301 and the liquid inlet 3012 of the sewage tank 380 simultaneously feed liquid at a high speed, so that the liquid in the cleaning tank 301 and the sewage tank 380 is always in a swirling state, and at the same time, the liquid is pumped. The function of the port 3011 can clean up the garbage in the cleaning tank 301 and the sewage tank 380, and avoid the process of manually cleaning the cleaning tank 301 or the sewage tank 380.

It should be noted that, for other matching structures for realizing self-cleaning of the cleaning tank 301 and the sewage tank 380, reference may be made to the specific structures involved in the above embodiments, for example, the first pump body 320, the second pump body 330, the liquid level detection component 310 etc., will not be repeated here.

In one embodiment, as shown in FIG. 11 , the base station further includes: a drying mechanism 350 . The drying mechanism 350 is disposed on the base station main body 300 , and the drying mechanism 350 is used to dry/dry the mopping roller brush 130 , so that the mopping mechanism 350 can be used for mopping the floor. After the roller brush 130 is cleaned by the cleaning tank 301 , it can be dried by the drying mechanism 350 .

In one embodiment, as shown in FIG. 8 and FIG. 11 , the base station main body 300 is provided with a through hole 307 , the through hole 307 is spaced from the cleaning tank 301 , and the drying mechanism 350 dries the mopping roller brush 130 through the through hole 307 .

Specifically, there are multiple through holes 307 , and the multiple through holes 307 are arranged on the base station main body 300 at intervals, so that the mopping roller brush 130 above the through holes 307 can be dried by the drying mechanism 350 .

It should be noted that the through hole 307 is spaced from the cleaning tank 301 , that is, after the mopping roller brush 130 of the cleaning robot 1 is cleaned, the mopping roller brush 130 needs to leave the cleaning tank 301 and move to the top of the through hole 307 for cleaning. drying.

Of course, the through holes 307 can also be directly arranged adjacent to the cleaning tank 301 in a reasonable manner, and after the cleaning of the mopping roller brush 130 is completed, drying/blowing treatment can be performed directly on it.

In one embodiment, the through hole 307 and the cleaning slot 301 are located at two ends of the base station main body 300 respectively, so that the cleaning robot 1 needs to clean and dry the mopping roller brush 130 in two directions.

Specifically, the cleaning robot 1 can retreat a certain distance to be opposite to the through hole 307 , or after the cleaning robot 1 leaves the base station, the cleaning robot 1 can pile up in the opposite direction, so that the mopping roller brush 130 is opposite to the through hole 307 . As shown in FIG. 1 to FIG. 3 , the first end of the cleaning robot 1 enters the interior of the base station 2 to clean the mopping roller brush 130 . As shown in FIG. 4 and FIG. 5 , the second end of the cleaning robot 1 opposite to the first end enters the interior of the base station 2 , thereby drying the mopping roller brush 130 .

In one embodiment, the drying mechanism 350 may employ a fan. For example, the drying mechanism 350 may be an exhaust fan.

It should be noted that, in one embodiment, the base station may only include the drying mechanism 350 and the first charging contact pole piece 360, that is, the base station cannot clean the mopping roller brush 130 of the cleaning robot 1, but can be used for drying mopping The ground roller brush 130 can charge the cleaning robot 1 . For the specific structures of the drying mechanism 350 and the first charging contact pole piece 360, reference may be made to the above-mentioned embodiments.

In one embodiment, as shown in FIG. 7 , the base station main body 300 includes a guide bottom surface 308 , an anti-skid protrusion 3081 is provided on the guide bottom surface 308 , and the cleaning robot 1 moves to the guide bottom surface 308 along the anti-skid protrusion 3081 . The 3081 can generate a certain frictional force with the cleaning robot 1 to ensure that the cleaning robot 1 moves to the base station 2 reliably, and can assist the positioning of the cleaning robot 1 during the cleaning process.

In one embodiment, the cleaning tank 301 is provided on the guide bottom surface 308 and is spaced from the anti-skid protrusions 3081 , so that after the cleaning robot 1 moves on the guide bottom surface 308 for a certain distance, the mopping roller brush 130 and the cleaning tank 301 can be removed. Relatively set, so as to carry out the subsequent cleaning process.

It should be noted that the anti-skid structures formed by the anti-skid protrusions 3081 correspond to the traveling wheel assemblies 205 of the cleaning robot 1 . When there are two traveling wheel assemblies 205 , there are also two anti-slip structures. The anti-slip structure intersects with the drying channel mechanism formed by the plurality of through holes 307 , and the guiding bottom surface 308 has a certain inclination angle, so as to facilitate the cleaning robot 1 to move to the guiding bottom surface 308 .

In one embodiment, the base station further includes: a first charging contact pole piece 360, the first charging contact pole piece 360 is disposed on the base station main body 300, and is used for electrical connection with the second charging contact pole piece 210 of the cleaning robot 1, thereby The charging of the cleaning robot 1 is realized.

In one embodiment, as shown in FIG. 12 , the base station body 300 further includes a guide side surface 309 , the first charging contact pole piece 360 is arranged on the guide side surface 309 , and the second charging contact pole piece 210 is arranged on the side of the cleaning robot 1 surface, so that the first charging contact pole piece 360 can be electrically connected with the second charging contact pole piece 210 .

Specifically, the first charging contact pole piece 360 is located above the cleaning tank 301, that is, the cleaning tank 301 is located on the guide bottom surface 308, and the first charging contact pole piece 360 is located on the guide side surface 309. The contact pole piece 360 is located above the cleaning tank 301, so it is ensured that the mopping roller brush 130 at the bottom of the cleaning robot 1 is cleaned in the cleaning tank 301 that guides the bottom surface 308, and the first charging contact pole piece 360 on the side of the cleaning robot 1 is at the bottom of the cleaning robot 1. Charging takes place on the second charging contact pole piece 210 of the guide side surface 309 .

In one embodiment, the plurality of first charging contact pole pieces 360 and the plurality of second charging contact pole pieces 210 are arranged in pairs, and are respectively located on two opposite surfaces, that is, two pairs of first charging contacts The pole pieces 360 are respectively located on two opposite guide sides 309 . Of course, a plurality of pairs of the first charging contact pole piece 360 and the second charging contact pole piece 210 can be located on the same side of the base station main body 300 and the cleaning robot 1 at the same time. It is common that the two pairs of charging contact pole pieces are respectively located on the cleaning robot. 1 and the base station main body 300 side.

In one embodiment, as shown in FIG. 12 , the base station main body 300 further includes a guide side surface 309, and the base station further includes: a guide wheel 361. The guide wheel 361 is arranged on the guide side surface 309 and is used for contacting the cleaning robot 1, that is, in the When the cleaning robot 1 moves relative to the base station main body 300 , the side of the cleaning robot 1 will contact the guide wheel 361 , so as to avoid contact with the guide side surface 309 , realize positioning, and at the same time realize rolling guidance and reduce frictional resistance.

Specifically, the guide wheel 361 is located above the cleaning tank 301, that is, the cleaning tank 301 is located on the guide bottom surface 308, and the guide wheel 361 is located on the guide side surface 309. Viewed from the height direction, the guide wheel 361 is located above the cleaning tank 301. The guide wheel 361 may be a pulley.

In one embodiment, the guide wheels 361 are arranged in pairs, and the pair of two guide wheels 361 are respectively located on two opposite guide sides 309 .

In one embodiment, the guide wheel 361 and the first charging contact pole piece 360 are both located on the guide side surface 309 , and the guide wheel 361 and the first charging contact pole piece 360 are arranged at intervals.

Due to the special shape of the cleaning robot 1, it is formed into a D-shaped configuration. When the cleaning robot 1 enters the station in the way of cleaning and mopping the floor, the front part of the "one" shape is not as convenient as the circular machine when entering the base station. Therefore, the guide wheel 361 can be provided at the side entrance of the base station main body 300 to facilitate the cleaning robot 1 to adjust the direction at the initial position of the station, that is, to realize the role of the initial station guide.

