CN114587180A

CN114587180A - Base station and cleaning robot system

Info

Publication number: CN114587180A
Application number: CN202011458692.6A
Authority: CN
Inventors: 李行; 林翔; 段传林; 梁彬雄; 周永飞; 王晓亮; 彭松; 韩馨宇
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2022-06-07
Also published as: WO2022121424A1; EP4260787A1; US20230029165A1

Abstract

The disclosure relates to the technical field of smart homes, and provides a base station and a cleaning robot system. The base station for washing the cleaning mechanism of the cleaning robot includes a wash tank for receiving and washing at least a portion of the cleaning mechanism, the wash tank including a first end and a second end, a line between the first end and the second end being oriented substantially parallel to a direction of extension of the cleaning mechanism. By providing the cleaning tank for containing the cleaning liquid on the base station main body, the cleaning mechanism is moved to the cleaning tank at the lower part of the cleaning mechanism, and the cleaning mechanism is cleaned by 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 utility model relates to an intelligence house technical field especially relates to a basic station and cleaning machines people system.

Background

Sweeping among the relevant art drags integrative cleaning machines people, including sweeping the floor round brush and plane mop, after the plane mop finishes using, need clean it, the present stage is mostly through artifical clean, perhaps directly more renews the plane mop new, and it is extremely inconvenient to use.

Disclosure of Invention

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

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

the cleaning tank is used for accommodating at least one part of the cleaning mechanism and cleaning at least one part of the cleaning mechanism and comprises 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.

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

a cleaning tank for accommodating and cleaning at least a part of the cleaning mechanism;

the sewage tank is communicated with the cleaning tank, a liquid inlet is formed in the sewage tank, and cleaning liquid entering the sewage tank from 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 including:

a cleaning robot including a cleaning mechanism;

the base station comprises a cleaning tank, the cleaning tank is used for accommodating at least one part of the cleaning mechanism and cleaning at least one part of the cleaning mechanism, the cleaning tank comprises 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.

The base station disclosed by the disclosure is provided with the cleaning tank for containing the cleaning liquid on the base station main body, so that the cleaning mechanism is moved to the cleaning tank from the lower part of the cleaning mechanism, the cleaning mechanism is cleaned by the cleaning liquid in the cleaning tank, and the cleaning robot can realize automatic cleaning in the cleaning tank.

Drawings

Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a schematic view of a cleaning configuration from a first perspective of a cleaning robot system according to an exemplary embodiment;

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

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

FIG. 4 is a schematic view of a charging configuration from a first perspective of a cleaning robot system, according to an exemplary embodiment;

FIG. 5 is a schematic diagram of a charging configuration from a second perspective of a cleaning robot system, according to an exemplary embodiment;

FIG. 6 is a schematic diagram illustrating an exploded view of a base station, according to an example embodiment;

FIG. 7 is a block diagram illustrating a first perspective of a base station in accordance with an exemplary embodiment;

FIG. 8 is a block diagram illustrating a second perspective of a base station in accordance with an exemplary embodiment;

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

FIG. 10 is a diagram illustrating a second internal architecture of a base station in accordance with an exemplary embodiment;

FIG. 11 is a third schematic internal diagram of a base station in accordance with an exemplary embodiment;

FIG. 12 is a schematic diagram illustrating a partial structure of a base station in accordance with an example embodiment;

FIG. 13 is a schematic diagram illustrating a state configuration of a liquid level detection assembly of a base station in accordance with an exemplary embodiment;

FIG. 14 is another schematic illustration of a state of a liquid level detection assembly of a base station, according to an exemplary embodiment;

FIG. 15 is an exploded schematic view of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 16 is a schematic diagram illustrating a first perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 17 is a schematic diagram illustrating a second perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 18 is a schematic diagram illustrating a third perspective of a cleaning robot in accordance with an exemplary embodiment;

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

FIG. 20 is a schematic diagram illustrating a fifth perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 21 is a schematic diagram illustrating a sixth perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 22 is a schematic diagram illustrating an internal configuration of a cleaning robot in accordance with an exemplary embodiment;

FIG. 23 is a schematic view of a cleaning robot showing a first cleaning member in an operative position according to an exemplary embodiment;

FIG. 24 is a schematic diagram of a cleaning robot with a second cleaning member in an operative position, according to an exemplary embodiment;

FIG. 25 is a schematic diagram illustrating a first exploded view of a sweeping module of a cleaning robot in accordance with an exemplary embodiment;

FIG. 26 is a second exploded schematic view of a sweeping module of a cleaning robot, according to an exemplary embodiment;

FIG. 27 is a schematic diagram illustrating a first perspective of a sweeping module of a cleaning robot in accordance with an exemplary embodiment;

FIG. 28 is a schematic diagram illustrating a second perspective of a sweeping module of a cleaning robot in accordance with an exemplary embodiment;

fig. 29 is a schematic structural view of a sweeping roller of the sweeping and mopping module in a station position according to an exemplary embodiment;

FIG. 30 is a schematic diagram of a floor brush assembly of a cleaning robot in a position at a workstation, according to an exemplary embodiment;

fig. 31 is a schematic configuration diagram illustrating a first perspective of a position adjustment mechanism of a cleaning robot according to an exemplary embodiment;

FIG. 32 is a schematic diagram illustrating a second perspective of a position adjustment mechanism of a cleaning robot in accordance with an exemplary embodiment;

FIG. 33 is a schematic diagram illustrating a third perspective of a position adjustment mechanism of a cleaning robot in accordance with an exemplary embodiment;

FIG. 34 is an exploded schematic view of a position adjustment mechanism of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 35 is a schematic diagram illustrating a configuration in which a float of a position adjustment mechanism of a cleaning robot is separated from a turntable, according to an exemplary embodiment;

fig. 36 is a schematic structural view illustrating a structure in which a floating member of a position adjustment mechanism of a cleaning robot is coupled to a turntable, according to an exemplary embodiment.

The reference numerals are explained below:

1. a cleaning robot; 2. a base station;

300. a base station main body; 301. a cleaning tank; 3011. a liquid extraction port; 3012. a liquid inlet; 302. cleaning a scraping blade; 3021. a connecting plate; 303. a protrusion; 304. a water chute; 3041. a guide plate; 305. a secondary water tank; 3051. a liquid outlet; 306. a sealing strip; 307. a through hole; 308. a guide bottom surface; 3081. anti-skid projections; 309. a guide side surface; 310. a liquid level detection assembly; 311. a signal transmitting section; 312. a support portion; 313. a connecting rod; 314. a first floating portion; 315. a shielding portion; 316. a first filter unit; 320. a first pump body; 321. a first water tank; 330. a second pump body; 331. a second water tank; 340. a second floating portion; 341. a second filter unit; 350. a drying mechanism; 360. a first charging contact pad; 361. a guide wheel; 362. a guide top surface; 363. a first pressing block; 364. a second pressing block; 370. a communication module; 371. a first Hall module; 372. a second Hall module; 373. switching the detection groove; 374. a deceleration detection groove; 380. a sewage tank;

200. a body; 201. a chassis; 202. a side plate; 203. a front impact assembly; 2031. a protection sensor; 204. a top cover; 205. a traveling wheel assembly; 206. a universal wheel; 208. a battery cover plate; 210. charging the contact pole piece; 220. an infrared communication module; 221. a carpet identification module; 222. a wall-following sensor; 223. a laser ranging sensor;

100. fixing a bracket; 111. a floating mount; 112. a deck member; 1121. anti-rolling teeth; 1122. scraping the strips; 113. a first accommodating chamber; 114. a second accommodating chamber; 115. a landing briquette assembly; 116. a cushion pad; 110. a rotating assembly; 120. sweeping with a rolling brush; 130. a floor mopping rolling brush; 140. a position adjustment mechanism; 150. a side brush assembly; 151. a side brush hair-rolling mechanism; 160. a dust collection channel; 161. a power component; 162. a dust box;

10. a connecting shaft; 20. a turntable; 21. a first boss portion; 30. a float member; 31. a second boss portion; 32. a first helical gear section; 33. an output gear section; 40. a link shaft; 50. an adapter; 60. a second drive assembly; 61. a first drive gear; 611. a second helical gear section; 612. a transmission gear section; 62. a second transmission gear; 63. a power source; 64. a first output gear; 65. a second output gear; 66. a third output gear; 67. a fourth output gear; 70. a stop lever; 71. a notch; 72. an inductor; 80. a first drive assembly; 81. a first gear; 82. a second gear; 83. a third gear; 84. a fourth gear; 85. a second power source; 90. a housing member.

Detailed Description

Exemplary embodiments that embody features and advantages of the present disclosure are described in detail below in the specification. It is to be understood that the disclosure is capable of various modifications in various embodiments without departing from the scope of the disclosure, and that the description and drawings are to be regarded as illustrative in nature, and not as restrictive.

In the following description of various exemplary embodiments of the disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the disclosure may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "over," "between," "within," and the like may be used in this specification to describe various example features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of this disclosure.

Referring to fig. 1 to 36, a cleaning robot system according to an embodiment of the present disclosure 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 a sweeping brush roll 120 and a mopping brush roll 130.

The floor brush 130 is rotatably provided on the body 200. The base station 2 includes a base station main body 300, and a cleaning tank 301 for containing a cleaning liquid is provided on the base station main body 300. The floor brush 130 is cleaned in the cleaning bath 301.

Be provided with first contact piece 360 that charges on the basic station main part 300, be provided with the second on the body 200 and charge contact piece 210, first contact piece 360 that charges is used for being connected with the second contact piece 210 electricity that charges to make basic station 2 charge cleaning machines people 1.

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

Specifically, the cleaning robot 1 may move along the base station 2, that is, the cleaning robot 1 may perform a pile-up movement, which may be understood as that when the distance between the cleaning robot 1 and the base station 2 is less than a certain threshold value, for example, the cleaning robot 1 has reached the vicinity of the base station 2, the cleaning robot 1 may move in one direction more obviously. While the advancing direction of the pile feeding movement can be understood as: in order to clean the mopping rolling brush 130 in the cleaning tank 301, or the first charging contact pole piece 360 is in contact with the second charging contact pole piece 210, the cleaning robot 1 moves from the first position point to the second position point, and the direction from the first position point to the second position point is the advancing direction of the pile feeding motion.