In one embodiment, the base station main body 300 further includes a guide top surface 362, and the guide top surface 362 is provided with a pressing block for contacting the cleaning robot 1, so that the cleaning robot 1 is cleaning or charging on the base station 2. The pressing block can position the cleaning robot 1 .

Specifically, the pressure block is located above the cleaning tank 301 , that is, the cleaning tank 301 is located on the guide bottom surface 308 , and the pressure block is located on the guide top surface 362 . Viewed from the height direction, the pressure block is located above the cleaning tank 301 .

In one embodiment, as shown in FIG. 1 and FIG. 2 , the cleaning robot 1 cleans the mopping roller brush 130 on the base station 2 . At this time, the pressing block includes a first pressing block 363 , the first pressing block 363 and the cleaning robot 1 contact, thereby preventing the cleaning robot 1 from jumping during the cleaning process.

Specifically, referring to FIG. 12, the guide side surface 309 is provided with a deceleration detection groove 374 and a switching detection groove 373. After the wall sensor 222 of the cleaning robot 1 detects the deceleration detection groove 374, the cleaning robot 1 decelerates and continues to move, When the wall sensor 222 detects the switching detection groove 373, the first pressing block 363 contacts the cleaning robot 1, and the cleaning robot 1 stops moving. At this time, the lower part of the mopping roller brush 130 of the cleaning robot 1 is immersed in the cleaning robot 1. The first pressing block 363 prevents the cleaning robot 1 from jumping during the cleaning process, that is, the first pressing block 363 is used to limit the movement of the cleaning robot 1 vertically.

In one embodiment, there may be multiple first pressing blocks 363, and the first pressing blocks 363 may be pulleys or bumps.

In one embodiment, as shown in FIG. 4 and FIG. 5 , the cleaning robot 1 is charged on the base station 2 , or the mopping roller brush 130 is dried by the drying mechanism 350 . At this time, the pressing block includes a second pressing block 364 . The second pressing block 364 is in contact with the cleaning robot 1, so as to prevent the cleaning robot 1 from moving too much, that is, to ensure that the first charging contact pole piece 360 and the second charging contact pole piece 210 are electrically connected reliably, and the mopping roller brush 130 is in the drying mechanism. Dry under the action of 350.

In one embodiment, the second pressing block 364 is a limiting block, which is configured to protrude downward from the guiding top surface 362 of the base station 2, and can limit the continued movement of the cleaning robot 1 in a certain direction; The parts of the block 364 that cooperate with each other are a certain raised member on the cleaning robot 1, such as the laser ranging sensor 223, when the cleaning robot 1 enters the base station 2 in a certain way, and when the raised laser ranging sensor 223 is connected to the base station 2 When the second pressing block 364 on the top is in contact, the cleaning robot 1 cannot continue to move further.

In one embodiment, when the cleaning robot 1 is being charged on the base station 2, or the mopping roller brush 130 is being dried by the drying mechanism 350, or after the charging or drying is completed, the main unit can be charged on the charging pile. Remove the dust box in the state or when the charging is completed. On the contrary, when the cleaning robot 1 is cleaning on the base station 2, the dust box cannot be taken out because the setting position of the dust box on the cleaning robot 1 interferes with some components on the base station 2.

In one embodiment, the base station 2 is provided with a communication module 370 , and the communication module 370 of the base station 2 communicates with the infrared communication module 220 of the cleaning robot 1 , so that the cleaning robot 1 can obtain the status of the base station 2 and can report to the base station 2 Send instructions.

The cleaning robot according to an embodiment of the present disclosure can clean the surface to be cleaned by the mopping roller brush 130 , and the mopping roller brush 130 can realize automatic cleaning on the base station 2 .

In one embodiment, please refer to FIG. 15 to FIG. 36 , the cleaning robot includes: a main body 200 , the main body 200 includes a chassis 201 ; a sweeping roller brush 120 ; a mopping roller brush 130 ; The position is adjustable on the chassis 201, so that the sweeping roller brush 120 or the mopping roller brush 130 is in the working position.

In the cleaning robot according to an embodiment of the present disclosure, the sweeping roller brush 120 and the mopping roller brush 130 are arranged on the chassis 201 in an adjustable position, so that the sweeping roller brush 120 or the mopping roller brush 130 can be in the working position, so as to realize The use of the sweeping roller brush 120 or the mopping roller brush 130 alone avoids the large loss caused by the simultaneous cleaning of the sweeping roller brush 120 and the mopping roller brush 130, and the problem of unclean cleaning may occur.

It should be noted that the sweeping roller brush 120 and the mopping roller brush 130 are used to clean the surface to be cleaned, such as the ground. As shown in FIG. 23 and FIG. 29 , when the sweeping roller brush 120 is in contact with the surface to be cleaned, and the mopping roller brush 130 is separated from the surface to be cleaned, the position where the sweeping roller brush 120 is located is the working position; As shown in FIGS. 24 and 30 , when the sweeping roller brush 120 is separated from the surface to be cleaned and the mopping roller brush 130 is in contact with the to-be-cleaned surface, the position of the mopping roller brush 130 is the working position. The working position is a position that indicates that cleaning can be achieved, that is, the sweeping roller brush 120 or the mopping roller brush 130 of the cleaning robot can achieve cleaning of the surface to be cleaned.

It should be noted that, in the process of the cleaning robot 1 being piled up, that is, in the process of moving to the base station 2, the sweeping roller brush 120 and the mopping roller brush 130 can be set at intervals from the base station 2, that is, the sweeping roller brush 120 and the mopping None of the roller brushes 130 are in the working position, that is, in an intermediate state, which may enable the cleaning robot 1 to walk conveniently under certain special circumstances. And after the cleaning robot 1 moves in place, the mopping roller brush 130 is rotated to the working position, so that the lower part of the mopping roller brush 130 is located in the cleaning tank 301 . Alternatively, during the pile-up process of the cleaning robot 1, the sweeping roller brush 120 is in the working position, and after the cleaning robot 1 moves to the position, the mopping roller brush 130 is rotated to the working position. Alternatively, during the pile-up process of the cleaning robot 1, the sweeping roller brush 120 is in the working position for certain periods of time, but neither the sweeping roller brush 120 nor the mopping roller brush 130 is in the working position during certain periods of time, and the cleaning robot 1 moves to the right position. Afterwards, the mopping roller brush 130 is rotated to the working position. The specific pile-up states of the sweeping roller brush 120 and the mopping roller brush 130 are not limited here, as long as it is ensured that the mopping roller brush 130 can be cleaned in the cleaning tank 301 .

Although the process described in the present disclosure takes the cleaning of the mopping roller brush 130 in the cleaning tank 301 of the base station 2 as an example, it can be understood that the base station 2 of the present disclosure can also be used for cleaning the cleaning roller brush in the cleaning tank 301 120 for cleaning, optionally, the sweeping roller brush 120 and the mopping roller brush 130 may also be cleaned simultaneously in the cleaning tank 301 .

In one embodiment, both the sweeping roller brush 120 and the mopping roller brush 130 are rotatably arranged relative to the chassis 201, that is, when the sweeping roller brush 120 is in the station position, the sweeping roller brush 120 rotates to clean the surface to be cleaned, When the mopping roller brush 130 is in the station position, the mopping roller brush 130 rotates to clean the surface to be cleaned.

It should be noted that during the cleaning process of the mopping roller brush 130 on the base station 2, that is, the lower part of the mopping roller brush 130 is located in the cleaning tank 301, the mopping roller brush 130 also needs to be rotated for cleaning.

It should be noted that the centerlines of the sweeping roller brush 120 and the mopping roller brush 130 may be on the same plane.

In one embodiment, as shown in FIG. 15 and FIG. 16 , the main body 200 further includes a front crash assembly 203 , which is disposed on the front edge of the chassis 201 ; wherein, the front crash assembly 203 includes a straight plate segment, and the straight plate segment is located in the clean At the front end of the robot, the mopping roller brush 130 is closer to the straight section than the sweeping roller brush 120, that is, the mopping roller brush 130 is located at the front end of the main body 200, and the front collision assembly 203 can be a U-shaped structure, so that the entire main body is D-shaped, for details, please refer to FIG. 1 to FIG. 8 .

It should be noted that, as shown in FIG. 16 , the front collision assembly 203 is provided with a protective sensor 2031, and the protective sensor 2031 is disposed on the straight plate section of the front collision assembly 203, that is, at the front end of the cleaning robot, and the protective sensor 2031 is used for The position of the obstacle relative to the body 200 can be measured in response to the collision before hitting the obstacle. The guard sensor 2031 may be a photo-interrupting/photo-coupler sensor, a Hall-effect sensor, or the like.

When the mopping roller brush 130 is being cleaned, the front bumper assembly 203 is piled toward the base station 2 , that is, the front bumper assembly 203 is located at the innermost side of the base station 2 .

In one embodiment, as shown in FIG. 15 , the body 200 is provided with an infrared communication module 220. The infrared communication module 220 is used to realize data communication between the cleaning robot and the base station, so as to ensure that the cleaning robot can find the base station and can accurately correspond to the base station. The base station moves, thereby realizing charging through the base station and cleaning of the mopping roller brush 130 .

In one embodiment, as shown in FIG. 15 , the chassis 201 is provided with a carpet identification module 221 , and the carpet identification module 221 is disposed on the side of the chassis 201 close to the sweeping roller brush 120 or the mopping roller brush 130 . The group 221 can switch between the sweeping roller brush 120 and the mopping roller brush 130 according to the recognition situation of the carpet identification module, that is, the sweeping roller brush 120 or the mopping roller brush 130 can be placed at the station position according to the cleanliness of the surface to be cleaned. .

In one embodiment, as shown in FIG. 15 , the body 200 is provided with a sensor 222 along the wall, so as to ensure that the cleaning robot can walk reliably along the wall, and the sensor 222 along the wall can be connected with the deceleration detection grooves 374 and 374 of the base station 2 . The interaction of the switching detection grooves 373 ensures stable movement and reliable stop of the cleaning robot.

In one embodiment, the body 200 is provided with a cliff sensor. In the process of using the cleaning robot, in order to prevent the cleaning robot from falling off, for example, indoor stairs, higher steps, etc., the cliff sensor will set a boundary according to the user's setting Thus, the restricted area is defined, and when the cliff sensor detects the boundary of the restricted area (ie, the edge of the cliff), the walking wheel assembly 205 can be controlled to limit the cleaning robot from crossing the boundary of the restricted area, thereby preventing the robot from falling off the steps.

In one embodiment, there are at least two traveling wheel assemblies 205, and the cleaning robot can move through the traveling wheel assemblies 205, and the cleaning robot further includes a universal wheel 206, which can be used for steering and the like.

In one embodiment, as shown in FIG. 22 , the main body 200 is provided with a laser ranging sensor 223 (Laser Direct Structuring, LDS), that is, a laser radar, which emits laser light through high-speed rotation, and then touches the obstacle and reflects back through the laser emission. Time to judge the distance between yourself and the obstacle, so as to judge the relative position and achieve positioning.

In one embodiment, as shown in FIG. 15 , the body 200 further includes a side plate 202 , the side plate 202 is disposed on the side edge of the chassis 201 , and the cleaning robot further includes: a second charging contact pole piece 210 , a second charging contact pole piece 210 is disposed protruding from the side plate 202 so as to be in contact with the first charging contact pole piece 360 of the base station, so as to realize charging.

In one embodiment, as shown in FIG. 15 , the body 200 further includes a top cover 204 which is connected with the chassis 201 to form an integral frame of the cleaning robot, and a battery module is installed inside the body 200 through the battery cover The plate 208 encapsulates the battery module within the body 200 , wherein the battery cover plate 208 is connected to the chassis 201 .

In one embodiment, as shown in FIG. 25 and FIG. 26 , the cleaning robot further includes: a rotating assembly 110 , the sweeping roller brush 120 and the mopping roller brush 130 are both disposed on the rotating assembly 110 , and the rotating assembly 110 is disposed on the chassis 201 , so that the sweeping roller brush 120 and the mopping roller brush 130 are arranged on the chassis 201 through the rotating assembly 110; wherein the rotating assembly 110 is rotatably disposed on the chassis 201, so that the sweeping roller brush 120 and the mopping roller brush 130 The working position is switched, that is, the rotating assembly 110 can ensure that the sweeping roller brush 120 and the mopping roller brush 130 change their positions synchronously, so as to realize the position switching of the sweeping roller brush 120 and the mopping roller brush 130, and ensure the sweeping roller brush 120 or the mopping roller. The roller brush 130 is in the station position for subsequent cleaning.

It should be noted that the rotation of the rotating assembly 110 relative to the chassis 201 can be driven by a drive mechanism in the related art. For example, the drive mechanism includes a telescopic rod, and the telescopic rod is connected to the rotating assembly 110. The extension and retraction of the telescopic rod The driving of the rotating assembly 110 is realized, so that the rotating assembly 110 is rotated relative to the chassis 201 . Alternatively, the drive mechanism includes a drive shaft, which is connected to the rotating assembly 110 , so that the rotating assembly 110 can be driven through the forward rotation and reverse rotation of the driving shaft, so that the rotating assembly 110 rotates relative to the chassis 201 .

It should be noted that the rotating assembly 110 can be directly installed on the chassis 201, and the rotating assembly 110 can also be indirectly installed on the chassis 201, that is, the rotating assembly 110 can be installed on the chassis 201 through other components, but it is necessary to ensure that the rotating assembly 110 can be installed on the chassis 201. Rotate relative to the chassis 201 .

In one embodiment, at least one of the sweeping roller brush 120 and the mopping roller brush 130 is rotatably disposed relative to the rotating assembly 110 , that is, the sweeping roller brush 120 and/or the mopping roller brush 130 is rotated to achieve cleaning.

In one embodiment, as shown in FIG. 26 , the rotating assembly 110 has a first accommodating cavity and a second accommodating cavity, the sweeping roller brush 120 is arranged in the first accommodating cavity, and the mopping roller brush 130 is arranged in the second accommodating cavity , so as to ensure the stable setting of the sweeping roller brush 120 and the mopping roller brush 130 without problems such as separation.

In one embodiment, at least part of the first accommodating cavity 113 and the second accommodating cavity 114 are set independently, so as to prevent problems such as interference between the sweeping roller brush 120 and the mopping roller brush 130, and ensure that the sweeping roller brush 120 and the mopping roller Brush 130 works fine.

Specifically, the first accommodating cavity 113 and the second accommodating cavity 114 are provided independently, that is, the sweeping roller brush 120 and the mopping roller brush 130 do not affect each other, and when the sweeping roller brush 120 sweeps the floor, a large amount of dust will not enter the second accommodating cavity. 114, to prevent the mopping roller brush 130 from becoming dirty, and when the mopping roller brush 130 is a wet cleaning member, it will have a certain amount of moisture, so it can also prevent the moisture on the mopping roller brush 130 from entering the first container. inside the cavity 113 .

In one embodiment, as shown in FIG. 26 , the rotating assembly 110 includes: a floating bracket 111 , which is rotatably disposed on the chassis 201 ; a cover member 112 , which is connected to the floating bracket 111 , and the cover The plate 112 and the floating bracket 111 form a first accommodating cavity and a second accommodating cavity, which can not only ensure the relative isolation of the sweeping brush 120 and the mopping brush 130, but also ensure the stable installation of the sweeping brush 120 and the mopping brush 130 sex.

Specifically, both the sweeping roller brush 120 and the mopping roller brush 130 can be rotatably arranged on the floating bracket 111 , and both the sweeping roller brush 120 and the mopping roller brush 130 can be detachably installed on the floating bracket 111 , and the cover plate 112 and the floating bracket 111 are detachably connected, that is, the sweeping roller brush 120 and the mopping roller brush 130 can be easily replaced.

It should be noted that the center line of the sweeping roller brush 120 and the center line of the mopping roller brush 130 may be parallel.