In one embodiment, after the cleaning robot 1 moves the lower portion of the floor-mopping roller brush 130 into the cleaning bath 301, the floor-mopping roller brush 130 is rotated to clean the floor-mopping roller brush 130 with the cleaning liquid in the cleaning bath 301.

Specifically, the lower portion of the floor-mopping roller brush 130 moves into the cleaning tank 301, that is, a portion of the lower portion of the center line of the floor-mopping roller brush 130 is immersed in the liquid in the cleaning tank 301, and in the process that the floor-mopping roller brush 130 rotates around the center line thereof as an axis, the circumferential surface of the floor-mopping roller brush 130 is circularly stirred and cleaned until the cleaning is completed.

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

The base station of a cleaning mechanism for washing a cleaning robot of one embodiment of the present disclosure includes: the cleaning tank 301 is used for accommodating at least one part of the cleaning mechanism and cleaning at least one part of the cleaning mechanism, and the cleaning tank 301 comprises a first end and a second end, wherein 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.

By providing the washing tub 301 for containing the washing liquid on the base station main body 300, the floor drum brush 130 is rotated to wash the floor drum brush 130 using the washing liquid in the washing tub 301 while the lower portion of the floor drum brush 130 moves into the washing tub 301, that is, the washing and cleaning robot 1 can achieve automatic washing in the washing tub 301.

The first end and the second end can be understood as the left end and the right end 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 substantially parallel to the extending direction of the cleaning mechanism, that is, the length extending direction of the cleaning tank 301 is substantially consistent with the length extending direction of the floor-mopping rolling brush 130, and a certain included angle is not excluded in practical use, and the included angle range may be between 0 degree and 15 degrees, and further, the included angle range may be between 0 degree 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 filtering portion 316 at the other end, the tank bottom of the cleaning tank 301 may be inclined at a small angle and is suitable for the cleaning liquid to autonomously flow from one end to the other end by gravity without the aid of an external action, such as a pumping action of a pump at the other end or tilting of the base station body 300. This forms a nonparallel relationship between the bottom of the cleaning bath 301 and the top of the cleaning bath 301, the top of the cleaning bath 301 being substantially parallel to the central axis of the floor-mopping roller brush 130, so that the cleaning blade 302 provided in the cleaning bath 301 can effectively clean the floor-mopping roller brush 130.

It should be noted that the cleaning mechanism may be at least one of the sweeping rolling brush 120 and the mopping rolling brush 130, that is, both the sweeping rolling brush 120 and the mopping rolling brush 130 may be cleaned by the cleaning tank 301. In one embodiment, the first end and the second end are distributed in a symmetrical direction 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 for cleaning the cleaning mechanism flows into the cleaning tank 301 through a position between the first end and the second end, which is not limited herein, and can be selected according to actual requirements.

In one embodiment, the cleaning liquid used to clean the cleaning mechanism exits the cleaning tank 301 through a second end, and the base station further includes a first filter portion 316, the second end being disposed adjacent to the first filter portion 316, i.e., the cleaning liquid exiting the second end is filtered by the first filter portion 316.

In one embodiment, as shown in fig. 6 to 8, a cleaning blade 302 is disposed in the cleaning tank 301, and the cleaning blade 302 is used to press the floor brush 130, so that the sundries on the floor brush 130 can be removed in time during the rotation cleaning process of the floor brush 130.

In one embodiment, as shown in fig. 7, the cleaning blade 302 includes a plurality of protrusions 303, the plurality of protrusions 303 are spaced apart from each other, so that the floor-mopping roller 130 can be pressed by the protrusions 303, and a gap can be formed between two adjacent protrusions 303, thereby ensuring that the floor-mopping roller 130 is partially deformed.

In one embodiment, as shown in fig. 6, the cleaning blade 302 further includes a connection plate 3021, the connection plate 3021 being disposed on the bottom wall of the cleaning tank 301 and extending in the extending direction of the cleaning tank 301; wherein a plurality of projections 303 are provided at intervals on the connecting plate 3021.

Specifically, the plurality of protrusions 303 and the connection plate 3021 are integrally formed, so that the connection plate 3021 can be conveniently installed in the cleaning tank 301, and the connection plate 3021 can be detachably installed in the cleaning tank 301, thereby facilitating cleaning and replacement.

In one embodiment, the connection board 3021 may be fixedly connected to the cleaning tank 301, i.e., the connection board 3021 is not detachable with respect to the cleaning tank 301.

In one embodiment, the plurality of protrusions 303 form a plurality of rows of protrusion structures, that is, the plurality of rows of protrusion structures are spaced apart from each other in the cleaning tank 301, and the protrusions 303 of two adjacent rows of protrusion structures are staggered. In the present embodiment, the protrusion structures are two rows, and the plurality of protrusions 303 forming the two rows of protrusion structures are arranged in a staggered manner in the width direction of the cleaning tank 301, as can be seen in fig. 6 and 7.

In one embodiment, as shown in fig. 9, the base station further includes: the first pump body 320, the first pump body 320 is communicated with the cleaning tank 301, the first pump body 320 is used for sending cleaning liquid into the cleaning tank 301; the second pump body 330, the second pump body 330 is communicated with the cleaning tank 301, and the second pump body 330 is used for pumping away the cleaning liquid in the cleaning tank 301. The first pump body 320 and the second pump body 330 respectively realize feeding and extracting of the cleaning liquid, so that the cleaning liquid in the cleaning tank 301 can be timely replaced, and the cleaning effect is ensured.

Specifically, referring to fig. 9 and 10, a first water tank 321 and a second water tank 331 are provided in the base station, the first water tank 321 is used for storing clean cleaning liquid, and the second water tank 331 is used for storing cleaning liquid pumped out from the cleaning tank 301.

The first pump body 320 communicates with the first water tank 321, thereby feeding the cleaning liquid in the first water tank 321 into the cleaning tank 301. The second pump body 330 is communicated with the second water tank 331 so as to pump the cleaning liquid in the cleaning tank 301 into the second water tank 331.

In one embodiment, the first pump body 320 and the second pump body 330 can work simultaneously, the first pump body 320 sprays the cleaning liquid into the cleaning tank 301, and the second pump body 330 pumps the cleaning liquid out of the cleaning tank 301, that is, the cleaning liquid flows rapidly in the cleaning tank 301, so that the mopping roller brush 130 or the cleaning tank 301 can be cleaned rapidly.

In some embodiments, the cleaning liquid used to clean the cleaning mechanism flows into the cleaning tank 301 through a first end and the cleaning liquid flows out of the cleaning tank 301 through a second end. The first pump body 320 sprays the cleaning liquid into the cleaning tank 301 through a first end, and the second pump body 330 draws the cleaning liquid out of the cleaning tank 301 through a second end.

In one embodiment, the first pump 320 is stopped and only the second pump 330 is operated to drain the cleaning liquid in the cleaning tank 301, thereby ensuring that the cleaning tank 301 is 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, the liquid suction port 3011 and the liquid inlet port 3012 are both communicated with the cleaning tank 301, the first pump body 320 sends the cleaning liquid in the first water tank 321 into the cleaning tank 301 through the liquid inlet port 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, liquid inlet 3012 may be multiple, and multiple liquid inlets 3012 are disposed at intervals, wherein liquid inlets 3012 are disposed at both ends of cleaning tank 301, as shown in fig. 11. When the second pump body 330 pumps the cleaning liquid in the cleaning tank 301 into the second water tank 331 through the liquid pumping port 3011, the first pump body 320 may spray the cleaning liquid at a high speed through the liquid inlet 3012, for example, the cleaning liquid may be water, and agitates the water flow which descends steadily, so that the impurities in the sewage are not easy to sink, that is, the first pump body 320 and the second pump body 330 may work simultaneously. After the first pump body 320 and the second pump body 330 work simultaneously for a certain time, the second pump body 330 works independently, so that the sewage in the cleaning tank 301 is pumped out, and 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 disposed at a plurality of positions of the cleaning tank 301 in a distributed manner, and the purpose is that when the self-cleaning procedure is started, the water flows of the liquid inlets 3012 directly wash the bottom wall and the side wall of the cleaning tank, or excite the cleaning liquid stored in the cleaning tank 301 to form an irregular stirring effect, or inject the cleaning liquid into the cleaning tank 301 in an interval opening/closing manner, so as to effectively realize the cleaning of the cleaning tank 301.

In one embodiment, a sump 380 is disposed downstream of the sink 301, covered by the first filtering portion 316, and disposed below the first filtering portion with a liquid suction port 3011. After the self-cleaning mode is started, the dirt in the cleaning tank 301 is flushed into the sewage tank 380 by the water flow ejected from the liquid inlet 3012, and at this time, the residual dirt in the sewage tank cannot be completely cleaned only by the operation of the second pump body 330. Therefore, an offset liquid inlet 3012 can be arranged on the side wall of the sewage tank 380, the liquid inlet 3012 is supplied by the first pump body 320, and the direction of the liquid inlet 3012 is to excite the sewage in the sewage tank into a spiral vortex on the whole, so that the sewage in the sewage tank can be always in a vortex state in the process of liquid pumping, and the water flow caused by only pumping the liquid from the liquid pumping port 3011 at the bottom of the sewage tank 380 is prevented from flowing in one direction on the whole.

It can be understood that, in 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 spiral flow state, and meanwhile, the liquid inlet 3011 is matched with the effect of the liquid pumping port, so that the garbage in the cleaning tank 301 and the sewage tank 380 can be cleaned, and the process of manually cleaning the cleaning tank or the sewage tank is avoided.