In this embodiment, the cover member 112 is snapped, bonded or connected with the floating bracket 111 , that is, on the basis of ensuring that the cover member 112 and the floating bracket 111 are detachable, the cover member 112 is not limited Connection with the floating bracket 111 .

In one embodiment, both the sweeping roller brush 120 and the mopping roller brush 130 are non-detachably mounted on the floating bracket 111 , and the cover member 112 and the floating bracket 111 may also be non-detachably connected.

In one embodiment, as shown in FIGS. 26 and 27 , the extension direction of the first accommodating cavity 113 is parallel to the extension direction of the second accommodating cavity 114 , and the cover plate 112 is provided with anti-roll teeth 1121 , and the anti-roll teeth 1121 It is disposed toward the cavity opening of the first accommodating cavity 113 , so that large objects can be prevented from being drawn into the first accommodating cavity 113 by the sweeping roll brush 120 when the sweeping roll brush 120 is working.

Specifically, there may be a plurality of anti-roll teeth 1121, and the plurality of anti-roll teeth 1121 are arranged on the cover member 112 at intervals, that is, the plurality of anti-roll teeth 1121 are arranged in sequence along the extending direction of the first accommodating cavity 113, so as to ensure large objects The sweeping roller brush 120 will not be drawn into the first accommodating cavity 113 .

It should be noted that the anti-roll teeth 1121 extend from the cover plate 112 to the side of the sweeping roller brush 120 in an arc shape, and are formed to substantially cover the sweeping roller brush 120 .

In one embodiment, as shown in FIG. 21 and FIG. 27 , the cover member 112 is provided with a scraper 1122 , and the scraper 1122 is disposed on the side of the cover member 112 away from the second accommodating cavity 114 . The scraper 1122 can be used for Use to scrape off debris from the surface to be cleaned.

In one embodiment, as shown in FIG. 21 and FIG. 25 , the cleaning robot further includes: a vacuuming channel 160 , one end of the vacuuming channel 160 is communicated with the first accommodating cavity 113 , and the other end of the vacuuming channel 160 is connected to the body 200 Wherein, the dust suction channel 160 is a flexible part, so that when the sweeping roller brush 120 is in the working position, the dust suction channel 160 is in an open state. When the sweeping roller brush 120 is working, the dust suction channel 160 is used to form an air duct so as to absorb dust. When the mopping roller brush 130 is working, the dust suction channel 160 does not need to work, and when the rotating assembly 110 rotates, the dust suction channel 160 does not need to work. The dust suction channel 160 is deformed, and at this time, the dust suction channel 160 does not need to be used as an air duct, so it can be in a closed state.

Specifically, the two ends of the dust suction channel 160 are respectively connected to the rotating assembly 110 and the main body 200. Therefore, when the rotating assembly 110 rotates relative to the fixed bracket 100, the sweeping roller brush 120 and the mopping roller brush 130 are switched between the working positions. At this time, the dust suction channel 160, which is a flexible member, is deformed along with the rotating assembly 110, so as to ensure that the normal rotation of the rotating assembly 110 will not be hindered.

In one embodiment, when the mopping roller brush 130 is in the working position, the dust suction channel 160 may be in a closed state. Alternatively, when the mopping roller brush 130 is in the working position, the dust suction channel 160 may also be in an open state.

It should be noted that, the dust suction channel 160 may be directly connected to the main body 200 or indirectly connected to the main body 200 .

In one embodiment, the wiper bar 1122 is disposed adjacent to the dust suction channel 160, that is, the wiper bar 1122 can also make the gap between the dust suction channel 160 and the first accommodating cavity 113 on the basis of scraping the garbage on the surface to be cleaned. A better seal is formed between the two to ensure that the dust cleaned by the sweeping roller brush 120 enters the dust suction channel 160 under the action of suction.

In one embodiment, as shown in FIG. 22 , the cleaning robot further includes a power component 161 , and the wind generated by the power component 161 can suck the dust cleaned by the sweeping roller brush 120 into the dust suction channel 160 . The power component 161 may be a fan. Wherein, the power component 161 is arranged in the main body 200 .

In one embodiment, as shown in FIG. 25 and FIG. 26 , the cleaning robot further includes: a fixed bracket 100 , the rotating assembly 110 is rotatably disposed on the fixed bracket 100 , and the fixed bracket 100 is disposed on the chassis 201 , so that the rotating assembly 110 The fixed bracket 100 is disposed on the chassis 201 , and the fixed bracket 100 and the rotating assembly 110 form a modular structure, which can be integrally installed on the chassis 201 .

In one embodiment, the dust suction channel 160 can be connected with the fixed bracket 100 , that is, the dust suction channel 160 is connected with the main body 200 through the fixed bracket 100 , and the power component 161 located in the main body 200 communicates with the dust suction channel 160 .

In one embodiment, as shown in FIG. 22 , the body 200 is provided with a dust box 162 , the dust suction channel 160 is communicated with the dust box 162 , and the power component 161 is communicated with the dust box 162 , so that the dust can be collected by the dust collector. Channel 160 is drawn into dust box 162 .

In one embodiment, as shown in FIG. 25 and FIG. 26 , the cleaning robot further includes: a position adjustment mechanism 140 . The position adjustment mechanism 140 is connected with the rotating assembly 110 to drive the rotating assembly 110 to rotate.

Specifically, the position adjustment mechanism 140 is used to realize the rotation of the rotating assembly 110, that is, it can be a driving mechanism in the related art. For example, the position adjustment mechanism 140 includes a telescopic rod, and the telescopic rod is connected with the rotating assembly 110. Through the extension of the telescopic rod The out and retraction realizes the driving of the rotating assembly 110 so as to make the rotating assembly 110 rotate. Alternatively, the position adjusting mechanism 140 includes a drive shaft, and the drive shaft is connected with the rotating assembly 110 , so that the rotating assembly 110 can be driven through the forward rotation and reverse rotation of the driving shaft, thereby making the rotating assembly 110 rotate.

It should be noted that, when the rotating assembly 110 is directly rotatably connected to the chassis 201 , the position adjusting mechanism 140 can directly drive the rotating assembly 110 to rotate relative to the chassis 201 . When the rotating assembly 110 is rotatably connected to the chassis 201 through the fixing bracket 100 , the position adjusting mechanism 140 drives the rotating assembly 110 to rotate relative to the fixing bracket 100 .

It should be noted that the fixing bracket 100 is relatively fixedly connected to the chassis 201 , and the fixing bracket 100 may be detachably mounted on the chassis 201 . Alternatively, the fixing bracket 100 cannot be detached from the chassis 201 , that is, the fixing bracket 100 may constitute a part of the chassis 201 .

In one embodiment, as shown in FIGS. 31 to 36 , the position adjustment mechanism 140 includes: a connecting shaft 10 ; a turntable 20 , two ends of the connecting shaft 10 are respectively connected to the rotating assembly 110 and the turntable 20 ; The connecting shaft 10 is movably arranged on the connecting shaft 10 so as to be connected or separated from the turntable 20; The centerlines of the shafts 40 do not coincide; wherein, when the floating member 30 is connected to the turntable 20 and the floating member 30 rotates, the turntable 20 rotates relative to the fixed bracket 100 with the connecting rod shaft 40 as the axis, so that the rotating assembly 110 is relative to the fixed bracket 100. The fixed bracket 100 is rotated.

Specifically, the position adjustment mechanism 140 can make the rotating assembly 110 rotate relative to the fixed bracket 100 through the connecting shaft 10 , the turntable 20 , the floating member 30 and the connecting rod shaft 40 , and the rotating assembly 110 needs to be guaranteed to float before the rotating assembly 110 rotates relative to the fixed bracket 100 . The member 30 is connected with the turntable 20, that is, the floating member 30 needs to be moved along the connecting shaft 10 to be connected with the turntable 20, so that a certain rotation start buffer can be formed.

It should be noted that since the floating member 30 and the turntable 20 have two states of connection and separation, when the floating member 30 and the turntable 20 are in the separated state, if the floating member 30 needs to drive the rotating assembly 110 to rotate relative to the fixed bracket 100, Then it is necessary to ensure that the floating member 30 and the turntable 20 move from the separated state to the connected state. At this time, the floating member 30 rotates, so that the turntable 20 can be driven to rotate relative to the fixed bracket 100 with the connecting rod shaft 40 as the axis, while the floating member 30 and the turntable 20 can be driven to rotate relative to the fixed bracket 100. Both are connected to the connecting shaft 10 , and the connecting shaft 10 is connected with the rotating assembly 110 , so that the connecting shaft 10 can drive the rotating assembly 110 to rotate.

Considering that when the floating member 30 rotates relative to the connecting shaft 10 , the floating member 30 will drive the turntable 20 to rotate, and the turntable 20 is connected to the fixed bracket 100 through the connecting rod shaft 40 , and the center line of the connecting shaft 10 and the center of the connecting rod shaft 40 are The lines do not overlap, so under the action of the driving force of the floating member 30, the turntable 20 rotates relative to the connecting shaft 10 at the same time as the connecting rod shaft 40 is used as the axis to rotate relative to the fixed bracket 100, that is, the turntable 20 and the floating member 30 rotate at the same time. The rotation and revolution are completed, so as to realize the rotation of the rotating assembly 110 relative to the fixed bracket 100 .

It should be noted that the floating member 30 can rotate relative to the connecting shaft 10 . Of course, the floating member 30 can also be circumferentially fixed with the connecting shaft 10 , that is, the floating member 30 can drive the connecting shaft 10 to rotate relative to the rotating assembly 110 .

In one embodiment, the floating member 30 can be driven by an external driving mechanism to realize the movement relative to the connecting shaft 10. For example, the external driving mechanism can include a telescopic rod, and the telescopic rod is connected with the floating member 30. The length and retraction enable movement of the floating member 30 along the connecting shaft 10 . When the floating member 30 rotates, the external driving mechanism can rotate synchronously with the floating member 30 .

For the rotation of the floating member 30, a transmission mechanism in the related art can be used to ensure that the floating member 30 can rotate, for example, a gear transmission mechanism, a chain transmission mechanism or a belt transmission mechanism can be used, which is not limited here, as long as the transmission mechanism can drive the floating member 30. The member 30 can be rotated, and can rotate relative to the connecting rod shaft 40 simultaneously with the floating member 30 .

In one embodiment, the connecting rod shaft 40 can be directly connected to the turntable 20 , that is, no switching mechanism is required between the connecting rod shaft 40 and the turntable 20 , and it is only necessary to ensure that the center line of the connecting shaft 10 and the center line of the connecting rod shaft 40 are It is not necessary to overlap, so that the turntable 20 can be rotated relative to the fixed bracket 100 with the connecting rod shaft 40 as the axis. For example, the connecting rod shaft 40 is fixedly connected to the turntable 20, that is, the connecting rod shaft 40 is offset from the connecting shaft 10, and the connecting rod shaft 40 is rotatable relative to the fixed bracket 100, so that the floating member 30 is connected to the turntable 20, and the floating member When the 30 rotates, the turntable 20 will drive the connecting rod shaft 40 to rotate relative to the fixed bracket 100 . At this time, the turntable 20 is similar to an eccentric disk. Of course, the connecting rod shaft 40 and the turntable 20 can be rotatably connected, and the connecting rod shaft 40 is fixedly connected with the fixing bracket 100 .

In one embodiment, as shown in FIGS. 31 to 33 , the position adjustment mechanism further includes: an adapter 50 , two ends of the adapter 50 are respectively connected to the turntable 20 and the connecting rod shaft 40 , so that the connecting rod shaft 40 passes through The adapter 50 is connected with the turntable 20, so that the positional relationship between the connecting rod shaft 40 and the turntable 20 is not particularly limited, so as to ensure a reasonable layout of the components.

Specifically, referring to FIG. 31 , the adapter 50 may be a connecting plate, and the connection point between the adapter 50 and the turntable 20 is deviated from the centerline of the turntable 20 , that is, deviated from the centerline of the connecting shaft 10 .

In one embodiment, the connecting rod shaft 40 is fixedly connected to the fixing bracket 100 , and the two ends of the adapter 50 are respectively hinged to the turntable 20 and the connecting rod shaft 40 , so that when the turntable 20 rotates, the adapter 50 can be relative to the turntable 20 . and the connecting rod shaft 40 to rotate to prevent jamming.

Specifically, since the floating member 30 and the turntable 20 rotate and revolve at the same time, it is necessary to ensure that the adapter 50 will not be stuck, so both ends of the adapter 50 need to be hinged ends.

In one embodiment, as shown in FIG. 31 , the side of the turntable 20 facing the floating member 30 is provided with a first protruding portion 21 , and the side of the floating member 30 facing the turntable 20 is provided with a second protruding portion 31 . When the floating member 30 is connected to the turntable 20 , the first protruding portion 21 is in limited contact with the second protruding portion 31 , thereby ensuring that the floating member 30 can drive the turntable 20 to rotate.

Specifically, there may be multiple first protruding portions 21 , the multiple first protruding portions 21 are arranged at intervals along the circumferential direction of the floating member 30 , and there are also multiple second protruding portions 31 . The raised portions 31 are arranged at intervals along the circumferential direction of the turntable 20 . When the floating member 30 is connected to the turntable 20 , the first raised portions 21 and the second raised portions 31 may be staggered to form a relative fixed relationship. Alternatively, a groove is formed on one of the first protruding portion 21 and the second protruding portion 31 , and the other is inserted into the groove to form a relative fixed relationship. The limiting connection relationship between the first protruding portion 21 and the second protruding portion 31 is not limited, as long as it is ensured that the limiting can be achieved and the separation can be achieved. In this embodiment, the plurality of first protrusions 21 may form a helical external gear with the turntable 20 , and the plurality of second protrusions 31 may form a helical internal gear with the floating member 30 , or a plurality of first protrusions The portion 21 may form a helical internal gear with the turntable 20, and the plurality of second protruding portions 31 may form a helical external gear with the floating member 30, and the helical external gear meshes with the helical internal gear.

In one embodiment, the floating member 30 is rotatably arranged in both the first direction and the second direction; wherein, when the floating member 30 rotates in the first direction, the floating member 30 moves to connect with the turntable 20 and rotates The assembly 110 is rotated relative to the fixed bracket 100 by a preset angle, and the mopping roller brush 130 is in the working position; when the floating member 30 rotates in the second direction, the floating member 30 moves to be separated from the turntable 20, and the sweeping roller brush 120 is in the working position. .

Specifically, when the floating member 30 rotates in the first direction, the floating member 30 moves in a direction close to the turntable 20 and moves to connect with the turntable 20, as shown in FIG. Therefore, the turntable 20 is driven to rotate, so that the rotating assembly 110 rotates from the first position to the second position relative to the fixed bracket 100 , the mopping roller brush 130 is switched from the non-working position to the working position, and the sweeping roller brush 120 Switch from the station position to the non-station position. When the floating member 30 rotates in the second direction, the floating member 30 will drive the turntable 20 to rotate, and make the rotating assembly 110 rotate relative to the fixed bracket 100 from the second position to the first position, and the floating member 30 will be in contact with the turntable 20 . Separation, as shown in FIG. 21 , enables the sweeping roller brush 120 to switch from the non-working position to the working position, and the mopping roller brush 130 to switch from the working position to the non-working position.

In one embodiment, as shown in FIGS. 34 to 36 , the position adjustment mechanism 140 further includes: a blocking rod 70 , the blocking rod 70 is arranged on the fixed bracket 100 , and a gap 71 is provided on the blocking rod 70 ; 30 rotates in the first direction, and makes the rotating assembly 110 rotate relative to the fixed bracket 100 by a preset angle, the connecting shaft 10 is clamped in the notch 71; when the floating member 30 rotates in the second direction, the connecting shaft 10 is released from the notch After 71 , the floating member 30 is moved to be separated from the turntable 20 , and in some extreme cases, the floating member 30 is moved to be separated from the turntable 20 and is in limited contact with the blocking rod 70 .