It should be noted that the liquid inlet 3012 of the cleaning tank 301 and the liquid inlet 3012 of the waste water tank 380 both achieve a liquid inlet function, but the structures of the two are not particularly limited to be completely the same, and the liquid inlet function is not limited herein and can be adjusted accordingly according to implementation requirements.

It should be noted that the first pump body 320 may be a peristaltic pump, the first water tank 321 adds water into the cleaning tank 301 through the peristaltic pump, and when the pile on the cleaning robot is stopped and the lower portion of the floor mopping rolling brush 130 is placed into the cleaning tank 301, the peristaltic pump adds water into the cleaning tank 301 according to set parameters (including the water injection amount). The peristaltic pump can precisely control the amount of water injected, so that the amount of water injected at each time can be precisely controlled according to a setting, the floor-mopping rolling brush 130 rotates to self-clean, and the second pump body 330 pumps the sewage in the cleaning tank 301 into the second water tank 331 after the cleaning is completed. Then, the next water injection, cleaning and water pumping are performed until the floor-mopping rolling brush 130 is cleaned for a set number of times, after the last water pumping, the floor-mopping rolling brush 130 is rotated and dried when the cleaning tank 301 is free of water, and finally, the pile is removed, namely, the pile leaves the base station 2.

In one embodiment, the base station further comprises: the cleaning solution tank body is used for storing cleaning solution, the cleaning solution pump is communicated with the cleaning tank 301, and the cleaning solution pump sends the cleaning solution in the cleaning solution tank body into the cleaning tank 301 so as to be mixed with water sent by the first pump body 320. The cleaning liquid may be a detergent or the like.

In one embodiment, as shown in fig. 6 and 7, the base station further includes: liquid level detection subassembly 310, liquid level detection subassembly 310 set up on basic station main part 300 for detect the liquid level of the washing liquid in the washing tank 301, thereby can judge whether have washing liquid in the washing tank 301, and can control the volume of sending into of the washing liquid in the washing tank 301, thereby overflow scheduling problem can not appear.

Specifically, the liquid level detection assembly 310 may be in signal connection with the first pump body 320, and the liquid level detection assembly 310 detects a liquid level of the cleaning liquid in the cleaning tank 301, and when the liquid level in the cleaning tank 301 is lower than a first preset value, the first pump body 320 is configured to send the cleaning liquid into the cleaning tank 301. Alternatively, the liquid level detection assembly 310 may be in signal connection with the second pump body 330, and when the liquid level in the cleaning tank 301 is higher than a second preset value, the second pump body 330 is used for pumping out the cleaning liquid in the cleaning tank 301.

It should be noted that the liquid level detecting assembly 310 may be a liquid level detector in the related art, that is, it is sufficient to be able to detect the liquid level. The detection of the liquid level of the cleaning liquid is not particularly limited to the level of the cleaning liquid, and may be performed if it is determined whether the cleaning liquid should be supplied into the cleaning tank 301 or the second pump body 330 should be started to be drawn from the cleaning tank 301.

In one embodiment, as shown in fig. 13 and 14, the liquid level detection assembly 310 includes: a signal transmitting section 311; a signal receiving section, in which the signal transmitting section 311 is disposed opposite to the signal receiving section; a support 312, the support 312 being provided on the base station main body 300; a link 313, the link 313 being rotatably provided on the support portion 312; a first floating part 314, wherein 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 by the first floating part 314 to rotate relative to the supporting part 312 under the action of cleaning liquid; the shielding part 315 is arranged at the other end of the connecting rod 313 and is positioned between the signal transmitting part 311 and the signal receiving part, and the shielding part 315 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 signal connection, the first pump body 320 can send the cleaning liquid into the cleaning tank 301.

Specifically, as shown in fig. 13, when there is no cleaning liquid in the cleaning tank 301, that is, the first floating portion 314 is located at the bottom of the cleaning tank 301, at this time, the signal emitting portion 311 is blocked to indicate that there is no cleaning liquid in the cleaning tank 301, the first pump body 320 operates, the first floating portion 314 floats upwards, the signal between the signal emitting portion 311 and the signal receiving portion changes, that is, there is cleaning liquid in the first water tank 321, and if the signal between the signal emitting portion 311 and the signal receiving portion 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 portion 314 is located at the upper position, that is, the signal emitting portion 311 is blocked to indicate that the cleaning liquid in the cleaning tank 301 is full, and if the first floating portion 314 descends during the cleaning process of the floor brush 130, the signal between the signal emitting portion 311 and the signal receiving portion changes, and the first pump body 320 performs the appropriate replenishment of the cleaning liquid.

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

The above embodiment can be understood that when the first floating portion 314 is located at the bottom and the top, the output signal of the liquid level detecting assembly 310 is "0"; when the cleaning liquid exists in the cleaning tank 301 and the first floating portion 314 is located between the bottom portion and the top portion, the output signal of the liquid level detecting unit 310 is "1". So that the water level variation in the cleaning tank 301 can be determined by the variation of the signal and the operation of the pump. For example, when the first pump body 320 is in the working state and the signal change is 0-1-0, it indicates that the cleaning tank 301 is full of water; when the second pump body 330 is in operation, and the signal changes to 1-0, it indicates that the cleaning tank 301 is being 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 may be used to detect the amount of water in the first water tank 321, and the base station main body 300 may be further provided with a third hall module, which may be used to detect the amount of water in the second water tank 331. Illustratively, a fourth hall module may be further disposed on the base station, and is used for performing in-place detection on the first water tank 321 and the second water tank 331.

In one embodiment, as shown in fig. 7 and 8, a water guiding groove 304 is disposed on the base station main body 300, the water guiding groove 304 is located at one side of the cleaning groove 301 and is communicated with the cleaning groove 301, so that after the cleaning liquid enters the water guiding groove 304, the cleaning liquid can flow back to the cleaning groove 301, and thus the cleaning liquid can flow back to the cleaning groove 301 in time on the premise of ensuring that the cleaning liquid does not splash.

Specifically, referring to fig. 6 to 8, a guide plate 3041 is disposed on the base station main body 300, so as to separate the water guiding chute 304 and the cleaning tank 301 from each other on the base station main body 300, so that the water guiding chute 304 and the cleaning tank 301 are disposed at an interval, but it is required to ensure that the water guiding chute 304 and the cleaning tank 301 can communicate with each other.

In one embodiment, as shown in fig. 6 to 8, the base station main body 300 is provided with a sub-tank 305, the sub-tank 305 is located at the other side of the cleaning tank 301 and is independent from the cleaning tank 301, the cleaning liquid does not enter the sub-tank 305 in general, and the sub-tank 305 is a protective tank to ensure that the cleaning liquid does not affect the cleaning robot 1.

In one embodiment, the second pump 330 is in communication with the sub-tank 305 such that after the cleaning liquid enters the sub-tank 305, the second pump 330 can pump the cleaning liquid, i.e. the cleaning tank 301 is completely isolated from the sub-tank 305, thereby requiring the second pump 330 to pump the cleaning liquid into the sub-tank 305.

In one embodiment, as shown in fig. 6 and 8, a sealing bar 306 is disposed between the sub-tank 305 and the cleaning tank 301 to prevent the cleaning liquid in the cleaning tank 301 from entering the sub-tank 305, i.e., the sub-tank 305 enters the cleaning liquid only when the sealing bar 306 is damaged.

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 is communicated with the second pump body 330.

In one embodiment, 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; when the sub-tank 305 contains the cleaning liquid, the second float section 340 floats up to allow the second pump 330 to communicate with the sub-tank 305.

Specifically, when the sub-tank 305 does not receive the cleaning liquid, the second floating portion 340 blocks the liquid outlet 3051, and only when the cleaning liquid is received in the sub-tank 305, that is, the cleaning liquid needs to be pumped out, the second floating portion 340 floats, so that the cleaning liquid in the sub-tank 305 is pumped out by the second pump body 330.

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

In one embodiment, the water guide groove 304 and the sub-water groove 305 are respectively located at both sides of the cleaning groove 301, and the water guide groove 304 is closer to the front end of the cleaning robot 1 when the cleaning robot 1 performs the floor brush 130 cleaning.

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

The first filter portion 316 further includes a support for supporting the coarse filter mesh and/or the fine filter mesh.

In one embodiment, the second hall module 372 can be used for detecting the sewage tank filter screen assembly in place, the first filter part 316 is detachably installed on the base station, therefore, the user can dismantle the first filter part 316 for cleaning, because the second hall module 372 can detect whether the first filter part 316 is in place, therefore, the sewage in the cleaning tank 301 can be ensured to pass through the filtration of the first filter part 316 before being extracted, thereby avoiding the large-particle object from blocking the liquid extraction port, and even further damaging the pump body, thereby prolonging the service life of the base station, and improving the user experience.

As shown in fig. 7 and 11, a base station of a cleaning mechanism for washing a cleaning robot according to an embodiment of the present disclosure includes: a wash tank 301 and a sump 380, the wash tank 301 for receiving and washing at least a portion of the cleaning mechanism; 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 from the liquid inlet 3012 can impact the cleaning liquid in the sewage tank 380, so that the cleaning liquid in the sewage tank 380 forms a rotational flow state, and the self-cleaning effect of the cleaning tank 301 and the sewage tank 380 is improved.

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

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

In some embodiments, liquid inlet 3012 may be disposed at the bottom of sump 380, and the cleaning liquid may impact the cleaning liquid in sump 380 at high speed from the bottom of sump 380 and may form a reflex flow under the blocking action of the side wall of sump 380, thereby agitating the cleaning liquid in sump 380.

In some embodiments, the side wall of the sump 380 is provided with a liquid inlet 3012, and the cleaning liquid can impact the cleaning liquid in the sump 380 at a high speed from the side of the sump 380 and can form a reflex return flow under the blocking action of the side wall of the sump 380, so as to stir the cleaning liquid in the sump 380 and finally form a swirling flow state.