Specifically, when the floating member 30 drives the turntable 20 to rotate, the connecting shaft 10 rotates along with it, so the end of the notch 71 enters the notch 71 until it contacts the bottom surface of the notch 71 in a limited position, at which time the connecting shaft 10 cannot continue. Therefore, the relative relationship between the rotating assembly 110 and the fixed bracket 100 is determined, that is, the rotating assembly 110 rotates from the first position to the second position, and the floating member 30 stops rotating in the first direction. When the floating member 30 rotates in the second direction, the connecting shaft 10 is gradually separated from the notch 71, and during this process, the floating member 30 can move along the connecting shaft 10, and the rotating assembly 110 rotates from the second position to the first position After the position, the floating member 30 still rotates in the second direction, and the floating member 30 is separated from the turntable 20 until the floating member 30 contacts the end face of the blocking rod 70 in a limited manner, then the floating member 30 stops moving along the connecting shaft 10, but Can still be turned.

It should be noted that when the rotating assembly 110 is rotated from the first position to the second position, that is, the mopping roller brush 130 is switched from the non-working position to the working position, the position can be determined by the sensor 72 at this time, so as to effectively control The rotation of the floating member 30 is stopped, that is, the rotation of the mopping roller brush 130 to the station position is controlled by the sensor 72 . After the rotating assembly 110 is rotated from the second position to the first position, since the floating member 30 has been separated from the turntable 20 , the rotating assembly 110 will not continue to rotate relative to the fixed bracket 100 . Wherein, the sensor 72 may be a position switch assembly, for example, an optocoupler switch, or a distance measuring sensor. In some embodiments, the rotating assembly 110 is provided with a buffer pad 116 , and the buffer pad 116 is disposed opposite to the sensor 72 , so as to prevent the sensor 72 from being hard contacted after the sensor 72 is rotated in place, so as to play a protective role. When the rotating assembly 110 is rotated from the second position to the first position, that is, the sweeping member 120 is switched from the non-working position to the working position, at this time, the sweeping roller brush 120 can rely on the counterweight on the floating bracket 111 and the ground pressing block assembly After the tension spring of 115 touches the ground, start sweeping.

In one embodiment, as shown in FIGS. 31 and 32 , the position adjustment mechanism 140 includes a first drive assembly 80 and a second drive assembly 60 , the first drive assembly 80 is connected to the mopping roller brush 130 , and the mopping roller brush is When 130 is at the working position, the first driving assembly 80 drives the mopping roller brush 130 to work. The second driving assembly 60 is connected with the sweeping roller brush 120 , and when the sweeping roller brush 120 is in the working position, the second driving assembly 60 drives the sweeping roller brush 120 to work.

In one embodiment, as shown in FIG. 31 , the position adjustment mechanism 140 includes: a second drive assembly 60 , the second drive assembly 60 is connected with the floating member 30 to drive the floating member 30 to rotate and move along the link shaft 40 at the same time ; Wherein, the second drive assembly 60 rotates relative to the fixed bracket 100 synchronously with the turntable 20, that is, the second drive assembly 60 can maintain the connection relationship with the floating member 30, thereby ensuring power transmission.

It should be noted that the floating member 30 can move relative to the connecting shaft 10 while rotating, that is, the second driving assembly 60 needs to provide the floating member 30 with an axial direction force and a circumferential direction force at the same time. It is not excluded here that the second driving assembly 60 includes two sets of relatively independent driving mechanisms, which respectively provide forces in two directions to the floating member 30 .

In one embodiment, as shown in FIG. 33 , the floating member 30 includes a first helical gear segment 32 , and the second driving assembly 60 includes: a first transmission gear 61 , the first transmission gear 61 includes a second helical gear segment 611 , and the second drive assembly 60 includes a first transmission gear 61 . The two helical gear segments 611 mesh with the first helical gear segment 32 to drive the floating member 30 to rotate; wherein, the floating member 30 can be moved relative to the axial direction of the second helical gear segment 611 .

Specifically, the second helical gear segment 611 and the first helical gear segment 32 belong to helical gear cooperation, so that when the second helical gear segment 611 rotates, the second helical gear segment 611 can provide the first helical gear segment 32 with two The directional force ensures that the first helical gear segment 32 rotates and moves synchronously, so that the floating member 30 is connected to the turntable 20 . After the floating member 30 is connected to the turntable 20, due to the limitation of the turntable 20, the floating member 30 will not continue to move along the connecting shaft 10, but still rotate under the driving of the second helical gear segment 611, thereby driving the turntable 20 to rotate.

In one embodiment, as shown in FIG. 32 and FIG. 33 , the second drive assembly 60 further includes: a second transmission gear 62 meshing with the first transmission gear 61 ; a first power source 63 , the first A power source 63 is connected with the second transmission gear 62 to drive the second transmission gear 62 to rotate.

Specifically, the first power source 63 may be a motor, and the first transmission gear 61 is driven to rotate by driving the second transmission gear 62 to rotate, thereby transmitting the power to the floating member 30 through the first transmission gear 61 . In this embodiment, the first power source 63 can be a motor, and the motor can realize forward rotation and reverse rotation.

In one embodiment, the first power source 63 can also be directly connected with the first transmission gear 61 to drive the first transmission gear 61 to rotate. Alternatively, other transmission gears may be provided between the first power source 63 and the second transmission gear 62 to meet the requirements of the transmission ratio.

In one embodiment, as shown in FIGS. 32 and 33 , the floating member 30 further includes an output gear segment 33 , and the second drive assembly 60 further includes: a first output gear 64 , which is used to connect the sweeping roller brush 120 , the output gear segment 33 meshes with the first output gear 64 to drive the first output gear 64 to rotate; wherein, the floating member 30 can be arranged to move relative to the axis of the first output gear 64 .

Specifically, the floating member 30 can be used to drive the turntable 20 to rotate, that is, to realize the rotation of the rotating assembly 110 relative to the fixed bracket 100, and the floating member 30 can also be used to drive the sweeping roller brush 120 to work when it rotates, that is, one power member realizes two This function can reduce the settings of power components to a certain extent.

It should be noted that, after the floating member 30 is connected to the turntable 20, the rotation of the floating member 30 will cause the rotating assembly 110 to rotate relative to the fixed bracket 100. Therefore, after the floating member 30 is connected to the turntable 20, the rotation of the floating member 30 can also drive the rotation of the floating member 30. Sweeping roller 120 works. After the floating member 30 is separated from the turntable 20, the rotation of the floating member 30 can also drive the sweeping roller brush 120 to work, that is, the floating member 30 can rotate in two directions.

It should be noted that, since the floating member 30 can move relative to the connecting shaft 10, the floating member 30 can move relative to the first transmission gear 61 and the first output gear 64 meshing with it, but the moving distance has a fixed value, Therefore, it is ensured that the floating member 30 and the first transmission gear 61 are in a state of constant meshing, and the floating member 30 and the first output gear 64 are also in a state of constant meshing.

In one embodiment, the floating member 30 includes a first helical gear segment 32 and an output gear segment 33, the second driving assembly 60 includes: a first transmission gear 61, the first transmission gear 61 includes a second helical gear segment 611, a second The helical gear segment 611 meshes with the first helical gear segment 32 to drive the floating member 30 to rotate; the first output gear 64 is connected to the sweeping roller brush 120 , and the output gear segment 33 meshes with the first output gear 64 , so as to drive the first output gear 64 to rotate; wherein, the floating member 30 is movably arranged along the second helical gear segment 611 and the first output gear 64 . The floating member 30 drives the rotating assembly 110 to rotate relative to the fixed bracket 100 through the turntable 20, so that the sweeping roller brush 120 and the mopping roller brush 130 are switched between the working positions, and when the sweeping roller brush 120 is at the working position, the floating member 30 also The sweeping roller brush 120 can be driven to work through the first output gear 64 .

In one embodiment, when the floating member 30 rotates in the second direction, the floating member 30 drives the sweeping roller brush 120 to work, and the position adjustment mechanism 140 further includes: a first driving assembly 80 , the first driving assembly 80 and the mopping roller brush 130 is connected to drive the mopping roller brush 130 to work, that is, after the mopping roller brush 130 is switched to the working position, the first driving assembly 80 can drive the mopping roller brush 130 to work.