In one embodiment, sump 380 may have a plurality of fluid inlets 3012, and plurality of fluid inlets 3012 are disposed at intervals. The side wall and the bottom wall of the sewage tank 380 may be provided with liquid inlets 3012, or the side wall of the sewage tank 380 may be provided with a plurality of liquid inlets 3012, for example, the whole sewage tank 380 may be rectangular, at least two side walls of the sewage tank 380 may be provided with liquid inlets 3012, and the cleaning liquid entering from the liquid inlets 3012 may be sprayed to the side wall adjacent to the side wall, so that the cleaning liquid in the sewage tank 380 is in a swirling state.

Specifically, the liquid inlet 3012 may extend obliquely to the side wall of the sump 380, so as to ensure that the cleaning liquid entering from the liquid inlet 3012 can be sprayed onto the side wall adjacent to the liquid inlet 3012.

In one embodiment, the cleaning tank 301 is also provided with a liquid inlet 3012, the waste water tank 380 is provided with a liquid pumping port 3011, and the cleaning liquid in the waste water tank 380 can be discharged from the liquid pumping port 3011. In the self-cleaning process, the liquid inlet 3012 of the cleaning tank 301 and the liquid inlet 3012 of the sewage tank 380 are fed at high speed simultaneously, so that the liquid in the cleaning tank 301 and the sewage tank 380 is always in a spiral flow state, and the garbage in the cleaning tank 301 and the sewage tank 380 can be cleaned by matching with the action of the liquid pumping port 3011, thereby avoiding the process of manually cleaning the cleaning tank 301 or the sewage tank 380.

It should be noted that, for other matching structures for implementing self-cleaning of the cleaning tank 301 and the sewage tank 380, reference may be made to specific structures involved in the above embodiments, for example, the first pump 320, the second pump 330, the liquid level detection assembly 310, and the like, which are not described herein again.

In one embodiment, as shown in fig. 11, the base station further includes: and a drying mechanism 350, the drying mechanism 350 being disposed on the base station main body 300, the drying mechanism 350 being configured to dry/dry the floor-mopping rolling brush 130, so that after the floor-mopping rolling brush 130 is cleaned by the cleaning tank 301, drying can be performed by the drying mechanism 350.

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

Specifically, the through hole 307 is plural, and the plural through holes 307 are provided at intervals on the base station main body 300, so that the floor-mopping roller brush 130 above the through hole 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 floor rolling brush 130 of the cleaning robot 1 is cleaned, the floor rolling brush 130 needs to be separated from the cleaning tank 301 and moved to the upper side of the through hole 307 for drying.

Of course, the through hole 307 may be disposed directly adjacent to the cleaning bath 301 in a reasonable manner, and may be directly subjected to a drying/blow-drying process after the cleaning of the floor-mopping roller brush 130 is completed.

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

Specifically, the cleaning robot 1 may retreat by a certain distance to be disposed opposite to the through hole 307, or after the cleaning robot 1 leaves the base station, the cleaning robot 1 may be piled up in a reverse direction so that the floor-mopping rolling brush 130 is disposed opposite to the through hole 307. As shown in fig. 1 to 3, the first end of the cleaning robot 1 enters the inside of the base station 2, thereby performing the washing of the floor-mopping brush 130. As shown in fig. 4 and 5, a second end of the cleaning robot 1 opposite to the first end enters the inside of the base station 2, thereby performing drying of the floor-mopping 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 floor brush 130 of the cleaning robot 1, but may be used to dry the floor brush 130 and can charge the cleaning robot 1. For the specific structure of drying mechanism 350 and first charging contact pole piece 360, reference may be made to the embodiments described above.

In one embodiment, as shown in fig. 7, the base station main body 300 includes a guide bottom surface 308, a non-slip protrusion 3081 is disposed on the guide bottom surface 308, the cleaning robot 1 moves onto the guide bottom surface 308 along the non-slip protrusion 3081, and the non-slip protrusion 3081 can generate a certain friction force with the cleaning robot 1, so as to ensure that the cleaning robot 1 can reliably move onto the base station 2, and can assist the cleaning robot 1 in positioning during the cleaning process.

In one embodiment, the washing groove 301 is disposed on the guide bottom surface 308 and spaced apart from the anti-slip protrusions 3081, so that the floor-mopping roller brush 130 is disposed opposite to the washing groove 301 after the cleaning robot 1 moves a certain distance on the guide bottom surface 308, thereby performing a subsequent washing process.

Note that the anti-slip structure formed by the anti-slip protrusion 3081 corresponds to the traveling wheel assembly 205 of the cleaning robot 1, and when there are two traveling wheel assemblies 205, there are two anti-slip structures. The anti-slip structure intersects with the drying channel mechanism formed by the plurality of through holes 307, and the guide bottom surface 308 has a certain inclination angle, so that the cleaning robot 1 can move onto the guide bottom surface 308 conveniently.

In one embodiment, the base station further comprises: the first contact piece 360 that charges, the first contact piece 360 that charges set up on base station main part 300 for contact piece 210 electricity is connected with the second of cleaning robot 1 that charges, thereby realizes charging to cleaning robot 1.

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

Specifically, first charging contact pole piece 360 is located above cleaning tank 301, that is, cleaning tank 301 is located on guide bottom surface 308, and first charging contact pole piece 360 is located on guide side surface 309, and from the height direction, first charging contact pole piece 360 is located above cleaning tank 301, so that it is ensured that floor mopping rolling brush 130 at the bottom of cleaning robot 1 is cleaned in cleaning tank 301 of guide bottom surface 308, and first charging contact pole piece 360 at the side of cleaning robot 1 is charged on second charging contact pole piece 210 at guide side surface 309.

In one embodiment, the first charging contact pads 360 and the second charging contact pads 210 are disposed in pairs and located on two opposite surfaces, i.e. the two first charging contact pads 360 in pairs are located on two opposite guide side surfaces 309. Of course, the plurality of pairs of the first charging contact pads 360 and the second charging contact pads 210 may be located on the same side of the base station main body 300 and the cleaning robot 1, and it is common that the two pairs of charging contact pads are located on one side of the cleaning robot 1 and the base station main body 300, respectively.

In one embodiment, as shown in fig. 12, the base station body 300 further includes a guide side 309, and the base station further includes: and a guide wheel 361, the guide wheel 361 being provided on the guide side 309 for contacting with the cleaning robot 1, that is, when the cleaning robot 1 moves relative to the base station main body 300, the side of the cleaning robot 1 contacts with the guide wheel 361, thereby avoiding contact with the guide side 309, achieving positioning, while enabling rolling guide and reducing 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, and the guide wheel 361 is located above the cleaning tank 301 as viewed from the height direction. The guide wheel 361 may be a pulley.

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

In one embodiment, guide wheel 361 and first charging contact tab 360 are both located on guide side 309, and guide wheel 361 and first charging contact tab 360 are spaced apart.

Since the special cleaning robot 1 is formed in a D-shaped configuration due to its shape, when the cleaning robot 1 enters the base station in a cleaning mopping rolling brush manner, the front of the line shape is not convenient as a circular machine when entering the base station, and therefore, it is possible to facilitate the cleaning robot 1 to adjust the direction at the initial entrance position of the base station by providing the guide wheel 361 at the side entrance of the base station main body 300, i.e., to achieve the initial entrance guide function.

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

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

In one embodiment, as shown in fig. 1 and 2, the cleaning robot 1 performs cleaning of the mopping rolling brush 130 on the base station 2, where the pressing block includes the first pressing block 363, and the first pressing block 363 is in contact with the cleaning robot 1, thereby preventing the cleaning robot 1 from jumping during the cleaning process.

Specifically, referring to fig. 12, a deceleration detection groove 374 and a switching detection groove 373 are provided on the guide side surface 309, after the wall-following 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-following sensor 222 detects the switching detection groove 373, the first pressing block 363 contacts with the cleaning robot 1, and the cleaning robot 1 stops moving, at this time, the lower portion of the mopping rolling brush 130 of the cleaning robot 1 is immersed in the cleaning tank 301 for cleaning, and in this process, the first pressing block 363 prevents the cleaning robot 1 from jumping in the cleaning process, that is, the first pressing block 363 is used for vertically limiting the movement of the cleaning robot 1.

In one embodiment, the first pressing piece 363 may be a plurality of pieces, and the first pressing piece 363 may be a pulley or a bump.

In one embodiment, as shown in fig. 4 and 5, the cleaning robot 1 charges on the base station 2, or the mopping roller 130 dries through the drying mechanism 350, when the pressing block includes the second pressing block 364, the second pressing block 364 contacts with the cleaning robot 1, so as to prevent the cleaning robot 1 from moving excessively, that is, to ensure that the first charging contact pole piece 360 and the second charging contact pole piece 210 are reliably electrically connected, and the mopping roller 130 dries under the action of the drying mechanism 350.

In one embodiment, the second pressing piece 364 is a stopper configured to be formed to protrude downward from the guide top surface 362 of the base station 2, and is capable of restricting the cleaning robot 1 from continuing to move in a certain direction; the part cooperating with the second press block 364 is a protruding member on the cleaning robot 1, such as the laser ranging sensor 223, and when the cleaning robot 1 enters the base station 2 in a certain way and the protruding laser ranging sensor 223 abuts against the second press block 364 on the base station 2, the cleaning robot 1 cannot move further.

In one embodiment, the dust box may be taken out in a state where the main machine is charged on the charging pile or in a state where charging is completed, during the cleaning robot 1 charges on the base station 2, or the mopping rolling brush 130 dries by the drying mechanism 350, or after the charging or drying is completed. On the contrary, when the cleaning robot 1 performs cleaning on the base station 2, since the position where the dust box is disposed on the cleaning robot 1 interferes with some parts on the base station 2, the taking out of the dust box cannot be achieved.

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 acquire the state of the base station 2 and can send instructions to the base station 2.

The cleaning robot of one embodiment of the present disclosure can implement cleaning of a surface to be cleaned by the floor-mopping rolling brush 130, and the floor-mopping rolling brush 130 can implement automatic cleaning on the base station 2.

In one embodiment, referring to fig. 15 to 36, the cleaning robot includes: a body 200, the body 200 including a chassis 201; a sweeping rolling brush 120; a floor-mopping rolling brush 130; wherein the sweeping rolling brush 120 and the mopping rolling brush 130 are adjustably arranged on the chassis 201, so that the sweeping rolling brush 120 or the mopping rolling brush 130 is in the working position.

The cleaning robot according to an embodiment of the present disclosure enables the sweeping rolling brush 120 and the mopping rolling brush 130 to be adjustably disposed on the chassis 201, so that the sweeping rolling brush 120 or the mopping rolling brush 130 can be located at a working position, and thus the sweeping rolling brush 120 or the mopping rolling brush 130 can be used alone, and the problems that the sweeping rolling brush 120 and the mopping rolling brush 130 are large in loss and cannot be cleaned completely due to synchronous cleaning are avoided.

It should be noted that the sweeping and mopping rolling brushes 120 and 130 are used for cleaning a surface to be cleaned, such as a floor. As shown in fig. 23 and 29, when the sweeping rolling brush 120 is in contact with the surface to be cleaned and the mopping rolling brush 130 is separated from the surface to be cleaned, the sweeping rolling brush 120 is located at the working position; accordingly, as shown in fig. 24 and 30, when the sweeping roller brush 120 is separated from the surface to be cleaned and the floor-mopping roller brush 130 is in contact with the surface to be cleaned, the floor-mopping roller brush 130 is located at the working position. The working position is a position which characterizes that cleaning can be achieved, i.e. the sweeping brush 120 or the mopping brush 130 of the cleaning robot can achieve cleaning of the surface to be cleaned.

It should be noted that, in the process of piling up the pile, that is, moving to the base station 2, the sweeping rolling brush 120 and the mopping rolling brush 130 may be arranged at an interval with the base station 2, that is, the sweeping rolling brush 120 and the mopping rolling brush 130 are not at working positions, that is, in an intermediate state, and the intermediate state may enable the cleaning robot 1 to conveniently walk under some special situations. And after the cleaning robot 1 moves to the proper position, the floor-mopping rolling brush 130 rotates to the working position, so that the lower portion of the floor-mopping rolling brush 130 is positioned in the cleaning bath 301. Or, during the pile loading process of the cleaning robot 1, the sweeping rolling brush 120 is located at the working position, and after the cleaning robot 1 moves to the proper position, the mopping rolling brush 130 rotates to the working position. Or, in the process of loading the pile by the cleaning robot 1, the sweeping rolling brush 120 is located at the working position for some time period, while the sweeping rolling brush 120 and the mopping rolling brush 130 are not located at the working position for some time period, and after the cleaning robot 1 moves to the proper position, the mopping rolling brush 130 rotates to the working position. The specific pile-up states of the sweeping rolling brush 120 and the mopping rolling brush 130 are not limited herein, as long as the mopping rolling brush 130 can be cleaned in the cleaning tank 301.

Although the present disclosure describes the cleaning of the sweeping 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 to clean the sweeping roller brush 120 in the cleaning tank 301, and alternatively, can also clean the sweeping roller brush 120 and the sweeping roller brush 130 simultaneously in the cleaning tank 301.

In one embodiment, the sweeping roller brush 120 and the mopping roller brush 130 are both rotatably arranged with respect to the chassis 201, i.e. when the sweeping roller brush 120 is in the working position, the sweeping roller brush 120 rotates to clean the surface to be cleaned, and when the mopping roller brush 130 is in the working 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 floor brush 130 on the base station 2, i.e., the lower portion of the floor brush 130 is located in the cleaning bath 301, the floor brush 130 also needs to be rotated for cleaning.

It should be noted that the center lines 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 16, the body 200 further comprises a front impact assembly 203, the front impact assembly 203 being disposed at a front edge of the chassis 201; the front collision component 203 includes a straight section, the straight section is located at the foremost end of the cleaning robot, the floor-mopping rolling brush 130 is closer to the straight section than the floor-sweeping rolling brush 120, that is, the floor-mopping rolling brush 130 is located at the front end of the body 200, and the front collision component 203 may be a U-shaped structure, so that the body is D-shaped as a whole, and specifically, refer to fig. 1 to 8.

It should be noted that, as shown in fig. 16, a protective sensor 2031 is provided on the front impact assembly 203, the protective sensor 2031 is provided on a straight plate section of the front impact assembly 203, i.e. at the foremost end of the cleaning robot, and the protective sensor 2031 is used for responding to the front impact on an obstacle, and can be used for measuring the position of the obstacle relative to the body 200. The protection sensor 2031 may be a photo-interrupter/opto-coupler sensor, a hall effect sensor, or the like.

When the floor-mopping roller brush 130 is cleaned, the front-impact assembly 203 is staked towards the base station 2, i.e., the front-impact assembly 203 is located at the innermost side of the base station 2.

In one embodiment, as shown in fig. 15, an infrared communication module 220 is disposed on the body 200, and the infrared communication module 220 is used for implementing data communication between the cleaning robot and a base station, so as to ensure that the cleaning robot can find the base station and can accurately move relative to the base station, thereby implementing charging through the base station and cleaning of the mopping rolling brush 130.

In one embodiment, as shown in fig. 15, a carpet identification module 221 is disposed on the chassis 201, the carpet identification module 221 is disposed on a side of the chassis 201 close to the sweeping rolling brush 120 or the mopping rolling brush 130, and the carpet identification module 221 can perform conversion between the sweeping rolling brush 120 and the mopping rolling brush 130 according to the identification condition of the carpet identification module, that is, the sweeping rolling brush 120 or the mopping rolling brush 130 can be located at a working position according to the cleaning degree of the surface to be cleaned.

In one embodiment, as shown in fig. 15, the body 200 is provided with the wall sensor 222, so as to ensure that the cleaning robot can reliably walk along the wall, and the wall sensor 222 can interact with the deceleration detection groove 374 and the switching detection groove 373 of the base station 2, so as to ensure that the cleaning robot can stably move and reliably stop moving.

In one embodiment, the body 200 is provided with a cliff sensor, and in order to prevent the cleaning robot from falling down at, for example, an indoor staircase, a high step, etc., during use of the cleaning robot, the cliff sensor may set a boundary according to a user's setting to define an exclusion zone, and when the cliff sensor detects the boundary of the exclusion zone (i.e., the cliff edge), the travel wheel assembly 205 may be controlled to limit the cleaning robot from crossing the boundary of the exclusion zone, thereby preventing the robot from falling down the step.

In one embodiment, the number of the traveling wheel assemblies 205 is at least two, the movement of the cleaning robot is realized through the traveling wheel assemblies 205, and the cleaning robot further comprises a universal wheel 206, and the universal wheel 206 can be used for steering and the like.

In one embodiment, as shown in fig. 22, a Laser Direct Structuring (LDS) sensor 223(Laser Direct Structuring, Laser radar) is disposed on the body 200, and the Laser radar emits Laser light at a high speed, and determines the distance between itself and an obstacle by the time when the Laser light is reflected back by touching the obstacle after being emitted, so as to determine 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 at a side edge of the chassis 201, and the cleaning robot further includes: the second charges and contacts pole piece 210, and the protruding curb plate 202 setting of second contact pole piece 210 that charges to be used for contacting with the first contact pole piece 360 that charges of base station, charge with this realization.

In one embodiment, as shown in fig. 15, the body 200 further comprises a top cover 204, the top cover 204 is connected with the chassis 201 to form an integral frame of the cleaning robot, and the body 200 is internally provided with a battery module, the battery module is packaged in the body 200 through a battery cover plate 208, wherein the battery cover plate 208 is connected with the chassis 201.

In one embodiment, as shown in fig. 25 and 26, the cleaning robot further includes: the rotating assembly 110, the sweeping rolling brush 120 and the mopping rolling brush 130 are all arranged on the rotating assembly 110, and the rotating assembly 110 is arranged on the chassis 201, so that the sweeping rolling brush 120 and the mopping rolling brush 130 are arranged on the chassis 201 through the rotating assembly 110; the rotating assembly 110 is rotatably disposed on the chassis 201, so that the sweeping rolling brush 120 and the mopping rolling brush 130 are switched at working positions, that is, the rotating assembly 110 can ensure that the sweeping rolling brush 120 and the mopping rolling brush 130 are synchronously changed in position, thereby realizing the position switching of the sweeping rolling brush 120 and the mopping rolling brush 130, and ensuring that the sweeping rolling brush 120 or the mopping rolling brush 130 is located at a 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 driving mechanism in the related art, for example, the driving mechanism includes a telescopic rod, the telescopic rod is connected to the rotating assembly 110, and the driving of the rotating assembly 110 is realized by the extension and retraction of the telescopic rod, so that the rotating assembly 110 rotates relative to the chassis 201. Alternatively, the driving mechanism includes a driving shaft connected to the rotating assembly 110, so that the rotating assembly 110 can be driven by the forward rotation and the reverse rotation of the driving shaft, thereby rotating the rotating assembly 110 relative to the chassis 201.

It should be noted that the rotating assembly 110 may be directly mounted on the chassis 201, and the rotating assembly 110 may also be indirectly mounted on the chassis 201, that is, the rotating assembly 110 may be mounted on the chassis 201 by other components, but it is required to ensure that the rotating assembly 110 can rotate relative to the chassis 201.

In one embodiment, at least one of the sweeping drum brush 120 and the floor-mopping drum brush 130 is rotatably disposed with respect to the rotating assembly 110, i.e., the sweeping drum brush 120 and/or the floor-mopping drum brush 130 perform cleaning by rotating.

In one embodiment, as shown in fig. 26, the rotating assembly 110 has a first accommodating cavity and a second accommodating cavity, the sweeping rolling brush 120 is disposed in the first accommodating cavity, and the mopping rolling brush 130 is disposed in the second accommodating cavity, so that the sweeping rolling brush 120 and the mopping rolling brush 130 are stably disposed without separation and the like.