In one embodiment, as shown in FIG. 34 , the position adjustment mechanism 140 further includes: a housing part 90 , the housing part 90 is connected with the rotating assembly 110 , and the connecting shaft 10 is connected with the housing part 90 , so that the connecting shaft 10 is connected with the rotating assembly 110 through the housing member 90, and the first driving member 80 is arranged on the housing member 90; wherein, after the connecting shaft 10 is clamped in the notch 71, the floating member 30 stops rotating, and the first driving member 80 The mopping roller brush 130 is driven to work, and after the floating member 30 is in limited contact with the blocking rod 70, the floating member 30 can rotate in the second direction.

Specifically, when the floating member 30 rotates in the first direction, the floating member 30 is used to drive the rotating assembly 110 to rotate relative to the fixed bracket 100 , that is, the rotating assembly 110 moves from the first position to the second position. When the floating member 30 rotates in the second direction, after the floating member 30 drives the rotating assembly 110 to move from the second position to the first position, the floating member 30 is mainly used to drive the sweeping roller brush 120 to work. In this embodiment, when the rotating assembly 110 is in the first position, the sweeping roller brush 120 is in the working position, that is, the floating member 30 rotates in the second direction to realize the operation of the sweeping roller brush 120 . After the rotating assembly 110 is in the second position, the mopping roller brush 130 is in the working position, and the first driving assembly 80 drives the mopping roller brush 130 to work.

In one embodiment, the position adjustment mechanism includes a first drive assembly 80 and a second drive assembly 60 . The second drive assembly 60 realizes the rotation of the rotating assembly 110 relative to the fixed bracket 100 and can be used to drive the sweeping roller brush 120 to work. The first driving assembly 80 is used for driving the mopping roller brush 130 to work. Both the first drive assembly 80 and the second drive assembly 60 are arranged on the housing part 90 .

Specifically, with reference to FIGS. 31 to 33 , the first transmission gear 61 consists of a second helical gear segment 611 and a transmission gear segment 612 , the floating member 30 consists of a first helical gear segment 32 and an output gear segment 33 , and the second transmission gear 62 meshes with the transmission gear segment 612 to realize the rotation of the first transmission gear 61, while the second helical gear segment 611 meshes with the first helical gear segment 32 for driving the movement and rotation of the floating member 30, and the output gear segment 33 meshes with the first output gear 64, thereby driving the sweeping roller brush 120 to work through the first output gear 64.

It should be noted that, a plurality of output gears may be included between the first output gear 64 and the sweeping roller brush 120, that is, the transmission ratio requirement is satisfied. In this embodiment, the first output gear 64 is meshed with the second output gear 65, the second output gear 65 is meshed with the third output gear 66, and the third output gear 66 is meshed with the fourth output gear 67. The four output gears 67 are connected with the sweeping roller brush 120 so as to drive the sweeping roller brush 120 to rotate.

In one embodiment, the first drive assembly 80 includes a second power source 85, the second power source 85 is drivingly connected with the first gear 81, thereby driving the first gear 81 to rotate, and the first gear 81 can be used to drive the mopping roller The brush 130 works, and a plurality of gears may be arranged between the first gear 81 and the mopping roller brush 130 to satisfy the transmission ratio. In this embodiment, the first gear 81 meshes with the second gear 82, the second gear 82 meshes with the third gear 83, the third gear 83 meshes with the fourth gear 84, and the fourth gear 84 meshes with the mopping floor The roller brushes 130 are connected to drive the mopping roller brushes 130 to rotate. Wherein, the second power source 85 may be a motor. In this embodiment, the second power source 85 may be a motor, and the motor realizes forward rotation and reverse rotation.

In one embodiment, the rotating assembly 110 is rotatably mounted on the chassis 201, that is, the rotating assembly 110 is connected to the chassis 201 through the fixing bracket 100 relative to the above-mentioned rotating assembly 110. The rotating assembly 110 in this embodiment is directly rotatably installed on the chassis At 201 , the cleaning robot further includes: a rotation driving mechanism, and the rotation driving mechanism is connected with the rotation component 110 to drive the rotation component 110 to rotate.

It should be noted that, in this embodiment, the structure of the rotational drive mechanism can be similar to the above-mentioned position adjustment mechanism 140, the difference is that the components connected with the position adjustment mechanism 140 and the fixing bracket 100 need to be connected with the main body 200 at this time, For example, it can be directly connected to the chassis 201 .

Specifically, the connecting rod shaft 40 is connected with the main body 200 , the blocking rod 70 is connected with the main body 200 , and other structures of the position adjustment mechanism 140 can refer to the above-mentioned specific embodiments, which will not be repeated here, as long as the position adjustment mechanism 140 can be guaranteed to be able to The rotating assembly 110 is driven to rotate and can be used to drive the sweeping roller brush 120 and the mopping roller brush 130 respectively. The specific structure and arrangement can be adjusted according to actual needs, which are not limited here.

In one embodiment, the sweeping roller brushes 120 and the mopping roller brushes 130 are arranged in sequence along the advancing direction of the cleaning robot, that is, the mopping roller brushes 130 are in front and the sweeping roller brushes 120 are behind.

In one embodiment, as shown in FIG. 25 , the cleaning robot further includes: a side brush assembly 150 , the side brush assembly 150 is disposed on the chassis 201 , and when the sweeping roller brush 120 is at the working position, the side brush assembly 150 is also working Therefore, the side brush assembly 150 can be used to move the dust other than the sweeping roller brush 120 into the area of the sweeping roller brush 120 to ensure the cleaning range.

Specifically, the side brush assembly 150 is located on one side of the sweeping roller brush 120 , that is, the side brush assembly 150 and the sweeping roller brush 120 occupy the first area of the rotating assembly 110 , while the mopping roller brush 130 occupies the second area of the rotating assembly 110 , Through the rotation of the rotating assembly 110 relative to the fixed bracket 100, the first area and the surface to be cleaned are disposed opposite to each other, that is, the side brush assembly 150 and the sweeping roller brush 120 are in working positions, which can be used for cleaning the surface to be cleaned. When the second area is opposite to the surface to be cleaned, that is, the mopping roller brush 130 is in the working position, it can be used for mopping the surface to be cleaned.

In one embodiment, the side brush assembly 150 includes a separate driving mechanism, and the brush is driven to rotate by the driving mechanism, so as to realize cleaning. The drive mechanism includes a motor.

In one embodiment, as shown in FIG. 25 , the cleaning robot further includes: a side brush hair removal mechanism 151, the side brush hair removal mechanism 151 is rotatably disposed on the rotating assembly 110, and the side brush hair removal mechanism 151 is used for fixing the side brush The brush assembly 150 has substantially the same annular member as the side brush assembly 150, and the side brush bristle brushing mechanism 151 can be rotated out of the plane relative to the rotating assembly 110, during the process, the bristles of the side brush assembly 150 can be moved along the Pull up parallel to the axis of the side brush assembly 150; the purpose of this is so that the cover member 112 will not interfere with the side brush bristles during the closing process after opening the cover member 112 to press the side brush bristles into the cover member 112. When the cover member 112 is closed, the cover member 112 will timely touch the interference protrusion on the top of the annular member on the side brush tufting mechanism 151, and further press the interference protrusion when the cover member 112 is closed, thereby driving the side brush. The brush tufting mechanism 151 moves along its axis of rotation on the plane where the rotating assembly 110 is located. During this process, the side brush tufting mechanism 151 further releases the interference of the side brush bristles. When the cover member 112 is closed and locked, the side brush bristle mechanism 151 is also fully engaged with the rotating assembly 110, and the cover member 112 will not press the side brush bristles.