In one embodiment, at least a portion of the first receiving cavity 113 and the second receiving cavity 114 are independently disposed, so as to prevent the interference between the sweeping roller 120 and the mopping roller 130, and ensure the normal operation of the sweeping roller 120 and the mopping roller 130.

Specifically, the first accommodating cavity 113 and the second accommodating cavity 114 are independently arranged, that is, the sweeping rolling brush 120 and the floor mopping rolling brush 130 do not affect each other, when the sweeping rolling brush 120 sweeps the floor, dust is not likely to enter the second accommodating cavity 114 in a large amount, so that the floor mopping rolling brush 130 is prevented from being dirtied, and when the floor mopping rolling brush 130 is a wet cleaning member, certain moisture is generated in the floor mopping rolling brush 130, so that the moisture on the floor mopping rolling brush 130 is prevented from entering the first accommodating cavity 113.

In one embodiment, as shown in fig. 26, the rotating assembly 110 includes: a floating bracket 111, the floating bracket 111 being rotatably provided on the base plate 201; the cover plate member 112, the cover plate member 112 is connected with the floating support 111, and the cover plate member 112 and the floating support 111 form a first accommodating cavity and a second accommodating cavity, so that the relative isolation of the sweeping rolling brush 120 and the mopping rolling brush 130 can be ensured, and the installation stability of the sweeping rolling brush 120 and the mopping rolling brush 130 can be ensured.

Specifically, the sweeping rolling brush 120 and the mopping rolling brush 130 are both rotatably disposed on the floating bracket 111, and the sweeping rolling brush 120 and the mopping rolling brush 130 are both detachably mounted on the floating bracket 111, and the cover plate member 112 is detachably connected to the floating bracket 111, so that the sweeping rolling brush 120 and the mopping rolling brush 130 can be conveniently replaced.

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

In the present embodiment, the cover member 112 is connected to the floating bracket 111 by clipping, bonding or fastening, that is, the connection manner of the cover member 112 and the floating bracket 111 is not limited on the basis of ensuring that the cover member 112 and the floating bracket 111 are detachable.

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

In one embodiment, as shown in fig. 26 and 27, the extending direction of the first accommodating cavity 113 is parallel to the extending direction of the second accommodating cavity 114, the cover member 112 is provided with an anti-rolling tooth 1121, and the anti-rolling tooth 1121 is disposed toward the opening of the first accommodating cavity 113, so that when the sweeping roller 120 works, a large object is prevented from being rolled into the first accommodating cavity 113 by the sweeping roller 120.

Specifically, the anti-rolling teeth 1121 may be multiple, and the multiple anti-rolling teeth 1121 are disposed on the cover plate 112 at intervals, that is, the multiple anti-rolling teeth 1121 are sequentially arranged along the extending direction of the first accommodating cavity 113, so as to ensure that the large object is not rolled into the first accommodating cavity 113 by the sweeping rolling brush 120.

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

In one embodiment, as shown in fig. 21 and 27, the cover member 112 is provided with a scraping bar 1122, the scraping bar 1122 is provided on a side of the cover member 112 away from the second accommodating cavity 114, and the scraping bar 1122 can be used for scraping garbage from a surface to be cleaned.

In one embodiment, as shown in fig. 21 and 25, the cleaning robot further includes: a dust suction passage 160, one end of the dust suction passage 160 being communicated with the first receiving chamber 113, and the other end of the dust suction passage 160 being connected with the body 200; the dust suction channel 160 is a flexible member, so that when the sweeping roller brush 120 is at the working position, the dust suction channel 160 is in an open state. When the sweeping roller brush 120 works, the dust suction channel 160 is used for forming an air channel to absorb dust, and when the sweeping roller brush 130 works, the dust suction channel 160 does not need to work, and the dust suction channel 160 is deformed when the rotating assembly 110 rotates, and at this time, the dust suction channel 160 does not need to be used as an air channel, so that the dust suction channel 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 body 200, so that when the rotating assembly 110 rotates relative to the fixed bracket 100, that is, the sweeping rolling brush 120 and the mopping rolling brush 130 are switched between the working positions, the dust suction channel 160 as a flexible member deforms along with the rotating assembly 110, thereby ensuring that the normal rotation of the rotating assembly 110 is not hindered.

In one embodiment, the dust suction passage 160 may be in a closed state when the floor-scrubbing brush 130 is in the working position. Alternatively, the dust suction passage 160 may be opened when the floor brush 130 is in the working position.

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

In one embodiment, the scraping bar 1122 is disposed adjacent to the dust suction channel 160, that is, the scraping bar 1122 can form a better seal 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, so as to ensure that the dust swept by the sweeping roller brush 120 enters the dust suction channel 160 under the action of suction force.

In one embodiment, as shown in fig. 22, the cleaning robot further includes a power unit 161, and the dust swept by the sweeping roller brush 120 can be sucked into the dust suction passage 160 by the wind generated by the power unit 161. The power component 161 may be a fan. Wherein the power member 161 is disposed within the body 200.

In one embodiment, as shown in fig. 25 and 26, the cleaning robot further includes: the fixed bracket 100, the rotating component 110 are rotatably arranged on the fixed bracket 100, the fixed bracket 100 is arranged on the chassis 201, so that the rotating component 110 is arranged on the chassis 201 through the fixed bracket 100, and the fixed bracket 100 and the rotating component 110 form a module structure and can be integrally arranged on the chassis 201.

In one embodiment, the suction passage 160 may be connected to the fixing bracket 100, that is, the suction passage 160 is connected to the body 200 through the fixing bracket 100, and the power unit 161 located in the body 200 is communicated with the suction passage 160.

In one embodiment, as shown in fig. 22, a dust box 162 is provided in the body 200, the dust suction passage 160 communicates with the dust box 162, and the power member 161 communicates with the dust box 162, so that dust can be sucked into the dust box 162 from the dust suction passage 160.

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

Specifically, the position adjusting mechanism 140 is used for rotating the rotating assembly 110, and may be a driving mechanism in the related art, for example, the position adjusting mechanism 140 includes a telescopic rod, the telescopic rod is connected to the rotating assembly 110, and the telescopic rod extends and retracts to drive the rotating assembly 110, so as to rotate the rotating assembly 110. Alternatively, the position adjustment mechanism 140 includes a drive shaft connected to the rotation assembly 110 such that the rotation assembly 110 is driven by forward and reverse rotation of the drive shaft, thereby rotating the rotation assembly 110.

It should be noted that, when the rotating assembly 110 is directly and 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 with the chassis 201 through the fixed bracket 100, the position adjusting mechanism 140 drives the rotating assembly 110 to rotate relative to the fixed bracket 100.

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

In one embodiment, as shown in fig. 31 to 36, the position adjustment mechanism 140 includes: a connecting shaft 10; the two ends of the connecting shaft 10 are respectively connected with the rotating assembly 110 and the rotating disc 20; a floating member 30, the floating member 30 being movably provided on the connecting shaft 10 to be connected to or separated from the turntable 20; the connecting rod shaft 40, both ends of the connecting rod shaft 40 connect the fixed bolster 100 and the rotary table 20 separately, the central line of the connecting shaft 10 does not coincide with central line of the connecting rod shaft 40; when the floating member 30 is connected to the rotating plate 20 and the floating member 30 rotates, the rotating plate 20 rotates relative to the fixed bracket 100 about the connecting rod shaft 40, so that the rotating assembly 110 rotates relative to the fixed bracket 100.

Specifically, the position adjusting mechanism 140 can enable the rotating assembly 110 to rotate relative to the fixed bracket 100 through the connecting shaft 10, the rotating disc 20, the floating member 30 and the connecting rod shaft 40, and before the rotating assembly 110 rotates relative to the fixed bracket 100, it is required to ensure that the floating member 30 is connected with the rotating disc 20, that is, the floating member 30 needs to move along the connecting shaft 10 to be connected with the rotating disc 20, so that a certain rotation starting buffer can be formed.

It should be noted that, because the floating member 30 and the turntable 20 have two states of connection and disconnection, when the floating member 30 and the turntable 20 are in a disconnected state, if it is necessary to drive the rotation assembly 110 to rotate relative to the fixed bracket 100 through the floating member 30, it is necessary to ensure that the floating member 30 and the turntable 20 move from the disconnected state to the connection state, and at this time, the floating member 30 rotates, so that the turntable 20 can be driven to rotate relative to the fixed bracket 100 by taking the connecting rod shaft 40 as an axis, and both the floating member 30 and the turntable 20 are connected to the connecting shaft 10, and the connecting shaft 10 is connected to the rotation assembly 110, so that the connecting shaft 10 can drive the rotation assembly 110 to rotate.

Considering that when the floating member 30 rotates relative to the connecting shaft 10, the floating member 30 drives the rotating disc 20 to rotate, the rotating disc 20 is connected to the fixed bracket 100 through the link shaft 40, and the center line of the connecting shaft 10 does not coincide with the center line of the link shaft 40, under the driving force of the floating member 30, the rotating disc 20 rotates relative to the connecting shaft 10 and also rotates relative to the fixed bracket 100 with the link shaft 40 as the shaft, that is, the rotating disc 20 and the floating member 30 complete rotation and revolution simultaneously, so as to realize that the rotating assembly 110 rotates relative to the fixed bracket 100.

It should be noted that the floating member 30 can rotate relative to the connecting shaft 10, and 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 may be driven by an external drive mechanism to effect movement relative to the connecting shaft 10, for example, the external drive mechanism may comprise a telescopic rod connected to the floating member 30, the movement of the floating member 30 along the connecting shaft 10 being effected by extension and retraction of the telescopic rod. While the external drive mechanism may rotate synchronously with the float member 30 as the float member 30 rotates.

For the rotation of the floating member 30, a transmission mechanism in the related art may be adopted to ensure that the floating member 30 can rotate, for example, a gear transmission mechanism, a chain transmission mechanism or a belt transmission mechanism may be adopted, which is not limited herein, as long as the transmission mechanism is ensured to drive the floating member 30 to rotate and can rotate with the floating member 30 relative to the connecting rod shaft 40 at the same time.

In one embodiment, the link shaft 40 may be directly connected to the turntable 20, that is, no switching mechanism is required between the link shaft 40 and the turntable 20, and only the central line of the connecting shaft 10 is required to be misaligned with the central line of the link shaft 40, so that the turntable 20 can rotate relative to the fixing bracket 100 with the link shaft 40 as an axis. For example, the link shaft 40 is fixedly connected to the turntable 20, i.e. the link shaft 40 is disposed offset from the connecting shaft 10, and the link shaft 40 is rotatable relative to the fixed bracket 100, so that when the floating member 30 is connected to the turntable 20 and the floating member 30 rotates, the turntable 20 will drive the link shaft 40 to rotate relative to the fixed bracket 100, and the turntable 20 is similar to an eccentric disc. Of course, the link shaft 40 may be rotatably connected to the turntable 20, and the link shaft 40 is fixedly connected to the fixing bracket 100.

In one embodiment, as shown in fig. 31 to 33, the position adjustment mechanism further includes: the two ends of the adaptor 50 are respectively connected with the turntable 20 and the connecting rod shaft 40, so that the connecting rod shaft 40 is connected with the turntable 20 through the adaptor 50, the position relation between the connecting rod shaft 40 and the turntable 20 cannot be particularly limited, and the reasonable layout of the components is ensured.

Specifically, referring to fig. 31, the adaptor 50 may be a connecting plate, and the connection point of the adaptor 50 and the turntable 20 is disposed offset from the center line of the turntable 20, i.e., offset from the center line of the connecting shaft 10.

In one embodiment, the link shaft 40 is fixedly connected to the fixing bracket 100, and two ends of the adaptor 50 are respectively hinged to the turntable 20 and the link shaft 40, so that when the turntable 20 rotates, the adaptor 50 can rotate relative to the turntable 20 and the link shaft 40, thereby preventing the occurrence of a jamming phenomenon.

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

In one embodiment, as shown in fig. 31, a first protrusion 21 is disposed on a side of the turntable 20 facing the floating member 30, and a second protrusion 31 is disposed on a side of the floating member 30 facing the turntable 20, so that when the floating member 30 is connected to the turntable 20, the first protrusion 21 is in limit contact with the second protrusion 31, thereby ensuring that the turntable 20 can be driven by the floating member 30 to rotate.

Specifically, the first protruding portion 21 may be plural, the plural first protruding portions 21 are arranged at intervals along the circumferential direction of the floating member 30, the plural second protruding portions 31 are also plural, the plural second protruding portions 31 are arranged at intervals along the circumferential direction of the turntable 20, and when the floating member 30 is connected to the turntable 20, the first protruding portions 21 and the second protruding portions 31 may be staggered, so as to form a relatively fixed relationship. Or one of the first and second projecting

portions

21 and 31 may have a groove formed thereon and the other may be inserted in the groove to form a relatively fixed relationship. The limit connection relationship between the first protruding portion 21 and the second protruding portion 31 is not limited, as long as the limit can be realized and the first protruding portion and the second protruding portion can be separated. In the present 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 the plurality of first protrusions 21 may form a helical internal gear with the turntable 20 and the plurality of second protrusions 31 may form a helical external gear with the floating member 30, the helical external gear being engaged with the helical internal gear.

In one embodiment, the float 30 is rotatably disposed in both the first and second directions; when the floating member 30 rotates in the first direction, the floating member 30 moves to be connected with the turntable 20, and the rotating assembly 110 rotates by a preset angle relative to the fixed bracket 100, and the floor mopping rolling brush 130 is in a working position; when the float member 30 rotates in the second direction, the float member 30 moves away 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 rotating disc 20 and moves to be connected with the rotating disc 20, as shown in fig. 22, at this time, the floating member 30 continues to rotate in the first direction, so that the rotating disc 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 floor mopping roller brush 130 is switched from the non-working position to the working position, and the floor sweeping roller brush 120 is switched from the working position to the non-working position. When the floating member 30 rotates in the second direction, the floating member 30 drives the rotating disc 20 to rotate, and the rotating assembly 110 rotates from the second position to the first position relative to the fixed bracket 100, and the floating member 30 is separated from the rotating disc 20, as shown in fig. 21, so that the sweeping roller brush 120 is switched from the non-working position to the working position, and the mopping roller brush 130 is switched from the working position to the non-working position.

In one embodiment, as shown in fig. 34 to 36, the position adjustment mechanism 140 further includes: the stop lever 70, the stop lever 70 is set in fixed bolster 100, there are notches 71 on the stop lever 70; when the floating member 30 rotates along the first direction and the rotating assembly 110 rotates for a preset angle relative to the fixed bracket 100, the connecting shaft 10 is clamped in the gap 71; when the floating member 30 rotates in the second direction and the connecting shaft 10 is disengaged from the notch 71, the floating member 30 moves to be separated from the turntable 20, and in some limit cases, the floating member 30 moves to be separated from the turntable 20 and is in limit contact with the stop rod 70.

Specifically, when the floating member 30 drives the turntable 20 to rotate, the connecting shaft 10 rotates, and therefore, the end of the notch 71 enters the notch 71 until the connecting shaft is in limit contact with the bottom surface of the notch 71, and at this time, the connecting shaft 10 cannot rotate continuously, so that the relative relationship between the rotating assembly 110 and the fixing 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 in the process, the floating member 30 can move along the connecting shaft 10, and after the rotating assembly 110 rotates from the second position to the first position, the floating member 30 still rotates in the second direction, and the floating member 30 is separated from the rotating disc 20, until the floating member 30 contacts with the end face limit of the stop lever 70, the floating member 30 stops moving along the connecting shaft 10, but can still rotate.

It should be noted that, when the rotating assembly 110 rotates from the first position to the second position, i.e. the floor-mopping roller brush 130 is switched from the non-operating position to the working position, the position can be determined by the sensor 72, so that the floating member 30 is effectively controlled to stop rotating, i.e. the rotation of the floor-mopping roller brush 130 to the working position is controlled by the sensor 72. After the rotating assembly 110 rotates from the second position to the first position, the floating member 30 is disengaged from the rotating disc 20, so that the rotating assembly 110 does not rotate relative to the fixed bracket 100. The sensor 72 may be an in-position switch assembly, such as an optical coupling switch, or a distance measuring sensor. In some embodiments, a buffer pad 116 is disposed on the rotating assembly 110, and the buffer pad 116 is disposed opposite to the sensor 72, so as to prevent the sensor 72 from making hard contact after the sensor 72 is rotated to a proper position, thereby protecting the sensor 72. When the rotating assembly 110 rotates from the second position to the first position, that is, the sweeping member 120 is switched from the non-operating position to the working position, at this time, the sweeping roller brush 120 can start sweeping after landing by the counterweight on the floating bracket 111 and the tension spring of the landing pressing block assembly 115.

In one embodiment, as shown in fig. 31 and 32, the position adjustment mechanism 140 includes a first driving assembly 80 and a second driving assembly 60, the first driving assembly 80 is connected to the floor brush 130, and the first driving assembly 80 drives the floor brush 130 to operate when the floor brush 130 is located at the operating position. The second driving assembly 60 is connected to the sweeping rolling brush 120, and when the sweeping rolling brush 120 is located at the working position, the second driving assembly 60 drives the sweeping rolling brush 120 to work.

In one embodiment, as shown in fig. 31, the position adjustment mechanism 140 includes: a second driving assembly 60, wherein the second driving assembly 60 is connected with the floating member 30 to drive the floating member 30 to rotate and move along the connecting rod shaft 40; wherein the second driving assembly 60 rotates relative to the fixed bracket 100 synchronously with the turntable 20, i.e. the second driving assembly 60 can maintain the connection relation with the floating member 30, thereby ensuring power transmission.

It should be noted that the float member 30 may move relative to the connecting shaft 10 while rotating, i.e. the second drive assembly 60 needs to provide both an axial and a circumferential force to the float member 30. It is not excluded here that the second drive assembly 60 comprises two sets of relatively independent drive mechanisms, providing forces in two directions to the float 30, respectively.

In one embodiment, as shown in fig. 33, the floatation member 30 includes a first helical gear segment 32, and the second drive assembly 60 includes: a first transmission gear 61, wherein the first transmission gear 61 comprises a second helical gear segment 611, and the second helical gear segment 611 is meshed with the first helical gear segment 32 to drive the floating member 30 to rotate; wherein the float 30 is movably arranged with respect 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 matching, so that when the second helical gear segment 611 rotates, the second helical gear segment 611 can provide forces in two directions to the first helical gear segment 32, and it is ensured that the first helical gear segment 32 rotates and moves synchronously, so that the floating member 30 is connected with the turntable 20. After the floating member 30 is connected to the rotating disc 20, due to the limitation of the rotating disc 20, the floating member 30 will not move continuously along the connecting shaft 10, but still rotate under the driving of the second bevel gear segment 611, so as to drive the rotating disc 20 to rotate.

In one embodiment, as shown in fig. 32 and 33, the second drive assembly 60 further comprises: the second transmission gear 62, the second transmission gear 62 is meshed with the first transmission gear 61; and the first 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, which drives the second transmission gear 62 to rotate, thereby driving the first transmission gear 61 to rotate, so as to transmit power to the floating member 30 through the first transmission gear 61. In the present embodiment, the first power source 63 may be a motor, and the motor may realize forward rotation and reverse rotation.

In one embodiment, the first power source 63 can also be directly connected to the first transmission gear 61 to drive the first transmission gear 61 to rotate. Or other transmission gears can be arranged between the first power source 63 and the second transmission gear 62, so as to meet the requirement of the transmission ratio.