The present disclosure also provides an embodiment, between the fixed bracket 100 and the floating bracket 111, a tension spring and a grounding pressure block assembly 115 for installing the tension spring are provided, the grounding pressure block assembly 115 includes a tension spring bracket, and one end of the tension spring bracket is fixed on the On the fixed bracket 100, the tension spring is sleeved into the tension spring bracket from the other end; the floating bracket 111 is provided with a tension spring bracket sleeve, and the tension spring can provide a reverse force to the floating bracket 111, so that the The cleaning assemblies (ie, the sweeping roller 120 and the mopping roller 130) can be pressed against the cleaning surface. By arranging the ground pressing block assembly 115, the mass of the floating bracket 111 can be significantly reduced, and the binding force of the cleaning assembly and the cleaning surface is not affected. Other embodiments of the present disclosure will readily suggest themselves to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common general knowledge or techniques in the technical field not disclosed by this disclosure . The specification and example embodiments are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (27)

1. A base station for washing a cleaning mechanism of a cleaning robot, the base station comprising:

a cleaning tank (301), the cleaning tank (301) being configured to receive and clean at least a portion of the cleaning mechanism, the cleaning tank (301) including a first end and a second end, a direction of a line between the first end and the second end being substantially parallel to an extension direction of the cleaning mechanism.

2. The base station according to claim 1, characterized in that a washing liquid for washing the cleaning means flows out of the washing tank (301) through the second end, the base station further comprising a first filter part (316), the second end being arranged close to the first filter part (316).

3. The base station according to claim 1, characterized in that a washing blade (302) is arranged in the washing tank (301), said washing blade (302) being adapted to press the cleaning means.

4. A base station according to claim 3, characterized in that the cleaning blade (302) comprises a plurality of protrusions (303), the plurality of protrusions (303) being arranged at intervals.

5. The base station according to claim 4, characterized in that the rinsing blade (302) further comprises a connection plate (3021), the connection plate (3021) being provided on a bottom wall of the rinsing bath (301) and extending in an extension direction of the rinsing bath (301);

wherein a plurality of the projections (303) are provided at intervals on the connecting plate (3021).

6. The base station of claim 1, wherein the base station further comprises:

the first pump body (320), the first pump body (320) is communicated with the cleaning tank (301), and the first pump body (320) is used for feeding cleaning liquid into the cleaning tank (301);

the second pump body (330), the second pump body (330) with washing tank (301) are linked together, the second pump body (330) is used for taking away the washing liquid in washing tank (301).

7. The base station according to claim 6, characterized in that said first pump body (320) and said second pump body (330) are able to operate simultaneously, said first pump body (320) injecting a washing liquid into said washing tank (301), said second pump body (330) pumping said washing liquid out of said washing tank (301).

8. The base station according to claim 7, characterized in that said first pump (320) is deactivated and only said second pump (330) is activated to evacuate the cleaning liquid from said cleaning tank (301).

9. The base station of claim 6, wherein the base station further comprises:

a liquid level detection assembly (310), the liquid level detection assembly (310) being for detecting a liquid level of a cleaning liquid within the cleaning tank (301).

10. The base station of claim 9, wherein the liquid level detection component (310) comprises:

a signal transmitting section (311);

a signal receiving section, the signal transmitting section (311) being disposed opposite to the signal receiving section;

a support section (312);

a link (313), the link (313) being rotatably provided on the support portion (312);

the first floating part (314) is arranged at one end of the connecting rod (313) and is positioned in the cleaning tank (301), and the connecting rod (313) is driven to rotate relative to the supporting part (312) by the first floating part (314) under the action of the cleaning liquid;

the shielding part (315) is arranged at the other end of the connecting rod (313), is positioned between the signal transmitting part (311) and the signal receiving part, and is used for disconnecting the signal connection state of the signal transmitting part (311) and the signal receiving part;

when the signal transmitting part (311) and the signal receiving part are in the signal connection state, the first pump body (320) can send cleaning liquid into the cleaning tank (301).

11. The base station according to claim 6, further comprising a water chute (304), wherein the water chute (304) is located at one side of the cleaning tank (301) and is communicated with the cleaning tank (301) so that the cleaning liquid can flow back to the cleaning tank (301) after entering the water chute (304).

12. The base station according to claim 6 or 11, further comprising a sub-water tank (305), wherein the sub-water tank (305) is located at the other side of the cleaning tank (301) and is provided independently from the cleaning tank (301);

wherein the second pump body (330) is in communication with the secondary tank (305) so that the second pump body (330) can draw off the washing liquid after the washing liquid enters the secondary tank (305).

13. The base station according to claim 12, characterized in that a sealing strip (306) is arranged between the auxiliary tank (305) and the cleaning tank (301) to prevent cleaning liquid in the cleaning tank (301) from entering the auxiliary tank (305).

14. The base station of claim 12, wherein the auxiliary water tank (305) is provided with a liquid outlet (3051), the liquid outlet (3051) is communicated with the second pump body (330), and the base station further comprises:

a second floating unit (340), wherein the second floating unit (340) is disposed in the auxiliary water tank (305) and shields the liquid outlet (3051);

wherein, when the auxiliary water tank (305) contains a cleaning liquid, the second float section (340) floats up to communicate the second pump body (330) with the auxiliary water tank (305).

15. The base station of claim 1, wherein the base station further comprises:

a drying mechanism (350), the drying mechanism (350) is used for drying the cleaning mechanism.

16. The base station according to claim 15, further comprising a through hole (307), wherein the through hole (307) is spaced apart from the cleaning tank (301), and wherein the drying mechanism (350) dries the cleaning mechanism through the through hole (307).

17. The base station of claim 15, wherein the drying mechanism (350) and the cleaning tank (301) are located at two ends of the base station, respectively.

18. The base station according to claim 1, further comprising a guide bottom surface (308), wherein a non-slip protrusion (3081) is disposed on the guide bottom surface (308), and the cleaning robot moves along the non-slip protrusion (3081) onto the guide bottom surface (308);

the cleaning groove (301) is arranged on the guide bottom surface (308) and is arranged at intervals with the anti-skid protrusions (3081).

19. The base station of claim 1, wherein the base station further comprises:

a first charging contact pad (360), the first charging contact pad (360) being adapted to be electrically connected to a second charging contact pad (210) of the cleaning robot.

20. The base station according to claim 19, characterized in that it further comprises a guiding side (309), said first charging contact pole piece (360) being arranged on said guiding side (309);

the first charging contact pole piece (360) is located above the cleaning tank (301).

21. The base station according to claim 1, characterized in that the base station further comprises a guide side (309), the base station further comprising:

a guide wheel (361), the guide wheel (361) being provided on the guide side (309) for contacting the cleaning robot;

wherein the guide wheel (361) is positioned above the cleaning tank (301).

22. The base station according to claim 1, further comprising a guide top surface (362), wherein a press block for contacting the cleaning robot is disposed on the guide top surface (362);

wherein the pressing block is positioned above the cleaning tank (301).

23. A base station for washing a cleaning mechanism of a cleaning robot, the base station comprising:

a cleaning tank (301), the cleaning tank (301) being configured to receive and clean at least a portion of the cleaning mechanism;

the sewage tank (380) is communicated with the cleaning tank (301), a liquid inlet (3012) is formed in the sewage tank (380), and cleaning liquid entering the sewage tank (380) from the liquid inlet (3012) can impact the cleaning liquid in the sewage tank (380).

24. The base station as claimed in claim 23, wherein the gutter (380) is provided with the inlet port (3012) on its side wall.

25. The base station as claimed in claim 23 or 24, wherein the cleaning tank (301) is also provided with the liquid inlet (3012), the sewage tank (380) is provided with a liquid pumping port (3011), and the cleaning liquid in the sewage tank (380) can be discharged from the liquid pumping port (3011).

26. A cleaning robot system, comprising:

a cleaning robot (1), the cleaning robot (1) comprising a cleaning mechanism;

the base station (2), the base station (2) includes a cleaning tank (301), the cleaning tank (301) is used for accommodating and cleaning at least one part of the cleaning mechanism, the cleaning tank (301) includes a first end and a second end, and the direction of a connecting line between the first end and the second end is approximately parallel to the extending direction of the cleaning mechanism.

27. The cleaning robot system of claim 26, wherein the cleaning mechanism is at least one of a sweeping roller brush (120) and a mopping roller brush (130).

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