In one embodiment, as shown in fig. 32 and 33, the floatation member 30 further includes an output gear segment 33, and the second drive assembly 60 further includes: the first output gear 64 is used for connecting the sweeping rolling brush 120, and the output gear section 33 is meshed with the first output gear 64 so as to drive the first output gear 64 to rotate; wherein the floating member 30 is movably disposed with respect to the axial direction of the first output gear 64.

Specifically, the floating member 30 can be used for driving the turntable 20 to rotate, that is, the rotation of the rotating assembly 110 relative to the fixed support 100 is realized, and the floating member 30 can also be used for driving the sweeping rolling brush 120 to work when rotating, that is, one power member realizes two functions, and the arrangement of power members can be reduced to a certain extent.

It should be noted that, after the floating member 30 is connected to the rotating disc 20, the rotation of the floating member 30 will make the rotating assembly 110 rotate relative to the fixed bracket 100, so that after the floating member 30 is connected to the rotating disc 20, the rotation of the floating member 30 can also drive the sweeping rolling brush 120 to work. After the floating member 30 is separated from the turntable 20, the rotation of the floating member 30 can also drive the sweeping rolling brush 120 to work, i.e. 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 which are meshed with the first transmission gear, but the moving distance has a fixed value, so as to ensure that the floating member 30 and the first transmission gear 61 are in a state of being meshed with each other, and the floating member 30 and the first output gear 64 are also in a state of being meshed with each other.

In one embodiment, the float 30 includes a first helical gear segment 32 and an output gear segment 33, and the second drive assembly 60 includes: a first transmission gear 61, wherein the first transmission gear 61 comprises a second helical gear segment 611, and the second helical gear segment 611 is meshed with the first helical gear segment 32 to drive the floating member 30 to rotate; the first output gear 64 is connected with the sweeping rolling brush 120, and the output gear section 33 is meshed with the first output gear 64 so as to drive the first output gear 64 to rotate; wherein the float 30 is movably arranged along both the second bevelled gear section 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 rotating disc 20, so that the sweeping rolling brush 120 and the mopping rolling brush 130 are switched in the working position, and when the sweeping rolling brush 120 is in the working position, the floating member 30 can also drive the sweeping rolling brush 120 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 adjusting mechanism 140 further includes: the first driving assembly 80, the first driving assembly 80 is connected to the floor rolling brush 130 to drive the floor rolling brush 130 to work, that is, after the floor rolling brush 130 is switched to the working position, the first driving assembly 80 can drive the floor rolling brush 130 to work.

In one embodiment, as shown in fig. 34, the position adjustment mechanism 140 further includes: the housing member 90, the housing member 90 is connected with the rotating assembly 110, the connecting shaft 10 is connected with the housing member 90, so that the connecting shaft 10 is connected with the rotating assembly 110 through the housing member 90, and the first driving assembly 80 is arranged on the housing member 90; after the connecting shaft 10 is clamped in the gap 71, the floating member 30 stops rotating, the first driving assembly 80 drives the floor mopping rolling brush 130 to work, and after the floating member 30 is in limit contact with the stop lever 70, the floating member 30 can rotate along 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, i.e. the rotating assembly 110 moves from the first position to the second position. When the floating member 30 rotates in the second direction, the floating member 30 drives the rotating assembly 110 to move from the second position to the first position, and the floating member 30 is mainly used for driving the sweeping rolling brush 120 to work. In this embodiment, when the rotating assembly 110 is located at the first position, the sweeping roller 120 is located at the working position, that is, the floating member 30 rotates in the second direction, so as to implement the work of the sweeping roller 120. When the rotating assembly 110 is located at the second position and the floor brush 130 is located at the working position, the floor brush 130 is driven to work by the first driving assembly 80.

In one embodiment, the position adjusting mechanism includes a first driving assembly 80 and a second driving assembly 60, and the second driving assembly 60 realizes the rotation of the rotating assembly 110 relative to the fixed bracket 100 and can be used for driving the sweeping rolling brush 120 to work. And the first driving assembly 80 is used to drive the floor-mopping roller brush 130 to operate. First drive assembly 80 and second drive assembly 60 are both disposed on housing member 90.

Specifically, referring to fig. 31 to 33, the first transmission gear 61 is composed of a second helical gear segment 611 and a transmission gear segment 612, the floating member 30 is composed of a first helical gear segment 32 and an output gear segment 33, the second transmission gear 62 is engaged with the transmission gear segment 612, so as to realize the rotation of the first transmission gear 61, the second helical gear segment 611 is engaged with the first helical gear segment 32, so as to drive the movement and the rotation of the floating member 30, and the output gear segment 33 is engaged with the first output gear 64, so as to drive the sweeping roller brush 120 to work through the first output gear 64.

It should be noted that a plurality of output gears can be included between the first output gear 64 and the sweeping roller brush 120, i.e. the transmission ratio requirement is satisfied. In the present 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, the third output gear 66 is meshed with the fourth output gear 67, and the fourth output gear 67 is connected with the sweeping roller brush 120, so as to drive the sweeping roller brush 120 to rotate.

In one embodiment, the first driving assembly 80 includes a second power source 85, the second power source 85 is in driving connection with the first gear 81 so as to drive the first gear 81 to rotate, the first gear 81 can be used to drive the mopping rolling brush 130 to work, and a plurality of gears can be disposed between the first gear 81 and the mopping rolling brush 130 so as to satisfy a transmission ratio. In this embodiment, the first gear 81 is engaged with the second gear 82, the second gear 82 is engaged with the third gear 83, the third gear 83 is engaged with the fourth gear 84, and the fourth gear 84 is connected with the floor brush 130, thereby driving the floor brush 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 that achieves forward 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 mounted on the chassis 201, and the cleaning robot further includes: and a rotation driving mechanism connected to the rotating assembly 110 to drive the rotating assembly 110 to rotate.

It should be noted that, in the present embodiment, the structure of the rotation driving mechanism may be similar to that of the position adjusting mechanism 140, except that the component of the position adjusting mechanism 140 connected to the fixing bracket 100 needs to be connected to the main body 200, for example, directly connected to the chassis 201.

Specifically, the link shaft 40 is connected to the body 200, the stop lever 70 is connected to the body 200, and other structures of the position adjusting mechanism 140 may refer to the above specific embodiments, which are not described herein, as long as it is ensured that the position adjusting mechanism 140 can drive the rotating assembly 110 to rotate and can be respectively used for driving the sweeping rolling brush 120 and the mopping rolling brush 130 to work, and the specific structural form and the arrangement mode may be adjusted accordingly according to actual requirements, which is not limited herein.

In one embodiment, the sweeping roller brush 120 and the mopping roller brush 130 are arranged in sequence along the forward direction of the cleaning robot, i.e. the mopping roller brush 130 is in front and the sweeping roller brush 120 is in back.

In one embodiment, as shown in fig. 25, the cleaning robot further includes: the side brush assembly 150 and the side brush assembly 150 are arranged on the chassis 201, and when the sweeping rolling brush 120 is located at the working position, the side brush assembly 150 is also located at the working position, so that the side brush assembly 150 can be used for moving dust outside the sweeping rolling brush 120 to the area of the sweeping rolling brush 120, and the sweeping range is ensured.

Specifically, the side brush assembly 150 is located at one side of the sweeping rolling brush 120, that is, the side brush assembly 150 and the sweeping rolling brush 120 occupy a first area of the rotating assembly 110, and the floor-mopping rolling brush 130 occupies a second area of the rotating assembly 110, and the first area and the surface to be cleaned are oppositely arranged through the rotation of the rotating assembly 110 relative to the fixed bracket 100, that is, the side brush assembly 150 and the sweeping rolling brush 120 are located at the working position, and can be used for sweeping the surface to be cleaned. When the second area is disposed opposite to the surface to be cleaned, i.e., the floor-scrubbing roll brush 130 is in the working position, it can be used to mop up the surface to be cleaned.

In one embodiment, the edge brush assembly 150 includes a separate drive mechanism by which the brush is driven to rotate, thereby effecting sweeping. The drive mechanism includes a motor.

In one embodiment, as shown in fig. 25, the cleaning robot further includes: a side brush and stripping mechanism 151, the side brush and stripping mechanism 151 is rotatably disposed on the rotating component 110, the side brush and stripping mechanism 151 is used for fixing the side brush component 150 and has a circular ring-shaped member substantially the same as the side brush component 150, the side brush and stripping mechanism 151 can rotate out of the plane relative to the rotating component 110, and the side brush bristles of the side brush component 150 can be lifted along the direction substantially parallel to the axial direction of the side brush component 150 in the process; the purpose of this is that, in the closing process after opening the cover plate 112, the cover plate 112 will not interfere with the side bristles to press the side bristles into the cover plate 112, when closing the cover plate 112, the cover plate 112 will timely touch the interference protrusion on the top of the circular ring member of the side brushing and stripping mechanism 151, when closing the cover plate 112, the interference protrusion will be further pressed, so as to drive the side brushing and stripping mechanism 151 to move along its rotation axis towards the plane of the rotating component 110, during this process, the side brushing and stripping mechanism 151 interferes with the edge of the side bristles to further release. When the cover member 112 is closed and locked, the edge brushing strip mechanism 151 is also fully engaged with the rotating assembly 110, and the cover member 112 does not press the edge bristles.

The present disclosure also provides an embodiment, a tension spring and a landing pressing block assembly 115 installed with the tension spring are arranged between the fixed bracket 100 and the floating bracket 111, the landing pressing block assembly 115 includes a tension spring bracket, one end of the tension spring bracket is fixed on the fixed bracket 100, and the tension spring is sleeved into the tension spring bracket from the other end; a tension spring holder sleeve is provided on the floating holder 111, and a reverse force can be applied to the floating holder 111 by a tension spring, so that the cleaning assemblies (i.e., the sweeping roller brush 120 and the mopping roller brush 130) mounted on the floating holder 111 can be pressed against the cleaning surface. By providing the landing pad assembly 115, the mass of the floating mount 111 can be significantly reduced without affecting the bonding force of the cleaning assembly to the cleaning surface. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and example embodiments be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the 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

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).